+ python -m lidar_slam --no-model /working/474706b3-d80d-488e-b0b2-bc80bfd64124 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/474706b3-d80d-488e-b0b2-bc80bfd64124 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 0.001400513 Adjusted end_distance from 9.223372036854776e+18 to 647.851400513 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001400513 meters Centerline goodness : 0.998068 Centerline is valid? [0, True] SLAMing on 0.031400513 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99998741e-01 8.52524136e-04 1.33832689e-03 2.93429151e-02] [-8.53216280e-04 9.99999503e-01 5.16684864e-04 2.26816906e-03] [-1.33788574e-03 -5.17826096e-04 9.99998971e-01 1.85468979e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061400513 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.01 [[ 9.99759998e-01 1.83197097e-02 1.20139086e-02 5.95258367e-02] [-1.83217192e-02 9.99832142e-01 5.72089729e-05 3.30709748e-03] [-1.20108439e-02 -2.77310702e-04 9.99927829e-01 6.78601362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091400513 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.05, Z:0.01 [[ 0.99973682 -0.00513961 0.02235797 0.09334587] [ 0.00505373 0.99997964 0.00389598 -0.05131151] [-0.02237754 -0.00378196 0.99974244 0.00725175] [ 0. 0. 0. 1. ]] SLAMing on 0.121400513 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.04, Z:0.01 [[ 0.99965476 -0.00395764 0.02597493 0.12558852] [ 0.00406689 0.9999831 -0.00415448 -0.0440726 ] [-0.02595805 0.00425869 0.99965396 0.00716614] [ 0. 0. 0. 1. ]] SLAMing on 0.151400513 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.05, Z:0.01 [[ 0.99966211 -0.00373071 0.02572464 0.15830056] [ 0.00370343 0.99999253 0.00110814 -0.04743465] [-0.02572859 -0.0010125 0.99966845 0.00741392] [ 0. 0. 0. 1. ]] SLAMing on 0.18140051299999999 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.05, Z:0.01 [[ 0.99966189 -0.00295772 0.02583341 0.19054512] [ 0.00279264 0.99997547 0.0064236 -0.05276687] [-0.02585178 -0.00634928 0.99964562 0.01183742] [ 0. 0. 0. 1. ]] SLAMing on 0.21140051299999998 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.05, Z:0.01 [[ 0.99964912 -0.00273016 0.02634726 0.22358109] [ 0.00265377 0.99999218 0.00293373 -0.05212347] [-0.02635506 -0.00286278 0.99964855 0.0119507 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24140051299999998 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.05, Z:0.01 [[ 0.99964601 -0.00256186 0.02648176 0.25596016] [ 0.00253439 0.99999621 0.00107105 -0.04932922] [-0.0264844 -0.00100355 0.99964872 0.01206186] [ 0. 0. 0. 1. ]] SLAMing on 0.271400513 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.05, Z:0.01 [[ 0.99957371 -0.00322194 0.02901751 0.28739717] [ 0.00329573 0.99999146 -0.00249553 -0.04924521] [-0.02900923 0.0025901 0.99957579 0.01264242] [ 0. 0. 0. 1. ]] SLAMing on 0.301400513 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.05, Z:0.01 [[ 0.99957839 -0.00301885 0.02887787 0.32001068] [ 0.00298565 0.99999483 0.00119265 -0.05125015] [-0.02888132 -0.00110593 0.99958224 0.01287196] [ 0. 0. 0. 1. ]] SLAMing on 0.33140051299999995 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.05, Z:0.01 [[ 9.99431234e-01 -4.30480113e-03 3.34466212e-02 3.53083499e-01] [ 4.29851946e-03 9.99990728e-01 2.59715429e-04 -5.33334360e-02] [-3.34474291e-02 -1.15796760e-04 9.99440472e-01 1.47531820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.361400513 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.05, Z:0.01 [[ 0.99943336 -0.00416302 0.03340114 0.38660831] [ 0.00411967 0.99999058 0.00136673 -0.05304699] [-0.03340652 -0.00122836 0.99944109 0.01498203] [ 0. 0. 0. 1. ]] SLAMing on 0.391400513 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.06, Z:0.02 [[ 0.99949913 -0.00592982 0.03108568 0.41919031] [ 0.00579949 0.99997402 0.00428128 -0.05662942] [-0.03111026 -0.00409885 0.99950755 0.01629703] [ 0. 0. 0. 1. ]] SLAMing on 0.421400513 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.05, Z:0.01 [[ 9.99651620e-01 -7.48390467e-03 2.53106612e-02 4.51425537e-01] [ 7.47279078e-03 9.99971936e-01 5.33657802e-04 -5.43572845e-02] [-2.53139447e-02 -3.44330611e-04 9.99679491e-01 1.24188340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45140051299999995 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.05, Z:0.01 [[ 9.99652817e-01 -7.28682644e-03 2.53208765e-02 4.83909505e-01] [ 7.26327869e-03 9.99973100e-01 1.02182159e-03 -5.36244335e-02] [-2.53276412e-02 -8.37554252e-04 9.99678853e-01 1.25922743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.481400513 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.05, Z:0.01 [[ 0.99977457 -0.00898698 0.01923665 0.51596715] [ 0.00905238 0.99995353 -0.00331541 -0.0514287 ] [-0.01920596 0.0034888 0.99980946 0.00630896] [ 0. 0. 0. 1. ]] SLAMing on 0.511400513 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.05, Z:0.01 [[ 9.99779934e-01 -8.78002571e-03 1.90524457e-02 5.48619434e-01] [ 8.76698877e-03 9.99961275e-01 7.67683539e-04 -5.38256849e-02] [-1.90584482e-02 -6.00482020e-04 9.99818191e-01 6.62602244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.541400513 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.05, Z:0.01 [[ 9.99781884e-01 -8.59764341e-03 1.90332392e-02 5.81128440e-01] [ 8.58468977e-03 9.99962860e-01 7.62181749e-04 -5.26704891e-02] [-1.90390853e-02 -5.98621051e-04 9.99818561e-01 6.85340851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5714005129999999 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.05, Z:0.00 [[ 9.99857367e-01 -1.03794919e-02 1.33233335e-02 6.13382135e-01] [ 1.03820939e-02 9.99946097e-01 -1.26139249e-04 -5.38546190e-02] [-1.33213061e-02 2.64445356e-04 9.99911232e-01 3.19185154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.601400513 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.06, Z:0.00 [[ 0.9998843 -0.01233824 0.00889658 0.64578946] [ 0.01229064 0.99990996 0.00538588 -0.06050006] [-0.00896223 -0.00527591 0.99994592 0.00442536] [ 0. 0. 0. 1. ]] SLAMing on 0.631400513 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.06, Z:0.01 [[ 0.99983334 -0.01469532 0.01083202 0.67839677] [ 0.01468131 0.99989128 0.00137176 -0.05877545] [-0.010851 -0.00121251 0.99994039 0.00515402] [ 0. 0. 0. 1. ]] SLAMing on 0.6614005129999999 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.06, Z:0.01 [[ 9.99833313e-01 -1.46373100e-02 1.09131184e-02 7.10809574e-01] [ 1.46335839e-02 9.99892835e-01 4.21213162e-04 -5.67844475e-02] [-1.09181143e-02 -2.61444918e-04 9.99940361e-01 5.26664756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6914005129999999 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.05, Z:0.01 [[ 0.99970017 -0.0167051 0.01790253 0.74328447] [ 0.01679102 0.99984816 -0.00465956 -0.05465822] [-0.01782198 0.00495877 0.99982888 0.0079058 ] [ 0. 0. 0. 1. ]] SLAMing on 0.721400513 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.06, Z:0.01 [[ 9.99708080e-01 -1.64790847e-02 1.76690370e-02 7.75978290e-01] [ 1.64691424e-02 9.99864124e-01 7.08065936e-04 -5.82192406e-02] [-1.76783045e-02 -4.16865351e-04 9.99843640e-01 8.31911032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.751400513 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.06, Z:0.01 [[ 9.99711639e-01 -1.62851958e-02 1.76474333e-02 8.08488432e-01] [ 1.62752491e-02 9.99867299e-01 7.07115084e-04 -5.71153973e-02] [-1.76566070e-02 -4.19694806e-04 9.99844022e-01 8.55061400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781400513 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.06, Z:0.02 [[ 0.99947581 -0.01832656 0.02668785 0.8406152 ] [ 0.01825739 0.99982931 0.0028331 -0.06187818] [-0.02673522 -0.00234437 0.9996398 0.01540999] [ 0. 0. 0. 1. ]] SLAMing on 0.8114005129999999 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.06, Z:0.02 [[ 9.99293704e-01 -2.04007954e-02 3.15578930e-02 8.73342275e-01] [ 2.03724003e-02 9.99791715e-01 1.22108661e-03 -6.38261008e-02] [-3.15762312e-02 -5.77314128e-04 9.99501180e-01 1.96583034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841400513 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.06, Z:0.02 [[ 9.99296483e-01 -2.02639627e-02 3.15580450e-02 9.06826962e-01] [ 2.02356235e-02 9.99794498e-01 1.21715470e-03 -6.26644648e-02] [-3.15762241e-02 -5.77701699e-04 9.99501180e-01 1.98677449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.871400513 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.07, Z:0.02 [[ 9.99284721e-01 -2.19987597e-02 3.07587619e-02 9.38500585e-01] [ 2.19727751e-02 9.99757870e-01 1.18257977e-03 -6.61462219e-02] [-3.07773296e-02 -5.05878533e-04 9.99526138e-01 1.93526616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9014005129999999 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.06, Z:0.02 [[ 9.99286580e-01 -2.19139999e-02 3.07588528e-02 9.71982902e-01] [ 2.18880480e-02 9.99759731e-01 1.18021456e-03 -6.49839111e-02] [-3.07773256e-02 -5.06121327e-04 9.99526138e-01 1.95620709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9314005129999999 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.06, Z:0.02 [[ 9.99288432e-01 -2.18292415e-02 3.07589527e-02 1.00546531e+00] [ 2.18033297e-02 9.99761586e-01 1.17760686e-03 -6.38242302e-02] [-3.07773256e-02 -5.06121327e-04 9.99526138e-01 1.97714681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.961400513 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.07, Z:0.02 [[ 0.99932779 -0.0230845 0.02847941 1.03746565] [ 0.02300155 0.99973019 0.00323704 -0.06818049] [-0.02854646 -0.00257979 0.99958914 0.01992943] [ 0. 0. 0. 1. ]] SLAMing on 0.991400513 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.07, Z:0.02 [[ 9.99288173e-01 -2.32865518e-02 2.96796902e-02 1.07039715e+00] [ 2.32782445e-02 9.99728829e-01 6.25435700e-04 -6.87277477e-02] [-2.96862061e-02 6.59005863e-05 9.99559265e-01 1.85502387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0214005130000001 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.07, Z:0.02 [[ 9.99299583e-01 -2.26257185e-02 2.98063913e-02 1.10184947e+00] [ 2.26105158e-02 9.99743991e-01 8.47035986e-04 -7.12163631e-02] [-2.98179254e-02 -1.72504825e-04 9.99555332e-01 1.67326491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0514005130000001 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.07, Z:0.02 [[ 9.99302472e-01 -2.24921636e-02 2.98105914e-02 1.13433155e+00] [ 2.24680572e-02 9.99746907e-01 1.14341547e-03 -7.03981926e-02] [-2.98287645e-02 -4.72831834e-04 9.99554912e-01 1.69322279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0814005130000002 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.07, Z:0.01 [[ 9.99376728e-01 -2.03601186e-02 2.88378276e-02 1.16611990e+00] [ 2.03784193e-02 9.99792280e-01 -3.40824162e-04 -7.08983023e-02] [-2.88248982e-02 9.28281079e-04 9.99584045e-01 1.48728829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.111400513 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.07, Z:0.02 [[ 9.99382153e-01 -2.01709139e-02 2.87827604e-02 1.19865588e+00] [ 2.01480083e-02 9.99796419e-01 1.08563619e-03 -7.10826392e-02] [-2.87987990e-02 -5.05050140e-04 9.99585101e-01 1.51670929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.141400513 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.07, Z:0.02 [[ 0.99943786 -0.01793285 0.02832636 1.22972476] [ 0.01785468 0.99983606 0.00301022 -0.07298622] [-0.02837569 -0.00250277 0.9995942 0.01722954] [ 0. 0. 0. 1. ]] SLAMing on 1.171400513 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.07, Z:0.02 [[ 0.99940015 -0.01518589 0.03112434 1.26289801] [ 0.01527071 0.9998803 -0.00248936 -0.06801404] [-0.03108282 0.00296315 0.99951242 0.01742258] [ 0. 0. 0. 1. ]] SLAMing on 1.201400513 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.07, Z:0.02 [[ 9.99408324e-01 -1.49725899e-02 3.09648871e-02 1.29552269e+00] [ 1.49435206e-02 9.99887655e-01 1.17000074e-03 -7.01352068e-02] [-3.09789263e-02 -7.06584053e-04 9.99519788e-01 1.78892046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.231400513 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.07, Z:0.02 [[ 9.99411892e-01 -1.47811925e-02 3.09416657e-02 1.32803073e+00] [ 1.47521821e-02 9.99890501e-01 1.16566980e-03 -6.90964187e-02] [-3.09555077e-02 -7.08527176e-04 9.99520512e-01 1.81211841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2614005130000001 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.07, Z:0.02 [[ 0.99934818 -0.01249185 0.03386974 1.36048307] [ 0.01243153 0.99992074 0.00199085 -0.0694581 ] [-0.03389193 -0.0015685 0.99942427 0.0215073 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2914005130000001 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.07, Z:0.03 [[ 0.99923904 -0.01140047 0.03730115 1.39246848] [ 0.01132957 0.99993359 0.00211134 -0.06916012] [-0.03732275 -0.00168713 0.99930184 0.02525939] [ 0. 0. 0. 1. ]] SLAMing on 1.321400513 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.07, Z:0.03 [[ 0.99918718 -0.01160074 0.03860572 1.42457738] [ 0.01146489 0.99992729 0.00373857 -0.06940395] [-0.03864628 -0.00329292 0.99924753 0.02972149] [ 0. 0. 0. 1. ]] SLAMing on 1.351400513 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.06, Z:0.02 [[ 9.98907037e-01 -2.98265805e-02 3.59875909e-02 1.45636063e+00] [ 2.98054265e-02 9.99555087e-01 1.12427698e-03 -5.84524584e-02] [-3.60051129e-02 -5.04226929e-05 9.99351604e-01 2.47725733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.381400513 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.07, Z:0.02 [[ 0.99872721 0.04108706 0.02925417 1.48989411] [-0.04122616 0.99914115 0.00416742 -0.06683181] [-0.02905781 -0.00536816 0.99956332 0.01549669] [ 0. 0. 0. 1. ]] SLAMing on 1.411400513 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.06, Z:0.02 [[ 9.98719363e-01 4.11564198e-02 2.94242038e-02 1.52323292e+00] [-4.12054939e-02 9.99150127e-01 1.06315692e-03 -6.30496555e-02] [-2.93554413e-02 -2.27423426e-03 9.99566449e-01 1.54149374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441400513 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.06, Z:0.01 [[ 0.99886391 0.04024793 0.02551441 1.5555529 ] [-0.04007197 0.99916961 -0.00737084 -0.05674118] [-0.02578988 0.00634006 0.99964728 0.01222025] [ 0. 0. 0. 1. ]] SLAMing on 1.471400513 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.08, Z:0.01 [[ 0.99895835 0.03871345 0.02415546 1.58838851] [-0.03901393 0.99916547 0.01209427 -0.07580255] [-0.02366709 -0.01302408 0.99963505 0.01242782] [ 0. 0. 0. 1. ]] SLAMing on 1.501400513 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:0.01 [[ 9.98942104e-01 3.88202356e-02 2.46508088e-02 1.62145839e+00] [-3.88525894e-02 9.99244604e-01 8.34716105e-04 -6.49388034e-02] [-2.45997838e-02 -1.79158081e-03 9.99695774e-01 1.16521558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5314005130000001 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.06, Z:0.01 [[ 0.99904925 0.03664027 0.02362395 1.65315141] [-0.03645126 0.99930027 -0.00838257 -0.05948949] [-0.02391456 0.00751347 0.99968577 0.01208599] [ 0. 0. 0. 1. ]] SLAMing on 1.5614005130000002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.07, Z:0.01 [[ 0.99911617 0.03441102 0.02414042 1.68665143] [-0.03449849 0.99939957 0.00321621 -0.07106744] [-0.02401525 -0.00404618 0.9997034 0.0149234 ] [ 0. 0. 0. 1. ]] SLAMing on 1.591400513 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.07, Z:0.01 [[ 9.99198747e-01 3.33731864e-02 2.20928651e-02 1.71994363e+00] [-3.33957107e-02 9.99441995e-01 6.51261627e-04 -6.92811170e-02] [-2.20588025e-02 -1.38854673e-03 9.99755711e-01 1.31358712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.621400513 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.07, Z:0.01 [[ 9.99283127e-01 3.33697090e-02 1.78800324e-02 1.75103997e+00] [-3.33734207e-02 9.99442948e-01 -9.08403451e-05 -6.98573073e-02] [-1.78731036e-02 -5.05942618e-04 9.99840135e-01 1.06362449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.651400513 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.07, Z:0.01 [[ 9.99276916e-01 3.35674810e-02 1.78569000e-02 1.78354626e+00] [-3.35842265e-02 9.99435687e-01 6.38629069e-04 -6.95044058e-02] [-1.78253860e-02 -1.23787746e-03 9.99840349e-01 1.08888847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681400513 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.07, Z:0.01 [[ 9.99294949e-01 3.33703611e-02 1.72053647e-02 1.81549834e+00] [-3.33971666e-02 9.99441348e-01 1.27292731e-03 -7.22382277e-02] [-1.71532748e-02 -1.84664026e-03 9.99851166e-01 1.07879396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.711400513 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.07, Z:0.01 [[ 9.99288243e-01 3.35535985e-02 1.72384228e-02 1.84795710e+00] [-3.35691247e-02 9.99436211e-01 6.12021579e-04 -7.06959167e-02] [-1.72081684e-02 -1.19026473e-03 9.99851220e-01 1.09164002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741400513 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.07, Z:0.01 [[ 0.99922748 0.03334077 0.02080451 1.88095234] [-0.03342139 0.99943508 0.00353901 -0.0748974 ] [-0.02067476 -0.00423159 0.9997773 0.01190564] [ 0. 0. 0. 1. ]] SLAMing on 1.7714005130000001 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.07, Z:0.01 [[ 9.99218931e-01 3.35095463e-02 2.09436723e-02 1.91332083e+00] [-3.35319036e-02 9.99437390e-01 7.17128116e-04 -7.14865206e-02] [-2.09078585e-02 -1.41884919e-03 9.99780400e-01 1.17969183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.801400513 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.07, Z:0.01 [[ 9.99219555e-01 3.36710169e-02 2.06529527e-02 1.94569125e+00] [-3.36277430e-02 9.99431451e-01 -2.43911678e-03 -6.91795273e-02] [-2.07233380e-02 1.74270100e-03 9.99783730e-01 1.23758001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.831400513 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.07, Z:0.01 [[ 9.99214085e-01 3.38965266e-02 2.05484399e-02 1.97826567e+00] [-3.39180601e-02 9.99424372e-01 7.00226833e-04 -7.09554515e-02] [-2.05128763e-02 -1.39663973e-03 9.99788613e-01 1.28286340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.861400513 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.07, Z:0.01 [[ 9.99243352e-01 3.45733703e-02 1.78158597e-02 2.01102153e+00] [-3.46109454e-02 9.99399232e-01 1.80498402e-03 -7.15016830e-02] [-1.77427521e-02 -2.42024203e-03 9.99839656e-01 1.21461880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.891400513 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.07, Z:0.01 [[ 9.99235642e-01 3.47656833e-02 1.78739960e-02 2.04345657e+00] [-3.47817993e-02 9.99394755e-01 5.91471605e-04 -6.94706973e-02] [-1.78426149e-02 -1.21270925e-03 9.99840072e-01 1.22013489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921400513 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.07, Z:0.01 [[ 9.99269354e-01 3.50486304e-02 1.52430618e-02 2.07512451e+00] [-3.50391273e-02 9.99385545e-01 -8.90138557e-04 -6.83110555e-02] [-1.52648938e-02 3.55384597e-04 9.99883422e-01 9.86854107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.951400513 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.07, Z:0.01 [[ 9.99296168e-01 3.50926321e-02 1.32542460e-02 2.10568794e+00] [-3.50855678e-02 9.99384019e-01 -7.65207793e-04 -6.85604412e-02] [-1.32729348e-02 2.99636469e-04 9.99911866e-01 8.86357280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.981400513 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.07, Z:0.01 [[ 9.99291620e-01 3.52425999e-02 1.31991444e-02 2.13822159e+00] [-3.52517781e-02 9.99378356e-01 4.63286277e-04 -6.87275541e-02] [-1.31746118e-02 -9.28251403e-04 9.99912780e-01 9.17285533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.011400513 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.07, Z:0.01 [[ 9.99286747e-01 3.53858995e-02 1.31846393e-02 2.17072026e+00] [-3.53950817e-02 9.99373290e-01 4.63661961e-04 -6.78225846e-02] [-1.31599693e-02 -9.30002637e-04 9.99912971e-01 9.37198511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.041400513 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.07, Z:0.01 [[ 0.99932559 0.03484371 0.01158831 2.20460723] [-0.03489979 0.99937989 0.00467362 -0.07072901] [-0.01141827 -0.0050749 0.99992193 0.01064099] [ 0. 0. 0. 1. ]] SLAMing on 2.071400513 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.07, Z:0.01 [[ 9.99321532e-01 3.49010691e-02 1.17640006e-02 2.23794226e+00] [-3.49078511e-02 9.99390466e-01 3.71603595e-04 -6.59916058e-02] [-1.17438607e-02 -7.82007455e-04 9.99930733e-01 1.03802396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101400513 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.06, Z:0.01 [[ 0.99936968 0.03416854 0.00963128 2.26964049] [-0.03414385 0.99941324 -0.00271652 -0.06175616] [-0.00971845 0.00238596 0.99994993 0.00913216] [ 0. 0. 0. 1. ]] SLAMing on 2.131400513 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.06, Z:0.01 [[ 9.99410974e-01 3.33408736e-02 8.12968305e-03 2.30207631e+00] [-3.33440930e-02 9.99443897e-01 2.60749333e-04 -6.22166424e-02] [-8.11646850e-03 -5.31672652e-04 9.99966920e-01 8.72267079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1614005130000002 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.06, Z:0.01 [[ 9.99408277e-01 3.34216029e-02 8.12968784e-03 2.33556245e+00] [-3.34248237e-02 9.99441200e-01 2.60599207e-04 -6.12586300e-02] [-8.11643533e-03 -5.32178388e-04 9.99966920e-01 8.90723022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.191400513 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.06, Z:0.01 [[ 9.99405574e-01 3.35023292e-02 8.12970888e-03 2.36904864e+00] [-3.35055474e-02 9.99438498e-01 2.59942560e-04 -6.03028777e-02] [-8.11643535e-03 -5.32178389e-04 9.99966920e-01 9.09174468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.221400513 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.06, Z:0.01 [[ 9.99419402e-01 3.28569058e-02 9.01566204e-03 2.40104851e+00] [-3.28398860e-02 9.99458565e-01 -2.02943007e-03 -5.74917874e-02] [-9.07746143e-03 1.73217848e-03 9.99957299e-01 8.69178997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.251400513 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.06, Z:0.01 [[ 9.99413167e-01 3.30737084e-02 8.91360658e-03 2.43362528e+00] [-3.30777376e-02 9.99452735e-01 3.04944164e-04 -5.86939527e-02] [-8.89864285e-03 -5.99607152e-04 9.99960227e-01 9.11338818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.281400513 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.06, Z:0.01 [[ 0.99943482 0.03179786 0.01090559 2.46806995] [-0.03182833 0.99948989 0.00263123 -0.0606857 ] [-0.01081636 -0.00297685 0.99993707 0.01126686] [ 0. 0. 0. 1. ]] SLAMing on 2.311400513 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.06, Z:0.01 [[ 9.99465019e-01 3.01092068e-02 1.27715367e-02 2.49971250e+00] [-3.01167516e-02 9.99546308e-01 3.98791151e-04 -5.85139171e-02] [-1.27537351e-02 -7.83215005e-04 9.99918361e-01 1.27011686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.341400513 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.06, Z:0.01 [[ 9.99462547e-01 3.01911222e-02 1.27715524e-02 2.53319911e+00] [-3.01986672e-02 9.99543837e-01 3.98288784e-04 -5.75848657e-02] [-1.27537017e-02 -7.83758583e-04 9.99918361e-01 1.28887076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.371400513 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.06, Z:0.01 [[ 9.99526716e-01 2.78275890e-02 1.31136934e-02 2.56570514e+00] [-2.78353012e-02 9.99612441e-01 4.05907927e-04 -5.69676065e-02] [-1.30973156e-02 -7.70739422e-04 9.99913929e-01 1.37731080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401400513 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.06, Z:0.01 [[ 9.99523098e-01 2.79572266e-02 1.31137359e-02 2.59919217e+00] [-2.79649319e-02 9.99608823e-01 4.04533843e-04 -5.60572775e-02] [-1.30972964e-02 -7.71065650e-04 9.99913929e-01 1.39606511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.431400513 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.06, Z:0.02 [[ 9.99588948e-01 2.58020549e-02 1.24975256e-02 2.63107936e+00] [-2.58088672e-02 9.99666822e-01 3.84094344e-04 -5.55541869e-02] [-1.24834513e-02 -7.06483439e-04 9.99921829e-01 1.51687059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461400513 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.06, Z:0.02 [[ 9.99634666e-01 2.41397619e-02 1.21576007e-02 2.66318598e+00] [-2.41608153e-02 9.99706824e-01 1.58779203e-03 -5.65505290e-02] [-1.21157074e-02 -1.88094950e-03 9.99924833e-01 1.70474353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.491400513 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.05, Z:0.02 [[ 0.99965815 0.02242379 0.01344488 2.69635479] [-0.02238176 0.99974415 -0.00326859 -0.05291035] [-0.01351473 0.00296656 0.99990427 0.01660318] [ 0. 0. 0. 1. ]] SLAMing on 2.521400513 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.06, Z:0.02 [[ 9.99758470e-01 1.84146377e-02 1.19959555e-02 2.72938755e+00] [-1.84116491e-02 9.99830427e-01 -3.59527626e-04 -5.64154920e-02] [-1.20005418e-02 1.38575467e-04 9.99927981e-01 1.69201423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.551400513 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.06, Z:0.02 [[ 0.99978897 0.01621083 0.01261878 2.76211883] [-0.01631692 0.999832 0.00835086 -0.0638502 ] [-0.01248128 -0.008555 0.99988551 0.01830214] [ 0. 0. 0. 1. ]] SLAMing on 2.581400513 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.05, Z:0.01 [[ 0.99985754 0.013345 -0.0103348 2.79432058] [-0.01340049 0.99989606 -0.00531854 -0.05294357] [ 0.01026275 0.00545627 0.99993245 0.00828968] [ 0. 0. 0. 1. ]] SLAMing on 2.611400513 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.06, Z:0.01 [[ 9.99750700e-01 1.29611686e-02 -1.81809270e-02 2.82179758e+00] [-1.29959501e-02 9.99913936e-01 -1.79622913e-03 -5.60684389e-02] [ 1.81560810e-02 2.03205975e-03 9.99833100e-01 6.40040597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.641400513 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.06, Z:0.01 [[ 9.99751839e-01 1.28037196e-02 -1.82297807e-02 2.85032293e+00] [-1.28164398e-02 9.99917697e-01 -5.81103649e-04 -5.61406399e-02] [ 1.82208400e-02 8.14600328e-04 9.99833655e-01 6.70530756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671400513 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.06, Z:0.01 [[ 9.99763981e-01 1.26085301e-02 -1.76919974e-02 2.87965119e+00] [-1.25586910e-02 9.99916857e-01 2.92532783e-03 -5.87196067e-02] [ 1.77274105e-02 -2.70244907e-03 9.99839205e-01 9.62432890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.701400513 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.05, Z:0.01 [[ 9.99893547e-01 1.22124481e-02 -7.98443808e-03 2.90752555e+00] [-1.22222923e-02 9.99924602e-01 -1.18529472e-03 -5.40735711e-02] [ 7.96936072e-03 1.28275668e-03 9.99967421e-01 1.41770899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.731400513 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.05, Z:0.02 [[ 9.99920465e-01 1.25766984e-02 9.43109329e-04 2.93500443e+00] [-1.25760979e-02 9.99920713e-01 -6.40063628e-04 -5.43580681e-02] [-9.51084440e-04 6.28152086e-04 9.99999350e-01 1.99593513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.761400513 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.05, Z:0.02 [[ 9.99902893e-01 1.32020844e-02 4.46206157e-03 2.96731118e+00] [-1.32014416e-02 9.99912842e-01 -1.73467781e-04 -5.40737744e-02] [-4.46396280e-03 1.14545291e-04 9.99990030e-01 2.32887896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.05, Z:0.02 [[ 9.99895778e-01 1.43621165e-02 1.47073735e-03 3.00077614e+00] [-1.43616269e-02 9.99896808e-01 -3.42937827e-04 -5.21530197e-02] [-1.47551090e-03 3.21779904e-04 9.99998860e-01 2.03202097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.05, Z:0.02 [[ 9.99894479e-01 1.44534679e-02 1.45913614e-03 3.03343850e+00] [-1.44535463e-02 9.99895541e-01 4.31777302e-05 -5.15936469e-02] [-1.45835965e-03 -6.42628658e-05 9.99998935e-01 2.05532210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.05, Z:0.02 [[ 9.99846101e-01 1.65694352e-02 -5.76440560e-03 3.06522470e+00] [-1.65707056e-02 9.99862682e-01 -1.72700277e-04 -4.89795423e-02] [ 5.76075249e-03 2.68193967e-04 9.99983371e-01 1.60343466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.05, Z:0.02 [[ 9.99846692e-01 1.65337000e-02 -5.76442740e-03 3.09454281e+00] [-1.65349657e-02 9.99863273e-01 -1.71969549e-04 -4.80295093e-02] [ 5.76079595e-03 2.67257794e-04 9.99983371e-01 1.62094237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.911400513 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.03, Z:0.02 [[ 9.98521668e-01 5.24051326e-02 1.44284651e-02 3.12072002e+00] [-5.24168182e-02 9.98625200e-01 4.32670629e-04 -3.17439650e-02] [-1.43859547e-02 -1.18832523e-03 9.99895811e-01 2.32796821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941400513 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:3.15, Y:0.02, Z:0.02 [[ 9.98775535e-01 4.79146999e-02 1.23130872e-02 3.15188242e+00] [-4.79228472e-02 9.98850973e-01 3.67314008e-04 1.75985646e-02] [-1.22813393e-02 -9.56942439e-04 9.99924124e-01 1.92177897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.971400513 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:3.19, Y:0.02, Z:0.02 [[ 9.98771582e-01 4.79970255e-02 1.23131175e-02 3.18537498e+00] [-4.80051666e-02 9.98847020e-01 3.66296518e-04 1.84830697e-02] [-1.22813396e-02 -9.56939809e-04 9.99924124e-01 1.94176954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001400513 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:3.22, Y:0.02, Z:0.02 [[ 9.98767622e-01 4.80793509e-02 1.23131477e-02 3.21886762e+00] [-4.80874857e-02 9.98843061e-01 3.65281663e-04 1.93648120e-02] [-1.22813396e-02 -9.56939810e-04 9.99924124e-01 1.96176012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.031400513 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:3.25, Y:0.02, Z:0.02 [[ 9.98766510e-01 4.77360048e-02 1.36650103e-02 3.25055298e+00] [-4.77459528e-02 9.98859431e-01 4.02486594e-04 2.19333315e-02] [-1.36302113e-02 -1.05443907e-03 9.99906548e-01 1.96678576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061400513 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.28, Y:0.02, Z:0.02 [[ 9.98789522e-01 4.68163079e-02 1.50905564e-02 3.28372981e+00] [-4.68282940e-02 9.98902856e-01 4.41712629e-04 2.37865226e-02] [-1.50533205e-02 -1.14784296e-03 9.99886034e-01 2.00413551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.091400513 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.32, Y:0.02, Z:0.02 [[ 9.98785707e-01 4.68976177e-02 1.50905741e-02 3.31722316e+00] [-4.69096040e-02 9.98899041e-01 4.41107511e-04 2.46511979e-02] [-1.50532731e-02 -1.14846473e-03 9.99886034e-01 2.02412798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121400513 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:3.35, Y:0.03, Z:0.02 [[ 9.98836050e-01 4.55184029e-02 1.59568215e-02 3.35020944e+00] [-4.55315733e-02 9.98962793e-01 4.62870048e-04 2.60123605e-02] [-1.59192019e-02 -1.18887048e-03 9.99872575e-01 2.03281355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151400513 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:3.38, Y:0.03, Z:0.02 [[ 9.98832341e-01 4.55997175e-02 1.59568412e-02 3.38370307e+00] [-4.56128875e-02 9.98959084e-01 4.62192629e-04 2.68679732e-02] [-1.59191556e-02 -1.18949055e-03 9.99872575e-01 2.05280597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.181400513 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:3.42, Y:0.03, Z:0.02 [[ 9.98896159e-01 4.42454639e-02 1.57735000e-02 3.41558427e+00] [-4.42581132e-02 9.99020027e-01 4.53594160e-04 2.77463908e-02] [-1.57379729e-02 -1.15119881e-03 9.99875488e-01 2.09002336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211400513 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:3.45, Y:0.03, Z:0.02 [[ 9.98892601e-01 4.43257079e-02 1.57735204e-02 3.44907802e+00] [-4.43383560e-02 9.99016469e-01 4.52881094e-04 2.85907754e-02] [-1.57379324e-02 -1.15175154e-03 9.99875488e-01 2.11001546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.241400513 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:3.48, Y:0.03, Z:0.02 [[ 9.98998893e-01 4.34978858e-02 1.04472678e-02 3.48186694e+00] [-4.35033777e-02 9.99053235e-01 2.98897253e-04 3.04478144e-02] [-1.04243753e-02 -7.53089461e-04 9.99945381e-01 1.97785988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.271400513 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:3.52, Y:0.03, Z:0.02 [[ 9.98995223e-01 4.35820925e-02 1.04472930e-02 3.51536072e+00] [-4.35875798e-02 9.99049565e-01 2.98013928e-04 3.12910867e-02] [-1.04243755e-02 -7.53086710e-04 9.99945381e-01 1.99785035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:0.03, Z:0.02 [[ 9.99050053e-01 4.35625995e-02 -1.13644653e-03 3.54753287e+00] [-4.35626655e-02 9.99050696e-01 -3.33384868e-05 3.40564791e-02] [ 1.13391538e-03 8.28134569e-05 9.99999354e-01 1.59097976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:0.03, Z:0.02 [[ 9.99050140e-01 4.35606027e-02 -1.13647716e-03 3.57851956e+00] [-4.35606674e-02 9.99050783e-01 -3.22596598e-05 3.49358389e-02] [ 1.13399315e-03 8.17347212e-05 9.99999354e-01 1.60947711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:0.04, Z:0.01 [[ 9.98967113e-01 4.34437300e-02 -1.33172609e-02 3.60796620e+00] [-4.34526102e-02 9.99055418e-01 -3.78062386e-04 3.70645111e-02] [ 1.32882572e-02 9.56341638e-04 9.99911250e-01 1.13133984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:0.04, Z:0.01 [[ 9.98969666e-01 4.33849916e-02 -1.33172509e-02 3.63644766e+00] [-4.33938713e-02 9.99057971e-01 -3.78416040e-04 3.79879558e-02] [ 1.32882880e-02 9.55913214e-04 9.99911250e-01 1.14834124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421400513 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:3.66, Y:0.04, Z:0.01 [[ 9.98852483e-01 4.34515712e-02 -2.01414574e-02 3.66384921e+00] [-4.34719335e-02 9.99054484e-01 -5.74022097e-04 3.93678025e-02] [ 2.00974711e-02 1.44895149e-03 9.99796975e-01 8.82344889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.451400513 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:3.69, Y:0.04, Z:0.01 [[ 9.98871033e-01 4.33000237e-02 -1.95388498e-02 3.69142659e+00] [-4.33191845e-02 9.99061128e-01 -5.58277178e-04 4.03544568e-02] [ 1.94963319e-02 1.40405394e-03 9.99808943e-01 1.03297014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481400513 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:3.72, Y:0.04, Z:0.01 [[ 9.98873566e-01 4.32415647e-02 -1.95388151e-02 3.71990793e+00] [-4.32607380e-02 9.99063659e-01 -5.59490650e-04 4.12849674e-02] [ 1.94963269e-02 1.40412398e-03 9.99808943e-01 1.04997036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.511400513 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:3.75, Y:0.04, Z:0.02 [[ 9.99129827e-01 4.13621355e-02 -5.36311082e-03 3.74789751e+00] [-4.13635531e-02 9.99144150e-01 -1.53624120e-04 4.31560871e-02] [ 5.35216658e-03 3.75327760e-04 9.99985607e-01 1.90959835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541400513 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:3.78, Y:0.04, Z:0.02 [[ 9.99133169e-01 4.12813192e-02 -5.36309982e-03 3.77721087e+00] [-4.12827377e-02 9.99147493e-01 -1.54007202e-04 4.40823372e-02] [ 5.35217012e-03 3.75277147e-04 9.99985607e-01 1.92709471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:0.05, Z:0.02 [[ 9.99118603e-01 4.13093561e-02 -7.45351573e-03 3.80548781e+00] [-4.13121024e-02 9.99146268e-01 -2.14802997e-04 4.56068696e-02] [ 7.43827905e-03 5.22534075e-04 9.99972199e-01 1.89771191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6014005129999997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.83, Y:0.05, Z:0.02 [[ 9.98629777e-01 5.21878018e-02 -3.87316206e-03 3.83320388e+00] [-5.21886249e-02 9.98637239e-01 -1.11668908e-04 5.03884804e-02] [ 3.86205611e-03 3.13650899e-04 9.99992493e-01 2.27706434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.86, Y:0.05, Z:0.03 [[ 9.98371730e-01 5.70194141e-02 1.63573553e-03 3.86120573e+00] [-5.70195684e-02 9.98373060e-01 4.77990314e-05 5.33540726e-02] [-1.63034882e-03 -1.40990136e-04 9.99998661e-01 2.67472648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:0.06, Z:0.03 [[ 9.98060628e-01 6.21485461e-02 3.54147125e-03 3.89259653e+00] [-6.21492978e-02 9.98066859e-01 1.02492414e-04 5.61676964e-02] [-3.52825533e-03 -3.22393595e-04 9.99993724e-01 2.89343963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691400513 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:3.92, Y:0.06, Z:0.03 [[ 9.97765266e-01 6.66483435e-02 4.74052195e-03 3.92368112e+00] [-6.66497370e-02 9.97776425e-01 1.36409900e-04 5.85278455e-02] [-4.72088955e-03 -4.52059601e-04 9.99988754e-01 3.00143478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.721400513 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:3.96, Y:0.06, Z:0.03 [[ 9.97443601e-01 7.11625893e-02 6.49213259e-03 3.95550007e+00] [-7.11652892e-02 9.97464519e-01 1.85509214e-04 5.99727453e-02] [-6.46247060e-03 -6.47049472e-04 9.99978909e-01 3.11235944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.751400513 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:3.99, Y:0.06, Z:0.03 [[ 9.97088818e-01 7.56937699e-02 9.18384476e-03 3.98845081e+00] [-7.56993495e-02 9.97130654e-01 2.60964305e-04 6.19719891e-02] [-9.13773976e-03 -9.55415665e-04 9.99957794e-01 3.29394696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:0.06, Z:0.03 [[ 9.96739756e-01 7.96720992e-02 1.27364077e-02 4.02169439e+00] [-7.96831267e-02 9.96820179e-01 3.59916925e-04 6.33721561e-02] [-1.26672329e-02 -1.37362030e-03 9.99918824e-01 3.43148059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:0.07, Z:0.03 [[ 9.96507113e-01 8.20681213e-02 1.54401021e-02 4.05377266e+00] [-8.20845756e-02 9.96625273e-01 4.33913308e-04 6.52246264e-02] [-1.53523856e-02 -1.69979193e-03 9.99880700e-01 3.49648482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:0.06, Z:0.05 [[ 9.97121937e-01 5.21139124e-02 5.50634532e-02 4.08640006e+00] [-5.22778529e-02 9.98631390e-01 1.54013457e-03 6.43203947e-02] [-5.49078304e-02 -4.41430107e-03 9.98481669e-01 5.14748239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8714005129999998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:4.12, Y:0.07, Z:0.04 [[ 9.98599339e-01 3.63987496e-02 3.83991147e-02 4.11876527e+00] [-3.62731826e-02 9.99334058e-01 -3.96191444e-03 6.78563715e-02] [-3.85177519e-02 2.56350704e-03 9.99254628e-01 3.78716365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901400513 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:4.15, Y:0.06, Z:0.03 [[ 0.99896512 0.04151364 0.01858222 4.15154839] [-0.04162316 0.99911799 0.00554633 0.05628576] [-0.01833558 -0.00631404 0.99981195 0.03006869] [ 0. 0. 0. 1. ]] SLAMing on 3.931400513 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.01, Z:0.03 [[ 9.99603610e-01 2.69066947e-02 8.28573413e-03 4.18473053e+00] [-2.68801610e-02 9.99633225e-01 -3.29723529e-03 -1.25890639e-02] [-8.37141284e-03 3.07320642e-03 9.99960237e-01 2.66337691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961400513 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.02, Z:0.03 [[ 9.99582260e-01 2.72011748e-02 9.76738682e-03 4.21830554e+00] [-2.72199257e-02 9.99627863e-01 1.79194953e-03 -1.82118922e-02] [-9.71500888e-03 -2.05706851e-03 9.99950692e-01 2.87313097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.991400513 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.02, Z:0.03 [[ 9.99580083e-01 2.72748646e-02 9.78467422e-03 4.25178049e+00] [-2.72788639e-02 9.99627825e-01 2.75478539e-04 -1.60965718e-02] [-9.77351897e-03 -5.42277657e-04 9.99952091e-01 2.88165844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021400513 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.02, Z:0.03 [[ 9.99541377e-01 2.79643124e-02 1.16204050e-02 4.28442794e+00] [-2.79746537e-02 9.99608367e-01 7.28307173e-04 -1.75795882e-02] [-1.15954874e-02 -1.05304996e-03 9.99932216e-01 3.01305664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.051400513 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.02, Z:0.03 [[ 9.99536506e-01 2.81412528e-02 1.16122256e-02 4.31692635e+00] [-2.81469023e-02 9.99603745e-01 3.23336615e-04 -1.64937736e-02] [-1.15985251e-02 -6.50034930e-04 9.99932524e-01 3.03118250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081400513 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.02, Z:0.03 [[ 9.99483309e-01 2.98558972e-02 1.19054742e-02 4.35019260e+00] [-2.98574729e-02 9.99554165e-01 -4.54090305e-05 -1.73470439e-02] [-1.19015221e-02 -3.10081805e-04 9.99929126e-01 3.08672457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1114005129999995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.02, Z:0.03 [[ 9.99478150e-01 3.00415025e-02 1.18716498e-02 4.38271199e+00] [-3.00475246e-02 9.99548417e-01 3.29187211e-04 -1.69400643e-02] [-1.18563995e-02 -6.85729113e-04 9.99929475e-01 3.11330004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141400513 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.02, Z:0.03 [[ 9.99419659e-01 3.21267923e-02 1.13232094e-02 4.41590021e+00] [-3.21109390e-02 9.99483063e-01 -1.57915200e-03 -1.53370909e-02] [-1.13680891e-02 1.21463667e-03 9.99934643e-01 3.00733579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171400513 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.02, Z:0.03 [[ 9.99414228e-01 3.23291609e-02 1.12261834e-02 4.44847323e+00] [-3.23347617e-02 9.99477044e-01 3.17709824e-04 -1.62597130e-02] [-1.12100413e-02 -6.80519683e-04 9.99936934e-01 3.05205587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201400513 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.02, Z:0.03 [[ 9.99343412e-01 3.48237423e-02 1.00026040e-02 4.48058835e+00] [-3.48667226e-02 9.99383333e-01 4.15511206e-03 -1.85073427e-02] [-9.85173914e-03 -4.50114188e-03 9.99941340e-01 3.23906246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231400513 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:0.03 [[ 9.99229337e-01 3.78842585e-02 1.02720638e-02 4.51388263e+00] [-3.79089119e-02 9.99278742e-01 2.21598492e-03 -1.44251502e-02] [-1.01807040e-02 -2.60367990e-03 9.99944786e-01 3.22358180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261400513 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.01, Z:0.03 [[ 9.99226216e-01 3.79462837e-02 1.03463971e-02 4.54731059e+00] [-3.79509253e-02 9.99279572e-01 2.52591787e-04 -1.19636410e-02] [-1.03293583e-02 -6.45051679e-04 9.99946443e-01 3.22172406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291400513 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.01, Z:0.03 [[ 9.99223137e-01 3.80209918e-02 1.03695522e-02 4.58078150e+00] [-3.80256660e-02 9.99276731e-01 2.53901823e-04 -1.12105534e-02] [-1.03523986e-02 -6.48013703e-04 9.99946203e-01 3.23941067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321400513 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.00, Z:0.03 [[ 9.99052729e-01 4.23102058e-02 1.01731089e-02 4.61234183e+00] [-4.22695918e-02 9.99097519e-01 -4.17479234e-03 -4.50277818e-03] [-1.03405642e-02 3.74082452e-03 9.99939538e-01 3.19464403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.351400513 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.01, Z:0.03 [[ 9.98834241e-01 4.69313316e-02 1.12964629e-02 4.64560024e+00] [-4.69374421e-02 9.98897793e-01 2.76269795e-04 -5.67885878e-03] [-1.12710461e-02 -8.06174803e-04 9.99936155e-01 3.23770009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381400513 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.01, Z:0.03 [[ 9.98825793e-01 4.71182272e-02 1.12653614e-02 4.67811940e+00] [-4.71246333e-02 9.98888971e-01 3.03734853e-04 -5.03229738e-03] [-1.12385338e-02 -8.34254231e-04 9.99936498e-01 3.26226142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.411400513 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.00, Z:0.03 [[ 9.98579391e-01 5.16165231e-02 1.32262495e-02 4.70995933e+00] [-5.16328016e-02 9.98665739e-01 8.92042710e-04 -2.67925804e-03] [-1.31625581e-02 -1.57368378e-03 9.99912131e-01 3.35107807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441400513 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.00, Z:0.03 [[ 9.98570400e-01 5.17928177e-02 1.32159315e-02 4.74246197e+00] [-5.18019053e-02 9.98657320e-01 3.45999335e-04 -1.54687767e-03] [-1.31802664e-02 -1.03011513e-03 9.99912606e-01 3.36964731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471400513 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:4.78, Y:0.00, Z:0.03 [[ 9.98350542e-01 5.55914379e-02 1.43453000e-02 4.77527975e+00] [-5.55826318e-02 9.98453578e-01 -1.01214198e-03 3.18045688e-03] [-1.43793825e-02 2.13122969e-04 9.99896589e-01 3.34774686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501400513 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:4.81, Y:0.00, Z:0.03 [[ 9.98341143e-01 5.57789947e-02 1.42711703e-02 4.80783794e+00] [-5.57899581e-02 9.98442459e-01 3.70951948e-04 2.62354699e-03] [-1.42282510e-02 -1.16652458e-03 9.99898093e-01 3.38608575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531400513 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:4.84, Y:0.00, Z:0.03 [[ 9.98167805e-01 5.88868055e-02 1.39060236e-02 4.84058088e+00] [-5.89451789e-02 9.98253891e-01 3.82546724e-03 3.59056803e-03] [-1.36564726e-02 -4.63815129e-03 9.99895989e-01 3.46278619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561400513 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:4.87, Y:0.01, Z:0.03 [[ 9.98160540e-01 5.89896546e-02 1.39913546e-02 4.87400169e+00] [-5.90001773e-02 9.98257914e-01 3.40155678e-04 7.31052510e-03] [-1.39469148e-02 -1.16502238e-03 9.99902058e-01 3.45336842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.591400513 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:4.91, Y:0.01, Z:0.03 [[ 9.98038731e-01 6.10349421e-02 1.39078422e-02 4.90652882e+00] [-6.10454966e-02 9.98134928e-01 3.35227974e-04 1.20244694e-02] [-1.38614424e-02 -1.18358163e-03 9.99903225e-01 3.47134442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621400513 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:4.94, Y:0.01, Z:0.03 [[ 9.98033857e-01 6.11145845e-02 1.39078533e-02 4.94002188e+00] [-6.11251402e-02 9.98130054e-01 3.34766334e-04 1.27183106e-02] [-1.38613872e-02 -1.18422762e-03 9.99903225e-01 3.49259535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.651400513 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:4.97, Y:0.02, Z:0.04 [[ 9.97973941e-01 6.20732480e-02 1.39615323e-02 4.97277385e+00] [-6.20839340e-02 9.98070876e-01 3.32864254e-04 1.77229862e-02] [-1.39139369e-02 -1.19897670e-03 9.99902478e-01 3.50398883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681400513 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:5.01, Y:0.02, Z:0.04 [[ 9.97968977e-01 6.21530028e-02 1.39615435e-02 5.00626750e+00] [-6.21636901e-02 9.98065912e-01 3.32397398e-04 1.84082579e-02] [-1.39138811e-02 -1.19962335e-03 9.99902478e-01 3.52523953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711400513 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:5.04, Y:0.02, Z:0.04 [[ 9.97988574e-01 6.19726361e-02 1.33490768e-02 5.03958468e+00] [-6.19823482e-02 9.98077196e-01 3.14661213e-04 2.33645338e-02] [-1.33039088e-02 -1.14143542e-03 9.99910848e-01 3.53633873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.741400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:5.07, Y:0.08, Z:0.04 [[ 9.97232758e-01 7.40379948e-02 6.72322222e-03 5.07128672e+00] [-7.40407267e-02 9.97255206e-01 1.58004510e-04 7.76012491e-02] [-6.69307002e-03 -6.55359533e-04 9.99977386e-01 3.75585474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.771400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:5.10, Y:0.08, Z:0.04 [[ 9.97226696e-01 7.41195960e-02 6.72323521e-03 5.10478492e+00] [-7.41223260e-02 9.97249144e-01 1.57451612e-04 7.82766831e-02] [-6.69307032e-03 -6.55356783e-04 9.99977386e-01 3.77710022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801400513 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:5.14, Y:0.09, Z:0.04 [[ 9.97365249e-01 7.23985206e-02 4.58418628e-03 5.13695586e+00] [-7.23997647e-02 9.97375688e-01 1.05808719e-04 8.55295383e-02] [-4.56449555e-03 -4.37423947e-04 9.99989487e-01 3.62889728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:5.17, Y:0.09, Z:0.04 [[ 9.97418914e-01 7.16210531e-02 5.09263393e-03 5.17042951e+00] [-7.16225739e-02 9.97431799e-01 1.16642706e-04 8.64287935e-02] [-5.07120095e-03 -4.81089192e-04 9.99987026e-01 3.60916638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8614005129999995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.20, Y:0.09, Z:0.04 [[ 9.97502864e-01 7.04418302e-02 5.09760274e-03 5.20197807e+00] [-7.04433379e-02 9.97515776e-01 1.16614187e-04 8.69568227e-02] [-5.07672464e-03 -4.75415138e-04 9.99987000e-01 3.61242870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.23, Y:0.09, Z:0.04 [[ 9.97611083e-01 6.89324791e-02 4.52110848e-03 5.23436640e+00] [-6.89336442e-02 9.97621242e-01 1.02213512e-04 8.89869004e-02] [-4.50330803e-03 -4.13625816e-04 9.99989775e-01 3.61356725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:5.27, Y:0.09, Z:0.04 [[ 9.97687291e-01 6.78939949e-02 3.23642312e-03 5.26682688e+00] [-6.78945834e-02 9.97692498e-01 7.21884940e-05 9.19052393e-02] [-3.22405390e-03 -2.91757142e-04 9.99994760e-01 3.59532141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.951400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:5.30, Y:0.10, Z:0.03 [[ 9.97697604e-01 6.78170989e-02 5.76759579e-04 5.29787950e+00] [-6.78171176e-02 9.97697769e-01 1.29143626e-05 9.56201839e-02] [-5.74555931e-04 -5.19988009e-05 9.99999834e-01 3.46478556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:5.33, Y:0.10, Z:0.03 [[ 9.97607552e-01 6.91314942e-02 -9.68495512e-05 5.32882866e+00] [-6.91314947e-02 9.97607556e-01 -2.19287229e-06 9.67153485e-02] [ 9.64662476e-05 8.88298019e-06 9.99999995e-01 3.44904333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:5.36, Y:0.10, Z:0.03 [[ 9.97443459e-01 7.14598846e-02 -1.76066048e-04 5.35818876e+00] [-7.14598864e-02 9.97443474e-01 -3.91398376e-06 9.84124547e-02] [ 1.75336237e-04 1.64856373e-05 9.99999984e-01 3.49037416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:5.39, Y:0.10, Z:0.04 [[ 9.97269750e-01 7.38446829e-02 8.97367206e-05 5.38766748e+00] [-7.38446834e-02 9.97269754e-01 2.17901953e-06 1.01419881e-01] [-8.93308082e-05 -8.79964998e-06 9.99999996e-01 3.51836229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0714005129999995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:5.42, Y:0.11, Z:0.04 [[ 9.97112047e-01 7.59444657e-02 6.22668934e-05 5.41679821e+00] [-7.59444660e-02 9.97112049e-01 1.56248729e-06 1.05229376e-01] [-6.19684074e-05 -6.28680087e-06 9.99999998e-01 3.52129219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101400513 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:5.45, Y:0.11, Z:0.04 [[ 9.96996357e-01 7.74468303e-02 -5.03360209e-04 5.44522147e+00] [-7.74468458e-02 9.96996482e-01 -1.11496983e-05 1.08557849e-01] [ 5.00984849e-04 5.00998690e-05 9.99999873e-01 3.53270554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:5.47, Y:0.11, Z:0.04 [[ 9.96945317e-01 7.80915291e-02 -1.32239862e-03 5.47262824e+00] [-7.80916366e-02 9.96946185e-01 -2.97869719e-05 1.12361151e-01] [ 1.31603415e-03 1.32964255e-04 9.99999125e-01 3.58937609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.161400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:5.50, Y:0.12, Z:0.04 [[ 9.97026616e-01 7.70485989e-02 -1.20041824e-03 5.50223397e+00] [-7.70486870e-02 9.97027331e-01 -2.72585529e-05 1.15103227e-01] [ 1.19474956e-03 1.19668152e-04 9.99999279e-01 3.65985987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.191400513 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:5.53, Y:0.12, Z:0.04 [[ 9.97170327e-01 7.51743482e-02 -3.95333228e-04 5.53140505e+00] [-7.51743576e-02 9.97170405e-01 -8.88654367e-06 1.19009288e-01] [ 3.93546554e-04 3.85803191e-05 9.99999922e-01 3.71504395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.56, Y:0.12, Z:0.04 [[ 9.97330398e-01 7.30183473e-02 6.30525952e-04 5.55992376e+00] [-7.30183711e-02 9.97330596e-01 1.46519360e-05 1.22912239e-01] [-6.27772963e-04 -6.06527990e-05 9.99999801e-01 3.80528286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.13, Z:0.04 [[ 9.97673812e-01 6.81195644e-02 2.58642506e-03 5.58891538e+00] [-6.81199456e-02 9.97677137e-01 5.95036945e-05 1.28093268e-01] [-2.57636379e-03 -2.35552412e-04 9.99996653e-01 3.88199718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2814005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.13, Z:0.04 [[ 9.97824728e-01 6.58665748e-02 2.72134755e-03 5.61937400e+00] [-6.58669879e-02 9.97828410e-01 6.23780368e-05 1.30003122e-01] [-2.71132927e-03 -2.41489314e-04 9.99996295e-01 3.89901495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.65, Y:0.13, Z:0.04 [[ 9.97944349e-01 6.40508503e-02 2.13653491e-03 5.64935926e+00] [-6.40511006e-02 9.97946619e-01 4.88748621e-05 1.32382767e-01] [-2.12901731e-03 -1.85621805e-04 9.99997716e-01 3.90760232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:0.14, Z:0.04 [[ 9.98023452e-01 6.28076363e-02 2.09519516e-03 5.67871825e+00] [-6.28078746e-02 9.98025635e-01 4.80990721e-05 1.35102601e-01] [-2.08803749e-03 -1.79598757e-04 9.99997804e-01 3.97720507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.71, Y:0.14, Z:0.04 [[ 9.98052457e-01 6.23264039e-02 2.59096623e-03 5.70879087e+00] [-6.23267666e-02 9.98055795e-01 5.93894881e-05 1.37861420e-01] [-2.58222733e-03 -2.20760372e-04 9.99996642e-01 4.03361199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:5.74, Y:0.14, Z:0.04 [[ 9.98039403e-01 6.24615927e-02 3.98738446e-03 5.73888057e+00] [-6.24624537e-02 9.98047310e-01 9.16436801e-05 1.40114886e-01] [-3.97387412e-03 -3.40525821e-04 9.99992046e-01 4.13565333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.77, Y:0.14, Z:0.04 [[ 9.97950711e-01 6.35817874e-02 7.19271809e-03 5.76892270e+00] [-6.35846149e-02 9.97976437e-01 1.64880751e-04 1.42746197e-01] [-7.16767976e-03 -6.21889072e-04 9.99974118e-01 4.32470911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:5.80, Y:0.14, Z:0.04 [[ 9.97899848e-01 6.43224327e-02 7.64970767e-03 5.80001288e+00] [-6.43256434e-02 9.97928946e-01 1.74156233e-04 1.44918558e-01] [-7.62266256e-03 -6.65862846e-04 9.99970725e-01 4.37668531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.491400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.83, Y:0.15, Z:0.04 [[ 9.97813561e-01 6.57038992e-02 7.14813583e-03 5.83142196e+00] [-6.57067272e-02 9.97838965e-01 1.61253684e-04 1.47604384e-01] [-7.12209347e-03 -6.30581724e-04 9.99974439e-01 4.34755078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:5.86, Y:0.15, Z:0.04 [[ 9.97626949e-01 6.86444894e-02 5.32952700e-03 5.86393192e+00] [-6.86460970e-02 9.97641067e-01 1.19080373e-04 1.52141204e-01] [-5.30878079e-03 -4.84649016e-04 9.99985791e-01 4.26363551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.89, Y:0.16, Z:0.04 [[ 9.97547046e-01 6.98579678e-02 4.44472640e-03 5.89480485e+00] [-6.98591016e-02 9.97556863e-01 1.00152296e-04 1.55047607e-01] [-4.42687089e-03 -4.10411220e-04 9.99990117e-01 4.28916971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:0.16, Z:0.04 [[ 9.97454998e-01 7.11853110e-02 4.02230917e-03 5.92500627e+00] [-7.11862502e-02 9.97463037e-01 9.06340372e-05 1.58073352e-01] [-4.00565291e-03 -3.76736480e-04 9.99991906e-01 4.26281932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6114005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.16, Z:0.04 [[ 9.97383203e-01 7.22116332e-02 3.49674001e-03 5.95393362e+00] [-7.22123497e-02 9.97389277e-01 7.89041529e-05 1.61669388e-01] [-3.48191319e-03 -3.31205489e-04 9.99993883e-01 4.25981362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.16, Z:0.04 [[ 9.97324290e-01 7.30664728e-02 2.35590137e-03 5.98255767e+00] [-7.30668012e-02 9.97327048e-01 5.35139964e-05 1.64805544e-01] [-2.34569408e-03 -2.25508986e-04 9.99997223e-01 4.24332720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.17, Z:0.04 [[ 9.97307639e-01 7.33238263e-02 1.04393154e-03 6.01109215e+00] [-7.33238911e-02 9.97308180e-01 2.39259943e-05 1.68261842e-01] [-1.03936712e-03 -1.00406699e-04 9.99999455e-01 4.21188961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.701400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.04, Y:0.17, Z:0.04 [[ 9.97274364e-01 7.37798128e-02 -6.18649890e-04 6.03973076e+00] [-7.37798353e-02 9.97274554e-01 -1.37394372e-05 1.74787071e-01] [ 6.15950099e-04 5.93458755e-05 9.99999809e-01 4.19807610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:0.18, Z:0.04 [[ 9.97281683e-01 7.36814414e-02 -5.38214961e-04 6.06835457e+00] [-7.36814584e-02 9.97281827e-01 -1.19319353e-05 1.78273969e-01] [ 5.35872838e-04 5.15559638e-05 9.99999855e-01 4.26609976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.10, Y:0.18, Z:0.04 [[ 9.97317814e-01 7.31922862e-02 -2.57599097e-04 6.09736978e+00] [-7.31922900e-02 9.97317847e-01 -5.56570894e-06 1.81530078e-01] [ 2.56500810e-04 2.44050485e-05 9.99999967e-01 4.26464890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:6.13, Y:0.19, Z:0.04 [[ 9.97417795e-01 7.18173154e-02 -1.22518773e-04 6.12551769e+00] [-7.18173163e-02 9.97417803e-01 -2.39318903e-06 1.86289617e-01] [ 1.22030533e-04 1.11859788e-05 9.99999992e-01 4.24051191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8214005129999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.15, Y:0.19, Z:0.04 [[ 9.97481534e-01 7.09250071e-02 -4.82197887e-04 6.15427312e+00] [-7.09250204e-02 9.97481650e-01 -1.05696417e-05 1.89064203e-01] [ 4.80233892e-04 4.47429173e-05 9.99999884e-01 4.23938866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.18, Y:0.19, Z:0.04 [[ 9.97548052e-01 6.99692735e-02 -1.47821699e-03 6.18233774e+00] [-6.99693994e-02 9.97549138e-01 -3.35665361e-05 1.91425929e-01] [ 1.47224545e-03 1.36914187e-04 9.99998907e-01 4.14600839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.21, Y:0.19, Z:0.04 [[ 9.97635548e-01 6.86734251e-02 -2.69701915e-03 6.21072294e+00] [-6.86738410e-02 9.97639163e-01 -6.18158551e-05 1.93244311e-01] [ 2.68640682e-03 2.46884359e-04 9.99996361e-01 4.13723187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.911400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.24, Y:0.19, Z:0.04 [[ 9.97719743e-01 6.74324964e-02 -2.85884602e-03 6.23911382e+00] [-6.74329591e-02 9.97723805e-01 -6.56686452e-05 1.94884393e-01] [ 2.84791053e-03 2.58299351e-04 9.99995911e-01 4.13237774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.20, Z:0.04 [[ 9.97877951e-01 6.50885589e-02 -1.75328709e-03 6.26643843e+00] [-6.50887292e-02 9.97879480e-01 -4.01864154e-05 1.97564913e-01] [ 1.74695353e-03 1.54220366e-04 9.99998462e-01 4.27763986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.29, Y:0.20, Z:0.04 [[ 9.97939490e-01 6.41504330e-02 -1.22304633e-03 6.29486596e+00] [-6.41505152e-02 9.97940234e-01 -2.80516802e-05 1.98601383e-01] [ 1.21872762e-03 1.06452932e-04 9.99999252e-01 4.31866496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:0.20, Z:0.04 [[ 9.97981318e-01 6.35040015e-02 -7.28125496e-04 6.32248044e+00] [-6.35040303e-02 9.97981582e-01 -1.65459499e-05 1.98990180e-01] [ 7.25605100e-04 6.27514525e-05 9.99999735e-01 4.37601008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0314005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.20, Z:0.04 [[ 9.97998247e-01 6.32415887e-02 -2.11324494e-05 6.35143367e+00] [-6.32415887e-02 9.97998247e-01 -1.88099850e-07 1.99573485e-01] [ 2.10782517e-05 1.52417299e-06 1.00000000e+00 4.42481938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:0.20, Z:0.04 [[ 9.97995745e-01 6.32771169e-02 7.06044746e-04 6.38035177e+00] [-6.32771445e-02 9.97995993e-01 1.67862119e-05 2.01097369e-01] [-7.03567645e-04 -6.14290635e-05 9.99999751e-01 4.47102897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.41, Y:0.21, Z:0.05 [[ 9.97864377e-01 6.52838545e-02 2.16885501e-03 6.40835667e+00] [-6.52841187e-02 9.97866715e-01 5.11804239e-05 2.05802343e-01] [-2.16088697e-03 -1.92662910e-04 9.99997647e-01 4.58879907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:0.21, Z:0.05 [[ 9.97785636e-01 6.64901351e-02 1.69910406e-03 6.43573340e+00] [-6.64902993e-02 9.97787071e-01 4.02667948e-05 2.07930067e-01] [-1.69266672e-03 -1.53151567e-04 9.99998556e-01 4.59275793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.46, Y:0.21, Z:0.05 [[ 9.97731553e-01 6.73157586e-02 5.80943014e-04 6.46435580e+00] [-6.73157781e-02 9.97731720e-01 1.39606202e-05 2.09687590e-01] [-5.78685503e-04 -5.30355823e-05 9.99999831e-01 4.56625362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.49, Y:0.21, Z:0.05 [[ 9.97702754e-01 6.77411472e-02 5.93036232e-04 6.49238962e+00] [-6.77411676e-02 9.97702929e-01 1.43527080e-05 2.10662049e-01] [-5.90701716e-04 -5.44927030e-05 9.99999824e-01 4.50401961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:0.21, Z:0.05 [[ 9.97737362e-01 6.72129642e-02 1.60412228e-03 6.52025761e+00] [-6.72131119e-02 9.97738641e-01 3.82717782e-05 2.11321915e-01] [-1.59792242e-03 -1.46003233e-04 9.99998713e-01 4.59163312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:0.21, Z:0.05 [[ 9.97808096e-01 6.61182055e-02 2.71790878e-03 6.54931136e+00] [-6.61186249e-02 9.97811767e-01 6.46629438e-05 2.12233639e-01] [-2.70768597e-03 -2.44225600e-04 9.99996304e-01 4.61484609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:0.21, Z:0.05 [[ 9.97913855e-01 6.44887025e-02 3.02406377e-03 6.57782976e+00] [-6.44892147e-02 9.97918401e-01 7.20571646e-05 2.13286453e-01] [-3.01312201e-03 -2.66926341e-04 9.99995425e-01 4.62726947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:0.21, Z:0.05 [[ 9.98051727e-01 6.23421779e-02 2.49047905e-03 6.60632944e+00] [-6.23425191e-02 9.98054812e-01 5.95178903e-05 2.14097325e-01] [-2.48192413e-03 -2.14664671e-04 9.99996897e-01 4.64292712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:0.21, Z:0.05 [[ 9.98361077e-01 5.72147594e-02 1.27707292e-03 6.63398198e+00] [-5.72148454e-02 9.98361889e-01 3.08202170e-05 2.12910829e-01] [-1.27321756e-03 -1.03837234e-04 9.99999184e-01 4.60129823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3614005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.21, Z:0.05 [[ 9.98511779e-01 5.45103168e-02 1.68896096e-03 6.66311543e+00] [-5.45104630e-02 9.98513199e-01 4.06376461e-05 2.11923606e-01] [-1.68423464e-03 -1.32643212e-04 9.99998573e-01 4.62460608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:0.21, Z:0.05 [[ 9.98625649e-01 5.23401801e-02 2.70532522e-03 6.69151248e+00] [-5.23405472e-02 9.98629292e-01 6.50434042e-05 2.10653788e-01] [-2.69821263e-03 -2.06552214e-04 9.99996338e-01 4.72046593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:0.21, Z:0.05 [[ 9.98724858e-01 5.03638481e-02 3.48436922e-03 6.72104782e+00] [-5.03644447e-02 9.98730903e-01 8.36233863e-05 2.09926914e-01] [-3.47573562e-03 -2.59005075e-04 9.99993926e-01 4.86109958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.75, Y:0.21, Z:0.05 [[ 9.98807374e-01 4.86682210e-02 3.90310286e-03 6.75067245e+00] [-4.86689570e-02 9.98814960e-01 9.37529202e-05 2.08696534e-01] [-3.89391474e-03 -2.83601053e-04 9.99992378e-01 5.01134448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:6.78, Y:0.21, Z:0.05 [[ 9.98811057e-01 4.86254501e-02 3.46967865e-03 6.78025887e+00] [-4.86260314e-02 9.98817051e-01 8.33229960e-05 2.08343697e-01] [-3.46152258e-03 -2.51940632e-04 9.99993977e-01 5.04931390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:6.81, Y:0.21, Z:0.05 [[ 9.98804726e-01 4.87406692e-02 3.66959174e-03 6.81031759e+00] [-4.87413208e-02 9.98811432e-01 8.82851686e-05 2.07313698e-01] [-3.66092710e-03 -2.67040392e-04 9.99993263e-01 5.01733153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:0.21, Z:0.05 [[ 9.98816453e-01 4.84727210e-02 4.01094118e-03 6.84111102e+00] [-4.84734966e-02 9.98824464e-01 9.63289601e-05 2.06151864e-01] [-4.00155685e-03 -2.90639294e-04 9.99991952e-01 5.09860085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5714005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:0.21, Z:0.05 [[ 9.98858192e-01 4.76105609e-02 3.94296606e-03 6.87072209e+00] [-4.76113042e-02 9.98865934e-01 9.48214123e-05 2.05657610e-01] [-3.93397998e-03 -2.82442901e-04 9.99992222e-01 5.14315049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.90, Y:0.21, Z:0.05 [[ 9.98922612e-01 4.62991790e-02 3.16249944e-03 6.90115629e+00] [-4.62996505e-02 9.98927593e-01 7.59907617e-05 2.05675585e-01] [-3.15558964e-03 -2.22331509e-04 9.99994996e-01 5.17481916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.93, Y:0.21, Z:0.05 [[ 9.98924443e-01 4.62596602e-02 3.16249040e-03 6.93130665e+00] [-4.62601327e-02 9.98929424e-01 7.63666464e-05 2.06443168e-01] [-3.15557202e-03 -2.22581735e-04 9.99994996e-01 5.19394281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:0.21, Z:0.05 [[ 9.99089691e-01 4.25948366e-02 2.33871142e-03 6.96225223e+00] [-4.25950846e-02 9.99092416e-01 5.62887830e-05 2.05186028e-01] [-2.33419123e-03 -1.55855153e-04 9.99997264e-01 5.19297339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:0.20, Z:0.05 [[ 9.99174578e-01 4.05390118e-02 2.59831874e-03 6.99210758e+00] [-4.05393112e-02 9.99177942e-01 6.26459247e-05 2.04631872e-01] [-2.59364317e-03 -1.67928267e-04 9.99996622e-01 5.23362361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:0.20, Z:0.05 [[ 9.99238003e-01 3.88810858e-02 3.41680136e-03 7.02304712e+00] [-3.88815935e-02 9.99243822e-01 8.22781755e-05 2.04395015e-01] [-3.41101859e-03 -2.15066162e-04 9.99994159e-01 5.26298741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:0.20, Z:0.05 [[ 9.99274882e-01 3.78543353e-02 4.09378536e-03 7.05437676e+00] [-3.78550546e-02 9.99283236e-01 9.83317031e-05 2.04033477e-01] [-4.08712880e-03 -2.53230869e-04 9.99991616e-01 5.28331569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7814005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.20, Z:0.05 [[ 9.99351565e-01 3.58816501e-02 2.99272789e-03 7.08469063e+00] [-3.58820254e-02 9.99356030e-01 7.17734713e-05 2.04311188e-01] [-2.98822532e-03 -1.79112069e-04 9.99995519e-01 5.21002301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:0.21, Z:0.05 [[ 9.99371635e-01 3.53633618e-02 2.40149892e-03 7.11509798e+00] [-3.53636022e-02 9.99374511e-01 5.77149898e-05 2.05065526e-01] [-2.39795582e-03 -1.42604376e-04 9.99997115e-01 5.18398051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:0.21, Z:0.05 [[ 9.99383970e-01 3.50271109e-02 2.18658150e-03 7.14446287e+00] [-3.50273096e-02 9.99386354e-01 5.26531842e-05 2.05764834e-01] [-2.18339543e-03 -1.29210816e-04 9.99997608e-01 5.19940372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:0.21, Z:0.05 [[ 9.99398804e-01 3.45548720e-02 2.82674145e-03 7.17440478e+00] [-3.45552023e-02 9.99402788e-01 6.80776085e-05 2.05932219e-01] [-2.82270088e-03 -1.65715303e-04 9.99996002e-01 5.23587748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:0.21, Z:0.05 [[ 9.99426977e-01 3.36619340e-02 3.54856293e-03 7.20516017e+00] [-3.36624486e-02 9.99433256e-01 8.53672909e-05 2.05659968e-01] [-3.54367817e-03 -2.04771691e-04 9.99993700e-01 5.31860178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:0.20, Z:0.05 [[ 9.99482816e-01 3.18951332e-02 4.09899997e-03 7.23655167e+00] [-3.18958039e-02 9.99491195e-01 9.83534881e-05 2.04919310e-01] [-4.09377738e-03 -2.29043520e-04 9.99991594e-01 5.34298351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:0.20, Z:0.05 [[ 9.99642208e-01 2.64362564e-02 4.07200445e-03 7.26771658e+00] [-2.64368671e-02 9.99650480e-01 9.62122143e-05 2.03757473e-01] [-4.06803771e-03 -2.03828831e-04 9.99991705e-01 5.37973851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991400512999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.30, Y:0.20, Z:0.05 [[ 9.99721725e-01 2.33230365e-02 3.53676217e-03 7.29999745e+00] [-2.33234748e-02 9.99727967e-01 8.27412720e-05 2.03687123e-01] [-3.53387028e-03 -1.65207831e-04 9.99993742e-01 5.37767189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:0.20, Z:0.05 [[ 9.99792313e-01 2.01111928e-02 3.29701483e-03 7.33095275e+00] [-2.01115546e-02 9.99797739e-01 7.66201951e-05 2.02612211e-01] [-3.29480705e-03 -1.42912376e-04 9.99994562e-01 5.33557796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.20, Z:0.05 [[ 9.99857518e-01 1.66502195e-02 2.77748186e-03 7.36315558e+00] [-1.66504609e-02 9.99861369e-01 6.38376460e-05 2.00805511e-01] [-2.77603390e-03 -1.10074904e-04 9.99996141e-01 5.31511390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.20, Z:0.05 [[ 9.99953426e-01 9.19033624e-03 2.94676159e-03 7.39485597e+00] [-9.19057443e-03 9.99957764e-01 6.72989176e-05 1.96343415e-01] [-2.94601863e-03 -9.43782150e-05 9.99995656e-01 5.36673170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1114005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:0.20, Z:0.05 [[ 9.99978030e-01 5.84704789e-03 3.12270494e-03 7.42743673e+00] [-5.84729770e-03 9.99982902e-01 7.08756081e-05 1.95250194e-01] [-3.12223713e-03 -8.91334363e-05 9.99995122e-01 5.39363203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.46, Y:0.19, Z:0.05 [[ 9.99990689e-01 3.02910789e-03 3.07362499e-03 7.45992458e+00] [-3.02933495e-03 9.99995409e-01 6.92199357e-05 1.94507836e-01] [-3.07340121e-03 -7.85303307e-05 9.99995274e-01 5.40324738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:0.19, Z:0.05 [[ 9.99996897e-01 -8.78800765e-04 2.33091334e-03 7.49240732e+00] [ 8.78682534e-04 9.99999613e-01 5.17465681e-05 1.91839146e-01] [-2.33095791e-03 -4.96982747e-05 9.99997282e-01 5.39941735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:0.19, Z:0.05 [[ 9.99996249e-01 -2.12153057e-03 1.73222214e-03 7.52508846e+00] [ 2.12146801e-03 9.99997749e-01 3.79531102e-05 1.90653681e-01] [-1.73229876e-03 -3.42781140e-05 9.99998499e-01 5.42109269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.56, Y:0.19, Z:0.05 [[ 9.99992738e-01 -3.62905817e-03 1.16362784e-03 7.55681815e+00] [ 3.62903159e-03 9.99993415e-01 2.49478917e-05 1.89632162e-01] [-1.16371072e-03 -2.07248683e-05 9.99999323e-01 5.41513713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.59, Y:0.19, Z:0.05 [[ 9.99985034e-01 -5.31634565e-03 1.29188171e-03 7.58778736e+00] [ 5.31631302e-03 9.99985868e-01 2.86873553e-05 1.88847610e-01] [-1.29201597e-03 -2.18188784e-05 9.99999165e-01 5.42999928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.62, Y:0.19, Z:0.06 [[ 9.99974262e-01 -6.83440296e-03 2.18302036e-03 7.61853919e+00] [ 6.83431353e-03 9.99976645e-01 4.84242157e-05 1.88810756e-01] [-2.18330032e-03 -3.35035238e-05 9.99997616e-01 5.50181088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3214005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:0.19, Z:0.06 [[ 9.99954495e-01 -8.84205998e-03 3.58119130e-03 7.65088990e+00] [ 8.84183249e-03 9.99960907e-01 7.93518145e-05 1.89020884e-01] [-3.58175293e-03 -4.76839100e-05 9.99993584e-01 5.53058463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:0.19, Z:0.06 [[ 9.99950713e-01 -9.30761857e-03 3.45536288e-03 7.68308450e+00] [ 9.30741024e-03 9.99956682e-01 7.63657594e-05 1.89645582e-01] [-3.45592399e-03 -4.42015157e-05 9.99994027e-01 5.61009816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:0.19, Z:0.06 [[ 9.99952344e-01 -9.32182510e-03 2.90072727e-03 7.71521726e+00] [ 9.32167892e-03 9.99956550e-01 6.39084407e-05 1.90670476e-01] [-2.90119698e-03 -3.68657468e-05 9.99995791e-01 5.66349430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:0.19, Z:0.06 [[ 9.99955051e-01 -9.18339288e-03 2.35836830e-03 7.74622411e+00] [ 9.18329604e-03 9.99957831e-01 5.18913573e-05 1.91412643e-01] [-2.35874539e-03 -3.02314306e-05 9.99997218e-01 5.73141833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:0.19, Z:0.06 [[ 9.99958508e-01 -8.86649279e-03 2.08978252e-03 7.77737129e+00] [ 8.86641627e-03 9.99960692e-01 4.58806342e-05 1.91844687e-01] [-2.09010718e-03 -2.73498488e-05 9.99997815e-01 5.78563344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:0.19, Z:0.06 [[ 9.99966609e-01 -7.71104309e-03 2.70580345e-03 7.80896974e+00] [ 7.71091035e-03 9.99970269e-01 5.94883360e-05 1.93758758e-01] [-2.70618172e-03 -3.86221418e-05 9.99996338e-01 5.79213891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:0.20, Z:0.06 [[ 9.99968655e-01 -7.13631436e-03 3.42957515e-03 7.84158590e+00] [ 7.13609872e-03 9.99974535e-01 7.51089282e-05 1.96523357e-01] [-3.43002381e-03 -5.06327871e-05 9.99994116e-01 5.81780184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5314005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:0.20, Z:0.06 [[ 9.99967703e-01 -6.96680769e-03 4.00706170e-03 7.87307502e+00] [ 6.96651394e-03 9.99975730e-01 8.72614441e-05 1.99678472e-01] [-4.00757238e-03 -5.93433746e-05 9.99991968e-01 5.84608804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.90, Y:0.20, Z:0.06 [[ 9.99966450e-01 -7.11033265e-03 4.06707464e-03 7.90419991e+00] [ 7.11003056e-03 9.99974719e-01 8.87296815e-05 2.02695554e-01] [-4.06760272e-03 -5.98096797e-05 9.99991725e-01 5.82773026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:0.20, Z:0.06 [[ 9.99961789e-01 -7.52542492e-03 4.44852089e-03 7.93644497e+00] [ 7.52506883e-03 9.99971682e-01 9.67794231e-05 2.04846097e-01] [-4.44912322e-03 -6.33002991e-05 9.99990101e-01 5.90916927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.97, Y:0.21, Z:0.06 [[ 9.99919649e-01 -1.10168452e-02 6.27099473e-03 7.96979712e+00] [ 1.10162093e-02 9.99939310e-01 1.35935838e-04 2.06768532e-01] [-6.27211173e-03 -6.68423247e-05 9.99980328e-01 5.91682879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.21, Z:0.06 [[ 9.99875962e-01 -1.40343658e-02 7.14817898e-03 8.00150465e+00] [ 1.40336187e-02 9.99901512e-01 1.54663635e-04 2.07640574e-01] [-7.14964558e-03 -5.43296327e-05 9.99974439e-01 5.86922637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:0.21, Z:0.06 [[ 9.99815439e-01 -1.77547343e-02 7.33870597e-03 8.03429833e+00] [ 1.77540515e-02 9.99842372e-01 1.58174883e-04 2.08884755e-01] [-7.34035754e-03 -2.78539264e-05 9.99973059e-01 5.83144627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:0.21, Z:0.06 [[ 9.99636402e-01 -2.60885491e-02 6.81549962e-03 8.06705316e+00] [ 2.60881689e-02 9.99659635e-01 1.44696910e-04 2.10676484e-01] [-6.81695480e-03 3.31596065e-05 9.99976764e-01 5.77347751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.21, Z:0.06 [[ 9.99527653e-01 -3.01738659e-02 5.83172296e-03 8.09895218e+00] [ 3.01736551e-02 9.99544664e-01 1.24140892e-04 2.11271556e-01] [-5.83281338e-03 5.18821429e-05 9.99982988e-01 5.81744500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:0.21, Z:0.06 [[ 9.99418137e-01 -3.37588273e-02 4.87123791e-03 8.13007407e+00] [ 3.37587232e-02 9.99430006e-01 1.03611701e-04 2.10751927e-01] [-4.87195915e-03 6.08953589e-05 9.99988130e-01 5.83466389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:0.21, Z:0.06 [[ 9.99315046e-01 -3.67669463e-02 4.19877436e-03 8.16253753e+00] [ 3.67668968e-02 9.99323865e-01 8.90082147e-05 2.09424238e-01] [-4.19920798e-03 6.54286551e-05 9.99991181e-01 5.88065835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:8.19, Y:0.21, Z:0.06 [[ 9.99111160e-01 -4.19917679e-02 3.68532339e-03 8.19467666e+00] [ 4.19917661e-02 9.99117954e-01 7.78951662e-05 2.05680121e-01] [-3.68534372e-03 7.69273077e-05 9.99993206e-01 5.93116867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8614005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:0.20, Z:0.06 [[ 9.99015425e-01 -4.41505925e-02 4.34815609e-03 8.22539404e+00] [ 4.41506106e-02 9.99024882e-01 9.18824568e-05 2.04329441e-01] [-4.34797279e-03 1.00181755e-04 9.99990543e-01 5.96216960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:0.20, Z:0.06 [[ 9.98942833e-01 -4.56747651e-02 5.19918903e-03 8.25789609e+00] [ 4.56748131e-02 9.98956355e-01 1.09577192e-04 2.03397224e-01] [-5.19876784e-03 1.28010636e-04 9.99986478e-01 5.98357414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:0.20, Z:0.06 [[ 9.98908796e-01 -4.63412927e-02 5.80531039e-03 8.29026347e+00] [ 4.63413651e-02 9.98925654e-01 1.22103866e-04 2.02415413e-01] [-5.80473193e-03 1.47055382e-04 9.99983142e-01 5.99356217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:0.20, Z:0.06 [[ 9.98954330e-01 -4.54760588e-02 4.70889965e-03 8.32202368e+00] [ 4.54761000e-02 9.98965422e-01 9.83906154e-05 1.98792786e-01] [-4.70850235e-03 1.15854660e-04 9.99988908e-01 5.97231423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:0.20, Z:0.06 [[ 9.99014521e-01 -4.42567919e-02 3.36509363e-03 8.35375725e+00] [ 4.42568055e-02 9.99020185e-01 7.04449354e-05 1.97309806e-01] [-3.36491412e-03 7.85527808e-05 9.99994336e-01 5.99248158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:0.20, Z:0.06 [[ 9.99085006e-01 -4.26969158e-02 2.47450627e-03 8.38388857e+00] [ 4.26969184e-02 9.99088069e-01 5.18082624e-05 1.96181001e-01] [-2.47446174e-03 5.38929339e-05 9.99996937e-01 6.01277968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:0.20, Z:0.06 [[ 9.99155425e-01 -4.10282039e-02 2.26364639e-03 8.41478734e+00] [ 4.10282016e-02 9.99157988e-01 4.74642432e-05 1.95678997e-01] [-2.26368774e-03 4.54491842e-05 9.99997437e-01 6.03777146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:0.20, Z:0.06 [[ 9.99216982e-01 -3.94717792e-02 2.72064667e-03 8.44477885e+00] [ 3.94717705e-02 9.99220684e-01 5.69389087e-05 1.95289942e-01] [-2.72077390e-03 5.04944162e-05 9.99996297e-01 6.13705082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.19, Z:0.06 [[ 9.99276226e-01 -3.78891148e-02 3.38227580e-03 8.47616553e+00] [ 3.78890927e-02 9.99281948e-01 7.06475632e-05 1.94872593e-01] [-3.38252392e-03 5.75549310e-05 9.99994278e-01 6.25656111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.19, Z:0.06 [[ 9.99397519e-01 -3.45316666e-02 3.48752726e-03 8.50688235e+00] [ 3.45316225e-02 9.99403603e-01 7.28854872e-05 1.94717788e-01] [-3.48796417e-03 4.75883997e-05 9.99993916e-01 6.31154079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.54, Y:0.20, Z:0.06 [[ 9.99463139e-01 -3.25404214e-02 3.81494949e-03 8.53797358e+00] [ 3.25403551e-02 9.99470419e-01 7.94513669e-05 1.95239401e-01] [-3.81551455e-03 4.47310985e-05 9.99992720e-01 6.31668655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:0.20, Z:0.06 [[ 9.99520323e-01 -3.05014140e-02 5.36545779e-03 8.56925288e+00] [ 3.05012534e-02 9.99534722e-01 1.11774465e-04 1.95927309e-01] [-5.36637064e-03 5.19323386e-05 9.99985600e-01 6.39808730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:0.20, Z:0.07 [[ 9.99649914e-01 -2.48640258e-02 9.04599007e-03 8.60027889e+00] [ 2.48633412e-02 9.99690842e-01 1.88147383e-04 1.95733098e-01] [-9.04787153e-03 3.68320225e-05 9.99959066e-01 6.66577202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:0.20, Z:0.07 [[ 9.99732713e-01 -2.13249618e-02 8.93018775e-03 8.63220368e+00] [ 2.13241580e-02 9.99772597e-01 1.85223842e-04 1.96810327e-01] [-8.93210689e-03 5.25440055e-06 9.99960108e-01 6.70656237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:0.20, Z:0.07 [[ 9.99815426e-01 -1.77094629e-02 7.44904543e-03 8.66398506e+00] [ 1.77088065e-02 9.99843175e-01 1.54075335e-04 1.98746135e-01] [-7.45060583e-03 -2.21331928e-05 9.99972244e-01 6.66785745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:0.20, Z:0.07 [[ 9.99931103e-01 -1.04785342e-02 5.29045585e-03 8.69526898e+00] [ 1.04781030e-02 9.99945097e-01 1.09219158e-04 2.03301106e-01] [-5.29130984e-03 -5.37776914e-05 9.99985999e-01 6.50598028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:0.21, Z:0.07 [[ 9.99962562e-01 -6.82363739e-03 5.32095897e-03 8.72649744e+00] [ 6.82315045e-03 9.99976716e-01 1.09661249e-04 2.05400407e-01] [-5.32158337e-03 -7.33514400e-05 9.99985838e-01 6.54083380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.21, Z:0.07 [[ 9.99976982e-01 -3.40411891e-03 5.86913082e-03 8.75820888e+00] [ 3.40346959e-03 9.99994201e-01 1.20616782e-04 2.07369497e-01] [-5.86950738e-03 -1.00638597e-04 9.99982769e-01 6.59945344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:0.21, Z:0.07 [[ 9.99978865e-01 -3.55712219e-04 6.49174558e-03 8.79047863e+00] [ 3.54855465e-04 9.99999928e-01 1.33127272e-04 2.09319738e-01] [-6.49179247e-03 -1.30820827e-04 9.99978920e-01 6.64968147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:0.21, Z:0.07 [[ 9.99973663e-01 2.06196885e-03 6.95850835e-03 8.82335897e+00] [-2.06300720e-03 9.99997862e-01 1.42046003e-04 2.11216648e-01] [-6.95820058e-03 -1.56397715e-04 9.99975779e-01 6.67412887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.21, Z:0.07 [[ 9.99968909e-01 3.99707479e-03 6.79743726e-03 8.85554503e+00] [-3.99810251e-03 9.99991998e-01 1.37610346e-04 2.12832158e-01] [-6.79683283e-03 -1.64782918e-04 9.99976888e-01 6.62271153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:0.21, Z:0.06 [[ 9.99962662e-01 6.79646786e-03 5.33683479e-03 8.88847533e+00] [-6.79713986e-03 9.99976893e-01 1.07789726e-04 2.14184070e-01] [-5.33597889e-03 -1.44060914e-04 9.99985753e-01 6.49376930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:0.21, Z:0.06 [[ 9.99955024e-01 8.24939118e-03 4.67947881e-03 8.92126021e+00] [-8.24991558e-03 9.99965965e-01 9.27721972e-05 2.14981616e-01] [-4.67855423e-03 -1.31373330e-04 9.99989047e-01 6.48690369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:0.22, Z:0.07 [[ 9.99954313e-01 8.33507409e-03 4.67947289e-03 8.95476554e+00] [-8.33560079e-03 9.99965254e-01 9.30646334e-05 2.15524791e-01] [-4.67853460e-03 -1.32066600e-04 9.99989047e-01 6.50814692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:0.22, Z:0.06 [[ 9.99936327e-01 1.02838668e-02 4.64581349e-03 8.98711516e+00] [-1.02844002e-02 9.99947110e-01 9.09319265e-05 2.16165717e-01] [-4.64463264e-03 -1.38705542e-04 9.99989204e-01 6.48723165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:0.22, Z:0.07 [[ 9.99903114e-01 1.29854677e-02 5.01398724e-03 9.01983397e+00] [-1.29861177e-02 9.99915672e-01 9.71154298e-05 2.16865011e-01] [-5.01230333e-03 -1.62218249e-04 9.99987425e-01 6.53297471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:0.22, Z:0.07 [[ 9.99797630e-01 1.91018549e-02 6.31020362e-03 9.05175843e+00] [-1.91030113e-02 9.99817513e-01 1.23027607e-04 2.18686401e-01] [-6.30670204e-03 -2.43546601e-04 9.99980083e-01 6.58009236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:0.22, Z:0.07 [[ 9.99733150e-01 2.23772156e-02 5.73494878e-03 9.08509410e+00] [-2.23782134e-02 9.99749570e-01 1.09872869e-04 2.19166114e-01] [-5.73105393e-03 -2.38181457e-04 9.99983549e-01 6.57109355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:0.22, Z:0.07 [[ 9.99660565e-01 2.56782130e-02 4.40267613e-03 9.11782219e+00] [-2.56788281e-02 9.99670241e-01 8.32425826e-05 2.19412761e-01] [-4.39908679e-03 -1.96269891e-04 9.99990305e-01 6.56241058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:0.22, Z:0.07 [[ 9.99568163e-01 2.92305253e-02 3.01051607e-03 9.14937522e+00] [-2.92308282e-02 9.99572686e-01 5.66405308e-05 2.19547462e-01] [-3.00757400e-03 -1.44615949e-04 9.99995467e-01 6.59167620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.18, Y:0.22, Z:0.07 [[ 9.99397658e-01 3.46965659e-02 6.84836751e-04 9.17928673e+00] [-3.46965829e-02 9.99397892e-01 1.29728447e-05 2.20608238e-01] [-6.83974292e-04 -3.67265257e-05 9.99999765e-01 6.57176293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.21, Y:0.22, Z:0.07 [[ 9.99308645e-01 3.71783847e-02 -6.09330666e-06 9.20990762e+00] [-3.71783847e-02 9.99308645e-01 -1.16080002e-07 2.21308360e-01] [ 6.08477836e-06 3.42539050e-07 1.00000000e+00 6.53499764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.24, Y:0.22, Z:0.06 [[ 9.99123554e-01 4.18551432e-02 -5.19537511e-04 9.23813563e+00] [-4.18551539e-02 9.99123689e-01 -9.68919879e-06 2.20724349e-01] [ 5.18676692e-04 3.14260292e-05 9.99999865e-01 6.46904056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:0.22, Z:0.07 [[ 9.99040811e-01 4.37876343e-02 -3.17780559e-04 9.26698269e+00] [-4.37876383e-02 9.99040861e-01 -5.85302229e-06 2.20766371e-01] [ 3.17219474e-04 1.97622683e-05 9.99999949e-01 6.54165594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881400512999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:9.30, Y:0.22, Z:0.07 [[ 9.98960857e-01 4.55740930e-02 4.57083498e-04 9.29655473e+00] [-4.55741018e-02 9.98960961e-01 8.90281320e-06 2.21286865e-01] [-4.56202833e-04 -2.97247318e-05 9.99999895e-01 6.59166632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:9.33, Y:0.22, Z:0.07 [[ 9.98880229e-01 4.73040479e-02 7.84174283e-04 9.32648915e+00] [-4.73040744e-02 9.98880536e-01 1.51834438e-05 2.22552214e-01] [-7.82578189e-04 -5.22610804e-05 9.99999692e-01 6.67844956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:0.22, Z:0.07 [[ 9.98809605e-01 4.87748117e-02 6.25713589e-04 9.35483454e+00] [-4.87748289e-02 9.98809800e-01 1.21775181e-05 2.24125090e-01] [-6.24374908e-04 -4.26820953e-05 9.99999804e-01 6.73125300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:0.22, Z:0.07 [[ 9.98628250e-01 5.23575107e-02 5.56891424e-04 9.38483901e+00] [-5.23575248e-02 9.98628404e-01 1.08551528e-05 2.24204328e-01] [-5.55559245e-04 -3.99977187e-05 9.99999845e-01 6.71312363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:0.23, Z:0.07 [[ 9.98526455e-01 5.42631403e-02 6.55557631e-04 9.41377341e+00] [-5.42631603e-02 9.98526669e-01 1.27840379e-05 2.25013351e-01] [-6.53898075e-04 -4.83378288e-05 9.99999785e-01 6.71052486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:0.23, Z:0.07 [[ 9.98438786e-01 5.58513507e-02 7.85025470e-04 9.44229059e+00] [-5.58513800e-02 9.98439093e-01 1.53599560e-05 2.26307359e-01] [-7.82942244e-04 -5.91807316e-05 9.99999692e-01 6.71236692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:0.23, Z:0.07 [[ 9.98383241e-01 5.68354569e-02 7.97435340e-04 9.47045268e+00] [-5.68354874e-02 9.98383557e-01 1.56260103e-05 2.26774599e-01] [-7.95258220e-04 -6.09233731e-05 9.99999682e-01 6.73878227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:0.23, Z:0.07 [[ 9.98359258e-01 5.72564476e-02 7.00787537e-04 9.49979951e+00] [-5.72564713e-02 9.98359503e-01 1.37003266e-05 2.26664050e-01] [-6.98853465e-04 -5.38024694e-05 9.99999754e-01 6.78622710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:0.23, Z:0.07 [[ 9.98376636e-01 5.69257406e-02 1.88467196e-03 9.52915281e+00] [-5.69259106e-02 9.98378405e-01 3.66462643e-05 2.26211728e-01] [-1.87952967e-03 -1.43873442e-04 9.99998223e-01 6.85149189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.23, Z:0.07 [[ 9.98381767e-01 5.67807411e-02 3.12950179e-03 9.55919502e+00] [-5.67812091e-02 9.98386644e-01 6.08259203e-05 2.26435283e-01] [-3.12099904e-03 -2.38424385e-04 9.99995101e-01 6.89166696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:9.59, Y:0.23, Z:0.07 [[ 9.98367605e-01 5.69706259e-02 4.05881285e-03 9.58837724e+00] [-5.69714143e-02 9.98375807e-01 7.88148027e-05 2.26245308e-01] [-4.04773042e-03 -3.09922454e-04 9.99991760e-01 6.87756429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:9.62, Y:0.23, Z:0.07 [[ 9.98332586e-01 5.76154723e-02 3.53636925e-03 9.61909651e+00] [-5.76160742e-02 9.98338812e-01 6.84888884e-05 2.26125859e-01] [-3.52654866e-03 -2.72126402e-04 9.99993745e-01 6.92994786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.65, Y:0.23, Z:0.07 [[ 9.98241018e-01 5.92524208e-02 2.00525763e-03 9.64827859e+00] [-5.92526175e-02 9.98243019e-01 3.87707209e-05 2.25716332e-01] [-1.99943717e-03 -1.57519287e-04 9.99997989e-01 6.93597365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.68, Y:0.23, Z:0.07 [[ 9.98224523e-01 5.95458313e-02 1.44785261e-03 9.67787139e+00] [-5.95459345e-02 9.98225566e-01 2.82391514e-05 2.25345048e-01] [-1.44360197e-03 -1.14402750e-04 9.99998951e-01 6.99267293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.71, Y:0.22, Z:0.07 [[ 9.98244650e-01 5.92035772e-02 1.59854594e-03 9.70638793e+00] [-5.92037027e-02 9.98245922e-01 3.12940092e-05 2.24734822e-01] [-1.59388925e-03 -1.25878916e-04 9.99998722e-01 6.97370643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:0.22, Z:0.07 [[ 9.98304812e-01 5.81768022e-02 1.72128912e-03 9.73563829e+00] [-5.81769460e-02 9.98306287e-01 3.35482739e-05 2.23581323e-01] [-1.71642202e-03 -1.33630747e-04 9.99998518e-01 6.95988366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:0.22, Z:0.07 [[ 9.98462839e-01 5.54234646e-02 4.45152696e-04 9.76664765e+00] [-5.54234740e-02 9.98462938e-01 8.65672474e-06 2.20612223e-01] [-4.43988683e-04 -3.33153268e-05 9.99999901e-01 6.88191864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:0.22, Z:0.07 [[ 9.98496941e-01 5.48026465e-02 -7.27749897e-04 9.79617567e+00] [-5.48026712e-02 9.98497204e-01 -1.40206188e-05 2.19172783e-01] [ 7.25887871e-04 5.38821833e-05 9.99999735e-01 6.84493893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:0.22, Z:0.07 [[ 9.98498612e-01 5.47605999e-02 -1.34145324e-03 9.82521390e+00] [-5.47606840e-02 9.98499508e-01 -2.59934097e-05 2.17933279e-01] [ 1.33801699e-03 9.94132807e-05 9.99999100e-01 6.84929472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.22, Z:0.07 [[ 9.98468668e-01 5.53075756e-02 -1.17980341e-03 9.85371681e+00] [-5.53076409e-02 9.98469361e-01 -2.27524506e-05 2.17178056e-01] [ 1.17673917e-03 8.79697523e-05 9.99999304e-01 6.93029844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:0.22, Z:0.07 [[ 9.98312973e-01 5.80377420e-02 -1.68164203e-03 9.88263586e+00] [-5.80378789e-02 9.98314381e-01 -3.26976152e-05 2.16531361e-01] [ 1.67690973e-03 1.30241390e-04 9.99998586e-01 7.01412422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.91, Y:0.22, Z:0.07 [[ 9.98203642e-01 5.98607699e-02 -2.48558027e-03 9.91015847e+00] [-5.98610749e-02 9.98206717e-01 -4.84365820e-05 2.16696115e-01] [ 2.47822346e-03 1.97139079e-04 9.99996910e-01 7.04561424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.94, Y:0.22, Z:0.07 [[ 9.98108227e-01 6.13893180e-02 -3.36427702e-03 9.93785912e+00] [-6.13898865e-02 9.98113860e-01 -6.58852127e-05 2.15801050e-01] [ 3.35388687e-03 2.72293157e-04 9.99994339e-01 7.04072230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.97, Y:0.21, Z:0.07 [[ 9.98069847e-01 6.19751653e-02 -3.95727582e-03 9.96670781e+00] [-6.19759578e-02 9.98077640e-01 -7.78470948e-05 2.14397522e-01] [ 3.94484392e-03 3.22952797e-04 9.99992167e-01 7.04241445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.21, Z:0.07 [[ 9.98124951e-01 6.10888533e-02 -3.83850002e-03 9.99555573e+00] [-6.10895932e-02 9.98132284e-01 -7.56789503e-05 2.12207225e-01] [ 3.82670765e-03 3.10029453e-04 9.99992630e-01 7.02174731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:0.21, Z:0.07 [[ 9.98199453e-01 5.98713941e-02 -3.64251176e-03 1.00235285e+01] [-5.98720527e-02 9.98206057e-01 -7.19407485e-05 2.12795301e-01] [ 3.63167011e-03 2.89895872e-04 9.99993363e-01 7.02695751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:0.21, Z:0.07 [[ 9.98259503e-01 5.88533161e-02 -3.77516568e-03 1.00526360e+01] [-5.88540173e-02 9.98266597e-01 -7.48263268e-05 2.13449246e-01] [ 3.76421802e-03 2.96879758e-04 9.99992871e-01 7.03185828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:0.21, Z:0.07 [[ 9.98306149e-01 5.80179519e-02 -4.33023413e-03 1.00806482e+01] [-5.80188678e-02 9.98315483e-01 -8.60718850e-05 2.13744873e-01] [ 4.31794606e-03 3.37161373e-04 9.99990621e-01 7.05051688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:0.21, Z:0.07 [[ 9.98340468e-01 5.74171442e-02 -4.42521149e-03 1.01095886e+01] [-5.74180957e-02 9.98350216e-01 -8.81668570e-05 2.14742980e-01] [ 4.41284856e-03 3.42107758e-04 9.99990205e-01 7.09559265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:0.22, Z:0.07 [[ 9.98337138e-01 5.75327846e-02 -3.59691298e-03 1.01374153e+01] [-5.75334143e-02 9.98343579e-01 -7.17459895e-05 2.15474152e-01] [ 3.58682723e-03 2.78569370e-04 9.99993529e-01 7.14789961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:0.22, Z:0.07 [[ 9.98342050e-01 5.75073335e-02 -2.46118172e-03 1.01665980e+01] [-5.75076284e-02 9.98345066e-01 -4.91651929e-05 2.15707706e-01] [ 2.45428127e-03 1.90620403e-04 9.99996970e-01 7.24783580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:0.21, Z:0.07 [[ 9.98352421e-01 5.73545080e-02 -1.70420013e-03 1.01958583e+01] [-5.73546492e-02 9.98353867e-01 -3.40321350e-05 2.14953290e-01] [ 1.69944290e-03 1.31719865e-04 9.99998547e-01 7.30351021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:0.21, Z:0.07 [[ 9.98427475e-01 5.60046746e-02 -2.46023546e-03 1.02246043e+01] [-5.60049654e-02 9.98430489e-01 -4.94204304e-05 2.12657941e-01] [ 2.45360631e-03 1.87128117e-04 9.99996972e-01 7.30207157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:0.21, Z:0.07 [[ 9.98485374e-01 5.49668894e-02 -2.36623483e-03 1.02533674e+01] [-5.49671555e-02 9.98488162e-01 -4.75596617e-05 2.12193003e-01] [ 2.36004326e-03 1.77552825e-04 9.99997199e-01 7.27135360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:0.21, Z:0.07 [[ 9.98546112e-01 5.38870113e-02 -1.36086884e-03 1.02824623e+01] [-5.38870983e-02 9.98547034e-01 -2.72861467e-05 2.11388613e-01] [ 1.35742118e-03 1.00579749e-04 9.99999074e-01 7.27607419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:0.21, Z:0.07 [[ 9.98599623e-01 5.29013534e-02 -4.90125327e-04 1.03106626e+01] [-5.29013646e-02 9.98599742e-01 -9.72985925e-06 2.10448326e-01] [ 4.88924303e-04 3.56445324e-05 9.99999880e-01 7.35643970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:0.21, Z:0.07 [[ 9.98640909e-01 5.21166329e-02 -4.38341967e-04 1.03404743e+01] [-5.21166417e-02 9.98641004e-01 -8.76499923e-06 2.09336137e-01] [ 4.37289460e-04 3.15979981e-05 9.99999904e-01 7.39880340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:0.21, Z:0.07 [[ 9.98643558e-01 5.20127118e-02 -2.39207224e-03 1.03706355e+01] [-5.20129765e-02 9.98646408e-01 -4.85345455e-05 2.06229371e-01] [ 2.38630994e-03 1.72887508e-04 9.99997138e-01 7.40897875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.40, Y:0.20, Z:0.07 [[ 9.98579469e-01 5.31347850e-02 -3.96727967e-03 1.03990037e+01] [-5.31355225e-02 9.98587307e-01 -8.06586058e-05 2.04829123e-01] [ 3.95738934e-03 2.91347506e-04 9.99992127e-01 7.38380371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:0.20, Z:0.07 [[ 9.98493929e-01 5.46481434e-02 -4.84296132e-03 1.04282587e+01] [-5.46492612e-02 9.98505608e-01 -9.86624926e-05 2.03981848e-01] [ 4.83033232e-03 3.63178158e-04 9.99988268e-01 7.36381642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:0.20, Z:0.07 [[ 9.98378725e-01 5.67306668e-02 -4.64256893e-03 1.04557403e+01] [-5.67317172e-02 9.98389455e-01 -9.47640748e-05 2.03658626e-01] [ 4.62971584e-03 3.57991344e-04 9.99989219e-01 7.39373647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:0.20, Z:0.07 [[ 9.98216197e-01 5.95637649e-02 -4.07209571e-03 1.04848009e+01] [-5.95645973e-02 9.98224450e-01 -8.33327914e-05 2.03984145e-01] [ 4.05990189e-03 3.25736883e-04 9.99991706e-01 7.46729683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:0.21, Z:0.08 [[ 9.97712895e-01 6.75313167e-02 -2.91554556e-03 1.05124859e+01] [-6.75317772e-02 9.97717122e-01 -5.96787806e-05 2.06219323e-01] [ 2.90485954e-03 2.56434262e-04 9.99995748e-01 7.54370573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:0.21, Z:0.08 [[ 9.97406063e-01 7.19072970e-02 -3.23816702e-03 1.05403020e+01] [-7.19078887e-02 9.97411275e-01 -6.65212926e-05 2.08891836e-01] [ 3.22500093e-03 2.99198494e-04 9.99994755e-01 7.52990699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.21, Z:0.07 [[ 9.97087407e-01 7.61620945e-02 -4.00484605e-03 1.05689739e+01] [-7.61630348e-02 9.97095374e-01 -8.26021919e-05 2.12042736e-01] [ 3.98692231e-03 3.87382834e-04 9.99991977e-01 7.47401974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:0.22, Z:0.07 [[ 9.96803363e-01 7.97265340e-02 -5.17057839e-03 1.05962828e+01] [-7.97281506e-02 9.96816638e-01 -1.06951420e-04 2.15423840e-01] [ 5.14559170e-03 5.18850188e-04 9.99986627e-01 7.47493007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:0.22, Z:0.08 [[ 9.96483353e-01 8.35449448e-02 -6.41631927e-03 1.06243383e+01] [-8.35475153e-02 9.96503786e-01 -1.33167006e-04 2.21496453e-01] [ 6.38276101e-03 6.68766237e-04 9.99979406e-01 7.56054017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.65, Y:0.22, Z:0.08 [[ 9.96519983e-01 8.30880774e-02 -6.65544440e-03 1.06533906e+01] [-8.30908355e-02 9.96541968e-01 -1.38511885e-04 2.24317367e-01] [ 6.62092098e-03 6.91036297e-04 9.99977843e-01 7.57910977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:0.23, Z:0.08 [[ 9.96633892e-01 8.17339160e-02 -6.36026656e-03 1.06826664e+01] [-8.17364094e-02 9.96653973e-01 -1.32644361e-04 2.26619608e-01] [ 6.32814340e-03 6.52063217e-04 9.99979765e-01 7.57920208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.71, Y:0.23, Z:0.08 [[ 9.96809794e-01 7.95999162e-02 -5.83847522e-03 1.07108518e+01] [-7.96019823e-02 9.96826720e-01 -1.21996278e-04 2.28537315e-01] [ 5.81023721e-03 5.86361287e-04 9.99982949e-01 7.62018907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:0.23, Z:0.08 [[ 9.97233658e-01 7.40830822e-02 -6.06031814e-03 1.07397399e+01] [-7.40852097e-02 9.97251907e-01 -1.27011562e-04 2.30733761e-01] [ 6.03425442e-03 5.75640145e-04 9.99981628e-01 7.65657379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:0.23, Z:0.08 [[ 9.97405504e-01 7.16787196e-02 -6.66494873e-03 1.07677067e+01] [-7.16812433e-02 9.97427581e-01 -1.40237904e-04 2.31297831e-01] [ 6.63775161e-03 6.17625868e-04 9.99977779e-01 7.66693481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:0.23, Z:0.08 [[ 9.97407877e-01 7.16456897e-02 -6.66494024e-03 1.07970280e+01] [-7.16482153e-02 9.97429954e-01 -1.40640012e-04 2.31994285e-01] [ 6.63773479e-03 6.17806529e-04 9.99977779e-01 7.68553219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471400512999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:10.83, Y:0.23, Z:0.08 [[ 9.97553866e-01 6.94844352e-02 -7.62880608e-03 1.08253937e+01] [-6.94876838e-02 9.97582796e-01 -1.61279417e-04 2.32107309e-01] [ 7.59915929e-03 6.90992970e-04 9.99970887e-01 7.62816182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.85, Y:0.23, Z:0.08 [[ 9.97660766e-01 6.79468405e-02 -7.49819897e-03 1.08529270e+01] [-6.79499383e-02 9.97688719e-01 -1.58875637e-04 2.32545249e-01] [ 7.47007343e-03 6.68006148e-04 9.99971875e-01 7.72535262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.88, Y:0.23, Z:0.08 [[ 9.97762682e-01 6.66838025e-02 -4.78559012e-03 1.08804184e+01] [-6.66850506e-02 9.97774069e-01 -1.01545100e-04 2.33489939e-01] [ 4.76816631e-03 4.20445231e-04 9.99988544e-01 7.84706775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.91, Y:0.23, Z:0.08 [[ 9.97764529e-01 6.67552220e-02 -3.11213336e-03 1.09091764e+01] [-6.67557504e-02 9.97769345e-01 -6.61240964e-05 2.33643813e-01] [ 3.10077714e-03 2.73729076e-04 9.99995155e-01 7.93986197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.94, Y:0.23, Z:0.08 [[ 9.97754590e-01 6.69540404e-02 -1.71283076e-03 1.09368213e+01] [-6.69542006e-02 9.97756049e-01 -3.62882574e-05 2.34183209e-01] [ 1.70655760e-03 1.50887990e-04 9.99998532e-01 8.04772130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:10.97, Y:0.23, Z:0.08 [[ 9.97735146e-01 6.72496564e-02 -1.43582452e-03 1.09666732e+01] [-6.72497695e-02 9.97736171e-01 -3.06151458e-05 2.34999749e-01] [ 1.43051520e-03 1.27104675e-04 9.99998969e-01 8.01763027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:0.24, Z:0.08 [[ 9.97578610e-01 6.95148861e-02 -2.14411322e-03 1.09952830e+01] [-6.95151437e-02 9.97580895e-01 -4.57382899e-05 2.36148326e-01] [ 2.13574690e-03 1.94675878e-04 9.99997700e-01 8.02783200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.02, Y:0.24, Z:0.08 [[ 9.97530834e-01 7.01855742e-02 -2.49399750e-03 1.10244992e+01] [-7.01859251e-02 9.97533926e-01 -5.33608108e-05 2.37224985e-01] [ 2.48410196e-03 2.28272576e-04 9.99996889e-01 7.99193492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:0.24, Z:0.08 [[ 9.97521118e-01 7.03502017e-02 -1.57132747e-03 1.10527491e+01] [-7.03503410e-02 9.97522345e-01 -3.35102994e-05 2.38705745e-01] [ 1.56507680e-03 1.43970654e-04 9.99998765e-01 7.99788637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:0.24, Z:0.08 [[ 9.97536793e-01 7.01442275e-02 -3.66152280e-04 1.10820851e+01] [-7.01442350e-02 9.97536860e-01 -7.76422318e-06 2.40649876e-01] [ 3.64705780e-04 3.34285698e-05 9.99999933e-01 8.03781579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:0.24, Z:0.08 [[ 9.97563940e-01 6.97576106e-02 2.48366485e-04 1.11116380e+01] [-6.97576141e-02 9.97563971e-01 5.51540694e-06 2.41664014e-01] [-2.47376715e-04 -2.28274245e-05 9.99999969e-01 8.03966023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:0.24, Z:0.08 [[ 9.97616466e-01 6.90020513e-02 -3.22956982e-04 1.11401184e+01] [-6.90020570e-02 9.97616518e-01 -6.77561345e-06 2.42021726e-01] [ 3.21719689e-04 2.90441597e-05 9.99999948e-01 7.99676029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:0.24, Z:0.08 [[ 9.97697543e-01 6.77260185e-02 -3.57768228e-03 1.11684696e+01] [-6.77267279e-02 9.97703906e-01 -7.73748784e-05 2.40944165e-01] [ 3.56422729e-03 3.19501440e-04 9.99993597e-01 7.89260651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:0.24, Z:0.08 [[ 9.97724838e-01 6.72094508e-02 -5.29501432e-03 1.11972642e+01] [-6.72109990e-02 9.97738778e-01 -1.14786533e-04 2.41411423e-01] [ 5.27532637e-03 4.70408577e-04 9.99985975e-01 7.85484969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:0.24, Z:0.08 [[ 9.97743349e-01 6.68299776e-02 -6.47793568e-03 1.12246129e+01] [-6.68322893e-02 9.97764213e-01 -1.40795304e-04 2.41298714e-01] [ 6.45404305e-03 5.73412849e-04 9.99979008e-01 7.83608376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:0.24, Z:0.08 [[ 9.97820912e-01 6.57367751e-02 -5.66611913e-03 1.12532853e+01] [-6.57385278e-02 9.97836876e-01 -1.23438806e-04 2.38720133e-01] [ 5.64574814e-03 4.95652152e-04 9.99983940e-01 7.85986413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:0.24, Z:0.08 [[ 9.97839801e-01 6.55452469e-02 -4.42169230e-03 1.12823208e+01] [-6.55463130e-02 9.97849523e-01 -9.64621658e-05 2.37928370e-01] [ 4.40586091e-03 3.86079416e-04 9.99990220e-01 7.93674688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:0.24, Z:0.08 [[ 9.97848976e-01 6.54486802e-02 -3.72713467e-03 1.13112860e+01] [-6.54494374e-02 9.97855884e-01 -8.14267265e-05 2.37465708e-01] [ 3.71381399e-03 3.25190443e-04 9.99993051e-01 7.94275018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:0.24, Z:0.08 [[ 9.97850332e-01 6.53995892e-02 -4.19634701e-03 1.13394736e+01] [-6.54005495e-02 9.97859088e-01 -9.18843367e-05 2.37868801e-01] [ 4.18135380e-03 3.66130216e-04 9.99991191e-01 7.99499773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:0.24, Z:0.08 [[ 9.97824235e-01 6.56910992e-02 -5.61036433e-03 1.13682753e+01] [-6.56928228e-02 9.97839886e-01 -1.23302159e-04 2.37655773e-01] [ 5.59014545e-03 4.91594553e-04 9.99984254e-01 7.97599253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:0.24, Z:0.08 [[ 9.97755674e-01 6.64677576e-02 -8.10255089e-03 1.13975555e+01] [-6.64713823e-02 9.97788316e-01 -1.78574136e-04 2.35768956e-01] [ 8.07276119e-03 7.16761115e-04 9.99967158e-01 7.82195995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.24, Z:0.08 [[ 9.97748230e-01 6.66525469e-02 -7.47713412e-03 1.14258511e+01] [-6.66556412e-02 9.97776026e-01 -1.65128951e-04 2.35763158e-01] [ 7.44949890e-03 6.63150287e-04 9.99972032e-01 7.79185231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:0.24, Z:0.08 [[ 9.97756230e-01 6.66422971e-02 -6.42723760e-03 1.14533654e+01] [-6.66445853e-02 9.97776768e-01 -1.42262771e-04 2.35775688e-01] [ 6.40346764e-03 5.70284151e-04 9.99979335e-01 7.81658354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:0.24, Z:0.08 [[ 9.97742382e-01 6.68879500e-02 -6.01178502e-03 1.14823431e+01] [-6.68899583e-02 9.97760350e-01 -1.33389278e-04 2.35358156e-01] [ 5.98939859e-03 5.35216185e-04 9.99981920e-01 7.88786887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:0.23, Z:0.08 [[ 9.97711990e-01 6.73203494e-02 -6.22532802e-03 1.15104751e+01] [-6.73225130e-02 9.97731256e-01 -1.38417796e-04 2.34342679e-01] [ 6.20188602e-03 5.57205822e-04 9.99980613e-01 7.94721417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221400512999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:11.54, Y:0.23, Z:0.08 [[ 9.97491794e-01 7.04442130e-02 -6.90891818e-03 1.15396389e+01] [-7.04469553e-02 9.97515515e-01 -1.54070651e-04 2.34622013e-01] [ 6.88089969e-03 6.40396460e-04 9.99976121e-01 8.07760029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.57, Y:0.24, Z:0.08 [[ 9.97357225e-01 7.24177041e-02 -5.85167997e-03 1.15681458e+01] [-7.24197063e-02 9.97374237e-01 -1.30718930e-04 2.37506917e-01] [ 5.82684848e-03 5.54150414e-04 9.99982870e-01 8.07619193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.60, Y:0.24, Z:0.08 [[ 9.97203054e-01 7.45605806e-02 -5.17576100e-03 1.15954948e+01] [-7.45621766e-02 9.97216360e-01 -1.15811661e-04 2.40316214e-01] [ 5.15271856e-03 5.01403747e-04 9.99986599e-01 8.01312960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:0.24, Z:0.08 [[ 9.96916139e-01 7.83876414e-02 -3.68631339e-03 1.16240531e+01] [-7.83884774e-02 9.96922886e-01 -8.26246207e-05 2.41645988e-01] [ 3.66849343e-03 3.71334311e-04 9.99993202e-01 8.02745332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:0.24, Z:0.08 [[ 9.96857021e-01 7.91407697e-02 -3.58026545e-03 1.16527506e+01] [-7.91415636e-02 9.96863384e-01 -8.03925606e-05 2.42955542e-01] [ 3.56267320e-03 3.63487694e-04 9.99993588e-01 8.09817763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.68, Y:0.25, Z:0.08 [[ 9.96883467e-01 7.87988830e-02 -3.75345420e-03 1.16812419e+01] [-7.87997539e-02 9.96890461e-01 -8.44656366e-05 2.45487998e-01] [ 3.73512689e-03 3.79973664e-04 9.99992952e-01 8.08457027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:0.25, Z:0.08 [[ 9.96998842e-01 7.73155140e-02 -3.95228044e-03 1.17088354e+01] [-7.73164687e-02 9.97006598e-01 -8.91147927e-05 2.48614468e-01] [ 3.93355971e-03 3.94423712e-04 9.99992186e-01 8.09915237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:0.25, Z:0.08 [[ 9.97171828e-01 7.50531825e-02 -3.91974028e-03 1.17378902e+01] [-7.50541054e-02 9.97179459e-01 -8.86669227e-05 2.51099911e-01] [ 3.90202976e-03 3.82608757e-04 9.99992314e-01 8.06723709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.77, Y:0.25, Z:0.08 [[ 9.97548686e-01 6.98815400e-02 -3.63165767e-03 1.17652623e+01] [-6.98822983e-02 9.97555240e-01 -8.21974523e-05 2.53535128e-01] [ 3.61703505e-03 3.35784545e-04 9.99993402e-01 8.13158646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:0.26, Z:0.08 [[ 9.97713427e-01 6.75075954e-02 -3.26211544e-03 1.17927803e+01] [-6.75081952e-02 9.97718717e-01 -7.39859195e-05 2.55372031e-01] [ 3.24967902e-03 2.94036271e-04 9.99994677e-01 8.17673125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.82, Y:0.26, Z:0.08 [[ 9.97825926e-01 6.58302791e-02 -3.12978665e-03 1.18216699e+01] [-6.58308237e-02 9.97830796e-01 -7.11866781e-05 2.57454895e-01] [ 3.11831127e-03 2.77068346e-04 9.99995100e-01 8.23125466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:0.26, Z:0.08 [[ 9.97877020e-01 6.50281204e-02 -3.57717022e-03 1.18500644e+01] [-6.50288275e-02 9.97883382e-01 -8.15684354e-05 2.58688981e-01] [ 3.56429448e-03 3.14014452e-04 9.99993599e-01 8.23802271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.88, Y:0.26, Z:0.08 [[ 9.97893353e-01 6.47401182e-02 -4.19207229e-03 1.18787935e+01] [-6.47410876e-02 9.97902091e-01 -9.58303922e-05 2.59366406e-01] [ 4.17707363e-03 3.67027831e-04 9.99991209e-01 8.19940965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.91, Y:0.26, Z:0.08 [[ 9.97836831e-01 6.55606864e-02 -4.84308253e-03 1.19066633e+01] [-6.55619912e-02 9.97848492e-01 -1.10965515e-04 2.62255770e-01] [ 4.82538763e-03 4.28247612e-04 9.99988266e-01 8.17656647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.94, Y:0.27, Z:0.08 [[ 9.97758678e-01 6.67489349e-02 -4.71171695e-03 1.19354373e+01] [-6.67501843e-02 9.97769714e-01 -1.08236685e-04 2.65753689e-01] [ 4.69398379e-03 4.22502067e-04 9.99988894e-01 8.14690684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:0.27, Z:0.08 [[ 9.97660292e-01 6.82365372e-02 -4.20913241e-03 1.19627775e+01] [-6.82375480e-02 9.97669097e-01 -9.68303401e-05 2.69225701e-01] [ 4.19271396e-03 3.83824660e-04 9.99991137e-01 8.14464572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:0.28, Z:0.08 [[ 9.97374161e-01 7.22672324e-02 -4.71479913e-03 1.19915614e+01] [-7.22685468e-02 9.97385204e-01 -1.08793365e-04 2.75291021e-01] [ 4.69460869e-03 4.49239372e-04 9.99988879e-01 8.24707950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:0.28, Z:0.08 [[ 9.97255984e-01 7.38125666e-02 -5.67515821e-03 1.20207532e+01] [-7.38144976e-02 9.97271980e-01 -1.31269395e-04 2.79682179e-01] [ 5.64998693e-03 5.49818142e-04 9.99983888e-01 8.27355485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.05, Y:0.28, Z:0.08 [[ 9.97201028e-01 7.44564023e-02 -6.80834701e-03 1.20479938e+01] [-7.44591989e-02 9.97224048e-01 -1.57861498e-04 2.84626970e-01] [ 6.77769357e-03 6.64363713e-04 9.99976810e-01 8.35098469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:0.29, Z:0.08 [[ 9.97214072e-01 7.42935980e-02 -6.67509071e-03 1.20763494e+01] [-7.42962851e-02 9.97236200e-01 -1.55151719e-04 2.89448193e-01] [ 6.64511531e-03 6.50653920e-04 9.99977709e-01 8.37894429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:0.29, Z:0.08 [[ 9.97264110e-01 7.36558302e-02 -6.25406918e-03 1.21038248e+01] [-7.36581787e-02 9.97283536e-01 -1.45713052e-04 2.93695312e-01] [ 6.22634761e-03 6.05977742e-04 9.99980433e-01 8.43017032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:0.30, Z:0.08 [[ 9.97352585e-01 7.25459005e-02 -4.99133602e-03 1.21319304e+01] [-7.25473837e-02 9.97364960e-01 -1.16501980e-04 2.97478708e-01] [ 4.96973191e-03 4.78301921e-04 9.99987536e-01 8.39994763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:0.30, Z:0.08 [[ 9.97558533e-01 6.97786742e-02 -2.81239604e-03 1.21607348e+01] [-6.97791344e-02 9.97562463e-01 -6.57181421e-05 3.04633636e-01] [ 2.80095499e-03 2.61804255e-04 9.99996043e-01 8.46895556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:0.31, Z:0.09 [[ 9.97664224e-01 6.82388536e-02 -3.09096600e-03 1.21887978e+01] [-6.82394026e-02 9.97668973e-01 -7.23655114e-05 3.08231891e-01] [ 3.07882274e-03 2.83122155e-04 9.99995220e-01 8.50910882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:0.31, Z:0.09 [[ 9.97802638e-01 6.61182715e-02 -4.27440335e-03 1.22180632e+01] [-6.61193038e-02 9.97811719e-01 -1.00493896e-04 3.10887408e-01] [ 4.25840527e-03 3.82893648e-04 9.99990860e-01 8.50305345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:0.31, Z:0.08 [[ 9.98155506e-01 6.04863856e-02 -5.19458141e-03 1.22466008e+01] [-6.04878361e-02 9.98168927e-01 -1.22429128e-04 3.12996870e-01] [ 5.17766446e-03 4.36412297e-04 9.99986501e-01 8.45396141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:0.31, Z:0.08 [[ 9.98327587e-01 5.76400352e-02 -4.43335708e-03 1.22739772e+01] [-5.76410644e-02 9.98337366e-01 -1.04627857e-04 3.14476254e-01] [ 4.41995528e-03 3.59996297e-04 9.99990167e-01 8.46737785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:0.32, Z:0.08 [[ 9.98439389e-01 5.56978498e-02 -4.06642721e-03 1.23022477e+01] [-5.56987006e-02 9.98447618e-01 -9.61715841e-05 3.16034862e-01] [ 4.05475801e-03 3.22516209e-04 9.99991727e-01 8.47120249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:0.32, Z:0.08 [[ 9.98487369e-01 5.47863753e-02 -4.62894503e-03 1.23314476e+01] [-5.47874694e-02 9.98498033e-01 -1.09805805e-04 3.17414423e-01] [ 4.61597665e-03 3.63247894e-04 9.99989280e-01 8.46313624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:0.32, Z:0.08 [[ 9.98481278e-01 5.48314438e-02 -5.35266442e-03 1.23594878e+01] [-5.48329090e-02 9.98495536e-01 -1.27255434e-04 3.17930943e-01] [ 5.33763393e-03 4.20564329e-04 9.99985666e-01 8.47904988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:0.32, Z:0.09 [[ 9.98457796e-01 5.51832844e-02 -6.06909375e-03 1.23887184e+01] [-5.51851771e-02 9.98476127e-01 -1.44718301e-04 3.17818871e-01] [ 6.05185919e-03 4.79419130e-04 9.99981572e-01 8.54819819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:0.32, Z:0.09 [[ 9.98328108e-01 5.75718039e-02 -5.14556488e-03 1.24168341e+01] [-5.75731967e-02 9.98341280e-01 -1.22861494e-04 3.17478909e-01] [ 5.12995648e-03 4.18902702e-04 9.99986754e-01 8.65192589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:0.32, Z:0.09 [[ 9.98235575e-01 5.92526320e-02 -3.85525243e-03 1.24454980e+01] [-5.92534271e-02 9.98242968e-01 -9.22643089e-05 3.18602604e-01] [ 3.84301172e-03 3.20538434e-04 9.99992564e-01 8.66459277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:0.32, Z:0.09 [[ 9.98137565e-01 6.09357681e-02 -2.86956658e-03 1.24744967e+01] [-6.09362157e-02 9.98141660e-01 -6.87331054e-05 3.19993960e-01] [ 2.86004564e-03 2.43465623e-04 9.99995880e-01 8.64682343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:0.32, Z:0.09 [[ 9.98041234e-01 6.25249871e-02 -2.07877025e-03 1.25028098e+01] [-6.25252254e-02 9.98043383e-01 -4.98069151e-05 3.21133661e-01] [ 2.07158871e-03 1.79684933e-04 9.99997838e-01 8.63890576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:0.32, Z:0.09 [[ 9.97891810e-01 6.48879174e-02 -1.22185466e-03 1.25313040e+01] [-6.48880014e-02 9.97892553e-01 -2.92093620e-05 3.20961264e-01] [ 1.21738433e-03 1.08431490e-04 9.99999253e-01 8.57182928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:0.32, Z:0.09 [[ 9.97909918e-01 6.46121383e-02 -1.03284845e-03 1.25595949e+01] [-6.46121981e-02 9.97910449e-01 -2.46338064e-05 3.21529970e-01] [ 1.02909861e-03 9.13169282e-05 9.99999466e-01 8.63374835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:0.32, Z:0.09 [[ 9.97973949e-01 6.36202709e-02 -6.77403525e-04 1.25883530e+01] [-6.36202964e-02 9.97974177e-01 -1.61316369e-05 3.22009430e-01] [ 6.75004927e-04 5.91955665e-05 9.99999770e-01 8.63454457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:0.32, Z:0.09 [[ 9.97976175e-01 6.35853383e-02 -6.77401164e-04 1.26176704e+01] [-6.35853639e-02 9.97976403e-01 -1.62291674e-05 3.22796070e-01] [ 6.74998440e-04 5.92691219e-05 9.99999770e-01 8.65314216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.32, Z:0.09 [[ 9.98066266e-01 6.21553794e-02 -6.61532333e-04 1.26463452e+01] [-6.21554035e-02 9.98066484e-01 -1.57981736e-05 3.23111791e-01] [ 6.59271308e-04 5.68854332e-05 9.99999781e-01 8.57025725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.67, Y:0.32, Z:0.08 [[ 9.98188910e-01 6.01471893e-02 -1.10256154e-03 1.26744538e+01] [-6.01472550e-02 9.98189515e-01 -2.64955496e-05 3.22689262e-01] [ 1.09897173e-03 9.27636137e-05 9.99999392e-01 8.43016394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.70, Y:0.32, Z:0.08 [[ 9.98313973e-01 5.80331897e-02 -1.16588746e-03 1.27029884e+01] [-5.80332619e-02 9.98314650e-01 -2.81930688e-05 3.21417306e-01] [ 1.16228640e-03 9.58057870e-05 9.99999320e-01 8.30739327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:0.32, Z:0.08 [[ 9.98470301e-01 5.52732472e-02 -1.38765569e-03 1.27307895e+01] [-5.52733470e-02 9.98471259e-01 -3.36217618e-05 3.16569753e-01] [ 1.38367594e-03 1.10270705e-04 9.99999037e-01 8.37255631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:0.31, Z:0.08 [[ 9.98479225e-01 5.51060347e-02 -1.60088997e-03 1.27583075e+01] [-5.51061676e-02 9.98480500e-01 -3.89664660e-05 3.13535453e-01] [ 1.59631013e-03 1.27126118e-04 9.99998718e-01 8.47077974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:0.31, Z:0.09 [[ 9.98459019e-01 5.54753958e-02 -1.43816998e-03 1.27870525e+01] [-5.54755036e-02 9.98460048e-01 -3.50971288e-05 3.10241171e-01] [ 1.43400824e-03 1.14826249e-04 9.99998965e-01 8.54996303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:0.31, Z:0.09 [[ 9.98442869e-01 5.57688311e-02 -1.29381726e-03 1.28151169e+01] [-5.57689185e-02 9.98443702e-01 -3.15478153e-05 3.06031040e-01] [ 1.29004431e-03 1.03653481e-04 9.99999163e-01 8.59689974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.84, Y:0.30, Z:0.09 [[ 9.98445775e-01 5.57285093e-02 -6.05834759e-04 1.28438114e+01] [-5.57285284e-02 9.98445958e-01 -1.46743843e-05 3.00581931e-01] [ 6.04075485e-04 4.84138566e-05 9.99999816e-01 8.58778416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:0.29, Z:0.09 [[ 9.98498772e-01 5.47722783e-02 4.46974254e-04 1.28723315e+01] [-5.47722889e-02 9.98498871e-01 1.13611032e-05 2.94536091e-01] [-4.45681015e-04 -3.58258506e-05 9.99999900e-01 8.57630465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:0.28, Z:0.09 [[ 9.98781711e-01 4.92933055e-02 2.29429447e-03 1.29033267e+01] [-4.92935653e-02 9.98784332e-01 5.68014084e-05 2.81458518e-01] [-2.28870544e-03 -1.69826162e-04 9.99997366e-01 8.65981985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:0.28, Z:0.09 [[ 9.98954402e-01 4.56222030e-02 2.95255146e-03 1.29351830e+01] [-4.56226127e-02 9.98958744e-01 7.15205873e-05 2.75994634e-01] [-2.94621417e-03 -2.06148917e-04 9.99995639e-01 8.72389833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:0.27, Z:0.09 [[ 9.99113127e-01 4.20279444e-02 2.57128086e-03 1.29667759e+01] [-4.20282420e-02 9.99116421e-01 6.18185997e-05 2.70889066e-01] [-2.56641082e-03 -1.69830189e-04 9.99996692e-01 8.73044662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:0.26, Z:0.09 [[ 9.99371876e-01 3.54375168e-02 1.90119546e-04 1.29990767e+01] [-3.54375181e-02 9.99371894e-01 3.50979107e-06 2.60136756e-01] [-1.89875752e-04 -1.02449513e-05 9.99999982e-01 8.61338933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:0.26, Z:0.09 [[ 9.99473390e-01 3.24384158e-02 -8.31961106e-04 1.30298209e+01] [-3.24384439e-02 9.99473735e-01 -2.02426667e-05 2.55873829e-01] [ 8.30866634e-04 4.72195304e-05 9.99999654e-01 8.58693386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:0.25, Z:0.09 [[ 9.99551662e-01 2.99122862e-02 -1.31523612e-03 1.30604612e+01] [-2.99123540e-02 9.99552525e-01 -3.18881457e-05 2.52806613e-01] [ 1.31369373e-03 7.12156574e-05 9.99999135e-01 8.62978306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.25, Z:0.09 [[ 9.99613472e-01 2.77739772e-02 -1.22988003e-03 1.30908144e+01] [-2.77740349e-02 9.99614227e-01 -2.98186714e-05 2.50330238e-01] [ 1.22857739e-03 6.39658764e-05 9.99999243e-01 8.73332554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:0.25, Z:0.09 [[ 9.99666426e-01 2.58117015e-02 -8.90023738e-04 1.31205089e+01] [-2.58117308e-02 9.99666822e-01 -2.15155693e-05 2.48374856e-01] [ 8.89171848e-04 4.44814454e-05 9.99999604e-01 8.83764672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:0.25, Z:0.09 [[ 9.99704975e-01 2.42682882e-02 -1.00670500e-03 1.31510658e+01] [-2.42683250e-02 9.99705481e-01 -2.44194324e-05 2.46459299e-01] [ 1.00581589e-03 4.88432722e-05 9.99999493e-01 8.90677476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:0.24, Z:0.09 [[ 9.99769680e-01 2.14376496e-02 -1.00692040e-03 1.31810348e+01] [-2.14376850e-02 9.99770186e-01 -2.43618273e-05 2.41235264e-01] [ 1.00616673e-03 4.59422586e-05 9.99999493e-01 8.84167617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:0.24, Z:0.09 [[ 9.99815090e-01 1.92295011e-02 -1.10834899e-04 1.32115519e+01] [-1.92295016e-02 9.99815096e-01 -2.68980502e-06 2.39486826e-01] [ 1.10762681e-04 4.82060751e-06 9.99999994e-01 8.89209369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.24, Z:0.09 [[ 9.99853836e-01 1.70724174e-02 9.16390717e-04 1.32423818e+01] [-1.70724449e-02 9.99854255e-01 2.21544720e-05 2.38207144e-01] [-9.15878928e-04 -3.77962639e-05 9.99999580e-01 8.95702189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.24, Z:0.09 [[ 9.99889013e-01 1.47780750e-02 1.88943565e-03 1.32733243e+01] [-1.47781876e-02 9.99890796e-01 4.56483498e-05 2.37293194e-01] [-1.88855472e-03 -7.35657180e-05 9.99998214e-01 8.99874851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.31, Y:0.23, Z:0.09 [[ 9.99943576e-01 1.04568802e-02 1.87048876e-03 1.33054204e+01] [-1.04569808e-02 9.99945323e-01 4.40415490e-05 2.31621357e-01] [-1.86992595e-03 -6.35987291e-05 9.99998250e-01 8.97680878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.34, Y:0.23, Z:0.09 [[ 9.99963599e-01 8.31490927e-03 1.91396917e-03 1.33381316e+01] [-8.31501012e-03 9.99965429e-01 4.47439608e-05 2.28360100e-01] [-1.91353096e-03 -6.06570051e-05 9.99998167e-01 8.95305822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:0.23, Z:0.09 [[ 9.99979087e-01 6.20035409e-03 1.83893944e-03 1.33700941e+01] [-6.20044284e-03 9.99980776e-01 4.25634070e-05 2.25668443e-01] [-1.83864018e-03 -5.39647557e-05 9.99998308e-01 8.94371025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:0.22, Z:0.09 [[ 9.99991069e-01 3.72851362e-03 1.98986894e-03 1.34025909e+01] [-3.72861233e-03 9.99993048e-01 4.58992619e-05 2.23934135e-01] [-1.98968397e-03 -5.33183019e-05 9.99998019e-01 8.94643630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:0.22, Z:0.09 [[ 9.99996187e-01 -1.58468775e-04 2.75680106e-03 1.34335563e+01] [ 1.58293897e-04 9.99999985e-01 6.36530033e-05 2.18975937e-01] [-2.75681110e-03 -6.32163759e-05 9.99996198e-01 9.01004891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:0.22, Z:0.09 [[ 9.99995262e-01 -1.08915267e-03 2.87906042e-03 1.34654736e+01] [ 1.08896747e-03 9.99999405e-01 6.58940281e-05 2.16500784e-01] [-2.87913048e-03 -6.27585128e-05 9.99995853e-01 9.05883330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:0.21, Z:0.09 [[ 9.99997276e-01 -1.05497039e-03 2.08196387e-03 1.34980185e+01] [ 1.05487270e-03 9.99999442e-01 4.80197608e-05 2.14616206e-01] [-2.08201337e-03 -4.58234232e-05 9.99997832e-01 9.06821291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.53, Y:0.21, Z:0.09 [[ 9.99999464e-01 -3.20701028e-04 9.84313481e-04 1.35287844e+01] [ 3.20678955e-04 9.99999948e-01 2.25827806e-05 2.13481594e-01] [-9.84320673e-04 -2.22671199e-05 9.99999515e-01 8.98328890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:0.21, Z:0.09 [[ 9.99999557e-01 8.80449009e-04 3.32351117e-04 1.35606208e+01] [-8.80451566e-04 9.99999612e-01 7.54632561e-06 2.12620410e-01] [-3.32344344e-04 -7.83894133e-06 9.99999945e-01 8.92455050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:0.21, Z:0.09 [[ 9.99998069e-01 1.96012424e-03 1.42744681e-04 1.35913032e+01] [-1.96012473e-03 9.99998079e-01 3.30499926e-06 2.11818862e-01] [-1.42737928e-04 -3.58479025e-06 9.99999990e-01 8.92833778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:0.21, Z:0.09 [[ 9.99996757e-01 2.54261273e-03 -1.45650341e-04 1.36221795e+01] [-2.54261324e-03 9.99996768e-01 -3.37227466e-06 2.10266245e-01] [ 1.45641296e-04 3.74259621e-06 9.99999989e-01 9.00133194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:0.21, Z:0.09 [[ 9.99997495e-01 2.18443510e-03 -4.87570640e-04 1.36527289e+01] [-2.18444087e-03 9.99997614e-01 -1.12888312e-05 2.09779057e-01] [ 4.87544817e-04 1.23538722e-05 9.99999881e-01 9.01100862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.21, Z:0.09 [[ 9.99999101e-01 1.12654519e-03 -7.26816911e-04 1.36820110e+01] [-1.12655777e-03 9.99999365e-01 -1.69025274e-05 2.09219681e-01] [ 7.26797408e-04 1.77213134e-05 9.99999736e-01 9.02048507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.21, Z:0.09 [[ 9.99999173e-01 -5.59273003e-04 -1.15822748e-03 1.37114472e+01] [ 5.59242477e-04 9.99999843e-01 -2.66792559e-05 2.08722220e-01] [ 1.15824222e-03 2.60315038e-05 9.99999329e-01 9.02188206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.21, Z:0.09 [[ 9.99994226e-01 -2.81919009e-03 -1.89744059e-03 1.37401670e+01] [ 2.81911207e-03 9.99996025e-01 -4.37947538e-05 2.09058179e-01] [ 1.89755651e-03 3.84454033e-05 9.99998199e-01 9.03784695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.21, Z:0.09 [[ 9.99971303e-01 -7.50600570e-03 -1.02593736e-03 1.37686721e+01] [ 7.50598542e-03 9.99971829e-01 -2.36095263e-05 2.11114751e-01] [ 1.02608567e-03 1.59081779e-05 9.99999473e-01 9.02330408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:0.21, Z:0.09 [[ 9.99950034e-01 -9.96291205e-03 8.17926597e-04 1.37973915e+01] [ 9.96289884e-03 9.99950369e-01 2.02268043e-05 2.12164208e-01] [-8.18087520e-04 -1.20768738e-05 9.99999665e-01 9.10844973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:0.21, Z:0.09 [[ 9.99923729e-01 -1.21520700e-02 2.20512153e-03 1.38272021e+01] [ 1.21519855e-02 9.99926161e-01 5.17160063e-05 2.13149201e-01] [-2.20558716e-03 -2.49154570e-05 9.99997567e-01 9.21359737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.21, Z:0.09 [[ 9.99895129e-01 -1.43253035e-02 2.12540526e-03 1.38580873e+01] [ 1.43252305e-02 9.99897387e-01 4.95698536e-05 2.14524676e-01] [-2.12589727e-03 -1.91177349e-05 9.99997740e-01 9.24528725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:13.89, Y:0.22, Z:0.09 [[ 9.99868300e-01 -1.62212660e-02 5.02442015e-04 1.38880368e+01] [ 1.62212622e-02 9.99868427e-01 1.16727820e-05 2.16064071e-01] [-5.02565254e-04 -3.52100101e-06 9.99999874e-01 9.20322120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:0.22, Z:0.09 [[ 9.99824939e-01 -1.86898711e-02 -8.82952070e-04 1.39167694e+01] [ 1.86898603e-02 9.99825329e-01 -2.04528490e-05 2.17752577e-01] [ 8.83180105e-04 3.94701764e-06 9.99999610e-01 9.21528129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:0.22, Z:0.09 [[ 9.99739983e-01 -2.27401244e-02 -1.68924768e-03 1.39443305e+01] [ 2.27400916e-02 9.99741410e-01 -3.86537657e-05 2.19814247e-01] [ 1.68968985e-03 2.30068155e-07 9.99998572e-01 9.29400643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:0.22, Z:0.09 [[ 9.99694456e-01 -2.47162002e-02 -3.21972979e-04 1.39709672e+01] [ 2.47161992e-02 9.99694508e-01 -7.09186473e-06 2.22392951e-01] [ 3.22049902e-04 -8.68250417e-07 9.99999948e-01 9.37209293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:0.23, Z:0.10 [[ 9.99642606e-01 -2.67132689e-02 1.03008789e-03 1.39986574e+01] [ 2.67132566e-02 9.99643137e-01 2.57584801e-05 2.25928651e-01] [-1.03040838e-03 1.76772794e-06 9.99999469e-01 9.52226817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:0.23, Z:0.10 [[ 9.99515070e-01 -3.10614386e-02 2.19348390e-03 1.40275532e+01] [ 3.10613952e-02 9.99517477e-01 5.38571381e-05 2.32310978e-01] [-2.19409837e-03 1.43016489e-05 9.99997593e-01 9.59828528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:0.23, Z:0.10 [[ 9.99445311e-01 -3.32212488e-02 2.32771304e-03 1.40566773e+01] [ 3.32212082e-02 9.99448022e-01 5.60941472e-05 2.34601662e-01] [-2.32829171e-03 2.12664072e-05 9.99997289e-01 9.64299108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:0.24, Z:0.10 [[ 9.99371980e-01 -3.53027069e-02 3.06002047e-03 1.40865072e+01] [ 3.53026462e-02 9.99376665e-01 7.38630101e-05 2.37075034e-01] [-3.06072061e-03 3.42101973e-05 9.99995315e-01 9.65914063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:0.24, Z:0.10 [[ 9.99305295e-01 -3.70741624e-02 3.79913443e-03 1.41159546e+01] [ 3.70740814e-02 9.99312516e-01 9.17675983e-05 2.40716373e-01] [-3.79992479e-03 4.91455723e-05 9.99992779e-01 9.77440815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:0.25, Z:0.10 [[ 9.99251157e-01 -3.84264638e-02 4.53128672e-03 1.41450374e+01] [ 3.84263634e-02 9.99261429e-01 1.09235269e-04 2.45358007e-01] [-4.53213757e-03 6.49674014e-05 9.99989728e-01 9.86100987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.26, Z:0.10 [[ 9.99171814e-01 -4.04575163e-02 4.34452428e-03 1.41753413e+01] [ 4.04574432e-02 9.99181257e-01 1.04749841e-04 2.55479861e-01] [-4.34520515e-03 7.11052557e-05 9.99990557e-01 9.95822836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.26, Z:0.10 [[ 9.99129505e-01 -4.16093248e-02 2.98255353e-03 1.42053885e+01] [ 4.16092954e-02 9.99133956e-01 7.19116726e-05 2.60672335e-01] [-2.98296271e-03 5.22528772e-05 9.99995550e-01 9.93338286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:0.27, Z:0.10 [[ 9.99053963e-01 -4.34602938e-02 1.54318889e-03 1.42342078e+01] [ 4.34602877e-02 9.99055155e-01 3.74995160e-05 2.65380414e-01] [-1.54336055e-03 2.96033930e-05 9.99998809e-01 9.84079587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:0.27, Z:0.10 [[ 9.98926644e-01 -4.63153690e-02 6.68698302e-04 1.42626710e+01] [ 4.63153678e-02 9.98926867e-01 1.73230875e-05 2.69895436e-01] [-6.68783025e-04 1.36665141e-05 9.99999776e-01 9.79587929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.29, Y:0.27, Z:0.10 [[ 9.98712660e-01 -5.07202716e-02 6.91057795e-04 1.42901068e+01] [ 5.07202717e-02 9.98712899e-01 1.74327290e-05 2.74292010e-01] [-6.91052527e-04 1.76403519e-05 9.99999761e-01 9.74293343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.32, Y:0.28, Z:0.10 [[ 9.98449464e-01 -5.56414132e-02 1.64319775e-03 1.43175741e+01] [ 5.56414200e-02 9.98450815e-01 4.15929617e-05 2.78000121e-01] [-1.64296643e-03 4.99013861e-05 9.99998649e-01 9.73440993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.28, Z:0.10 [[ 9.97820379e-01 -6.58976704e-02 3.46229435e-03 1.43456090e+01] [ 6.58977646e-02 9.97826376e-01 8.69892652e-05 2.83133198e-01] [-3.46050101e-03 1.41357796e-04 9.99994002e-01 9.79596393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:0.29, Z:0.10 [[ 9.97523616e-01 -7.02580281e-02 3.23181796e-03 1.43737934e+01] [ 7.02581307e-02 9.97528841e-01 8.19025039e-05 2.86172958e-01] [-3.22958593e-03 1.45361807e-04 9.99994774e-01 9.80145878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:0.29, Z:0.10 [[ 9.97264100e-01 -7.38921582e-02 2.06492911e-03 1.44019191e+01] [ 7.38918351e-02 9.97266235e-01 2.32434975e-04 2.89416755e-01] [-2.07645920e-03 -7.92176543e-05 9.99997841e-01 9.73698507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:0.29, Z:0.10 [[ 9.97125177e-01 -7.57675571e-02 8.11296682e-04 1.44299526e+01] [ 7.57677126e-02 9.97125482e-01 -1.62532302e-04 2.93163948e-01] [-7.96649920e-04 2.23535144e-04 9.99999658e-01 9.62118066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.30, Z:0.10 [[ 9.96935895e-01 -7.82194467e-02 7.34818088e-04 1.44569454e+01] [ 7.82194538e-02 9.96936165e-01 1.90857302e-05 2.95837928e-01] [-7.34059602e-04 3.84498200e-05 9.99999730e-01 9.53927783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.30, Z:0.10 [[ 9.96922361e-01 -7.83917472e-02 7.34800017e-04 1.44854191e+01] [ 7.83917538e-02 9.96922631e-01 1.97965044e-05 2.96710389e-01] [-7.34090649e-04 3.78666841e-05 9.99999730e-01 9.55734288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.30, Z:0.10 [[ 9.96846198e-01 -7.93433997e-02 1.51079957e-03 1.45135488e+01] [ 7.93434301e-02 9.96847340e-01 3.99205350e-05 2.97429221e-01] [-1.50920396e-03 8.00773864e-05 9.99998858e-01 9.64613921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.30, Z:0.10 [[ 9.96775931e-01 -8.02185872e-02 1.64967511e-03 1.45409233e+01] [ 8.02186257e-02 9.96777292e-01 4.29424091e-05 2.98616759e-01] [-1.64780347e-03 8.95307106e-05 9.99998638e-01 9.72635255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.30, Z:0.10 [[ 9.96712649e-01 -8.10076682e-02 1.28568516e-03 1.45693253e+01] [ 8.10076909e-02 9.96713476e-01 3.44623060e-05 3.00795233e-01] [-1.28425143e-03 6.98013696e-05 9.99999173e-01 9.82943589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.30, Z:0.10 [[ 9.96667440e-01 -8.15651714e-02 1.06599307e-03 1.45975048e+01] [ 8.15651869e-02 9.96668009e-01 2.89934436e-05 3.03393929e-01] [-1.06480604e-03 5.80511024e-05 9.99999431e-01 9.89146367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:0.31, Z:0.10 [[ 9.96642259e-01 -8.18677168e-02 1.37247604e-03 1.46240716e+01] [ 8.18677440e-02 9.96643202e-01 3.64314709e-05 3.05283575e-01] [-1.37085148e-03 7.60523738e-05 9.99999057e-01 9.89838046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:0.31, Z:0.10 [[ 9.96548278e-01 -8.29634413e-02 2.93191446e-03 1.46521983e+01] [ 8.29635684e-02 9.96552578e-01 7.84465103e-05 3.05964429e-01] [-2.92831511e-03 1.65066351e-04 9.99995699e-01 9.92388725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:0.31, Z:0.10 [[ 9.96456352e-01 -8.40327414e-02 3.63820815e-03 1.46791115e+01] [ 8.40329449e-02 9.96462972e-01 9.71613697e-05 3.06232010e-01] [-3.63350445e-03 2.08912281e-04 9.99993377e-01 9.92998955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.31, Z:0.10 [[ 9.96362734e-01 -8.51271173e-02 3.83102368e-03 1.47069487e+01] [ 8.51273471e-02 9.96370074e-01 1.03328455e-04 3.06876570e-01] [-3.82591340e-03 2.23172260e-04 9.99992656e-01 9.95542536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.31, Z:0.10 [[ 9.96315203e-01 -8.57089206e-02 3.16197440e-03 1.47350298e+01] [ 8.57090775e-02 9.96320203e-01 8.60845718e-05 3.08162662e-01] [-3.15771719e-03 1.85242541e-04 9.99994997e-01 9.97245822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:0.31, Z:0.10 [[ 9.96382509e-01 -8.49381773e-02 2.72075332e-03 1.47616084e+01] [ 8.49382914e-02 9.96386211e-01 7.37908225e-05 3.09916191e-01] [-2.71718875e-03 1.57572254e-04 9.99996296e-01 9.97366385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:0.31, Z:0.10 [[ 9.96742539e-01 -8.05477529e-02 4.04600641e-03 1.47893678e+01] [ 8.05417074e-02 9.96749897e-01 1.63580216e-03 3.12099144e-01] [-4.16461666e-03 -1.30460133e-03 9.99990477e-01 9.94937230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:0.32, Z:0.10 [[ 9.97027088e-01 -7.69000641e-02 4.83383770e-03 1.48168138e+01] [ 7.69075115e-02 9.97037285e-01 -1.37386733e-03 3.16973298e-01] [-4.71386593e-03 1.74154138e-03 9.99987373e-01 1.00335648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:0.32, Z:0.10 [[ 9.97251324e-01 -7.38690952e-02 5.75794795e-03 1.48459490e+01] [ 7.38694079e-02 9.97267911e-01 1.58637849e-04 3.19260195e-01] [-5.75393516e-03 2.67134401e-04 9.99983410e-01 1.01247865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:0.32, Z:0.10 [[ 9.97460862e-01 -7.09671108e-02 5.95799030e-03 1.48750658e+01] [ 7.09673985e-02 9.97478622e-01 1.63378433e-04 3.23467207e-01] [-5.95456245e-03 2.59859479e-04 9.99982238e-01 1.01931126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.90, Y:0.33, Z:0.10 [[ 9.97777657e-01 -6.65081065e-02 4.05206980e-03 1.49041010e+01] [ 6.65082032e-02 9.97785872e-01 1.11014092e-04 3.31276842e-01] [-4.05048133e-03 1.58728501e-04 9.99991784e-01 1.01223971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:0.34, Z:0.10 [[ 9.97844419e-01 -6.55340120e-02 3.43632637e-03 1.49332103e+01] [ 6.55340750e-02 9.97850328e-01 9.43707690e-05 3.35647404e-01] [-3.43512389e-03 1.31029125e-04 9.99994091e-01 1.00723423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:0.34, Z:0.10 [[ 9.97872475e-01 -6.50897520e-02 3.72136261e-03 1.49632074e+01] [ 6.50898226e-02 9.97879404e-01 1.02272550e-04 3.39985517e-01] [-3.72012800e-03 1.40167870e-04 9.99993070e-01 9.98247475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.34, Z:0.10 [[ 9.97856485e-01 -6.52680806e-02 4.74481343e-03 1.49941033e+01] [ 6.52681982e-02 9.97867749e-01 1.30213163e-04 3.44239775e-01] [-4.74319506e-03 1.79751374e-04 9.99988735e-01 9.97468344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:0.35, Z:0.10 [[ 9.97815662e-01 -6.57881746e-02 5.98496087e-03 1.50238180e+01] [ 6.57883702e-02 9.97833585e-01 1.64392807e-04 3.48974422e-01] [-5.98281007e-03 2.29707104e-04 9.99982076e-01 1.00317621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.35, Z:0.10 [[ 9.97756168e-01 -6.65946647e-02 6.91223663e-03 1.50546204e+01] [ 6.65949477e-02 9.97780074e-01 1.89465017e-04 3.53985355e-01] [-6.90950934e-03 2.71280148e-04 9.99976092e-01 1.00979242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.09, Y:0.36, Z:0.10 [[ 9.97680422e-01 -6.77192539e-02 6.91948035e-03 1.50851207e+01] [ 6.77195667e-02 9.97704377e-01 1.89347671e-04 3.62743296e-01] [-6.91641832e-03 2.79675747e-04 9.99976042e-01 1.01890131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.12, Y:0.37, Z:0.10 [[ 9.97643890e-01 -6.82930682e-02 6.53651680e-03 1.51172869e+01] [ 6.82933623e-02 9.97665267e-01 1.78469352e-04 3.67526368e-01] [-6.53344400e-03 2.68351851e-04 9.99978621e-01 1.01973371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:0.37, Z:0.10 [[ 9.97558690e-01 -6.94870839e-02 6.94305186e-03 1.51488582e+01] [ 6.94758881e-02 9.97581932e-01 1.84119926e-03 3.70738192e-01] [-7.05420266e-03 -1.35432962e-03 9.99974202e-01 1.01141556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:0.38, Z:0.10 [[ 9.97530175e-01 -6.98846158e-02 7.04912053e-03 1.51785401e+01] [ 6.98967696e-02 9.97553113e-01 -1.49248910e-03 3.77654935e-01] [-6.92757011e-03 1.98151367e-03 9.99974041e-01 1.01045823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:0.38, Z:0.10 [[ 9.97488644e-01 -7.03969264e-02 7.78961041e-03 1.52094371e+01] [ 7.03974127e-02 9.97519002e-01 2.12084423e-04 3.80681338e-01] [-7.78521449e-03 3.36816615e-04 9.99969638e-01 1.01001569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.39, Z:0.10 [[ 9.97480444e-01 -7.04914827e-02 7.98212072e-03 1.52419104e+01] [ 7.04919998e-02 9.97512321e-01 2.16895971e-04 3.85391467e-01] [-7.97755308e-03 3.46326162e-04 9.99968119e-01 1.01525961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.39, Z:0.10 [[ 9.97426827e-01 -7.13602077e-02 6.88804544e-03 1.52743450e+01] [ 7.13606159e-02 9.97450564e-01 1.86800027e-04 3.94019671e-01] [-6.88381489e-03 3.05215807e-04 9.99976260e-01 1.00905211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.31, Y:0.40, Z:0.10 [[ 9.97392159e-01 -7.18712097e-02 6.58864242e-03 1.53067967e+01] [ 7.18715966e-02 9.97413877e-01 1.78330480e-04 3.98553552e-01] [-6.58442021e-03 2.95670828e-04 9.99978279e-01 1.00458103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.34, Y:0.40, Z:0.10 [[ 9.97355032e-01 -7.23622280e-02 6.82990894e-03 1.53378009e+01] [ 7.23626600e-02 9.97378369e-01 1.84171844e-04 4.02623520e-01] [-6.82533053e-03 3.10545663e-04 9.99976659e-01 1.00831676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:0.41, Z:0.10 [[ 9.97286159e-01 -7.32145059e-02 7.74297410e-03 1.53694099e+01] [ 7.32150876e-02 9.97316152e-01 2.08677062e-04 4.06831774e-01] [-7.73747133e-03 3.58791782e-04 9.99970001e-01 1.01077261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:0.42, Z:0.10 [[ 9.97111196e-01 -7.54558457e-02 8.69931394e-03 1.54015409e+01] [ 7.54591697e-02 9.97148891e-01 -5.40419448e-05 4.15522751e-01] [-8.67043346e-03 7.10328835e-04 9.99962159e-01 1.01004702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:0.42, Z:0.10 [[ 9.96992890e-01 -7.69690027e-02 8.99717835e-03 1.54340291e+01] [ 7.69673541e-02 9.97033473e-01 5.29857010e-04 4.19952353e-01] [-9.01127054e-03 1.64225340e-04 9.99959384e-01 1.00922095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:15.47, Y:0.42, Z:0.10 [[ 9.96870449e-01 -7.85261358e-02 9.10789628e-03 1.54657218e+01] [ 7.85271744e-02 9.96911944e-01 2.44074765e-04 4.24476639e-01] [-9.09893683e-03 4.71906439e-04 9.99958492e-01 1.00641608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.43, Z:0.10 [[ 9.96698334e-01 -8.06575135e-02 9.31649268e-03 1.54989515e+01] [ 8.06589543e-02 9.96741734e-01 2.21593366e-04 4.27665965e-01] [-9.30401024e-03 5.30596819e-04 9.99956576e-01 1.00811986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:0.43, Z:0.10 [[ 9.96522016e-01 -8.27658118e-02 9.67946452e-03 1.55303714e+01] [ 8.27670431e-02 9.96568884e-01 2.73989304e-04 4.29650236e-01] [-9.66893010e-03 5.28104283e-04 9.99953115e-01 1.00622785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:0.43, Z:0.10 [[ 9.95915179e-01 -8.97764498e-02 9.65113488e-03 1.55610416e+01] [ 8.97781608e-02 9.95961754e-01 2.56683088e-04 4.33113092e-01] [-9.63520533e-03 6.10826556e-04 9.99953394e-01 1.00312191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:0.44, Z:0.10 [[ 9.95537291e-01 -9.38876280e-02 9.51921961e-03 1.55934412e+01] [ 9.38894845e-02 9.95582594e-01 2.52658046e-04 4.35084292e-01] [-9.50089081e-03 6.42224116e-04 9.99954659e-01 9.99655267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:0.44, Z:0.10 [[ 9.95160688e-01 -9.77873364e-02 9.63545150e-03 1.56249184e+01] [ 9.77894228e-02 9.95207096e-01 2.55488765e-04 4.35127693e-01] [-9.61425327e-03 6.87992865e-04 9.99953545e-01 9.91982352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.43, Z:0.10 [[ 9.94817947e-01 -1.01191881e-01 9.87196345e-03 1.56568106e+01] [ 1.01194243e-01 9.94866653e-01 2.61238824e-04 4.33753027e-01] [-9.84772248e-03 7.39100798e-04 9.99951237e-01 9.87998740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.69, Y:0.43, Z:0.10 [[ 9.94431101e-01 -1.05013233e-01 8.88855767e-03 1.56877154e+01] [ 1.05015301e-01 9.94470578e-01 2.34955057e-04 4.31423546e-01] [-8.86408247e-03 6.99787947e-04 9.99960468e-01 9.99151630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.43, Z:0.10 [[ 9.94374821e-01 -1.05612128e-01 8.04950945e-03 1.57195209e+01] [ 1.05613847e-01 9.94407195e-01 2.12329038e-04 4.31953066e-01] [-8.02691464e-03 6.39005014e-04 9.99967580e-01 1.00639896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:0.43, Z:0.10 [[ 9.94389656e-01 -1.05503774e-01 7.62666026e-03 1.57513200e+01] [ 1.05505318e-01 9.94418718e-01 2.00817128e-04 4.32090834e-01] [-7.60528068e-03 6.04962737e-04 9.99970896e-01 1.01550328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.43, Z:0.10 [[ 9.94472777e-01 -1.04729552e-01 7.45772572e-03 1.57833470e+01] [ 1.04731009e-01 9.94500567e-01 1.96009273e-04 4.31553391e-01] [-7.43724042e-03 5.86129253e-04 9.99972172e-01 1.01722803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.43, Z:0.10 [[ 9.94737307e-01 -1.02189290e-01 7.41876596e-03 1.58143589e+01] [ 1.02190663e-01 9.94764812e-01 1.94800711e-04 4.29225490e-01] [-7.39983387e-03 5.64353077e-04 9.99972462e-01 1.01122233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:0.43, Z:0.10 [[ 9.94855087e-01 -1.01060169e-01 7.08509678e-03 1.58452218e+01] [ 1.01061393e-01 9.94880174e-01 1.85944780e-04 4.29054267e-01] [-7.06761393e-03 5.31041642e-04 9.99974883e-01 1.00961730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.43, Z:0.10 [[ 9.94942377e-01 -1.00219042e-01 6.76829468e-03 1.58763540e+01] [ 1.00220141e-01 9.94965272e-01 1.77324206e-04 4.28826168e-01] [-6.75198942e-03 5.01892083e-04 9.99977079e-01 1.00533363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:0.43, Z:0.10 [[ 9.94998368e-01 -9.97262853e-02 5.73729524e-03 1.59083774e+01] [ 9.97270696e-02 9.95014819e-01 1.49935722e-04 4.25798132e-01] [-5.72364632e-03 4.22977843e-04 9.99983530e-01 9.95445001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.42, Z:0.10 [[ 9.94908864e-01 -1.00635735e-01 5.36670883e-03 1.59399599e+01] [ 1.00636435e-01 9.94923257e-01 1.40250140e-04 4.23118088e-01] [-5.35357760e-03 4.00550335e-04 9.99985589e-01 9.94481570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.42, Z:0.10 [[ 9.94839472e-01 -1.01346875e-01 4.82038519e-03 1.59707699e+01] [ 1.01347447e-01 9.94851084e-01 1.25975997e-04 4.22856124e-01] [-4.80833271e-03 3.63207840e-04 9.99988374e-01 9.94636378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.42, Z:0.10 [[ 9.94785884e-01 -1.01893354e-01 4.33460422e-03 1.60009873e+01] [ 1.01893822e-01 9.94795273e-01 1.13224219e-04 4.22510185e-01] [-4.32358058e-03 3.29035537e-04 9.99990599e-01 9.90993622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.42, Z:0.10 [[ 9.94831852e-01 -1.01451965e-01 4.13351328e-03 1.60317911e+01] [ 1.01452386e-01 9.94840390e-01 1.08040923e-04 4.19771216e-01] [-4.12314692e-03 3.11872235e-04 9.99991451e-01 9.86982463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.42, Z:0.10 [[ 9.94935823e-01 -1.00432954e-01 3.99126590e-03 1.60613437e+01] [ 1.00433339e-01 9.94943784e-01 1.04439464e-04 4.19091005e-01] [-3.98157436e-03 2.96945597e-04 9.99992029e-01 9.84920183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:0.42, Z:0.10 [[ 9.95067864e-01 -9.91195304e-02 3.90689371e-03 1.60920087e+01] [ 9.91198892e-02 9.95075493e-01 1.02161778e-04 4.18931723e-01] [-3.89778041e-03 2.85592969e-04 9.99992363e-01 9.81712230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:0.42, Z:0.10 [[ 9.95376881e-01 -9.59995244e-02 2.99256249e-03 1.61220932e+01] [ 9.59997209e-02 9.95381358e-01 7.82528340e-05 4.16799872e-01] [-2.98625315e-03 2.09394102e-04 9.99995519e-01 9.80965154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:0.42, Z:0.10 [[ 9.95477402e-01 -9.49753329e-02 2.10448798e-03 1.61517058e+01] [ 9.49754274e-02 9.95479616e-01 5.52266293e-05 4.15990533e-01] [-2.10022006e-03 1.44897784e-04 9.99997784e-01 9.76111621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.18, Y:0.42, Z:0.10 [[ 9.95536778e-01 -9.43722857e-02 6.28166504e-04 1.61803157e+01] [ 9.43722939e-02 9.95536976e-01 1.67399402e-05 4.15591083e-01] [-6.26942768e-04 4.26162878e-05 9.99999803e-01 9.72035472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.21, Y:0.41, Z:0.10 [[ 9.95597825e-01 -9.37111709e-02 -1.78542505e-03 1.62094528e+01] [ 9.37112383e-02 9.95599418e-01 -4.60560402e-05 4.14471165e-01] [ 1.78188411e-03 -1.21461099e-04 9.99998405e-01 9.58720981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.24, Y:0.41, Z:0.10 [[ 9.95647836e-01 -9.31539317e-02 -2.78075900e-03 1.62362294e+01] [ 9.31540893e-02 9.95651701e-01 -7.30682942e-05 4.14166812e-01] [ 2.77547403e-03 -1.86288783e-04 9.99996131e-01 9.55750096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:0.41, Z:0.10 [[ 9.95673908e-01 -9.28449405e-02 -3.64502190e-03 1.62644320e+01] [ 9.28452086e-02 9.95680550e-01 -9.59701427e-05 4.14143469e-01] [ 3.63818776e-03 -2.42867852e-04 9.99993352e-01 9.53599059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:0.42, Z:0.10 [[ 9.95745688e-01 -9.20704838e-02 -3.68120701e-03 1.62917452e+01] [ 9.20707484e-02 9.95752463e-01 -9.78819692e-05 4.15099531e-01] [ 3.67458298e-03 -2.41465935e-04 9.99993220e-01 9.57280809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:0.42, Z:0.10 [[ 9.95782547e-01 -9.16747061e-02 -3.58704442e-03 1.63200169e+01] [ 9.16749548e-02 9.95788980e-01 -9.53721687e-05 4.17119147e-01] [ 3.58068252e-03 -2.33872194e-04 9.99993562e-01 9.62258821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:0.42, Z:0.10 [[ 9.95879126e-01 -9.06475093e-02 -2.79216739e-03 1.63468900e+01] [ 9.06476543e-02 9.95883024e-01 -7.48531230e-05 4.19005146e-01] [ 2.78745735e-03 -1.78558761e-04 9.99996099e-01 9.66448202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:0.42, Z:0.10 [[ 9.96018651e-01 -8.91450024e-02 -1.27996320e-04 1.63743323e+01] [ 8.91450028e-02 9.96018659e-01 -2.30141491e-06 4.20291204e-01] [ 1.27691883e-04 -9.11798017e-06 9.99999992e-01 9.81900086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.42, Z:0.10 [[ 9.96005187e-01 -8.92953020e-02 -1.27989809e-04 1.64036293e+01] [ 8.92953024e-02 9.96005195e-01 -2.54364521e-06 4.21186649e-01] [ 1.27705650e-04 -8.89540484e-06 9.99999992e-01 9.83752471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:0.42, Z:0.10 [[ 9.96001111e-01 -8.93405878e-02 2.17127346e-04 1.64318556e+01] [ 8.93405886e-02 9.96001134e-01 6.31020519e-06 4.23200312e-01] [-2.16822840e-04 1.31133135e-05 9.99999976e-01 9.93940489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.43, Z:0.10 [[ 9.95820211e-01 -9.12999676e-02 -2.53434110e-03 1.64605887e+01] [ 9.13000870e-02 9.95823423e-01 -6.87783921e-05 4.29812698e-01] [ 2.53003569e-03 -1.62894650e-04 9.99996786e-01 9.93814816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:0.43, Z:0.10 [[ 9.95687511e-01 -9.26687624e-02 -4.34512729e-03 1.64874162e+01] [ 9.26691194e-02 9.95696952e-01 -1.19531073e-04 4.32373402e-01] [ 4.33750680e-03 -2.83643523e-04 9.99990553e-01 9.86313523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.52, Y:0.43, Z:0.10 [[ 9.95515859e-01 -9.44395451e-02 -5.41734845e-03 1.65150500e+01] [ 9.44401235e-02 9.95530532e-01 -1.49502724e-04 4.34150838e-01] [ 5.40725476e-03 -3.62782725e-04 9.99985315e-01 9.87747745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:0.44, Z:0.10 [[ 9.95295121e-01 -9.67681081e-02 -4.85343203e-03 1.65419004e+01] [ 9.67685959e-02 9.95306898e-01 -1.34786681e-04 4.35895433e-01] [ 4.84369743e-03 -3.35507277e-04 9.99988213e-01 9.88859088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.57, Y:0.44, Z:0.10 [[ 9.94836604e-01 -1.01441732e-01 -3.11547011e-03 1.65692831e+01] [ 1.01441956e-01 9.94841456e-01 -8.64844720e-05 4.40271713e-01] [ 3.10817196e-03 -2.30001463e-04 9.99995143e-01 1.00544872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.60, Y:0.44, Z:0.10 [[ 9.94592859e-01 -1.03790076e-01 -3.55887369e-03 1.65973597e+01] [ 1.03790380e-01 9.94599189e-01 -9.95649149e-05 4.42933465e-01] [ 3.54998674e-03 -2.70350299e-04 9.99993662e-01 1.00216645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.63, Y:0.45, Z:0.10 [[ 9.94179848e-01 -1.07532143e-01 -6.57779093e-03 1.66255766e+01] [ 1.07533250e-01 9.94201471e-01 -1.86169783e-04 4.46046455e-01] [ 6.55966865e-03 -5.22244989e-04 9.99978349e-01 9.84441583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.45, Z:0.10 [[ 9.94036203e-01 -1.08863028e-01 -6.39283619e-03 1.66533544e+01] [ 1.08864094e-01 9.94056626e-01 -1.82059197e-04 4.47563032e-01] [ 6.37466069e-03 -5.14976888e-04 9.99979549e-01 9.80365816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:0.45, Z:0.10 [[ 9.93871214e-01 -1.10471239e-01 -4.01445585e-03 1.66815573e+01] [ 1.10471671e-01 9.93879267e-01 -1.14616324e-04 4.49499978e-01] [ 4.00254624e-03 -3.29569781e-04 9.99991935e-01 9.87764359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:0.45, Z:0.10 [[ 9.93842206e-01 -1.10745603e-01 -3.61686089e-03 1.67083580e+01] [ 1.10745952e-01 9.93848743e-01 -1.04112765e-04 4.50992790e-01] [ 3.60614267e-03 -2.97081042e-04 9.99993454e-01 9.92464052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:0.45, Z:0.10 [[ 9.93842879e-01 -1.10718218e-01 -4.21986423e-03 1.67361403e+01] [ 1.10718693e-01 9.93851778e-01 -1.21687221e-04 4.52763058e-01] [ 4.20739256e-03 -3.46279874e-04 9.99991089e-01 1.00019251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:0.45, Z:0.10 [[ 9.93909308e-01 -1.10084676e-01 -5.06478208e-03 1.67627017e+01] [ 1.10085345e-01 9.93922127e-01 -1.47279972e-04 4.54542312e-01] [ 5.05021224e-03 -4.11175350e-04 9.99987163e-01 9.99381738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.46, Z:0.10 [[ 9.94138863e-01 -1.07965111e-01 -5.60850492e-03 1.67901303e+01] [ 1.07965894e-01 9.94154585e-01 -1.63838833e-04 4.56370581e-01] [ 5.59340976e-03 -4.42648697e-04 9.99984259e-01 1.00289363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:16.82, Y:0.46, Z:0.10 [[ 9.94306661e-01 -1.06366139e-01 -6.36459571e-03 1.68176822e+01] [ 1.06367106e-01 9.94326910e-01 -1.87237156e-04 4.57338667e-01] [ 6.34840448e-03 -4.90812478e-04 9.99979728e-01 1.00509882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:0.46, Z:0.10 [[ 9.94459393e-01 -1.04867947e-01 -7.29581724e-03 1.68449127e+01] [ 1.04869168e-01 9.94486003e-01 -2.16026523e-04 4.58989858e-01] [ 7.27824238e-03 -5.50276680e-04 9.99973362e-01 1.00871376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:0.46, Z:0.10 [[ 9.94736199e-01 -1.02060388e-01 -9.14178244e-03 1.68736938e+01] [ 1.02088375e-01 9.94771809e-01 2.64785167e-03 4.60998619e-01] [ 8.82374669e-03 -3.56718363e-03 9.99954707e-01 9.97382696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.47, Z:0.10 [[ 9.94874960e-01 -1.00638699e-01 -9.78086974e-03 1.69002210e+01] [ 1.00611971e-01 9.94920632e-01 -3.18856681e-03 4.69496714e-01] [ 1.00520823e-02 2.18815270e-03 9.99947082e-01 1.00366115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:0.47, Z:0.10 [[ 9.95092115e-01 -9.86969511e-02 -7.11305194e-03 1.69283791e+01] [ 9.86979389e-02 9.95117416e-01 -2.12876389e-04 4.72379685e-01] [ 7.09933211e-03 -4.90211949e-04 9.99974679e-01 1.00881633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.96, Y:0.48, Z:0.10 [[ 9.95176519e-01 -9.79258658e-02 -5.84984257e-03 1.69560381e+01] [ 9.79265157e-02 9.95193633e-01 -1.75927834e-04 4.75395096e-01] [ 5.83895396e-03 -3.97775450e-04 9.99982874e-01 1.00953562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.48, Z:0.10 [[ 9.95218537e-01 -9.74986020e-02 -5.83834573e-03 1.69827912e+01] [ 9.74992355e-02 9.95235584e-01 -1.76700048e-04 4.78995726e-01] [ 5.82775743e-03 -3.93379082e-04 9.99982941e-01 1.01989993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.48, Z:0.10 [[ 9.95335708e-01 -9.62455411e-02 -6.60489951e-03 1.70103522e+01] [ 9.62463179e-02 9.95357527e-01 -2.00882923e-04 4.84000651e-01] [ 6.59357053e-03 -4.35751312e-04 9.99978167e-01 1.02031072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:17.04, Y:0.49, Z:0.10 [[ 9.95342538e-01 -9.61804877e-02 -6.52277199e-03 1.70373159e+01] [ 9.61812363e-02 9.95363818e-01 -1.99547704e-04 4.86038616e-01] [ 6.51172383e-03 -4.28749956e-04 9.99978707e-01 1.02153755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:0.49, Z:0.10 [[ 9.95218540e-01 -9.74957240e-02 -5.88576602e-03 1.70652446e+01] [ 9.74963525e-02 9.95235866e-01 -1.80724847e-04 4.88422689e-01] [ 5.87534534e-03 -3.93980000e-04 9.99982662e-01 1.02481188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:17.09, Y:0.49, Z:0.10 [[ 9.95078324e-01 -9.89580706e-02 -5.14087739e-03 1.70930410e+01] [ 9.89585646e-02 9.95091542e-01 -1.58810829e-04 4.90774342e-01] [ 5.13135923e-03 -3.50704634e-04 9.99986773e-01 1.02671000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.50, Z:0.10 [[ 9.94648686e-01 -1.03243886e-01 -3.83286766e-03 1.71205104e+01] [ 1.03244193e-01 9.94656032e-01 -1.18237360e-04 4.95315463e-01] [ 3.82459223e-03 -2.78116694e-04 9.99992648e-01 1.04604512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:0.50, Z:0.11 [[ 9.94434547e-01 -1.05276292e-01 -4.10295844e-03 1.71470694e+01] [ 1.05276657e-01 9.94442964e-01 -1.27596317e-04 4.97467369e-01] [ 4.09359102e-03 -3.05059561e-04 9.99991575e-01 1.05313800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:0.50, Z:0.11 [[ 9.94068286e-01 -1.08602374e-01 -5.81089629e-03 1.71756759e+01] [ 1.08603159e-01 9.94085168e-01 -1.81316040e-04 4.98382071e-01] [ 5.79621717e-03 -4.50841167e-04 9.99983100e-01 1.05475047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.50, Z:0.11 [[ 9.93871719e-01 -1.10397993e-01 -5.59370695e-03 1.72029109e+01] [ 1.10398743e-01 9.93887361e-01 -1.75450241e-04 4.98992316e-01] [ 5.57888399e-03 -4.43163185e-04 9.99984340e-01 1.05252442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.50, Z:0.11 [[ 9.93697842e-01 -1.12000347e-01 -4.52991107e-03 1.72296749e+01] [ 1.12000855e-01 9.93708100e-01 -1.42349138e-04 4.99516159e-01] [ 4.51735248e-03 -3.65901880e-04 9.99989730e-01 1.05316545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:0.50, Z:0.11 [[ 9.93425024e-01 -1.14444312e-01 -3.03664195e-03 1.72572093e+01] [ 1.14444552e-01 9.93429633e-01 -9.51564031e-05 4.99233291e-01] [ 3.02758021e-03 -2.52996377e-04 9.99995385e-01 1.05814525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:0.50, Z:0.11 [[ 9.93342213e-01 -1.15149025e-01 -3.45696649e-03 1.72854493e+01] [ 1.15149336e-01 9.93348186e-01 -1.09479135e-04 4.98263716e-01] [ 3.44657780e-03 -2.89317149e-04 9.99994019e-01 1.05938783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.50, Z:0.11 [[ 9.93211414e-01 -1.16234250e-01 -4.54830138e-03 1.73142601e+01] [ 1.16234799e-01 9.93221753e-01 -1.44219337e-04 4.96980138e-01] [ 4.53423509e-03 -3.85430605e-04 9.99989646e-01 1.05937100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:0.49, Z:0.11 [[ 9.92861360e-01 -1.19021041e-01 -7.76606087e-03 1.73409283e+01] [ 1.19022714e-01 9.92891501e-01 -2.48141871e-04 4.94662519e-01] [ 7.74038993e-03 -6.77967162e-04 9.99969813e-01 1.05578448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:0.49, Z:0.11 [[ 9.92697356e-01 -1.20350543e-01 -8.22834027e-03 1.73674513e+01] [ 1.20352460e-01 9.92731190e-01 -2.63610030e-04 4.94362995e-01] [ 8.20025564e-03 -7.28616012e-04 9.99966112e-01 1.05692923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:0.49, Z:0.11 [[ 9.92607431e-01 -1.21230241e-01 -5.80668377e-03 1.73951072e+01] [ 1.21231209e-01 9.92624279e-01 -1.86285739e-04 4.91300505e-01] [ 5.78643876e-03 -5.19042684e-04 9.99983124e-01 1.06601496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:0.49, Z:0.11 [[ 9.92644982e-01 -1.20979696e-01 -4.45572099e-03 1.74227293e+01] [ 1.20980261e-01 9.92654903e-01 -1.43482452e-04 4.89743717e-01] [ 4.44035175e-03 -3.96627151e-04 9.99990063e-01 1.07803901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:0.49, Z:0.11 [[ 9.92737749e-01 -1.20261403e-01 -2.99278911e-03 1.74511483e+01] [ 1.20261654e-01 9.92742225e-01 -9.65308932e-05 4.88825564e-01] [ 2.98267706e-03 -2.64087908e-04 9.99995517e-01 1.08921893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:0.49, Z:0.11 [[ 9.93113326e-01 -1.17144285e-01 -1.77158191e-03 1.74784991e+01] [ 1.17144367e-01 9.93114895e-01 -5.74607158e-05 4.89162549e-01] [ 1.76611558e-03 -1.50465839e-04 9.99998429e-01 1.10104584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:0.49, Z:0.11 [[ 9.93345197e-01 -1.15157288e-01 -2.02967048e-03 1.75060038e+01] [ 1.15157392e-01 9.93347256e-01 -6.56267869e-05 4.90191886e-01] [ 2.02372501e-03 -1.68541506e-04 9.99997938e-01 1.09770960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:0.49, Z:0.11 [[ 9.93871041e-01 -1.10494935e-01 -3.34999324e-03 1.75340004e+01] [ 1.10495190e-01 9.93876653e-01 -1.09664358e-04 4.90421638e-01] [ 3.34159742e-03 -2.61165909e-04 9.99994383e-01 1.08863656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:0.49, Z:0.11 [[ 9.94047738e-01 -1.08907194e-01 -2.88419961e-03 1.75616516e+01] [ 1.08907375e-01 9.94051897e-01 -9.47686142e-05 4.92121918e-01] [ 2.87736508e-03 -2.19906081e-04 9.99995836e-01 1.09364863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:0.49, Z:0.11 [[ 9.94147229e-01 -1.08024264e-01 -1.42987754e-03 1.75880939e+01] [ 1.08024308e-01 9.94148252e-01 -4.69161650e-05 4.94640720e-01] [ 1.42657834e-03 -1.07819956e-04 9.99998977e-01 1.10834867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:0.50, Z:0.11 [[ 9.94150958e-01 -1.07999373e-01 -9.18143652e-05 1.76170887e+01] [ 1.07999374e-01 9.94150962e-01 -2.06926417e-06 4.97960027e-01] [ 9.15008187e-05 -7.85873299e-06 9.99999996e-01 1.12793928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:0.50, Z:0.11 [[ 9.94087148e-01 -1.08584932e-01 -2.34554175e-04 1.76466667e+01] [ 1.08584933e-01 9.94087175e-01 -7.72613653e-06 4.97887766e-01] [ 2.34006240e-04 -1.77885965e-05 9.99999972e-01 1.12352461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:0.50, Z:0.11 [[ 9.94004490e-01 -1.09332521e-01 -1.21364840e-03 1.76755339e+01] [ 1.09332553e-01 9.94005227e-01 -4.05274367e-05 4.97161989e-01] [ 1.21080382e-03 -9.24068243e-05 9.99999263e-01 1.11561143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:17.70, Y:0.50, Z:0.11 [[ 9.93688520e-01 -1.12125318e-01 -3.32240851e-03 1.77034312e+01] [ 1.12125569e-01 9.93694040e-01 -1.11166337e-04 4.98211323e-01] [ 3.31392210e-03 -2.62062234e-04 9.99994475e-01 1.09437508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.73, Y:0.50, Z:0.11 [[ 9.93514289e-01 -1.13656262e-01 -3.40752401e-03 1.77311362e+01] [ 1.13656533e-01 9.93520095e-01 -1.14653560e-04 5.00008090e-01] [ 3.39847467e-03 -2.73377415e-04 9.99994188e-01 1.09668268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.76, Y:0.50, Z:0.11 [[ 9.93253665e-01 -1.15904578e-01 -3.64503012e-03 1.77592081e+01] [ 1.15904901e-01 9.93260308e-01 -1.23386639e-04 4.99806527e-01] [ 3.63476481e-03 -2.99922622e-04 9.99993349e-01 1.10912827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:0.50, Z:0.11 [[ 9.93085755e-01 -1.17310812e-01 -4.34247722e-03 1.77858242e+01] [ 1.17311278e-01 9.93095183e-01 -1.48225614e-04 4.99566350e-01] [ 4.32988168e-03 -3.62220806e-04 9.99990560e-01 1.11679071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:0.50, Z:0.11 [[ 9.92921302e-01 -1.18657711e-01 -5.25693722e-03 1.78135361e+01] [ 1.18658410e-01 9.92935118e-01 -1.79862105e-04 5.00320255e-01] [ 5.24113961e-03 -4.45190895e-04 9.99986166e-01 1.11858337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:0.50, Z:0.11 [[ 9.92712792e-01 -1.20376812e-01 -5.54394660e-03 1.78407456e+01] [ 1.20377610e-01 9.92728158e-01 -1.90794446e-04 5.03507111e-01] [ 5.52659912e-03 -4.77962952e-04 9.99984614e-01 1.11371956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:0.50, Z:0.11 [[ 9.92677420e-01 -1.20720757e-01 -4.24724940e-03 1.78690766e+01] [ 1.20721228e-01 9.92686438e-01 -1.46407957e-04 5.04907648e-01] [ 4.23386136e-03 -3.67397289e-04 9.99990970e-01 1.11014058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:0.51, Z:0.11 [[ 9.92754810e-01 -1.20126424e-01 -2.74414935e-03 1.78972303e+01] [ 1.20126618e-01 9.92758574e-01 -9.46488798e-05 5.05870119e-01] [ 2.73564762e-03 -2.35682249e-04 9.99996230e-01 1.10799605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:0.51, Z:0.11 [[ 9.92838066e-01 -1.19428889e-01 -3.05204871e-03 1.79244003e+01] [ 1.19429122e-01 9.92842723e-01 -1.06308811e-04 5.07699370e-01] [ 3.04290070e-03 -2.58956065e-04 9.99995337e-01 1.10572053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:0.51, Z:0.11 [[ 9.92958167e-01 -1.18413867e-01 -3.49771411e-03 1.79525003e+01] [ 1.18414167e-01 9.92964284e-01 -1.21915287e-04 5.10063465e-01] [ 3.48754165e-03 -2.93122123e-04 9.99993876e-01 1.10665281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.51, Z:0.11 [[ 9.93314801e-01 -1.15380975e-01 -3.59684849e-03 1.79803456e+01] [ 1.15381270e-01 9.93321271e-01 -1.26039897e-04 5.11056877e-01] [ 3.58736872e-03 -2.89811653e-04 9.99993523e-01 1.10448030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:0.51, Z:0.11 [[ 9.93443573e-01 -1.14282474e-01 -3.06315724e-03 1.80081707e+01] [ 1.14282682e-01 9.93448266e-01 -1.07715718e-04 5.11405359e-01] [ 3.05539826e-03 -2.43056337e-04 9.99995303e-01 1.10625065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:0.51, Z:0.11 [[ 9.93533778e-01 -1.13501296e-01 -2.84381698e-03 1.80366106e+01] [ 1.13501471e-01 9.93537823e-01 -1.00432400e-04 5.12504098e-01] [ 2.83683894e-03 -2.22994427e-04 9.99995951e-01 1.10913448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:0.52, Z:0.11 [[ 9.93821277e-01 -1.10848575e-01 -5.64476810e-03 1.80646243e+01] [ 1.10849209e-01 9.93837216e-01 -2.01484803e-04 5.15735284e-01] [ 5.63231491e-03 -4.25478193e-04 9.99984048e-01 1.09924438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:18.09, Y:0.52, Z:0.11 [[ 9.94016338e-01 -1.08950811e-01 -7.82568189e-03 1.80922647e+01] [ 1.08951955e-01 9.94046977e-01 -2.81164267e-04 5.17144864e-01] [ 7.80972850e-03 -5.73141468e-04 9.99969339e-01 1.09652515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:0.52, Z:0.11 [[ 9.94280792e-01 -1.06473059e-01 -8.31831296e-03 1.81193475e+01] [ 1.06474254e-01 9.94315414e-01 -3.00316851e-04 5.17861606e-01] [ 8.30300245e-03 -5.87086889e-04 9.99965357e-01 1.10053176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:0.52, Z:0.11 [[ 9.94262568e-01 -1.06643110e-01 -8.31828151e-03 1.81477922e+01] [ 1.06644303e-01 9.94297190e-01 -3.01185495e-04 5.19029300e-01] [ 8.30296329e-03 -5.87639875e-04 9.99965357e-01 1.10233170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:0.52, Z:0.11 [[ 9.94324107e-01 -1.06158619e-01 -7.06520616e-03 1.81759091e+01] [ 1.06159461e-01 9.94349085e-01 -2.56871678e-04 5.20783887e-01] [ 7.05255042e-03 -4.94624774e-04 9.99975008e-01 1.10517849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.52, Z:0.11 [[ 9.94366372e-01 -1.05839704e-01 -5.78573638e-03 1.82040282e+01] [ 1.05840258e-01 9.94383123e-01 -2.11211346e-04 5.22956811e-01] [ 5.77559316e-03 -4.02342369e-04 9.99983240e-01 1.10831072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:0.53, Z:0.11 [[ 9.94426211e-01 -1.05326971e-01 -4.76871601e-03 1.82305651e+01] [ 1.05327338e-01 9.94437590e-01 -1.74922333e-04 5.26643730e-01] [ 4.76061450e-03 -3.28328809e-04 9.99988614e-01 1.10838654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:0.53, Z:0.11 [[ 9.94428782e-01 -1.05302090e-01 -4.78203065e-03 1.82582950e+01] [ 1.05280853e-01 9.94432368e-01 -4.49523439e-03 5.32133375e-01] [ 5.22876364e-03 3.96673419e-03 9.99978462e-01 1.09297183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.53, Z:0.11 [[ 9.94384254e-01 -1.05661145e-01 -5.97318127e-03 1.82862074e+01] [ 1.05686400e-01 9.94391128e-01 4.08280028e-03 5.26207132e-01] [ 5.50828511e-03 -4.69115633e-03 9.99973826e-01 1.09958880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:0.53, Z:0.11 [[ 9.94227016e-01 -1.07196246e-01 -4.64820677e-03 1.83143158e+01] [ 1.07196609e-01 9.94237827e-01 -1.71678585e-04 5.32560188e-01] [ 4.63982630e-03 -3.27584516e-04 9.99989182e-01 1.10332699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.34, Y:0.53, Z:0.11 [[ 9.94121243e-01 -1.08190955e-01 -4.20385672e-03 1.83423770e+01] [ 1.08191258e-01 9.94130086e-01 -1.55926465e-04 5.34543441e-01] [ 4.19605028e-03 -2.99810737e-04 9.99991152e-01 1.10489057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:0.54, Z:0.11 [[ 9.93861146e-01 -1.10523806e-01 -4.95084909e-03 1.83696037e+01] [ 1.10524249e-01 9.93873411e-01 -1.84888498e-04 5.37125996e-01] [ 4.94095185e-03 -3.63435384e-04 9.99987727e-01 1.10578189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:0.54, Z:0.11 [[ 9.93755864e-01 -1.11461218e-01 -5.06758080e-03 1.83978027e+01] [ 1.11461693e-01 9.93768713e-01 -1.89537081e-04 5.39001503e-01] [ 5.05712928e-03 -3.76487548e-04 9.99987142e-01 1.10597975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:0.54, Z:0.11 [[ 9.93676764e-01 -1.12190917e-01 -4.43700233e-03 1.84262465e+01] [ 1.12184413e-01 9.93685968e-01 -1.68923261e-03 5.42651391e-01] [ 4.59850351e-03 1.18078869e-03 9.99988730e-01 1.11427792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:0.54, Z:0.11 [[ 9.93740616e-01 -1.11675240e-01 -2.86851610e-03 1.84529893e+01] [ 1.11679637e-01 9.93743246e-01 1.42107399e-03 5.42137744e-01] [ 2.69186972e-03 -1.73253378e-03 9.99994876e-01 1.11773360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:0.55, Z:0.11 [[ 9.93712766e-01 -1.11959526e-01 -6.29680105e-05 1.84816409e+01] [ 1.11959526e-01 9.93712768e-01 -1.39383323e-06 5.46838728e-01] [ 6.27281689e-05 -5.66479874e-06 9.99999998e-01 1.13517088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:0.55, Z:0.11 [[ 9.93665313e-01 -1.12379452e-01 3.22071420e-04 1.85114830e+01] [ 1.12379454e-01 9.93665365e-01 1.23935785e-05 5.49411653e-01] [-3.21423999e-04 2.38791411e-05 9.99999948e-01 1.14441493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:0.55, Z:0.11 [[ 9.93544814e-01 -1.13435609e-01 -1.03241737e-03 1.85422731e+01] [ 1.13435629e-01 9.93545347e-01 -3.93921192e-05 5.53003016e-01] [ 1.03022194e-03 -7.79750778e-05 9.99999466e-01 1.14363725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.57, Y:0.55, Z:0.11 [[ 9.93511611e-01 -1.13716940e-01 -1.77084854e-03 1.85718877e+01] [ 1.13717000e-01 9.93513180e-01 -6.72566582e-05 5.53846255e-01] [ 1.76700958e-03 -1.34555312e-04 9.99998430e-01 1.13847704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:0.55, Z:0.11 [[ 9.93454647e-01 -1.14213165e-01 -1.79343612e-03 1.86018488e+01] [ 1.14213227e-01 9.93456257e-01 -6.80866210e-05 5.54442553e-01] [ 1.78947672e-03 -1.37193156e-04 9.99998389e-01 1.13907690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:0.56, Z:0.12 [[ 9.93350125e-01 -1.15132370e-01 -2.56578273e-04 1.86308683e+01] [ 1.15132372e-01 9.93350158e-01 -9.50023021e-06 5.55746726e-01] [ 2.55965852e-04 -2.01034103e-05 9.99999967e-01 1.15251536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:0.56, Z:0.12 [[ 9.93252951e-01 -1.15967922e-01 1.27687962e-04 1.86608532e+01] [ 1.15967989e-01 9.93252570e-01 -8.70584135e-04 5.58509057e-01] [-2.58665642e-05 8.79517977e-04 9.99999613e-01 1.16348430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:0.56, Z:0.12 [[ 9.93212621e-01 -1.16312743e-01 -1.89932972e-04 1.86915680e+01] [ 1.16312861e-01 9.93212282e-01 8.24841557e-04 5.58016592e-01] [ 9.27041768e-05 -8.41334692e-04 9.99999642e-01 1.16445125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:0.56, Z:0.12 [[ 9.93133087e-01 -1.16978375e-01 -1.65294731e-03 1.87207201e+01] [ 1.16978430e-01 9.93134454e-01 -6.33798127e-05 5.58929882e-01] [ 1.64901300e-03 -1.30414593e-04 9.99998632e-01 1.16116307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:0.56, Z:0.12 [[ 9.93160634e-01 -1.16736947e-01 -2.10713585e-03 1.87491334e+01] [ 1.16737037e-01 9.93162856e-01 -8.06049038e-05 5.60724833e-01] [ 2.10213863e-03 -1.65927178e-04 9.99997777e-01 1.15877044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:0.57, Z:0.11 [[ 9.93304480e-01 -1.15508897e-01 -1.97582524e-03 1.87801079e+01] [ 1.15494812e-01 9.93288915e-01 -6.17093135e-03 5.70005099e-01] [ 2.67536279e-03 5.90141620e-03 9.99979008e-01 1.14352197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:0.56, Z:0.12 [[ 9.93362523e-01 -1.14955198e-01 -4.02492584e-03 1.88106722e+01] [ 1.14977917e-01 9.93350169e-01 5.95984473e-03 5.61964732e-01] [ 3.31304564e-03 -6.38306398e-03 9.99974140e-01 1.15225249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:0.57, Z:0.12 [[ 9.93459585e-01 -1.14079586e-01 -4.88883328e-03 1.88399957e+01] [ 1.14080038e-01 9.93471545e-01 -1.87315951e-04 5.69611201e-01] [ 4.87828568e-03 -3.71627458e-04 9.99988032e-01 1.15581587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:0.57, Z:0.12 [[ 9.93744721e-01 -1.11547060e-01 -5.35560971e-03 1.88687517e+01] [ 1.11547565e-01 9.93759075e-01 -2.05319916e-04 5.72809245e-01] [ 5.34508859e-03 -3.93369639e-04 9.99985638e-01 1.15557204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:0.58, Z:0.12 [[ 9.93817083e-01 -1.10967685e-01 -3.71200632e-03 1.88967632e+01] [ 1.10967925e-01 9.93823978e-01 -1.42021474e-04 5.75422751e-01] [ 3.70484068e-03 -2.70770271e-04 9.99993100e-01 1.16011793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:0.58, Z:0.12 [[ 9.93837146e-01 -1.10834455e-01 -1.85734999e-03 1.89249414e+01] [ 1.10834514e-01 9.93838873e-01 -7.14888660e-05 5.77964050e-01] [ 1.85383005e-03 -1.34810193e-04 9.99998273e-01 1.16873064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:0.58, Z:0.12 [[ 9.93691051e-01 -1.12144362e-01 -1.31803421e-03 1.89550034e+01] [ 1.12144392e-01 9.93691920e-01 -5.08841587e-05 5.82393156e-01] [ 1.31542632e-03 -9.72470121e-05 9.99999130e-01 1.17840428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:0.58, Z:0.12 [[ 9.93640197e-01 -1.12574560e-01 -2.47550816e-03 1.89864233e+01] [ 1.12574670e-01 9.93643263e-01 -9.56600647e-05 5.84919442e-01] [ 2.47054090e-03 -1.83627828e-04 9.99996931e-01 1.17902007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.59, Z:0.12 [[ 9.93606815e-01 -1.12856899e-01 -2.96929743e-03 1.90155277e+01] [ 1.12857057e-01 9.93611228e-01 -1.14565690e-04 5.87528903e-01] [ 2.96325679e-03 -2.21272919e-04 9.99995585e-01 1.17515487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.59, Z:0.12 [[ 9.93606214e-01 -1.12884210e-01 -1.96147756e-03 1.90452556e+01] [ 1.12884280e-01 9.93608139e-01 -7.56283252e-05 5.94388697e-01] [ 1.95747732e-03 -1.46275208e-04 9.99998073e-01 1.17695058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.08, Y:0.60, Z:0.12 [[ 9.93633044e-01 -1.12656508e-01 -1.37286577e-03 1.90756822e+01] [ 1.12656541e-01 9.93633987e-01 -5.29843793e-05 5.98521063e-01] [ 1.37009513e-03 -1.02015280e-04 9.99999056e-01 1.18229219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:0.60, Z:0.12 [[ 9.93580679e-01 -1.13116220e-01 -1.46772413e-03 1.91060329e+01] [ 1.13116259e-01 9.93581757e-01 -5.66453427e-05 6.02219133e-01] [ 1.46471143e-03 -1.09741745e-04 9.99998921e-01 1.17769505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:0.60, Z:0.12 [[ 9.93503681e-01 -1.13762282e-01 -2.92890875e-03 1.91359980e+01] [ 1.13762440e-01 9.93507974e-01 -1.13077130e-04 6.04528172e-01] [ 2.92275811e-03 -2.20857260e-04 9.99995704e-01 1.17252372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:0.61, Z:0.12 [[ 9.93195907e-01 -1.16317546e-01 -5.66738929e-03 1.91677354e+01] [ 1.16318180e-01 9.93211978e-01 -2.18679922e-04 6.07423070e-01] [ 5.65435524e-03 -4.42028406e-04 9.99983916e-01 1.16129807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:0.61, Z:0.12 [[ 9.93043665e-01 -1.17611088e-01 -5.64905535e-03 1.91967751e+01] [ 1.17611740e-01 9.93059631e-01 -2.17801161e-04 6.10052771e-01] [ 5.63546466e-03 -4.48109166e-04 9.99984020e-01 1.16689706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:0.61, Z:0.12 [[ 9.92943946e-01 -1.18492643e-01 -4.67043829e-03 1.92250996e+01] [ 1.18493099e-01 9.92954860e-01 -1.79989919e-04 6.13157374e-01] [ 4.65886188e-03 -3.74694804e-04 9.99989077e-01 1.17553242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.25, Y:0.62, Z:0.12 [[ 9.93115347e-01 -1.17103232e-01 -2.95643873e-03 1.92535318e+01] [ 1.17103407e-01 9.93119720e-01 -1.14440228e-04 6.17337613e-01] [ 2.94949892e-03 -2.32556702e-04 9.99995623e-01 1.17705771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:0.62, Z:0.12 [[ 9.93230504e-01 -1.16125657e-01 -2.82786316e-03 1.92837676e+01] [ 1.16125813e-01 9.93234506e-01 -1.09661948e-04 6.20913830e-01] [ 2.82146584e-03 -2.19468317e-04 9.99995996e-01 1.18407172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:0.63, Z:0.12 [[ 9.93437860e-01 -1.14342201e-01 -2.66074429e-03 1.93137015e+01] [ 1.14342332e-01 9.93441403e-01 -1.03181231e-04 6.25170869e-01] [ 2.65509151e-03 -2.01731567e-04 9.99996455e-01 1.18827023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:0.63, Z:0.12 [[ 9.93687301e-01 -1.12166862e-01 -2.03543874e-03 1.93446828e+01] [ 1.12166934e-01 9.93689374e-01 -7.90300495e-05 6.30167588e-01] [ 2.03145840e-03 -1.49777766e-04 9.99997925e-01 1.19258658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.64, Z:0.12 [[ 9.93894607e-01 -1.10318241e-01 -1.84281999e-03 1.93764986e+01] [ 1.10318296e-01 9.93896307e-01 -7.16297580e-05 6.35366263e-01] [ 1.83947405e-03 -1.32104332e-04 9.99998299e-01 1.20388044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:0.64, Z:0.12 [[ 9.94040884e-01 -1.08957891e-01 -3.30149106e-03 1.94071709e+01] [ 1.08958064e-01 9.94046339e-01 -1.27908343e-04 6.42893543e-01] [ 3.29577172e-03 -2.32577952e-04 9.99994542e-01 1.21463092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:0.65, Z:0.12 [[ 9.93942130e-01 -1.09797183e-01 -4.86002026e-03 1.94391326e+01] [ 1.09797570e-01 9.93953952e-01 -1.88038527e-04 6.47014745e-01] [ 4.85128244e-03 -3.46719000e-04 9.99988172e-01 1.21048006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:0.65, Z:0.12 [[ 9.93722071e-01 -1.11721662e-01 -5.89195239e-03 1.94704134e+01] [ 1.11722265e-01 9.93739445e-01 -2.27629356e-04 6.51140195e-01] [ 5.88049662e-03 -4.32061953e-04 9.99982616e-01 1.20153110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:0.65, Z:0.12 [[ 9.93004448e-01 -1.17927287e-01 -5.94321519e-03 1.95003440e+01] [ 1.17928013e-01 9.93022120e-01 -2.29395769e-04 6.54675266e-01] [ 5.92879617e-03 -4.73080536e-04 9.99982313e-01 1.18850531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:0.66, Z:0.12 [[ 9.92592540e-01 -1.21375785e-01 -5.28844418e-03 1.95309393e+01] [ 1.21356186e-01 9.92601432e-01 -3.88249465e-03 6.58899821e-01] [ 5.72055810e-03 3.21194981e-03 9.99978479e-01 1.18875842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:0.66, Z:0.12 [[ 9.92223945e-01 -1.24429200e-01 -3.00284179e-03 1.95629907e+01] [ 1.24409283e-01 9.92212256e-01 -6.09669387e-03 6.61998389e-01] [ 3.73806317e-03 5.67570425e-03 9.99976906e-01 1.16723266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:0.65, Z:0.12 [[ 9.91922308e-01 -1.26758342e-01 -4.73897067e-03 1.95956835e+01] [ 1.26791350e-01 9.91901268e-01 7.47175940e-03 6.51420748e-01] [ 3.75348319e-03 -8.01226532e-03 9.99960857e-01 1.20592385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:0.66, Z:0.12 [[ 9.92066593e-01 -1.25646959e-01 -4.08853146e-03 1.96252688e+01] [ 1.25655094e-01 9.92072361e-01 1.79666198e-03 6.57494432e-01] [ 3.83037395e-03 -2.29615314e-03 9.99990028e-01 1.23038733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:0.66, Z:0.12 [[ 9.92463143e-01 -1.22482233e-01 -3.87463548e-03 1.96569338e+01] [ 1.22482579e-01 9.92470652e-01 -1.48985376e-04 6.60520729e-01] [ 3.86371006e-03 -3.26712849e-04 9.99992482e-01 1.23786091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:0.66, Z:0.12 [[ 9.93033569e-01 -1.17789380e-01 -3.16100396e-03 1.96870046e+01] [ 1.17789586e-01 9.93038569e-01 -1.21464484e-04 6.62643536e-01] [ 3.15330607e-03 -2.51715037e-04 9.99994997e-01 1.24518135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:0.66, Z:0.12 [[ 9.93637156e-01 -1.12618317e-01 -1.52197081e-03 1.97179781e+01] [ 1.12620660e-01 9.93636844e-01 1.55231085e-03 6.64571520e-01] [ 1.33746764e-03 -1.71383910e-03 9.99997637e-01 1.24771726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:0.67, Z:0.13 [[ 9.94866139e-01 -1.01198165e-01 -5.44437080e-04 1.97502089e+01] [ 1.01198274e-01 9.94866261e-01 1.76944070e-04 6.72083158e-01] [ 5.23735667e-04 -2.31131756e-04 9.99999836e-01 1.25575027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:0.68, Z:0.13 [[ 9.95399594e-01 -9.58014710e-02 -1.31367578e-03 1.97824922e+01] [ 9.57990840e-02 9.95399111e-01 -1.77346128e-03 6.76517384e-01] [ 1.47753190e-03 1.63945370e-03 9.99997565e-01 1.25858685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.81, Y:0.68, Z:0.12 [[ 9.96079626e-01 -8.84246395e-02 -2.54188771e-03 1.98143716e+01] [ 8.84246772e-02 9.96082861e-01 -9.77307828e-05 6.76083007e-01] [ 2.54057259e-03 -1.27417959e-04 9.99996765e-01 1.24528363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.68, Z:0.12 [[ 9.96245664e-01 -8.65189253e-02 -3.00867896e-03 1.98456142e+01] [ 8.65189703e-02 9.96250197e-01 -1.15442262e-04 6.76613915e-01] [ 3.00738495e-03 -1.45298953e-04 9.99995467e-01 1.24117300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:0.68, Z:0.12 [[ 9.96299198e-01 -8.58745098e-02 -3.67104419e-03 1.98781500e+01] [ 8.58745729e-02 9.96305946e-01 -1.40713282e-04 6.77935715e-01] [ 3.66956683e-03 -1.75056822e-04 9.99993252e-01 1.24160969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:0.68, Z:0.12 [[ 9.96302792e-01 -8.58544091e-02 -3.12534375e-03 1.99115117e+01] [ 8.58649842e-02 9.96300902e-01 3.42305432e-03 6.76336903e-01] [ 2.81989849e-03 -3.67875617e-03 9.99989257e-01 1.23545650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:0.68, Z:0.13 [[ 9.96348222e-01 -8.53649364e-02 -1.74606778e-03 1.99419743e+01] [ 8.53582078e-02 9.96343749e-01 -3.62083159e-03 6.81414146e-01] [ 2.04877578e-03 3.45856790e-03 9.99991920e-01 1.26544996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:0.67, Z:0.12 [[ 9.96402432e-01 -8.47156093e-02 2.33634938e-03 1.99746192e+01] [ 8.46942704e-02 9.96374238e-01 8.07827197e-03 6.70667051e-01] [-3.01223407e-03 -7.85133444e-03 9.99964641e-01 1.24282598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921400513 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.01, Y:0.68, Z:0.13 [[ 9.96621995e-01 -8.21197087e-02 9.75951085e-04 2.00050678e+01] [ 8.21248971e-02 9.96590040e-01 -7.98705150e-03 6.83266464e-01] [-3.16728788e-04 8.04022109e-03 9.99967627e-01 1.30037107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:0.68, Z:0.13 [[ 9.96791474e-01 -8.00285275e-02 1.48058755e-03 2.00380172e+01] [ 8.00285324e-02 9.96792572e-01 5.59796121e-05 6.76151067e-01] [-1.48031863e-03 6.26892483e-05 9.99998902e-01 1.28632771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:0.68, Z:0.13 [[ 9.96796124e-01 -7.99705864e-02 1.48059370e-03 2.00706778e+01] [ 7.99705916e-02 9.96797222e-01 5.58172637e-05 6.77313957e-01] [-1.48031543e-03 6.27655222e-05 9.99998902e-01 1.28846357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:0.67, Z:0.13 [[ 9.97368917e-01 -7.24844839e-02 1.11498889e-03 2.01026035e+01] [ 7.24844823e-02 9.97369539e-01 4.18673898e-05 6.74311934e-01] [-1.11509069e-03 3.90621593e-05 9.99999378e-01 1.27655690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:0.67, Z:0.13 [[ 9.97657563e-01 -6.84038070e-02 5.53359111e-04 2.01338149e+01] [ 6.84038060e-02 9.97657716e-01 2.07181159e-05 6.73448800e-01] [-5.53480185e-04 1.71822842e-05 9.99999847e-01 1.27517068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:0.67, Z:0.13 [[ 9.97958465e-01 -6.38633701e-02 6.10703370e-04 2.01654198e+01] [ 6.38632361e-02 9.97958632e-01 2.36418898e-04 6.73586229e-01] [-6.24555207e-04 -1.96934747e-04 9.99999786e-01 1.26757250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:0.67, Z:0.13 [[ 9.98450078e-01 -5.56372282e-02 -1.39331103e-03 2.01989954e+01] [ 5.56369217e-02 9.98451034e-01 -2.57838145e-04 6.73076402e-01] [ 1.40549823e-03 1.79918979e-04 9.99998996e-01 1.28565604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:0.67, Z:0.13 [[ 9.98651734e-01 -5.18960967e-02 -1.22846437e-03 2.02297641e+01] [ 5.18960788e-02 9.98652490e-01 -4.64536928e-05 6.72297383e-01] [ 1.22921977e-03 -1.73614231e-05 9.99999244e-01 1.29246042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:20.26, Y:0.67, Z:0.13 [[ 9.98822709e-01 -4.85006237e-02 -9.41174670e-04 2.02606651e+01] [ 4.85006116e-02 9.98823152e-01 -3.56050469e-05 6.71796888e-01] [ 9.41793917e-04 -1.00844177e-05 9.99999556e-01 1.29703249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:0.67, Z:0.13 [[ 9.98915487e-01 -4.65573141e-02 -5.16985055e-04 2.02926107e+01] [ 4.65573101e-02 9.98915620e-01 -1.97083859e-05 6.71684738e-01] [ 5.17342016e-04 -4.38242162e-06 9.99999866e-01 1.29416760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:0.67, Z:0.13 [[ 9.99049375e-01 -4.35928146e-02 -1.11457688e-04 2.03240961e+01] [ 4.35928144e-02 9.99049381e-01 -4.40571219e-06 6.70547904e-01] [ 1.11543792e-04 -4.57230300e-07 9.99999994e-01 1.28783330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.67, Z:0.13 [[ 9.99127290e-01 -4.17645091e-02 6.20356123e-04 2.03550506e+01] [ 4.17638823e-02 9.99127017e-01 9.91194354e-04 6.68697538e-01] [-6.61211308e-04 -9.64420849e-04 9.99999316e-01 1.27569726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:0.67, Z:0.13 [[ 9.99160352e-01 -4.09698910e-02 -2.42558084e-04 2.03881876e+01] [ 4.09702727e-02 9.99158628e-01 1.86365035e-03 6.66765861e-01] [ 1.66000451e-04 -1.87202321e-03 9.99998234e-01 1.27669115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:0.67, Z:0.13 [[ 9.99298055e-01 -3.74174099e-02 -1.82628527e-03 2.04193302e+01] [ 3.74121568e-02 9.99295912e-01 -2.83047878e-03 6.67802981e-01] [ 1.93090859e-03 2.76016667e-03 9.99994327e-01 1.28754443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:0.66, Z:0.13 [[ 9.99378673e-01 -3.52381918e-02 -7.32665365e-04 2.04500203e+01] [ 3.52393895e-02 9.99377468e-01 1.69170199e-03 6.63550286e-01] [ 6.72596738e-04 -1.71646957e-03 9.99998301e-01 1.28153054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.48, Y:0.67, Z:0.13 [[ 9.99434508e-01 -3.36099179e-02 -1.01892876e-03 2.04826545e+01] [ 3.36080760e-02 9.99433515e-01 -1.77385029e-03 6.65797708e-01] [ 1.07797052e-03 1.73860296e-03 9.99997908e-01 1.29102372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:0.65, Z:0.13 [[ 9.99548935e-01 -3.00264972e-02 5.79374765e-04 2.05145317e+01] [ 3.00185801e-02 9.99491990e-01 1.07073607e-02 6.51464338e-01] [-9.00584974e-04 -1.06851390e-02 9.99942507e-01 1.26176338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:0.67, Z:0.13 [[ 9.99622333e-01 -2.74627642e-02 -9.94020769e-04 2.05435711e+01] [ 2.74511802e-02 9.99570834e-01 -1.02264797e-02 6.68793726e-01] [ 1.27444157e-03 1.01953304e-02 9.99947214e-01 1.29870539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:0.66, Z:0.13 [[ 9.99740533e-01 -2.27462534e-02 -1.21470412e-03 2.05739844e+01] [ 2.27462147e-02 9.99741270e-01 -4.56624443e-05 6.58787794e-01] [ 1.21542849e-03 1.80206757e-05 9.99999261e-01 1.28963254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:0.66, Z:0.13 [[ 9.99784415e-01 -2.07571016e-02 -5.16784279e-04 2.06054440e+01] [ 2.07570943e-02 9.99784548e-01 -1.95270219e-05 6.58555262e-01] [ 5.17078261e-04 8.79587216e-06 9.99999866e-01 1.28712469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:0.66, Z:0.13 [[ 9.99816695e-01 -1.91336874e-02 6.91492656e-04 2.06364054e+01] [ 1.91317673e-02 9.99813368e-01 2.68418814e-03 6.55759042e-01] [-7.42722018e-04 -2.67046663e-03 9.99996158e-01 1.27747795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:0.66, Z:0.13 [[ 9.99852794e-01 -1.71577732e-02 4.22725341e-05 2.06679211e+01] [ 1.71578249e-02 9.99849256e-01 -2.65979515e-03 6.60116936e-01] [ 3.37000022e-06 2.66012892e-03 9.99996462e-01 1.28561361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:0.66, Z:0.13 [[ 9.99907056e-01 -1.34540253e-02 -2.20626268e-03 2.06997445e+01] [ 1.34538750e-02 9.99909489e-01 -8.29619050e-05 6.57674909e-01] [ 2.20717916e-03 5.32714119e-05 9.99997563e-01 1.27569009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:0.66, Z:0.13 [[ 9.99926315e-01 -1.17566822e-02 -3.02414376e-03 2.07305633e+01] [ 1.17563926e-02 9.99930885e-01 -1.13519624e-04 6.58516423e-01] [ 3.02526936e-03 7.79582384e-05 9.99995421e-01 1.27725674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:0.66, Z:0.13 [[ 9.99944148e-01 -1.01528695e-02 -2.93612054e-03 2.07602408e+01] [ 1.01525899e-02 9.99948455e-01 -1.10140223e-04 6.58444634e-01] [ 2.93708743e-03 8.03248440e-05 9.99995684e-01 1.28127879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:0.66, Z:0.13 [[ 9.99973052e-01 -7.15799661e-03 -1.63070776e-03 2.07897780e+01] [ 7.15790641e-03 9.99974380e-01 -6.11451839e-05 6.55766920e-01] [ 1.63110366e-03 4.94710827e-05 9.99998669e-01 1.29102741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:0.65, Z:0.13 [[ 9.99982308e-01 -5.94834552e-03 9.84483506e-06 2.08189378e+01] [ 5.94820857e-03 9.99968106e-01 5.32978018e-03 6.50215356e-01] [-4.15478952e-05 -5.32962733e-03 9.99985797e-01 1.28298798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:0.66, Z:0.13 [[ 9.99992716e-01 -3.64588549e-03 -1.12908494e-03 2.08486959e+01] [ 3.63965532e-03 9.99978407e-01 -5.47164699e-03 6.58832297e-01] [ 1.14900956e-03 5.46749766e-03 9.99984393e-01 1.30451629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:0.65, Z:0.13 [[ 9.99998314e-01 -1.05312464e-03 -1.50451782e-03 2.08787911e+01] [ 1.05304065e-03 9.99999444e-01 -5.66178824e-05 6.53747731e-01] [ 1.50457661e-03 5.50334685e-05 9.99998867e-01 1.30162742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:0.65, Z:0.13 [[ 9.99987519e-01 4.70264811e-03 -1.68746169e-03 2.09078473e+01] [-4.70276197e-03 9.99988940e-01 -6.35094195e-05 6.53541875e-01] [ 1.68714436e-03 7.14443574e-05 9.99998574e-01 1.30739286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:20.94, Y:0.66, Z:0.13 [[ 9.99966599e-01 8.00841273e-03 -1.63277948e-03 2.09359317e+01] [-8.00852364e-03 9.99967929e-01 -6.13999534e-05 6.55301742e-01] [ 1.63223540e-03 7.44740556e-05 9.99998665e-01 1.31438971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:0.66, Z:0.13 [[ 9.99918288e-01 1.27756791e-02 -4.46758496e-04 2.09648623e+01] [-1.27756875e-02 9.99918387e-01 -1.59558225e-05 6.58148677e-01] [ 4.46518189e-04 2.16621656e-05 9.99999900e-01 1.31500764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:0.66, Z:0.13 [[ 9.99889968e-01 1.47577142e-02 -1.50409418e-03 2.09937108e+01] [-1.47578165e-02 9.99891096e-01 -5.69200231e-05 6.58945792e-01] [ 1.50309036e-03 7.91109059e-05 9.99998867e-01 1.31108311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:0.65, Z:0.13 [[ 9.99874173e-01 1.57706951e-02 -1.70957678e-03 2.10225781e+01] [-1.57570897e-02 9.99846205e-01 7.69933286e-03 6.52956772e-01] [ 1.83073769e-03 -7.67142612e-03 9.99968898e-01 1.28885789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:0.67, Z:0.13 [[ 9.99862584e-01 1.57491438e-02 -5.17473172e-03 2.10508920e+01] [-1.57908526e-02 9.99842340e-01 -8.12058838e-03 6.67097710e-01] [ 5.04602356e-03 8.20118591e-03 9.99953638e-01 1.31205101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:0.66, Z:0.13 [[ 9.99887143e-01 1.47020736e-02 -3.09051291e-03 2.10785841e+01] [-1.46870685e-02 9.99880507e-01 4.82309274e-03 6.56328112e-01] [ 3.16105308e-03 -4.77715784e-03 9.99983593e-01 1.29168098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:0.66, Z:0.13 [[ 9.99913582e-01 1.31194860e-02 -8.41315506e-04 2.11082919e+01] [-1.31159594e-02 9.99905705e-01 4.06857503e-03 6.56572792e-01] [ 8.94613787e-04 -4.05718877e-03 9.99991369e-01 1.30102655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:0.66, Z:0.13 [[ 9.99942853e-01 1.06690260e-02 -6.80754305e-04 2.11369341e+01] [-1.06745195e-02 9.99905583e-01 -8.65335424e-03 6.63949657e-01] [ 5.88367168e-04 8.66012645e-03 9.99962327e-01 1.33929725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:0.66, Z:0.13 [[ 9.99951036e-01 9.83852193e-03 -1.06301836e-03 2.11662159e+01] [-9.83857037e-03 9.99951599e-01 -4.03475261e-05 6.55013869e-01] [ 1.06256995e-03 5.08041315e-05 9.99999434e-01 1.33036655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.65, Z:0.13 [[ 9.99955247e-01 9.45258975e-03 -3.90238731e-04 2.11937298e+01] [-9.45259617e-03 9.99955323e-01 -1.45914139e-05 6.53428536e-01] [ 3.90083370e-04 1.82795300e-05 9.99999924e-01 1.33396861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:0.65, Z:0.13 [[ 9.99934333e-01 1.14178940e-02 9.80116926e-04 2.12224191e+01] [-1.14179365e-02 9.99934813e-01 3.77550561e-05 6.48866638e-01] [-9.79621952e-04 -4.89434897e-05 9.99999519e-01 1.34732806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:0.65, Z:0.13 [[ 9.99913936e-01 1.30889151e-02 8.95240392e-04 2.12534480e+01] [-1.30889510e-02 9.99914335e-01 3.43007339e-05 6.47589595e-01] [-8.94714742e-04 -4.60155395e-05 9.99999599e-01 1.34918851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:0.65, Z:0.13 [[ 9.99889786e-01 1.48454783e-02 -1.68570360e-04 2.12834871e+01] [-1.48454796e-02 9.99889800e-01 -6.32685968e-06 6.46265417e-01] [ 1.68457858e-04 8.82867020e-06 9.99999986e-01 1.34492507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:0.64, Z:0.13 [[ 9.99848079e-01 1.72638772e-02 -2.40347589e-03 2.13126635e+01] [-1.72641481e-02 9.99850959e-01 -9.19868181e-05 6.40760942e-01] [ 2.40152963e-03 1.33466807e-04 9.99997107e-01 1.33750927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:0.64, Z:0.13 [[ 9.99823671e-01 1.85616705e-02 -2.84448406e-03 2.13407515e+01] [-1.85620555e-02 9.99827704e-01 -1.09018737e-04 6.39144813e-01] [ 2.84197040e-03 1.61798985e-04 9.99995949e-01 1.33781824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:0.64, Z:0.13 [[ 9.99795534e-01 2.00510684e-02 -2.61638406e-03 2.13689923e+01] [-2.00513995e-02 9.99798945e-01 -1.00392048e-04 6.38830585e-01] [ 2.61384505e-03 1.52833683e-04 9.99996572e-01 1.34083270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:0.64, Z:0.14 [[ 9.99733226e-01 2.30805580e-02 -8.75027053e-04 2.13964824e+01] [-2.30805961e-02 9.99733607e-01 -3.34179474e-05 6.36259407e-01] [ 8.74022647e-04 5.36051784e-05 9.99999617e-01 1.35067323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:0.63, Z:0.14 [[ 9.99715122e-01 2.38662054e-02 2.81452892e-04 2.14258190e+01] [-2.38662095e-02 9.99715161e-01 1.11348550e-05 6.34391751e-01] [-2.81106976e-04 -1.78488966e-05 9.99999960e-01 1.35440308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:0.63, Z:0.14 [[ 9.99718679e-01 2.37029552e-02 8.55658946e-04 2.14549963e+01] [-2.37029922e-02 9.99719044e-01 3.31166771e-05 6.32133675e-01] [-8.54633580e-04 -5.33890380e-05 9.99999633e-01 1.35357044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:0.63, Z:0.13 [[ 9.99735097e-01 2.29437092e-02 1.82250978e-03 2.14849867e+01] [-2.29470098e-02 9.99735042e-01 1.81124190e-03 6.28875922e-01] [-1.78047029e-03 -1.85258325e-03 9.99996699e-01 1.34124065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:0.63, Z:0.13 [[ 9.99822693e-01 1.88166574e-02 -7.18019052e-04 2.15171412e+01] [-1.88178606e-02 9.99821470e-01 -1.70743869e-03 6.25225073e-01] [ 6.85762575e-04 1.72064753e-03 9.99998285e-01 1.33320692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:0.62, Z:0.13 [[ 9.99863486e-01 1.64496943e-02 -1.55486596e-03 2.15475080e+01] [-1.64498069e-02 9.99864691e-01 -5.96400544e-05 6.18386948e-01] [ 1.55367452e-03 8.52091575e-05 9.99998789e-01 1.32551474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481400513 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:21.58, Y:0.61, Z:0.13 [[ 9.99934245e-01 1.14659573e-02 -1.93989494e-04 2.15762303e+01] [-1.14659590e-02 9.99934264e-01 -7.26479433e-06 6.07336340e-01] [ 1.93893444e-04 9.48859221e-06 9.99999981e-01 1.32782553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:0.60, Z:0.13 [[ 9.99953752e-01 9.45799220e-03 1.74355404e-03 2.16058968e+01] [-9.45812367e-03 9.99955269e-01 6.71752920e-05 6.04864928e-01] [-1.74284071e-03 -8.36629351e-05 9.99998478e-01 1.34129090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:0.60, Z:0.14 [[ 9.99958227e-01 8.88835031e-03 2.13115043e-03 2.16374104e+01] [-8.88854489e-03 9.99960493e-01 8.18490200e-05 6.02791386e-01] [-2.13033873e-03 -1.00788427e-04 9.99997726e-01 1.35040368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:0.59, Z:0.13 [[ 9.99938086e-01 1.10901579e-02 9.12763195e-04 2.16697470e+01] [-1.10901935e-02 9.99938501e-01 3.40262160e-05 5.93899053e-01] [-9.12329705e-04 -4.41468298e-05 9.99999583e-01 1.34086892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:0.59, Z:0.13 [[ 9.99918244e-01 1.27855220e-02 -1.90786927e-04 2.17008004e+01] [-1.27855236e-02 9.99918262e-01 -7.30747247e-06 5.88616068e-01] [ 1.90677902e-04 9.74618579e-06 9.99999982e-01 1.33487061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:0.58, Z:0.13 [[ 9.99891090e-01 1.47208799e-02 -1.05028017e-03 2.17302077e+01] [-1.47209302e-02 9.99891640e-01 -4.01740147e-05 5.84672861e-01] [ 1.04957497e-03 5.56307406e-05 9.99999448e-01 1.33885885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:0.58, Z:0.13 [[ 9.99837063e-01 1.79804292e-02 -1.59737837e-03 2.17597648e+01] [-1.79805497e-02 9.99838335e-01 -6.11072203e-05 5.80601752e-01] [ 1.59602140e-03 8.98190049e-05 9.99998722e-01 1.34556966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:0.58, Z:0.13 [[ 9.99818411e-01 1.89747270e-02 -1.76182713e-03 2.17896647e+01] [-1.89748752e-02 9.99819959e-01 -6.74522997e-05 5.78704140e-01] [ 1.76023003e-03 1.00870501e-04 9.99998446e-01 1.34409411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:0.58, Z:0.13 [[ 9.99804341e-01 1.95991004e-02 -2.67503826e-03 2.18199401e+01] [-1.95994447e-02 9.99807907e-01 -1.02544224e-04 5.75422189e-01] [ 2.67251463e-03 1.54953424e-04 9.99996417e-01 1.34167161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:0.57, Z:0.13 [[ 9.99794673e-01 1.96705208e-02 -4.86650586e-03 2.18485757e+01] [-1.96716621e-02 9.99806477e-01 -1.86764355e-04 5.67376900e-01] [ 4.86189032e-03 2.82458267e-04 9.99988141e-01 1.33495060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:0.57, Z:0.13 [[ 9.99785549e-01 1.99884320e-02 -5.41470033e-03 2.18762905e+01] [-1.99898507e-02 9.99800161e-01 -2.08008463e-04 5.65648933e-01] [ 5.40946051e-03 3.16202906e-04 9.99985319e-01 1.33721777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:0.56, Z:0.13 [[ 9.99769985e-01 2.07788172e-02 -5.31212550e-03 2.19052381e+01] [-2.07801953e-02 9.99784048e-01 -2.04366855e-04 5.64608011e-01] [ 5.30673183e-03 3.14706853e-04 9.99985870e-01 1.34235214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:0.56, Z:0.13 [[ 9.99716350e-01 2.34238343e-02 -4.30615298e-03 2.19345685e+01] [-2.34247650e-02 9.99725589e-01 -1.65815587e-04 5.58688392e-01] [ 4.30108729e-03 2.66639176e-04 9.99990715e-01 1.34584436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:0.56, Z:0.13 [[ 9.99717174e-01 2.33886720e-02 -4.30614455e-03 2.19638741e+01] [-2.33896033e-02 9.99726412e-01 -1.66034139e-04 5.59896207e-01] [ 4.30108313e-03 2.66706193e-04 9.99990715e-01 1.34750208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.99, Y:0.56, Z:0.13 [[ 9.99687954e-01 2.46359089e-02 -4.13122287e-03 2.19922880e+01] [-2.46367771e-02 9.99696456e-01 -1.59391862e-04 5.57224969e-01] [ 4.12604210e-03 2.61122142e-04 9.99991454e-01 1.34955664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:0.56, Z:0.13 [[ 9.99657463e-01 2.57061128e-02 -4.91458143e-03 2.20212432e+01] [-2.57073561e-02 9.99669493e-01 -1.89973821e-04 5.56041867e-01] [ 4.90807364e-03 3.16249643e-04 9.99987905e-01 1.34476459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:0.56, Z:0.13 [[ 9.99627888e-01 2.65896700e-02 -6.08887195e-03 2.20487702e+01] [-2.65915969e-02 9.99646353e-01 -2.35713560e-04 5.55742963e-01] [ 6.08045109e-03 3.97538677e-04 9.99981435e-01 1.33807010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:0.55, Z:0.13 [[ 9.99573979e-01 2.84661739e-02 -6.44499727e-03 2.20768461e+01] [-2.84683737e-02 9.99594662e-01 -2.49821930e-04 5.51648837e-01] [ 6.43527340e-03 4.33194091e-04 9.99979200e-01 1.33165882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:0.55, Z:0.13 [[ 9.99542811e-01 2.95559120e-02 -6.37314589e-03 2.21054729e+01] [-2.95580874e-02 9.99563034e-01 -2.47388005e-04 5.48771558e-01] [ 6.36304926e-03 4.35652904e-04 9.99979661e-01 1.33271398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:0.55, Z:0.13 [[ 9.99508604e-01 3.06059442e-02 -6.76956676e-03 2.21347105e+01] [-3.06084247e-02 9.99531418e-01 -2.63101655e-04 5.46894727e-01] [ 6.75834219e-03 4.70178143e-04 9.99977052e-01 1.33130508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:0.54, Z:0.13 [[ 9.99432596e-01 3.27713714e-02 -7.77969766e-03 2.21622566e+01] [-3.27747160e-02 9.99462719e-01 -3.02780438e-04 5.44745782e-01] [ 7.76559525e-03 5.57586021e-04 9.99969692e-01 1.32612883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:0.54, Z:0.13 [[ 9.99405946e-01 3.36398159e-02 -7.49116619e-03 2.21896893e+01] [-3.36429444e-02 9.99433873e-01 -2.91965752e-04 5.43423858e-01] [ 7.47710357e-03 5.43817197e-04 9.99971898e-01 1.32610819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:0.54, Z:0.13 [[ 9.99389521e-01 3.42596874e-02 -6.84535591e-03 2.22185922e+01] [-3.42623166e-02 9.99412839e-01 -2.67141536e-04 5.41315285e-01] [ 6.83218440e-03 5.01516203e-04 9.99976535e-01 1.32847680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.25, Y:0.54, Z:0.13 [[ 9.99358473e-01 3.52657323e-02 -6.24262283e-03 2.22465170e+01] [-3.52679400e-02 9.99377863e-01 -2.43893509e-04 5.36143275e-01] [ 6.23013798e-03 4.63901493e-04 9.99980485e-01 1.33783993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:0.53, Z:0.13 [[ 9.99338968e-01 3.58413850e-02 -6.08450326e-03 2.22755602e+01] [-3.58434950e-02 9.99357387e-01 -2.38053854e-04 5.34011120e-01] [ 6.07206110e-03 4.55986355e-04 9.99981461e-01 1.34092608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:0.53, Z:0.13 [[ 9.99311395e-01 3.66346953e-02 -5.88507580e-03 2.23032182e+01] [-3.66366845e-02 9.99328625e-01 -2.30514295e-04 5.27530280e-01] [ 5.87267988e-03 4.45965227e-04 9.99982656e-01 1.34352377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:0.52, Z:0.13 [[ 9.99308493e-01 3.67824376e-02 -5.43953147e-03 2.23326471e+01] [-3.67841407e-02 9.99323212e-01 -2.13349144e-04 5.24950141e-01] [ 5.42800256e-03 4.13290103e-04 9.99985183e-01 1.34810007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:0.52, Z:0.14 [[ 9.99303189e-01 3.70297827e-02 -4.68313245e-03 2.23615965e+01] [-3.70310487e-02 9.99314099e-01 -1.83881228e-04 5.22560222e-01] [ 4.67311120e-03 3.57174403e-04 9.99989017e-01 1.35430627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:0.52, Z:0.14 [[ 9.99270871e-01 3.79605930e-02 -4.08904103e-03 2.23913909e+01] [-3.79615663e-02 9.99279187e-01 -1.60630826e-04 5.20097157e-01] [ 4.07999595e-03 3.15740108e-04 9.99991627e-01 1.36319068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:0.51, Z:0.14 [[ 9.99155458e-01 4.08097512e-02 -4.78904175e-03 2.24212229e+01] [-4.08111194e-02 9.99166861e-01 -1.88270297e-04 5.13446682e-01] [ 4.77736855e-03 3.83557449e-04 9.99988515e-01 1.36491213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:0.51, Z:0.14 [[ 9.99068803e-01 4.27147075e-02 -6.08123865e-03 2.24515171e+01] [-4.27169492e-02 9.99087186e-01 -2.39161343e-04 5.10759807e-01] [ 6.06547190e-03 4.98710599e-04 9.99981480e-01 1.36098824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:0.50, Z:0.14 [[ 9.98995187e-01 4.44578122e-02 -5.66742638e-03 2.24808361e+01] [-4.44199400e-02 9.98990868e-01 6.64184084e-03 5.02782632e-01] [ 5.95698891e-03 -6.38342029e-03 9.99961882e-01 1.35499687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:0.51, Z:0.13 [[ 9.98859438e-01 4.72682140e-02 -6.74824844e-03 2.25101511e+01] [-4.73149929e-02 9.98855845e-01 -6.94926086e-03 5.12868467e-01] [ 6.41204825e-03 7.26062812e-03 9.99953083e-01 1.34010335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:0.50, Z:0.14 [[ 9.98567317e-01 5.33230726e-02 -4.46805222e-03 2.25384962e+01] [-5.33243906e-02 9.98577227e-01 -1.76278105e-04 5.04715579e-01] [ 4.45229550e-03 4.14281716e-04 9.99990003e-01 1.35816629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:0.51, Z:0.14 [[ 9.98388899e-01 5.66472898e-02 -3.26981463e-03 2.25690688e+01] [-5.66480141e-02 9.98394204e-01 -1.29231272e-04 5.05619598e-01] [ 3.25724337e-03 3.14251573e-04 9.99994646e-01 1.36409985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:0.51, Z:0.14 [[ 9.98052969e-01 6.22888424e-02 -3.22033504e-03 2.25998975e+01] [-6.22895742e-02 9.98058111e-01 -1.27326217e-04 5.10162915e-01] [ 3.20615050e-03 3.27671607e-04 9.99994807e-01 1.36186946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:0.51, Z:0.14 [[ 9.97891944e-01 6.46584101e-02 -5.56398638e-03 2.26315280e+01] [-6.46228060e-02 9.97889512e-01 6.35728742e-03 5.07621356e-01] [ 5.96329575e-03 -5.98432549e-03 9.99964313e-01 1.40232796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:0.52, Z:0.14 [[ 9.97831482e-01 6.56263191e-02 -5.05168322e-03 2.26604742e+01] [-6.56597990e-02 9.97819071e-01 -6.77434286e-03 5.22102471e-01] [ 4.59609067e-03 7.09134508e-03 9.99964294e-01 1.35104682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.69, Y:0.52, Z:0.14 [[ 9.97854774e-01 6.51084593e-02 -6.83655030e-03 2.26915874e+01] [-6.51118199e-02 9.97877937e-01 -2.69904255e-04 5.19024697e-01] [ 6.80446966e-03 7.14465481e-04 9.99976594e-01 1.35753744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:0.52, Z:0.14 [[ 9.97943999e-01 6.37966674e-02 -6.14492231e-03 2.27216286e+01] [-6.37993579e-02 9.97962716e-01 -2.42614209e-04 5.22132140e-01] [ 6.11692538e-03 6.34157492e-04 9.99981090e-01 1.35906213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:0.53, Z:0.14 [[ 9.98102453e-01 6.13821367e-02 -4.87108785e-03 2.27519448e+01] [-6.13837993e-02 9.98114218e-01 -1.92419187e-04 5.25455884e-01] [ 4.85009094e-03 4.91059942e-04 9.99988118e-01 1.36415918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:0.53, Z:0.14 [[ 9.98482424e-01 5.49446270e-02 -3.73322224e-03 2.27812407e+01] [-5.49455591e-02 9.98489341e-01 -1.47490629e-04 5.27825193e-01] [ 3.71947880e-03 3.52390785e-04 9.99993021e-01 1.36964415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:0.53, Z:0.14 [[ 9.98654675e-01 5.16736551e-02 -4.32132994e-03 2.28114754e+01] [-5.16748733e-02 9.98663947e-01 -1.70666583e-04 5.28150014e-01] [ 4.30673745e-03 3.93741158e-04 9.99990648e-01 1.37253092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:0.53, Z:0.14 [[ 9.98796042e-01 4.87857360e-02 -5.13997332e-03 2.28409340e+01] [-4.87874213e-02 9.98809164e-01 -2.02920916e-04 5.28655845e-01] [ 5.12395281e-03 4.53442652e-04 9.99986770e-01 1.37415727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:0.53, Z:0.14 [[ 9.98978258e-01 4.48002207e-02 -5.94812490e-03 2.28706637e+01] [-4.48024079e-02 9.98995840e-01 -2.34901176e-04 5.29659647e-01] [ 5.93162841e-03 5.01151485e-04 9.99982282e-01 1.37476326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:0.53, Z:0.14 [[ 9.99027540e-01 4.37523994e-02 -5.44991929e-03 2.29005353e+01] [-4.37542203e-02 9.99042302e-01 -2.15280588e-04 5.29879953e-01] [ 5.43528087e-03 4.53528205e-04 9.99985126e-01 1.37590058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:0.53, Z:0.14 [[ 9.99072565e-01 4.28149097e-02 -4.57103555e-03 2.29299382e+01] [-4.28161813e-02 9.99082951e-01 -1.80644862e-04 5.30057483e-01] [ 4.55910939e-03 3.76191613e-04 9.99989536e-01 1.37692168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:0.53, Z:0.14 [[ 9.99124914e-01 4.15395601e-02 -4.88575028e-03 2.29606681e+01] [-4.15409983e-02 9.99136781e-01 -1.93211135e-04 5.29086056e-01] [ 4.87350690e-03 3.96001003e-04 9.99988046e-01 1.37632998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:0.53, Z:0.14 [[ 9.99143119e-01 4.10374706e-02 -5.38092859e-03 2.29906614e+01] [-4.10392079e-02 9.99157514e-01 -2.12791143e-04 5.28861460e-01] [ 5.36766283e-03 4.33437854e-04 9.99985500e-01 1.37849963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:0.53, Z:0.14 [[ 9.99178567e-01 4.02973490e-02 -4.27966238e-03 2.30199001e+01] [-4.02984415e-02 9.99187674e-01 -1.69328038e-04 5.26167386e-01] [ 4.26936243e-03 3.41652670e-04 9.99990828e-01 1.39599893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.05, Y:0.51, Z:0.15 [[ 9.99216008e-01 3.93603826e-02 -4.25799939e-03 2.30499573e+01] [-3.92762905e-02 9.99060816e-01 1.82991534e-02 5.10905124e-01] [ 4.97426202e-03 -1.81175686e-02 9.99823490e-01 1.47207111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:0.54, Z:0.14 [[ 9.99235978e-01 3.89787594e-02 -2.84898583e-03 2.30798888e+01] [-3.90260810e-02 9.99056543e-01 -1.90522562e-02 5.43025872e-01] [ 2.10366462e-03 1.91488846e-02 9.99814430e-01 1.39455927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:0.53, Z:0.14 [[ 9.99248225e-01 3.85491831e-02 -4.11657092e-03 2.31111042e+01] [-3.85501784e-02 9.99256652e-01 -1.62666254e-04 5.25841730e-01] [ 4.10724023e-03 3.21238509e-04 9.99991514e-01 1.41166075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:0.52, Z:0.14 [[ 9.99262990e-01 3.78561947e-02 -6.35490900e-03 2.31420516e+01] [-3.78585527e-02 9.99283076e-01 -2.51114159e-04 5.20735782e-01] [ 6.34084679e-03 4.91516742e-04 9.99979776e-01 1.40991946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.17, Y:0.52, Z:0.14 [[ 9.99269390e-01 3.75961697e-02 -6.87128056e-03 2.31712511e+01] [-3.75989205e-02 9.99292874e-01 -2.71540718e-04 5.19936688e-01] [ 6.85621280e-03 5.29695059e-04 9.99976356e-01 1.41728699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:0.51, Z:0.15 [[ 9.99230144e-01 3.79789325e-02 -9.83468058e-03 2.31994860e+01] [-3.78912893e-02 9.99241789e-01 8.94974876e-03 5.12265496e-01] [ 1.01671257e-02 -8.57021001e-03 9.99911587e-01 1.49211539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:0.53, Z:0.14 [[ 9.99237304e-01 3.85318961e-02 -6.33264926e-03 2.32279270e+01] [-3.85913136e-02 9.99209491e-01 -9.54480283e-03 5.27621819e-01] [ 5.95986390e-03 9.78190830e-03 9.99934395e-01 1.41672653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:0.51, Z:0.14 [[ 9.99232399e-01 3.88419165e-02 -5.09101491e-03 2.32573813e+01] [-3.88023746e-02 9.99217633e-01 7.64837562e-03 5.11988867e-01] [ 5.38410943e-03 -7.44496125e-03 9.99957791e-01 1.43016326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:0.52, Z:0.14 [[ 9.99171155e-01 4.02366835e-02 -6.16549172e-03 2.32861986e+01] [-4.02870098e-02 9.99153939e-01 -8.26816751e-03 5.24554003e-01] [ 5.82759170e-03 8.50970370e-03 9.99946811e-01 1.41763374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:0.51, Z:0.15 [[ 9.99113809e-01 4.14355076e-02 -7.39561283e-03 2.33158638e+01] [-4.13691381e-02 9.99104182e-01 8.91228315e-03 5.06420582e-01] [ 7.75827268e-03 -8.59843503e-03 9.99932936e-01 1.49811126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.34, Y:0.52, Z:0.14 [[ 9.99187004e-01 4.02105138e-02 -2.90606952e-03 2.33445377e+01] [-4.02359876e-02 9.99146783e-01 -9.31512791e-03 5.21315704e-01] [ 2.52902393e-03 9.42448333e-03 9.99952390e-01 1.42496854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:0.51, Z:0.14 [[ 9.99325426e-01 3.63921519e-02 -4.92989499e-03 2.33765187e+01] [-3.63935533e-02 9.99337516e-01 -1.94820126e-04 5.09318924e-01] [ 4.91953909e-03 3.74105102e-04 9.99987829e-01 1.44107695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:0.50, Z:0.14 [[ 9.99406881e-01 3.39476236e-02 -5.78310822e-03 2.34067800e+01] [-3.39216026e-02 9.99414186e-01 4.53970981e-03 5.04405720e-01] [ 5.93383276e-03 -4.34084492e-03 9.99972973e-01 1.43844575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:0.50, Z:0.14 [[ 9.99463008e-01 3.23316616e-02 -5.32532947e-03 2.34364458e+01] [-3.22852751e-02 9.99441887e-01 8.57763688e-03 5.00438753e-01] [ 5.59968659e-03 -8.40110103e-03 9.99949031e-01 1.42788930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:0.52, Z:0.14 [[ 9.99402570e-01 3.36344446e-02 -7.95155587e-03 2.34656237e+01] [-3.37416793e-02 9.99335858e-01 -1.37601308e-02 5.16225447e-01] [ 7.48346056e-03 1.40202089e-02 9.99873708e-01 1.41102657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:0.50, Z:0.14 [[ 9.99339712e-01 3.54598479e-02 -7.92074547e-03 2.34940735e+01] [-3.54634348e-02 9.99370926e-01 -3.12810820e-04 5.03101633e-01] [ 7.90467051e-03 5.93501116e-04 9.99968581e-01 1.43243800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:0.50, Z:0.14 [[ 9.99271883e-01 3.74342761e-02 -7.37418728e-03 2.35231153e+01] [-3.74374410e-02 9.99298931e-01 -2.91580608e-04 5.02255232e-01] [ 7.35810235e-03 5.67439004e-04 9.99972768e-01 1.43894672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:0.50, Z:0.14 [[ 9.99207853e-01 3.91889742e-02 -6.92032305e-03 2.35527430e+01] [-3.91918048e-02 9.99231669e-01 -2.73839571e-04 5.01891076e-01] [ 6.90427446e-03 5.44842600e-04 9.99976017e-01 1.44604928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:0.49, Z:0.15 [[ 9.99115676e-01 4.18071124e-02 -4.47569072e-03 2.35833402e+01] [-4.17683361e-02 9.99091737e-01 8.43249052e-03 4.93667533e-01] [ 4.82416369e-03 -8.23809131e-03 9.99954430e-01 1.45483614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:0.51, Z:0.14 [[ 9.99026218e-01 4.37546225e-02 -5.66996121e-03 2.36138500e+01] [-4.38035081e-02 9.99001361e-01 -8.80528115e-03 5.08168319e-01] [ 5.27902722e-03 9.04507092e-03 9.99945158e-01 1.43487505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:0.50, Z:0.14 [[ 9.98961285e-01 4.51230871e-02 -6.34499745e-03 2.36449306e+01] [-4.51255813e-02 9.98981291e-01 -2.50411869e-04 5.00295613e-01] [ 6.32723439e-03 5.36473461e-04 9.99979839e-01 1.44685968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:0.50, Z:0.14 [[ 9.98857527e-01 4.73253270e-02 -6.62979631e-03 2.36751155e+01] [-4.73280983e-02 9.98879363e-01 -2.61651750e-04 5.00730200e-01] [ 6.60998397e-03 5.75128472e-04 9.99977988e-01 1.44650533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:0.50, Z:0.14 [[ 9.98796850e-01 4.85953875e-02 -6.58340229e-03 2.37056064e+01] [-4.85981474e-02 9.98818378e-01 -2.59811534e-04 5.02455682e-01] [ 6.56299756e-03 5.79440097e-04 9.99978295e-01 1.44925382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:0.50, Z:0.14 [[ 9.98734169e-01 4.98796680e-02 -6.48672654e-03 2.37354777e+01] [-4.98823739e-02 9.98755067e-01 -2.55924795e-04 5.03443365e-01] [ 6.46588555e-03 5.79174156e-04 9.99978928e-01 1.44854114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:0.50, Z:0.15 [[ 9.98671774e-01 5.11634960e-02 -6.08144636e-03 2.37664489e+01] [-5.11658975e-02 9.98690139e-01 -2.39868112e-04 5.03654962e-01] [ 6.06120802e-03 5.50712174e-04 9.99981479e-01 1.45455071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:0.50, Z:0.15 [[ 9.98610798e-01 5.23371524e-02 -6.10708587e-03 2.37971035e+01] [-5.23395951e-02 9.98629315e-01 -2.40732751e-04 5.02692041e-01] [ 6.08611572e-03 5.60040727e-04 9.99981323e-01 1.47369752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.83, Y:0.50, Z:0.15 [[ 9.98577571e-01 5.24853946e-02 -9.38711598e-03 2.38290333e+01] [-5.24072831e-02 9.98590614e-01 8.38223240e-03 4.95006038e-01] [ 9.81383069e-03 -7.87835602e-03 9.99920807e-01 1.54173549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.86, Y:0.50, Z:0.15 [[ 9.98587407e-01 5.23736909e-02 -8.95470880e-03 2.38586541e+01] [-5.23789021e-02 9.98627222e-01 -3.48270122e-04 5.03812611e-01] [ 8.92417579e-03 8.16815974e-04 9.99959845e-01 1.52912372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.89, Y:0.50, Z:0.15 [[ 9.98600263e-01 5.20944972e-02 -9.14754640e-03 2.38874989e+01] [-5.20860136e-02 9.98641925e-01 1.16338061e-03 5.03540672e-01] [ 9.19572907e-03 -6.85292955e-04 9.99957484e-01 1.53863094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.92, Y:0.51, Z:0.15 [[ 9.98636027e-01 5.15150770e-02 -8.50195870e-03 2.39169464e+01] [-5.15527141e-02 9.98661152e-01 -4.26859717e-03 5.08393024e-01] [ 8.27067876e-03 4.70107396e-03 9.99954747e-01 1.51386126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.95, Y:0.50, Z:0.15 [[ 9.98676669e-01 5.09272325e-02 -7.16435047e-03 2.39470194e+01] [-5.09184259e-02 9.98701825e-01 1.40642156e-03 5.03873002e-01] [ 7.22667505e-03 -1.03976295e-03 9.99973347e-01 1.53184392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.98, Y:0.52, Z:0.15 [[ 9.98782293e-01 4.93273244e-02 -8.64292611e-04 2.39763964e+01] [-4.93326357e-02 9.98750951e-01 -7.92650230e-03 5.16591712e-01] [ 4.72219916e-04 7.95948797e-03 9.99968211e-01 1.47922864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:0.50, Z:0.16 [[ 9.98764668e-01 4.95373047e-02 -3.89780795e-03 2.40115212e+01] [-4.95048014e-02 9.98741565e-01 8.03495223e-03 5.04020002e-01] [ 4.29093269e-03 -7.83206619e-03 9.99960123e-01 1.55933898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:0.52, Z:0.15 [[ 9.98801093e-01 4.89194838e-02 -1.80575969e-03 2.40414370e+01] [-4.89325878e-02 9.98769123e-01 -8.11417860e-03 5.21203415e-01] [ 1.40659559e-03 8.19281095e-03 9.99965449e-01 1.48382784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:0.51, Z:0.15 [[ 9.98887187e-01 4.69242606e-02 -4.74354805e-03 2.40747522e+01] [-4.69256715e-02 9.98898366e-01 -1.86514615e-04 5.14234165e-01] [ 4.72957034e-03 4.08901237e-04 9.99988732e-01 1.50120903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.11, Y:0.51, Z:0.15 [[ 9.98946726e-01 4.56223329e-02 -4.90319858e-03 2.41069717e+01] [-4.56238204e-02 9.98958673e-01 -1.91888637e-04 5.14870573e-01] [ 4.88933834e-03 4.15389176e-04 9.99987961e-01 1.49769842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.14, Y:0.52, Z:0.15 [[ 9.99013958e-01 4.41732059e-02 -4.45419994e-03 2.41382524e+01] [-4.41744164e-02 9.99023819e-01 -1.73693140e-04 5.15321819e-01] [ 4.44217926e-03 3.70283554e-04 9.99990065e-01 1.50177616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:0.52, Z:0.15 [[ 9.99074692e-01 4.28371771e-02 -3.83871043e-03 2.41707095e+01] [-4.28380647e-02 9.99082018e-01 -1.49263465e-04 5.15772127e-01] [ 3.82879253e-03 3.13568276e-04 9.99992621e-01 1.50477417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:0.52, Z:0.15 [[ 9.99124261e-01 4.17000891e-02 -3.43721924e-03 2.42028945e+01] [-4.17007925e-02 9.99130135e-01 -1.33185220e-04 5.16264161e-01] [ 3.42867548e-03 2.76403351e-04 9.99994084e-01 1.51326524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:0.52, Z:0.15 [[ 9.99141228e-01 4.11604174e-02 -4.75674000e-03 2.42351877e+01] [-4.11617533e-02 9.99152479e-01 -1.83239784e-04 5.16339089e-01] [ 4.74516634e-03 3.78878181e-04 9.99988670e-01 1.52115707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:0.52, Z:0.15 [[ 9.99118844e-01 4.16246184e-02 -5.37844136e-03 2.42664060e+01] [-4.16263276e-02 9.99133228e-01 -2.06199764e-04 5.17476655e-01] [ 5.36519649e-03 4.29902832e-04 9.99985515e-01 1.52387056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:0.52, Z:0.15 [[ 9.99086569e-01 4.24670627e-02 -4.75149402e-03 2.42969761e+01] [-4.24684057e-02 9.99097794e-01 -1.82065218e-04 5.19391512e-01] [ 4.73947542e-03 3.83687289e-04 9.99988695e-01 1.52545826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:0.52, Z:0.15 [[ 9.99037770e-01 4.37314008e-02 -3.33135302e-03 2.43279890e+01] [-4.37320679e-02 9.99043287e-01 -1.27646301e-04 5.22632038e-01] [ 3.32258373e-03 2.73210432e-04 9.99994443e-01 1.53143098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:0.52, Z:0.16 [[ 9.98876890e-01 4.72036555e-02 -4.09567219e-03 2.43609707e+01] [-4.71754325e-02 9.98863922e-01 6.73373358e-03 5.20915524e-01] [ 4.40887603e-03 -6.53295574e-03 9.99968941e-01 1.58923241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:0.54, Z:0.15 [[ 9.98854764e-01 4.78215770e-02 -1.50249732e-03 2.43899681e+01] [-4.78309114e-02 9.98831238e-01 -6.95428332e-03 5.36753303e-01] [ 1.16817646e-03 7.01818484e-03 9.99974690e-01 1.53268557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:0.53, Z:0.15 [[ 9.98863548e-01 4.75801630e-02 -2.78203103e-03 2.44225914e+01] [-4.75806430e-02 9.98867394e-01 -1.06579909e-04 5.34167830e-01] [ 2.77380900e-03 2.38829611e-04 9.99996124e-01 1.54355755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:0.54, Z:0.15 [[ 9.98918182e-01 4.63611689e-02 -3.62041120e-03 2.44556717e+01] [-4.63619706e-02 9.98924696e-01 -1.37784786e-04 5.38139661e-01] [ 3.61013029e-03 3.05485125e-04 9.99993437e-01 1.54571774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:0.54, Z:0.15 [[ 9.99009252e-01 4.43432722e-02 -3.76665027e-03 2.44876456e+01] [-4.43441230e-02 9.99016305e-01 -1.42614518e-04 5.41803542e-01] [ 3.75662104e-03 3.09502026e-04 9.99992896e-01 1.54684990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.52, Y:0.54, Z:0.15 [[ 9.99238138e-01 3.89441964e-02 -2.54809255e-03 2.45194924e+01] [-3.89445680e-02 9.99241368e-01 -9.63510340e-05 5.44761480e-01] [ 2.54240717e-03 1.95511991e-04 9.99996749e-01 1.54791561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.55, Y:0.55, Z:0.15 [[ 9.99343981e-01 3.61709313e-02 -1.80854481e-03 2.45511608e+01] [-3.61711140e-02 9.99345609e-01 -6.83684059e-05 5.45928529e-01] [ 1.80488837e-03 1.33740636e-04 9.99998362e-01 1.54787728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:0.55, Z:0.15 [[ 9.99436405e-01 3.35175544e-02 -1.85631032e-03 2.45834058e+01] [-3.35177415e-02 9.99438120e-01 -6.97628899e-05 5.46762390e-01] [ 1.85292901e-03 1.31942901e-04 9.99998275e-01 1.54778918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:0.55, Z:0.15 [[ 9.99515054e-01 3.10305158e-02 -2.60078201e-03 2.46160051e+01] [-3.10308729e-02 9.99518422e-01 -9.70344012e-05 5.47509456e-01] [ 2.59651851e-03 1.77691881e-04 9.99996613e-01 1.54170118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:0.55, Z:0.15 [[ 9.99637200e-01 2.68606095e-02 -1.99420780e-03 2.46473647e+01] [-2.68608101e-02 9.99639181e-01 -7.38717851e-05 5.47523863e-01] [ 1.99150401e-03 1.27411021e-04 9.99998009e-01 1.54589463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:0.55, Z:0.16 [[ 9.99669796e-01 2.56748136e-02 -1.05029319e-03 2.46791709e+01] [-2.56748686e-02 9.99670345e-01 -3.89364305e-05 5.48198966e-01] [ 1.04894727e-03 6.58897132e-05 9.99999448e-01 1.55450977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:0.55, Z:0.16 [[ 9.99682637e-01 2.51910689e-02 -1.90292224e-04 2.47108249e+01] [-2.51910708e-02 9.99682655e-01 -7.57793046e-06 5.48900634e-01] [ 1.90040939e-04 1.23691904e-05 9.99999982e-01 1.56417025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:24.74, Y:0.55, Z:0.16 [[ 9.99674015e-01 2.55204632e-02 7.55181138e-04 2.47428354e+01] [-2.55204910e-02 9.99674299e-01 2.71896492e-05 5.50294595e-01] [-7.54241282e-04 -4.64533792e-05 9.99999714e-01 1.56748500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:0.55, Z:0.16 [[ 9.99674336e-01 2.55175949e-02 2.73728207e-04 2.47760781e+01] [-2.55175983e-02 9.99674373e-01 9.10450971e-06 5.48566342e-01] [-2.73406748e-04 -1.60864311e-05 9.99999962e-01 1.56066861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:0.55, Z:0.16 [[ 9.99663378e-01 2.59429887e-02 -3.02977863e-04 2.48094685e+01] [-2.59429935e-02 9.99663424e-01 -1.19216532e-05 5.47992682e-01] [ 3.02566604e-04 1.97777929e-05 9.99999954e-01 1.55644247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:0.55, Z:0.16 [[ 9.99643530e-01 2.66758065e-02 -1.10192335e-03 2.48422258e+01] [-2.66758676e-02 9.99644135e-01 -4.08009316e-05 5.47574455e-01] [ 1.10044281e-03 7.01811486e-05 9.99999392e-01 1.55689670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:0.55, Z:0.16 [[ 9.99613950e-01 2.77564233e-02 -1.23762733e-03 2.48741505e+01] [-2.77565008e-02 9.99614713e-01 -4.54139141e-05 5.48280130e-01] [ 1.23588996e-03 7.97485860e-05 9.99999233e-01 1.55725451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:0.55, Z:0.16 [[ 9.99569699e-01 2.92111532e-02 -2.66948923e-03 2.49062471e+01] [-2.92156127e-02 9.99571776e-01 -1.64710959e-03 5.50153221e-01] [ 2.62023212e-03 1.72439160e-03 9.99995080e-01 1.56250571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:0.55, Z:0.16 [[ 9.99518489e-01 3.08971932e-02 -2.85555533e-03 2.49376775e+01] [-3.08977782e-02 9.99522537e-01 -1.60942718e-04 5.49924251e-01] [ 2.84921923e-03 2.49095537e-04 9.99995910e-01 1.56629551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:0.55, Z:0.16 [[ 9.99366430e-01 3.54043593e-02 -3.64269538e-03 2.49673432e+01] [-3.53991623e-02 9.99372155e-01 1.48141382e-03 5.48419370e-01] [ 3.69285684e-03 -1.35152687e-03 9.99992268e-01 1.56622368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:0.55, Z:0.16 [[ 9.99269692e-01 3.79619075e-02 -4.35613360e-03 2.49983749e+01] [-3.79629473e-02 9.99279135e-01 -1.56224954e-04 5.50899575e-01] [ 4.34706282e-03 3.21482532e-04 9.99990500e-01 1.56057085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:0.55, Z:0.16 [[ 9.99065215e-01 4.29216205e-02 -5.14105917e-03 2.50284518e+01] [-4.29231333e-02 9.99078361e-01 -1.84237871e-04 5.54511741e-01] [ 5.12841318e-03 4.04736017e-04 9.99986768e-01 1.56335623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.06, Y:0.56, Z:0.16 [[ 9.98974879e-01 4.49954633e-02 -4.95974426e-03 2.50597983e+01] [-4.49968954e-02 9.98987111e-01 -1.77487258e-04 5.56472110e-01] [ 4.94673447e-03 4.00478406e-04 9.99987685e-01 1.56401852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.09, Y:0.56, Z:0.16 [[ 9.98901244e-01 4.66180782e-02 -4.80205536e-03 2.50911480e+01] [-4.66194389e-02 9.98912708e-01 -1.71742202e-04 5.58076814e-01] [ 4.78882783e-03 3.95422625e-04 9.99988455e-01 1.56717089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:0.56, Z:0.16 [[ 9.98835394e-01 4.80265315e-02 -4.61595356e-03 2.51219786e+01] [-4.80278032e-02 9.98845986e-01 -1.64988982e-04 5.59791169e-01] [ 4.60270283e-03 3.86490945e-04 9.99989333e-01 1.57338527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:0.56, Z:0.16 [[ 9.98789959e-01 4.89984176e-02 -4.21584802e-03 2.51536708e+01] [-4.89994866e-02 9.98798792e-01 -1.50605302e-04 5.62045767e-01] [ 4.20340449e-03 3.56997452e-04 9.99991102e-01 1.57643511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:0.56, Z:0.16 [[ 9.98784684e-01 4.91464139e-02 -3.71276950e-03 2.51848478e+01] [-4.91472441e-02 9.98791535e-01 -1.32654356e-04 5.64658669e-01] [ 3.70176326e-03 3.14965528e-04 9.99993099e-01 1.58088884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:0.57, Z:0.16 [[ 9.98817640e-01 4.84908546e-02 -3.45817158e-03 2.52160672e+01] [-4.84915700e-02 9.98823584e-01 -1.23273455e-04 5.67207197e-01] [ 3.44812569e-03 2.90819871e-04 9.99994013e-01 1.58330947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:0.57, Z:0.16 [[ 9.98901033e-01 4.66427353e-02 -4.60235760e-03 2.52481312e+01] [-4.66439807e-02 9.98911564e-01 -1.63566408e-04 5.70342639e-01] [ 4.58971904e-03 3.78058933e-04 9.99989396e-01 1.58059756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:0.57, Z:0.16 [[ 9.98925809e-01 4.60212230e-02 -5.41065041e-03 2.52806410e+01] [-4.60229301e-02 9.98940365e-01 -1.91356934e-04 5.72824724e-01] [ 5.39611062e-03 4.40165365e-04 9.99985344e-01 1.58044989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:25.31, Y:0.58, Z:0.16 [[ 9.98930324e-01 4.59163696e-02 -5.46763235e-03 2.53117883e+01] [-4.59181070e-02 9.98945189e-01 -1.92577695e-04 5.76112102e-01] [ 5.45302256e-03 4.43435026e-04 9.99985034e-01 1.58019032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:0.58, Z:0.16 [[ 9.99003272e-01 4.42861637e-02 -5.58558043e-03 2.53426300e+01] [-4.42879508e-02 9.99018788e-01 -1.96603561e-04 5.79408788e-01] [ 5.57139297e-03 4.43781512e-04 9.99984381e-01 1.58337881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:0.58, Z:0.16 [[ 9.99069630e-01 4.29990527e-02 -3.30995841e-03 2.53732892e+01] [-4.29996730e-02 9.99075080e-01 -1.16436922e-04 5.84625813e-01] [ 3.30189029e-03 2.58655722e-04 9.99994515e-01 1.59711748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:0.59, Z:0.16 [[ 9.99080571e-01 4.27623157e-02 -3.06529476e-03 2.54040329e+01] [-4.27628475e-02 9.99085245e-01 -1.08130292e-04 5.86814271e-01] [ 3.05786686e-03 2.39111607e-04 9.99995296e-01 1.60044537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:0.59, Z:0.16 [[ 9.99111638e-01 4.20419842e-02 -2.89946126e-03 2.54348266e+01] [-4.20424551e-02 9.99115820e-01 -1.01620651e-04 5.89099094e-01] [ 2.89262528e-03 2.23430845e-04 9.99995791e-01 1.60406568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:0.59, Z:0.16 [[ 9.99210919e-01 3.97052945e-02 -1.01424996e-03 2.54658824e+01] [-3.97053515e-02 9.99211431e-01 -3.61161360e-05 5.93741321e-01] [ 1.01201615e-03 7.63587885e-05 9.99999485e-01 1.60511453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:0.60, Z:0.16 [[ 9.99250929e-01 3.86968725e-02 3.64454865e-04 2.54977168e+01] [-3.86968794e-02 9.99250995e-01 1.20809785e-05 5.95246184e-01] [-3.63714390e-04 -2.61751950e-05 9.99999934e-01 1.60623708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:0.60, Z:0.16 [[ 9.99289907e-01 3.76631272e-02 1.08190344e-03 2.55302239e+01] [-3.76631886e-02 9.99290490e-01 3.64873521e-05 5.96350142e-01] [-1.07976159e-03 -7.72093762e-05 9.99999414e-01 1.61151898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:25.56, Y:0.60, Z:0.16 [[ 9.99313081e-01 3.70297640e-02 1.47059041e-03 2.55634127e+01] [-3.70298769e-02 9.99314158e-01 4.96188540e-05 5.98257924e-01] [-1.46774444e-03 -1.04040552e-04 9.99998917e-01 1.61229147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:0.60, Z:0.16 [[ 9.99364197e-01 3.56533710e-02 1.98083963e-04 2.55955082e+01] [-3.56533730e-02 9.99364216e-01 6.20025346e-06 5.99948545e-01] [-1.97736965e-04 -1.32586727e-05 9.99999980e-01 1.61146512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:0.60, Z:0.16 [[ 9.99378936e-01 3.52196026e-02 -1.14987179e-03 2.56272496e+01] [-3.52196716e-02 9.99379594e-01 -3.98381731e-05 6.01717111e-01] [ 1.14775532e-03 8.03115379e-05 9.99999338e-01 1.60632137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:0.60, Z:0.16 [[ 9.99348302e-01 3.59775586e-02 -2.93039741e-03 2.56598948e+01] [-3.59780070e-02 9.99352577e-01 -1.00429841e-04 6.02461861e-01] [ 2.92488698e-03 2.05794250e-04 9.99995701e-01 1.59470086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:0.60, Z:0.16 [[ 9.99302722e-01 3.71817936e-02 -3.40364904e-03 2.56902374e+01] [-3.71824024e-02 9.99308489e-01 -1.15742896e-04 6.03277918e-01] [ 3.39699185e-03 2.42218039e-04 9.99994201e-01 1.59569352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:0.60, Z:0.16 [[ 9.99240961e-01 3.88092860e-02 -3.36774496e-03 2.57208201e+01] [-3.88098911e-02 9.99246606e-01 -1.14465868e-04 6.04800876e-01] [ 3.36076538e-03 2.45080799e-04 9.99994323e-01 1.59692567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:0.61, Z:0.16 [[ 9.99183385e-01 4.02665165e-02 -3.34225437e-03 2.57515896e+01] [-4.02671206e-02 9.99188944e-01 -1.13619572e-04 6.06172775e-01] [ 3.33496855e-03 2.48109748e-04 9.99994408e-01 1.60068979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:0.61, Z:0.16 [[ 9.99145768e-01 4.11854342e-02 -3.39039538e-03 2.57820427e+01] [-4.11860609e-02 9.99151488e-01 -1.15216468e-04 6.05481987e-01] [ 3.38277334e-03 2.54755077e-04 9.99994246e-01 1.60734472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.81, Y:0.61, Z:0.16 [[ 9.99173310e-01 4.05543116e-02 -2.83614568e-03 2.58130330e+01] [-4.05547477e-02 9.99177313e-01 -9.63830987e-05 6.05135883e-01] [ 2.82990367e-03 2.11322592e-04 9.99995973e-01 1.60613851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:0.61, Z:0.16 [[ 9.99171966e-01 4.05874233e-02 -2.83614696e-03 2.58448482e+01] [-4.05878594e-02 9.99175969e-01 -9.63454059e-05 6.06172592e-01] [ 2.82989947e-03 2.11378763e-04 9.99995973e-01 1.60776427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:0.61, Z:0.16 [[ 9.99215702e-01 3.95559677e-02 -1.81853486e-03 2.58764595e+01] [-3.95561459e-02 9.99217347e-01 -6.21382281e-05 6.05862332e-01] [ 1.81465365e-03 1.34023724e-04 9.99998345e-01 1.61328205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:0.60, Z:0.16 [[ 9.99288798e-01 3.76871257e-02 -1.25682856e-03 2.59085298e+01] [-3.76872095e-02 9.99289584e-01 -4.30494430e-05 6.03700079e-01] [ 1.25431328e-03 9.03851875e-05 9.99999209e-01 1.60762388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:0.60, Z:0.16 [[ 9.99311113e-01 3.70430255e-02 -2.26120865e-03 2.59407063e+01] [-3.70432926e-02 9.99313659e-01 -7.63180905e-05 6.02295623e-01] [ 2.25682964e-03 1.60028130e-04 9.99997441e-01 1.60604530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:0.60, Z:0.16 [[ 9.99320184e-01 3.67327165e-02 -3.14274210e-03 2.59728347e+01] [-3.67332293e-02 9.99325102e-01 -1.05580507e-04 6.00872440e-01] [ 3.13674281e-03 2.20951797e-04 9.99995056e-01 1.60421986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:0.60, Z:0.16 [[ 9.99322726e-01 3.66312946e-02 -3.49836330e-03 2.60032879e+01] [-3.66319264e-02 9.99328819e-01 -1.16649757e-04 6.00239090e-01] [ 3.49174224e-03 2.44722540e-04 9.99993874e-01 1.60910927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.04, Y:0.60, Z:0.16 [[ 9.99315701e-01 3.68312540e-02 -3.40430742e-03 2.60350543e+01] [-3.68318533e-02 9.99321471e-01 -1.13496364e-04 6.00253542e-01] [ 3.39781729e-03 2.38805651e-04 9.99994199e-01 1.61576827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:26.07, Y:0.60, Z:0.16 [[ 9.99286717e-01 3.76651335e-02 -2.71953047e-03 2.60659855e+01] [-3.76655190e-02 9.99290398e-01 -9.06299175e-05 6.00352386e-01] [ 2.71418710e-03 1.92997799e-04 9.99996298e-01 1.61904754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:0.60, Z:0.16 [[ 9.99329830e-01 3.65837864e-02 -1.23187769e-03 2.60969586e+01] [-3.65838653e-02 9.99330585e-01 -4.15829317e-05 5.97872919e-01] [ 1.22953179e-03 8.66219114e-05 9.99999240e-01 1.63161328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:0.60, Z:0.16 [[ 9.99363720e-01 3.56515150e-02 -1.06058760e-03 2.61298845e+01] [-3.56515731e-02 9.99364280e-01 -3.59029030e-05 5.97034427e-01] [ 1.05863337e-03 7.36916751e-05 9.99999437e-01 1.63431512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:0.60, Z:0.16 [[ 9.99419425e-01 3.40394038e-02 -1.45981905e-03 2.61622484e+01] [-3.40395112e-02 9.99420487e-01 -4.87334813e-05 5.96335388e-01] [ 1.45731421e-03 9.83967149e-05 9.99998933e-01 1.63165150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:0.60, Z:0.16 [[ 9.99486120e-01 3.19627809e-02 -2.42415531e-03 2.61938674e+01] [-3.19630683e-02 9.99489047e-01 -7.98915873e-05 5.96023204e-01] [ 2.42036313e-03 1.57333974e-04 9.99997059e-01 1.62790005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.23, Y:0.60, Z:0.16 [[ 9.99626840e-01 2.71362786e-02 -3.13095548e-03 2.62265320e+01] [-2.71367318e-02 9.99631726e-01 -1.02352934e-04 5.95283803e-01] [ 3.12702495e-03 1.87278639e-04 9.99995093e-01 1.62197380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:0.60, Z:0.16 [[ 9.99689690e-01 2.47596037e-02 -2.73611105e-03 2.62582548e+01] [-2.47599392e-02 9.99693422e-01 -8.87983044e-05 5.95314538e-01] [ 2.73307361e-03 1.56516693e-04 9.99996253e-01 1.61826516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:0.60, Z:0.16 [[ 9.99747474e-01 2.23175076e-02 -2.63018006e-03 2.62883734e+01] [-2.23178090e-02 9.99750923e-01 -8.52740073e-05 5.95595393e-01] [ 2.62762184e-03 1.43952330e-04 9.99996537e-01 1.62178615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:0.60, Z:0.16 [[ 9.99866273e-01 1.62301022e-02 -2.00514262e-03 2.63192884e+01] [-1.62302651e-02 9.99868278e-01 -6.50006571e-05 5.96668285e-01] [ 2.00382353e-03 9.75359610e-05 9.99997988e-01 1.63206545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:26.35, Y:0.60, Z:0.16 [[ 9.99912496e-01 1.31209348e-02 -1.68580040e-03 2.63497540e+01] [-1.31210455e-02 9.99913914e-01 -5.46382165e-05 5.97560304e-01] [ 1.68493837e-03 7.67528991e-05 9.99998578e-01 1.63407411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:0.60, Z:0.16 [[ 9.99954580e-01 9.25417904e-03 -2.28006646e-03 2.63798209e+01] [-9.25437137e-03 9.99957175e-01 -7.38169653e-05 5.97388068e-01] [ 2.27928570e-03 9.49141943e-05 9.99997398e-01 1.64256370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:0.60, Z:0.16 [[ 9.99979819e-01 5.88137163e-03 -2.40220396e-03 2.64098911e+01] [-5.88157524e-03 9.99982700e-01 -7.77076406e-05 5.96616059e-01] [ 2.40170537e-03 9.18348157e-05 9.99997112e-01 1.64798877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:0.59, Z:0.17 [[ 9.99999629e-01 -6.04054359e-04 -6.14345017e-04 2.64398376e+01] [ 6.04042312e-04 9.99999817e-01 -1.97961804e-05 5.94197434e-01] [ 6.14356863e-04 1.94250827e-05 9.99999811e-01 1.66170951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:0.59, Z:0.17 [[ 9.99993755e-01 -3.51272968e-03 3.88981913e-04 2.64694568e+01] [ 3.51272502e-03 9.99993830e-01 1.26772951e-05 5.94247974e-01] [-3.89024045e-04 -1.13108294e-05 9.99999924e-01 1.66109287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:0.59, Z:0.17 [[ 9.99979724e-01 -6.33181007e-03 6.78299534e-04 2.64993537e+01] [ 6.33179656e-03 9.99979954e-01 2.20676379e-05 5.94067346e-01] [-6.78425665e-04 -1.77723358e-05 9.99999770e-01 1.66205096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:0.59, Z:0.17 [[ 9.99957994e-01 -9.15042355e-03 5.29488236e-04 2.65302104e+01] [ 9.15041574e-03 9.99958134e-01 1.71797747e-05 5.93554943e-01] [-5.29623270e-04 -1.23340156e-05 9.99999860e-01 1.66014191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:0.59, Z:0.17 [[ 9.99932326e-01 -1.16302566e-02 -2.85112830e-04 2.65599163e+01] [ 1.16302544e-02 9.99932366e-01 -9.13562788e-06 5.93205278e-01] [ 2.85199796e-04 5.81907488e-06 9.99999959e-01 1.65754243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.59, Y:0.59, Z:0.17 [[ 9.99887422e-01 -1.48070176e-02 -2.42815625e-03 2.65885316e+01] [ 1.48068708e-02 9.99890369e-01 -7.83958622e-05 5.91314181e-01] [ 2.42905086e-03 4.24336406e-05 9.99997049e-01 1.65330457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:0.59, Z:0.17 [[ 9.99858474e-01 -1.65320967e-02 -3.11797047e-03 2.66167170e+01] [ 1.65318609e-02 9.99863334e-01 -1.01381463e-04 5.91119851e-01] [ 3.11922039e-03 4.98212607e-05 9.99995134e-01 1.66052350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:0.59, Z:0.17 [[ 9.99841914e-01 -1.73888752e-02 -3.71136138e-03 2.66445726e+01] [ 1.73885438e-02 9.99848800e-01 -1.21566879e-04 5.91127249e-01] [ 3.71291413e-03 5.70124911e-05 9.99993105e-01 1.66126637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:0.59, Z:0.17 [[ 9.99827227e-01 -1.81261727e-02 -4.11797760e-03 2.66725510e+01] [ 1.81257672e-02 9.99835706e-01 -1.35779617e-04 5.92008032e-01] [ 4.11976220e-03 6.11146552e-05 9.99991512e-01 1.65988836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:0.59, Z:0.17 [[ 9.99832593e-01 -1.80924675e-02 -2.72938276e-03 2.66990645e+01] [ 1.80922883e-02 9.99836317e-01 -9.03232815e-05 5.93390332e-01] [ 2.73057018e-03 4.09273810e-05 9.99996271e-01 1.65436626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:0.59, Z:0.17 [[ 9.99844878e-01 -1.75384267e-02 -1.62000459e-03 2.67271051e+01] [ 1.75383633e-02 9.99846190e-01 -5.33482106e-05 5.94055554e-01] [ 1.62069106e-03 2.49277061e-05 9.99998686e-01 1.65881845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:0.60, Z:0.17 [[ 9.99850262e-01 -1.72909654e-02 -6.90651209e-04 2.67539097e+01] [ 1.72909538e-02 9.99850500e-01 -2.27940764e-05 5.95084300e-01] [ 6.90942089e-04 1.08486451e-05 9.99999761e-01 1.66593372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:0.60, Z:0.17 [[ 9.99826162e-01 -1.86355430e-02 6.01296835e-04 2.67816210e+01] [ 1.86355336e-02 9.99826343e-01 2.13056696e-05 5.98682548e-01] [-6.01589458e-04 -1.00964785e-05 9.99999819e-01 1.67444284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:0.60, Z:0.17 [[ 9.99798865e-01 -2.00358366e-02 8.91951218e-04 2.68092916e+01] [ 2.00358174e-02 9.99799262e-01 3.05173274e-05 6.00837992e-01] [-8.92383610e-04 -1.26402176e-05 9.99999602e-01 1.67245764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:0.60, Z:0.17 [[ 9.99763727e-01 -2.17270974e-02 6.51301214e-04 2.68374986e+01] [ 2.17270869e-02 9.99763939e-01 2.31542327e-05 6.02215267e-01] [-6.51650541e-04 -8.99788392e-06 9.99999788e-01 1.67224415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:26.87, Y:0.60, Z:0.17 [[ 9.99730764e-01 -2.32033039e-02 7.37161448e-05 2.68656080e+01] [ 2.32033037e-02 9.99730767e-01 3.50097447e-06 6.03676373e-01] [-7.37775322e-05 -1.78957378e-06 9.99999997e-01 1.67131688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:0.61, Z:0.17 [[ 9.99695007e-01 -2.46906063e-02 -5.16704404e-04 2.68923793e+01] [ 2.46906008e-02 9.99695141e-01 -1.70702177e-05 6.05829689e-01] [ 5.16968356e-04 4.30726918e-06 9.99999866e-01 1.67660604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:0.61, Z:0.17 [[ 9.99680668e-01 -2.52379012e-02 -1.26910136e-03 2.69201094e+01] [ 2.52378670e-02 9.99681473e-01 -4.29210068e-05 6.08908456e-01] [ 1.26978035e-03 1.08778895e-05 9.99999194e-01 1.67945917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:0.61, Z:0.17 [[ 9.99678814e-01 -2.52795036e-02 -1.79299822e-03 2.69467122e+01] [ 2.52794335e-02 9.99680422e-01 -6.17339919e-05 6.13915381e-01] [ 1.79398582e-03 1.63881847e-05 9.99998391e-01 1.67720180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:0.62, Z:0.17 [[ 9.99673741e-01 -2.54913749e-02 -1.61269834e-03 2.69744373e+01] [ 2.54913189e-02 9.99675042e-01 -5.52632969e-05 6.16742372e-01] [ 1.61358302e-03 1.41354590e-05 9.99998698e-01 1.67709966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:0.62, Z:0.17 [[ 9.99659110e-01 -2.60687114e-02 -1.44401972e-03 2.70022361e+01] [ 2.60686669e-02 9.99660153e-01 -4.96362794e-05 6.20071481e-01] [ 1.44482293e-03 1.19756897e-05 9.99998956e-01 1.68143622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:0.62, Z:0.17 [[ 9.99630756e-01 -2.71350656e-02 -1.42792035e-03 2.70291623e+01] [ 2.71350225e-02 9.99631776e-01 -4.95562240e-05 6.23988564e-01] [ 1.42873926e-03 1.07912749e-05 9.99998979e-01 1.68884089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:0.63, Z:0.17 [[ 9.99537057e-01 -3.03513023e-02 -2.11440785e-03 2.70564331e+01] [ 3.03512137e-02 9.99539293e-01 -7.39810366e-05 6.30541906e-01] [ 2.11567915e-03 9.77194311e-06 9.99997762e-01 1.69463001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.08, Y:0.63, Z:0.17 [[ 9.99458970e-01 -3.28456633e-02 -1.71189007e-03 2.70842504e+01] [ 3.28456091e-02 9.99460436e-01 -5.97757252e-05 6.33627222e-01] [ 1.71292977e-03 3.51531261e-06 9.99998533e-01 1.69846535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:0.64, Z:0.17 [[ 9.99357358e-01 -3.58441132e-02 -2.66802235e-04 2.71123471e+01] [ 3.58441122e-02 9.99357393e-01 -8.54353922e-06 6.36797085e-01] [ 2.66937021e-04 -1.02524045e-06 9.99999964e-01 1.70304600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:0.64, Z:0.17 [[ 9.99110728e-01 -4.21177949e-02 1.96052786e-03 2.71397436e+01] [ 4.21177361e-02 9.99112652e-01 7.12827136e-05 6.43512421e-01] [-1.96179046e-03 1.13536711e-05 9.99998076e-01 1.71182182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:0.65, Z:0.17 [[ 9.98992066e-01 -4.48371831e-02 2.11633840e-03 2.71669980e+01] [ 4.48371215e-02 9.98994308e-01 7.65438214e-05 6.47569567e-01] [-2.11764202e-03 1.84238516e-05 9.99997758e-01 1.71043371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:0.65, Z:0.17 [[ 9.98877029e-01 -4.73491604e-02 1.65448247e-03 2.71948272e+01] [ 4.73491246e-02 9.98878399e-01 6.08203999e-05 6.51361453e-01] [-1.65550659e-03 1.75861961e-05 9.99998629e-01 1.70773069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:0.66, Z:0.17 [[ 9.98772645e-01 -4.95114515e-02 1.34895183e-03 2.72228340e+01] [ 4.95114291e-02 9.98773556e-01 4.99654129e-05 6.55450410e-01] [-1.34977127e-03 1.68844452e-05 9.99999089e-01 1.70324161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121400512999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.25, Y:0.66, Z:0.17 [[ 9.98569684e-01 -5.34645171e-02 3.61632353e-04 2.72508778e+01] [ 5.34645154e-02 9.98569750e-01 1.42376351e-05 6.62738638e-01] [-3.61876337e-04 5.11722777e-06 9.99999935e-01 1.69982110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:0.67, Z:0.17 [[ 9.98488095e-01 -5.49682097e-02 -1.41375435e-04 2.72772775e+01] [ 5.49682095e-02 9.98488105e-01 -4.73574544e-06 6.66979246e-01] [ 1.41422005e-04 -3.04256907e-06 9.99999990e-01 1.69498930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:0.67, Z:0.17 [[ 9.98436366e-01 -5.58825049e-02 -1.40280099e-03 2.73040165e+01] [ 5.58824883e-02 9.98437352e-01 -5.10635786e-05 6.70997554e-01] [ 1.40346247e-03 -2.74082761e-05 9.99999015e-01 1.69448469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:0.68, Z:0.17 [[ 9.98419581e-01 -5.61500652e-02 -2.34740691e-03 2.73322468e+01] [ 5.61500190e-02 9.98422340e-01 -8.56515520e-05 6.75673676e-01] [ 2.34851284e-03 -4.62907558e-05 9.99997241e-01 1.69763275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:27.36, Y:0.68, Z:0.17 [[ 9.98438437e-01 -5.57745106e-02 -3.14504374e-03 2.73596577e+01] [ 5.57744228e-02 9.98443389e-01 -1.15677068e-04 6.81102536e-01] [ 3.14659996e-03 -5.99165680e-05 9.99995048e-01 1.70083502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:0.69, Z:0.17 [[ 9.98462991e-01 -5.53513698e-02 -2.80741383e-03 2.73868559e+01] [ 5.53512963e-02 9.98466936e-01 -1.03950021e-04 6.87035552e-01] [ 2.80886366e-03 -5.16037457e-05 9.99996054e-01 1.70796393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.41, Y:0.70, Z:0.17 [[ 9.98559386e-01 -5.36475931e-02 -1.04306343e-03 2.74149479e+01] [ 5.36475827e-02 9.98559931e-01 -3.79888000e-05 6.97963002e-01] [ 1.04359936e-03 -1.80237588e-05 9.99999455e-01 1.71859707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:0.70, Z:0.17 [[ 9.98597186e-01 -5.29486178e-02 -3.22972202e-04 2.74419162e+01] [ 5.29486168e-02 9.98597238e-01 -1.16655178e-05 7.03446265e-01] [ 3.23136822e-04 -5.45177812e-06 9.99999948e-01 1.72448844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361400513 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:27.47, Y:0.71, Z:0.17 [[ 9.98623297e-01 -5.24468690e-02 -9.15055705e-04 2.74697699e+01] [ 5.24468604e-02 9.98623716e-01 -3.34824272e-05 7.09242778e-01] [ 9.15552376e-04 -1.45554669e-05 9.99999581e-01 1.73199216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:0.72, Z:0.17 [[ 9.98533712e-01 -5.40953181e-02 -2.03025556e-03 2.74966227e+01] [ 5.40952750e-02 9.98535776e-01 -7.61855850e-05 7.20124781e-01] [ 2.03140410e-03 -3.37533582e-05 9.99997936e-01 1.72433763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.52, Y:0.73, Z:0.17 [[ 9.98439821e-01 -5.57784498e-02 -2.58617488e-03 2.75241871e+01] [ 5.57783853e-02 9.98443169e-01 -9.71035447e-05 7.25143441e-01] [ 2.58756493e-03 -4.73006134e-05 9.99996651e-01 1.71807992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:0.73, Z:0.17 [[ 9.98291433e-01 -5.83614741e-02 -2.85524714e-03 2.75518978e+01] [ 5.83614042e-02 9.98295515e-01 -1.07852502e-04 7.29315405e-01] [ 2.85667485e-03 -5.89680043e-05 9.99995918e-01 1.71781957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:0.73, Z:0.17 [[ 9.98160663e-01 -6.05723972e-02 -2.50508795e-03 2.75793024e+01] [ 6.05723494e-02 9.98163805e-01 -9.49843012e-05 7.32946439e-01] [ 2.50624155e-03 -5.69294699e-05 9.99996858e-01 1.71374299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511400512999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.61, Y:0.74, Z:0.17 [[ 9.98136946e-01 -6.09633974e-02 -2.47014664e-03 2.76067416e+01] [ 6.09633511e-02 9.98140001e-01 -9.41148187e-05 7.38492173e-01] [ 2.47128973e-03 -5.66489394e-05 9.99996945e-01 1.72067429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.63, Y:0.74, Z:0.17 [[ 9.98277052e-01 -5.86249383e-02 -2.45852441e-03 2.76338449e+01] [ 5.86248835e-02 9.98280078e-01 -9.44074876e-05 7.42641471e-01] [ 2.45983057e-03 -4.98858786e-05 9.99996973e-01 1.71975582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.66, Y:0.75, Z:0.17 [[ 9.98478168e-01 -5.50880538e-02 -2.57977836e-03 2.76619139e+01] [ 5.50879817e-02 9.98481499e-01 -9.90300314e-05 7.47256050e-01] [ 2.58131634e-03 -4.32354588e-05 9.99996667e-01 1.72147394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601400512999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.69, Y:0.75, Z:0.17 [[ 9.98468505e-01 -5.52629063e-02 -2.57975865e-03 2.76903768e+01] [ 5.52628335e-02 9.98471837e-01 -9.95395580e-05 7.48530057e-01] [ 2.58131720e-03 -4.31776591e-05 9.99996667e-01 1.72292856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.72, Y:0.76, Z:0.17 [[ 9.98930554e-01 -4.61547810e-02 -2.73579424e-03 2.77166724e+01] [ 4.61546636e-02 9.98934300e-01 -1.06067916e-04 7.56259651e-01] [ 2.73777425e-03 -2.03151812e-05 9.99996252e-01 1.73096782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.74, Y:0.76, Z:0.17 [[ 9.99132127e-01 -4.15756505e-02 -2.54111801e-03 2.77435831e+01] [ 4.15755327e-02 9.99135359e-01 -9.91953280e-05 7.60452707e-01] [ 2.54304496e-03 -6.53909572e-06 9.99996766e-01 1.72938956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.77, Y:0.76, Z:0.17 [[ 9.99308578e-01 -3.71032720e-02 -2.39016453e-03 2.77712550e+01] [ 3.71031553e-02 9.99311437e-01 -9.31897002e-05 7.64874590e-01] [ 2.39197640e-03 4.44262092e-06 9.99997139e-01 1.73536080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.80, Y:0.77, Z:0.17 [[ 9.99449551e-01 -3.31073073e-02 -2.12168984e-03 2.77979261e+01] [ 3.31072050e-02 9.99451803e-01 -8.33216900e-05 7.69351607e-01] [ 2.12328529e-03 1.30326052e-05 9.99997746e-01 1.73739591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:0.78, Z:0.17 [[ 9.99655397e-01 -2.62066982e-02 -1.51564785e-03 2.78244824e+01] [ 2.62066381e-02 9.99656545e-01 -5.95316825e-05 7.75698658e-01] [ 1.51668742e-03 1.97911331e-05 9.99998850e-01 1.73259264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.85, Y:0.78, Z:0.17 [[ 9.99723756e-01 -2.34373025e-02 -1.76198619e-03 2.78533889e+01] [ 2.34372170e-02 9.99725308e-01 -6.91474624e-05 7.78970293e-01] [ 1.76312282e-03 2.78323081e-05 9.99998445e-01 1.73277055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:27.88, Y:0.78, Z:0.17 [[ 9.99780368e-01 -2.08498137e-02 -2.12171175e-03 2.78822872e+01] [ 2.08496829e-02 9.99782618e-01 -8.37412572e-05 7.82221001e-01] [ 2.12299652e-03 3.94858476e-05 9.99997746e-01 1.73216757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.91, Y:0.79, Z:0.17 [[ 9.99817801e-01 -1.89594639e-02 -2.21444480e-03 2.79112322e+01] [ 1.89593159e-02 9.99820252e-01 -8.78126676e-05 7.85680345e-01] [ 2.21571164e-03 4.58123098e-05 9.99997544e-01 1.73517498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:0.79, Z:0.17 [[ 9.99882136e-01 -1.52023783e-02 -2.14505035e-03 2.79385746e+01] [ 1.52022293e-02 9.99884436e-01 -8.57162854e-05 7.92023619e-01] [ 2.14610555e-03 5.30966352e-05 9.99997696e-01 1.74178053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:0.80, Z:0.17 [[ 9.99906603e-01 -1.35317566e-02 -1.91748485e-03 2.79671045e+01] [ 1.35316350e-02 9.99908440e-01 -7.63714405e-05 7.95139418e-01] [ 1.91834273e-03 5.04176026e-05 9.99998159e-01 1.73980420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:0.80, Z:0.17 [[ 9.99929673e-01 -1.16917635e-02 -1.98802697e-03 2.79957334e+01] [ 1.16916285e-02 9.99931647e-01 -7.95394287e-05 7.97786326e-01] [ 1.98882104e-03 5.62905622e-05 9.99998021e-01 1.74386982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.02, Y:0.80, Z:0.17 [[ 9.99967191e-01 -7.95864988e-03 -1.50899046e-03 2.80243432e+01] [ 7.95856778e-03 9.99968328e-01 -6.04049806e-05 8.01745051e-01] [ 1.50942341e-03 4.83935959e-05 9.99998860e-01 1.74570956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.05, Y:0.80, Z:0.17 [[ 9.99980297e-01 -6.03175073e-03 -1.73860040e-03 2.80532824e+01] [ 6.03163731e-03 9.99981807e-01 -7.04684147e-05 8.04794730e-01] [ 1.73899382e-03 5.99804193e-05 9.99998486e-01 1.74863763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.08, Y:0.81, Z:0.17 [[ 9.99988599e-01 -4.24677967e-03 -2.18335018e-03 2.80820467e+01] [ 4.24659628e-03 9.99990979e-01 -8.86226532e-05 8.08073439e-01] [ 2.18370685e-03 7.93498360e-05 9.99997613e-01 1.74959361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.11, Y:0.81, Z:0.17 [[ 9.99995360e-01 -2.25228943e-03 -2.05094663e-03 2.81107941e+01] [ 2.25212415e-03 9.99997461e-01 -8.28937619e-05 8.11149593e-01] [ 2.05112812e-03 7.82743908e-05 9.99997893e-01 1.74416499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:0.81, Z:0.17 [[ 9.99997250e-01 -2.03848542e-03 -1.15986368e-03 2.81389942e+01] [ 2.03843201e-03 9.99997921e-01 -4.72293348e-05 8.11979490e-01] [ 1.15995755e-03 4.48649017e-05 9.99999326e-01 1.74771635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:0.81, Z:0.18 [[ 9.99997588e-01 -2.11170625e-03 -6.03079289e-04 2.81675955e+01] [ 2.11169189e-03 9.99997770e-01 -2.44543198e-05 8.13056677e-01] [ 6.03129585e-04 2.31807431e-05 9.99999818e-01 1.75475253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:0.81, Z:0.18 [[ 9.99997129e-01 -2.31093779e-03 -6.33244114e-04 2.81974994e+01] [ 2.31092191e-03 9.99997329e-01 -2.58086037e-05 8.14503880e-01] [ 6.33302065e-04 2.43451519e-05 9.99999799e-01 1.75909161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:0.82, Z:0.18 [[ 9.99997444e-01 -7.76587020e-04 -2.12345116e-03 2.82267755e+01] [ 7.76404205e-04 9.99999695e-01 -8.69162096e-05 8.17805199e-01] [ 2.12351801e-03 8.52673311e-05 9.99997742e-01 1.75642946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:0.82, Z:0.18 [[ 9.99995935e-01 4.84215512e-04 -2.80972375e-03 2.82549602e+01] [-4.84540554e-04 9.99999876e-01 -1.15005441e-04 8.19918047e-01] [ 2.80966771e-03 1.16366399e-04 9.99996046e-01 1.75563265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:0.82, Z:0.18 [[ 9.99993463e-01 1.67341131e-03 -3.20523086e-03 2.82841353e+01] [-1.67384005e-03 9.99998591e-01 -1.31084316e-04 8.21519503e-01] [ 3.20500699e-03 1.36448503e-04 9.99994855e-01 1.75606444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:0.82, Z:0.18 [[ 9.99987696e-01 3.50817443e-03 -3.50730135e-03 2.83120005e+01] [-3.50870125e-03 9.99993834e-01 -1.44062911e-04 8.23578019e-01] [ 3.50677433e-03 1.56367211e-04 9.99993839e-01 1.76958221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:0.83, Z:0.18 [[ 9.99982637e-01 4.49393435e-03 -3.81186216e-03 2.83399374e+01] [-4.49456748e-03 9.99989887e-01 -1.57546389e-04 8.25229079e-01] [ 3.81111561e-03 1.74676325e-04 9.99992722e-01 1.77387120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:0.83, Z:0.18 [[ 9.99976948e-01 5.19694766e-03 -4.36977994e-03 2.83684563e+01] [-5.19778775e-03 9.99986475e-01 -1.80916043e-04 8.26429431e-01] [ 4.36878063e-03 2.03625061e-04 9.99990436e-01 1.77712286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:0.83, Z:0.18 [[ 9.99965898e-01 6.86850702e-03 -4.58540792e-03 2.83976669e+01] [-6.86945064e-03 9.99976387e-01 -1.90069244e-04 8.27976108e-01] [ 4.58399416e-03 2.21561996e-04 9.99989469e-01 1.77204096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:28.43, Y:0.83, Z:0.18 [[ 9.99957654e-01 8.35546214e-03 -3.85693662e-03 2.84267015e+01] [-8.35614133e-03 9.99965074e-01 -1.60014625e-04 8.30084250e-01] [ 3.85546491e-03 1.92236956e-04 9.99992549e-01 1.77098242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:0.83, Z:0.18 [[ 9.99946813e-01 9.72156961e-03 -3.44422402e-03 2.84543718e+01] [-9.72211973e-03 9.99952729e-01 -1.43015327e-04 8.32084089e-01] [ 3.44267087e-03 1.76492879e-04 9.99994058e-01 1.77636486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:0.83, Z:0.18 [[ 9.99909277e-01 1.27822393e-02 -4.24868534e-03 2.84828911e+01] [-1.27831055e-02 9.99918277e-01 -1.76763900e-04 8.31637769e-01] [ 4.24607868e-03 2.31059256e-04 9.99990959e-01 1.77495401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:0.83, Z:0.18 [[ 9.99892862e-01 1.38188686e-02 -4.82727887e-03 2.85122195e+01] [-1.38200000e-02 9.99904479e-01 -2.01095801e-04 8.30769811e-01] [ 4.82403885e-03 2.67787251e-04 9.99988328e-01 1.77218257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:0.83, Z:0.18 [[ 9.99890079e-01 1.40700933e-02 -4.67568893e-03 2.85396188e+01] [-1.40711585e-02 9.99900977e-01 -1.94989992e-04 8.30149878e-01] [ 4.67248240e-03 2.60760919e-04 9.99989050e-01 1.77325797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:0.83, Z:0.18 [[ 9.99895812e-01 1.42822905e-02 -2.09335964e-03 2.85678636e+01] [-1.42825044e-02 9.99897996e-01 -8.72436303e-05 8.26997470e-01] [ 2.09190007e-03 1.17132959e-04 9.99997805e-01 1.78047742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:0.83, Z:0.18 [[ 9.99903088e-01 1.38480929e-02 -1.42976291e-03 2.85972010e+01] [-1.38481924e-02 9.99904107e-01 -5.97210403e-05 8.25547057e-01] [ 1.42879878e-03 7.95148846e-05 9.99998976e-01 1.78603717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:0.82, Z:0.18 [[ 9.99910391e-01 1.32875137e-02 -1.62835963e-03 2.86257085e+01] [-1.32876421e-02 9.99911713e-01 -6.80719018e-05 8.24097363e-01] [ 1.62731137e-03 8.97028620e-05 9.99998672e-01 1.78896255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.66, Y:0.82, Z:0.18 [[ 9.99919193e-01 1.25055382e-02 -2.28451341e-03 2.86555365e+01] [-1.25057892e-02 9.99921795e-01 -9.56050395e-05 8.22464576e-01] [ 2.28313916e-03 1.24166957e-04 9.99997386e-01 1.78928528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:0.82, Z:0.18 [[ 9.99926255e-01 1.14827276e-02 -3.95354827e-03 2.86853841e+01] [-1.14834720e-02 9.99934049e-01 -1.65630008e-04 8.16710759e-01] [ 3.95138564e-03 2.11018255e-04 9.99992171e-01 1.79198502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:0.81, Z:0.18 [[ 9.99927155e-01 1.14292613e-02 -3.88033391e-03 2.87136004e+01] [-1.14299781e-02 9.99934662e-01 -1.62610493e-04 8.14375339e-01] [ 3.87822186e-03 2.06950779e-04 9.99992458e-01 1.79121132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:0.81, Z:0.18 [[ 9.99921382e-01 1.20969263e-02 -3.30058793e-03 2.87426395e+01] [-1.20974492e-02 9.99926814e-01 -1.38495704e-04 8.12873542e-01] [ 3.29867100e-03 1.78413510e-04 9.99994543e-01 1.79358763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:0.81, Z:0.18 [[ 9.99892629e-01 1.44840752e-02 -2.22293636e-03 2.87712508e+01] [-1.44843183e-02 9.99895092e-01 -9.32993628e-05 8.09476254e-01] [ 2.22135180e-03 1.25487063e-04 9.99997525e-01 1.79701192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:0.81, Z:0.18 [[ 9.99871958e-01 1.57937172e-02 -2.57409147e-03 2.88002919e+01] [-1.57940479e-02 9.99875260e-01 -1.08195922e-04 8.08585833e-01] [ 2.57206156e-03 1.48837392e-04 9.99996681e-01 1.79068824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:0.81, Z:0.18 [[ 9.99846907e-01 1.70631448e-02 -3.87446455e-03 2.88292779e+01] [-1.70639047e-02 9.99854388e-01 -1.63154045e-04 8.07674559e-01] [ 3.87111646e-03 2.29242561e-04 9.99992481e-01 1.78566175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:0.80, Z:0.18 [[ 9.99785642e-01 1.98450988e-02 -5.90267868e-03 2.88574454e+01] [-1.98469133e-02 9.99803000e-01 -2.48994195e-04 8.03698405e-01] [ 5.89657454e-03 3.66090773e-04 9.99982548e-01 1.76764770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:0.80, Z:0.18 [[ 9.99761479e-01 2.10042625e-02 -5.98374360e-03 2.88866063e+01] [-2.10061500e-02 9.99779315e-01 -2.52770738e-04 8.02301032e-01] [ 5.97711382e-03 3.78405863e-04 9.99982065e-01 1.76606433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:0.80, Z:0.18 [[ 9.99739451e-01 2.21465984e-02 -5.52802708e-03 2.89146474e+01] [-2.21482281e-02 9.99754671e-01 -2.33769828e-04 8.00729192e-01] [ 5.52149369e-03 3.56144925e-04 9.99984693e-01 1.76184508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:0.80, Z:0.18 [[ 9.99720419e-01 2.30392013e-02 -5.31781019e-03 2.89439715e+01] [-2.30407236e-02 9.99734502e-01 -2.25181525e-04 7.99124299e-01] [ 5.31121032e-03 3.47644764e-04 9.99985835e-01 1.76448464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:0.80, Z:0.18 [[ 9.99669574e-01 2.52371308e-02 -4.88162957e-03 2.89723374e+01] [-2.52384408e-02 9.99681438e-01 -2.06915883e-04 7.96232821e-01] [ 4.87485250e-03 3.30052231e-04 9.99988063e-01 1.76310660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:0.80, Z:0.18 [[ 9.99638280e-01 2.63918382e-02 -5.17490126e-03 2.90010059e+01] [-2.63933273e-02 9.99651611e-01 -2.19660704e-04 7.96250873e-01] [ 5.16730113e-03 3.56164111e-04 9.99986586e-01 1.75977384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.03, Y:0.80, Z:0.18 [[ 9.99605327e-01 2.75876214e-02 -5.30223692e-03 2.90289109e+01] [-2.75892027e-02 9.99619320e-01 -2.25309454e-04 7.96494099e-01] [ 5.29400271e-03 3.71505020e-04 9.99985918e-01 1.75205333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.06, Y:0.80, Z:0.17 [[ 9.99567516e-01 2.87754603e-02 -6.06247928e-03 2.90574687e+01] [-2.87775517e-02 9.99585807e-01 -2.58006274e-04 7.96684071e-01] [ 6.05254400e-03 4.32358002e-04 9.99981590e-01 1.74836980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:0.80, Z:0.17 [[ 9.99496960e-01 3.09296460e-02 -7.01312586e-03 2.90866107e+01] [-3.09325000e-02 9.99521431e-01 -2.98823649e-04 7.96722241e-01] [ 7.00052709e-03 5.15606844e-04 9.99975363e-01 1.74284314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:0.80, Z:0.17 [[ 9.99474340e-01 3.15482484e-02 -7.46671660e-03 2.91143724e+01] [-3.15515037e-02 9.99502077e-01 -3.18551295e-04 7.97413566e-01] [ 7.45294901e-03 5.53969981e-04 9.99972073e-01 1.74531358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:0.80, Z:0.17 [[ 9.99466282e-01 3.17161093e-02 -7.82557634e-03 2.91435669e+01] [-3.17196937e-02 9.99496748e-01 -3.34320874e-04 7.97411731e-01] [ 7.81103475e-03 5.82367326e-04 9.99969324e-01 1.74616632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:0.79, Z:0.18 [[ 9.99466486e-01 3.16436386e-02 -8.08853447e-03 2.91730155e+01] [-3.16474687e-02 9.99499034e-01 -3.45936052e-04 7.93939980e-01] [ 8.07353571e-03 6.01733132e-04 9.99967227e-01 1.75362856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:0.79, Z:0.18 [[ 9.99482265e-01 3.12184514e-02 -7.78523223e-03 2.92009472e+01] [-3.12219898e-02 9.99512419e-01 -3.33357580e-04 7.93714942e-01] [ 7.77102939e-03 5.76255431e-04 9.99969639e-01 1.75437692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:0.79, Z:0.18 [[ 9.99496739e-01 3.08511689e-02 -7.38066476e-03 2.92301576e+01] [-3.08543422e-02 9.99523841e-01 -3.16439435e-04 7.94658547e-01] [ 7.36738786e-03 5.44005739e-04 9.99972712e-01 1.75246159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:0.80, Z:0.18 [[ 9.99509973e-01 3.05580600e-02 -6.78378878e-03 2.92585220e+01] [-3.05607361e-02 9.99532869e-01 -2.91142287e-04 7.95814733e-01] [ 6.77172312e-03 4.98317198e-04 9.99976947e-01 1.75181749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:0.80, Z:0.18 [[ 9.99501852e-01 3.10243239e-02 -5.79133542e-03 2.92859662e+01] [-3.10262834e-02 9.99518538e-01 -2.48793128e-04 7.95001131e-01] [ 5.78082847e-03 4.28352806e-04 9.99983199e-01 1.75528141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:0.80, Z:0.18 [[ 9.99454145e-01 3.26253216e-02 -5.19626949e-03 2.93134264e+01] [-3.26269220e-02 9.99467575e-01 -2.23501567e-04 7.95280803e-01] [ 5.18621105e-03 3.92917846e-04 9.99986474e-01 1.75572436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:0.80, Z:0.18 [[ 9.99395848e-01 3.43815875e-02 -5.08393489e-03 2.93424061e+01] [-3.43831436e-02 9.99408701e-01 -2.18955831e-04 7.96560535e-01] [ 5.07340071e-03 3.93625211e-04 9.99987053e-01 1.75547244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:0.80, Z:0.18 [[ 9.99231088e-01 3.88250026e-02 -5.46369721e-03 2.93697192e+01] [-3.88268673e-02 9.99245925e-01 -2.35586724e-04 7.98501084e-01] [ 5.45043051e-03 4.47543825e-04 9.99985046e-01 1.75568902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:0.80, Z:0.18 [[ 9.99158036e-01 4.06796229e-02 -5.32800953e-03 2.93984088e+01] [-4.06814239e-02 9.99172142e-01 -2.30029824e-04 7.99967564e-01] [ 5.31424117e-03 4.46587161e-04 9.99985780e-01 1.76311969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:0.80, Z:0.18 [[ 9.99094272e-01 4.23246679e-02 -4.38849335e-03 2.94279824e+01] [-4.23259060e-02 9.99103839e-01 -1.89594143e-04 8.01226184e-01] [ 4.37653605e-03 3.75169379e-04 9.99990353e-01 1.77113200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:0.80, Z:0.18 [[ 9.99047456e-01 4.35664071e-02 -2.47958943e-03 2.94562690e+01] [-4.35668061e-02 9.99050510e-01 -1.07101146e-04 8.02478882e-01] [ 2.47256907e-03 2.15026920e-04 9.99996920e-01 1.77927533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:0.80, Z:0.18 [[ 9.99046976e-01 4.35774245e-02 -2.47958067e-03 2.94872400e+01] [-4.35778240e-02 9.99050030e-01 -1.07303617e-04 8.03815752e-01] [ 2.47254913e-03 2.15256085e-04 9.99996920e-01 1.78085835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:0.81, Z:0.18 [[ 9.99007016e-01 4.45521745e-02 2.94421860e-04 2.95181882e+01] [-4.45521802e-02 9.99007059e-01 1.27343840e-05 8.05190478e-01] [-2.93562172e-04 -2.58388747e-05 9.99999957e-01 1.78457644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:0.81, Z:0.18 [[ 9.99000134e-01 4.47070780e-02 9.74642759e-05 2.95498441e+01] [-4.47070786e-02 9.99000139e-01 3.44156672e-06 8.05465878e-01] [-9.72129627e-05 -7.79546865e-06 9.99999995e-01 1.78085801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:0.81, Z:0.18 [[ 9.99048353e-01 4.35143160e-02 -2.98219681e-03 2.95820046e+01] [-4.35148931e-02 9.99052770e-01 -1.28872812e-04 8.05134528e-01] [ 2.97376417e-03 2.58520146e-04 9.99995545e-01 1.76741795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:0.81, Z:0.18 [[ 9.99092204e-01 4.23757953e-02 -4.36571309e-03 2.96122329e+01] [-4.23770162e-02 9.99101673e-01 -1.87496563e-04 8.06911817e-01] [ 4.35384594e-03 3.72332249e-04 9.99990453e-01 1.76146376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:0.81, Z:0.18 [[ 9.99141226e-01 4.11703559e-02 -4.67033844e-03 2.96406060e+01] [-4.11717400e-02 9.99152064e-01 -2.00564510e-04 8.08312767e-01] [ 4.65812098e-03 3.92678231e-04 9.99989074e-01 1.75971662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:29.67, Y:0.81, Z:0.18 [[ 9.99234486e-01 3.89436303e-02 -3.71971413e-03 2.96703800e+01] [-3.89444933e-02 9.99241363e-01 -1.59849517e-04 8.06453420e-01] [ 3.71066709e-03 3.04589532e-04 9.99993069e-01 1.76342100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:0.81, Z:0.18 [[ 9.99306342e-01 3.70853956e-02 -3.39242835e-03 2.97002361e+01] [-3.70861032e-02 9.99312063e-01 -1.45872375e-04 8.05507806e-01] [ 3.38468484e-03 2.71583137e-04 9.99994235e-01 1.77342170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.73, Y:0.80, Z:0.18 [[ 9.99373783e-01 3.51755491e-02 -3.83703577e-03 2.97312878e+01] [-3.51764406e-02 9.99381104e-01 -1.65056584e-04 8.04782026e-01] [ 3.82885509e-03 2.99926484e-04 9.99992625e-01 1.77391886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:0.80, Z:0.18 [[ 9.99451730e-01 3.28296950e-02 -4.29536642e-03 2.97614728e+01] [-3.28307905e-02 9.99460907e-01 -1.84772452e-04 8.04227378e-01] [ 4.28698479e-03 3.25691422e-04 9.99990758e-01 1.78115725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:0.80, Z:0.18 [[ 9.99573121e-01 2.88077654e-02 -4.86704535e-03 2.97915546e+01] [-2.88091246e-02 9.99584909e-01 -2.09361409e-04 8.00813413e-01] [ 4.85899385e-03 3.49487353e-04 9.99988134e-01 1.77652428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:0.80, Z:0.18 [[ 9.99630628e-01 2.67946289e-02 -4.54480666e-03 2.98206001e+01] [-2.67957934e-02 9.99640909e-01 -1.95537704e-04 7.97562554e-01] [ 4.53793530e-03 3.17247178e-04 9.99989653e-01 1.77861851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:0.79, Z:0.18 [[ 9.99703733e-01 2.40361274e-02 -3.83537593e-03 2.98504831e+01] [-2.40369370e-02 9.99711057e-01 -1.65130004e-04 7.89444700e-01] [ 3.83029864e-03 2.57271771e-04 9.99992631e-01 1.78199902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:0.79, Z:0.18 [[ 9.99723302e-01 2.32252635e-02 -3.72903197e-03 2.98800292e+01] [-2.32260235e-02 9.99730227e-01 -1.60629929e-04 7.86916851e-01] [ 3.72429530e-03 2.47196067e-04 9.99993034e-01 1.77752066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:0.78, Z:0.18 [[ 9.99720512e-01 2.33441554e-02 -3.73461945e-03 2.99089798e+01] [-2.33449188e-02 9.99727457e-01 -1.60943513e-04 7.84364238e-01] [ 3.72984452e-03 2.48082919e-04 9.99993013e-01 1.78199402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941400512999998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:29.94, Y:0.78, Z:0.18 [[ 9.99700400e-01 2.41992425e-02 -3.67521721e-03 2.99381060e+01] [-2.41999881e-02 9.99707125e-01 -1.58526950e-04 7.81599037e-01] [ 3.67030460e-03 2.47419668e-04 9.99993234e-01 1.77847039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.97, Y:0.77, Z:0.18 [[ 9.99603926e-01 2.78807918e-02 -3.82792940e-03 2.99682477e+01] [-2.78816279e-02 9.99611218e-01 -1.65216426e-04 7.74902485e-01] [ 3.82183481e-03 2.71879891e-04 9.99992660e-01 1.79178020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.00, Y:0.77, Z:0.18 [[ 9.99534837e-01 3.02438418e-02 -3.92686030e-03 2.99980476e+01] [-3.02447402e-02 9.99542509e-01 -1.69576473e-04 7.73737211e-01] [ 3.91993515e-03 2.88264462e-04 9.99992275e-01 1.79575249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.03, Y:0.77, Z:0.18 [[ 9.99352209e-01 3.56201485e-02 -5.13483789e-03 3.00279318e+01] [-3.56217559e-02 9.99365319e-01 -2.21896043e-04 7.72473501e-01] [ 5.12367494e-03 4.04664242e-04 9.99986792e-01 1.79143546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:0.77, Z:0.18 [[ 9.99244246e-01 3.83638283e-02 -6.25727143e-03 3.00571529e+01] [-3.83662697e-02 9.99263707e-01 -2.70558590e-04 7.72873116e-01] [ 6.24228459e-03 5.10422278e-04 9.99980386e-01 1.78495452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:0.77, Z:0.18 [[ 9.99128878e-01 4.12190345e-02 -6.51731160e-03 3.00869529e+01] [-4.12217439e-02 9.99149983e-01 -2.81896005e-04 7.73331668e-01] [ 6.50015229e-03 5.50305389e-04 9.99978722e-01 1.78310480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:0.77, Z:0.18 [[ 9.98881891e-01 4.70508914e-02 -4.60243685e-03 3.01156160e+01] [-4.70523043e-02 9.98892407e-01 -1.99136068e-04 7.74998306e-01] [ 4.58796970e-03 4.15468671e-04 9.99989389e-01 1.78739075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:0.78, Z:0.18 [[ 9.98777565e-01 4.92193375e-02 -4.56436603e-03 3.01464937e+01] [-4.92207505e-02 9.98787905e-01 -1.97672524e-04 7.78412329e-01] [ 4.54910428e-03 4.22092404e-04 9.99989564e-01 1.78978618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:0.78, Z:0.18 [[ 9.98703675e-01 5.06751292e-02 -4.79599981e-03 3.01781082e+01] [-5.06767053e-02 9.98715089e-01 -2.07589658e-04 7.82188928e-01] [ 4.77931774e-03 4.50366023e-04 9.99988478e-01 1.78775722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:0.79, Z:0.18 [[ 9.98673230e-01 5.12008206e-02 -5.50059957e-03 3.02082370e+01] [-5.12029009e-02 9.98688243e-01 -2.37946921e-04 7.85944473e-01] [ 5.48120104e-03 5.19277875e-04 9.99984843e-01 1.78421125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:0.79, Z:0.18 [[ 9.98737117e-01 4.98644053e-02 -6.14109056e-03 3.02387370e+01] [-4.98669729e-02 9.98755833e-01 -2.65587823e-04 7.90207008e-01] [ 6.12020664e-03 5.71490013e-04 9.99981108e-01 1.78162088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:0.79, Z:0.18 [[ 9.98811902e-01 4.83912359e-02 -5.75081832e-03 3.02685469e+01] [-4.83934632e-02 9.98828319e-01 -2.48701167e-04 7.91995565e-01] [ 5.73204524e-03 5.26707701e-04 9.99983433e-01 1.78056043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:0.79, Z:0.18 [[ 9.98903110e-01 4.65591800e-02 -4.98187356e-03 3.02984654e+01] [-4.65608286e-02 9.98915433e-01 -2.15389383e-04 7.93661120e-01] [ 4.96644203e-03 4.47113285e-04 9.99987567e-01 1.78013804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:0.79, Z:0.18 [[ 9.99004569e-01 4.44001737e-02 -4.30054710e-03 3.03301875e+01] [-4.44013826e-02 9.99013755e-01 -1.85999784e-04 7.94882068e-01] [ 4.28804729e-03 3.76764872e-04 9.99990735e-01 1.78510084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:0.79, Z:0.18 [[ 9.99204277e-01 3.97678745e-02 -3.05439358e-03 3.03615057e+01] [-3.97684636e-02 9.99208913e-01 -1.32325057e-04 7.94462593e-01] [ 3.04671500e-03 2.53688302e-04 9.99995327e-01 1.79165775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:0.80, Z:0.18 [[ 9.99294427e-01 3.74367428e-02 -3.02310331e-03 3.03932180e+01] [-3.74373070e-02 9.99298970e-01 -1.30262512e-04 7.95071913e-01] [ 3.01610742e-03 2.43347449e-04 9.99995422e-01 1.79330250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:0.80, Z:0.18 [[ 9.99403731e-01 3.42989993e-02 -3.97003248e-03 3.04237221e+01] [-3.42999473e-02 9.99411569e-01 -1.70929172e-04 7.96264451e-01] [ 3.96183369e-03 3.06999157e-04 9.99992105e-01 1.79284904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:0.80, Z:0.18 [[ 9.99420260e-01 3.37354626e-02 -4.58937251e-03 3.04544033e+01] [-3.37367232e-02 9.99430735e-01 -1.97529638e-04 7.98129159e-01] [ 4.58009619e-03 3.52245512e-04 9.99989449e-01 1.79761582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:0.80, Z:0.18 [[ 9.99417277e-01 3.37646462e-02 -5.00560075e-03 3.04842714e+01] [-3.37661463e-02 9.99429738e-01 -2.15443274e-04 8.00240730e-01] [ 4.99547188e-03 3.84337577e-04 9.99987449e-01 1.80006587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511400512999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.51, Y:0.80, Z:0.18 [[ 9.99382594e-01 3.47119537e-02 -5.43246508e-03 3.05135117e+01] [-3.47137348e-02 9.99397269e-01 -2.33882718e-04 8.02230372e-01] [ 5.42107224e-03 4.22319469e-04 9.99985217e-01 1.80357284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:0.80, Z:0.18 [[ 9.99305178e-01 3.69245669e-02 -5.07330550e-03 3.05434321e+01] [-3.69261489e-02 9.99317973e-01 -2.18472738e-04 8.04992098e-01] [ 5.06177836e-03 4.05658573e-04 9.99987107e-01 1.81840860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:0.81, Z:0.18 [[ 9.99285503e-01 3.75486513e-02 -4.31072992e-03 3.05725961e+01] [-3.75497996e-02 9.99294740e-01 -1.85723163e-04 8.06973152e-01] [ 4.30071608e-03 3.47457508e-04 9.99990692e-01 1.82732006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:0.81, Z:0.18 [[ 9.99278803e-01 3.78171551e-02 -3.42580020e-03 3.06026339e+01] [-3.78178820e-02 9.99284637e-01 -1.47642479e-04 8.09363699e-01] [ 3.41776609e-03 2.77092507e-04 9.99994121e-01 1.83083052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:0.81, Z:0.18 [[ 9.99279194e-01 3.78466756e-02 -2.95318021e-03 3.06325035e+01] [-3.78472163e-02 9.99283529e-01 -1.27390516e-04 8.12301154e-01] [ 2.94624304e-03 2.39068342e-04 9.99995631e-01 1.83094241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:0.82, Z:0.18 [[ 9.99269705e-01 3.80921831e-02 -3.00693285e-03 3.06632402e+01] [-3.80927440e-02 9.99274200e-01 -1.29473986e-04 8.15505565e-01] [ 2.99981847e-03 2.43921755e-04 9.99995471e-01 1.82591200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:0.82, Z:0.18 [[ 9.99252705e-01 3.84493619e-02 -3.95963477e-03 3.06943196e+01] [-3.84503368e-02 9.99260498e-01 -1.70371576e-04 8.18770032e-01] [ 3.95015593e-03 3.22493549e-04 9.99992146e-01 1.82800204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:0.82, Z:0.18 [[ 9.99220436e-01 3.90782625e-02 -5.60443839e-03 3.07247807e+01] [-3.90802246e-02 9.99236047e-01 -2.40980909e-04 8.23779047e-01] [ 5.59073975e-03 4.59815760e-04 9.99984266e-01 1.83157901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:0.83, Z:0.18 [[ 9.99217722e-01 3.91964815e-02 -5.25172120e-03 3.07541417e+01] [-3.91982060e-02 9.99231429e-01 -2.25818098e-04 8.26833888e-01] [ 5.23883361e-03 4.31499495e-04 9.99986184e-01 1.83551238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:0.83, Z:0.18 [[ 9.99213136e-01 3.93729657e-02 -4.78320831e-03 3.07840313e+01] [-3.93743988e-02 9.99224506e-01 -2.05774617e-04 8.29128370e-01] [ 4.77139700e-03 3.93948651e-04 9.99988539e-01 1.84117113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:0.83, Z:0.18 [[ 9.99216589e-01 3.93066516e-02 -4.60374561e-03 3.08140747e+01] [-3.93079788e-02 9.99227123e-01 -1.98109733e-04 8.30070598e-01] [ 4.59240046e-03 3.78918466e-04 9.99989383e-01 1.84297434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:0.83, Z:0.18 [[ 9.99289712e-01 3.73582227e-02 -4.94305466e-03 3.08442946e+01] [-3.73597289e-02 9.99301859e-01 -2.12710979e-04 8.28559001e-01] [ 4.93165721e-03 3.97231075e-04 9.99987760e-01 1.84031806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:0.83, Z:0.18 [[ 9.99369840e-01 3.51743951e-02 -4.76279689e-03 3.08749918e+01] [-3.51757689e-02 9.99381120e-01 -2.04954074e-04 8.28986236e-01] [ 4.75264016e-03 3.72359963e-04 9.99988637e-01 1.84359657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:0.83, Z:0.18 [[ 9.99454335e-01 3.27033781e-02 -4.63900048e-03 3.09044051e+01] [-3.27046549e-02 9.99465040e-01 -1.99621539e-04 8.29639805e-01] [ 4.62999050e-03 3.51229523e-04 9.99989220e-01 1.84276116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:0.83, Z:0.18 [[ 9.99522207e-01 3.05743912e-02 -4.53475813e-03 3.09346776e+01] [-3.05755897e-02 9.99532438e-01 -1.95192856e-04 8.29516994e-01] [ 4.52666995e-03 3.33752498e-04 9.99989699e-01 1.84375691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:0.83, Z:0.18 [[ 9.99579517e-01 2.87381660e-02 -3.86098965e-03 3.09654622e+01] [-2.87390212e-02 9.99586935e-01 -1.66191355e-04 8.28095199e-01] [ 3.85461878e-03 2.77082538e-04 9.99992533e-01 1.84538567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:0.83, Z:0.19 [[ 9.99623509e-01 2.72476452e-02 -3.22575274e-03 3.09952378e+01] [-2.72482343e-02 9.99628688e-01 -1.38826276e-04 8.25756659e-01] [ 3.22077229e-03 2.26670076e-04 9.99994788e-01 1.85230514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:0.82, Z:0.19 [[ 9.99674253e-01 2.52663973e-02 -3.60519265e-03 3.10247059e+01] [-2.52671206e-02 9.99680723e-01 -1.55206362e-04 8.20854544e-01] [ 3.60012009e-03 2.46248641e-04 9.99993489e-01 1.85099973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:0.82, Z:0.18 [[ 9.99681091e-01 2.49322462e-02 -4.01248807e-03 3.10555696e+01] [-2.49331397e-02 9.99689106e-01 -1.72805382e-04 8.19700414e-01] [ 4.00693219e-03 2.72794199e-04 9.99991935e-01 1.84981603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:0.82, Z:0.19 [[ 9.99670566e-01 2.53938638e-02 -3.72973171e-03 3.10847940e+01] [-2.53946390e-02 9.99677491e-01 -1.60612476e-04 8.18302276e-01] [ 3.72445027e-03 2.55274755e-04 9.99993032e-01 1.85256740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:0.82, Z:0.19 [[ 9.99645076e-01 2.64679981e-02 -3.02780272e-03 3.11146036e+01] [-2.64685140e-02 9.99649639e-01 -1.30409195e-04 8.16596995e-01] [ 3.02329023e-03 2.10504349e-04 9.99995408e-01 1.85653068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:0.81, Z:0.19 [[ 9.99595515e-01 2.83413999e-02 -2.36018646e-03 3.11456414e+01] [-2.83417186e-02 9.99598288e-01 -1.01698641e-04 8.14921518e-01] [ 2.35635606e-03 1.68549246e-04 9.99997210e-01 1.86452667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:0.81, Z:0.19 [[ 9.99450656e-01 3.30594655e-02 -2.33628768e-03 3.11766663e+01] [-3.30597907e-02 9.99453371e-01 -1.00734362e-04 8.12695160e-01] [ 2.33168037e-03 1.77916206e-04 9.99997266e-01 1.86505312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:0.81, Z:0.19 [[ 9.99360010e-01 3.56615307e-02 -2.79733753e-03 3.12074282e+01] [-3.56620077e-02 9.99363901e-01 -1.20822786e-04 8.12813059e-01] [ 2.79124942e-03 2.20504133e-04 9.99996080e-01 1.86591616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:0.81, Z:0.19 [[ 9.99285557e-01 3.76088163e-02 -3.73538098e-03 3.12391557e+01] [-3.76096767e-02 9.99292493e-01 -1.60323892e-04 8.12700063e-01] [ 3.72670858e-03 3.00695821e-04 9.99993011e-01 1.86051617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.27, Y:0.81, Z:0.19 [[ 9.99236541e-01 3.87781317e-02 -4.75307174e-03 3.12698232e+01] [-3.87795372e-02 9.99247770e-01 -2.03859354e-04 8.12200514e-01] [ 4.74159105e-03 3.88025638e-04 9.99988683e-01 1.85826569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:0.81, Z:0.19 [[ 9.99240293e-01 3.86278491e-02 -5.16969161e-03 3.13007877e+01] [-3.86295094e-02 9.99253577e-01 -2.21663877e-04 8.11241167e-01] [ 5.15727044e-03 4.21198128e-04 9.99986612e-01 1.85694012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:0.81, Z:0.19 [[ 9.99280474e-01 3.76418234e-02 -4.65045197e-03 3.13325201e+01] [-3.76431559e-02 9.99291225e-01 -1.99309835e-04 8.12666173e-01] [ 4.63965346e-03 3.74224115e-04 9.99989167e-01 1.85988247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:0.81, Z:0.19 [[ 9.99318053e-01 3.66836516e-02 -4.21178894e-03 3.13632736e+01] [-3.66847359e-02 9.99326872e-01 -1.80451408e-04 8.14048663e-01] [ 4.20233425e-03 3.34836715e-04 9.99991114e-01 1.86039835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:0.81, Z:0.19 [[ 9.99353560e-01 3.57077439e-02 -4.17370676e-03 3.13944943e+01] [-3.57087992e-02 9.99362222e-01 -1.78575635e-04 8.14788355e-01] [ 4.16466832e-03 3.27498253e-04 9.99991274e-01 1.85350054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:0.82, Z:0.19 [[ 9.99353652e-01 3.57051607e-02 -4.17371191e-03 3.14254655e+01] [-3.57062155e-02 9.99362314e-01 -1.78455175e-04 8.16113011e-01] [ 4.16467862e-03 3.27367287e-04 9.99991274e-01 1.85508381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:0.82, Z:0.18 [[ 9.99378687e-01 3.48699273e-02 -5.13118280e-03 3.14560744e+01] [-3.48715107e-02 9.99391780e-01 -2.19408393e-04 8.15576030e-01] [ 5.12041115e-03 3.98204167e-04 9.99986811e-01 1.84981219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.49, Y:0.81, Z:0.18 [[ 9.99389980e-01 3.43868128e-02 -6.10034117e-03 3.14865717e+01] [-3.43890398e-02 9.99408488e-01 -2.60523263e-04 8.14264543e-01] [ 6.08777419e-03 4.70149214e-04 9.99981359e-01 1.84583777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:0.81, Z:0.18 [[ 9.99456531e-01 3.24307266e-02 -5.90681318e-03 3.15162111e+01] [-3.24327807e-02 9.99473887e-01 -2.52267525e-04 8.11821059e-01] [ 5.89552431e-03 4.43704802e-04 9.99982523e-01 1.84892591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.55, Y:0.81, Z:0.18 [[ 9.99508973e-01 3.08755141e-02 -5.34005086e-03 3.15457071e+01] [-3.08771711e-02 9.99523160e-01 -2.28117309e-04 8.11727927e-01] [ 5.33046128e-03 3.92890961e-04 9.99985716e-01 1.84998332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:0.81, Z:0.19 [[ 9.99568962e-01 2.89573383e-02 -4.83343445e-03 3.15764110e+01] [-2.89586738e-02 9.99580588e-01 -2.06526806e-04 8.10689945e-01] [ 4.82542679e-03 3.46407636e-04 9.99988298e-01 1.85525578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:0.81, Z:0.19 [[ 9.99632635e-01 2.67470894e-02 -4.38049361e-03 3.16055678e+01] [-2.67481652e-02 9.99642186e-01 -1.87165050e-04 8.08229540e-01] [ 4.37392009e-03 3.04266459e-04 9.99990388e-01 1.86068755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:0.80, Z:0.19 [[ 9.99715009e-01 2.33524652e-02 -4.95603133e-03 3.16368626e+01] [-2.33538010e-02 9.99727240e-01 -2.11821131e-04 8.00516117e-01] [ 4.94973298e-03 3.27502933e-04 9.99987696e-01 1.86999139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:0.80, Z:0.19 [[ 9.99729266e-01 2.26087592e-02 -5.49905458e-03 3.16661982e+01] [-2.26103926e-02 9.99744325e-01 -2.35034563e-04 7.98051022e-01] [ 5.49233476e-03 3.59306713e-04 9.99984852e-01 1.87219045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:0.80, Z:0.19 [[ 9.99730438e-01 2.24918543e-02 -5.75909142e-03 3.16959712e+01] [-2.24936443e-02 9.99746956e-01 -2.46225700e-04 7.96254382e-01] [ 5.75209605e-03 3.75702281e-04 9.99983386e-01 1.87246500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:0.79, Z:0.19 [[ 9.99717697e-01 2.30603371e-02 -5.72250458e-03 3.17251881e+01] [-2.30621146e-02 9.99734004e-01 -2.44800776e-04 7.94474918e-01] [ 5.71533723e-03 3.76704724e-04 9.99983596e-01 1.87304172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:0.79, Z:0.19 [[ 9.99691141e-01 2.43111830e-02 -5.15650852e-03 3.17551147e+01] [-2.43126436e-02 9.99704380e-01 -2.20748770e-04 7.92503755e-01] [ 5.14961749e-03 3.46048943e-04 9.99986681e-01 1.87446475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:0.79, Z:0.19 [[ 9.99645674e-01 2.62383058e-02 -4.48071595e-03 3.17844378e+01] [-2.62394285e-02 9.99655668e-01 -1.91929561e-04 7.90592327e-01] [ 4.47413719e-03 3.09432981e-04 9.99989943e-01 1.87924937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:0.79, Z:0.19 [[ 9.99497268e-01 3.14368999e-02 -4.11500521e-03 3.18146888e+01] [-3.14378903e-02 9.99505692e-01 -1.76215002e-04 7.87300691e-01] [ 4.10743147e-03 3.05493496e-04 9.99991518e-01 1.89232230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:0.79, Z:0.19 [[ 9.99403812e-01 3.42133557e-02 -4.63328645e-03 3.18455607e+01] [-3.42146408e-02 9.99414488e-01 -1.98354008e-04 7.88130092e-01] [ 4.62378725e-03 3.56761983e-04 9.99989247e-01 1.89496109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:0.79, Z:0.19 [[ 9.99304586e-01 3.69372679e-02 -5.09730751e-03 3.18770391e+01] [-3.69388578e-02 9.99317504e-01 -2.18090148e-04 7.89330001e-01] [ 5.08577296e-03 4.06227202e-04 9.99986985e-01 1.90006680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:31.91, Y:0.79, Z:0.19 [[ 9.99139831e-01 4.12449818e-02 -4.29527919e-03 3.19083473e+01] [-4.12461504e-02 9.99148999e-01 -1.83796416e-04 7.90042128e-01] [ 4.28404322e-03 3.60802051e-04 9.99990758e-01 1.89408593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:0.79, Z:0.19 [[ 9.99095123e-01 4.23753839e-02 -3.64162825e-03 3.19408068e+01] [-4.23762298e-02 9.99101712e-01 -1.55426339e-04 7.90173142e-01] [ 3.63177077e-03 3.09604172e-04 9.99993357e-01 1.90361342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:0.79, Z:0.19 [[ 9.99077495e-01 4.28221818e-02 -3.22785571e-03 3.19740189e+01] [-4.28228474e-02 9.99082672e-01 -1.37323932e-04 7.90604598e-01] [ 3.21901420e-03 2.75423222e-04 9.99994781e-01 1.90550049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:0.79, Z:0.19 [[ 9.99078861e-01 4.27740252e-02 -3.43677382e-03 3.20072835e+01] [-4.27747771e-02 9.99084730e-01 -1.45546214e-04 7.91192319e-01] [ 3.42740264e-03 2.92419379e-04 9.99994084e-01 1.91137757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:0.79, Z:0.19 [[ 9.99097471e-01 4.23014831e-02 -3.85065251e-03 3.20404671e+01] [-4.23024205e-02 9.99104839e-01 -1.62288480e-04 7.92232213e-01] [ 3.84034051e-03 3.25033932e-04 9.99992573e-01 1.91127989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:0.79, Z:0.19 [[ 9.99113688e-01 4.18568352e-02 -4.45456114e-03 3.20734150e+01] [-4.18580812e-02 9.99123549e-01 -1.86805314e-04 7.93394697e-01] [ 4.44283786e-03 3.73099128e-04 9.99990061e-01 1.90942054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:0.80, Z:0.19 [[ 9.99110753e-01 4.17302554e-02 -6.02408259e-03 3.21063030e+01] [-4.17325233e-02 9.99128787e-01 -2.51198158e-04 7.96535990e-01] [ 6.00835177e-03 5.02374947e-04 9.99981823e-01 1.90718828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:32.14, Y:0.80, Z:0.19 [[ 9.99051853e-01 4.29295599e-02 -7.24205349e-03 3.21376540e+01] [-4.29328584e-02 9.99077915e-01 -3.00542651e-04 7.99293557e-01] [ 7.22247354e-03 6.11179750e-04 9.99973731e-01 1.89968432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:0.80, Z:0.19 [[ 9.98993999e-01 4.41276490e-02 -7.98377540e-03 3.21686224e+01] [-4.41316886e-02 9.99025668e-01 -3.30425682e-04 8.01647659e-01] [ 7.96141564e-03 6.82430763e-04 9.99968075e-01 1.89959940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:0.80, Z:0.19 [[ 9.98839135e-01 4.73339498e-02 -8.93754706e-03 3.21990590e+01] [-4.73391381e-02 9.98878806e-01 -3.69732534e-04 8.04720901e-01] [ 8.91002543e-03 7.92399099e-04 9.99959991e-01 1.89565374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:0.81, Z:0.19 [[ 9.98762559e-01 4.89295618e-02 -8.90215620e-03 3.22294225e+01] [-4.89347715e-02 9.98801909e-01 -3.68213024e-04 8.06889310e-01] [ 8.87347410e-03 8.03382361e-04 9.99960307e-01 1.89939579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:0.81, Z:0.19 [[ 9.98707288e-01 5.00715024e-02 -8.75205001e-03 3.22595828e+01] [-5.00765813e-02 9.98745315e-01 -3.62004297e-04 8.09589977e-01] [ 8.72294284e-03 7.99809074e-04 9.99961635e-01 1.90296918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:0.81, Z:0.19 [[ 9.98678968e-01 5.07806296e-02 -7.85152021e-03 3.22893339e+01] [-5.07847386e-02 9.98709570e-01 -3.24725671e-04 8.12569707e-01] [ 7.82489860e-03 7.23034099e-04 9.99969124e-01 1.90704899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.32, Y:0.82, Z:0.19 [[ 9.98670351e-01 5.10986263e-02 -6.81625290e-03 3.23203181e+01] [-5.11017299e-02 9.98693413e-01 -2.81820624e-04 8.15533490e-01] [ 6.79294623e-03 6.29768216e-04 9.99976729e-01 1.90889968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:0.82, Z:0.19 [[ 9.98720841e-01 5.01778198e-02 -6.23449138e-03 3.23515806e+01] [-5.01803967e-02 9.98740137e-01 -2.57497204e-04 8.18879673e-01] [ 6.21371613e-03 5.70017075e-04 9.99980532e-01 1.90563708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:0.82, Z:0.19 [[ 9.98772389e-01 4.90612690e-02 -6.83430684e-03 3.23835246e+01] [-4.90643323e-02 9.98795581e-01 -2.81183306e-04 8.20288739e-01] [ 6.81228026e-03 6.16158824e-04 9.99976606e-01 1.89840077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:0.82, Z:0.19 [[ 9.98831506e-01 4.77079957e-02 -7.71810639e-03 3.24147007e+01] [-4.77118526e-02 9.98861091e-01 -3.16260393e-04 8.22165707e-01] [ 7.69422802e-03 6.84136000e-04 9.99970165e-01 1.89754455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:0.82, Z:0.19 [[ 9.98891875e-01 4.62651509e-02 -8.63472056e-03 3.24463012e+01] [-4.62699170e-02 9.98928912e-01 -3.52910648e-04 8.24694769e-01] [ 8.60914455e-03 7.52047383e-04 9.99962658e-01 1.89185131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:0.83, Z:0.19 [[ 9.98944871e-01 4.50227123e-02 -9.06089565e-03 3.24759578e+01] [-4.50279090e-02 9.98985661e-01 -3.70250548e-04 8.26622684e-01] [ 9.03503514e-03 7.77853071e-04 9.99958881e-01 1.89297836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:0.83, Z:0.19 [[ 9.99007802e-01 4.36585018e-02 -8.79471984e-03 3.25057404e+01] [-4.36633460e-02 9.99046237e-01 -3.59472063e-04 8.27657131e-01] [ 8.77063774e-03 7.43122291e-04 9.99961261e-01 1.89787627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:0.83, Z:0.19 [[ 9.99167278e-01 4.02087756e-02 -6.92851373e-03 3.25366186e+01] [-4.02117000e-02 9.99191142e-01 -2.83238450e-04 8.27388193e-01] [ 6.91152088e-03 5.61609907e-04 9.99975957e-01 1.91093632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.57, Y:0.83, Z:0.19 [[ 9.99244639e-01 3.84521000e-02 -5.62033063e-03 3.25664648e+01] [-3.84539966e-02 9.99260345e-01 -2.29732093e-04 8.28608205e-01] [ 5.60733985e-03 4.45682738e-04 9.99984179e-01 1.91526983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.60, Y:0.83, Z:0.19 [[ 9.99297159e-01 3.72133687e-02 -4.51140810e-03 3.25978845e+01] [-3.72145772e-02 9.99307281e-01 -1.84199194e-04 8.29697534e-01] [ 4.50142829e-03 3.51959876e-04 9.99989807e-01 1.92234258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:0.83, Z:0.19 [[ 9.99312878e-01 3.69133265e-02 -3.34331990e-03 3.26301285e+01] [-3.69139892e-02 9.99318437e-01 -1.36707738e-04 8.30026643e-01] [ 3.33599488e-03 2.60029078e-04 9.99994402e-01 1.93031573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:0.83, Z:0.19 [[ 9.99288553e-01 3.75854931e-02 -3.11750090e-03 3.26621942e+01] [-3.75860712e-02 9.99293386e-01 -1.27042723e-04 8.27720183e-01] [ 3.11052306e-03 2.44126950e-04 9.99995133e-01 1.93537446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:0.83, Z:0.19 [[ 9.99258054e-01 3.83621195e-02 -3.41901965e-03 3.26937679e+01] [-3.83628170e-02 9.99263867e-01 -1.38635151e-04 8.27130330e-01] [ 3.41118446e-03 2.69695516e-04 9.99994146e-01 1.93258916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:0.83, Z:0.19 [[ 9.99219427e-01 3.93148707e-02 -3.85706921e-03 3.27268132e+01] [-3.93157626e-02 9.99226824e-01 -1.55662177e-04 8.27341748e-01] [ 3.84796718e-03 3.07184290e-04 9.99992549e-01 1.93364613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:0.83, Z:0.19 [[ 9.99156217e-01 4.08732430e-02 -4.02900569e-03 3.27590683e+01] [-4.08742257e-02 9.99164287e-01 -1.61824844e-04 8.28320237e-01] [ 4.01902429e-03 3.26370787e-04 9.99991870e-01 1.93599037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:0.83, Z:0.19 [[ 9.99068954e-01 4.29657307e-02 -3.89499752e-03 3.27909510e+01] [-4.29666624e-02 9.99076494e-01 -1.55804463e-04 8.30066928e-01] [ 3.88470622e-03 3.23014446e-04 9.99992402e-01 1.93864756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:0.83, Z:0.19 [[ 9.98954144e-01 4.55991587e-02 -3.36667167e-03 3.28241726e+01] [-4.55998684e-02 9.98959776e-01 -1.34295987e-04 8.31899289e-01] [ 3.35704579e-03 2.87675318e-04 9.99994324e-01 1.94426396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:0.83, Z:0.20 [[ 9.98743670e-01 5.00316990e-02 -2.81261530e-03 3.28575291e+01] [-5.00322109e-02 9.98747598e-01 -1.11862973e-04 8.34364840e-01] [ 2.80349608e-03 2.52443798e-04 9.99996038e-01 1.95543489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:0.84, Z:0.20 [[ 9.98656751e-01 5.17438415e-02 -2.69600258e-03 3.28890538e+01] [-5.17443166e-02 9.98660360e-01 -1.06743774e-04 8.35629125e-01] [ 2.68686758e-03 2.46103202e-04 9.99996360e-01 1.95754384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:0.84, Z:0.20 [[ 9.98597554e-01 5.28626527e-02 -2.90944267e-03 3.29223109e+01] [-5.28632092e-02 9.98601756e-01 -1.14647667e-04 8.37230498e-01] [ 2.89931398e-03 2.68289356e-04 9.99995761e-01 1.95653409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:0.84, Z:0.20 [[ 9.98544784e-01 5.38206924e-02 -3.41292881e-03 3.29554844e+01] [-5.38214612e-02 9.98550566e-01 -1.33734144e-04 8.38672389e-01] [ 3.40078433e-03 3.17228347e-04 9.99994167e-01 1.95237908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:0.84, Z:0.19 [[ 9.98495896e-01 5.46752095e-02 -4.07034996e-03 3.29885839e+01] [-5.46763064e-02 9.98504119e-01 -1.58610208e-04 8.39966008e-01] [ 4.05558915e-03 3.80923343e-04 9.99991704e-01 1.94996969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:0.84, Z:0.19 [[ 9.98433992e-01 5.56905480e-02 -5.30343731e-03 3.30217312e+01] [-5.56924180e-02 9.98447952e-01 -2.05457486e-04 8.42440288e-01] [ 5.28376408e-03 5.00496986e-04 9.99985916e-01 1.94170702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:0.84, Z:0.19 [[ 9.98436164e-01 5.56188511e-02 -5.63640808e-03 3.30543709e+01] [-5.56209561e-02 9.98451933e-01 -2.17277595e-04 8.44770690e-01] [ 5.61559781e-03 5.30440214e-04 9.99984092e-01 1.94173126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:0.85, Z:0.19 [[ 9.98465289e-01 5.50840628e-02 -5.72817098e-03 3.30865593e+01] [-5.50862222e-02 9.98481577e-01 -2.19772122e-04 8.47220004e-01] [ 5.70736725e-03 5.34978135e-04 9.99983570e-01 1.94483484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:0.85, Z:0.19 [[ 9.98495682e-01 5.44937760e-02 -6.06634439e-03 3.31192282e+01] [-5.44961805e-02 9.98513952e-01 -2.31656367e-04 8.48406583e-01] [ 6.04470569e-03 5.61900482e-04 9.99981573e-01 1.94824937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:0.85, Z:0.19 [[ 9.98547923e-01 5.34574851e-02 -6.65896696e-03 3.31513408e+01] [-5.34603515e-02 9.98569941e-01 -2.53070514e-04 8.48863401e-01] [ 6.63591573e-03 6.08693751e-04 9.99977797e-01 1.94824033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:0.85, Z:0.19 [[ 9.98605097e-01 5.22774633e-02 -7.41134120e-03 3.31838362e+01] [-5.22809760e-02 9.98632375e-01 -2.80875111e-04 8.48897880e-01] [ 7.38652183e-03 6.67955468e-04 9.99972496e-01 1.94728998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:0.85, Z:0.19 [[ 9.98703795e-01 5.03896646e-02 -7.18409847e-03 3.32156181e+01] [-5.03929143e-02 9.98729433e-01 -2.71928366e-04 8.50714245e-01] [ 7.16126821e-03 6.33603550e-04 9.99974157e-01 1.94497915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:0.85, Z:0.19 [[ 9.98701960e-01 5.05098141e-02 -6.56911423e-03 3.32456000e+01] [-5.05125329e-02 9.98723396e-01 -2.48520871e-04 8.53251196e-01] [ 6.54817533e-03 5.80020880e-04 9.99978392e-01 1.94441010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:0.86, Z:0.19 [[ 9.98680105e-01 5.10097395e-02 -6.00460339e-03 3.32766722e+01] [-5.10120189e-02 9.98698014e-01 -2.26974035e-04 8.55260645e-01] [ 5.98520760e-03 5.32981395e-04 9.99981946e-01 1.94359405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.31, Y:0.86, Z:0.19 [[ 9.98653493e-01 5.14630963e-02 -6.53841081e-03 3.33084387e+01] [-5.14658018e-02 9.98674727e-01 -2.46098239e-04 8.56457496e-01] [ 6.51708066e-03 5.82271421e-04 9.99978594e-01 1.94612881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:0.86, Z:0.20 [[ 9.98652537e-01 5.10378587e-02 -9.39399666e-03 3.33395372e+01] [-5.10434109e-02 9.98696373e-01 -3.52075176e-04 8.57674385e-01] [ 9.36378123e-03 8.31102399e-04 9.99955813e-01 1.95064125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:0.86, Z:0.20 [[ 9.98707794e-01 4.97008426e-02 -1.06098729e-02 3.33695015e+01] [-4.97078450e-02 9.98763722e-01 -3.97148141e-04 8.59556804e-01] [ 1.05770176e-02 9.24028862e-04 9.99943635e-01 1.95336255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:0.86, Z:0.20 [[ 9.98708338e-01 4.96899085e-02 -1.06098707e-02 3.33996461e+01] [-4.96969109e-02 9.98764266e-01 -3.97208428e-04 8.60721378e-01] [ 1.05770224e-02 9.23973166e-04 9.99943635e-01 1.95490314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:0.86, Z:0.20 [[ 9.98791874e-01 4.79069588e-02 -1.09414773e-02 3.34286048e+01] [-4.79143024e-02 9.98851366e-01 -4.09871842e-04 8.62362680e-01] [ 1.09092738e-02 9.33629917e-04 9.99940056e-01 1.95680401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:0.86, Z:0.20 [[ 9.98883610e-01 4.59765892e-02 -1.08483734e-02 3.34580200e+01] [-4.59836984e-02 9.98942107e-01 -4.06675961e-04 8.63376201e-01] [ 1.08181994e-02 9.05070283e-04 9.99941072e-01 1.95687117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:0.86, Z:0.20 [[ 9.98973367e-01 4.40848658e-02 -1.04277273e-02 3.34877582e+01] [-4.40913344e-02 9.99027428e-01 -3.91135014e-04 8.63996900e-01] [ 1.04003424e-02 8.50505871e-04 9.99945553e-01 1.95818985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:0.87, Z:0.20 [[ 9.99064938e-01 4.22527427e-02 -9.16269197e-03 3.35173515e+01] [-4.22576621e-02 9.99106687e-01 -3.43877583e-04 8.65061498e-01] [ 9.13997704e-03 7.30749978e-04 9.99957963e-01 1.96268421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:0.87, Z:0.20 [[ 9.99203904e-01 3.93599275e-02 -6.50806722e-03 3.35468128e+01] [-3.93623490e-02 9.99224973e-01 -2.44362899e-04 8.68371537e-01] [ 6.49340518e-03 5.00341176e-04 9.99978792e-01 1.97042258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:0.87, Z:0.20 [[ 9.99257257e-01 3.80562236e-02 -6.05451858e-03 3.35772882e+01] [-3.80582959e-02 9.99275495e-01 -2.27391101e-04 8.69973534e-01] [ 6.04147840e-03 4.57646868e-04 9.99981645e-01 1.96969403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:0.87, Z:0.20 [[ 9.99303134e-01 3.67889687e-02 -6.31010821e-03 3.36086978e+01] [-3.67911926e-02 9.99322947e-01 -2.36682464e-04 8.70851201e-01] [ 6.29712862e-03 4.68673935e-04 9.99980063e-01 1.96777526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.64, Y:0.87, Z:0.20 [[ 9.99355648e-01 3.53027122e-02 -6.48134831e-03 3.36395194e+01] [-3.53050265e-02 9.99376554e-01 -2.42956857e-04 8.71997856e-01] [ 6.46873051e-03 4.71624481e-04 9.99978966e-01 1.97144718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:0.87, Z:0.20 [[ 9.99402527e-01 3.39678975e-02 -6.38524656e-03 3.36695632e+01] [-3.39701156e-02 9.99422820e-01 -2.39225026e-04 8.73386024e-01] [ 6.37343515e-03 4.55989659e-04 9.99979585e-01 1.97191767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:0.88, Z:0.20 [[ 9.99440446e-01 3.29306003e-02 -5.86267148e-03 3.36989392e+01] [-3.29324521e-02 9.99457556e-01 -2.19584387e-04 8.75073336e-01] [ 5.85226026e-03 4.12533665e-04 9.99982790e-01 1.97914328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:0.88, Z:0.20 [[ 9.99467242e-01 3.24681083e-02 -3.32468373e-03 3.37285119e+01] [-3.24687011e-02 9.99472745e-01 -1.24470794e-04 8.75722930e-01] [ 3.31888944e-03 2.32352644e-04 9.99994465e-01 1.99209374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:0.88, Z:0.20 [[ 9.99429246e-01 3.36747197e-02 -2.68240904e-03 3.37604051e+01] [-3.36751111e-02 9.99432828e-01 -1.00850563e-04 8.76439803e-01] [ 2.67749154e-03 1.91123425e-04 9.99996397e-01 1.99715431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.79, Y:0.88, Z:0.20 [[ 9.99361949e-01 3.55478455e-02 -3.47076692e-03 3.37924662e+01] [-3.55485093e-02 9.99367944e-01 -1.29728304e-04 8.78770649e-01] [ 3.46396164e-03 2.53026121e-04 9.99993968e-01 1.99588416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:0.88, Z:0.20 [[ 9.99258518e-01 3.81598295e-02 -5.12263443e-03 3.38248702e+01] [-3.81613032e-02 9.99271574e-01 -1.90207815e-04 8.82249205e-01] [ 5.11164467e-03 3.85553185e-04 9.99986861e-01 1.98629093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:0.89, Z:0.20 [[ 9.99134266e-01 4.09820684e-02 -7.15468252e-03 3.38552961e+01] [-4.09850069e-02 9.99159727e-01 -2.64511476e-04 8.85489793e-01] [ 7.13783040e-03 5.57517191e-04 9.99974370e-01 1.97462235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.89, Y:0.89, Z:0.20 [[ 9.98995857e-01 4.40399624e-02 -8.23156513e-03 3.38852657e+01] [-4.40439546e-02 9.99029548e-01 -3.04258342e-04 8.87615221e-01] [ 8.21017726e-03 6.66503504e-04 9.99966074e-01 1.96971337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:0.89, Z:0.20 [[ 9.98757785e-01 4.92682551e-02 -7.45158850e-03 3.39154234e+01] [-4.92716715e-02 9.98785376e-01 -2.75482739e-04 8.87792063e-01] [ 7.42896507e-03 6.42292751e-04 9.99972199e-01 1.98220828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:0.89, Z:0.20 [[ 9.98662180e-01 5.12746329e-02 -6.69044925e-03 3.39459355e+01] [-5.12774318e-02 9.98684417e-01 -2.47364716e-04 8.89677231e-01] [ 6.66896387e-03 5.90102842e-04 9.99977588e-01 1.98664801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:0.89, Z:0.20 [[ 9.98595303e-01 5.25798906e-02 -6.54034706e-03 3.39775751e+01] [-5.25825911e-02 9.98616549e-01 -2.41516443e-04 8.92812019e-01] [ 6.51859990e-03 5.85085580e-04 9.99978583e-01 1.98340372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:0.90, Z:0.20 [[ 9.98562416e-01 5.29628840e-02 -8.24829835e-03 3.40084761e+01] [-5.29671872e-02 9.98596207e-01 -3.03983370e-04 8.96612471e-01] [ 8.22061961e-03 7.40435531e-04 9.99965936e-01 1.96255558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:0.90, Z:0.20 [[ 9.98582609e-01 5.25424437e-02 -8.48908689e-03 3.40389039e+01] [-5.25469802e-02 9.98618404e-01 -3.12092104e-04 8.97046840e-01] [ 8.46096032e-03 7.57725628e-04 9.99963918e-01 1.96018644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:0.90, Z:0.20 [[ 9.98605903e-01 5.22001400e-02 -7.83556125e-03 3.40693788e+01] [-5.22039943e-02 9.98636400e-01 -2.88034632e-04 8.97441123e-01] [ 7.80984123e-03 6.96680679e-04 9.99969260e-01 1.96538610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:0.90, Z:0.20 [[ 9.98634604e-01 5.17471864e-02 -7.15232505e-03 3.41005268e+01] [-5.17503855e-02 9.98660016e-01 -2.62818690e-04 8.99333036e-01] [ 7.12914093e-03 6.32595417e-04 9.99974387e-01 1.97284429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:0.90, Z:0.20 [[ 9.98675713e-01 5.10494079e-02 -6.38580305e-03 3.41318065e+01] [-5.10519430e-02 9.98695972e-01 -2.34518803e-04 9.02730342e-01] [ 6.36550374e-03 5.60215887e-04 9.99979583e-01 1.97277025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:0.91, Z:0.20 [[ 9.98710498e-01 5.03894576e-02 -6.18407290e-03 3.41623924e+01] [-5.03918209e-02 9.98729499e-01 -2.26839505e-04 9.06149642e-01] [ 6.16478571e-03 5.38173689e-04 9.99980853e-01 1.97671267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:0.91, Z:0.20 [[ 9.98794390e-01 4.83829888e-02 -8.29777136e-03 3.41933695e+01] [-4.83871661e-02 9.98828609e-01 -3.03296271e-04 9.11146038e-01] [ 8.27337704e-03 7.04436255e-04 9.99965527e-01 1.98864614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:0.91, Z:0.20 [[ 9.98839013e-01 4.72053707e-02 -9.60617986e-03 3.42228029e+01] [-4.72109150e-02 9.98884881e-01 -3.51089569e-04 9.13522166e-01] [ 9.57889452e-03 8.04198499e-04 9.99953798e-01 1.99840465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:0.92, Z:0.20 [[ 9.98888906e-01 4.60986339e-02 -9.79129491e-03 3.42513524e+01] [-4.61043434e-02 9.98936565e-01 -3.58088063e-04 9.16421849e-01] [ 9.76437514e-03 8.09111417e-04 9.99952000e-01 2.00633033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:34.28, Y:0.92, Z:0.20 [[ 9.98956235e-01 4.48371070e-02 -8.72203611e-03 3.42813261e+01] [-4.48415914e-02 9.98994059e-01 -3.19176812e-04 9.20029607e-01] [ 8.69895129e-03 7.09953646e-04 9.99961911e-01 2.01189473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:0.92, Z:0.20 [[ 9.99037131e-01 4.33550364e-02 -6.71953464e-03 3.43106133e+01] [-4.33576656e-02 9.99059584e-01 -2.46024356e-04 9.23087305e-01] [ 6.70254909e-03 5.37130803e-04 9.99977393e-01 2.02409031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:0.93, Z:0.20 [[ 9.99171005e-01 4.03342554e-02 -5.51820211e-03 3.43406927e+01] [-4.03359832e-02 9.99186153e-01 -2.02131335e-04 9.25564959e-01] [ 5.50555832e-03 4.24545877e-04 9.99984754e-01 2.03821079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:0.93, Z:0.20 [[ 9.99233216e-01 3.86741152e-02 -6.10680326e-03 3.43721277e+01] [-3.86761999e-02 9.99251771e-01 -2.23604535e-04 9.27136971e-01] [ 6.09358627e-03 4.59621022e-04 9.99981328e-01 2.03879222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:0.93, Z:0.20 [[ 9.99233646e-01 3.86629938e-02 -6.10680700e-03 3.44022730e+01] [-3.86650777e-02 9.99252201e-01 -2.23502451e-04 9.28276592e-01] [ 6.09359906e-03 4.59451336e-04 9.99981328e-01 2.04033296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.43, Y:0.93, Z:0.20 [[ 9.99296798e-01 3.69180403e-02 -6.55500266e-03 3.44331513e+01] [-3.69204044e-02 9.99318181e-01 -2.39966975e-04 9.30050441e-01] [ 6.54167422e-03 4.81811579e-04 9.99978487e-01 2.03787778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.46, Y:0.93, Z:0.20 [[ 9.99370360e-01 3.48458333e-02 -6.68218544e-03 3.44628839e+01] [-3.48482440e-02 9.99392586e-01 -2.44640945e-04 9.31585592e-01] [ 6.66960186e-03 4.77349338e-04 9.99977644e-01 2.03228653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:0.93, Z:0.20 [[ 9.99366800e-01 3.49596336e-02 -6.61992506e-03 3.44926542e+01] [-3.49620026e-02 9.99388613e-01 -2.42436521e-04 9.32012200e-01] [ 6.60740223e-03 4.73728847e-04 9.99978059e-01 2.03485579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:0.93, Z:0.20 [[ 9.99341035e-01 3.56695018e-02 -6.72179502e-03 3.45225389e+01] [-3.56719608e-02 9.99363523e-01 -2.46263062e-04 9.33092647e-01] [ 6.70873267e-03 4.85880392e-04 9.99977378e-01 2.04226459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:34.55, Y:0.94, Z:0.20 [[ 9.99289375e-01 3.71995034e-02 -6.07803915e-03 3.45511680e+01] [-3.72114666e-02 9.99305669e-01 -1.86712821e-03 9.36603007e-01] [ 6.00436273e-03 2.09197413e-03 9.99979785e-01 2.04267836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:0.94, Z:0.21 [[ 9.99233169e-01 3.86315262e-02 -6.37807746e-03 3.45817997e+01] [-3.86236247e-02 9.99252907e-01 1.35746045e-03 9.37168836e-01] [ 6.42575321e-03 -1.11007503e-03 9.99978738e-01 2.06192894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:0.94, Z:0.21 [[ 9.99039238e-01 4.35579000e-02 -4.82815893e-03 3.46109711e+01] [-4.35592602e-02 9.99050829e-01 -1.76876986e-04 9.42973983e-01] [ 4.81587179e-03 3.87018080e-04 9.99988329e-01 2.05914687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:0.95, Z:0.21 [[ 9.98941956e-01 4.57630301e-02 -4.55133107e-03 3.46407774e+01] [-4.57642618e-02 9.98952253e-01 -1.66798219e-04 9.45529510e-01] [ 4.53892924e-03 3.74910046e-04 9.99989629e-01 2.05737290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:0.95, Z:0.21 [[ 9.98867989e-01 4.72960718e-02 -5.08161321e-03 3.46720100e+01] [-4.72976267e-02 9.98880824e-01 -1.86169614e-04 9.48246707e-01] [ 5.06712089e-03 4.26307112e-04 9.99987071e-01 2.05812991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:0.95, Z:0.21 [[ 9.98834567e-01 4.78726731e-02 -6.14127623e-03 3.47030489e+01] [-4.78749539e-02 9.98853312e-01 -2.24825133e-04 9.51502739e-01] [ 6.12347112e-03 5.18576431e-04 9.99981117e-01 2.05939853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:0.95, Z:0.21 [[ 9.98869374e-01 4.69620723e-02 -7.38497929e-03 3.47333875e+01] [-4.69653445e-02 9.98896483e-01 -2.70187546e-04 9.54442476e-01] [ 7.36414127e-03 6.16720161e-04 9.99972694e-01 2.05881285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:0.96, Z:0.21 [[ 9.98961410e-01 4.48472797e-02 -8.05122697e-03 3.47628957e+01] [-4.48511006e-02 9.98993640e-01 -2.94563289e-04 9.56144727e-01] [ 8.02991417e-03 6.55363750e-04 9.99967545e-01 2.05898754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.79, Y:0.95, Z:0.21 [[ 9.99280000e-01 3.73161682e-02 -6.85454306e-03 3.47930789e+01] [-3.73187622e-02 9.99303381e-01 -2.50878819e-04 9.54432082e-01] [ 6.84040622e-03 5.06501249e-04 9.99976476e-01 2.05025193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:0.95, Z:0.21 [[ 9.99448962e-01 3.26456241e-02 -6.00304585e-03 3.48230149e+01] [-3.26475298e-02 9.99466903e-01 -2.19723548e-04 9.53243547e-01] [ 5.99267263e-03 4.15587090e-04 9.99981957e-01 2.05194388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:0.95, Z:0.21 [[ 9.99579818e-01 2.84168857e-02 -5.71565824e-03 3.48525160e+01] [-2.84185450e-02 9.99596090e-01 -2.09273822e-04 9.52382236e-01] [ 5.70740272e-03 3.71616580e-04 9.99983644e-01 2.05524805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:0.95, Z:0.21 [[ 9.99683216e-01 2.44219026e-02 -6.08595778e-03 3.48827380e+01] [-2.44237109e-02 9.99701672e-01 -2.22977687e-04 9.51450482e-01] [ 6.07869662e-03 3.71548725e-04 9.99981456e-01 2.05512679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.91, Y:0.95, Z:0.21 [[ 9.99752257e-01 2.09855598e-02 -7.41824069e-03 3.49125474e+01] [-2.09881537e-02 9.99779687e-01 -2.71989441e-04 9.50004925e-01] [ 7.41089851e-03 4.27617234e-04 9.99972447e-01 2.05294839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:0.95, Z:0.21 [[ 9.99803738e-01 1.79914018e-02 -8.29425403e-03 3.49402433e+01] [-1.79945446e-02 9.99838039e-01 -3.04432539e-04 9.47586737e-01] [ 8.28743351e-03 4.53624114e-04 9.99965556e-01 2.05425668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.97, Y:0.94, Z:0.21 [[ 9.99848036e-01 1.49681004e-02 -8.93651179e-03 3.49690535e+01] [-1.49716329e-02 9.99887865e-01 -3.28517004e-04 9.39967301e-01] [ 8.93059242e-03 4.62261255e-04 9.99960015e-01 2.06281410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.00, Y:0.94, Z:0.21 [[ 9.99850456e-01 1.47764383e-02 -8.98461282e-03 3.49970859e+01] [-1.47800055e-02 9.99890715e-01 -3.30761969e-04 9.36427712e-01] [ 8.97874346e-03 4.63505132e-04 9.99959583e-01 2.06872465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.03, Y:0.93, Z:0.21 [[ 9.99838145e-01 1.51929928e-02 -9.63623320e-03 3.50253716e+01] [-1.51971214e-02 9.99884454e-01 -3.55360430e-04 9.33156304e-01] [ 9.62972078e-03 5.01745918e-04 9.99953507e-01 2.07415573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.951400512999996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:35.05, Y:0.93, Z:0.21 [[ 9.99812100e-01 1.61911678e-02 -1.06588684e-02 3.50542607e+01] [-1.61962823e-02 9.99868754e-01 -3.93685066e-04 9.30993471e-01] [ 1.06510953e-02 5.66245135e-04 9.99943115e-01 2.06808486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:0.93, Z:0.21 [[ 9.99770320e-01 1.83265417e-02 -1.11105961e-02 3.50826719e+01] [-1.83322378e-02 9.99831866e-01 -4.11044226e-04 9.28704587e-01] [ 1.11011950e-02 6.14631908e-04 9.99938191e-01 2.06882625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:0.92, Z:0.21 [[ 9.99623236e-01 2.55416126e-02 -1.00505165e-02 3.51094145e+01] [-2.55466444e-02 9.99673562e-01 -3.72562099e-04 9.24196883e-01] [ 1.00377198e-02 6.29178701e-04 9.99949423e-01 2.07037741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:0.92, Z:0.21 [[ 9.99509557e-01 2.99963863e-02 -8.99231018e-03 3.51382717e+01] [-3.00005988e-02 9.99549825e-01 -3.33896980e-04 9.22895259e-01] [ 8.97824636e-03 6.03507912e-04 9.99959513e-01 2.08246907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:0.92, Z:0.21 [[ 9.99372748e-01 3.44873505e-02 -8.04568344e-03 3.51660255e+01] [-3.44908707e-02 9.99404968e-01 -2.99133793e-04 9.22482455e-01] [ 8.03057967e-03 5.76448788e-04 9.99967588e-01 2.08881429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:0.92, Z:0.21 [[ 9.99216684e-01 3.88178742e-02 -7.69358909e-03 3.51949663e+01] [-3.88212235e-02 9.99246131e-01 -2.86418184e-04 9.22522608e-01] [ 7.67667099e-03 5.84868369e-04 9.99970363e-01 2.09001511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:0.92, Z:0.21 [[ 9.99067474e-01 4.24008739e-02 -8.14545729e-03 3.52252004e+01] [-4.24047480e-02 9.99100468e-01 -3.03427447e-04 9.23002220e-01] [ 8.12526460e-03 6.48550557e-04 9.99966779e-01 2.09058510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:0.92, Z:0.21 [[ 9.98952270e-01 4.49895708e-02 -8.38456030e-03 3.52548809e+01] [-4.49937666e-02 9.98987219e-01 -3.12370341e-04 9.23062383e-01] [ 8.36201517e-03 6.89296010e-04 9.99964800e-01 2.08592170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.28, Y:0.92, Z:0.21 [[ 9.98898355e-01 4.61160789e-02 -8.68235640e-03 3.52849714e+01] [-4.61206208e-02 9.98935826e-01 -3.23524199e-04 9.22715346e-01] [ 8.65819719e-03 7.23603457e-04 9.99962255e-01 2.08635471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:0.92, Z:0.21 [[ 9.98897812e-01 4.61278358e-02 -8.68235795e-03 3.53159484e+01] [-4.61323778e-02 9.98935283e-01 -3.23482593e-04 9.23867907e-01] [ 8.65819214e-03 7.23663872e-04 9.99962255e-01 2.08795146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:0.92, Z:0.21 [[ 9.98904390e-01 4.59320957e-02 -8.95887572e-03 3.53463375e+01] [-4.59369228e-02 9.98944287e-01 -3.33677639e-04 9.23311519e-01] [ 8.93409120e-03 7.44855241e-04 9.99959813e-01 2.09091210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.38, Y:0.92, Z:0.21 [[ 9.99067555e-01 4.24079918e-02 -8.09833763e-03 3.53766949e+01] [-4.24118204e-02 9.99100168e-01 -3.01538408e-04 9.21732659e-01] [ 8.07826285e-03 6.44722481e-04 9.99967162e-01 2.09801914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.41, Y:0.92, Z:0.21 [[ 9.99182915e-01 3.98266191e-02 -6.88059597e-03 3.54077994e+01] [-3.98293214e-02 9.99206465e-01 -2.56107304e-04 9.22087237e-01] [ 6.86493608e-03 5.29947510e-04 9.99976296e-01 2.09943416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.44, Y:0.92, Z:0.21 [[ 9.99291625e-01 3.72604436e-02 -5.28281120e-03 3.54392824e+01] [-3.72620004e-02 9.99305511e-01 -1.96542325e-04 9.22306094e-01] [ 5.27181910e-03 3.93251212e-04 9.99986027e-01 2.10187269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.47, Y:0.92, Z:0.21 [[ 9.99379732e-01 3.50154696e-02 -3.75083127e-03 3.54704454e+01] [-3.50162385e-02 9.99386734e-01 -1.39494811e-04 9.21815274e-01] [ 3.74364653e-03 2.70748289e-04 9.99992956e-01 2.10380448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.50, Y:0.92, Z:0.21 [[ 9.99439648e-01 3.33593869e-02 -2.74601280e-03 3.55030695e+01] [-3.33597938e-02 9.99443402e-01 -1.02484150e-04 9.20098272e-01] [ 2.74106557e-03 1.94033143e-04 9.99996224e-01 2.10538822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.53, Y:0.92, Z:0.21 [[ 9.99486860e-01 3.19133419e-02 -2.74871542e-03 3.55348551e+01] [-3.19137428e-02 9.99490622e-01 -1.02073414e-04 9.18188740e-01] [ 2.74405778e-03 1.89742833e-04 9.99996217e-01 2.11072717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:0.92, Z:0.21 [[ 9.99545103e-01 2.99643909e-02 -3.42388748e-03 3.55678205e+01] [-2.99649985e-02 9.99550941e-01 -1.26270395e-04 9.15275695e-01] [ 3.41856633e-03 2.28809738e-04 9.99994131e-01 2.11326127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.60, Y:0.91, Z:0.21 [[ 9.99545950e-01 2.98122892e-02 -4.37275970e-03 3.55995765e+01] [-2.98132741e-02 9.99555473e-01 -1.60216158e-04 9.14900555e-01] [ 4.36603948e-03 2.90509695e-04 9.99990427e-01 2.10784343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.521400512999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.63, Y:0.92, Z:0.21 [[ 9.99544781e-01 2.96559206e-02 -5.54596310e-03 3.56305399e+01] [-2.96854824e-02 9.99545098e-01 -5.32620186e-03 9.17471908e-01] [ 5.38548681e-03 5.48841186e-03 9.99970436e-01 2.07782759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.66, Y:0.91, Z:0.21 [[ 9.99547743e-01 2.91794467e-02 -7.27117561e-03 3.56608833e+01] [-2.91445289e-02 9.99563380e-01 4.86279297e-03 9.05458273e-01] [ 7.40989448e-03 -4.64867875e-03 9.99961741e-01 2.11604831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:35.69, Y:0.91, Z:0.21 [[ 9.99544758e-01 2.91253881e-02 -7.87325598e-03 3.56901658e+01] [-2.91285454e-02 9.99575633e-01 -2.86628244e-04 9.06443213e-01] [ 7.86156667e-03 5.15834253e-04 9.99968964e-01 2.10873891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.72, Y:0.90, Z:0.21 [[ 9.99540697e-01 2.94153825e-02 -7.28901135e-03 3.57200304e+01] [-2.94180970e-02 9.99567159e-01 -2.65438751e-04 9.03269528e-01] [ 7.27804839e-03 4.79745677e-04 9.99973400e-01 2.11442321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:0.90, Z:0.21 [[ 9.99511673e-01 3.08666755e-02 -4.86452337e-03 3.57492839e+01] [-3.08679017e-02 9.99523457e-01 -1.77190491e-04 8.99555598e-01] [ 4.85673593e-03 3.27261594e-04 9.99988152e-01 2.11676457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:0.90, Z:0.21 [[ 9.99461300e-01 3.25280282e-02 -4.36305940e-03 3.57813449e+01] [-3.25290308e-02 9.99470778e-01 -1.59003066e-04 8.99341875e-01] [ 4.35557832e-03 3.00843505e-04 9.99990469e-01 2.11447394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:0.90, Z:0.21 [[ 9.99383571e-01 3.48135610e-02 -4.52698602e-03 3.58136299e+01] [-3.48146602e-02 9.99393772e-01 -1.64221878e-04 8.99683092e-01] [ 4.51852449e-03 3.21726127e-04 9.99989740e-01 2.10841186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:35.85, Y:0.90, Z:0.21 [[ 9.99254261e-01 3.82156243e-02 -5.52162150e-03 3.58452602e+01] [-3.82173050e-02 9.99269432e-01 -1.99156478e-04 9.00101005e-01] [ 5.50997669e-03 4.10029452e-04 9.99984736e-01 2.10822078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:0.90, Z:0.21 [[ 9.99080120e-01 4.24736868e-02 -5.90758843e-03 3.58770085e+01] [-4.24756786e-02 9.99097479e-01 -2.12037440e-04 9.01244362e-01] [ 5.89325070e-03 4.62771218e-04 9.99982528e-01 2.10622128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:0.90, Z:0.21 [[ 9.98831894e-01 4.78474833e-02 -6.74284373e-03 3.59102236e+01] [-4.78501916e-02 9.98854494e-01 -2.40811398e-04 9.02940650e-01] [ 6.72359754e-03 5.63176469e-04 9.99977238e-01 2.10493616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.94, Y:0.91, Z:0.21 [[ 9.98543290e-01 5.34383457e-02 -7.45932476e-03 3.59424222e+01] [-5.34418043e-02 9.98570931e-01 -2.64967740e-04 9.05093858e-01] [ 7.43450542e-03 6.63221532e-04 9.99972144e-01 2.10775115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:35.97, Y:0.91, Z:0.21 [[ 9.98256542e-01 5.84682045e-02 -8.08371294e-03 3.59744088e+01] [-5.84724182e-02 9.98288984e-01 -2.85709340e-04 9.07511107e-01] [ 8.05317666e-03 7.57885461e-04 9.99967285e-01 2.11042911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:0.91, Z:0.21 [[ 9.97899437e-01 6.44597906e-02 -6.45360577e-03 3.60076135e+01] [-6.44625944e-02 9.97920098e-01 -2.27176893e-04 9.10452476e-01] [ 6.42553913e-03 6.42715865e-04 9.99979149e-01 2.10936116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:0.91, Z:0.21 [[ 9.97837779e-01 6.55052201e-02 -5.36957576e-03 3.60399374e+01] [-6.55071719e-02 9.97852081e-01 -1.88230513e-04 9.12035677e-01] [ 5.34571226e-03 5.39569239e-04 9.99985566e-01 2.11483895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:0.91, Z:0.21 [[ 9.97860615e-01 6.52535207e-02 -4.02139590e-03 3.60728728e+01] [-6.52546125e-02 9.97868637e-01 -1.40746462e-04 9.14045273e-01] [ 4.00364064e-03 4.02859982e-04 9.99991904e-01 2.11621100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:0.92, Z:0.21 [[ 9.97932084e-01 6.41888004e-02 -3.36964847e-03 3.61053413e+01] [-6.41895595e-02 9.97937717e-01 -1.17486272e-04 9.15964202e-01] [ 3.35515800e-03 3.33539571e-04 9.99994316e-01 2.11697283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:0.92, Z:0.21 [[ 9.98040162e-01 6.24593540e-02 -3.82927461e-03 3.61378802e+01] [-6.24603185e-02 9.98047439e-01 -1.32699552e-04 9.17905795e-01] [ 3.81350939e-03 3.71617194e-04 9.99992659e-01 2.11643902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:0.92, Z:0.21 [[ 9.98167811e-01 6.02992583e-02 -5.00212944e-03 3.61703006e+01] [-6.03008713e-02 9.98180232e-01 -1.72151874e-04 9.19608778e-01] [ 4.98264610e-03 4.73469223e-04 9.99987474e-01 2.11969396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:0.92, Z:0.21 [[ 9.98446260e-01 5.52845398e-02 -6.97752379e-03 3.62030562e+01] [-5.52875492e-02 9.98470445e-01 -2.39006076e-04 9.20547642e-01] [ 6.95363794e-03 6.24404912e-04 9.99975628e-01 2.11667219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:0.92, Z:0.21 [[ 9.98605380e-01 5.23647049e-02 -6.72555185e-03 3.62362193e+01] [-5.23674273e-02 9.98627859e-01 -2.29203243e-04 9.20716219e-01] [ 6.70432128e-03 5.81083439e-04 9.99977357e-01 2.11727160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:0.92, Z:0.21 [[ 9.98774662e-01 4.90973393e-02 -6.21488948e-03 3.62688236e+01] [-4.90995946e-02 9.98793865e-01 -2.10737700e-04 9.19944693e-01] [ 6.19704683e-03 5.15628030e-04 9.99980665e-01 2.12003020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:0.92, Z:0.21 [[ 9.98953303e-01 4.54256230e-02 -5.36752973e-03 3.63020820e+01] [-4.54272480e-02 9.98967633e-01 -1.81155478e-04 9.18588366e-01] [ 5.35375937e-03 4.24797968e-04 9.99985578e-01 2.12270273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:0.92, Z:0.21 [[ 9.99125028e-01 4.15470507e-02 -4.79803534e-03 3.63336561e+01] [-4.15483010e-02 9.99136484e-01 -1.61154505e-04 9.16374563e-01] [ 4.78719666e-03 3.60363716e-04 9.99988476e-01 2.12683469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:0.91, Z:0.21 [[ 9.99462918e-01 3.26076807e-02 -3.25792431e-03 3.63666070e+01] [-3.26082087e-02 9.99468205e-01 -1.09064412e-04 9.09810736e-01] [ 3.25263543e-03 2.15240911e-04 9.99994687e-01 2.13202133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:0.91, Z:0.21 [[ 9.99588650e-01 2.85683680e-02 -2.52584460e-03 3.63997822e+01] [-2.85686725e-02 9.99591829e-01 -8.45458719e-05 9.07407499e-01] [ 2.52239829e-03 1.56671121e-04 9.99996806e-01 2.13549725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:0.91, Z:0.21 [[ 9.99674447e-01 2.54687200e-02 -1.53135982e-03 3.64320645e+01] [-2.54688284e-02 9.99675615e-01 -5.13071403e-05 9.05308496e-01] [ 1.52955634e-03 9.02923775e-05 9.99998826e-01 2.12997044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:0.90, Z:0.21 [[ 9.99724282e-01 2.34557846e-02 -1.08946473e-03 3.64637310e+01] [-2.34558383e-02 9.99724873e-01 -3.65490613e-05 9.02841910e-01] [ 1.08830770e-03 6.20932926e-05 9.99999406e-01 2.13075556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:0.90, Z:0.21 [[ 9.99758523e-01 2.19583787e-02 -8.51927074e-04 3.64963815e+01] [-2.19584111e-02 9.99758885e-01 -2.86779064e-05 8.99700512e-01] [ 8.51091941e-04 4.73779462e-05 9.99999637e-01 2.13132142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:0.90, Z:0.21 [[ 9.99787181e-01 2.06219109e-02 -5.74874251e-04 3.65297015e+01] [-2.06219256e-02 9.99787345e-01 -1.95492747e-05 8.96258541e-01] [ 5.74348857e-04 3.14001283e-05 9.99999835e-01 2.13811383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:0.89, Z:0.21 [[ 9.99816250e-01 1.91680455e-02 -2.26809626e-04 3.65630779e+01] [-1.91680479e-02 9.99816276e-01 -8.24699705e-06 8.93237418e-01] [ 2.26609877e-04 1.25929794e-05 9.99999974e-01 2.14422469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.60, Y:0.89, Z:0.21 [[ 9.99837497e-01 1.80251668e-02 -2.68963976e-04 3.65950102e+01] [-1.80251700e-02 9.99837533e-01 -9.49377082e-06 8.91473125e-01] [ 2.68749152e-04 1.43403494e-05 9.99999964e-01 2.14743277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:0.89, Z:0.21 [[ 9.99846199e-01 1.75156151e-02 -8.83923068e-04 3.66281408e+01] [-1.75156477e-02 9.99846589e-01 -2.90916996e-05 8.90413115e-01] [ 8.83277906e-04 4.45697103e-05 9.99999609e-01 2.14623173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:0.89, Z:0.21 [[ 9.99850543e-01 1.70394628e-02 -2.92364964e-03 3.66608280e+01] [-1.70398091e-02 9.99854808e-01 -9.35639140e-05 8.87734676e-01] [ 2.92163087e-03 1.43368362e-04 9.99995722e-01 2.13677096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.69, Y:0.89, Z:0.21 [[ 9.99850763e-01 1.68567143e-02 -3.78182972e-03 3.66922368e+01] [-1.68572885e-02 9.99857899e-01 -1.19993142e-04 8.86616076e-01] [ 3.77926962e-03 1.83726629e-04 9.99992842e-01 2.13112597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:0.89, Z:0.21 [[ 9.99854789e-01 1.63818867e-02 -4.69421690e-03 3.67232549e+01] [-1.63827617e-02 9.99865783e-01 -1.47991000e-04 8.85599641e-01] [ 4.69116248e-03 2.24873747e-04 9.99988971e-01 2.13594762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.75, Y:0.88, Z:0.21 [[ 9.99867286e-01 1.56428447e-02 -4.55093555e-03 3.67534671e+01] [-1.56436589e-02 9.99877620e-01 -1.43361135e-04 8.84733668e-01] [ 4.54813603e-03 2.14535393e-04 9.99989634e-01 2.14335764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:0.88, Z:0.22 [[ 9.99886198e-01 1.46271261e-02 -3.69306851e-03 3.67837318e+01] [-1.46276553e-02 9.99893003e-01 -1.16337067e-04 8.84988679e-01] [ 3.69097169e-03 1.70344761e-04 9.99993174e-01 2.15057862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:0.89, Z:0.22 [[ 9.99906892e-01 1.34035628e-02 -2.55977886e-03 3.68147053e+01] [-1.34038130e-02 9.99910162e-01 -8.06312872e-05 8.86009732e-01] [ 2.55846814e-03 1.14934577e-04 9.99996721e-01 2.15137854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:0.89, Z:0.21 [[ 9.99942931e-01 1.02498389e-02 -3.01271189e-03 3.68463146e+01] [-1.02501719e-02 9.99947461e-01 -9.51025137e-05 8.87518680e-01] [ 3.01157882e-03 1.25977901e-04 9.99995457e-01 2.14774785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.88, Y:0.89, Z:0.21 [[ 9.99958863e-01 8.19569889e-03 -3.88615087e-03 3.68771861e+01] [-8.19623512e-03 9.99966403e-01 -1.22079807e-04 8.88474885e-01] [ 3.88501978e-03 1.53926591e-04 9.99992441e-01 2.14851778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:0.89, Z:0.22 [[ 9.99971572e-01 6.20714540e-03 -4.28089230e-03 3.69072902e+01] [-6.20777782e-03 9.99980723e-01 -1.34459701e-04 8.88772192e-01] [ 4.27997517e-03 1.61030706e-04 9.99990828e-01 2.15194546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:0.89, Z:0.22 [[ 9.99982130e-01 4.12166183e-03 -4.33038481e-03 3.69352456e+01] [-4.12228976e-03 9.99991494e-01 -1.36089320e-04 8.89051606e-01] [ 4.32978706e-03 1.53937989e-04 9.99990615e-01 2.15651250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:0.89, Z:0.22 [[ 9.99991074e-01 2.03507086e-03 -3.70265564e-03 3.69632939e+01] [-2.03551630e-03 9.99997922e-01 -1.16538117e-04 8.89882785e-01] [ 3.70241078e-03 1.24073892e-04 9.99993138e-01 2.16425761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:0.89, Z:0.22 [[ 9.99996657e-01 2.22608095e-05 -2.58570843e-03 3.69919614e+01] [-2.24715445e-05 9.99999996e-01 -8.14709084e-05 8.91426208e-01] [ 2.58570661e-03 8.15287409e-05 9.99996654e-01 2.17384672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:0.89, Z:0.22 [[ 9.99991092e-01 -4.19880789e-03 -4.32309189e-04 3.70194425e+01] [ 4.19880250e-03 9.99991185e-01 -1.33931231e-05 8.93695235e-01] [ 4.32361614e-04 1.15778229e-05 9.99999906e-01 2.18329048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:0.89, Z:0.22 [[ 9.99979725e-01 -6.30430689e-03 8.96928241e-04 3.70489639e+01] [ 6.30428383e-03 9.99980127e-01 2.85307535e-05 8.94654368e-01] [-8.97090284e-04 -2.28756849e-05 9.99999597e-01 2.18555197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:0.90, Z:0.22 [[ 9.99962379e-01 -8.41922840e-03 2.08756825e-03 3.70784819e+01] [ 8.41910851e-03 9.99964556e-01 6.62130466e-05 8.95836199e-01] [-2.08805172e-03 -4.86350919e-05 9.99997819e-01 2.18493522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.11, Y:0.90, Z:0.22 [[ 9.99945732e-01 -9.96618752e-03 3.03441345e-03 3.71086437e+01] [ 9.96594158e-03 9.99950334e-01 9.61595364e-05 8.96872986e-01] [-3.03522109e-03 -6.59135308e-05 9.99995392e-01 2.18268386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.14, Y:0.90, Z:0.22 [[ 9.99933049e-01 -1.11020665e-02 3.26224924e-03 3.71395451e+01] [ 1.11017883e-02 9.99938368e-01 1.03379575e-04 8.98389991e-01] [-3.26319590e-03 -6.71558537e-05 9.99994674e-01 2.18406160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:37.17, Y:0.90, Z:0.22 [[ 9.99925900e-01 -1.19359176e-02 2.39355819e-03 3.71703304e+01] [ 1.19357702e-02 9.99928763e-01 7.58510499e-05 9.00048024e-01] [-2.39429303e-03 -4.72764688e-05 9.99997133e-01 2.18500532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:0.90, Z:0.22 [[ 9.99920415e-01 -1.25506455e-02 1.28289839e-03 3.71991185e+01] [ 1.25506033e-02 9.99921237e-01 4.08907519e-05 9.01409343e-01] [-1.28331055e-03 -2.47863488e-05 9.99999176e-01 2.19095689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:0.90, Z:0.22 [[ 9.99892072e-01 -1.46897068e-02 2.37036418e-04 3.72281417e+01] [ 1.46897052e-02 9.99892100e-01 8.37290928e-06 9.04229101e-01] [-2.37133838e-04 -4.89001051e-06 9.99999972e-01 2.19424701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:0.91, Z:0.22 [[ 9.99869028e-01 -1.61423202e-02 1.16303561e-03 3.72563493e+01] [ 1.61422866e-02 9.99869704e-01 3.82684567e-05 9.06283861e-01] [-1.16350182e-03 -1.94893904e-05 9.99999323e-01 2.19780719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:0.91, Z:0.22 [[ 9.99867136e-01 -1.62591067e-02 1.16304291e-03 3.72848496e+01] [ 1.62590734e-02 9.99867812e-01 3.80396905e-05 9.07332962e-01] [-1.16350766e-03 -1.91246364e-05 9.99999323e-01 2.19927408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:0.91, Z:0.22 [[ 9.99832083e-01 -1.81105595e-02 2.79515979e-03 3.73120655e+01] [ 1.81103759e-02 9.99835990e-01 9.10007485e-05 9.09425150e-01] [-2.79634943e-03 -4.03640735e-05 9.99996089e-01 2.20089096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:0.91, Z:0.22 [[ 9.99791139e-01 -2.00491911e-02 3.96338569e-03 3.73409053e+01] [ 2.00488348e-02 9.99798994e-01 1.29619103e-04 9.11267303e-01] [-3.96518778e-03 -5.01307661e-05 9.99992137e-01 2.20555168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:0.91, Z:0.22 [[ 9.99748947e-01 -2.19659846e-02 4.42031761e-03 3.73691893e+01] [ 2.19655629e-02 9.99758718e-01 1.43941350e-04 9.12635208e-01] [-4.42241287e-03 -4.68104485e-05 9.99990220e-01 2.20852087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:0.91, Z:0.22 [[ 9.99693269e-01 -2.43572107e-02 4.48275025e-03 3.73981463e+01] [ 2.43567946e-02 9.99703318e-01 1.47400225e-04 9.13962180e-01] [-4.48501056e-03 -3.81695856e-05 9.99989942e-01 2.20913579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.43, Y:0.91, Z:0.22 [[ 9.99529301e-01 -3.02241823e-02 5.26065343e-03 3.74258417e+01] [ 3.02236852e-02 9.99543145e-01 1.73981210e-04 9.14790166e-01] [-5.26350851e-03 -1.49029838e-05 9.99986148e-01 2.20325578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.45, Y:0.92, Z:0.22 [[ 9.99424758e-01 -3.34755626e-02 5.43497985e-03 3.74541869e+01] [ 3.34750745e-02 9.99439536e-01 1.80773062e-04 9.15910181e-01] [-5.43798522e-03 1.26728204e-06 9.99985214e-01 2.19880083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:0.92, Z:0.22 [[ 9.99329162e-01 -3.62615107e-02 5.13107949e-03 3.74816047e+01] [ 3.62611128e-02 9.99342335e-01 1.70592108e-04 9.16983085e-01] [-5.13389088e-03 1.55809839e-05 9.99986821e-01 2.19782810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.51, Y:0.92, Z:0.22 [[ 9.99247642e-01 -3.85153207e-02 4.55182561e-03 3.75093034e+01] [ 3.85150242e-02 9.99258010e-01 1.52813466e-04 9.17972719e-01] [-4.55433385e-03 2.26151776e-05 9.99989629e-01 2.19714782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:0.92, Z:0.22 [[ 9.99193037e-01 -4.00009675e-02 3.63278238e-03 3.75364244e+01] [ 4.00007887e-02 9.99199641e-01 1.21902487e-04 9.19047939e-01] [-3.63475107e-03 2.35100446e-05 9.99993394e-01 2.19646139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:0.92, Z:0.22 [[ 9.99149490e-01 -4.11400900e-02 2.79091818e-03 3.75645170e+01] [ 4.11399855e-02 9.99153388e-01 9.48464215e-05 9.20240028e-01] [-2.79245735e-03 2.00525799e-05 9.99996101e-01 2.20060750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:0.92, Z:0.22 [[ 9.99085147e-01 -4.26267768e-02 3.43896250e-03 3.75919738e+01] [ 4.26266287e-02 9.99091065e-01 1.16368518e-04 9.21878839e-01] [-3.44079713e-03 3.03293201e-05 9.99994080e-01 2.20188664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:0.92, Z:0.22 [[ 9.99045381e-01 -4.34935074e-02 4.07948386e-03 3.76190500e+01] [ 4.34933053e-02 9.99053709e-01 1.38287123e-04 9.23833807e-01] [-4.08163807e-03 3.92751256e-05 9.99991669e-01 2.20027028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:0.93, Z:0.22 [[ 9.99001453e-01 -4.45010719e-02 3.96869622e-03 3.76466886e+01] [ 4.45008835e-02 9.99009336e-01 1.35820645e-04 9.26089357e-01] [-3.97080874e-03 4.09254661e-05 9.99992115e-01 2.19449983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:0.93, Z:0.22 [[ 9.98957850e-01 -4.54993949e-02 3.60814739e-03 3.76746051e+01] [ 4.54992428e-02 9.98964365e-01 1.24270975e-04 9.28016171e-01] [-3.61006492e-03 4.00265083e-05 9.99993483e-01 2.18862862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.70, Y:0.93, Z:0.22 [[ 9.98939628e-01 -4.58997005e-02 3.58290903e-03 3.77011062e+01] [ 4.58995539e-02 9.98946052e-01 1.23153948e-04 9.29745055e-01] [-3.58478556e-03 4.14305674e-05 9.99993574e-01 2.18788006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:0.93, Z:0.22 [[ 9.98949483e-01 -4.56130262e-02 4.40262128e-03 3.77295237e+01] [ 4.56127966e-02 9.98959183e-01 1.52592878e-04 9.32040561e-01] [-4.40499918e-03 4.83832926e-05 9.99990297e-01 2.19496402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:0.94, Z:0.22 [[ 9.99081469e-01 -4.20954725e-02 8.01188084e-03 3.77569644e+01] [ 4.20945928e-02 9.99113591e-01 2.78469194e-04 9.38344429e-01] [-8.01650133e-03 5.90434509e-05 9.99967866e-01 2.22029628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:0.94, Z:0.22 [[ 9.99160784e-01 -4.01384172e-02 8.16299888e-03 3.77850513e+01] [ 4.01374259e-02 9.99194128e-01 2.85289108e-04 9.42906923e-01] [-8.16787160e-03 4.25920741e-05 9.99966641e-01 2.22363926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:0.95, Z:0.22 [[ 9.99227941e-01 -3.86236844e-02 7.19252699e-03 3.78131231e+01] [ 3.86228647e-02 9.99253827e-01 2.52884202e-04 9.47207574e-01] [-7.19692743e-03 2.51070362e-05 9.99974101e-01 2.22208711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:37.84, Y:0.95, Z:0.22 [[ 9.99252284e-01 -3.82199261e-02 5.84039940e-03 3.78405761e+01] [ 3.82193709e-02 9.99269352e-01 2.06682124e-04 9.51649858e-01] [-5.84403150e-03 1.66888068e-05 9.99982923e-01 2.21574547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.87, Y:0.96, Z:0.22 [[ 9.99243888e-01 -3.84779853e-02 5.57645094e-03 3.78671983e+01] [ 3.84774834e-02 9.99259448e-01 1.97288378e-04 9.55673783e-01] [-5.57991255e-03 1.74285932e-05 9.99984432e-01 2.20516250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:0.96, Z:0.22 [[ 9.99184811e-01 -3.98862639e-02 6.22896168e-03 3.78946202e+01] [ 3.98856543e-02 9.99204226e-01 2.22102411e-04 9.59555948e-01] [-6.23286367e-03 2.65248564e-05 9.99980575e-01 2.20329417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:0.97, Z:0.22 [[ 9.98985535e-01 -4.42959860e-02 8.10965385e-03 3.79215991e+01] [ 4.42950995e-02 9.99018449e-01 2.88979854e-04 9.65516433e-01] [-8.11449445e-03 7.05312297e-05 9.99967074e-01 2.20760587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:0.97, Z:0.22 [[ 9.98850408e-01 -4.72540550e-02 8.05715374e-03 3.79492808e+01] [ 4.72532591e-02 9.98882899e-01 2.89214103e-04 9.68955508e-01] [-8.06181962e-03 9.18451488e-05 9.99967499e-01 2.21565693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:0.97, Z:0.22 [[ 9.98719361e-01 -5.00720948e-02 7.24045601e-03 3.79762545e+01] [ 5.00715251e-02 9.98745601e-01 2.60048944e-04 9.72399198e-01] [-7.24439478e-03 1.02824760e-04 9.99973754e-01 2.21908683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:0.98, Z:0.22 [[ 9.98599600e-01 -5.25719255e-02 5.91874663e-03 3.80039593e+01] [ 5.25715782e-02 9.98617135e-01 2.14358578e-04 9.76127031e-01] [-5.92183105e-03 9.70994614e-05 9.99982461e-01 2.21887656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:0.98, Z:0.22 [[ 9.98516771e-01 -5.42109847e-02 5.04263349e-03 3.80313434e+01] [ 5.42107534e-02 9.98529499e-01 1.82637782e-04 9.79442154e-01] [-5.04511927e-03 9.09980729e-05 9.99987269e-01 2.21742663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:0.98, Z:0.22 [[ 9.98436105e-01 -5.56488877e-02 5.34272316e-03 3.80597636e+01] [ 5.56486401e-02 9.98450395e-01 1.95099168e-04 9.82726734e-01] [-5.34530109e-03 1.02521224e-04 9.99985709e-01 2.22223940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:0.99, Z:0.22 [[ 9.98350490e-01 -5.70691345e-02 6.27790955e-03 3.80881184e+01] [ 5.70688141e-02 9.98370221e-01 2.30304821e-04 9.85602534e-01] [-6.28082123e-03 1.28347922e-04 9.99980267e-01 2.22732726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:0.99, Z:0.22 [[ 9.98270217e-01 -5.83591142e-02 7.12658004e-03 3.81152955e+01] [ 5.83587349e-02 9.98295642e-01 2.61339283e-04 9.88715000e-01] [-7.12968533e-03 1.55010973e-04 9.99974571e-01 2.23273825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:1.00, Z:0.22 [[ 9.98164075e-01 -6.02238787e-02 6.44703886e-03 3.81428348e+01] [ 6.02235950e-02 9.98184884e-01 2.38310323e-04 9.95472937e-01] [-6.44968870e-03 1.50391054e-04 9.99979189e-01 2.22592911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:38.17, Y:1.00, Z:0.22 [[ 9.98140030e-01 -6.07602966e-02 4.96662992e-03 3.81710159e+01] [ 6.07601289e-02 9.98152379e-01 1.84799442e-04 9.99479339e-01] [-4.96868194e-03 1.17317353e-04 9.99987649e-01 2.22077750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:1.00, Z:0.22 [[ 9.98137132e-01 -6.08473282e-02 4.45740854e-03 3.81975901e+01] [ 6.08471920e-02 9.98147079e-01 1.66277393e-04 1.00243753e+00] [-4.45926685e-03 1.05253154e-04 9.99990052e-01 2.21291807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:1.00, Z:0.22 [[ 9.98126720e-01 -6.10080368e-02 4.59026047e-03 3.82255536e+01] [ 6.10078887e-02 9.98137269e-01 1.72420613e-04 1.00492264e+00] [-4.59222909e-03 1.07944479e-04 9.99989450e-01 2.21607815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.25, Y:1.01, Z:0.22 [[ 9.98134737e-01 -6.07781048e-02 5.75059056e-03 3.82528907e+01] [ 6.07778704e-02 9.98151293e-01 2.15667168e-04 1.00730932e+00] [-5.75306724e-03 1.34243756e-04 9.99983442e-01 2.22324151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:1.01, Z:0.22 [[ 9.98145116e-01 -6.04637674e-02 7.10350595e-03 3.82809986e+01] [ 6.04633891e-02 9.98170380e-01 2.68199536e-04 1.01001385e+00] [-7.10672559e-03 1.61799987e-04 9.99974734e-01 2.22901326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:1.01, Z:0.22 [[ 9.98324986e-01 -5.72762813e-02 8.16399585e-03 3.83094145e+01] [ 5.72756631e-02 9.98358354e-01 3.09703279e-04 1.01325613e+00] [-8.16833211e-03 1.58413754e-04 9.99966626e-01 2.22560508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:1.01, Z:0.22 [[ 9.98453283e-01 -5.49657732e-02 8.35495567e-03 3.83377582e+01] [ 5.49650313e-02 9.98488229e-01 3.18559779e-04 1.01410078e+00] [-8.35983478e-03 1.41163343e-04 9.99965046e-01 2.22195190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:1.01, Z:0.22 [[ 9.98592196e-01 -5.22683115e-02 9.03603892e-03 3.83646719e+01] [ 5.22673324e-02 9.98633069e-01 3.44641169e-04 1.01421004e+00] [-9.04170110e-03 1.28133668e-04 9.99959115e-01 2.21763019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:1.01, Z:0.22 [[ 9.98733810e-01 -4.92375812e-02 1.03168140e-02 3.83924194e+01] [ 4.92361173e-02 9.98787088e-01 3.95991502e-04 1.01482457e+00] [-1.03237983e-02 1.12469765e-04 9.99946702e-01 2.21859093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:1.02, Z:0.22 [[ 9.98895917e-01 -4.55877749e-02 1.13447094e-02 3.84204183e+01] [ 4.55857446e-02 9.98960334e-01 4.37626735e-04 1.01608097e+00] [-1.13528651e-02 8.00134652e-05 9.99935551e-01 2.22445376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:1.02, Z:0.22 [[ 9.99086866e-01 -4.10755067e-02 1.17574418e-02 3.84495292e+01] [ 4.10730235e-02 9.99156045e-01 4.52695739e-04 1.01775578e+00] [-1.17661137e-02 3.06313151e-05 9.99930776e-01 2.22795326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:1.02, Z:0.22 [[ 9.99454732e-01 -3.15734086e-02 9.66221591e-03 3.84791505e+01] [ 3.15712862e-02 9.99501433e-01 3.72148765e-04 1.01963926e+00] [-9.66914866e-03 -6.68972603e-05 9.99953250e-01 2.22221544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:1.02, Z:0.22 [[ 9.99455107e-01 -3.15615386e-02 9.66222505e-03 3.85101259e+01] [ 3.15594180e-02 9.99501808e-01 3.71911286e-04 1.02082848e+00] [-9.66914950e-03 -6.67744354e-05 9.99953250e-01 2.22381240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:1.03, Z:0.22 [[ 9.99731619e-01 -2.15864496e-02 8.40923930e-03 3.85393845e+01] [ 2.15844886e-02 9.99766975e-01 3.23896042e-04 1.02562836e+00] [-8.41427151e-03 -1.42299984e-04 9.99964589e-01 2.21211217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.57, Y:1.03, Z:0.22 [[ 9.99826210e-01 -1.64957884e-02 8.68557492e-03 3.85709647e+01] [ 1.64935077e-02 9.99863917e-01 3.34160351e-04 1.02935546e+00] [-8.68990520e-03 -1.90846681e-04 9.99962224e-01 2.20856238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:1.03, Z:0.22 [[ 9.99893418e-01 -1.18434466e-02 8.53735165e-03 3.86029407e+01] [ 1.18410779e-02 9.99929838e-01 3.27949617e-04 1.03205238e+00] [-8.54063671e-03 -2.26823217e-04 9.99963502e-01 2.21175830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:1.03, Z:0.22 [[ 9.99938038e-01 -7.99874511e-03 7.74209292e-03 3.86346732e+01] [ 7.99668506e-03 9.99967982e-01 2.97004234e-04 1.03465852e+00] [-7.74422069e-03 -2.35074752e-04 9.99969985e-01 2.21139337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.67, Y:1.04, Z:0.22 [[ 9.99967520e-01 -4.94666836e-03 6.36320102e-03 3.86654116e+01] [ 4.94521636e-03 9.99987743e-01 2.43901189e-04 1.03802399e+00] [-6.36432953e-03 -2.12425862e-04 9.99979725e-01 2.20696208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:1.04, Z:0.22 [[ 9.99986764e-01 -2.76437806e-03 4.33931132e-03 3.86963887e+01] [ 2.76368498e-03 9.99996167e-01 1.65708785e-04 1.04206741e+00] [-4.33975277e-03 -1.53714102e-04 9.99990571e-01 2.19931453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:38.73, Y:1.05, Z:0.22 [[ 9.99997458e-01 -1.24407276e-03 1.88030375e-03 3.87281788e+01] [ 1.24394022e-03 9.99999224e-01 7.16544456e-05 1.04918602e+00] [-1.88039144e-03 -6.93152780e-05 9.99998230e-01 2.17760396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:1.05, Z:0.22 [[ 9.99995889e-01 -1.50722629e-03 2.43936800e-03 3.87597069e+01] [ 1.50700468e-03 9.99998860e-01 9.26826793e-05 1.05179717e+00] [-2.43950491e-03 -8.90061593e-05 9.99997020e-01 2.18437738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:1.05, Z:0.22 [[ 9.99991897e-01 -2.49446447e-03 3.15969082e-03 3.87920982e+01] [ 2.49410009e-03 9.99996883e-01 1.19257126e-04 1.05432836e+00] [-3.15997845e-03 -1.11375574e-04 9.99995001e-01 2.19042146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:1.06, Z:0.22 [[ 9.99986214e-01 -4.15692649e-03 3.20793567e-03 3.88240628e+01] [ 4.15656121e-03 9.99991354e-01 1.20527727e-04 1.05699995e+00] [-3.20840896e-03 -1.07192085e-04 9.99994847e-01 2.19518950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:1.06, Z:0.22 [[ 9.99980221e-01 -5.84167201e-03 2.33058509e-03 3.88560524e+01] [ 5.84148439e-03 9.99982935e-01 8.73024361e-05 1.05935094e+00] [-2.33105531e-03 -7.36866330e-05 9.99997280e-01 2.19093341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:1.06, Z:0.22 [[ 9.99968837e-01 -7.89298638e-03 1.60222603e-04 3.88869869e+01] [ 7.89298553e-03 9.99968850e-01 5.91801946e-06 1.06155782e+00] [-1.60264322e-04 -4.65320035e-06 9.99999987e-01 2.17669404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:1.06, Z:0.22 [[ 9.99927240e-01 -1.13692777e-02 -4.03166320e-03 3.89164963e+01] [ 1.13687574e-02 9.99935362e-01 -1.51945896e-04 1.06476995e+00] [ 4.03313012e-03 1.06099840e-04 9.99991861e-01 2.15298939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:1.07, Z:0.21 [[ 9.99916150e-01 -1.21702880e-02 -4.42469944e-03 3.89432818e+01] [ 1.21696688e-02 9.99925933e-01 -1.66832323e-04 1.06711927e+00] [ 4.42640211e-03 1.12971207e-04 9.99990197e-01 2.14789485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:1.07, Z:0.21 [[ 9.99920567e-01 -1.18861280e-02 -4.19273253e-03 3.89696196e+01] [ 1.18826676e-02 9.99929038e-01 -8.49285080e-04 1.06971489e+00] [ 4.20252971e-03 7.99396771e-04 9.99990850e-01 2.13937120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:1.07, Z:0.22 [[ 9.99915002e-01 -1.21860242e-02 -4.63568165e-03 3.89989558e+01] [ 1.21884684e-02 9.99925593e-01 4.99364786e-04 1.06990502e+00] [ 4.62925145e-03 -5.55824200e-04 9.99989130e-01 2.15178395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:1.07, Z:0.22 [[ 9.99916409e-01 -1.18019440e-02 -5.28102327e-03 3.90260615e+01] [ 1.18010478e-02 9.99930345e-01 -2.00840536e-04 1.07249986e+00] [ 5.28302573e-03 1.38502140e-04 9.99986035e-01 2.15317894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:1.08, Z:0.21 [[ 9.99917115e-01 -1.12730771e-02 -6.21944329e-03 3.90540550e+01] [ 1.12718195e-02 9.99936443e-01 -2.37218649e-04 1.07574916e+00] [ 6.22172219e-03 1.67094545e-04 9.99980631e-01 2.14992667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:1.08, Z:0.21 [[ 9.99924914e-01 -1.00667506e-02 -6.98769514e-03 3.90807838e+01] [ 1.00651249e-02 9.99949309e-01 -2.67774410e-04 1.07908566e+00] [ 6.99003655e-03 1.97422279e-04 9.99975550e-01 2.14444407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:1.08, Z:0.21 [[ 9.99926767e-01 -6.38718283e-03 -1.02793097e-02 3.91090181e+01] [ 6.38345410e-03 9.99979547e-01 -3.95510313e-04 1.08203560e+00] [ 1.02816257e-02 3.29863847e-04 9.99947088e-01 2.14111578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:1.08, Z:0.21 [[ 9.99925624e-01 -6.56387446e-03 -1.02792372e-02 3.91375017e+01] [ 6.56013576e-03 9.99978403e-01 -3.97389357e-04 1.08328750e+00] [ 1.02816236e-02 3.29926609e-04 9.99947088e-01 2.14258306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:1.09, Z:0.21 [[ 9.99923077e-01 -4.50283729e-03 -1.15569982e-02 3.91641148e+01] [ 4.48017200e-03 9.99987991e-01 -1.98631614e-03 1.08618900e+00] [ 1.15658034e-02 1.93438601e-03 9.99931243e-01 2.12668305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:1.09, Z:0.21 [[ 9.99901899e-01 -2.99321177e-03 -1.36833312e-02 3.91931881e+01] [ 3.00669159e-03 9.99995015e-01 9.64661610e-04 1.08501378e+00] [ 1.36803755e-02 -1.00570853e-03 9.99905914e-01 2.13562672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.22, Y:1.09, Z:0.21 [[ 9.99888473e-01 -1.34255415e-03 -1.48741289e-02 3.92208895e+01] [ 1.33404477e-03 9.99998941e-01 -5.81999751e-04 1.08874360e+00] [ 1.48748945e-02 5.62092089e-04 9.99889205e-01 2.12884926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:1.09, Z:0.21 [[ 9.99894714e-01 1.23941084e-03 -1.44576583e-02 3.92488795e+01] [-1.24775909e-03 9.99999060e-01 -5.68421140e-04 1.08987940e+00] [ 1.44569402e-02 5.86400968e-04 9.99895321e-01 2.12669862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:1.09, Z:0.21 [[ 9.99904812e-01 3.93661441e-03 -1.32238780e-02 3.92758096e+01] [-3.94385467e-03 9.99992087e-01 -5.21480755e-04 1.08980221e+00] [ 1.32217205e-02 5.73584169e-04 9.99912425e-01 2.13088986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:1.09, Z:0.22 [[ 9.99886996e-01 9.83148761e-03 -1.13726259e-02 3.93044048e+01] [-9.83723982e-03 9.99951512e-01 -4.49964824e-04 1.08710333e+00] [ 1.13676506e-02 5.61789224e-04 9.99935228e-01 2.15423699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:1.09, Z:0.22 [[ 9.99831516e-01 1.35958036e-02 -1.23326382e-02 3.93319594e+01] [-1.36028720e-02 9.99907357e-01 -4.89438206e-04 1.08817627e+00] [ 1.23248413e-02 6.57115041e-04 9.99923830e-01 2.15996509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:1.09, Z:0.22 [[ 9.99748282e-01 1.77395223e-02 -1.37361692e-02 3.93599705e+01] [-1.77486947e-02 9.99842330e-01 -5.46130138e-04 1.09050389e+00] [ 1.37243153e-02 7.89791740e-04 9.99905505e-01 2.15639418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:1.09, Z:0.22 [[ 9.99639441e-01 2.22817167e-02 -1.49837294e-02 3.93873663e+01] [-2.22931574e-02 9.99751298e-01 -5.96926286e-04 1.09294070e+00] [ 1.49667024e-02 9.30745697e-04 9.99887559e-01 2.15249434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:1.09, Z:0.22 [[ 9.99511152e-01 2.68651767e-02 -1.59912462e-02 3.94144990e+01] [-2.68788193e-02 9.99638495e-01 -6.38774080e-04 1.09468985e+00] [ 1.59683045e-02 1.06828763e-03 9.99871928e-01 2.15038536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:39.44, Y:1.10, Z:0.21 [[ 9.99377413e-01 3.11203212e-02 -1.66226330e-02 3.94424377e+01] [-3.11356714e-02 9.99514946e-01 -6.65391553e-04 1.09638844e+00] [ 1.65938630e-02 1.18253413e-03 9.99861613e-01 2.14814104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:1.10, Z:0.22 [[ 9.99098713e-01 3.90187035e-02 -1.67123462e-02 3.94697410e+01] [-3.90353391e-02 9.99237606e-01 -6.70236288e-04 1.09766787e+00] [ 1.66734530e-02 1.32200431e-03 9.99860114e-01 2.15017855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:1.10, Z:0.22 [[ 9.98985704e-01 4.15951244e-02 -1.72455424e-02 3.94977073e+01] [-4.16132413e-02 9.99133554e-01 -6.92857062e-04 1.10007559e+00] [ 1.72017806e-02 1.40979722e-03 9.99851045e-01 2.15017368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:1.10, Z:0.22 [[ 9.98910874e-01 4.30872816e-02 -1.79039780e-02 3.95256515e+01] [-4.31070685e-02 9.99070198e-01 -7.20536181e-04 1.10281706e+00] [ 1.78562849e-02 1.49153943e-03 9.99839451e-01 2.15016954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.55, Y:1.11, Z:0.21 [[ 9.98872790e-01 4.38292434e-02 -1.82248990e-02 3.95531708e+01] [-4.38498885e-02 9.99037861e-01 -7.34539375e-04 1.10549404e+00] [ 1.81751698e-02 1.53287118e-03 9.99833643e-01 2.14809824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:1.11, Z:0.22 [[ 9.98845197e-01 4.42544344e-02 -1.87034229e-02 3.95807127e+01] [-4.42762743e-02 9.99019040e-01 -7.55014300e-04 1.10787763e+00] [ 1.86516629e-02 1.58226029e-03 9.99824791e-01 2.15096768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:1.11, Z:0.22 [[ 9.98822631e-01 4.46090490e-02 -1.90626338e-02 3.96086903e+01] [-4.46318248e-02 9.99003206e-01 -7.70810818e-04 1.11010262e+00] [ 1.90092472e-02 1.62070342e-03 9.99817994e-01 2.15389765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:1.11, Z:0.22 [[ 9.98830122e-01 4.44151326e-02 -1.91228484e-02 3.96370085e+01] [-4.44380421e-02 9.99011842e-01 -7.74548349e-04 1.11326789e+00] [ 1.90695503e-02 1.62342416e-03 9.99816842e-01 2.16736308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:1.11, Z:0.22 [[ 9.98880254e-01 4.32487277e-02 -1.91777605e-02 3.96645644e+01] [-4.32715807e-02 9.99063043e-01 -7.78086435e-04 1.11460007e+00] [ 1.91261405e-02 1.60706719e-03 9.99815787e-01 2.16996812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:1.11, Z:0.22 [[ 9.98970662e-01 4.11158016e-02 -1.91600207e-02 3.96913342e+01] [-4.11382507e-02 9.99153160e-01 -7.78833764e-04 1.11436654e+00] [ 1.91117729e-02 1.56624182e-03 9.99816127e-01 2.17050553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:1.11, Z:0.22 [[ 9.99100984e-01 3.79699758e-02 -1.88548383e-02 3.97190719e+01] [-3.79911839e-02 9.99277779e-01 -7.67769530e-04 1.11285131e+00] [ 1.88120688e-02 1.48339693e-03 9.99821937e-01 2.17526658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:1.11, Z:0.22 [[ 9.99258637e-01 3.41554093e-02 -1.77647191e-02 3.97460392e+01] [-3.41736600e-02 9.99415647e-01 -7.24717022e-04 1.11073099e+00] [ 1.77295852e-02 1.33126521e-03 9.99841932e-01 2.18230804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:1.11, Z:0.22 [[ 9.99398621e-01 3.04124988e-02 -1.66575973e-02 3.97732039e+01] [-3.04280493e-02 9.99536728e-01 -6.80830667e-04 1.10842046e+00] [ 1.66291746e-02 1.18727942e-03 9.99861021e-01 2.19361237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:1.11, Z:0.22 [[ 9.99497803e-01 2.73454867e-02 -1.60114696e-02 3.98015586e+01] [-2.73590681e-02 9.99625472e-01 -6.29765723e-04 1.10635294e+00] [ 1.59882516e-02 1.06750834e-03 9.99871610e-01 2.19904067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:1.11, Z:0.22 [[ 9.99571710e-01 2.45645301e-02 -1.59053416e-02 3.98308634e+01] [-2.45786731e-02 9.99697658e-01 -6.94300590e-04 1.10505472e+00] [ 1.58834776e-02 1.08493542e-03 9.99873261e-01 2.20304235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:1.10, Z:0.22 [[ 9.99578449e-01 2.38139564e-02 -1.66078226e-02 3.98586946e+01] [-2.38285471e-02 9.99715828e-01 -6.81187570e-04 1.10162660e+00] [ 1.65868813e-02 1.07664070e-03 9.99861849e-01 2.19692854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:1.10, Z:0.22 [[ 9.99520220e-01 2.59194516e-02 -1.69561483e-02 3.98858655e+01] [-2.59807578e-02 9.99656643e-01 -3.40530139e-03 1.10368812e+00] [ 1.68620628e-02 3.84420118e-03 9.99850435e-01 2.18180580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.92, Y:1.10, Z:0.22 [[ 9.99414703e-01 2.86699250e-02 -1.86624439e-02 3.99150273e+01] [-2.86396957e-02 9.99588022e-01 1.88510418e-03 1.09961456e+00] [ 1.87088012e-02 -1.34951412e-03 9.99824064e-01 2.21306042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:1.11, Z:0.22 [[ 9.99288536e-01 3.29090045e-02 -1.84233532e-02 3.99416309e+01] [-3.30009088e-02 9.99444239e-01 -4.70679237e-03 1.10719218e+00] [ 1.82582184e-02 5.31143106e-03 9.99819197e-01 2.18514344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:1.10, Z:0.22 [[ 9.99106954e-01 3.71948097e-02 -2.00459568e-02 3.99716785e+01] [-3.71414098e-02 9.99305427e-01 3.02975722e-03 1.10274351e+00] [ 2.01447247e-02 -2.28251641e-03 9.99794469e-01 2.22718829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:1.11, Z:0.22 [[ 9.98914432e-01 4.21725521e-02 -1.97847006e-02 3.99981367e+01] [-4.21970392e-02 9.99108970e-01 -8.21657328e-04 1.10866839e+00] [ 1.97324205e-02 1.65562115e-03 9.99803926e-01 2.22906323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:1.12, Z:0.22 [[ 9.98529006e-01 5.11767067e-02 -1.79100088e-02 4.00249204e+01] [-5.12793004e-02 9.98670200e-01 -5.31641279e-03 1.11668518e+00] [ 1.76141156e-02 6.22700511e-03 9.99825468e-01 2.21427326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:1.11, Z:0.23 [[ 9.98385520e-01 5.36266388e-02 -1.87226154e-02 4.00540574e+01] [-5.35653614e-02 9.98557268e-01 3.75955634e-03 1.11110143e+00] [ 1.88972160e-02 -2.75060295e-03 9.99817648e-01 2.25298655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:1.12, Z:0.22 [[ 9.98258682e-01 5.57143430e-02 -1.93782417e-02 4.00820737e+01] [-5.57404323e-02 9.98444966e-01 -8.08388673e-04 1.11763662e+00] [ 1.93030690e-02 1.88713258e-03 9.99811897e-01 2.24563569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:1.12, Z:0.22 [[ 9.98164406e-01 5.72059138e-02 -1.98821954e-02 4.01102149e+01] [-5.72336942e-02 9.98360463e-01 -8.30583402e-04 1.12036660e+00] [ 1.98020835e-02 1.96699028e-03 9.99801985e-01 2.24453495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:1.12, Z:0.22 [[ 9.98098793e-01 5.85558563e-02 -1.92356528e-02 4.01383060e+01] [-5.85821300e-02 9.98282268e-01 -8.04768290e-04 1.12305933e+00] [ 1.91554872e-02 1.93010377e-03 9.99814654e-01 2.24501293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:1.13, Z:0.23 [[ 9.98032181e-01 6.00242571e-02 -1.81343665e-02 4.01656751e+01] [-6.00478661e-02 9.98195210e-01 -7.59711907e-04 1.12596913e+00] [ 1.80560366e-02 1.84714694e-03 9.99835270e-01 2.25290285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.19, Y:1.13, Z:0.23 [[ 9.97970497e-01 6.14394770e-02 -1.67355501e-02 4.01942580e+01] [-6.14597933e-02 9.98109313e-01 -7.01873594e-04 1.12934615e+00] [ 1.66607857e-02 1.72901259e-03 9.99859705e-01 2.26130262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.22, Y:1.13, Z:0.23 [[ 9.97867444e-01 6.33439565e-02 -1.57514265e-02 4.02222570e+01] [-6.33622003e-02 9.97990378e-01 -6.61385971e-04 1.13294214e+00] [ 1.56778772e-02 1.65802057e-03 9.99875720e-01 2.27429432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:1.14, Z:0.23 [[ 9.97646328e-01 6.68838611e-02 -1.51113548e-02 4.02510172e+01] [-6.69010640e-02 9.97759412e-01 -6.35212668e-04 1.13820171e+00] [ 1.50350110e-02 1.64468330e-03 9.99885615e-01 2.28275295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:1.15, Z:0.23 [[ 9.97557656e-01 6.82747237e-02 -1.47405705e-02 4.02778693e+01] [-6.83719025e-02 9.97640688e-01 -6.19192419e-03 1.14590489e+00] [ 1.42830410e-02 7.18464223e-03 9.99872180e-01 2.25619297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:1.14, Z:0.23 [[ 9.97518561e-01 6.86229086e-02 -1.57358721e-02 4.03080838e+01] [-6.85580790e-02 9.97636413e-01 4.62358523e-03 1.13942434e+00] [ 1.60159629e-02 -3.53329092e-03 9.99865493e-01 2.30187064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:1.15, Z:0.23 [[ 9.97481064e-01 6.91557410e-02 -1.57800807e-02 4.03357116e+01] [-6.91747884e-02 9.97604334e-01 -6.63778540e-04 1.14754171e+00] [ 1.56963728e-02 1.75369026e-03 9.99875266e-01 2.29630965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:1.16, Z:0.23 [[ 9.97473570e-01 6.93733088e-02 -1.52911900e-02 4.03629409e+01] [-6.94696929e-02 9.97566826e-01 -5.86423083e-03 1.15585365e+00] [ 1.48471628e-02 6.91168954e-03 9.99865886e-01 2.26764260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:1.15, Z:0.23 [[ 9.97599900e-01 6.75041701e-02 -1.54151518e-02 4.03926414e+01] [-6.74417857e-02 9.97712917e-01 4.53215305e-03 1.15087100e+00] [ 1.56858353e-02 -3.48165006e-03 9.99870908e-01 2.31332758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:1.16, Z:0.23 [[ 9.97695636e-01 6.62342904e-02 -1.47117548e-02 4.04206001e+01] [-6.63185125e-02 9.97784363e-01 -5.31216251e-03 1.16265073e+00] [ 1.43273116e-02 6.27558305e-03 9.99877665e-01 2.28975138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.45, Y:1.16, Z:0.23 [[ 9.97870706e-01 6.35643563e-02 -1.46159779e-02 4.04510553e+01] [-6.35128365e-02 9.97973153e-01 3.96293020e-03 1.15823579e+00] [ 1.48382547e-02 -3.02618974e-03 9.99885328e-01 2.32554413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:1.17, Z:0.23 [[ 9.98074608e-01 6.05535512e-02 -1.34292224e-02 4.04797415e+01] [-6.05666062e-02 9.98163997e-01 -5.67201254e-04 1.16583676e+00] [ 1.33702202e-02 1.37947159e-03 9.99909663e-01 2.32778786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:1.17, Z:0.23 [[ 9.98273503e-01 5.73002840e-02 -1.29108649e-02 4.05071234e+01] [-5.73120886e-02 9.98356162e-01 -5.45886490e-04 1.16860590e+00] [ 1.28583621e-02 1.28489265e-03 9.99916502e-01 2.33551642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:1.17, Z:0.23 [[ 9.98613839e-01 5.09877339e-02 -1.30633855e-02 4.05354967e+01] [-5.09992918e-02 9.98698536e-01 -5.52940583e-04 1.16982328e+00] [ 1.30181908e-02 1.21839753e-03 9.99914517e-01 2.34110312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:1.17, Z:0.23 [[ 9.98769456e-01 4.80442216e-02 -1.23015117e-02 4.05621477e+01] [-4.80824192e-02 9.98839367e-01 -2.82824845e-03 1.17286476e+00] [ 1.21513532e-02 3.41625461e-03 9.99920334e-01 2.34181708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:1.17, Z:0.24 [[ 9.98907317e-01 4.52597072e-02 -1.16503671e-02 4.05910986e+01] [-4.52417608e-02 9.98974447e-01 1.79951741e-03 1.17146465e+00] [ 1.17198647e-02 -1.27046798e-03 9.99930513e-01 2.36077945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:1.18, Z:0.24 [[ 9.98973688e-01 4.37801619e-02 -1.16132908e-02 4.06201130e+01] [-4.37888352e-02 9.99040687e-01 -4.93508342e-04 1.17735004e+00] [ 1.15805441e-02 1.00153432e-03 9.99932442e-01 2.35832277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.65, Y:1.18, Z:0.24 [[ 9.98907149e-01 4.44298395e-02 -1.45084966e-02 4.06477148e+01] [-4.44434570e-02 9.99011711e-01 -6.17363574e-04 1.18097191e+00] [ 1.44667286e-02 1.26149663e-03 9.99894556e-01 2.35678618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:1.18, Z:0.24 [[ 9.98827893e-01 4.62215010e-02 -1.43670591e-02 4.06734073e+01] [-4.62515516e-02 9.98928263e-01 -1.76627405e-03 1.18374690e+00] [ 1.42700216e-02 2.42870256e-03 9.99895228e-01 2.35050423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:1.19, Z:0.23 [[ 9.98752882e-01 4.80105269e-02 -1.36993005e-02 4.07010869e+01] [-4.80345161e-02 9.98844657e-01 -1.42731190e-03 1.18622176e+00] [ 1.36149472e-02 2.08357114e-03 9.99905141e-01 2.34975720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:1.19, Z:0.24 [[ 9.98669976e-01 4.98509370e-02 -1.31591624e-02 4.07295089e+01] [-4.98370607e-02 9.98756408e-01 1.38052395e-03 1.18698847e+00] [ 1.32116181e-02 -7.22873842e-04 9.99912461e-01 2.36794506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:1.19, Z:0.24 [[ 9.98552897e-01 5.26972162e-02 -1.07291651e-02 4.07585963e+01] [-5.27051472e-02 9.98610013e-01 -4.57600124e-04 1.19314681e+00] [ 1.06901375e-02 1.02242016e-03 9.99942336e-01 2.36523187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:1.19, Z:0.24 [[ 9.98509515e-01 5.34285168e-02 -1.11419353e-02 4.07872505e+01] [-5.34371205e-02 9.98571103e-01 -4.75710394e-04 1.19468229e+00] [ 1.11005981e-02 1.07039429e-03 9.99937814e-01 2.36840923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:1.20, Z:0.24 [[ 9.98488299e-01 5.36020118e-02 -1.21631041e-02 4.08159251e+01] [-5.36122848e-02 9.98561692e-01 -5.19882526e-04 1.19660494e+00] [ 1.21177431e-02 1.17118842e-03 9.99925892e-01 2.36907479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:1.20, Z:0.24 [[ 9.98486190e-01 5.34552538e-02 -1.29562394e-02 4.08444436e+01] [-5.34669059e-02 9.98569468e-01 -5.54385990e-04 1.19959575e+00] [ 1.29080703e-02 1.24627679e-03 9.99915911e-01 2.37216225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:1.21, Z:0.24 [[ 9.98579476e-01 5.17823223e-02 -1.25547381e-02 4.08719739e+01] [-5.17931408e-02 9.98657690e-01 -5.37882712e-04 1.20505061e+00] [ 1.25100330e-02 1.18736796e-03 9.99921041e-01 2.37127766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:1.21, Z:0.24 [[ 9.98581176e-01 5.17495287e-02 -1.25547137e-02 4.09012772e+01] [-5.17603516e-02 9.98659389e-01 -5.38452980e-04 1.20638305e+00] [ 1.25100180e-02 1.18752541e-03 9.99921041e-01 2.37289167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:1.21, Z:0.24 [[ 9.98662347e-01 5.03288950e-02 -1.18540818e-02 4.09303171e+01] [-5.03384497e-02 9.98732087e-01 -5.08852901e-04 1.20839327e+00] [ 1.18134418e-02 1.10488833e-03 9.99929608e-01 2.37653955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:1.21, Z:0.24 [[ 9.98732267e-01 4.89751878e-02 -1.16314559e-02 4.09590649e+01] [-4.89843019e-02 9.98799423e-01 -4.99809511e-04 1.20957630e+00] [ 1.15930131e-02 1.06893463e-03 9.99932227e-01 2.37776305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.99, Y:1.21, Z:0.24 [[ 9.98800058e-01 4.74631384e-02 -1.20704116e-02 4.09871664e+01] [-4.74728520e-02 9.98872394e-01 -5.19338462e-04 1.21097821e+00] [ 1.20321515e-02 1.09173215e-03 9.99927015e-01 2.37527054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:1.21, Z:0.24 [[ 9.98858989e-01 4.61038978e-02 -1.24559813e-02 4.10157940e+01] [-4.61141453e-02 9.98936033e-01 -5.36585968e-04 1.21276757e+00] [ 1.24179898e-02 1.11037065e-03 9.99922277e-01 2.36798744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:1.21, Z:0.24 [[ 9.98912121e-01 4.48013142e-02 -1.29389671e-02 4.10444644e+01] [-4.48122708e-02 9.98995270e-01 -5.57969808e-04 1.21425225e+00] [ 1.29009691e-02 1.13718730e-03 9.99916132e-01 2.36913606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.131400512999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.07, Y:1.21, Z:0.24 [[ 9.99007038e-01 4.28711673e-02 -1.21243865e-02 4.10735339e+01] [-4.28806531e-02 9.99080065e-01 -5.23373928e-04 1.21482651e+00] [ 1.20907952e-02 1.04275585e-03 9.99926360e-01 2.38103663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:1.22, Z:0.24 [[ 9.99065976e-01 4.18441523e-02 -1.07816219e-02 4.11024131e+01] [-4.18515989e-02 9.99123729e-01 -4.65882243e-04 1.21566088e+00] [ 1.07526799e-02 9.16675214e-04 9.99941768e-01 2.38570589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:1.22, Z:0.24 [[ 9.99090400e-01 4.15754973e-02 -9.47899514e-03 4.11298327e+01] [-4.15812455e-02 9.99135042e-01 -4.10051073e-04 1.21586383e+00] [ 9.45374813e-03 8.03826515e-04 9.99954989e-01 2.39181259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:1.22, Z:0.24 [[ 9.99094645e-01 4.16701036e-02 -8.57281500e-03 4.11588703e+01] [-4.16748123e-02 9.99131159e-01 -3.71273479e-04 1.21591247e+00] [ 8.54989558e-03 7.28207801e-04 9.99963184e-01 2.39103579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:1.22, Z:0.24 [[ 9.99009898e-01 4.34952674e-02 -9.34803203e-03 4.11874291e+01] [-4.35009495e-02 9.99053303e-01 -4.05283455e-04 1.21512062e+00] [ 9.32155437e-03 8.11530452e-04 9.99956224e-01 2.37430083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:1.22, Z:0.24 [[ 9.98953965e-01 4.46306838e-02 -9.95373865e-03 4.12148735e+01] [-4.46371874e-02 9.99003171e-01 -4.32071343e-04 1.21582900e+00] [ 9.92453283e-03 8.75926279e-04 9.99950367e-01 2.36882005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:1.22, Z:0.24 [[ 9.98880717e-01 4.62093264e-02 -1.01000922e-02 4.12437649e+01] [-4.62161082e-02 9.98931368e-01 -4.38966685e-04 1.21673572e+00] [ 1.00690146e-02 9.05262312e-04 9.99948896e-01 2.37015073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:1.22, Z:0.24 [[ 9.98692091e-01 5.04378941e-02 -8.37414108e-03 4.12695691e+01] [-5.04593383e-02 9.98723306e-01 -2.36941500e-03 1.21946689e+00] [ 8.24394155e-03 2.78886964e-03 9.99962129e-01 2.38608953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:1.22, Z:0.24 [[ 9.98650704e-01 5.10636956e-02 -9.44826319e-03 4.13019528e+01] [-5.10511115e-02 9.98694810e-01 1.56846770e-03 1.21694830e+00] [ 9.51602317e-03 -1.08400703e-03 9.99954134e-01 2.39748768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:1.22, Z:0.24 [[ 9.98622735e-01 5.17651049e-02 -8.54447214e-03 4.13294169e+01] [-5.17701684e-02 9.98658956e-01 -3.72339077e-04 1.22054622e+00] [ 8.51373946e-03 8.14175029e-04 9.99963426e-01 2.40019382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:1.22, Z:0.24 [[ 9.98627521e-01 5.18418835e-02 -7.44933308e-03 4.13588382e+01] [-5.18457368e-02 9.98655053e-01 -3.24957808e-04 1.22268305e+00] [ 7.42246770e-03 7.10727973e-04 9.99972201e-01 2.40648756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:1.22, Z:0.24 [[ 9.98654348e-01 5.14838143e-02 -6.23775073e-03 4.13883723e+01] [-5.14865099e-02 9.98673653e-01 -2.72224869e-04 1.22412547e+00] [ 6.21546213e-03 5.93018564e-04 9.99980508e-01 2.40875363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:1.22, Z:0.24 [[ 9.98704272e-01 5.05362225e-02 -5.98885694e-03 4.14182901e+01] [-5.05386911e-02 9.98722070e-01 -2.61486970e-04 1.22441940e+00] [ 5.96798903e-03 5.63817145e-04 9.99982032e-01 2.41144117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:1.22, Z:0.24 [[ 9.98801270e-01 4.83545116e-02 -7.60679359e-03 4.14491917e+01] [-4.83584321e-02 9.98829991e-01 -3.32207709e-04 1.22338857e+00] [ 7.58182983e-03 6.99662093e-04 9.99971013e-01 2.41412507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:1.22, Z:0.24 [[ 9.98862027e-01 4.69106713e-02 -8.60469246e-03 4.14786985e+01] [-4.69156354e-02 9.98898785e-01 -3.75858051e-04 1.22455147e+00] [ 8.57758509e-03 7.79124949e-04 9.99962908e-01 2.41964226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:1.23, Z:0.24 [[ 9.98939034e-01 4.50837269e-02 -9.39491624e-03 4.15072210e+01] [-4.50895667e-02 9.98982864e-01 -4.10600742e-04 1.22553940e+00] [ 9.36684892e-03 8.33777811e-04 9.99955783e-01 2.41974242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:1.22, Z:0.24 [[ 9.99198705e-01 3.89836337e-02 -9.06775020e-03 4.15362062e+01] [-3.89888270e-02 9.99239568e-01 -3.96589784e-04 1.22411571e+00] [ 9.04539428e-03 7.49812943e-04 9.99958808e-01 2.42531693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:1.22, Z:0.24 [[ 9.99334890e-01 3.55756617e-02 -8.00939871e-03 4.15645726e+01] [-3.55796069e-02 9.99366784e-01 -3.50582588e-04 1.22302123e+00] [ 7.99185482e-03 6.35320670e-04 9.99967863e-01 2.43176195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:1.22, Z:0.24 [[ 9.99439512e-01 3.25010209e-02 -8.02158925e-03 4.15945634e+01] [-3.25048813e-02 9.99471515e-01 -3.51309576e-04 1.22246114e+00] [ 8.00593204e-03 6.11853477e-04 9.99967765e-01 2.43465736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:1.22, Z:0.24 [[ 9.99514666e-01 3.02957510e-02 -7.25252133e-03 4.16221417e+01] [-3.02750947e-02 9.99537277e-01 2.94121702e-03 1.22013627e+00] [ 7.33827180e-03 -2.72021877e-03 9.99969375e-01 2.43736047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:1.23, Z:0.24 [[ 9.99566793e-01 2.74124018e-02 -1.07138089e-02 4.16524907e+01] [-2.74540805e-02 9.99615984e-01 -3.76264186e-03 1.22525194e+00] [ 1.06065515e-02 4.05514963e-03 9.99935526e-01 2.42102626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:1.22, Z:0.24 [[ 9.99641496e-01 2.40965695e-02 -1.16719910e-02 4.16805609e+01] [-2.41041865e-02 9.99709321e-01 -5.12330642e-04 1.22044165e+00] [ 1.16562528e-02 7.93490817e-04 9.99931749e-01 2.42399290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:1.22, Z:0.24 [[ 9.99672548e-01 2.31438821e-02 -1.09159352e-02 4.17095146e+01] [-2.31504935e-02 9.99731876e-01 -4.79684181e-04 1.21952817e+00] [ 1.09019066e-02 7.32236394e-04 9.99940304e-01 2.43299849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:1.22, Z:0.24 [[ 9.99697992e-01 2.25440485e-02 -9.78211875e-03 4.17371359e+01] [-2.25493338e-02 9.99745639e-01 -4.30332520e-04 1.21800137e+00] [ 9.76992912e-03 6.50782817e-04 9.99952061e-01 2.44336704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:1.21, Z:0.25 [[ 9.99719347e-01 2.27925919e-02 -6.45942569e-03 4.17627347e+01] [-2.27573180e-02 9.99725985e-01 5.48272192e-03 1.21103343e+00] [ 6.58262115e-03 -5.33418397e-03 9.99964107e-01 2.46505426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:1.22, Z:0.25 [[ 9.99737713e-01 2.14997507e-02 -7.89087061e-03 4.17930810e+01] [-2.15484091e-02 9.99748988e-01 -6.13407865e-03 1.21862792e+00] [ 7.75700875e-03 6.30250547e-03 9.99950052e-01 2.45275358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:1.20, Z:0.25 [[ 9.99783380e-01 2.02289941e-02 -4.89701306e-03 4.18188950e+01] [-2.02046721e-02 9.99783530e-01 4.96623882e-03 1.20245804e+00] [ 4.99641503e-03 -4.86622049e-03 9.99975678e-01 2.47598302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:1.21, Z:0.25 [[ 9.99809124e-01 1.82854453e-02 -6.88167317e-03 4.18514726e+01] [-1.83233639e-02 9.99817052e-01 -5.48795955e-03 1.20790139e+00] [ 6.78006440e-03 5.61300743e-03 9.99961262e-01 2.45200920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:1.20, Z:0.25 [[ 9.99825580e-01 1.73656298e-02 -6.87350353e-03 4.18797358e+01] [-1.73681261e-02 9.99849117e-01 -3.03651814e-04 1.20008621e+00] [ 6.86719333e-03 4.22978728e-04 9.99976331e-01 2.46021425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:1.20, Z:0.25 [[ 9.99832622e-01 1.66742478e-02 -7.52975027e-03 4.19085509e+01] [-1.66772273e-02 9.99860870e-01 -3.33085998e-04 1.19695819e+00] [ 7.52314870e-03 4.58605604e-04 9.99971596e-01 2.46338532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:1.19, Z:0.25 [[ 9.99801227e-01 1.67974855e-02 -1.07401307e-02 4.19367620e+01] [-1.68035619e-02 9.99858697e-01 -4.75772691e-04 1.18942533e+00] [ 1.07306213e-02 6.56150572e-04 9.99942210e-01 2.46134867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:1.19, Z:0.25 [[ 9.99775983e-01 1.74782728e-02 -1.19370628e-02 4.19648238e+01] [-1.74858372e-02 9.99846971e-01 -5.29605467e-04 1.18590303e+00] [ 1.19259795e-02 7.38216363e-04 9.99928610e-01 2.45785666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.091400512999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:41.99, Y:1.18, Z:0.25 [[ 9.99755677e-01 1.81156691e-02 -1.26652626e-02 4.19921397e+01] [-1.81242482e-02 9.99835584e-01 -5.62910659e-04 1.18154515e+00] [ 1.26529827e-02 7.92321491e-04 9.99919634e-01 2.47519755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:1.18, Z:0.25 [[ 9.99747983e-01 1.90357075e-02 -1.19001381e-02 4.20206668e+01] [-1.90433563e-02 9.99818519e-01 -5.29757326e-04 1.18066661e+00] [ 1.18878941e-02 7.56242388e-04 9.99929051e-01 2.47253207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:1.18, Z:0.25 [[ 9.99754528e-01 2.05536664e-02 -8.27223948e-03 4.20445365e+01] [-2.05198316e-02 9.99780814e-01 4.15446351e-03 1.17631080e+00] [ 8.35581578e-03 -3.98369875e-03 9.99957154e-01 2.47929388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:1.18, Z:0.25 [[ 9.99679894e-01 2.29668572e-02 -1.06128519e-02 4.20759589e+01] [-2.30214123e-02 9.99722232e-01 -5.04720811e-03 1.18251610e+00] [ 1.04939855e-02 5.28991531e-03 9.99930944e-01 2.47533129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:1.18, Z:0.25 [[ 9.99623613e-01 2.52911108e-02 -1.06297697e-02 4.21055116e+01] [-2.52975887e-02 9.99679852e-01 -4.75371265e-04 1.17816365e+00] [ 1.06143439e-02 7.44099883e-04 9.99943389e-01 2.48912546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:1.18, Z:0.25 [[ 9.99562644e-01 2.75872897e-02 -1.06518323e-02 4.21347176e+01] [-2.75939293e-02 9.99619101e-01 -4.76836293e-04 1.17752666e+00] [ 1.06346204e-02 7.70553652e-04 9.99943154e-01 2.49742535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:1.18, Z:0.24 [[ 9.99539035e-01 3.00848213e-02 -4.07679865e-03 4.21606882e+01] [-3.01165848e-02 9.99514636e-01 -7.96773118e-03 1.18462771e+00] [ 3.83511215e-03 8.08683759e-03 9.99959947e-01 2.41128878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:1.17, Z:0.25 [[ 9.99428096e-01 3.19433196e-02 -1.10952712e-02 4.21933979e+01] [-3.18642429e-02 9.99466040e-01 7.23223296e-03 1.17212147e+00] [ 1.13203683e-02 -6.87455441e-03 9.99912291e-01 2.51268379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:1.18, Z:0.25 [[ 9.99381851e-01 3.31526669e-02 -1.16968263e-02 4.22216055e+01] [-3.31610643e-02 9.99449883e-01 -5.24655282e-04 1.17953965e+00] [ 1.16729980e-02 9.12210177e-04 9.99931452e-01 2.49858968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:1.18, Z:0.25 [[ 9.99348976e-01 3.48273229e-02 -9.41709550e-03 4.22473792e+01] [-3.48042146e-02 9.99390750e-01 2.60676566e-03 1.17739696e+00] [ 9.50214481e-03 -2.27731398e-03 9.99952260e-01 2.49172980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:1.18, Z:0.25 [[ 9.99292645e-01 3.49571954e-02 -1.38637911e-02 4.22803772e+01] [-3.50118702e-02 9.99379970e-01 -3.72073672e-03 1.18234601e+00] [ 1.37251287e-02 4.20350209e-03 9.99896970e-01 2.50157277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:1.18, Z:0.25 [[ 9.99302664e-01 3.52137367e-02 -1.24168933e-02 4.23078225e+01] [-3.52233539e-02 9.99379310e-01 -5.56626626e-04 1.18099338e+00] [ 1.23895853e-02 9.93603097e-04 9.99922752e-01 2.51084430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:1.18, Z:0.25 [[ 9.99333765e-01 3.48270541e-02 -1.09133664e-02 4.23366449e+01] [-3.48344658e-02 9.99392976e-01 -4.89731956e-04 1.18269851e+00] [ 1.08896858e-02 8.69566968e-04 9.99940328e-01 2.51044525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:1.18, Z:0.25 [[ 9.99360183e-01 3.41987007e-02 -1.04724961e-02 4.23658235e+01] [-3.42054950e-02 9.99414710e-01 -4.70292655e-04 1.18380418e+00] [ 1.04502833e-02 8.28208668e-04 9.99945051e-01 2.50799491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:1.18, Z:0.25 [[ 9.99385930e-01 3.32489818e-02 -1.10574664e-02 4.23951916e+01] [-3.32565014e-02 9.99446726e-01 -4.96818883e-04 1.18425834e+00] [ 1.10348298e-02 8.64246447e-04 9.99938741e-01 2.50236780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:1.18, Z:0.25 [[ 9.99408980e-01 3.21044447e-02 -1.22880552e-02 4.24235068e+01] [-3.21136498e-02 9.99484071e-01 -5.52482236e-04 1.18438018e+00] [ 1.22639783e-02 9.46770009e-04 9.99924346e-01 2.49929914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:1.18, Z:0.25 [[ 9.99442751e-01 3.05580843e-02 -1.34309957e-02 4.24521993e+01] [-3.05689503e-02 9.99532478e-01 -6.04429550e-04 1.18476887e+00] [ 1.34062462e-02 1.01466417e-03 9.99909617e-01 2.49569773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:1.18, Z:0.25 [[ 9.99505678e-01 2.85129626e-02 -1.32442430e-02 4.24803847e+01] [-2.85233589e-02 9.99592948e-01 -5.96697870e-04 1.18482826e+00] [ 1.32218383e-02 9.74173205e-04 9.99912113e-01 2.51524491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:1.19, Z:0.25 [[ 9.99523203e-01 2.84538180e-02 -1.19894719e-02 4.25092856e+01] [-2.84623400e-02 9.99594719e-01 -5.40729511e-04 1.18599445e+00] [ 1.19692270e-02 8.81720119e-04 9.99927977e-01 2.52872511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:1.19, Z:0.25 [[ 9.99474923e-01 3.07360123e-02 -1.02555739e-02 4.25385228e+01] [-3.07423713e-02 9.99527234e-01 -4.62950882e-04 1.18868574e+00] [ 1.02364962e-02 7.77988459e-04 9.99947303e-01 2.53381981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:1.19, Z:0.25 [[ 9.99394051e-01 3.31778025e-02 -1.05244938e-02 4.25661555e+01] [-3.31846396e-02 9.99449125e-01 -4.75621109e-04 1.19074146e+00] [ 1.05029161e-02 8.24584441e-04 9.99944503e-01 2.52979595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:1.19, Z:0.25 [[ 9.99287312e-01 3.59871905e-02 -1.13925461e-02 4.25948875e+01] [-3.59953901e-02 9.99351823e-01 -5.15440404e-04 1.19238454e+00] [ 1.13666125e-02 9.25152198e-04 9.99934970e-01 2.52317660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:1.19, Z:0.25 [[ 9.99179147e-01 3.87696016e-02 -1.17452150e-02 4.26232698e+01] [-3.87785138e-02 9.99247689e-01 -5.31923597e-04 1.19373292e+00] [ 1.17157565e-02 9.86948949e-04 9.99930881e-01 2.52297991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:1.20, Z:0.25 [[ 9.99081587e-01 4.11398286e-02 -1.19789861e-02 4.26523343e+01] [-4.11492747e-02 9.99152862e-01 -5.43042708e-04 1.19574149e+00] [ 1.19464976e-02 1.03547056e-03 9.99928102e-01 2.53117474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:1.20, Z:0.25 [[ 9.98980172e-01 4.37418127e-02 -1.11923743e-02 4.26808247e+01] [-4.37502262e-02 9.99042371e-01 -5.07859768e-04 1.20187888e+00] [ 1.11594414e-02 9.97010743e-04 9.99937234e-01 2.53194733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:1.20, Z:0.25 [[ 9.98980652e-01 4.37308595e-02 -1.11923605e-02 4.27109594e+01] [-4.37392756e-02 9.99042851e-01 -5.08162479e-04 1.20328314e+00] [ 1.11594254e-02 9.97190226e-04 9.99937234e-01 2.53359386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:1.21, Z:0.25 [[ 9.98985964e-01 4.36206594e-02 -1.11481415e-02 4.27403491e+01] [-4.36290044e-02 9.99047673e-01 -5.06339555e-04 1.20678738e+00] [ 1.11154380e-02 9.92208425e-04 9.99937729e-01 2.53036130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:1.21, Z:0.25 [[ 9.99011412e-01 4.28624323e-02 -1.17903020e-02 4.27698332e+01] [-4.28717172e-02 9.99080442e-01 -5.35772664e-04 1.20920895e+00] [ 1.17564957e-02 1.04071350e-03 9.99930348e-01 2.52457780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:1.21, Z:0.25 [[ 9.99046114e-01 4.17836425e-02 -1.26881215e-02 4.27994021e+01] [-4.17943128e-02 9.99126069e-01 -5.76867012e-04 1.21111166e+00] [ 1.26529294e-02 1.10660807e-03 9.99919336e-01 2.52093216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:1.21, Z:0.25 [[ 9.99093534e-01 4.04162032e-02 -1.33656853e-02 4.28274893e+01] [-4.04279301e-02 9.99182272e-01 -6.08254472e-04 1.21329410e+00] [ 1.33301724e-02 1.14805010e-03 9.99910490e-01 2.52089935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:1.22, Z:0.25 [[ 9.99142572e-01 3.88144664e-02 -1.44068444e-02 4.28551261e+01] [-3.88279383e-02 9.99245696e-01 -6.56472585e-04 1.21653165e+00] [ 1.43704966e-02 1.21529777e-03 9.99896001e-01 2.51873929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:1.22, Z:0.25 [[ 9.99146214e-01 3.86032753e-02 -1.47183516e-02 4.28825265e+01] [-3.86173254e-02 9.99253847e-01 -6.71485504e-04 1.21774708e+00] [ 1.46814479e-02 1.23929557e-03 9.99891454e-01 2.52031218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.91, Y:1.22, Z:0.25 [[ 9.99158850e-01 3.81725540e-02 -1.49815807e-02 4.29111478e+01] [-3.81870740e-02 9.99270373e-01 -6.84215842e-04 1.21887458e+00] [ 1.49445314e-02 1.25574304e-03 9.99887536e-01 2.52443258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:1.22, Z:0.25 [[ 9.99162852e-01 3.80949899e-02 -1.49119826e-02 4.29396573e+01] [-3.81093765e-02 9.99273341e-01 -6.81695158e-04 1.22083562e+00] [ 1.48751775e-02 1.24941084e-03 9.99888578e-01 2.52879400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:1.23, Z:0.25 [[ 9.99154528e-01 3.90542719e-02 -1.28449348e-02 4.29679856e+01] [-3.90650317e-02 9.99236497e-01 -5.87738571e-04 1.22732465e+00] [ 1.28121739e-02 1.08902944e-03 9.99917328e-01 2.53022793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:1.25, Z:0.24 [[ 9.99157152e-01 4.03149411e-02 -7.72603968e-03 4.29947435e+01] [-4.04256811e-02 9.99073562e-01 -1.47574379e-02 1.24500715e+00] [ 7.12393674e-03 1.50573300e-02 9.99861254e-01 2.43273517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:1.22, Z:0.26 [[ 9.99086564e-01 4.10619024e-02 -1.18303871e-02 4.30258295e+01] [-4.08968791e-02 9.99067115e-01 1.38688562e-02 1.22253993e+00] [ 1.23888324e-02 -1.33723620e-02 9.99833835e-01 2.56390321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201400512999996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:43.05, Y:1.24, Z:0.25 [[ 9.99101146e-01 4.07598360e-02 -1.16419936e-02 4.30539055e+01] [-4.07688046e-02 9.99168464e-01 -5.33992542e-04 1.23952575e+00] [ 1.16105474e-02 1.00814272e-03 9.99932087e-01 2.53617609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:1.25, Z:0.25 [[ 9.99039839e-01 4.16404785e-02 -1.36187428e-02 4.30817181e+01] [-4.16528430e-02 9.99131948e-01 -6.25399733e-04 1.24878901e+00] [ 1.35808791e-02 1.19205860e-03 9.99907065e-01 2.54323348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:1.25, Z:0.25 [[ 9.99042969e-01 4.15108557e-02 -1.37838592e-02 4.31102007e+01] [-4.15235191e-02 9.99137326e-01 -6.33669969e-04 1.25436253e+00] [ 1.37456641e-02 1.20541787e-03 9.99904797e-01 2.53715674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:1.26, Z:0.25 [[ 9.99054801e-01 4.12441412e-02 -1.37268182e-02 4.31381433e+01] [-4.12566848e-02 9.99148381e-01 -6.31765026e-04 1.25936930e+00] [ 1.36890716e-02 1.19749089e-03 9.99905583e-01 2.53806231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:1.26, Z:0.25 [[ 9.99096163e-01 4.04399070e-02 -1.30946671e-02 4.31662839e+01] [-4.04512616e-02 9.99181331e-01 -6.03314230e-04 1.26488196e+00] [ 1.30595490e-02 1.13246474e-03 9.99914079e-01 2.54205734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:1.28, Z:0.25 [[ 9.99194550e-01 3.90062368e-02 -9.42150056e-03 4.31930095e+01] [-3.90995013e-02 9.99186016e-01 -9.92647030e-03 1.28438786e+00] [ 9.02663736e-03 1.02868510e-02 9.99906346e-01 2.47671342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:1.27, Z:0.26 [[ 9.99188593e-01 3.80853160e-02 -1.31021093e-02 4.32234070e+01] [-3.79739415e-02 9.99241318e-01 8.64686518e-03 1.27319473e+00] [ 1.34214875e-02 -8.14231032e-03 9.99876776e-01 2.56737083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:1.30, Z:0.25 [[ 9.99249294e-01 3.69924851e-02 -1.15066787e-02 4.32490147e+01] [-3.71441344e-02 9.99221978e-01 -1.32571641e-02 1.29715747e+00] [ 1.10073108e-02 1.36746175e-02 9.99845910e-01 2.48163636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:1.29, Z:0.25 [[ 9.99289536e-01 3.52559316e-02 -1.33207854e-02 4.32789078e+01] [-3.52306736e-02 9.99376945e-01 2.12613618e-03 1.28706869e+00] [ 1.33874447e-02 -1.65532540e-03 9.99909014e-01 2.51454601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:1.29, Z:0.26 [[ 9.99428876e-01 3.05448993e-02 -1.44544692e-02 4.33077950e+01] [-3.04193737e-02 9.99498257e-01 8.82586388e-03 1.28779194e+00] [ 1.47168019e-02 -8.38112732e-03 9.99856576e-01 2.58611960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:1.31, Z:0.25 [[ 9.99541978e-01 2.81805384e-02 -1.10313534e-02 4.33355342e+01] [-2.82735726e-02 9.99565175e-01 -8.37049866e-03 1.30811320e+00] [ 1.07906716e-02 8.67856056e-03 9.99904117e-01 2.51900090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:1.30, Z:0.26 [[ 9.99578024e-01 2.64349704e-02 -1.20401650e-02 4.33636876e+01] [-2.63487490e-02 9.99626416e-01 7.26438043e-03 1.29868206e+00] [ 1.22277006e-02 -6.94407175e-03 9.99901127e-01 2.58327459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:1.31, Z:0.26 [[ 9.99628775e-01 2.51952891e-02 -1.03686682e-02 4.33914514e+01] [-2.52016166e-02 9.99682274e-01 -4.80026198e-04 1.30910555e+00] [ 1.03532794e-02 7.41155202e-04 9.99946129e-01 2.57463172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:1.31, Z:0.26 [[ 9.99649819e-01 2.47814804e-02 -9.28000281e-03 4.34204720e+01] [-2.47865353e-02 9.99692674e-01 -4.30074107e-04 1.31486147e+00] [ 9.26649296e-03 6.59942621e-04 9.99956847e-01 2.57626145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:1.33, Z:0.25 [[ 9.99652146e-01 2.54624611e-02 -6.87393911e-03 4.34474408e+01] [-2.55491465e-02 9.99591206e-01 -1.28320794e-02 1.33083358e+00] [ 6.54439276e-03 1.30032390e-02 9.99894038e-01 2.50677700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:1.31, Z:0.26 [[ 9.99606557e-01 2.63782359e-02 -9.53516030e-03 4.34769323e+01] [-2.62626755e-02 9.99582472e-01 1.20480029e-02 1.31337762e+00] [ 9.84898416e-03 -1.17928438e-02 9.99881956e-01 2.59567715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:1.33, Z:0.26 [[ 9.99578460e-01 2.75621626e-02 -9.12297712e-03 4.35046304e+01] [-2.75671693e-02 9.99619864e-01 -4.23480252e-04 1.32851418e+00] [ 9.10783711e-03 6.74796393e-04 9.99958295e-01 2.57936476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:1.33, Z:0.26 [[ 9.99541076e-01 2.87525290e-02 -9.53574654e-03 4.35327652e+01] [-2.87580574e-02 9.99586303e-01 -4.43118884e-04 1.33239796e+00] [ 9.51906085e-03 7.17145072e-04 9.99954436e-01 2.57972082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741400512999995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:43.56, Y:1.34, Z:0.26 [[ 9.99528252e-01 2.89557523e-02 -1.02390616e-02 4.35615115e+01] [-2.89621427e-02 9.99580396e-01 -4.76363595e-04 1.33665685e+00] [ 1.02209718e-02 7.72684035e-04 9.99947466e-01 2.56875390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:1.35, Z:0.25 [[ 9.99499428e-01 3.03817192e-02 -8.82295902e-03 4.35896065e+01] [-3.04786150e-02 9.99474187e-01 -1.10636551e-02 1.34939229e+00] [ 8.48218692e-03 1.13270285e-02 9.99899870e-01 2.51655802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:1.34, Z:0.26 [[ 9.99466406e-01 3.02002507e-02 -1.24438080e-02 4.36182109e+01] [-3.00759125e-02 9.99496983e-01 1.00608510e-02 1.33572471e+00] [ 1.27413887e-02 -9.68122376e-03 9.99871957e-01 2.58554560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:1.36, Z:0.25 [[ 9.99539770e-01 2.87377160e-02 -9.71559153e-03 4.36451940e+01] [-2.88480651e-02 9.99518625e-01 -1.14152588e-02 1.35842203e+00] [ 9.38286622e-03 1.16902812e-02 9.99887643e-01 2.50894316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:1.34, Z:0.26 [[ 9.99574959e-01 2.67912058e-02 -1.14948809e-02 4.36751190e+01] [-2.66736317e-02 9.99591515e-01 1.02626233e-02 1.34189726e+00] [ 1.17651335e-02 -9.95165106e-03 9.99881266e-01 2.57972286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:1.36, Z:0.25 [[ 9.99740841e-01 2.05759544e-02 -9.74064952e-03 4.37029703e+01] [-2.06933882e-02 9.99712490e-01 -1.21128122e-02 1.36231243e+00] [ 9.48861632e-03 1.23112401e-02 9.99879192e-01 2.50584814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:1.35, Z:0.25 [[ 9.99800918e-01 1.69536814e-02 -1.05212540e-02 4.37306837e+01] [-1.69447094e-02 9.99855985e-01 9.41318914e-04 1.35099769e+00] [ 1.05356976e-02 -7.62851924e-04 9.99944207e-01 2.52353097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:1.34, Z:0.26 [[ 9.99833159e-01 1.36544521e-02 -1.21329936e-02 4.37601927e+01] [-1.35344838e-02 9.99859241e-01 9.91547597e-03 1.34356296e+00] [ 1.22666762e-02 -9.74960786e-03 9.99877229e-01 2.58926113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:1.35, Z:0.26 [[ 9.99862739e-01 1.16511497e-02 -1.17793719e-02 4.37879576e+01] [-1.16584591e-02 9.99931885e-01 -5.52050428e-04 1.35313566e+00] [ 1.17721375e-02 6.89303979e-04 9.99930468e-01 2.59196100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:1.35, Z:0.26 [[ 9.99844993e-01 1.27862725e-02 -1.21037682e-02 4.38159029e+01] [-1.27940833e-02 9.99917991e-01 -5.68101609e-04 1.35448925e+00] [ 1.20955117e-02 7.22870167e-04 9.99926585e-01 2.59432685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:1.36, Z:0.26 [[ 9.99807420e-01 1.47569833e-02 -1.29365831e-02 4.38424571e+01] [-1.47660857e-02 9.99890790e-01 -6.08385069e-04 1.35592133e+00] [ 1.29261924e-02 7.99290602e-04 9.99916134e-01 2.58814812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:1.36, Z:0.26 [[ 9.99761741e-01 1.71811684e-02 -1.34635955e-02 4.38704567e+01] [-1.71912626e-02 9.99852018e-01 -6.34360476e-04 1.35826463e+00] [ 1.34507041e-02 8.65665540e-04 9.99909160e-01 2.58574209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:1.37, Z:0.26 [[ 9.99728279e-01 1.97396185e-02 -1.23982239e-02 4.38987762e+01] [-1.98094733e-02 9.99788441e-01 -5.53694004e-03 1.36581208e+00] [ 1.22863038e-02 5.78103783e-03 9.99907809e-01 2.55323097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:1.37, Z:0.25 [[ 9.99655949e-01 2.47684192e-02 -8.63190617e-03 4.39241951e+01] [-2.48193543e-02 9.99674868e-01 -5.84447557e-03 1.37308648e+00] [ 8.48434124e-03 6.05670311e-03 9.99945665e-01 2.54658833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:1.36, Z:0.26 [[ 9.99594458e-01 2.68023050e-02 -9.62058441e-03 4.39539726e+01] [-2.67078884e-02 9.99595126e-01 9.81189887e-03 1.36424945e+00] [ 9.87967078e-03 -9.55097424e-03 9.99905581e-01 2.61014063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:1.39, Z:0.26 [[ 9.99550457e-01 2.90987327e-02 -7.22134093e-03 4.39801696e+01] [-2.91747116e-02 9.99517600e-01 -1.06491089e-02 1.38785983e+00] [ 6.90798178e-03 1.08550022e-02 9.99917221e-01 2.55921454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:1.38, Z:0.26 [[ 9.99489645e-01 3.09201759e-02 -8.02449153e-03 4.40093329e+01] [-3.08933958e-02 9.99516765e-01 3.44008781e-03 1.38178344e+00] [ 8.12698194e-03 -3.19042835e-03 9.99961886e-01 2.58916124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:1.39, Z:0.26 [[ 9.99409416e-01 3.34151268e-02 -8.01554296e-03 4.40366423e+01] [-3.33685150e-02 9.99425818e-01 5.88011929e-03 1.39108973e+00] [ 8.20742551e-03 -5.60917982e-03 9.99950586e-01 2.62613478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:1.40, Z:0.26 [[ 9.99413614e-01 3.35963081e-02 -6.61177386e-03 4.40645944e+01] [-3.35991100e-02 9.99435341e-01 -3.13119889e-04 1.40148999e+00] [ 6.59752079e-03 5.35085997e-04 9.99978093e-01 2.62313293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:1.40, Z:0.26 [[ 9.99443447e-01 3.28158778e-02 -5.99282620e-03 4.40925940e+01] [-3.28181671e-02 9.99461299e-01 -2.84044005e-04 1.40487995e+00] [ 5.98027670e-03 4.80559491e-04 9.99982003e-01 2.62486373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:1.41, Z:0.26 [[ 9.99506052e-01 3.07903416e-02 -6.29347900e-03 4.41216486e+01] [-3.07928291e-02 9.99525744e-01 -2.98706728e-04 1.40772990e+00] [ 6.28129700e-03 4.92353205e-04 9.99980151e-01 2.62128452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.15, Y:1.41, Z:0.26 [[ 9.99655396e-01 2.49878919e-02 -8.04329037e-03 4.41505202e+01] [-2.49917718e-02 9.99687584e-01 -3.82208632e-04 1.41417226e+00] [ 8.03122692e-03 5.83092998e-04 9.99967579e-01 2.59477968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:1.42, Z:0.26 [[ 9.99707062e-01 2.24320674e-02 -9.08800045e-03 4.41778190e+01] [-2.24369201e-02 9.99748167e-01 -4.32346106e-04 1.41820641e+00] [ 9.07601338e-03 6.36126195e-04 9.99958610e-01 2.60198449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:1.42, Z:0.26 [[ 9.99755249e-01 2.01884710e-02 -9.04804099e-03 4.42050840e+01] [-2.01931944e-02 9.99796004e-01 -4.30969638e-04 1.42113332e+00] [ 9.03749461e-03 6.13573008e-04 9.99958973e-01 2.60361961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:1.43, Z:0.26 [[ 9.99792185e-01 1.86737068e-02 -8.17797110e-03 4.42325108e+01] [-1.87324674e-02 9.99798833e-01 -7.16854875e-03 1.42871917e+00] [ 8.04246259e-03 7.32025259e-03 9.99940865e-01 2.58381163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:1.42, Z:0.26 [[ 9.99786764e-01 1.85721184e-02 -9.02794343e-03 4.42604074e+01] [-1.85152500e-02 9.99808461e-01 6.34244875e-03 1.41679333e+00] [ 9.14400694e-03 -6.17394168e-03 9.99939133e-01 2.61525200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:1.42, Z:0.26 [[ 9.99774096e-01 1.90122473e-02 -9.50222013e-03 4.42884886e+01] [-1.90174210e-02 9.99819049e-01 -4.54408992e-04 1.42373809e+00] [ 9.49186136e-03 6.35014060e-04 9.99954750e-01 2.60594958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:1.43, Z:0.26 [[ 9.99760918e-01 1.95818345e-02 -9.72927960e-03 4.43169251e+01] [-1.95872904e-02 9.99808042e-01 -4.65794999e-04 1.42527856e+00] [ 9.71829087e-03 6.56253861e-04 9.99952561e-01 2.59971339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:1.43, Z:0.26 [[ 9.99747919e-01 2.01357133e-02 -9.93232988e-03 4.43444255e+01] [-2.01414331e-02 9.99797027e-01 -4.76178357e-04 1.42674732e+00] [ 9.92072570e-03 6.76109679e-04 9.99950560e-01 2.59747174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:1.43, Z:0.26 [[ 9.99749510e-01 2.02891675e-02 -9.44816699e-03 4.43726188e+01] [-2.02943550e-02 9.99793946e-01 -4.53490295e-04 1.42807107e+00] [ 9.43701921e-03 6.45121155e-04 9.99955262e-01 2.59428699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:1.44, Z:0.26 [[ 9.99740128e-01 2.06368789e-02 -9.68484827e-03 4.44007033e+01] [-2.07424215e-02 9.99725141e-01 -1.09268067e-02 1.43788915e+00] [ 9.45669111e-03 1.11248543e-02 9.99893399e-01 2.57573985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:1.42, Z:0.26 [[ 9.99714212e-01 2.08250711e-02 -1.17392913e-02 4.44294405e+01] [-2.07095401e-02 9.99736730e-01 9.87853058e-03 1.41993097e+00] [ 1.19419218e-02 -9.63259209e-03 9.99882295e-01 2.60926409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:1.43, Z:0.26 [[ 9.99699934e-01 2.10101216e-02 -1.25943078e-02 4.44563820e+01] [-2.10194306e-02 9.99778883e-01 -6.07214724e-04 1.42937753e+00] [ 1.25787654e-02 8.71757699e-04 9.99920504e-01 2.59705853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:1.43, Z:0.26 [[ 9.99701115e-01 2.09538973e-02 -1.25942661e-02 4.44848408e+01] [-2.09632127e-02 9.99780063e-01 -6.08079083e-04 1.43086994e+00] [ 1.25787546e-02 8.71913616e-04 9.99920504e-01 2.59895885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.51, Y:1.43, Z:0.26 [[ 9.99675237e-01 2.19079829e-02 -1.30177306e-02 4.45113943e+01] [-2.19180273e-02 9.99759573e-01 -6.29412213e-04 1.43135926e+00] [ 1.30008116e-02 9.14530778e-04 9.99915068e-01 2.59209049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:1.43, Z:0.26 [[ 9.99616119e-01 2.55599017e-02 -1.06914249e-02 4.45393746e+01] [-2.55668921e-02 9.99672980e-01 -5.17641420e-04 1.43275813e+00] [ 1.06746977e-02 7.90789214e-04 9.99942711e-01 2.60320044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:1.43, Z:0.26 [[ 9.99563918e-01 2.79173628e-02 -9.62260316e-03 4.45667011e+01] [-2.79231395e-02 9.99609964e-01 -4.66474099e-04 1.43419735e+00] [ 9.60582727e-03 7.34963968e-04 9.99953593e-01 2.61137260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:1.44, Z:0.26 [[ 9.99501740e-01 3.02009238e-02 -9.17469030e-03 4.45959190e+01] [-3.02062752e-02 9.99543587e-01 -4.45238925e-04 1.43501254e+00] [ 9.15705623e-03 7.22150301e-04 9.99957813e-01 2.61750380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.62, Y:1.44, Z:0.26 [[ 9.99448698e-01 3.18091043e-02 -9.51217364e-03 4.46232728e+01] [-3.18149336e-02 9.99493670e-01 -4.62099304e-04 1.43523970e+00] [ 9.49265838e-03 7.64473721e-04 9.99954651e-01 2.61965669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:1.44, Z:0.26 [[ 9.99409650e-01 3.27648883e-02 -1.03350229e-02 4.46511507e+01] [-3.27718270e-02 9.99462733e-01 -5.02688970e-04 1.43511913e+00] [ 1.03129997e-02 8.41089790e-04 9.99946466e-01 2.62037396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:1.44, Z:0.26 [[ 9.99419032e-01 3.25724287e-02 -1.00316775e-02 4.46804480e+01] [-3.25789614e-02 9.99469045e-01 -4.88444429e-04 1.43627956e+00] [ 1.00104413e-02 8.14982293e-04 9.99949562e-01 2.62467818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:1.44, Z:0.26 [[ 9.99430487e-01 3.24221249e-02 -9.35452811e-03 4.47085719e+01] [-3.24278030e-02 9.99473977e-01 -4.55914094e-04 1.43725830e+00] [ 9.33482571e-03 7.59001240e-04 9.99956142e-01 2.63060598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:1.44, Z:0.26 [[ 9.99436479e-01 3.24717148e-02 -8.50361418e-03 4.47361646e+01] [-3.24764124e-02 9.99472416e-01 -4.14891062e-04 1.43796600e+00] [ 8.48565559e-03 6.90824144e-04 9.99963758e-01 2.63537030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:1.44, Z:0.26 [[ 9.99408935e-01 3.31516409e-02 -9.09670822e-03 4.47644542e+01] [-3.31570492e-02 9.99450055e-01 -4.44326721e-04 1.43964316e+00] [ 9.07697537e-03 7.45684096e-04 9.99958525e-01 2.63216400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:1.44, Z:0.26 [[ 9.99372667e-01 3.42020348e-02 -9.19198423e-03 4.47925667e+01] [-3.42076053e-02 9.99414648e-01 -4.49429565e-04 1.44261182e+00] [ 9.17123228e-03 7.63583392e-04 9.99957652e-01 2.62415967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:1.45, Z:0.26 [[ 9.99316826e-01 3.55940599e-02 -9.94703991e-03 4.48212652e+01] [-3.56006573e-02 9.99365977e-01 -4.86920626e-04 1.44606570e+00] [ 9.92340178e-03 8.40709133e-04 9.99950408e-01 2.62378460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:1.45, Z:0.26 [[ 9.99234848e-01 3.73098205e-02 -1.17343464e-02 4.48495762e+01] [-3.73191263e-02 9.99303233e-01 -5.74994274e-04 1.45234429e+00] [ 1.17047173e-02 1.01246987e-03 9.99930985e-01 2.61879968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:1.46, Z:0.26 [[ 9.99250763e-01 3.67376496e-02 -1.21760864e-02 4.48763271e+01] [-3.67476364e-02 9.99324399e-01 -5.97405403e-04 1.45551547e+00] [ 1.21459130e-02 1.04440020e-03 9.99925690e-01 2.62128256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:1.46, Z:0.26 [[ 9.99316668e-01 3.51900333e-02 -1.13074316e-02 4.49043095e+01] [-3.51985567e-02 9.99380184e-01 -5.55599602e-04 1.45816282e+00] [ 1.12808715e-02 9.53225217e-04 9.99935915e-01 2.62254702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:1.46, Z:0.26 [[ 9.99410622e-01 3.30505433e-02 -9.27735432e-03 4.49319661e+01] [-3.30561943e-02 9.99453390e-01 -4.56399586e-04 1.45989791e+00] [ 9.25719897e-03 7.62804622e-04 9.99956860e-01 2.62503439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:1.46, Z:0.26 [[ 9.99502996e-01 3.06098551e-02 -7.53637689e-03 4.49593286e+01] [-3.06135184e-02 9.99531227e-01 -3.71174644e-04 1.46175958e+00] [ 7.52148244e-03 6.01705182e-04 9.99971532e-01 2.63186901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:1.46, Z:0.26 [[ 9.99575329e-01 2.82246384e-02 -7.24779185e-03 4.49882970e+01] [-2.82279670e-02 9.99601448e-01 -3.57354878e-04 1.46373090e+00] [ 7.23481702e-03 5.61793549e-04 9.99973671e-01 2.63171720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:1.47, Z:0.26 [[ 9.99686944e-01 2.33737638e-02 -8.92641584e-03 4.50174615e+01] [-2.33786249e-02 9.99726586e-01 -4.40596681e-04 1.46569434e+00] [ 8.91367682e-03 6.49146077e-04 9.99960062e-01 2.62285464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.05, Y:1.47, Z:0.26 [[ 9.99729040e-01 2.12577749e-02 -9.48435447e-03 4.50462337e+01] [-2.12631722e-02 9.99773803e-01 -4.68590507e-04 1.46640492e+00] [ 9.47224795e-03 6.70131000e-04 9.99954913e-01 2.61818300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:1.47, Z:0.26 [[ 9.99765069e-01 1.97267519e-02 -8.98125409e-03 4.50747392e+01] [-1.97315339e-02 9.99805216e-01 -4.44132175e-04 1.46665081e+00] [ 8.97074339e-03 6.21241753e-04 9.99959569e-01 2.61859948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:1.47, Z:0.26 [[ 9.99830275e-01 1.73061546e-02 -6.31801199e-03 4.51038110e+01] [-1.73084742e-02 9.99850148e-01 -3.12635068e-04 1.46678948e+00] [ 6.31165471e-03 4.21937153e-04 9.99979992e-01 2.63323863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:1.47, Z:0.26 [[ 9.99856904e-01 1.59229456e-02 -5.71237400e-03 4.51311401e+01] [-1.59248206e-02 9.99873152e-01 -2.82891955e-04 1.46819878e+00] [ 5.70714492e-03 3.73820005e-04 9.99983644e-01 2.63830140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451400512999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:45.16, Y:1.47, Z:0.26 [[ 9.99887253e-01 1.41146708e-02 -5.12410012e-03 4.51599371e+01] [-1.41161573e-02 9.99900330e-01 -2.54034600e-04 1.46948865e+00] [ 5.12000379e-03 3.26338561e-04 9.99986839e-01 2.62899892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:1.47, Z:0.26 [[ 9.99892735e-01 1.32883209e-02 -6.15953550e-03 4.51876420e+01] [-1.32904553e-02 9.99911631e-01 -3.05709305e-04 1.46947342e+00] [ 6.15492882e-03 3.87539544e-04 9.99980983e-01 2.63284338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:1.47, Z:0.26 [[ 9.99905536e-01 1.11964546e-02 -7.97239806e-03 4.52168731e+01] [-1.11999688e-02 9.99937200e-01 -3.96284179e-04 1.46873214e+00] [ 7.96746042e-03 4.85537354e-04 9.99968141e-01 2.63982908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:1.47, Z:0.26 [[ 9.99898705e-01 1.10707443e-02 -8.94531427e-03 4.52454126e+01] [-1.10751676e-02 9.99938569e-01 -4.45094353e-04 1.46903052e+00] [ 8.93983723e-03 5.44120122e-04 9.99959891e-01 2.64997565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:1.47, Z:0.27 [[ 9.99887832e-01 1.16264305e-02 -9.44194936e-03 4.52733280e+01] [-1.16313882e-02 9.99932243e-01 -4.70324933e-04 1.46867002e+00] [ 9.43584140e-03 5.80095156e-04 9.99955313e-01 2.65037225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:1.47, Z:0.27 [[ 9.99873278e-01 1.25624438e-02 -9.77821581e-03 4.53002009e+01] [-1.25678126e-02 9.99920903e-01 -4.87805513e-04 1.46742940e+00] [ 9.77131435e-03 6.10634482e-04 9.99952073e-01 2.65156614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:1.47, Z:0.27 [[ 9.99857049e-01 1.36356267e-02 -9.99751907e-03 4.53278362e+01] [-1.36413003e-02 9.99906828e-01 -4.99529609e-04 1.46670994e+00] [ 9.98977618e-03 6.35837361e-04 9.99949899e-01 2.65671974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:1.47, Z:0.27 [[ 9.99806049e-01 1.69048544e-02 -1.01040182e-02 4.53549201e+01] [-1.69108246e-02 9.99856874e-01 -5.05720991e-04 1.46703516e+00] [ 1.00940229e-02 6.76490184e-04 9.99948825e-01 2.65761560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:1.47, Z:0.27 [[ 9.99762998e-01 1.94668380e-02 -9.74628268e-03 4.53821422e+01] [-1.94725237e-02 9.99810273e-01 -4.88805472e-04 1.46884156e+00] [ 9.73491805e-03 6.78474344e-04 9.99952384e-01 2.65904328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:1.47, Z:0.27 [[ 9.99690876e-01 2.29453684e-02 -9.57404508e-03 4.54103499e+01] [-2.29510205e-02 9.99736475e-01 -4.80891708e-04 1.47066281e+00] [ 9.56048784e-03 7.00477158e-04 9.99954052e-01 2.66621424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:1.47, Z:0.27 [[ 9.99495665e-01 3.04732126e-02 -8.93301690e-03 4.54384179e+01] [-3.04784372e-02 9.99535324e-01 -4.49280638e-04 1.47423013e+00] [ 8.91517491e-03 7.21318445e-04 9.99959999e-01 2.67469630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:1.48, Z:0.27 [[ 9.99397273e-01 3.36422560e-02 -8.56095933e-03 4.54665670e+01] [-3.36471748e-02 9.99433681e-01 -4.31142652e-04 1.47691937e+00] [ 8.54160648e-03 7.18934885e-04 9.99963261e-01 2.67970290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:1.48, Z:0.27 [[ 9.99323199e-01 3.58321139e-02 -8.31884280e-03 4.54956546e+01] [-3.58368379e-02 9.99357566e-01 -4.19455305e-04 1.47919802e+00] [ 8.29846853e-03 7.17292438e-04 9.99965310e-01 2.68197345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:1.48, Z:0.27 [[ 9.99272940e-01 3.71819424e-02 -8.43175856e-03 4.55240295e+01] [-3.71868465e-02 9.99308239e-01 -4.25542515e-04 1.48092664e+00] [ 8.41010330e-03 7.38783631e-04 9.99964362e-01 2.68070667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:1.48, Z:0.27 [[ 9.99242051e-01 3.78803292e-02 -8.96678762e-03 4.55520216e+01] [-3.78859076e-02 9.99281969e-01 -4.53017086e-04 1.48311311e+00] [ 8.94318875e-03 7.92388609e-04 9.99959695e-01 2.67727039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.58, Y:1.49, Z:0.27 [[ 9.99267806e-01 3.73175794e-02 -8.44101204e-03 4.55797688e+01] [-3.73225071e-02 9.99303181e-01 -4.26946600e-04 1.48553873e+00] [ 8.41919758e-03 7.41673723e-04 9.99964283e-01 2.67251785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:1.49, Z:0.27 [[ 9.99296990e-01 3.66987867e-02 -7.66325760e-03 4.56076992e+01] [-3.67028331e-02 9.99326149e-01 -3.88011953e-04 1.48810491e+00] [ 7.64385413e-03 6.69002442e-04 9.99970562e-01 2.67942416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:1.49, Z:0.27 [[ 9.99365613e-01 3.50457631e-02 -6.33771204e-03 4.56364744e+01] [-3.50484996e-02 9.99385561e-01 -3.21194078e-04 1.49086628e+00] [ 6.32256141e-03 5.43117615e-04 9.99979865e-01 2.68370404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991400512999995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.66, Y:1.49, Z:0.27 [[ 9.99527460e-01 3.03559850e-02 -4.83426929e-03 4.56639087e+01] [-3.03575232e-02 9.99539074e-01 -2.45115123e-04 1.49409677e+00] [ 4.82460034e-03 3.91755738e-04 9.99988285e-01 2.68149210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.69, Y:1.50, Z:0.27 [[ 9.99575614e-01 2.84667192e-02 -6.18361047e-03 4.56936953e+01] [-2.84692034e-02 9.99594621e-01 -3.14072584e-04 1.49604149e+00] [ 6.17216315e-03 4.89981760e-04 9.99980832e-01 2.68510930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.72, Y:1.50, Z:0.27 [[ 9.99615958e-01 2.66161316e-02 -7.71482156e-03 4.57216184e+01] [-2.66199457e-02 9.99645550e-01 -3.92107220e-04 1.49786590e+00] [ 7.70165066e-03 5.97324765e-04 9.99970163e-01 2.68213692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:1.50, Z:0.27 [[ 9.99704862e-01 2.28774579e-02 -8.17383088e-03 4.57499310e+01] [-2.28816191e-02 9.99738095e-01 -4.15928510e-04 1.50009678e+00] [ 8.16217472e-03 6.02836239e-04 9.99966507e-01 2.68764859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:1.50, Z:0.27 [[ 9.99762143e-01 2.06454162e-02 -7.03021302e-03 4.57781333e+01] [-2.06484415e-02 9.99786734e-01 -3.58018105e-04 1.50236796e+00] [ 7.02132228e-03 5.03095891e-04 9.99975224e-01 2.69489824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:1.50, Z:0.27 [[ 9.99808368e-01 1.86377971e-02 -5.98833343e-03 4.58065535e+01] [-1.86399581e-02 9.99826214e-01 -3.05251834e-04 1.50452121e+00] [ 5.98160352e-03 4.16815622e-04 9.99982023e-01 2.69919317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:1.51, Z:0.27 [[ 9.99837419e-01 1.72063928e-02 -5.39219906e-03 4.58350472e+01] [-1.72081254e-02 9.99851891e-01 -2.75087893e-04 1.50638894e+00] [ 5.38666716e-03 3.67832807e-04 9.99985424e-01 2.70523897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:1.51, Z:0.27 [[ 9.99849334e-01 1.64519234e-02 -5.53562449e-03 4.58623880e+01] [-1.64537393e-02 9.99864588e-01 -2.82665406e-04 1.50874365e+00] [ 5.53022451e-03 3.73704540e-04 9.99984638e-01 2.70011401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:45.89, Y:1.51, Z:0.27 [[ 9.99835745e-01 1.69617536e-02 -6.38600964e-03 4.58898680e+01] [-1.69641836e-02 9.99856045e-01 -3.26531684e-04 1.51128114e+00] [ 6.37955179e-03 4.34811490e-04 9.99979556e-01 2.68977673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:1.51, Z:0.27 [[ 9.99794108e-01 1.86669184e-02 -7.95539365e-03 4.59188398e+01] [-1.86707476e-02 9.99825603e-01 -4.07331191e-04 1.51333305e+00] [ 7.94640264e-03 5.55780471e-04 9.99968272e-01 2.69573240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:1.52, Z:0.27 [[ 9.99759890e-01 2.01051657e-02 -8.71463676e-03 4.59464699e+01] [-2.01098193e-02 9.99797677e-01 -4.46692896e-04 1.51599777e+00] [ 8.70389276e-03 6.21835411e-04 9.99961927e-01 2.69737234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:1.52, Z:0.27 [[ 9.99681862e-01 2.34484745e-02 -9.29213326e-03 4.59744312e+01] [-2.34539150e-02 9.99724805e-01 -4.76940258e-04 1.52225974e+00] [ 9.27839259e-03 6.94725429e-04 9.99956713e-01 2.69939558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:1.53, Z:0.27 [[ 9.99625584e-01 2.56502702e-02 -9.52654704e-03 4.60022540e+01] [-2.56560942e-02 9.99670708e-01 -4.89618144e-04 1.52620003e+00] [ 9.51085119e-03 7.33848812e-04 9.99954502e-01 2.69803000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:1.53, Z:0.27 [[ 9.99562863e-01 2.80037934e-02 -9.48001705e-03 4.60299251e+01] [-2.80096713e-02 9.99607533e-01 -4.87812745e-04 1.53011453e+00] [ 9.46263585e-03 7.53131666e-04 9.99954945e-01 2.70444728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:1.54, Z:0.27 [[ 9.99446092e-01 3.21736370e-02 -8.50679135e-03 4.60569817e+01] [-3.21785246e-02 9.99482041e-01 -4.38266011e-04 1.53721258e+00] [ 8.48828457e-03 7.11759246e-04 9.99963721e-01 2.71270795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:1.54, Z:0.27 [[ 9.99414044e-01 3.32488949e-02 -8.12893987e-03 4.60852697e+01] [-3.32533968e-02 9.99446865e-01 -4.19240284e-04 1.54152087e+00] [ 8.11050419e-03 6.89309491e-04 9.99966872e-01 2.71439619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:1.54, Z:0.27 [[ 9.99425194e-01 3.28963740e-02 -8.19211491e-03 4.61131088e+01] [-3.29009376e-02 9.99458528e-01 -4.22896006e-04 1.54484267e+00] [ 8.17376736e-03 6.92181185e-04 9.99966355e-01 2.71551109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:1.55, Z:0.27 [[ 9.99570457e-01 2.80539848e-02 -8.47795082e-03 4.61418203e+01] [-2.80587035e-02 9.99606181e-01 -4.38129874e-04 1.54686097e+00] [ 8.46232075e-03 6.75821987e-04 9.99963966e-01 2.71013446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:1.55, Z:0.27 [[ 9.99669304e-01 2.44877061e-02 -7.85084053e-03 4.61707504e+01] [-2.44916458e-02 9.99699952e-01 -4.06061290e-04 1.54758409e+00] [ 7.83854140e-03 5.98207013e-04 9.99969099e-01 2.71197647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:1.55, Z:0.27 [[ 9.99820178e-01 1.80326011e-02 -5.86828608e-03 4.61993595e+01] [-1.80346928e-02 9.99837316e-01 -3.03717691e-04 1.54731178e+00] [ 5.86185458e-03 4.09495813e-04 9.99982735e-01 2.71971585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:1.55, Z:0.27 [[ 9.99853823e-01 1.62045662e-02 -5.45385489e-03 4.62274899e+01] [-1.62063471e-02 9.99868629e-01 -2.82494199e-04 1.54727041e+00] [ 5.44856071e-03 3.70839970e-04 9.99985088e-01 2.72396215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:1.55, Z:0.27 [[ 9.99865741e-01 1.53710256e-02 -5.67723609e-03 4.62562597e+01] [-1.53729441e-02 9.99881786e-01 -2.94435627e-04 1.54730275e+00] [ 5.67203919e-03 3.81671930e-04 9.99983841e-01 2.72546879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:1.55, Z:0.27 [[ 9.99866951e-01 1.52921380e-02 -5.67722395e-03 4.62855440e+01] [-1.52940566e-02 9.99882996e-01 -2.94669576e-04 1.54891179e+00] [ 5.67205356e-03 3.81458154e-04 9.99983841e-01 2.72742470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:1.55, Z:0.27 [[ 9.99871516e-01 1.48983267e-02 -5.91534061e-03 4.63135516e+01] [-1.49004056e-02 9.99888936e-01 -3.07530816e-04 1.54858087e+00] [ 5.91010193e-03 3.95632277e-04 9.99982457e-01 2.72502105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:1.54, Z:0.27 [[ 9.99886719e-01 1.35814503e-02 -6.48790825e-03 4.63428621e+01] [-1.35839265e-02 9.99907677e-01 -3.37750012e-04 1.54462252e+00] [ 6.48272213e-03 4.25843020e-04 9.99978896e-01 2.71668138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:1.54, Z:0.27 [[ 9.99913487e-01 1.12539336e-02 -6.80931667e-03 4.63706115e+01] [-1.12566098e-02 9.99936579e-01 -3.54815576e-04 1.54013060e+00] [ 6.80489175e-03 4.31434701e-04 9.99976753e-01 2.71660087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:1.54, Z:0.27 [[ 9.99925600e-01 1.01034147e-02 -6.83491962e-03 4.63992253e+01] [-1.01060869e-02 9.99948869e-01 -3.56545169e-04 1.53802818e+00] [ 6.83096782e-03 4.25592934e-04 9.99976578e-01 2.71878537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:1.54, Z:0.27 [[ 9.99936433e-01 9.18060136e-03 -6.54565860e-03 4.64269919e+01] [-9.18303442e-03 9.99957777e-01 -3.41747334e-04 1.53525304e+00] [ 6.54224478e-03 4.01834619e-04 9.99978519e-01 2.72387863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:1.53, Z:0.27 [[ 9.99941577e-01 8.66241836e-03 -6.46568078e-03 4.64561961e+01] [-8.66478394e-03 9.99962403e-01 -3.37943976e-04 1.52715177e+00] [ 6.46251028e-03 3.93947959e-04 9.99979040e-01 2.72578941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:1.52, Z:0.27 [[ 9.99935635e-01 9.39907077e-03 -6.35474420e-03 4.64842063e+01] [-9.40137250e-03 9.99955751e-01 -3.32430894e-04 1.52445574e+00] [ 6.35133847e-03 3.92152815e-04 9.99979753e-01 2.73140268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:1.52, Z:0.27 [[ 9.99888848e-01 1.30410321e-02 -7.22652866e-03 4.65123343e+01] [-1.30441068e-02 9.99914850e-01 -3.78503899e-04 1.51913521e+00] [ 7.22097724e-03 4.72725439e-04 9.99973817e-01 2.72987376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:1.52, Z:0.27 [[ 9.99843661e-01 1.56698227e-02 -8.19205746e-03 4.65408455e+01] [-1.56738658e-02 9.99877065e-01 -4.29574918e-04 1.51864301e+00] [ 8.18431901e-03 5.57908969e-04 9.99966352e-01 2.73538946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:1.52, Z:0.27 [[ 9.99782661e-01 1.87174993e-02 -9.18078684e-03 4.65691895e+01] [-1.87227100e-02 9.99824599e-01 -4.81943428e-04 1.51900974e+00] [ 9.17015574e-03 6.53727892e-04 9.99957740e-01 2.73397283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:1.52, Z:0.27 [[ 9.99611388e-01 2.58912737e-02 -1.03303052e-02 4.65965860e+01] [-2.58982613e-02 9.99664436e-01 -5.43193471e-04 1.51942190e+00] [ 1.03127748e-02 8.10519323e-04 9.99946493e-01 2.72610757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:1.52, Z:0.27 [[ 9.99519451e-01 2.92369735e-02 -1.02988245e-02 4.66242005e+01] [-2.92441042e-02 9.99572153e-01 -5.42438306e-04 1.52043571e+00] [ 1.02785589e-02 8.43357534e-04 9.99946819e-01 2.72245474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:1.52, Z:0.27 [[ 9.99410422e-01 3.28294474e-02 -1.00516789e-02 4.66517647e+01] [-3.28364264e-02 9.99460599e-01 -5.30026956e-04 1.52325183e+00] [ 1.00288566e-02 8.59775680e-04 9.99949340e-01 2.72251465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:1.53, Z:0.27 [[ 9.99371687e-01 3.39147012e-02 -1.02968546e-02 4.66792797e+01] [-3.39220890e-02 9.99424332e-01 -5.43636163e-04 1.52569684e+00] [ 1.02724898e-02 8.92585408e-04 9.99946838e-01 2.72366036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:1.53, Z:0.27 [[ 9.99348215e-01 3.45537124e-02 -1.04492130e-02 4.67084199e+01] [-3.45613610e-02 9.99402425e-01 -5.52236795e-04 1.52782763e+00] [ 1.04238870e-02 9.13015880e-04 9.99945253e-01 2.72279546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:1.53, Z:0.27 [[ 9.99336378e-01 3.52835937e-02 -9.04830859e-03 4.67371628e+01] [-3.52893618e-02 9.99377022e-01 -4.78566865e-04 1.53062214e+00] [ 9.02578614e-03 7.97558312e-04 9.99958949e-01 2.73033867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:1.53, Z:0.27 [[ 9.99346534e-01 3.52376658e-02 -8.05058976e-03 4.67650764e+01] [-3.52422333e-02 9.99378709e-01 -4.26156541e-04 1.53287710e+00] [ 8.03057124e-03 7.09598826e-04 9.99967503e-01 2.73576971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:1.53, Z:0.27 [[ 9.99347204e-01 3.51831061e-02 -8.20453170e-03 4.67933040e+01] [-3.51878523e-02 9.99380621e-01 -4.34812269e-04 1.53495474e+00] [ 8.18415194e-03 7.23228275e-04 9.99966248e-01 2.74073819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:1.54, Z:0.27 [[ 9.99300391e-01 3.59784435e-02 -1.02117615e-02 4.68221233e+01] [-3.59858440e-02 9.99352153e-01 -5.41817950e-04 1.53644979e+00] [ 1.01856521e-02 9.08917746e-04 9.99947712e-01 2.74460211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:1.54, Z:0.27 [[ 9.99272875e-01 3.67433912e-02 -1.01806425e-02 4.68512154e+01] [-3.67507906e-02 9.99324315e-01 -5.40625272e-04 1.53745099e+00] [ 1.01538991e-02 9.14378828e-04 9.99948030e-01 2.74210639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:1.54, Z:0.27 [[ 9.99253852e-01 3.74968239e-02 -9.25886283e-03 4.68793149e+01] [-3.75029799e-02 9.99296395e-01 -4.92096287e-04 1.53718831e+00] [ 9.23389619e-03 8.38964057e-04 9.99957015e-01 2.74140463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:1.54, Z:0.27 [[ 9.99266410e-01 3.72816834e-02 -8.75890297e-03 4.69083117e+01] [-3.72871883e-02 9.99304482e-01 -4.65973966e-04 1.53845388e+00] [ 8.73543871e-03 7.92226996e-04 9.99961532e-01 2.74398119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:1.54, Z:0.27 [[ 9.99281599e-01 3.68434303e-02 -8.87961663e-03 4.69361388e+01] [-3.68490747e-02 9.99320730e-01 -4.72838567e-04 1.54027001e+00] [ 8.85616398e-03 7.99704536e-04 9.99960464e-01 2.74619165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:1.54, Z:0.27 [[ 9.99278831e-01 3.67230610e-02 -9.65580507e-03 4.69640419e+01] [-3.67297357e-02 9.99325103e-01 -5.14787242e-04 1.54217553e+00] [ 9.63038384e-03 8.69071162e-04 9.99953249e-01 2.74404146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.99, Y:1.54, Z:0.27 [[ 9.99293815e-01 3.63406949e-02 -9.55116950e-03 4.69931722e+01] [-3.63472133e-02 9.99339092e-01 -5.09723457e-04 1.54346392e+00] [ 9.52633335e-03 8.56521893e-04 9.99954257e-01 2.74609152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:1.55, Z:0.28 [[ 9.99364714e-01 3.49492283e-02 -6.97999983e-03 4.70217225e+01] [-3.49526775e-02 9.99388899e-01 -3.72736897e-04 1.54561877e+00] [ 6.96270748e-03 6.16469786e-04 9.99975570e-01 2.75565164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:47.05, Y:1.55, Z:0.28 [[ 9.99404422e-01 3.40058911e-02 -5.86520812e-03 4.70502112e+01] [-3.40083116e-02 9.99421501e-01 -3.13423770e-04 1.54782320e+00] [ 5.85115685e-03 5.12702927e-04 9.99982750e-01 2.76266619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:1.55, Z:0.28 [[ 9.99426524e-01 3.34064501e-02 -5.53460195e-03 4.70788417e+01] [-3.34085977e-02 9.99441733e-01 -2.96007911e-04 1.55027848e+00] [ 5.52162360e-03 4.80741447e-04 9.99984640e-01 2.76794082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:1.55, Z:0.28 [[ 9.99445533e-01 3.28729238e-02 -5.29121569e-03 4.71070988e+01] [-3.28748802e-02 9.99459435e-01 -2.83164105e-04 1.55345355e+00] [ 5.27904701e-03 4.56955181e-04 9.99985961e-01 2.76788548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:1.56, Z:0.28 [[ 9.99497815e-01 3.11139285e-02 -6.00336175e-03 4.71369537e+01] [-3.11164168e-02 9.99515715e-01 -3.21514870e-04 1.55993286e+00] [ 5.99045082e-03 5.08156516e-04 9.99981928e-01 2.76997420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:1.56, Z:0.28 [[ 9.99546152e-01 2.95466874e-02 -5.87226746e-03 4.71654615e+01] [-2.95490421e-02 9.99563282e-01 -3.14615158e-04 1.56289888e+00] [ 5.86040710e-03 4.87992249e-04 9.99982709e-01 2.77380273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:1.57, Z:0.28 [[ 9.99670268e-01 2.51416306e-02 -5.22044917e-03 4.71937103e+01] [-2.51434326e-02 9.99683815e-01 -2.79828140e-04 1.56543692e+00] [ 5.21176321e-03 4.10995884e-04 9.99986334e-01 2.78079149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:1.57, Z:0.28 [[ 9.99727529e-01 2.25874724e-02 -5.88843410e-03 4.72225421e+01] [-2.25897228e-02 9.99744770e-01 -3.15941827e-04 1.56731447e+00] [ 5.87979487e-03 4.48873837e-04 9.99982613e-01 2.77660679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:1.57, Z:0.28 [[ 9.99825978e-01 1.74986319e-02 -6.46613353e-03 4.72516016e+01] [-1.75012419e-02 9.99846781e-01 -3.47276459e-04 1.56866960e+00] [ 6.45906593e-03 4.60381393e-04 9.99979034e-01 2.76249359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:1.57, Z:0.28 [[ 9.99861797e-01 1.54677802e-02 -6.09388382e-03 4.72793191e+01] [-1.54700620e-02 9.99880278e-01 -3.27473349e-04 1.56975455e+00] [ 6.08808897e-03 4.21700851e-04 9.99981378e-01 2.76738515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:1.57, Z:0.28 [[ 9.99886735e-01 1.40138737e-02 -5.48886529e-03 4.73079305e+01] [-1.40157046e-02 9.99901732e-01 -2.95248014e-04 1.57137821e+00] [ 5.48418834e-03 3.72144888e-04 9.99984892e-01 2.77544804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:1.57, Z:0.28 [[ 9.99890235e-01 1.39999784e-02 -4.84950806e-03 4.73368126e+01] [-1.40014083e-02 9.99901941e-01 -2.61044213e-04 1.57303076e+00] [ 4.84537791e-03 3.28915502e-04 9.99988207e-01 2.78669971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:1.57, Z:0.28 [[ 9.99876098e-01 1.49872460e-02 -4.81373498e-03 4.73653261e+01] [-1.49886674e-02 9.99887630e-01 -2.59339403e-04 1.57458407e+00] [ 4.80930728e-03 3.31458742e-04 9.99988380e-01 2.78753149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:1.58, Z:0.28 [[ 9.99830835e-01 1.72554526e-02 -6.36798424e-03 4.73927747e+01] [-1.72579883e-02 9.99851011e-01 -3.43466704e-04 1.57512383e+00] [ 6.36110880e-03 4.53307199e-04 9.99979665e-01 2.78357003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:1.58, Z:0.28 [[ 9.99807814e-01 1.80682063e-02 -7.60757686e-03 4.74217739e+01] [-1.80718527e-02 9.99836606e-01 -4.10828009e-04 1.57620312e+00] [ 7.59891091e-03 5.48232062e-04 9.99970978e-01 2.78239781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:1.58, Z:0.28 [[ 9.99787556e-01 1.87536149e-02 -8.55248938e-03 4.74494243e+01] [-1.87582521e-02 9.99823942e-01 -4.62307877e-04 1.57701067e+00] [ 8.54231370e-03 6.22639415e-04 9.99963320e-01 2.78276145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:1.58, Z:0.28 [[ 9.99780447e-01 1.90554024e-02 -8.71493929e-03 4.74782394e+01] [-1.90602331e-02 9.99818226e-01 -4.71567159e-04 1.57574488e+00] [ 8.70436924e-03 6.37572399e-04 9.99961913e-01 2.77995393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:1.57, Z:0.28 [[ 9.99796867e-01 1.83143245e-02 -8.41491423e-03 4.75067752e+01] [-1.83188052e-02 9.99832093e-01 -4.55697660e-04 1.57488041e+00] [ 8.40515551e-03 6.09756267e-04 9.99964490e-01 2.77798635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:1.57, Z:0.28 [[ 9.99854493e-01 1.51174433e-02 -7.90294489e-03 4.75347468e+01] [-1.51212989e-02 9.99885575e-01 -4.28341154e-04 1.57107990e+00] [ 7.89556517e-03 5.47781619e-04 9.99968680e-01 2.77629555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:1.57, Z:0.28 [[ 9.99881548e-01 1.33585038e-02 -7.64460762e-03 4.75635831e+01] [-1.33620638e-02 9.99910638e-01 -4.14793549e-04 1.57071144e+00] [ 7.63838346e-03 5.16892151e-04 9.99970694e-01 2.78250377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:1.57, Z:0.28 [[ 9.99889689e-01 1.26265787e-02 -7.82169836e-03 4.75919316e+01] [-1.26302862e-02 9.99920145e-01 -4.24782658e-04 1.57105335e+00] [ 7.81571020e-03 5.23526089e-04 9.99969320e-01 2.78407321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:1.57, Z:0.28 [[ 9.99849736e-01 1.46177364e-02 -9.31814368e-03 4.76199563e+01] [-1.46230903e-02 9.99892949e-01 -5.06686965e-04 1.57055690e+00] [ 9.30973954e-03 6.42870885e-04 9.99956457e-01 2.78420787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:1.57, Z:0.28 [[ 9.99816014e-01 1.64021448e-02 -9.94524457e-03 4.76466341e+01] [-1.64083388e-02 9.99865228e-01 -5.41531089e-04 1.57107825e+00] [ 9.93502195e-03 7.04616397e-04 9.99950398e-01 2.78201868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:1.57, Z:0.28 [[ 9.99780212e-01 1.88117364e-02 -9.25453541e-03 4.76741873e+01] [-1.88172090e-02 9.99822813e-01 -5.04615627e-04 1.57054618e+00] [ 9.24340293e-03 6.78649245e-04 9.99957049e-01 2.77996837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:1.57, Z:0.28 [[ 9.99775631e-01 1.95688987e-02 -8.10836836e-03 4.77021457e+01] [-1.95731290e-02 9.99808330e-01 -4.42678113e-04 1.57152188e+00] [ 8.09815150e-03 6.01284929e-04 9.99967029e-01 2.78777245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:1.57, Z:0.28 [[ 9.99771734e-01 2.02357274e-02 -6.85532840e-03 4.77301800e+01] [-2.02387695e-02 9.99795105e-01 -3.74668995e-04 1.57283441e+00] [ 6.84634208e-03 5.13326882e-04 9.99976432e-01 2.79406250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:1.57, Z:0.28 [[ 9.99723148e-01 2.24920601e-02 -6.90899197e-03 4.77584382e+01] [-2.24952066e-02 9.99746879e-01 -3.78026202e-04 1.57393907e+00] [ 6.89874057e-03 5.33340746e-04 9.99976061e-01 2.79703358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:1.58, Z:0.28 [[ 9.99682155e-01 2.40345999e-02 -7.61094230e-03 4.77876192e+01] [-2.40384661e-02 9.99710947e-01 -4.16893598e-04 1.57573509e+00] [ 7.59872247e-03 5.99716469e-04 9.99970949e-01 2.79758623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:1.58, Z:0.28 [[ 9.99595336e-01 2.70676605e-02 -8.74676485e-03 4.78161399e+01] [-2.70728859e-02 9.99633347e-01 -4.79543836e-04 1.57812661e+00] [ 8.73057770e-03 7.16149949e-04 9.99961631e-01 2.79644772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:1.58, Z:0.28 [[ 9.99552973e-01 2.84089915e-02 -9.31577719e-03 4.78452496e+01] [-2.84149809e-02 9.99596082e-01 -5.11177992e-04 1.58051977e+00] [ 9.29749233e-03 7.75657112e-04 9.99956477e-01 2.79777849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:1.58, Z:0.28 [[ 9.99506798e-01 2.96524321e-02 -1.03389554e-02 4.78726778e+01] [-2.96598812e-02 9.99559888e-01 -5.67867630e-04 1.58279361e+00] [ 1.03175664e-02 8.74239745e-04 9.99946390e-01 2.79520566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:1.58, Z:0.28 [[ 9.99441791e-01 3.11820088e-02 -1.19912337e-02 4.79017866e+01] [-3.11921465e-02 9.99513189e-01 -6.59291497e-04 1.58359651e+00] [ 1.19648382e-02 1.03295579e-03 9.99927885e-01 2.79227036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:1.58, Z:0.28 [[ 9.99454634e-01 3.09143420e-02 -1.16076790e-02 4.79305751e+01] [-3.09238295e-02 9.99521540e-01 -6.38711143e-04 1.58499071e+00] [ 1.15823798e-02 9.97316697e-04 9.99932425e-01 2.80345121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:1.59, Z:0.28 [[ 9.99558511e-01 2.83776649e-02 -8.80288105e-03 4.79584293e+01] [-2.83830267e-02 9.99597003e-01 -4.84736066e-04 1.58703105e+00] [ 8.78557784e-03 7.34374468e-04 9.99961136e-01 2.81604168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:1.59, Z:0.28 [[ 9.99625668e-01 2.60184063e-02 -8.45973305e-03 4.79870016e+01] [-2.60232782e-02 9.99661228e-01 -4.66307834e-04 1.58803289e+00] [ 8.44473455e-03 6.86283267e-04 9.99964107e-01 2.81762516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:1.59, Z:0.28 [[ 9.99685560e-01 2.34288901e-02 -8.93690264e-03 4.80154315e+01] [-2.34342279e-02 9.99725259e-01 -4.93018761e-04 1.58807025e+00] [ 8.92289642e-03 7.02293150e-04 9.99959944e-01 2.81544553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:1.59, Z:0.28 [[ 9.99796523e-01 1.71892057e-02 -1.05566689e-02 4.80430382e+01] [-1.71963141e-02 9.99851963e-01 -5.82948664e-04 1.58848182e+00] [ 1.05450857e-02 7.64365842e-04 9.99944107e-01 2.80998397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:1.59, Z:0.28 [[ 9.99797482e-01 1.71333622e-02 -1.05566363e-02 4.80714881e+01] [-1.71404737e-02 9.99852921e-01 -5.83539038e-04 1.59017198e+00] [ 1.05450857e-02 7.64366607e-04 9.99944107e-01 2.81188438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:1.59, Z:0.28 [[ 9.99892681e-01 1.02821685e-02 -1.04356718e-02 4.81005202e+01] [-1.02887522e-02 9.99946903e-01 -5.77394622e-04 1.59016291e+00] [ 1.04291808e-02 6.84702698e-04 9.99945380e-01 2.81937674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:1.59, Z:0.28 [[ 9.99928850e-01 7.25813126e-03 -9.46649326e-03 4.81283721e+01] [-7.26341801e-03 9.99973484e-01 -5.24208724e-04 1.58884145e+00] [ 9.46243747e-03 5.92930524e-04 9.99955054e-01 2.82944163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:1.59, Z:0.28 [[ 9.99951193e-01 4.35093627e-03 -8.87027124e-03 4.81562072e+01] [-4.35546855e-03 9.99990394e-01 -4.91697368e-04 1.58743582e+00] [ 8.86804669e-03 5.30307557e-04 9.99960537e-01 2.84043173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:1.58, Z:0.28 [[ 9.99962211e-01 5.09601447e-04 -8.67850867e-03 4.81841221e+01] [-5.13800691e-04 9.99999752e-01 -4.81644384e-04 1.58302592e+00] [ 8.67826107e-03 4.86085207e-04 9.99962225e-01 2.84476444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:1.58, Z:0.28 [[ 9.99961705e-01 -1.14154520e-03 -8.67670844e-03 4.82112234e+01] [ 1.13740422e-03 9.99999237e-01 -4.82172088e-04 1.58112865e+00] [ 8.67725224e-03 4.72284699e-04 9.99962240e-01 2.84761394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:1.57, Z:0.29 [[ 9.99958605e-01 -5.37306194e-03 -7.34296446e-03 4.82392381e+01] [ 5.37020629e-03 9.99985497e-01 -4.08558239e-04 1.57435084e+00] [ 7.34505317e-03 3.69108092e-04 9.99972957e-01 2.85556836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:1.57, Z:0.29 [[ 9.99951688e-01 -7.58129831e-03 -6.25661311e-03 4.82662295e+01] [ 7.57926596e-03 9.99971216e-01 -3.48478898e-04 1.57177134e+00] [ 6.25907495e-03 3.01041527e-04 9.99980366e-01 2.85559840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:1.57, Z:0.29 [[ 9.99934175e-01 -9.92672637e-03 -5.75373180e-03 4.82948563e+01] [ 9.92504443e-03 9.99950694e-01 -3.20803120e-04 1.56933166e+00] [ 5.75663263e-03 2.63675959e-04 9.99983396e-01 2.86098470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:1.56, Z:0.29 [[ 9.99897590e-01 -1.26176397e-02 -6.75315959e-03 4.83222473e+01] [ 1.26153743e-02 9.99920352e-01 -3.77955665e-04 1.56135711e+00] [ 6.75739062e-03 2.92723322e-04 9.99977126e-01 2.85658619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:1.56, Z:0.29 [[ 9.99886401e-01 -1.31620881e-02 -7.34463514e-03 4.83500080e+01] [ 1.31594155e-02 9.99913326e-01 -4.12092853e-04 1.55849573e+00] [ 7.34942256e-03 3.15394935e-04 9.99972943e-01 2.86122729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:1.55, Z:0.29 [[ 9.99892726e-01 -1.29801159e-02 -6.78620226e-03 4.83778691e+01] [ 1.29778222e-02 9.99915712e-01 -3.81914855e-04 1.55400354e+00] [ 6.79058757e-03 2.93803760e-04 9.99976901e-01 2.86083583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:1.55, Z:0.29 [[ 9.99896643e-01 -1.29432550e-02 -6.25906189e-03 4.84045013e+01] [ 1.29412960e-02 9.99916195e-01 -3.53380127e-04 1.55286725e+00] [ 6.26311125e-03 2.72343230e-04 9.99980349e-01 2.86371457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:48.43, Y:1.54, Z:0.29 [[ 9.99876930e-01 -1.33236460e-02 -8.28289229e-03 4.84324258e+01] [ 1.33678016e-02 9.99896608e-01 5.29863179e-03 1.54224862e+00] [ 8.21143881e-03 -5.40870374e-03 9.99951658e-01 2.89123382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:1.55, Z:0.29 [[ 9.99845192e-01 -1.51606700e-02 -8.93003584e-03 4.84597097e+01] [ 1.51051170e-02 9.99866341e-01 -6.25585286e-03 1.55168404e+00] [ 9.02368518e-03 6.11999517e-03 9.99940558e-01 2.85530374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:1.55, Z:0.29 [[ 9.99814966e-01 -1.64387190e-02 -9.99008593e-03 4.84874687e+01] [ 1.64338672e-02 9.99864794e-01 -5.67566166e-04 1.54541639e+00] [ 9.99806527e-03 4.03285402e-04 9.99949937e-01 2.86146920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:1.54, Z:0.29 [[ 9.99734456e-01 -2.09773683e-02 -9.53772888e-03 4.85155061e+01] [ 2.09731422e-02 9.99779892e-01 -5.42908621e-04 1.54222357e+00] [ 9.54701834e-03 3.42728311e-04 9.99954367e-01 2.86064779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:1.54, Z:0.29 [[ 9.99667821e-01 -2.43109874e-02 -8.55705412e-03 4.85425361e+01] [ 2.43076971e-02 9.99704405e-01 -4.88328274e-04 1.54072771e+00] [ 8.56639644e-03 2.80163783e-04 9.99963269e-01 2.85766139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:1.53, Z:0.29 [[ 9.99490736e-01 -3.08972167e-02 -7.97690801e-03 4.85708209e+01] [ 3.08945610e-02 9.99522545e-01 -4.55964861e-04 1.53494312e+00] [ 7.98718744e-03 2.09289584e-04 9.99968080e-01 2.86193578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.60, Y:1.53, Z:0.29 [[ 9.99388956e-01 -3.39945093e-02 -8.12948342e-03 4.85986295e+01] [ 3.39918406e-02 9.99422002e-01 -4.66252348e-04 1.53260270e+00] [ 8.14063461e-03 1.89631343e-04 9.99966847e-01 2.87040534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.63, Y:1.53, Z:0.29 [[ 9.99295856e-01 -3.65702200e-02 -8.39118060e-03 4.86255117e+01] [ 3.65674554e-02 9.99331070e-01 -4.82713126e-04 1.53075815e+00] [ 8.40322042e-03 1.75529104e-04 9.99964677e-01 2.87924513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:1.53, Z:0.29 [[ 9.99195975e-01 -3.93141138e-02 -7.86151309e-03 4.86532934e+01] [ 3.93117662e-02 9.99226891e-01 -4.52988938e-04 1.52689322e+00] [ 7.87324415e-03 1.43574760e-04 9.99968995e-01 2.89127135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:1.53, Z:0.29 [[ 9.99192498e-01 -3.94473555e-02 -7.63266714e-03 4.86799060e+01] [ 3.94451364e-02 9.99221640e-01 -4.41123042e-04 1.52695823e+00] [ 7.64412731e-03 1.39695238e-04 9.99970773e-01 2.89422260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:1.53, Z:0.29 [[ 9.99178941e-01 -3.98491783e-02 -7.31348052e-03 4.87083498e+01] [ 3.98471468e-02 9.99205697e-01 -4.23331609e-04 1.52716368e+00] [ 7.32454082e-03 1.31562696e-04 9.99973167e-01 2.88412039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:1.53, Z:0.29 [[ 9.99131116e-01 -4.10190546e-02 -7.37900925e-03 4.87359966e+01] [ 4.10170081e-02 9.99158357e-01 -4.28533071e-04 1.52791353e+00] [ 7.39037677e-03 1.25495844e-04 9.99972683e-01 2.88305107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:1.53, Z:0.29 [[ 9.98984930e-01 -4.42671908e-02 -8.33813767e-03 4.87630031e+01] [ 4.42646766e-02 9.99019721e-01 -4.85934849e-04 1.52688048e+00] [ 8.35147494e-03 1.16356625e-04 9.99965119e-01 2.88935252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:1.53, Z:0.29 [[ 9.98900950e-01 -4.61187903e-02 -8.36356861e-03 4.87908661e+01] [ 4.61163155e-02 9.98935957e-01 -4.88624440e-04 1.52774855e+00] [ 8.37720418e-03 1.02390449e-04 9.99964905e-01 2.89396889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:1.53, Z:0.29 [[ 9.98808865e-01 -4.81088967e-02 -8.14773049e-03 4.88185461e+01] [ 4.81066020e-02 9.98842093e-01 -4.77493722e-04 1.52876040e+00] [ 8.16126787e-03 8.49653348e-05 9.99966693e-01 2.89869077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:1.53, Z:0.29 [[ 9.98595109e-01 -5.25314285e-02 -6.94674179e-03 4.88465330e+01] [ 5.25298596e-02 9.98619270e-01 -4.08232567e-04 1.52929404e+00] [ 6.95859525e-03 4.27476739e-05 9.99975788e-01 2.89712092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:1.53, Z:0.29 [[ 9.98432252e-01 -5.56827667e-02 -5.69803045e-03 4.88743293e+01] [ 5.56817576e-02 9.98448511e-01 -3.35704499e-04 1.52962863e+00] [ 5.70788297e-03 1.79018486e-05 9.99983710e-01 2.89813982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:1.53, Z:0.29 [[ 9.98234849e-01 -5.92259802e-02 -4.41237884e-03 4.89023248e+01] [ 5.92254073e-02 9.98244601e-01 -2.60507974e-04 1.53002922e+00] [ 4.42006219e-03 -1.27679579e-06 9.99990231e-01 2.90456990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:1.53, Z:0.29 [[ 9.98018482e-01 -6.28198250e-02 -3.57482859e-03 4.89291261e+01] [ 6.28194697e-02 9.98024884e-01 -2.11694457e-04 1.53060310e+00] [ 3.58106650e-03 -1.32938561e-05 9.99993588e-01 2.90771702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:1.53, Z:0.29 [[ 9.97652656e-01 -6.83822080e-02 -3.61272852e-03 4.89559161e+01] [ 6.83818798e-02 9.97659197e-01 -2.14428718e-04 1.53079512e+00] [ 3.61893494e-03 -3.31197872e-05 9.99993451e-01 2.91183129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:1.53, Z:0.29 [[ 9.97528929e-01 -7.01185724e-02 -4.40695798e-03 4.89835495e+01] [ 7.01180982e-02 9.97538663e-01 -2.62210258e-04 1.53161120e+00] [ 4.41449678e-03 -4.74451951e-05 9.99990255e-01 2.91696001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:1.53, Z:0.29 [[ 9.97444705e-01 -7.12442388e-02 -5.32163663e-03 4.90116774e+01] [ 7.12435566e-02 9.97458899e-01 -3.17887252e-04 1.53232018e+00] [ 5.33076144e-03 -6.20573639e-05 9.99985789e-01 2.91972765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:1.53, Z:0.29 [[ 9.97417243e-01 -7.15338484e-02 -6.46161613e-03 4.90390827e+01] [ 7.15328388e-02 9.97438170e-01 -3.87516628e-04 1.53270140e+00] [ 6.47278312e-03 -7.57019782e-05 9.99979048e-01 2.92480524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:1.53, Z:0.29 [[ 9.97429489e-01 -7.13077835e-02 -7.04374250e-03 4.90670671e+01] [ 7.13065734e-02 9.97454357e-01 -4.23104901e-04 1.53308626e+00] [ 7.05598232e-03 -8.02478365e-05 9.99975103e-01 2.92559852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.10, Y:1.53, Z:0.29 [[ 9.97633900e-01 -6.84070524e-02 -6.86132035e-03 4.90956234e+01] [ 6.84058270e-02 9.97657492e-01 -4.13398500e-04 1.53225342e+00] [ 6.87352703e-03 -5.69339354e-05 9.99976375e-01 2.94209987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:1.53, Z:0.29 [[ 9.97813157e-01 -6.58246115e-02 -6.00198130e-03 4.91233696e+01] [ 6.58236212e-02 9.97831208e-01 -3.62593622e-04 1.53378106e+00] [ 6.01283184e-03 -3.32714571e-05 9.99981922e-01 2.94896089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:1.54, Z:0.29 [[ 9.98015109e-01 -6.27339193e-02 -5.50428630e-03 4.91514867e+01] [ 6.27330342e-02 9.98030288e-01 -3.33485212e-04 1.53645349e+00] [ 5.51436528e-03 -1.24772998e-05 9.99984796e-01 2.94847049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:1.54, Z:0.29 [[ 9.98220561e-01 -5.93296866e-02 -5.97486927e-03 4.91798875e+01] [ 5.93285751e-02 9.98238443e-01 -3.63257390e-04 1.53912178e+00] [ 5.98589614e-03 8.13051558e-06 9.99982084e-01 2.94665949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.771400512999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:49.21, Y:1.54, Z:0.30 [[ 9.98615502e-01 -5.18187928e-02 -9.04943654e-03 4.92087087e+01] [ 5.18544513e-02 9.98647608e-01 3.75110719e-03 1.53657308e+00] [ 8.84282030e-03 -4.21516735e-03 9.99952017e-01 2.96758506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:1.55, Z:0.29 [[ 9.98783815e-01 -4.85804935e-02 -8.41580090e-03 4.92353781e+01] [ 4.85413907e-02 9.98809686e-01 -4.79004800e-03 1.54724645e+00] [ 8.63848635e-03 4.37570774e-03 9.99953114e-01 2.93083422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:1.55, Z:0.29 [[ 9.98914626e-01 -4.57634573e-02 -8.67617680e-03 4.92629804e+01] [ 4.57605665e-02 9.98952295e-01 -5.31511127e-04 1.54784796e+00] [ 8.69141052e-03 1.33907473e-04 9.99962220e-01 2.93929885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:1.55, Z:0.29 [[ 9.99026245e-01 -4.32748392e-02 -8.59354998e-03 4.92909590e+01] [ 4.32718969e-02 9.99063193e-01 -5.28105892e-04 1.55177627e+00] [ 8.60835319e-03 1.55732437e-04 9.99962935e-01 2.93661383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:1.55, Z:0.29 [[ 9.99099038e-01 -4.13600564e-02 -9.51091464e-03 4.93175449e+01] [ 4.13563497e-02 9.99144288e-01 -5.86150941e-04 1.55354696e+00] [ 9.52701928e-03 1.92286129e-04 9.99954598e-01 2.92650914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.35, Y:1.55, Z:0.29 [[ 9.99079194e-01 -4.17825101e-02 -9.74602855e-03 4.93460046e+01] [ 4.17786267e-02 9.99126711e-01 -6.01798612e-04 1.55447778e+00] [ 9.76266210e-03 1.94068784e-04 9.99952325e-01 2.92809611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:1.56, Z:0.29 [[ 9.99064820e-01 -4.21392142e-02 -9.68358885e-03 4.93739510e+01] [ 4.21353794e-02 9.99111731e-01 -5.99767395e-04 1.55679715e+00] [ 9.70026094e-03 1.91184814e-04 9.99952933e-01 2.93295301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:1.56, Z:0.29 [[ 9.99062372e-01 -4.25024691e-02 -8.24116293e-03 4.94018149e+01] [ 4.24996926e-02 9.99096349e-01 -5.11823975e-04 1.56200477e+00] [ 8.25546957e-03 1.61097183e-04 9.99965910e-01 2.94010884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:1.57, Z:0.29 [[ 9.99072464e-01 -4.23039711e-02 -8.03648450e-03 4.94282689e+01] [ 4.23013128e-02 9.99104773e-01 -5.00547882e-04 1.56555677e+00] [ 8.05046519e-03 1.60129761e-04 9.99967582e-01 2.94539856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:1.57, Z:0.29 [[ 9.99075837e-01 -4.20700518e-02 -8.80809121e-03 4.94562623e+01] [ 4.20668403e-02 9.99114647e-01 -5.49643950e-04 1.56909636e+00] [ 8.82341649e-03 1.78607424e-04 9.99961057e-01 2.94714145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:1.57, Z:0.29 [[ 9.99095368e-01 -4.13346802e-02 -9.99450155e-03 4.94845885e+01] [ 4.13304882e-02 9.99145334e-01 -6.25702094e-04 1.57297759e+00] [ 1.00118228e-02 2.12058436e-04 9.99949858e-01 2.94470632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.51, Y:1.58, Z:0.29 [[ 9.99176279e-01 -3.91219806e-02 -1.07811521e-02 4.95122975e+01] [ 3.91169509e-02 9.99234410e-01 -6.77081017e-04 1.57956676e+00] [ 1.07993869e-02 2.54797495e-04 9.99941652e-01 2.93503376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.54, Y:1.58, Z:0.29 [[ 9.99251312e-01 -3.76613564e-02 -8.85656168e-03 4.95391400e+01] [ 3.76578940e-02 9.99290534e-01 -5.57443329e-04 1.58255170e+00] [ 8.87127232e-03 2.23506517e-04 9.99960625e-01 2.93635857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.57, Y:1.58, Z:0.30 [[ 9.99303666e-01 -3.67370247e-02 -6.52494398e-03 4.95666854e+01] [ 3.67351232e-02 9.99324953e-01 -4.11069362e-04 1.58474660e+00] [ 6.53564080e-03 1.71088500e-04 9.99978628e-01 2.95042616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:1.59, Z:0.30 [[ 9.99320407e-01 -3.65264392e-02 -4.95421926e-03 4.95938501e+01] [ 3.65253372e-02 9.99332678e-01 -3.12760881e-04 1.58685983e+00] [ 4.96233725e-03 1.31593802e-04 9.99987679e-01 2.96214291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:1.59, Z:0.30 [[ 9.99283467e-01 -3.73666268e-02 -6.02391223e-03 4.96219342e+01] [ 3.73650043e-02 9.99301612e-01 -3.81705606e-04 1.59097719e+00] [ 6.03396825e-03 1.56348595e-04 9.99981783e-01 2.96031632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.65, Y:1.59, Z:0.30 [[ 9.99271002e-01 -3.74872237e-02 -7.22305851e-03 4.96500905e+01] [ 3.74848821e-02 9.99297089e-01 -4.59339884e-04 1.59410885e+00] [ 7.23520073e-03 1.88249529e-04 9.99973808e-01 2.95307932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:1.60, Z:0.29 [[ 9.99291862e-01 -3.68304159e-02 -7.70031446e-03 4.96767315e+01] [ 3.68277236e-02 9.99321509e-01 -4.91177746e-04 1.59608490e+00] [ 7.71318015e-03 2.07244871e-04 9.99970232e-01 2.94716381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.311400512999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.70, Y:1.60, Z:0.30 [[ 9.99406045e-01 -3.36696705e-02 -7.34239404e-03 4.97045862e+01] [ 3.36671326e-02 9.99432991e-01 -4.69021411e-04 1.59705559e+00] [ 7.35402264e-03 2.21545480e-04 9.99972934e-01 2.95655321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.73, Y:1.60, Z:0.30 [[ 9.99498628e-01 -3.10311924e-02 -6.28944331e-03 4.97310846e+01] [ 3.10292713e-02 9.99518395e-01 -4.02825315e-04 1.59912481e+00] [ 6.29891443e-03 2.07466507e-04 9.99980140e-01 2.96437540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:1.60, Z:0.30 [[ 9.99586679e-01 -2.81390693e-02 -5.88755106e-03 4.97586465e+01] [ 2.81373336e-02 9.99603996e-01 -3.77455620e-04 1.60175655e+00] [ 5.89584081e-03 2.11639622e-04 9.99982597e-01 2.97299088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:1.60, Z:0.30 [[ 9.99661455e-01 -2.53904288e-02 -5.68341666e-03 4.97863708e+01] [ 2.53887610e-02 9.99677587e-01 -3.65401779e-04 1.60369859e+00] [ 5.69086195e-03 2.20983167e-04 9.99983782e-01 2.97457181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:1.60, Z:0.30 [[ 9.99774346e-01 -2.04660320e-02 -5.69198997e-03 4.98149277e+01] [ 2.04642735e-02 9.99790517e-01 -3.67026091e-04 1.60343219e+00] [ 5.69830917e-03 2.50460830e-04 9.99983733e-01 2.96522342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:1.60, Z:0.30 [[ 9.99804699e-01 -1.86860864e-02 -6.43375746e-03 4.98428526e+01] [ 1.86837939e-02 9.99825356e-01 -4.16255500e-04 1.60349489e+00] [ 6.44041203e-03 2.95967207e-04 9.99979217e-01 2.95478792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:1.61, Z:0.30 [[ 9.99801340e-01 -1.88650066e-02 -6.43367770e-03 4.98713021e+01] [ 1.88627099e-02 9.99821996e-01 -4.17484506e-04 1.60548167e+00] [ 6.44040833e-03 2.96044972e-04 9.99979217e-01 2.95669054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:1.61, Z:0.29 [[ 9.99820414e-01 -1.77049695e-02 -6.75826081e-03 4.98979669e+01] [ 1.77024002e-02 9.99843204e-01 -4.39812923e-04 1.60536181e+00] [ 6.76498801e-03 3.20096501e-04 9.99977066e-01 2.94859403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:1.60, Z:0.29 [[ 9.99832209e-01 -1.71932247e-02 -6.32032603e-03 4.99261626e+01] [ 1.71909645e-02 9.99852140e-01 -4.11766899e-04 1.60285356e+00] [ 6.32647110e-03 3.03045308e-04 9.99979942e-01 2.94240796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:1.60, Z:0.29 [[ 9.99834680e-01 -1.71628211e-02 -6.00415083e-03 4.99530285e+01] [ 1.71607739e-02 9.99852666e-01 -3.92315574e-04 1.60215452e+00] [ 6.00999946e-03 2.89214841e-04 9.99981898e-01 2.94224890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:1.60, Z:0.29 [[ 9.99832893e-01 -1.70070228e-02 -6.70428332e-03 4.99815622e+01] [ 1.70044627e-02 9.99855317e-01 -4.38683221e-04 1.60153613e+00] [ 6.71077402e-03 3.24607178e-04 9.99977430e-01 2.94450371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:1.60, Z:0.29 [[ 9.99826520e-01 -1.65597485e-02 -8.52675680e-03 5.00098252e+01] [ 1.65555746e-02 9.99862790e-01 -5.59854672e-04 1.60092969e+00] [ 8.53485790e-03 4.18592189e-04 9.99963490e-01 2.94301196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:1.60, Z:0.29 [[ 9.99844611e-01 -1.37094660e-02 -1.10816885e-02 5.00368170e+01] [ 1.37022172e-02 9.99905854e-01 -7.29791021e-04 1.59770012e+00] [ 1.10906502e-02 5.77833918e-04 9.99938330e-01 2.94247454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:1.60, Z:0.29 [[ 9.99872910e-01 -1.18415059e-02 -1.06744350e-02 5.00644625e+01] [ 1.18346571e-02 9.99929720e-01 -7.04551764e-04 1.59780935e+00] [ 1.06820277e-02 5.78133945e-04 9.99942778e-01 2.94903490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:1.60, Z:0.30 [[ 9.99902903e-01 -9.86763187e-03 -9.83947585e-03 5.00919551e+01] [ 9.86170327e-03 9.99951160e-01 -6.50869597e-04 1.59815911e+00] [ 9.84541783e-03 5.53772408e-04 9.99951379e-01 2.95676208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:1.60, Z:0.30 [[ 9.99918629e-01 -8.18181490e-03 -9.78742016e-03 5.01185402e+01] [ 8.17586053e-03 9.99966367e-01 -6.48226682e-04 1.59863627e+00] [ 9.79239465e-03 5.68153353e-04 9.99951892e-01 2.95968060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:1.60, Z:0.30 [[ 9.99925008e-01 -6.60912405e-03 -1.03101238e-02 5.01472452e+01] [ 6.60242077e-03 9.99977970e-01 -6.84066859e-04 1.59666832e+00] [ 1.03144177e-02 6.15943784e-04 9.99946615e-01 2.95935875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:1.60, Z:0.30 [[ 9.99921596e-01 -7.55187659e-03 -9.98857582e-03 5.01753455e+01] [ 7.54561401e-03 9.99971311e-01 -6.64511619e-04 1.59672902e+00] [ 9.99330756e-03 5.89089581e-04 9.99949892e-01 2.95888366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:1.60, Z:0.30 [[ 9.99912178e-01 -9.04948669e-03 -9.68211827e-03 5.02023517e+01] [ 9.04365828e-03 9.99958897e-01 -6.45590485e-04 1.59740896e+00] [ 9.68756257e-03 5.57972019e-04 9.99952919e-01 2.95990769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:1.60, Z:0.30 [[ 9.99881057e-01 -1.23608977e-02 -9.22387918e-03 5.02292794e+01] [ 1.23557406e-02 9.99923475e-01 -6.15882363e-04 1.59674109e+00] [ 9.23078618e-03 5.01841250e-04 9.99957269e-01 2.97330489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:1.60, Z:0.30 [[ 9.99867388e-01 -1.33689118e-02 -9.29936087e-03 5.02576902e+01] [ 1.33637010e-02 9.99910508e-01 -6.22254012e-04 1.59793407e+00] [ 9.30684751e-03 4.97897616e-04 9.99956566e-01 2.98108211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:1.60, Z:0.30 [[ 9.99866155e-01 -1.34117191e-02 -9.37009915e-03 5.02861082e+01] [ 1.34064144e-02 9.99909932e-01 -6.28713822e-04 1.59989748e+00] [ 9.37768734e-03 5.03010239e-04 9.99955902e-01 2.98885910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:1.60, Z:0.30 [[ 9.99878439e-01 -1.27290104e-02 -9.00443368e-03 5.03129623e+01] [ 1.27240716e-02 9.99918862e-01 -6.05562165e-04 1.60291292e+00] [ 9.01141128e-03 4.90915494e-04 9.99959276e-01 2.98845423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:1.61, Z:0.30 [[ 9.99893348e-01 -1.18759414e-02 -8.50029520e-03 5.03393846e+01] [ 1.18715039e-02 9.99929367e-01 -5.72313698e-04 1.60555838e+00] [ 8.50649156e-03 4.71341372e-04 9.99963708e-01 2.99298469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:1.61, Z:0.30 [[ 9.99915355e-01 -1.12545756e-02 -6.52815626e-03 5.03676701e+01] [ 1.12519426e-02 9.99936598e-01 -4.39915826e-04 1.60568376e+00] [ 6.53269343e-03 3.66424150e-04 9.99978595e-01 3.00662165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.39, Y:1.61, Z:0.30 [[ 9.99920113e-01 -1.13815598e-02 -5.49804724e-03 5.03947314e+01] [ 1.13796891e-02 9.99935180e-01 -3.71426326e-04 1.60647372e+00] [ 5.50191827e-03 3.08830586e-04 9.99984817e-01 3.01640432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:1.61, Z:0.30 [[ 9.99923315e-01 -1.15516100e-02 -4.46361622e-03 5.04222541e+01] [ 1.15503785e-02 9.99933247e-01 -3.01571880e-04 1.60811093e+00] [ 4.46680190e-03 2.49992297e-04 9.99989993e-01 3.01783658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:1.61, Z:0.30 [[ 9.99924599e-01 -1.17397452e-02 -3.60192577e-03 5.04495122e+01] [ 1.17389418e-02 9.99931066e-01 -2.44089695e-04 1.61021000e+00] [ 3.60454302e-03 2.01788493e-04 9.99993483e-01 3.01782937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:1.61, Z:0.30 [[ 9.99932690e-01 -1.11738213e-02 -3.12432267e-03 5.04772673e+01] [ 1.11732147e-02 9.99937555e-01 -2.11541846e-04 1.61012273e+00] [ 3.12649130e-03 1.76618879e-04 9.99995097e-01 3.01392576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:1.61, Z:0.30 [[ 9.99939298e-01 -1.03425960e-02 -3.79894613e-03 5.05048700e+01] [ 1.03416896e-02 9.99946490e-01 -2.58165531e-04 1.61096880e+00] [ 3.80141295e-03 2.18862338e-04 9.99992751e-01 3.01775587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:1.61, Z:0.30 [[ 9.99948842e-01 -8.84718412e-03 -4.90304583e-03 5.05314797e+01] [ 8.84564942e-03 9.99960820e-01 -3.34607431e-04 1.61297296e+00] [ 4.90581406e-03 2.91219689e-04 9.99987924e-01 3.02192165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:1.62, Z:0.30 [[ 9.99953728e-01 -6.91925713e-03 -6.68328243e-03 5.05592925e+01] [ 6.91635792e-03 9.99975977e-01 -4.56814756e-04 1.61586981e+00] [ 6.68628270e-03 4.10569645e-04 9.99977562e-01 3.02628459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:1.62, Z:0.30 [[ 9.99950890e-01 -3.25225135e-03 -9.36167476e-03 5.05867111e+01] [ 3.24638291e-03 9.99994524e-01 -6.41985356e-04 1.61637988e+00] [ 9.36371140e-03 6.11562247e-04 9.99955972e-01 3.02490840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:1.62, Z:0.30 [[ 9.99951686e-01 -1.90459447e-03 -9.64353477e-03 5.06149728e+01] [ 1.89829126e-03 9.99997979e-01 -6.62731842e-04 1.61705015e+00] [ 9.64477751e-03 6.44393585e-04 9.99953280e-01 3.02818340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:1.62, Z:0.30 [[ 9.99952008e-01 -9.82123916e-04 -9.74770408e-03 5.06427746e+01] [ 9.75622938e-04 9.99999299e-01 -6.71656807e-04 1.61828025e+00] [ 9.74835690e-03 6.62114489e-04 9.99952264e-01 3.02949576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:1.62, Z:0.30 [[ 9.99952031e-01 -3.66134182e-04 -9.78786423e-03 5.06697564e+01] [ 3.59535662e-04 9.99999707e-01 -6.75904344e-04 1.62040546e+00] [ 9.78810883e-03 6.72352835e-04 9.99951869e-01 3.02551802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:1.62, Z:0.30 [[ 9.99948526e-01 1.37827673e-03 -1.00521720e-02 5.06976039e+01] [-1.38533580e-03 9.99998799e-01 -6.95314768e-04 1.62232297e+00] [ 1.00512016e-02 7.09204611e-04 9.99949234e-01 3.01313115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:1.62, Z:0.30 [[ 9.99939991e-01 2.63396549e-03 -1.06337777e-02 5.07255118e+01] [-2.64195685e-03 9.99996238e-01 -7.37529854e-04 1.62423388e+00] [ 1.06317951e-02 7.65579577e-04 9.99943188e-01 3.01687352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:1.63, Z:0.30 [[ 9.99934721e-01 3.98007252e-03 -1.07103794e-02 5.07528192e+01] [-3.98827454e-03 9.99991770e-01 -7.44551580e-04 1.62663369e+00] [ 1.07073278e-02 7.87218910e-04 9.99942365e-01 3.02213284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:1.63, Z:0.30 [[ 9.99929143e-01 5.36520774e-03 -1.06265555e-02 5.07794105e+01] [-5.37337151e-03 9.99985290e-01 -7.39840415e-04 1.63016801e+00] [ 1.06224298e-02 7.96888423e-04 9.99943263e-01 3.02363958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:1.63, Z:0.30 [[ 9.99926913e-01 6.86052870e-03 -9.95502612e-03 5.08070684e+01] [-6.86777389e-03 9.99976176e-01 -6.93789604e-04 1.63497497e+00] [ 9.95002919e-03 7.62107765e-04 9.99950207e-01 3.02670666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:1.64, Z:0.30 [[ 9.99933236e-01 6.39648613e-03 -9.62330222e-03 5.08344215e+01] [-6.40324163e-03 9.99979274e-01 -6.71345790e-04 1.63740328e+00] [ 9.61880851e-03 7.32921298e-04 9.99953470e-01 3.02987780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:1.64, Z:0.30 [[ 9.99945025e-01 5.01930104e-03 -9.20617765e-03 5.08625653e+01] [-5.02543173e-03 9.99987166e-01 -6.42919665e-04 1.64002049e+00] [ 9.20283249e-03 6.89149338e-04 9.99957416e-01 3.03516686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:1.64, Z:0.30 [[ 9.99957043e-01 2.95638187e-03 -8.78471541e-03 5.08906548e+01] [-2.96188986e-03 9.99995425e-01 -6.14052876e-04 1.64248624e+00] [ 8.78285985e-03 6.40045858e-04 9.99961225e-01 3.04256643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.92, Y:1.65, Z:0.30 [[ 9.99953652e-01 -2.14080119e-03 -9.38678239e-03 5.09179629e+01] [ 2.13472979e-03 9.99997506e-01 -6.56774185e-04 1.64694821e+00] [ 9.38816500e-03 6.36705501e-04 9.99955728e-01 3.04191604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:1.65, Z:0.30 [[ 9.99936434e-01 -5.15790972e-03 -1.00262070e-02 5.09459316e+01] [ 5.15112767e-03 9.99986486e-01 -7.02138363e-04 1.65070544e+00] [ 1.00296931e-02 6.50447458e-04 9.99949490e-01 3.04072155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.97, Y:1.65, Z:0.30 [[ 9.99915390e-01 -7.97121221e-03 -1.02797571e-02 5.09739344e+01] [ 7.96422364e-03 9.99968025e-01 -7.20595720e-04 1.65460735e+00] [ 1.02851725e-02 6.38664466e-04 9.99946902e-01 3.03871001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:1.66, Z:0.30 [[ 9.99900560e-01 -1.01409779e-02 -9.79952175e-03 5.10015520e+01] [ 1.01347211e-02 9.99948406e-01 -6.87932258e-04 1.65916005e+00] [ 9.80599246e-03 5.88548431e-04 9.99951747e-01 3.04299868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:1.67, Z:0.31 [[ 9.99889536e-01 -1.27577559e-02 -7.62596739e-03 5.10292927e+01] [ 1.27540342e-02 9.99918520e-01 -5.36458505e-04 1.66632654e+00] [ 7.63219003e-03 4.39137397e-04 9.99970778e-01 3.05194893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:1.67, Z:0.31 [[ 9.99873650e-01 -1.40597852e-02 -7.41661386e-03 5.10561999e+01] [ 1.40562919e-02 9.99901069e-01 -5.22922943e-04 1.66929071e+00] [ 7.42323231e-03 4.18606782e-04 9.99972360e-01 3.05909676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.08, Y:1.67, Z:0.31 [[ 9.99840315e-01 -1.60289928e-02 -7.90040495e-03 5.10833749e+01] [ 1.60250848e-02 9.99871435e-01 -5.57708144e-04 1.67159728e+00] [ 7.90832873e-03 4.31014426e-04 9.99968636e-01 3.06138042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:1.67, Z:0.31 [[ 9.99788561e-01 -1.88884866e-02 -8.12760443e-03 5.11111770e+01] [ 1.88844383e-02 9.99821508e-01 -5.74548658e-04 1.67337641e+00] [ 8.13700608e-03 4.20941931e-04 9.99966805e-01 3.06122965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:1.67, Z:0.31 [[ 9.99645252e-01 -2.59080232e-02 -6.17617644e-03 5.11386164e+01] [ 2.59058138e-02 9.99664292e-01 -4.37469805e-04 1.67468359e+00] [ 6.18543703e-03 2.77315736e-04 9.99980832e-01 3.05884190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:1.68, Z:0.31 [[ 9.99544267e-01 -2.96585381e-02 -5.62400350e-03 5.11662076e+01] [ 2.96567638e-02 9.99560062e-01 -3.98645868e-04 1.67655051e+00] [ 5.63335254e-03 2.31674449e-04 9.99984106e-01 3.06522289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:1.68, Z:0.31 [[ 9.99443958e-01 -3.28989404e-02 -5.42543024e-03 5.11945251e+01] [ 3.28973317e-02 9.99458662e-01 -3.85505121e-04 1.67812785e+00] [ 5.43517596e-03 2.06808585e-04 9.99985208e-01 3.06873175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:1.68, Z:0.31 [[ 9.99317041e-01 -3.65814653e-02 -5.21998544e-03 5.12225705e+01] [ 3.65800217e-02 9.99330658e-01 -3.71798099e-04 1.67967158e+00] [ 5.23009241e-03 1.80596996e-04 9.99986307e-01 3.07386271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:1.68, Z:0.31 [[ 9.99305259e-01 -3.69825615e-02 -4.61413412e-03 5.12502085e+01] [ 3.69814345e-02 9.99315899e-01 -3.29365469e-04 1.68256779e+00] [ 4.62315836e-03 1.58499346e-04 9.99989301e-01 3.07546307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:1.69, Z:0.31 [[ 9.99308623e-01 -3.69177653e-02 -4.39949137e-03 5.12772384e+01] [ 3.69167356e-02 9.99318295e-01 -3.15048588e-04 1.68534256e+00] [ 4.40812311e-03 1.52415910e-04 9.99990273e-01 3.07791053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:1.69, Z:0.31 [[ 9.99303415e-01 -3.71013344e-02 -4.02191001e-03 5.13051577e+01] [ 3.71004754e-02 9.99311499e-01 -2.88007551e-04 1.68733611e+00] [ 4.02982638e-03 1.38592156e-04 9.99991871e-01 3.07987606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:1.69, Z:0.31 [[ 9.99236873e-01 -3.89317402e-02 -3.16088565e-03 5.13321087e+01] [ 3.89312166e-02 9.99241867e-01 -2.27049970e-04 1.68600401e+00] [ 3.16732873e-03 1.03819578e-04 9.99994979e-01 3.08254186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:1.69, Z:0.31 [[ 9.99154137e-01 -4.09706108e-02 -3.52426806e-03 5.13602992e+01] [ 4.09699724e-02 9.99160346e-01 -2.53172042e-04 1.68665849e+00] [ 3.53168150e-03 1.08568728e-04 9.99993758e-01 3.08085976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.39, Y:1.69, Z:0.31 [[ 9.99048871e-01 -4.33952217e-02 -4.26719548e-03 5.13882574e+01] [ 4.33943033e-02 9.99057976e-01 -3.07604786e-04 1.68760878e+00] [ 4.27652426e-03 1.22140240e-04 9.99990848e-01 3.07394336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:1.69, Z:0.31 [[ 9.98932441e-01 -4.58104247e-02 -5.94832594e-03 5.14157105e+01] [ 4.58086730e-02 9.98950139e-01 -4.30476057e-04 1.68722476e+00] [ 5.96180132e-03 1.57531581e-04 9.99982216e-01 3.07549976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:1.69, Z:0.31 [[ 9.98947582e-01 -4.54069749e-02 -6.47574911e-03 5.14436151e+01] [ 4.54048866e-02 9.98968556e-01 -4.69202014e-04 1.68848084e+00] [ 6.49037478e-03 1.74677563e-04 9.99978922e-01 3.08392994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:1.69, Z:0.31 [[ 9.99007562e-01 -4.39847413e-02 -7.01667078e-03 5.14706081e+01] [ 4.39822447e-02 9.99032183e-01 -5.09796543e-04 1.68980768e+00] [ 7.03230319e-03 2.00681670e-04 9.99975253e-01 3.08985947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:1.69, Z:0.31 [[ 9.99079112e-01 -4.22583279e-02 -7.42711242e-03 5.14988852e+01] [ 4.22554775e-02 9.99106692e-01 -5.40342487e-04 1.69139279e+00] [ 7.44331169e-03 2.26008710e-04 9.99972273e-01 3.08980492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:1.69, Z:0.31 [[ 9.99144461e-01 -4.06715775e-02 -7.49461693e-03 5.15268042e+01] [ 4.06686200e-02 9.99172540e-01 -5.46651483e-04 1.69272197e+00] [ 7.51064861e-03 2.41388073e-04 9.99971766e-01 3.08982529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.55, Y:1.69, Z:0.31 [[ 9.99267423e-01 -3.77656869e-02 -6.19440795e-03 5.15543582e+01] [ 3.77636045e-02 9.99286598e-01 -4.52825494e-04 1.69171688e+00] [ 6.20709012e-03 2.18570592e-04 9.99980712e-01 3.08615352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:1.69, Z:0.31 [[ 9.99320247e-01 -3.64159894e-02 -5.73753251e-03 5.15828271e+01] [ 3.64141788e-02 9.99336696e-01 -4.19761420e-04 1.69251026e+00] [ 5.74901281e-03 2.10548551e-04 9.99983452e-01 3.08728550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:1.69, Z:0.31 [[ 9.99313792e-01 -3.65927278e-02 -5.73745215e-03 5.16112652e+01] [ 3.65909138e-02 9.99330240e-01 -4.20856784e-04 1.69474056e+00] [ 5.74900973e-03 2.10629371e-04 9.99983452e-01 3.08918808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:1.70, Z:0.31 [[ 9.99361109e-01 -3.51871456e-02 -6.26408551e-03 5.16392664e+01] [ 3.51849481e-02 9.99380712e-01 -4.60703720e-04 1.69578950e+00] [ 6.27641709e-03 2.40007857e-04 9.99980274e-01 3.09163696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:1.70, Z:0.31 [[ 9.99412167e-01 -3.35398859e-02 -7.09898902e-03 5.16662167e+01] [ 3.35370115e-02 9.99437339e-01 -5.23592158e-04 1.69638567e+00] [ 7.11255592e-03 2.85205497e-04 9.99974665e-01 3.09088079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:1.70, Z:0.31 [[ 9.99497671e-01 -3.04285327e-02 -8.86059084e-03 5.16934579e+01] [ 3.04239241e-02 9.99536871e-01 -6.54488668e-04 1.69594752e+00] [ 8.87640237e-03 3.84585956e-04 9.99960530e-01 3.08887189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:1.70, Z:0.31 [[ 9.99530885e-01 -2.92436316e-02 -9.10050040e-03 5.17216833e+01] [ 2.92387090e-02 9.99572231e-01 -6.73526007e-04 1.69782118e+00] [ 9.11630383e-03 4.07123163e-04 9.99958363e-01 3.08808041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:1.70, Z:0.31 [[ 9.99570172e-01 -2.79348794e-02 -8.89460039e-03 5.17485661e+01] [ 2.79301127e-02 9.99609661e-01 -6.59703837e-04 1.69937933e+00] [ 8.90955722e-03 4.10993087e-04 9.99960225e-01 3.09011290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:1.70, Z:0.31 [[ 9.99601357e-01 -2.68213489e-02 -8.81716419e-03 5.17756511e+01] [ 2.68166145e-02 9.99640155e-01 -6.54768063e-04 1.70093046e+00] [ 8.83155314e-03 4.18060551e-04 9.99960914e-01 3.09419232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:1.70, Z:0.31 [[ 9.99619365e-01 -2.60999749e-02 -8.93954696e-03 5.18039516e+01] [ 2.60950680e-02 9.99659244e-01 -6.65118988e-04 1.70264352e+00] [ 8.95386035e-03 4.31587735e-04 9.99959820e-01 3.09701736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:1.70, Z:0.31 [[ 9.99640631e-01 -2.54962788e-02 -8.27939741e-03 5.18306024e+01] [ 2.54920384e-02 9.99674835e-01 -6.17298921e-04 1.70352175e+00] [ 8.29244406e-03 4.06018366e-04 9.99965535e-01 3.09392859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:1.70, Z:0.31 [[ 9.99634147e-01 -2.59878396e-02 -7.49688999e-03 5.18579160e+01] [ 2.59843725e-02 9.99662193e-01 -5.59516896e-04 1.70493756e+00] [ 7.50889812e-03 3.64510213e-04 9.99971741e-01 3.09467061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:1.71, Z:0.31 [[ 9.99594675e-01 -2.77743410e-02 -6.25069703e-03 5.18857150e+01] [ 2.77719633e-02 9.99614176e-01 -4.66873374e-04 1.70737124e+00] [ 6.26125246e-03 2.93090010e-04 9.99980355e-01 3.09059280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:1.71, Z:0.31 [[ 9.99582480e-01 -2.83347958e-02 -5.65723883e-03 5.19127528e+01] [ 2.83328513e-02 9.99598454e-01 -4.23587549e-04 1.70991645e+00] [ 5.66696946e-03 2.63124986e-04 9.99983908e-01 3.09135355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:1.71, Z:0.31 [[ 9.99575766e-01 -2.85810534e-02 -5.60455865e-03 5.19403005e+01] [ 2.85791468e-02 9.99591445e-01 -4.19987057e-04 1.71268525e+00] [ 5.61427255e-03 2.59635380e-04 9.99984206e-01 3.09940772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:1.72, Z:0.31 [[ 9.99570611e-01 -2.87095112e-02 -5.86152535e-03 5.19685413e+01] [ 2.87074215e-02 9.99587760e-01 -4.40343343e-04 1.71604149e+00] [ 5.87175104e-03 2.71884985e-04 9.99982724e-01 3.10697091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:1.72, Z:0.31 [[ 9.99570313e-01 -2.86796819e-02 -6.05524475e-03 5.19951841e+01] [ 2.86774439e-02 9.99588613e-01 -4.56118606e-04 1.72058553e+00] [ 6.06583504e-03 2.82273676e-04 9.99981563e-01 3.11372759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:1.73, Z:0.31 [[ 9.99568864e-01 -2.86390623e-02 -6.47219954e-03 5.20217637e+01] [ 2.86365010e-02 9.99589772e-01 -4.88082177e-04 1.72940439e+00] [ 6.48352268e-03 3.02530599e-04 9.99978936e-01 3.11531424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:1.73, Z:0.31 [[ 9.99566794e-01 -2.87340082e-02 -6.37026165e-03 5.20481493e+01] [ 2.87315258e-02 9.99587049e-01 -4.80875037e-04 1.73318468e+00] [ 6.38144851e-03 2.97639382e-04 9.99979594e-01 3.11250422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.08, Y:1.74, Z:0.31 [[ 9.99534589e-01 -2.97395066e-02 -6.79460818e-03 5.20759947e+01] [ 2.97366995e-02 9.99557635e-01 -5.13800319e-04 1.73566707e+00] [ 6.80688264e-03 3.11511969e-04 9.99976784e-01 3.11341312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:1.74, Z:0.31 [[ 9.99465522e-01 -3.18140526e-02 -7.51910979e-03 5.21038046e+01] [ 3.18106624e-02 9.99493750e-01 -5.70074091e-04 1.73754216e+00] [ 7.53343961e-03 3.30581535e-04 9.99971569e-01 3.11613347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:1.74, Z:0.31 [[ 9.99362418e-01 -3.47675812e-02 -8.12239229e-03 5.21309120e+01] [ 3.47637104e-02 9.99395369e-01 -6.17298650e-04 1.74010497e+00] [ 8.13894322e-03 3.34540579e-04 9.99966822e-01 3.11626729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.16, Y:1.74, Z:0.31 [[ 9.99121293e-01 -4.11237143e-02 -8.09214550e-03 5.21587604e+01] [ 4.11200746e-02 9.99154022e-01 -6.15713608e-04 1.74219878e+00] [ 8.11062016e-03 2.82422949e-04 9.99967068e-01 3.11786946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:1.74, Z:0.31 [[ 9.99011646e-01 -4.37936501e-02 -7.60571359e-03 5.21872852e+01] [ 4.37905053e-02 9.99040568e-01 -5.79602255e-04 1.74183455e+00] [ 7.62379932e-03 2.45971362e-04 9.99970908e-01 3.12685934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:1.74, Z:0.31 [[ 9.98938785e-01 -4.54510672e-02 -7.45008407e-03 5.22147695e+01] [ 4.54480861e-02 9.98966540e-01 -5.69042440e-04 1.74053507e+00] [ 7.46824829e-03 2.29846501e-04 9.99972086e-01 3.13491337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:1.74, Z:0.31 [[ 9.98896640e-01 -4.64058478e-02 -7.21114697e-03 5.22425070e+01] [ 4.64030752e-02 9.98922645e-01 -5.51423097e-04 1.73996643e+00] [ 7.22896726e-03 2.16195284e-04 9.99973847e-01 3.13765805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:1.74, Z:0.31 [[ 9.98938854e-01 -4.55120226e-02 -7.05847430e-03 5.22707964e+01] [ 4.55093349e-02 9.98963767e-01 -5.41006082e-04 1.73790029e+00] [ 7.07578235e-03 2.19205524e-04 9.99974942e-01 3.13255682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:1.74, Z:0.31 [[ 9.99000004e-01 -4.41724447e-02 -6.91285517e-03 5.22986952e+01] [ 4.41698259e-02 9.99023896e-01 -5.31118172e-04 1.73739187e+00] [ 6.92956830e-03 2.25247446e-04 9.99975965e-01 3.12988787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:1.74, Z:0.31 [[ 9.99110131e-01 -4.16909587e-02 -6.38833464e-03 5.23260782e+01] [ 4.16886643e-02 9.99130529e-01 -4.91960900e-04 1.73606295e+00] [ 6.40329048e-03 2.25201981e-04 9.99979473e-01 3.13254018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:1.73, Z:0.31 [[ 9.99243436e-01 -3.83379798e-02 -6.53866965e-03 5.23546557e+01] [ 3.83355009e-02 9.99264797e-01 -5.04075645e-04 1.73486878e+00] [ 6.55318764e-03 2.53031103e-04 9.99978496e-01 3.14251880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:1.73, Z:0.31 [[ 9.99518719e-01 -3.01921894e-02 -7.12481474e-03 5.23821119e+01] [ 3.01890298e-02 9.99544056e-01 -5.50618836e-04 1.73114655e+00] [ 7.13819061e-03 3.35262589e-04 9.99974467e-01 3.14982358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:1.73, Z:0.32 [[ 9.99634529e-01 -2.61492285e-02 -6.85752730e-03 5.24092258e+01] [ 2.61462030e-02 9.99657989e-01 -5.30482805e-04 1.73064921e+00] [ 6.86905367e-03 3.50990628e-04 9.99976346e-01 3.15330272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:1.73, Z:0.32 [[ 9.99735455e-01 -2.21111249e-02 -6.33391893e-03 5.24373444e+01] [ 2.21084603e-02 9.99755458e-01 -4.90390949e-04 1.73066373e+00] [ 6.34321312e-03 3.50228023e-04 9.99979820e-01 3.15504200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:1.73, Z:0.32 [[ 9.99811667e-01 -1.84724509e-02 -5.94969510e-03 5.24654340e+01] [ 1.84700297e-02 9.99829308e-01 -4.61637942e-04 1.73086894e+00] [ 5.95720712e-03 3.51659956e-04 9.99982194e-01 3.15697426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.49, Y:1.73, Z:0.32 [[ 9.99906143e-01 -1.25394183e-02 -5.51984340e-03 5.24931606e+01] [ 1.25372387e-02 9.99921314e-01 -4.29295202e-04 1.72890140e+00] [ 5.52479218e-03 3.60051316e-04 9.99984673e-01 3.15624933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:1.73, Z:0.32 [[ 9.99922078e-01 -1.11876484e-02 -5.53854136e-03 5.25215953e+01] [ 1.11854296e-02 9.99937348e-01 -4.31413501e-04 1.72941296e+00] [ 5.54302086e-03 3.69428920e-04 9.99984569e-01 3.15859351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:1.73, Z:0.32 [[ 9.99923212e-01 -1.10761205e-02 -5.55778146e-03 5.25493604e+01] [ 1.10738791e-02 9.99938589e-01 -4.33911249e-04 1.73003907e+00] [ 5.56224620e-03 3.72331730e-04 9.99984461e-01 3.15718417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:1.73, Z:0.32 [[ 9.99911438e-01 -1.22810475e-02 -5.12748135e-03 5.25772965e+01] [ 1.22791513e-02 9.99924528e-01 -4.01131078e-04 1.73039016e+00] [ 5.13202068e-03 3.38134434e-04 9.99986774e-01 3.15648989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:1.73, Z:0.32 [[ 9.99827119e-01 -1.78884392e-02 -5.07305274e-03 5.26049668e+01] [ 1.78866493e-02 9.99839942e-01 -3.97965674e-04 1.72670536e+00] [ 5.07935974e-03 3.07156958e-04 9.99987053e-01 3.15251846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:1.73, Z:0.32 [[ 9.99744299e-01 -2.17458877e-02 -6.20111941e-03 5.26322240e+01] [ 2.17432835e-02 9.99763468e-01 -4.87077561e-04 1.72554991e+00] [ 6.21024459e-03 3.52120317e-04 9.99980654e-01 3.15175206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:1.72, Z:0.32 [[ 9.99650970e-01 -2.53148024e-02 -7.55639819e-03 5.26593036e+01] [ 2.53110316e-02 9.99679448e-01 -5.94248921e-04 1.72454701e+00] [ 7.56901927e-03 4.02781277e-04 9.99971273e-01 3.15276332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:1.72, Z:0.32 [[ 9.99555616e-01 -2.86492687e-02 -8.23351111e-03 5.26876880e+01] [ 2.86448975e-02 9.99589440e-01 -6.48359116e-04 1.72368616e+00] [ 8.24870577e-03 4.12222914e-04 9.99965894e-01 3.15397844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:1.72, Z:0.32 [[ 9.99381167e-01 -3.44423987e-02 -7.14173027e-03 5.27152939e+01] [ 3.44392497e-02 9.99406634e-01 -5.63475849e-04 1.72023916e+00] [ 7.15690007e-03 3.17171320e-04 9.99974339e-01 3.16066920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:1.72, Z:0.32 [[ 9.99270593e-01 -3.75760735e-02 -6.80598876e-03 5.27438148e+01] [ 3.75732826e-02 9.99293730e-01 -5.37515466e-04 1.71990347e+00] [ 6.82137962e-03 2.81400060e-04 9.99976695e-01 3.17010968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:1.72, Z:0.32 [[ 9.99150228e-01 -4.05906662e-02 -7.15676947e-03 5.27719758e+01] [ 4.05876476e-02 9.99175821e-01 -5.66584265e-04 1.71994993e+00] [ 7.17386905e-03 2.75626360e-04 9.99974229e-01 3.17371270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:1.72, Z:0.32 [[ 9.99032605e-01 -4.31667198e-02 -8.39570218e-03 5.28002570e+01] [ 4.31626412e-02 9.99067837e-01 -6.66472631e-04 1.72010167e+00] [ 8.41664545e-03 3.03447208e-04 9.99964533e-01 3.16895584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:1.72, Z:0.32 [[ 9.98863929e-01 -4.65136400e-02 -1.03601799e-02 5.28279505e+01] [ 4.65075878e-02 9.98917596e-01 -8.24461225e-04 1.71629524e+00] [ 1.03873147e-02 3.41697601e-04 9.99945992e-01 3.15541551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:1.72, Z:0.32 [[ 9.98840906e-01 -4.72655846e-02 -9.09991301e-03 5.28559856e+01] [ 4.72609354e-02 9.98882314e-01 -7.25389408e-04 1.71518715e+00] [ 9.12402813e-03 2.94478213e-04 9.99958332e-01 3.16097060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:1.71, Z:0.32 [[ 9.98857440e-01 -4.72480121e-02 -7.17217584e-03 5.28830835e+01] [ 4.72451162e-02 9.98883162e-01 -5.72757981e-04 1.71475912e+00] [ 7.19122736e-03 2.33253290e-04 9.99974116e-01 3.16793638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:1.71, Z:0.32 [[ 9.98891005e-01 -4.67367385e-02 -5.69540745e-03 5.29108183e+01] [ 4.67349026e-02 9.98907224e-01 -4.55077538e-04 1.71490779e+00] [ 5.71045249e-03 1.88398546e-04 9.99983677e-01 3.17133848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:1.72, Z:0.32 [[ 9.98906856e-01 -4.63733426e-02 -5.88271626e-03 5.29375690e+01] [ 4.63713703e-02 9.98924158e-01 -4.71290247e-04 1.71681837e+00] [ 5.89824269e-03 1.97985445e-04 9.99982586e-01 3.16942146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:1.72, Z:0.32 [[ 9.98947597e-01 -4.54599159e-02 -6.09045542e-03 5.29659068e+01] [ 4.54577821e-02 9.98966141e-01 -4.88395326e-04 1.71859644e+00] [ 6.10636116e-03 2.11022742e-04 9.99981334e-01 3.16727056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:1.72, Z:0.32 [[ 9.99003867e-01 -4.42001725e-02 -6.13332338e-03 5.29933098e+01] [ 4.41979774e-02 9.99022670e-01 -4.93054129e-04 1.71992829e+00] [ 6.14912218e-03 2.21482494e-04 9.99981069e-01 3.16439569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.02, Y:1.72, Z:0.32 [[ 9.99109578e-01 -4.16210008e-02 -6.90966942e-03 5.30215447e+01] [ 4.16181485e-02 9.99133435e-01 -5.56123709e-04 1.72270872e+00] [ 6.92682817e-03 2.68060876e-04 9.99975973e-01 3.17069765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:1.73, Z:0.32 [[ 9.99168280e-01 -4.01674230e-02 -7.02325433e-03 5.30478849e+01] [ 4.01644312e-02 9.99192923e-01 -5.66572751e-04 1.72660555e+00] [ 7.04034379e-03 2.84016506e-04 9.99975176e-01 3.17115134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:1.73, Z:0.32 [[ 9.99224742e-01 -3.87125449e-02 -7.15922155e-03 5.30758885e+01] [ 3.87093942e-02 9.99250343e-01 -5.78189601e-04 1.73109520e+00] [ 7.17623778e-03 3.00612226e-04 9.99974205e-01 3.17243421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.10, Y:1.73, Z:0.32 [[ 9.99269872e-01 -3.75861856e-02 -6.85570336e-03 5.31036226e+01] [ 3.75832617e-02 9.99293346e-01 -5.54878850e-04 1.73467189e+00] [ 6.87171452e-03 2.96814024e-04 9.99976345e-01 3.17479099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:1.74, Z:0.32 [[ 9.99346794e-01 -3.56644714e-02 -5.83364291e-03 5.31302175e+01] [ 3.56623159e-02 9.99363785e-01 -4.73140937e-04 1.73872271e+00] [ 5.84680578e-03 2.64790662e-04 9.99982872e-01 3.18082586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:1.74, Z:0.32 [[ 9.99335540e-01 -3.60359917e-02 -5.46670505e-03 5.31578835e+01] [ 3.60341028e-02 9.99350462e-01 -4.43666147e-04 1.74255720e+00] [ 5.47914217e-03 2.46383537e-04 9.99984959e-01 3.18201273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:1.75, Z:0.32 [[ 9.99302431e-01 -3.69496648e-02 -5.41974382e-03 5.31848850e+01] [ 3.69478156e-02 9.99317099e-01 -4.40960230e-04 1.74597449e+00] [ 5.43233600e-03 2.40404935e-04 9.99985216e-01 3.18635094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:1.75, Z:0.32 [[ 9.99258558e-01 -3.80791006e-02 -5.68468526e-03 5.32131135e+01] [ 3.80770823e-02 9.99274698e-01 -4.62893494e-04 1.74910494e+00] [ 5.69818871e-03 2.46094057e-04 9.99983735e-01 3.18792978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:1.75, Z:0.32 [[ 9.99230411e-01 -3.86791003e-02 -6.52019530e-03 5.32400717e+01] [ 3.86764488e-02 9.99251644e-01 -5.32306787e-04 1.75168102e+00] [ 6.53590502e-03 2.79719130e-04 9.99978602e-01 3.18882417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:1.76, Z:0.32 [[ 9.99216996e-01 -3.86376065e-02 -8.51652809e-03 5.32681146e+01] [ 3.86330724e-02 9.99253222e-01 -6.96325209e-04 1.75578280e+00] [ 8.53707247e-03 3.66760337e-04 9.99963491e-01 3.18599299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:1.76, Z:0.32 [[ 9.99224508e-01 -3.82615764e-02 -9.29701514e-03 5.32953185e+01] [ 3.82561420e-02 9.99267676e-01 -7.61723848e-04 1.75969059e+00] [ 9.31935146e-03 4.05465205e-04 9.99956492e-01 3.18139622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:1.76, Z:0.32 [[ 9.99240650e-01 -3.77210870e-02 -9.75923515e-03 5.33228511e+01] [ 3.77150618e-02 9.99288213e-01 -8.00753485e-04 1.76332215e+00] [ 9.78249395e-03 4.32075276e-04 9.99952057e-01 3.18072676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:1.77, Z:0.32 [[ 9.99233996e-01 -3.78969969e-02 -9.75908727e-03 5.33512817e+01] [ 3.78909625e-02 9.99281557e-01 -8.02552473e-04 1.76579448e+00] [ 9.78249025e-03 4.32156504e-04 9.99952057e-01 3.18262927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:1.77, Z:0.32 [[ 9.99271758e-01 -3.69275860e-02 -9.60764850e-03 5.33788037e+01] [ 3.69216762e-02 9.99317849e-01 -7.91820626e-04 1.76946350e+00] [ 9.63033465e-03 4.36513502e-04 9.99953532e-01 3.18161369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:1.77, Z:0.32 [[ 9.99350430e-01 -3.50291618e-02 -8.46612200e-03 5.34068630e+01] [ 3.50244926e-02 9.99386210e-01 -6.99199974e-04 1.77266983e+00] [ 8.48541797e-03 4.02224168e-04 9.99963917e-01 3.18705834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:1.77, Z:0.32 [[ 9.99366464e-01 -3.45945794e-02 -8.35972917e-03 5.34342812e+01] [ 3.45899999e-02 9.99401347e-01 -6.91806665e-04 1.77493432e+00] [ 8.37865736e-03 4.02205350e-04 9.99964818e-01 3.18868112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:53.46, Y:1.78, Z:0.32 [[ 9.99359446e-01 -3.47319669e-02 -8.62491324e-03 5.34619414e+01] [ 3.47270893e-02 9.99396577e-01 -7.14692458e-04 1.77721872e+00] [ 8.64453145e-03 4.14716526e-04 9.99962549e-01 3.18010220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:1.78, Z:0.32 [[ 9.99343551e-01 -3.51215671e-02 -8.88500994e-03 5.34885370e+01] [ 3.51163930e-02 9.99382957e-01 -7.37731030e-04 1.77855937e+00] [ 8.90543777e-03 4.25237247e-04 9.99960255e-01 3.18216406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.451400512999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:53.52, Y:1.78, Z:0.32 [[ 9.99279499e-01 -3.68168803e-02 -9.21955991e-03 5.35167778e+01] [ 3.68113715e-02 9.99321938e-01 -7.66557658e-04 1.77994150e+00] [ 9.24153074e-03 4.26620707e-04 9.99957205e-01 3.17792769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.54, Y:1.78, Z:0.32 [[ 9.99269905e-01 -3.71572437e-02 -8.88794836e-03 5.35444430e+01] [ 3.71521231e-02 9.99309347e-01 -7.40604259e-04 1.78305589e+00] [ 8.90932869e-03 4.09857396e-04 9.99960227e-01 3.18598674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:1.79, Z:0.32 [[ 9.99290056e-01 -3.68728396e-02 -7.73163607e-03 5.35718455e+01] [ 3.68689462e-02 9.99319901e-01 -6.45543308e-04 1.78643449e+00] [ 7.75018080e-03 3.60027734e-04 9.99969902e-01 3.19611632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:1.79, Z:0.32 [[ 9.99330776e-01 -3.60984585e-02 -5.90775946e-03 5.35987332e+01] [ 3.60961665e-02 9.99348199e-01 -4.94162576e-04 1.78949260e+00] [ 5.92174728e-03 2.80584401e-04 9.99982427e-01 3.20226065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:1.79, Z:0.32 [[ 9.99416503e-01 -3.40099481e-02 -3.15862001e-03 5.36259842e+01] [ 3.40092825e-02 9.99421482e-01 -2.64219976e-04 1.79114640e+00] [ 3.16577880e-03 1.56643405e-04 9.99994977e-01 3.20983086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.65, Y:1.79, Z:0.32 [[ 9.99424482e-01 -3.37576849e-02 -3.33510281e-03 5.36539386e+01] [ 3.37569416e-02 9.99430033e-01 -2.78921062e-04 1.79298235e+00] [ 3.34261764e-03 1.66177667e-04 9.99994400e-01 3.20959048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:1.79, Z:0.32 [[ 9.99410166e-01 -3.41488743e-02 -3.62960261e-03 5.36814872e+01] [ 3.41479936e-02 9.99416741e-01 -3.04343299e-04 1.79471965e+00] [ 3.63787860e-03 1.80220140e-04 9.99993367e-01 3.21199526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:1.80, Z:0.32 [[ 9.99370943e-01 -3.51877482e-02 -4.42057426e-03 5.37099629e+01] [ 3.51864472e-02 9.99380696e-01 -3.71763374e-04 1.79620604e+00] [ 4.43091809e-03 2.15985211e-04 9.99990160e-01 3.20827600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.74, Y:1.80, Z:0.32 [[ 9.99303653e-01 -3.69003246e-02 -5.52955878e-03 5.37367975e+01] [ 3.68983068e-02 9.99318917e-01 -4.66512113e-04 1.79691073e+00] [ 5.54300713e-03 2.62155902e-04 9.99984603e-01 3.20660163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.77, Y:1.79, Z:0.32 [[ 9.99095304e-01 -4.19589716e-02 -6.92948140e-03 5.37654830e+01] [ 4.19559191e-02 9.99119291e-01 -5.85360349e-04 1.79495893e+00] [ 6.94793966e-03 2.94098016e-04 9.99975820e-01 3.20464295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:1.80, Z:0.32 [[ 9.99017426e-01 -4.37708775e-02 -6.94935338e-03 5.37925742e+01] [ 4.37678422e-02 9.99041556e-01 -5.88332025e-04 1.79552731e+00] [ 6.96844462e-03 2.83595743e-04 9.99975680e-01 3.20505041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.82, Y:1.80, Z:0.32 [[ 9.98963830e-01 -4.50516211e-02 -6.45112025e-03 5.38205747e+01] [ 4.50490290e-02 9.98984628e-01 -5.46623945e-04 1.79676411e+00] [ 6.46919625e-03 2.55440847e-04 9.99979042e-01 3.21094821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.811400512999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:53.85, Y:1.80, Z:0.32 [[ 9.98963881e-01 -4.52029128e-02 -5.27841141e-03 5.38485869e+01] [ 4.52011755e-02 9.98977804e-01 -4.48037552e-04 1.79720440e+00] [ 5.29326844e-03 2.08982932e-04 9.99985969e-01 3.22463557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.88, Y:1.80, Z:0.32 [[ 9.98992067e-01 -4.46209785e-02 -4.88034035e-03 5.38752593e+01] [ 4.46194818e-02 9.99003969e-01 -4.15196910e-04 1.79868882e+00] [ 4.89400587e-03 1.97020162e-04 9.99988005e-01 3.23318671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.90, Y:1.80, Z:0.32 [[ 9.99026072e-01 -4.39141226e-02 -4.29623931e-03 5.39034821e+01] [ 4.39129560e-02 9.99035294e-01 -3.65541343e-04 1.80125994e+00] [ 4.30814713e-03 1.76524764e-04 9.99990704e-01 3.23471143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:1.80, Z:0.32 [[ 9.99069243e-01 -4.29717533e-02 -3.75185331e-03 5.39303055e+01] [ 4.29708538e-02 9.99076275e-01 -3.20089087e-04 1.80415520e+00] [ 3.76214242e-03 1.58570822e-04 9.99992911e-01 3.23114843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:1.81, Z:0.32 [[ 9.99095151e-01 -4.23471590e-02 -3.94935164e-03 5.39580177e+01] [ 4.23461570e-02 9.99102942e-01 -3.37005850e-04 1.80699718e+00] [ 3.96008008e-03 1.69461046e-04 9.99992144e-01 3.22701922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:1.81, Z:0.32 [[ 9.99055507e-01 -4.30566857e-02 -5.84941031e-03 5.39856216e+01] [ 4.30544899e-02 9.99072600e-01 -5.00855513e-04 1.81076193e+00] [ 5.86555075e-03 2.48539081e-04 9.99982767e-01 3.22732549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.01, Y:1.82, Z:0.32 [[ 9.98981796e-01 -4.46242380e-02 -6.63691817e-03 5.40133292e+01] [ 4.46214362e-02 9.99003805e-01 -5.69709217e-04 1.81543139e+00] [ 6.65572935e-03 2.72980316e-04 9.99977813e-01 3.23054242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021400512999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.04, Y:1.82, Z:0.32 [[ 9.98904548e-01 -4.62658847e-02 -7.01226775e-03 5.40401990e+01] [ 4.62627876e-02 9.98929122e-01 -6.03325564e-04 1.82050117e+00] [ 7.03267185e-03 2.78257597e-04 9.99975232e-01 3.23469365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:1.83, Z:0.32 [[ 9.98841604e-01 -4.76860608e-02 -6.44123381e-03 5.40683244e+01] [ 4.76834721e-02 9.98862342e-01 -5.54955455e-04 1.82510102e+00] [ 6.46036953e-03 2.47172204e-04 9.99979101e-01 3.24044266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.10, Y:1.83, Z:0.32 [[ 9.98772694e-01 -4.91551663e-02 -6.07258177e-03 5.40954470e+01] [ 4.91528856e-02 9.98791129e-01 -5.24333928e-04 1.82890365e+00] [ 6.09101453e-03 2.25205492e-04 9.99981424e-01 3.24441447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:1.83, Z:0.32 [[ 9.98549029e-01 -5.34636355e-02 -6.44019991e-03 5.41233468e+01] [ 5.34611563e-02 9.98569775e-01 -5.56617924e-04 1.83488809e+00] [ 6.46074780e-03 2.11509754e-04 9.99979107e-01 3.23925084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.15, Y:1.84, Z:0.32 [[ 9.98395556e-01 -5.62098164e-02 -6.83890723e-03 5.41514594e+01] [ 5.62070757e-02 9.98418957e-01 -5.92446502e-04 1.84017493e+00] [ 6.86139594e-03 2.07100978e-04 9.99976439e-01 3.23271591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.18, Y:1.84, Z:0.32 [[ 9.98238329e-01 -5.89431095e-02 -6.77856583e-03 5.41779147e+01] [ 5.89404713e-02 9.98261326e-01 -5.88490595e-04 1.84429715e+00] [ 6.80146758e-03 1.87922003e-04 9.99976852e-01 3.23660539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201400512999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.20, Y:1.85, Z:0.32 [[ 9.98047808e-01 -6.20969424e-02 -6.67406621e-03 5.42047314e+01] [ 6.20944496e-02 9.98070109e-01 -5.80271227e-04 1.84769598e+00] [ 6.69721906e-03 1.64715958e-04 9.99977560e-01 3.23791672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:1.85, Z:0.33 [[ 9.97554410e-01 -6.93599568e-02 -8.62531001e-03 5.42328994e+01] [ 6.93560552e-02 9.97591687e-01 -7.50995676e-04 1.85000094e+00] [ 8.65662659e-03 1.50941571e-04 9.99962519e-01 3.26726833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:1.85, Z:0.33 [[ 9.97297035e-01 -7.28323501e-02 -9.69905992e-03 5.42607459e+01] [ 7.28275615e-02 9.97344188e-01 -8.46471065e-04 1.85318370e+00] [ 9.73495152e-03 1.37824201e-04 9.99952605e-01 3.27553416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:1.86, Z:0.33 [[ 9.97083405e-01 -7.55819078e-02 -1.05857426e-02 5.42884066e+01] [ 7.55763363e-02 9.97139589e-01 -9.25937700e-04 1.85748585e+00] [ 1.06254472e-02 1.23205473e-04 9.99943541e-01 3.27382849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:1.86, Z:0.33 [[ 9.96947413e-01 -7.73637468e-02 -1.05217101e-02 5.43149068e+01] [ 7.73583245e-02 9.97002929e-01 -9.21965212e-04 1.86272098e+00] [ 1.05615025e-02 1.05208970e-04 9.99944220e-01 3.27212096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.34, Y:1.87, Z:0.33 [[ 9.96912252e-01 -7.79118546e-02 -9.78290836e-03 5.43422510e+01] [ 7.79071823e-02 9.96960247e-01 -8.58359302e-04 1.86885531e+00] [ 9.82004710e-03 9.35500795e-05 9.99951778e-01 3.27282260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381400512999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.37, Y:1.88, Z:0.33 [[ 9.97069172e-01 -7.61835525e-02 -7.00943043e-03 5.43697974e+01] [ 7.61811043e-02 9.97093807e-01 -6.16002269e-04 1.87791369e+00] [ 7.03598891e-03 8.02107219e-05 9.99975244e-01 3.27858479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.411400513 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:54.40, Y:1.88, Z:0.33 [[ 9.97135050e-01 -7.53581134e-02 -6.54574147e-03 5.43971328e+01] [ 7.53559528e-02 9.97156531e-01 -5.76427737e-04 1.88398695e+00] [ 6.57056737e-03 8.15157150e-05 9.99978410e-01 3.28166764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.42, Y:1.89, Z:0.33 [[ 9.97184724e-01 -7.46906885e-02 -6.62779575e-03 5.44238196e+01] [ 7.46884499e-02 9.97206745e-01 -5.84976455e-04 1.89125871e+00] [ 6.65297492e-03 8.83097934e-05 9.99977865e-01 3.28371369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:1.90, Z:0.33 [[ 9.97168309e-01 -7.49263391e-02 -6.43486695e-03 5.44494838e+01] [ 7.49242304e-02 9.97189068e-01 -5.68480535e-04 1.90465261e+00] [ 6.45937314e-03 8.47433198e-05 9.99979134e-01 3.27720629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:1.91, Z:0.33 [[ 9.97053278e-01 -7.65175462e-02 -5.46129616e-03 5.44772250e+01] [ 7.65160499e-02 9.97068233e-01 -4.82714366e-04 1.91114513e+00] [ 5.48222103e-03 6.34151323e-05 9.99984971e-01 3.27914748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:54.50, Y:1.92, Z:0.33 [[ 9.96851778e-01 -7.91555259e-02 -4.57544505e-03 5.45036179e+01] [ 7.91544997e-02 9.96862278e-01 -4.05215108e-04 1.91730857e+00] [ 4.59316359e-03 4.17723365e-05 9.99989450e-01 3.28588808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561400512999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.53, Y:1.92, Z:0.33 [[ 9.96599610e-01 -8.22891055e-02 -4.20951742e-03 5.45315093e+01] [ 8.22882635e-02 9.96608500e-01 -3.73119745e-04 1.92314824e+00] [ 4.22594454e-03 2.54571131e-05 9.99991070e-01 3.29143100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:1.93, Z:0.33 [[ 9.96320501e-01 -8.55895667e-02 -4.45935936e-03 5.45583826e+01] [ 8.55886495e-02 9.96330480e-01 -3.96474930e-04 1.92935016e+00] [ 4.47692977e-03 1.33455554e-05 9.99989978e-01 3.29002615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.58, Y:1.94, Z:0.33 [[ 9.95659565e-01 -9.28879510e-02 -5.81880437e-03 5.45845109e+01] [ 9.28865103e-02 9.95676568e-01 -5.17928561e-04 1.93839186e+00] [ 5.84175649e-03 -2.48079067e-05 9.99982936e-01 3.27861788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.61, Y:1.94, Z:0.33 [[ 9.95351939e-01 -9.61124165e-02 -6.07633287e-03 5.46126010e+01] [ 9.61108980e-02 9.95370485e-01 -5.42092755e-04 1.94361419e+00] [ 6.10030423e-03 -4.44287343e-05 9.99981392e-01 3.28252976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:54.64, Y:1.95, Z:0.33 [[ 9.95167012e-01 -9.79931797e-02 -6.32095514e-03 5.46388490e+01] [ 9.79915659e-02 9.95187085e-01 -5.65250962e-04 1.94865499e+00] [ 6.34592366e-03 -5.68811816e-05 9.99979863e-01 3.28460308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.67, Y:1.95, Z:0.33 [[ 9.95057115e-01 -9.90796248e-02 -6.67583729e-03 5.46662897e+01] [ 9.90778451e-02 9.95079506e-01 -5.97593939e-04 1.95435883e+00] [ 6.70219825e-03 -6.67874717e-05 9.99977538e-01 3.29240156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741400512999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.69, Y:1.96, Z:0.33 [[ 9.95048113e-01 -9.91397462e-02 -7.11084125e-03 5.46939405e+01] [ 9.91377178e-02 9.95073518e-01 -6.38045175e-04 1.96031063e+00] [ 7.13906545e-03 -7.00669256e-05 9.99974514e-01 3.29128029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.771400512999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.72, Y:1.97, Z:0.33 [[ 9.95323929e-01 -9.62661226e-02 -7.94415005e-03 5.47201057e+01] [ 9.62845694e-02 9.95351893e-01 1.97233183e-03 1.96694783e+00] [ 7.71735606e-03 -2.72800813e-03 9.99966500e-01 3.28909293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:54.75, Y:1.98, Z:0.33 [[ 9.95517794e-01 -9.42143820e-02 -8.24450492e-03 5.47467311e+01] [ 9.41884185e-02 9.95548294e-01 -3.48361553e-03 1.97640803e+00] [ 8.53600950e-03 2.69146437e-03 9.99959945e-01 3.27479259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:1.98, Z:0.33 [[ 9.95696421e-01 -9.23499346e-02 -7.75419555e-03 5.47737772e+01] [ 9.23472867e-02 9.95726614e-01 -6.99598686e-04 1.97880418e+00] [ 7.78566677e-03 -1.94910127e-05 9.99969691e-01 3.27889087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.80, Y:1.98, Z:0.33 [[ 9.95943365e-01 -8.97844330e-02 -5.96405606e-03 5.48012570e+01] [ 8.98027371e-02 9.95955422e-01 2.87510104e-03 1.98367013e+00] [ 5.68179465e-03 -3.39902637e-03 9.99978082e-01 3.28529347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.83, Y:2.00, Z:0.33 [[ 9.96027797e-01 -8.88337572e-02 -6.09847306e-03 5.48286763e+01] [ 8.88119084e-02 9.96041299e-01 -3.76511641e-03 1.99515231e+00] [ 6.40880047e-03 3.20854357e-03 9.99974316e-01 3.27138378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921400512999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.86, Y:2.00, Z:0.33 [[ 9.96092684e-01 -8.80108342e-02 -7.31152454e-03 5.48554644e+01] [ 8.80083419e-02 9.96119517e-01 -6.62537077e-04 1.99750241e+00] [ 7.34146273e-03 1.64731841e-05 9.99973051e-01 3.28277275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.951400512999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.88, Y:2.00, Z:0.33 [[ 9.96118643e-01 -8.76375855e-02 -8.20387977e-03 5.48825319e+01] [ 8.76344280e-02 9.96152425e-01 -7.44261662e-04 2.00199031e+00] [ 8.23754002e-03 2.24306056e-05 9.99966071e-01 3.28436708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.91, Y:2.01, Z:0.33 [[ 9.96086440e-01 -8.79368459e-02 -8.88347490e-03 5.49105136e+01] [ 8.79331430e-02 9.96126052e-01 -8.07324996e-04 2.00598871e+00] [ 8.92005439e-03 2.30136126e-05 9.99960215e-01 3.28873167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.94, Y:2.01, Z:0.33 [[ 9.95981780e-01 -8.91548217e-02 -8.46832566e-03 5.49369997e+01] [ 8.91514888e-02 9.96017780e-01 -7.70998869e-04 2.01196430e+00] [ 8.50334119e-03 1.29369856e-05 9.99963846e-01 3.29291275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.96, Y:2.02, Z:0.33 [[ 9.95939314e-01 -8.97058605e-02 -7.59878493e-03 5.49644004e+01] [ 8.97031876e-02 9.95968302e-01 -6.92545635e-04 2.01599483e+00] [ 7.63027432e-03 8.09819433e-06 9.99970889e-01 3.29662149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:2.02, Z:0.33 [[ 9.95962776e-01 -8.95225534e-02 -6.62277030e-03 5.49913005e+01] [ 8.95205114e-02 9.95984795e-01 -6.04725338e-04 2.01938648e+00] [ 6.65031508e-03 9.41014199e-06 9.99977886e-01 3.30123172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:2.02, Z:0.33 [[ 9.96043958e-01 -8.86069610e-02 -6.72615081e-03 5.50189860e+01] [ 8.86048298e-02 9.96066668e-01 -6.14769470e-04 2.02315143e+00] [ 6.75416747e-03 1.63679685e-05 9.99977190e-01 3.30356906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.131400512999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.05, Y:2.03, Z:0.33 [[ 9.96182432e-01 -8.69971644e-02 -7.21498177e-03 5.50459769e+01] [ 8.69946595e-02 9.96208559e-01 -6.60879104e-04 2.02734593e+00] [ 7.24512119e-03 3.06912708e-05 9.99973753e-01 3.30083197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.07, Y:2.03, Z:0.33 [[ 9.96167209e-01 -8.71713050e-02 -7.21492034e-03 5.50743612e+01] [ 8.71687999e-02 9.96193336e-01 -6.61549075e-04 2.03011844e+00] [ 7.24512365e-03 3.00975480e-05 9.99973753e-01 3.30270422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:55.10, Y:2.04, Z:0.33 [[ 9.96481453e-01 -8.34728071e-02 -7.55018404e-03 5.51014337e+01] [ 8.34699470e-02 9.96510054e-01 -6.93689731e-04 2.03670707e+00] [ 7.58173853e-03 6.10354891e-05 9.99971256e-01 3.29744819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:2.04, Z:0.33 [[ 9.96602219e-01 -8.20082223e-02 -7.65959576e-03 5.51290655e+01] [ 8.20052240e-02 9.96631650e-01 -7.05232326e-04 2.04071256e+00] [ 7.69163041e-03 7.47092343e-05 9.99970416e-01 3.29779375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:55.16, Y:2.04, Z:0.33 [[ 9.96729617e-01 -8.04014732e-02 -8.10396106e-03 5.51557495e+01] [ 8.03980516e-02 9.96762557e-01 -7.47644514e-04 2.04381258e+00] [ 8.13783666e-03 9.36567504e-05 9.99966883e-01 3.29672601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.18, Y:2.05, Z:0.33 [[ 9.96929163e-01 -7.77186657e-02 -9.59443313e-03 5.51835256e+01] [ 7.77137332e-02 9.96975321e-01 -8.86423581e-04 2.05017733e+00] [ 9.63430470e-03 1.38082303e-04 9.99953579e-01 3.29932328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.311400512999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.21, Y:2.05, Z:0.33 [[ 9.97043467e-01 -7.61158566e-02 -1.05214287e-02 5.52106190e+01] [ 7.61098147e-02 9.97098966e-01 -9.74042340e-04 2.05483662e+00] [ 1.05650458e-02 1.70378562e-04 9.99944174e-01 3.30176307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:2.06, Z:0.33 [[ 9.97144471e-01 -7.47411787e-02 -1.08009605e-02 5.52381834e+01] [ 7.47347120e-02 9.97202948e-01 -1.00165954e-03 2.05899261e+00] [ 1.08456149e-02 1.91592602e-04 9.99941166e-01 3.30478607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:2.06, Z:0.33 [[ 9.97244423e-01 -7.33951239e-02 -1.08035134e-02 5.52651206e+01] [ 7.33885575e-02 9.97302919e-01 -1.00352212e-03 2.06282394e+00] [ 1.08480290e-02 2.07902579e-04 9.99941137e-01 3.30807707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:2.07, Z:0.33 [[ 9.97351991e-01 -7.20948894e-02 -9.55678863e-03 5.52928453e+01] [ 7.20896812e-02 9.97397758e-01 -8.88785985e-04 2.06701807e+00] [ 9.59599648e-03 1.97486626e-04 9.99953938e-01 3.31663958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.32, Y:2.07, Z:0.33 [[ 9.97482235e-01 -7.04843797e-02 -7.81946570e-03 5.53206113e+01] [ 7.04808334e-02 9.97512868e-01 -7.28500943e-04 2.07157393e+00] [ 7.85136559e-03 1.75544290e-04 9.99969162e-01 3.32495192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:2.08, Z:0.33 [[ 9.97777042e-01 -6.63863776e-02 -5.81585526e-03 5.53481915e+01] [ 6.63843415e-02 9.97793979e-01 -5.42646218e-04 2.07726063e+00] [ 5.83904968e-03 1.55358217e-04 9.99982941e-01 3.33330798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.491400512999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.38, Y:2.08, Z:0.33 [[ 9.97940509e-01 -6.38296738e-02 -6.36496394e-03 5.53764866e+01] [ 6.38271745e-02 9.97960790e-01 -5.95236480e-04 2.08024576e+00] [ 6.38997819e-03 1.87752933e-04 9.99979566e-01 3.33258774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.521400512999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.40, Y:2.08, Z:0.33 [[ 9.98073088e-01 -6.17265454e-02 -6.32012097e-03 5.54040281e+01] [ 6.17240312e-02 9.98093078e-01 -5.92270045e-04 2.08384097e+00] [ 6.34462778e-03 2.01025449e-04 9.99979852e-01 3.32904375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:55.43, Y:2.09, Z:0.33 [[ 9.98176748e-01 -6.00391694e-02 -6.20304046e-03 5.54314342e+01] [ 6.00367076e-02 9.98196000e-01 -5.82480882e-04 2.08793525e+00] [ 6.22682185e-03 2.09008746e-04 9.99980591e-01 3.32491793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.46, Y:2.09, Z:0.33 [[ 9.98339467e-01 -5.73817560e-02 -5.06392985e-03 5.54594731e+01] [ 5.73800773e-02 9.98352292e-01 -4.76279836e-04 2.09326703e+00] [ 5.08291575e-03 1.84920271e-04 9.99987065e-01 3.32329161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.49, Y:2.10, Z:0.33 [[ 9.98427670e-01 -5.58643147e-02 -4.62240326e-03 5.54859201e+01] [ 5.58628954e-02 9.98438354e-01 -4.35687234e-04 2.09604462e+00] [ 4.63952407e-03 1.76781359e-04 9.99989222e-01 3.32844416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:2.10, Z:0.33 [[ 9.98522846e-01 -5.40945945e-02 -5.08938366e-03 5.55126628e+01] [ 5.40928466e-02 9.98535795e-01 -4.80563986e-04 2.09881238e+00] [ 5.10792768e-03 2.04554868e-04 9.99986934e-01 3.33390967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:2.10, Z:0.33 [[ 9.98713466e-01 -5.00200388e-02 -8.33113898e-03 5.55408630e+01] [ 5.00152032e-02 9.98748146e-01 -7.87890895e-04 2.10237378e+00] [ 8.36011994e-03 3.70193638e-04 9.99964985e-01 3.33359035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:2.10, Z:0.33 [[ 9.98797270e-01 -4.81616162e-02 -9.19084270e-03 5.55678245e+01] [ 4.81556378e-02 9.98839465e-01 -8.70795667e-04 2.10450084e+00] [ 9.22211533e-03 4.27157443e-04 9.99957384e-01 3.32775073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:2.11, Z:0.33 [[ 9.98848581e-01 -4.71941246e-02 -8.61545855e-03 5.55954407e+01] [ 4.71888276e-02 9.98885652e-01 -8.17188858e-04 2.10657442e+00] [ 8.64442444e-03 4.09694544e-04 9.99962552e-01 3.32747125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:2.11, Z:0.33 [[ 9.98881933e-01 -4.67966360e-02 -6.70506140e-03 5.56229731e+01] [ 4.67934120e-02 9.98904385e-01 -6.36994821e-04 2.10839551e+00] [ 6.72752445e-03 3.22529918e-04 9.99977318e-01 3.32614764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:2.11, Z:0.33 [[ 9.98901552e-01 -4.65565579e-02 -5.30816870e-03 5.56502825e+01] [ 4.65545296e-02 9.98915622e-01 -5.05114762e-04 2.11021071e+00] [ 5.32592905e-03 2.57440622e-04 9.99985784e-01 3.32404489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:2.11, Z:0.33 [[ 9.98901231e-01 -4.65998105e-02 -4.97877944e-03 5.56784552e+01] [ 4.65980241e-02 9.98913609e-01 -4.74267873e-04 2.11195395e+00] [ 4.99547133e-03 2.41745478e-04 9.99987493e-01 3.32090950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:2.11, Z:0.33 [[ 9.98957389e-01 -4.51562380e-02 -6.71179529e-03 5.57055906e+01] [ 4.51529475e-02 9.98979880e-01 -6.41058828e-04 2.11070992e+00] [ 6.73389626e-03 3.37333113e-04 9.99977270e-01 3.31876497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:2.11, Z:0.33 [[ 9.99002986e-01 -4.40219171e-02 -7.42328779e-03 5.57337619e+01] [ 4.40178550e-02 9.99030492e-01 -7.09787141e-04 2.11192823e+00] [ 7.44733704e-03 3.82322268e-04 9.99972195e-01 3.32350595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:2.11, Z:0.33 [[ 9.99070976e-01 -4.23664369e-02 -7.89117349e-03 5.57602935e+01] [ 4.23617837e-02 9.99102051e-01 -7.55956569e-04 2.11367760e+00] [ 7.91611480e-03 4.20970083e-04 9.99968578e-01 3.32585197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:2.12, Z:0.33 [[ 9.99138155e-01 -4.06188155e-02 -8.54744372e-03 5.57886812e+01] [ 4.06132841e-02 9.99174604e-01 -8.19797243e-04 2.11569602e+00] [ 8.57368788e-03 4.71950945e-04 9.99963134e-01 3.32408970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:2.12, Z:0.33 [[ 9.99232029e-01 -3.79387335e-02 -9.79820122e-03 5.58159419e+01] [ 3.79313194e-02 9.99279905e-01 -9.41473116e-04 2.11598530e+00] [ 9.82686389e-03 5.69091392e-04 9.99951553e-01 3.31036076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:2.12, Z:0.33 [[ 9.99262948e-01 -3.71310841e-02 -9.73878781e-03 5.58432034e+01] [ 3.71237135e-02 9.99310238e-01 -9.36569665e-04 2.11609087e+00] [ 9.76684622e-03 5.74339395e-04 9.99952138e-01 3.30634322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:2.12, Z:0.33 [[ 9.99270202e-01 -3.69747043e-02 -9.58823406e-03 5.58713685e+01] [ 3.69675422e-02 9.99316040e-01 -9.23182961e-04 2.11593831e+00] [ 9.61581052e-03 5.68055776e-04 9.99953606e-01 3.31108936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:2.12, Z:0.33 [[ 9.99273261e-01 -3.70036932e-02 -9.14752886e-03 5.58993763e+01] [ 3.69971604e-02 9.99314981e-01 -8.82405185e-04 2.11577042e+00] [ 9.17391488e-03 5.43331314e-04 9.99957771e-01 3.32210536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:2.12, Z:0.33 [[ 9.99316858e-01 -3.61290300e-02 -7.77888416e-03 5.59266916e+01] [ 3.61242704e-02 9.99347023e-01 -7.51555053e-04 2.11510868e+00] [ 7.80095768e-03 4.70035120e-04 9.99969462e-01 3.34048417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:2.12, Z:0.33 [[ 9.99348181e-01 -3.54032742e-02 -7.05846542e-03 5.59546011e+01] [ 3.53993332e-02 9.99373014e-01 -6.82543341e-04 2.11754948e+00] [ 7.07820413e-03 4.32233477e-04 9.99974856e-01 3.34929778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:2.12, Z:0.34 [[ 9.99433891e-01 -3.31221182e-02 -5.90105162e-03 5.59813901e+01] [ 3.31193184e-02 9.99451241e-01 -5.71579759e-04 2.12006878e+00] [ 5.91674530e-03 3.75817375e-04 9.99982425e-01 3.35093008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.01, Y:2.12, Z:0.34 [[ 9.99542183e-01 -2.98421594e-02 -4.98701497e-03 5.60094703e+01] [ 2.98401183e-02 9.99554568e-01 -4.83201109e-04 2.12319118e+00] [ 4.99921335e-03 3.34166775e-04 9.99987448e-01 3.35070004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:2.13, Z:0.33 [[ 9.99723100e-01 -2.28977236e-02 -5.42378700e-03 5.60376586e+01] [ 2.28952017e-02 9.99737732e-01 -5.26628138e-04 2.12655496e+00] [ 5.43442310e-03 4.02303617e-04 9.99985152e-01 3.34428308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:2.13, Z:0.33 [[ 9.99767123e-01 -2.02801832e-02 -7.37661782e-03 5.60654054e+01] [ 2.02754340e-02 9.99794174e-01 -7.18040067e-04 2.12849945e+00] [ 7.38966151e-03 5.68308724e-04 9.99972535e-01 3.34339755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:2.13, Z:0.33 [[ 9.99786704e-01 -1.85256251e-02 -9.12944529e-03 5.60923396e+01] [ 1.85182612e-02 9.99828126e-01 -8.90489039e-04 2.13055063e+00] [ 9.14437304e-03 7.21237649e-04 9.99957929e-01 3.33836960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:2.13, Z:0.33 [[ 9.99795482e-01 -1.76025095e-02 -9.95723822e-03 5.61200926e+01] [ 1.75936889e-02 9.99844746e-01 -9.72756244e-04 2.13370895e+00] [ 9.97281527e-03 7.97372747e-04 9.99949952e-01 3.33600833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:2.14, Z:0.33 [[ 9.99821919e-01 -1.66756216e-02 -8.83479790e-03 5.61473695e+01] [ 1.66686286e-02 9.99860695e-01 -8.64575228e-04 2.13946704e+00] [ 8.84798450e-03 7.17157299e-04 9.99960599e-01 3.34210560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.18, Y:2.14, Z:0.33 [[ 9.99829270e-01 -1.62641646e-02 -8.76967813e-03 5.61754561e+01] [ 1.62572443e-02 9.99867473e-01 -8.59835506e-04 2.14338374e+00] [ 8.78250041e-03 7.17117907e-04 9.99961176e-01 3.34753043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:2.15, Z:0.33 [[ 9.99840358e-01 -1.53830146e-02 -9.08963435e-03 5.62026746e+01] [ 1.53755304e-02 9.99881391e-01 -8.92689060e-04 2.14671662e+00] [ 9.10228849e-03 7.52788600e-04 9.99958290e-01 3.34980521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:2.15, Z:0.34 [[ 9.99849615e-01 -1.43464034e-02 -9.74306025e-03 5.62305282e+01] [ 1.43377442e-02 9.99896750e-01 -9.58026874e-04 2.15056034e+00] [ 9.75579852e-03 8.18189296e-04 9.99952076e-01 3.35480970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:2.16, Z:0.34 [[ 9.99892063e-01 -1.12487779e-02 -9.45128523e-03 5.62577083e+01] [ 1.12404760e-02 9.99936390e-01 -9.31048811e-04 2.15728433e+00] [ 9.46115720e-03 8.24711371e-04 9.99954902e-01 3.35800056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:2.16, Z:0.34 [[ 9.99903629e-01 -1.02921963e-02 -9.31679584e-03 5.62849545e+01] [ 1.02840746e-02 9.99946695e-01 -9.19215931e-04 2.16097863e+00] [ 9.32575996e-03 8.23312722e-04 9.99956175e-01 3.35609176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:2.16, Z:0.34 [[ 9.99899723e-01 -1.03182045e-02 -9.69943729e-03 5.63125344e+01] [ 1.03093922e-02 9.99946398e-01 -9.58098788e-04 2.16409341e+00] [ 9.70880324e-03 8.58007410e-04 9.99952500e-01 3.35716966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:2.17, Z:0.34 [[ 9.99889478e-01 -1.08819994e-02 -1.01298851e-02 5.63403702e+01] [ 1.08723967e-02 9.99940391e-01 -1.00254389e-03 2.16760580e+00] [ 1.01401910e-02 8.92296957e-04 9.99948189e-01 3.35980244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:2.17, Z:0.34 [[ 9.99853030e-01 -1.31954960e-02 -1.09452356e-02 5.63669149e+01] [ 1.31844045e-02 9.99912493e-01 -1.08490160e-03 2.17375004e+00] [ 1.09585937e-02 9.40435734e-04 9.99939511e-01 3.36637147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.601400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:2.18, Z:0.34 [[ 9.99831993e-01 -1.47217465e-02 -1.09203958e-02 5.63945464e+01] [ 1.47107810e-02 9.99891203e-01 -1.08378682e-03 2.17786257e+00] [ 1.09351629e-02 9.22957181e-04 9.99939783e-01 3.37199566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:2.18, Z:0.34 [[ 9.99815404e-01 -1.61546440e-02 -1.04012198e-02 5.64209539e+01] [ 1.61447537e-02 9.99869130e-01 -1.03414488e-03 2.18143465e+00] [ 1.04165649e-02 8.66028849e-04 9.99945371e-01 3.37780920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:2.19, Z:0.34 [[ 9.99806305e-01 -1.72126050e-02 -9.54353305e-03 5.64483384e+01] [ 1.72043105e-02 9.99851543e-01 -9.50542334e-04 2.18570269e+00] [ 9.55847755e-03 7.86168312e-04 9.99954008e-01 3.37624145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:2.19, Z:0.34 [[ 9.99800704e-01 -1.77275186e-02 -9.18084293e-03 5.64748183e+01] [ 1.77198503e-02 9.99842572e-01 -9.15927351e-04 2.19042513e+00] [ 9.19563473e-03 7.53061648e-04 9.99957436e-01 3.37985897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:2.20, Z:0.34 [[ 9.99775340e-01 -1.89910253e-02 -9.41333994e-03 5.65021422e+01] [ 1.89830063e-02 9.99819364e-01 -9.40508202e-04 2.19663786e+00] [ 9.42950076e-03 7.61603416e-04 9.99955251e-01 3.37390280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.53, Y:2.20, Z:0.34 [[ 9.99770805e-01 -1.98687772e-02 -7.97297171e-03 5.65287020e+01] [ 1.98630432e-02 9.99802392e-01 -7.97733554e-04 2.19943309e+00] [ 7.98724618e-03 6.39183236e-04 9.99967897e-01 3.37430672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.56, Y:2.20, Z:0.34 [[ 9.99766780e-01 -2.06414722e-02 -6.34935010e-03 5.65570703e+01] [ 2.06378488e-02 9.99786815e-01 -6.35665697e-04 2.20210893e+00] [ 6.36111759e-03 5.04480520e-04 9.99979641e-01 3.38023434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:2.21, Z:0.34 [[ 9.99764040e-01 -2.09968048e-02 -5.56755778e-03 5.65837380e+01] [ 2.09940188e-02 9.99779445e-01 -5.58381043e-04 2.20533093e+00] [ 5.57805405e-03 4.41363875e-04 9.99984345e-01 3.38237971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:2.21, Z:0.34 [[ 9.99757721e-01 -2.09548650e-02 -6.73749739e-03 5.66118123e+01] [ 2.09507795e-02 9.99780280e-01 -6.76390223e-04 2.21052766e+00] [ 6.75019069e-03 5.35070525e-04 9.99977074e-01 3.38231236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:2.21, Z:0.34 [[ 9.99747691e-01 -2.12526059e-02 -7.27188708e-03 5.66396519e+01] [ 2.12478442e-02 9.99773972e-01 -7.31440852e-04 2.21413910e+00] [ 7.28578845e-03 5.76744379e-04 9.99973292e-01 3.38859711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:2.22, Z:0.34 [[ 9.99722816e-01 -2.24878825e-02 -6.97044391e-03 5.66676911e+01] [ 2.24835288e-02 9.99746967e-01 -7.02334869e-04 2.21717149e+00] [ 6.98447419e-03 5.45420017e-04 9.99975460e-01 3.39537791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:2.22, Z:0.34 [[ 9.99588908e-01 -2.82991383e-02 -4.60155438e-03 5.66940549e+01] [ 2.82972997e-02 9.99599443e-01 -4.64192183e-04 2.22091074e+00] [ 4.61284743e-03 3.33789794e-04 9.99989305e-01 3.40753407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:2.23, Z:0.34 [[ 9.99483398e-01 -3.19504073e-02 -3.47986501e-03 5.67221221e+01] [ 3.19493776e-02 9.99489427e-01 -3.51108385e-04 2.22521840e+00] [ 3.48930634e-03 2.39747480e-04 9.99993884e-01 3.40997468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:2.23, Z:0.34 [[ 9.99351892e-01 -3.58168457e-02 -3.59845878e-03 5.67502232e+01] [ 3.58157671e-02 9.99358343e-01 -3.63742105e-04 2.22982125e+00] [ 3.60917790e-03 2.34624799e-04 9.99993459e-01 3.40945414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.78, Y:2.23, Z:0.34 [[ 9.99224500e-01 -3.90036377e-02 -5.39578417e-03 5.67770563e+01] [ 3.90012495e-02 9.99239012e-01 -5.47151394e-04 2.23336828e+00] [ 5.41301893e-03 3.36284753e-04 9.99985293e-01 3.40372061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:2.24, Z:0.34 [[ 9.99106551e-01 -4.15609532e-02 -7.66727509e-03 5.68048081e+01] [ 4.15561987e-02 9.99135865e-01 -7.78446091e-04 2.23539026e+00] [ 7.69300249e-03 4.59127781e-04 9.99970303e-01 3.39962424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:2.24, Z:0.34 [[ 9.99099551e-01 -4.17289078e-02 -7.66713671e-03 5.68331593e+01] [ 4.17241478e-02 9.99128864e-01 -7.79806860e-04 2.23842451e+00] [ 7.69299808e-03 4.59199939e-04 9.99970303e-01 3.40149518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:2.24, Z:0.34 [[ 9.98989439e-01 -4.40763538e-02 -8.79630323e-03 5.68617772e+01] [ 4.40701641e-02 9.99028036e-01 -8.96352829e-04 2.23797076e+00] [ 8.82726151e-03 5.07792483e-04 9.99960910e-01 3.40530628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:2.24, Z:0.34 [[ 9.99011028e-01 -4.36811561e-02 -8.30194564e-03 5.68896141e+01] [ 4.36756165e-02 9.99045406e-01 -8.47483980e-04 2.24032895e+00] [ 8.33103972e-03 4.84053249e-04 9.99965179e-01 3.40921003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:2.24, Z:0.34 [[ 9.99090969e-01 -4.18105068e-02 -8.31369474e-03 5.69163555e+01] [ 4.18048745e-02 9.99125432e-01 -8.50177236e-04 2.24334844e+00] [ 8.34197020e-03 5.01851433e-04 9.99965079e-01 3.41096628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:2.25, Z:0.34 [[ 9.99205360e-01 -3.88027497e-02 -9.11014736e-03 5.69446643e+01] [ 3.87958490e-02 9.99246722e-01 -9.33043252e-04 2.24610245e+00] [ 9.13948953e-03 5.78865918e-04 9.99958066e-01 3.41068159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:2.25, Z:0.34 [[ 9.99336248e-01 -3.50458024e-02 -9.94263407e-03 5.69715281e+01] [ 3.50373817e-02 9.99385482e-01 -1.01990624e-03 2.24768803e+00] [ 9.97226757e-03 6.70865412e-04 9.99950051e-01 3.40675088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:2.25, Z:0.34 [[ 9.99587167e-01 -2.74576060e-02 -8.46023006e-03 5.69997475e+01] [ 2.74512319e-02 9.99622767e-01 -8.68651319e-04 2.24744104e+00] [ 8.48088967e-03 6.36048974e-04 9.99963834e-01 3.40421642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:2.25, Z:0.34 [[ 9.99672488e-01 -2.44783449e-02 -7.46505540e-03 5.70265203e+01] [ 2.44732907e-02 9.99700189e-01 -7.67668820e-04 2.24990007e+00] [ 7.48160856e-03 5.84722929e-04 9.99971841e-01 3.40697215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:2.25, Z:0.34 [[ 9.99727312e-01 -2.20228157e-02 -7.76510744e-03 5.70545642e+01] [ 2.20172648e-02 9.99757271e-01 -7.99618374e-04 2.25357164e+00] [ 7.78083247e-03 6.28433901e-04 9.99969531e-01 3.41039174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.351400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:2.26, Z:0.34 [[ 9.99802475e-01 -1.75466705e-02 -9.33406994e-03 5.70828610e+01] [ 1.75384377e-02 9.99845726e-01 -9.63145028e-04 2.25629118e+00] [ 9.34952993e-03 7.99249779e-04 9.99955973e-01 3.40470205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:2.26, Z:0.34 [[ 9.99843124e-01 -1.54101835e-02 -8.73232657e-03 5.71100353e+01] [ 1.54028856e-02 9.99880961e-01 -9.02370707e-04 2.25811053e+00] [ 8.74519279e-03 7.67726119e-04 9.99961465e-01 3.40915984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:2.26, Z:0.34 [[ 9.99875209e-01 -1.37761174e-02 -7.73205423e-03 5.71373157e+01] [ 1.37703419e-02 9.99904865e-01 -7.99698637e-04 2.26191421e+00] [ 7.74233538e-03 6.93125812e-04 9.99969787e-01 3.41650905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:2.27, Z:0.34 [[ 9.99906210e-01 -1.21396638e-02 -6.34025637e-03 5.71639037e+01] [ 1.21357415e-02 9.99926144e-01 -6.56738301e-04 2.26784604e+00] [ 6.34776068e-03 5.79732994e-04 9.99979685e-01 3.41931517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.19, Y:2.28, Z:0.34 [[ 9.99935323e-01 -9.93643353e-03 -5.53327485e-03 5.71901773e+01] [ 9.93341087e-03 9.99950498e-01 -5.73484844e-04 2.27652796e+00] [ 5.53869933e-03 5.18483460e-04 9.99984527e-01 3.42013962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:2.28, Z:0.34 [[ 9.99932091e-01 -1.02660676e-02 -5.51552020e-03 5.72181866e+01] [ 1.02630657e-02 9.99947170e-01 -5.72292868e-04 2.27957940e+00] [ 5.52110401e-03 5.15647857e-04 9.99984626e-01 3.42391357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:2.28, Z:0.34 [[ 9.99916718e-01 -1.16122892e-02 -5.63139044e-03 5.72452207e+01] [ 1.16091744e-02 9.99932440e-01 -5.85477516e-04 2.28171762e+00] [ 5.63780872e-03 5.20052962e-04 9.99983972e-01 3.42798416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:2.28, Z:0.34 [[ 9.99885842e-01 -1.41424975e-02 -5.31916593e-03 5.72734540e+01] [ 1.41397526e-02 9.99899876e-01 -5.53290616e-04 2.28483066e+00] [ 5.32645826e-03 4.78015763e-04 9.99985700e-01 3.43557357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:2.29, Z:0.34 [[ 9.99840050e-01 -1.73166411e-02 -4.47300191e-03 5.73011161e+01] [ 1.73147288e-02 9.99849980e-01 -4.65900471e-04 2.28851775e+00] [ 4.48039870e-03 3.88377136e-04 9.99989888e-01 3.43623668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:2.29, Z:0.34 [[ 9.99785019e-01 -2.04031567e-02 -3.69158074e-03 5.73275041e+01] [ 2.04018723e-02 9.99791786e-01 -3.85274932e-04 2.29198204e+00] [ 3.69867293e-03 3.09876946e-04 9.99993112e-01 3.43449647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:2.30, Z:0.34 [[ 9.99696298e-01 -2.43428552e-02 -3.83886793e-03 5.73538508e+01] [ 2.43414938e-02 9.99703622e-01 -4.00978167e-04 2.29636878e+00] [ 3.84749113e-03 3.07412609e-04 9.99992551e-01 3.43287043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:2.30, Z:0.34 [[ 9.99668263e-01 -2.54909621e-02 -3.68436079e-03 5.73819820e+01] [ 2.54897159e-02 9.99675010e-01 -3.84824107e-04 2.30078260e+00] [ 3.69297294e-03 2.90783137e-04 9.99993139e-01 3.43528672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:2.31, Z:0.34 [[ 9.99662495e-01 -2.57751699e-02 -3.24605540e-03 5.74098575e+01] [ 2.57742026e-02 9.99667732e-01 -3.39481497e-04 2.30565019e+00] [ 3.25372703e-03 2.55702430e-04 9.99994674e-01 3.43943569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:2.31, Z:0.34 [[ 9.99681614e-01 -2.50867087e-02 -2.70707970e-03 5.74376911e+01] [ 2.50860327e-02 9.99685256e-01 -2.83386119e-04 2.31039959e+00] [ 2.71333689e-03 2.15386003e-04 9.99996296e-01 3.44186441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:2.32, Z:0.34 [[ 9.99768599e-01 -2.12526979e-02 -3.32743053e-03 5.74642579e+01] [ 2.12516519e-02 9.99774097e-01 -3.49408573e-04 2.31535383e+00] [ 3.33410473e-03 2.78614324e-04 9.99994403e-01 3.43631390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:2.32, Z:0.34 [[ 9.99804138e-01 -1.93908208e-02 -3.95991625e-03 5.74917344e+01] [ 1.93893228e-02 9.99811923e-01 -4.16346958e-04 2.31999542e+00] [ 3.96724479e-03 3.39485317e-04 9.99992073e-01 3.43050959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:2.33, Z:0.34 [[ 9.99836252e-01 -1.76379706e-02 -4.04603908e-03 5.75183559e+01] [ 1.76363883e-02 9.99844376e-01 -4.26433032e-04 2.32580241e+00] [ 4.05293084e-03 3.55005688e-04 9.99991724e-01 3.42762163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:2.33, Z:0.34 [[ 9.99858835e-01 -1.64119301e-02 -3.59985180e-03 5.75457137e+01] [ 1.64106699e-02 9.99865264e-01 -3.79348084e-04 2.33219906e+00] [ 3.60559261e-03 3.20218554e-04 9.99993449e-01 3.42666313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:57.57, Y:2.34, Z:0.34 [[ 9.99879320e-01 -1.51181201e-02 -3.57606457e-03 5.75734712e+01] [ 1.51168661e-02 9.99885662e-01 -3.77450024e-04 2.34018124e+00] [ 3.58136202e-03 3.23345584e-04 9.99993535e-01 3.42119929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:2.34, Z:0.34 [[ 9.99875138e-01 -1.52703898e-02 -4.06485450e-03 5.76006344e+01] [ 1.52687665e-02 9.99883333e-01 -4.30098793e-04 2.34457226e+00] [ 4.07094804e-03 3.67979776e-04 9.99991646e-01 3.42487719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:2.35, Z:0.34 [[ 9.99871307e-01 -1.53886439e-02 -4.53431424e-03 5.76276772e+01] [ 1.53866220e-02 9.99881503e-01 -4.80450256e-04 2.34951971e+00] [ 4.54117042e-03 4.10620646e-04 9.99989605e-01 3.42115275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:57.66, Y:2.36, Z:0.34 [[ 9.99865118e-01 -1.55891988e-02 -5.16935095e-03 5.76551840e+01] [ 1.55865701e-02 9.99878372e-01 -5.48417502e-04 2.35514969e+00] [ 5.17727160e-03 4.67771080e-04 9.99986488e-01 3.41150034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:2.36, Z:0.34 [[ 9.99858162e-01 -1.58699337e-02 -5.63928954e-03 5.76821111e+01] [ 1.58668028e-02 9.99873935e-01 -5.99505348e-04 2.36004455e+00] [ 5.64809274e-03 5.09942820e-04 9.99983919e-01 3.41345366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:2.37, Z:0.34 [[ 9.99854747e-01 -1.61786960e-02 -5.36055251e-03 5.77097016e+01] [ 1.61758698e-02 9.99868999e-01 -5.70159168e-04 2.36527202e+00] [ 5.36907471e-03 4.83364750e-04 9.99985470e-01 3.42288273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:2.37, Z:0.34 [[ 9.99846017e-01 -1.69235344e-02 -4.64062486e-03 5.77372926e+01] [ 1.69214213e-02 9.99856700e-01 -4.94238009e-04 2.36944902e+00] [ 4.64832411e-03 4.15635937e-04 9.99989110e-01 3.43209591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.101400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:2.37, Z:0.34 [[ 9.99829641e-01 -1.80513586e-02 -3.85203290e-03 5.77651959e+01] [ 1.80499090e-02 9.99837003e-01 -4.10760004e-04 2.37353798e+00] [ 3.85881981e-03 3.41161183e-04 9.99992497e-01 3.43415757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:2.38, Z:0.34 [[ 9.99769714e-01 -2.12717072e-02 -2.83430048e-03 5.77916075e+01] [ 2.12709336e-02 9.99773702e-01 -3.02828058e-04 2.37684103e+00] [ 2.84010075e-03 2.42470104e-04 9.99995938e-01 3.42725990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.82, Y:2.38, Z:0.34 [[ 9.99725036e-01 -2.32556532e-02 -3.00451628e-03 5.78195751e+01] [ 2.32547930e-02 9.99729519e-01 -3.20928030e-04 2.37911513e+00] [ 3.01116700e-03 2.50970383e-04 9.99995435e-01 3.42632420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:2.38, Z:0.34 [[ 9.99678432e-01 -2.51751901e-02 -3.04011702e-03 5.78469435e+01] [ 2.51743153e-02 9.99683024e-01 -3.25663327e-04 2.38125711e+00] [ 3.04735201e-03 2.49025739e-04 9.99995326e-01 3.42983374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:2.38, Z:0.34 [[ 9.99644133e-01 -2.64921118e-02 -3.12648776e-03 5.78751063e+01] [ 2.64911933e-02 9.99648991e-01 -3.34839150e-04 2.38437607e+00] [ 3.13426093e-03 2.51895600e-04 9.99995056e-01 3.43071667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:2.39, Z:0.34 [[ 9.99634395e-01 -2.69227295e-02 -2.49848768e-03 5.79022957e+01] [ 2.69221438e-02 9.99637498e-01 -2.67783999e-04 2.38894866e+00] [ 2.50479145e-03 2.00421451e-04 9.99996843e-01 3.43968164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.93, Y:2.39, Z:0.34 [[ 9.99646540e-01 -2.65372121e-02 -1.60364138e-03 5.79298594e+01] [ 2.65369706e-02 9.99647818e-01 -1.71718480e-04 2.39322936e+00] [ 1.60763353e-03 1.29102000e-04 9.99998699e-01 3.44623414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:2.40, Z:0.34 [[ 9.99662481e-01 -2.59786135e-02 -1.88926581e-04 5.79561342e+01] [ 2.59786102e-02 9.99662499e-01 -1.98613507e-05 2.39739929e+00] [ 1.89378789e-04 1.49465971e-05 9.99999982e-01 3.44925401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.341400512999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:57.98, Y:2.40, Z:0.34 [[ 9.99671431e-01 -2.56009938e-02 1.27212061e-03 5.79829058e+01] [ 2.56008388e-02 9.99672235e-01 1.37904411e-04 2.40166726e+00] [-1.27523414e-03 -1.05291745e-04 9.99999181e-01 3.44699274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:2.41, Z:0.34 [[ 9.99619366e-01 -2.75202071e-02 1.93925466e-03 5.80109219e+01] [ 2.75198493e-02 9.99621235e-01 2.10953607e-04 2.40557746e+00] [-1.94432563e-03 -1.57505315e-04 9.99998097e-01 3.44891925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:2.41, Z:0.34 [[ 9.99561261e-01 -2.95730760e-02 1.64900791e-03 5.80387342e+01] [ 2.95728205e-02 9.99562612e-01 1.79075671e-04 2.40809804e+00] [-1.65358248e-03 -1.30231289e-04 9.99998624e-01 3.44661672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:2.41, Z:0.34 [[ 9.99493269e-01 -3.18021907e-02 1.35155914e-03 5.80668643e+01] [ 3.18020197e-02 9.99494177e-01 1.47781402e-04 2.41038801e+00] [-1.35557526e-03 -1.04724207e-04 9.99999076e-01 3.44171991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:2.41, Z:0.34 [[ 9.99418674e-01 -3.40775125e-02 1.01860773e-03 5.80935447e+01] [ 3.40774169e-02 9.99419190e-01 1.11072758e-04 2.41236034e+00] [-1.02180119e-03 -7.62966686e-05 9.99999475e-01 3.44116909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:2.41, Z:0.34 [[ 9.99319628e-01 -3.68613772e-02 1.23279137e-03 5.81212460e+01] [ 3.68612383e-02 9.99320384e-01 1.35238881e-04 2.41450941e+00] [-1.23693864e-03 -8.97046522e-05 9.99999231e-01 3.44045138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:2.42, Z:0.34 [[ 9.99191067e-01 -4.01667451e-02 1.96079215e-03 5.81496360e+01] [ 4.01664006e-02 9.99192981e-01 2.14772692e-04 2.41654016e+00] [-1.96783647e-03 -1.35840993e-04 9.99998055e-01 3.43895265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:2.42, Z:0.34 [[ 9.98879370e-01 -4.72525485e-02 2.68354277e-03 5.81769300e+01] [ 4.72519312e-02 9.98882961e-01 2.93005375e-04 2.41622229e+00] [-2.69439040e-03 -1.65874446e-04 9.99996356e-01 3.44021782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:2.42, Z:0.34 [[ 9.98694322e-01 -5.10158919e-02 2.65140299e-03 5.82039933e+01] [ 5.10152994e-02 9.98697830e-01 2.90670774e-04 2.41675227e+00] [-2.66277924e-03 -1.55029135e-04 9.99996443e-01 3.43921354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:2.41, Z:0.34 [[ 9.98259659e-01 -5.89199984e-02 2.46712697e-03 5.82329765e+01] [ 5.89195081e-02 9.98262700e-01 2.71014958e-04 2.41375218e+00] [-2.47880904e-03 -1.25181392e-04 9.99996920e-01 3.43337761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:2.41, Z:0.34 [[ 9.98045453e-01 -6.24162900e-02 3.07908851e-03 5.82601505e+01] [ 6.24155452e-02 9.98050192e-01 3.37500322e-04 2.41411453e+00] [-3.09415040e-03 -1.44657673e-04 9.99995203e-01 3.43605596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:2.42, Z:0.34 [[ 9.97843882e-01 -6.54871998e-02 4.36052070e-03 5.82884715e+01] [ 6.54857299e-02 9.97853391e-01 4.79178346e-04 2.41540621e+00] [-4.38254042e-03 -1.92593300e-04 9.99990378e-01 3.43444675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:2.42, Z:0.34 [[ 9.97655574e-01 -6.82263231e-02 5.34077797e-03 5.83163459e+01] [ 6.82241527e-02 9.97669845e-01 5.87738186e-04 2.41635038e+00] [-5.36843234e-03 -2.21990226e-04 9.99985565e-01 3.43744655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:2.42, Z:0.34 [[ 9.97495885e-01 -7.04641354e-02 6.06340049e-03 5.83431919e+01] [ 7.04613814e-02 9.97514285e-01 6.66888235e-04 2.41697652e+00] [-6.09532031e-03 -2.37982695e-04 9.99981395e-01 3.43992073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.37, Y:2.42, Z:0.34 [[ 9.97336349e-01 -7.27250799e-02 5.59196197e-03 5.83715342e+01] [ 7.27227626e-02 9.97352004e-01 6.16877815e-04 2.41605346e+00] [-5.62201697e-03 -2.08571744e-04 9.99984175e-01 3.43258724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:2.42, Z:0.34 [[ 9.97325289e-01 -7.29606601e-02 4.36011179e-03 5.83986961e+01] [ 7.29592516e-02 9.97334806e-01 4.81451820e-04 2.41741619e+00] [-4.38361829e-03 -1.62053582e-04 9.99990379e-01 3.43496495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:2.42, Z:0.34 [[ 9.97395347e-01 -7.20506650e-02 3.35022870e-03 5.84261307e+01] [ 7.20498278e-02 9.97400965e-01 3.70069759e-04 2.41849425e+00] [-3.36818511e-03 -1.27722455e-04 9.99994319e-01 3.42907454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.851400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:2.42, Z:0.34 [[ 9.97494061e-01 -7.06790505e-02 3.17319869e-03 5.84544598e+01] [ 7.06782885e-02 9.97499101e-01 3.51771086e-04 2.41966397e+00] [-3.19012569e-03 -1.26613317e-04 9.99994904e-01 3.42898306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:2.42, Z:0.34 [[ 9.97589826e-01 -6.92913166e-02 3.64028033e-03 5.84824935e+01] [ 6.92903025e-02 9.97596457e-01 4.04121532e-04 2.42186643e+00] [-3.65953288e-03 -1.50911404e-04 9.99993292e-01 3.43344150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:2.43, Z:0.34 [[ 9.97678967e-01 -6.79715386e-02 4.06806295e-03 5.85097042e+01] [ 6.79702612e-02 9.97687245e-01 4.51598365e-04 2.42570119e+00] [-4.08935035e-03 -1.74042889e-04 9.99991623e-01 3.43949840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:2.43, Z:0.34 [[ 9.97747041e-01 -6.69971447e-02 3.49635702e-03 5.85371884e+01] [ 6.69961910e-02 9.97753155e-01 3.89311437e-04 2.43250645e+00] [-3.51458400e-03 -1.54191731e-04 9.99993812e-01 3.42896973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:2.44, Z:0.34 [[ 9.97735260e-01 -6.71723675e-02 3.49629740e-03 5.85655118e+01] [ 6.71714130e-02 9.97741374e-01 3.89847183e-04 2.43579400e+00] [-3.51458753e-03 -1.54113044e-04 9.99993812e-01 3.43084066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:2.44, Z:0.34 [[ 9.97720060e-01 -6.74269265e-02 2.87960926e-03 5.85922572e+01] [ 6.74262806e-02 9.97724207e-01 3.20904433e-04 2.43862837e+00] [-2.89469346e-03 -1.26011448e-04 9.99995802e-01 3.42829590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:2.44, Z:0.34 [[ 9.97632644e-01 -6.87170746e-02 2.65920053e-03 5.86201653e+01] [ 6.87165251e-02 9.97636182e-01 2.97564366e-04 2.44014948e+00] [-2.67336242e-03 -1.14128905e-04 9.99996420e-01 3.42458490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:2.44, Z:0.34 [[ 9.97193329e-01 -7.47551401e-02 4.13933058e-03 5.86468903e+01] [ 7.47538649e-02 9.97201908e-01 4.62157114e-04 2.44151499e+00] [-4.16229697e-03 -1.51429032e-04 9.99991326e-01 3.42187317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.67, Y:2.45, Z:0.34 [[ 9.96853357e-01 -7.90737040e-02 5.54379351e-03 5.86743347e+01] [ 7.90714745e-02 9.96868756e-01 6.20539763e-04 2.44526053e+00] [-5.57550292e-03 -1.80231220e-04 9.99984441e-01 3.42146571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:2.45, Z:0.34 [[ 9.96512433e-01 -8.31994638e-02 6.38904118e-03 5.87020297e+01] [ 8.31965805e-02 9.96532898e-01 7.16207312e-04 2.44829419e+00] [-6.42647778e-03 -1.82163113e-04 9.99979333e-01 3.42820476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:2.45, Z:0.34 [[ 9.96249464e-01 -8.62821605e-02 6.51112307e-03 5.87292871e+01] [ 8.62792329e-02 9.96270727e-01 7.29706155e-04 2.44985585e+00] [-6.54980193e-03 -1.65194662e-04 9.99978536e-01 3.42661871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:2.45, Z:0.34 [[ 9.95765635e-01 -9.18596163e-02 3.55132482e-03 5.87571757e+01] [ 9.18587750e-02 9.95771965e-01 3.99642389e-04 2.44968977e+00] [-3.57302069e-03 -7.17298090e-05 9.99993614e-01 3.41855037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:2.45, Z:0.34 [[ 9.95518127e-01 -9.45602474e-02 1.42093193e-03 5.87841174e+01] [ 9.45601152e-02 9.95519140e-01 1.60066455e-04 2.45324248e+00] [-1.42970085e-03 -2.49855704e-05 9.99998978e-01 3.41229734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:2.46, Z:0.34 [[ 9.95280249e-01 -9.70408470e-02 5.47257823e-04 5.88109343e+01] [ 9.70408276e-02 9.95280400e-01 6.20240902e-05 2.45723885e+00] [-5.50693855e-04 -8.62499992e-06 9.99999848e-01 3.40745459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:2.46, Z:0.34 [[ 9.95080532e-01 -9.90669691e-02 6.85670162e-04 5.88383699e+01] [ 9.90669386e-02 9.95080768e-01 7.83651194e-05 2.46020095e+00] [-6.90060587e-04 -1.00523608e-05 9.99999762e-01 3.40834938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.87, Y:2.46, Z:0.34 [[ 9.94868378e-01 -1.01172361e-01 1.03161274e-03 5.88667346e+01] [ 1.01172293e-01 9.94868913e-01 1.17553468e-04 2.46239287e+00] [-1.03821260e-03 -1.25796021e-05 9.99999461e-01 3.41483252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:2.46, Z:0.34 [[ 9.94377586e-01 -1.05887619e-01 1.01415116e-03 5.88948337e+01] [ 1.05887556e-01 9.94378103e-01 1.15791112e-04 2.46426379e+00] [-1.02071055e-03 -7.75409845e-06 9.99999479e-01 3.42778153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:2.47, Z:0.34 [[ 9.94103158e-01 -1.08433663e-01 1.02544824e-03 5.89217908e+01] [ 1.08433600e-01 9.94103687e-01 1.16436125e-04 2.46782680e+00] [-1.03202747e-03 -4.55647495e-06 9.99999467e-01 3.43090218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:2.47, Z:0.34 [[ 9.93853360e-01 -1.10697746e-01 1.22771180e-03 5.89497632e+01] [ 1.10697658e-01 9.93854119e-01 1.40252005e-04 2.47131854e+00] [-1.23569201e-03 -3.48510630e-06 9.99999237e-01 3.42865698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.98, Y:2.47, Z:0.34 [[ 9.93618432e-01 -1.12781105e-01 1.68360606e-03 5.89765047e+01] [ 1.12780943e-01 9.93619858e-01 1.91282481e-04 2.47441512e+00] [-1.69443746e-03 -1.83119735e-07 9.99998564e-01 3.42342758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:2.48, Z:0.34 [[ 9.93142729e-01 -1.16845297e-01 3.83369108e-03 5.90036462e+01] [ 1.16844483e-01 9.93150128e-01 4.36367622e-04 2.47954942e+00] [-3.85841829e-03 1.45703228e-05 9.99992556e-01 3.41686288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:2.48, Z:0.34 [[ 9.92875452e-01 -1.19059041e-01 4.82514357e-03 5.90298420e+01] [ 1.19057781e-01 9.92887176e-01 5.48565904e-04 2.48486670e+00] [-4.85613490e-03 2.98132673e-05 9.99988208e-01 3.41927038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:59.06, Y:2.49, Z:0.34 [[ 9.92637566e-01 -1.21012421e-01 5.16300307e-03 5.90571649e+01] [ 1.21010996e-01 9.92650992e-01 5.88708814e-04 2.49042885e+00] [-5.19630120e-03 4.04056597e-05 9.99986498e-01 3.41866795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:2.49, Z:0.34 [[ 9.92438575e-01 -1.22661263e-01 4.45979512e-03 5.90837864e+01] [ 1.22660217e-01 9.92448595e-01 5.08353770e-04 2.49386856e+00] [-4.48847271e-03 4.25295438e-05 9.99989926e-01 3.42467428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.11, Y:2.50, Z:0.34 [[ 9.92043250e-01 -1.25821691e-01 4.36949516e-03 5.91114948e+01] [ 1.25820711e-01 9.92052871e-01 4.99658316e-04 2.49868628e+00] [-4.39763807e-03 5.40903276e-05 9.99990329e-01 3.41608347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.601400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:2.50, Z:0.34 [[ 9.91763193e-01 -1.27972662e-01 5.36340646e-03 5.91393430e+01] [ 1.27971212e-01 9.91777693e-01 6.14072401e-04 2.50303071e+00] [-5.39789136e-03 7.73472199e-05 9.99985428e-01 3.41545197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:2.51, Z:0.34 [[ 9.91522763e-01 -1.29775644e-01 6.39467625e-03 5.91657705e+01] [ 1.29773623e-01 9.91543378e-01 7.31719133e-04 2.50807717e+00] [-6.43555822e-03 1.04344127e-04 9.99979286e-01 3.41470286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:2.51, Z:0.34 [[ 9.91325662e-01 -1.31248809e-01 6.86888217e-03 5.91933993e+01] [ 1.31246499e-01 9.91349452e-01 7.87999070e-04 2.51285961e+00] [-6.91288651e-03 1.20353034e-04 9.99976098e-01 3.41649903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.22, Y:2.52, Z:0.34 [[ 9.91186647e-01 -1.32317202e-01 6.41784888e-03 5.92211219e+01] [ 1.32315199e-01 9.91207417e-01 7.37589290e-04 2.51644395e+00] [-6.45901517e-03 1.18090296e-04 9.99979133e-01 3.41817762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:59.25, Y:2.52, Z:0.34 [[ 9.91145538e-01 -1.32704826e-01 4.46662777e-03 5.92482810e+01] [ 1.32703854e-01 9.91155599e-01 5.14638262e-04 2.52182790e+00] [-4.49541810e-03 8.26573002e-05 9.99989892e-01 3.41379810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:2.53, Z:0.34 [[ 9.91190211e-01 -1.32395734e-01 3.65182995e-03 5.92761674e+01] [ 1.32395078e-01 9.91196936e-01 4.21726154e-04 2.52754958e+00] [-3.67551740e-03 6.54734765e-05 9.99993243e-01 3.41254088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:2.53, Z:0.34 [[ 9.91303926e-01 -1.31540157e-01 3.70329630e-03 5.93034121e+01] [ 1.31539474e-01 9.91310841e-01 4.28381701e-04 2.53421880e+00] [-3.72746717e-03 6.24731866e-05 9.99993051e-01 3.41271572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.811400512999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:59.33, Y:2.54, Z:0.34 [[ 9.91566351e-01 -1.29513760e-01 4.72834029e-03 5.93301667e+01] [ 1.29512622e-01 9.91577622e-01 5.47562548e-04 2.54345471e+00] [-4.75943330e-03 6.94351483e-05 9.99988671e-01 3.40374013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.36, Y:2.55, Z:0.34 [[ 9.91622700e-01 -1.29116116e-01 3.66728635e-03 5.93566772e+01] [ 1.29115429e-01 9.91629480e-01 4.24560007e-04 2.54828251e+00] [-3.69140680e-03 5.24999099e-05 9.99993185e-01 3.40253780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:2.55, Z:0.34 [[ 9.91605772e-01 -1.29265643e-01 2.89604361e-03 5.93837866e+01] [ 1.29265211e-01 9.91610000e-01 3.36724668e-04 2.55443740e+00] [-2.91527273e-03 4.04595636e-05 9.99995750e-01 3.39528575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.41, Y:2.56, Z:0.34 [[ 9.91577590e-01 -1.29493907e-01 2.28268767e-03 5.94105241e+01] [ 1.29493639e-01 9.91580217e-01 2.65143567e-04 2.56139056e+00] [-2.29780241e-03 3.26831152e-05 9.99997360e-01 3.38927798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:2.57, Z:0.34 [[ 9.91354625e-01 -1.31192112e-01 2.15343304e-03 5.94380102e+01] [ 1.31191875e-01 9.91356963e-01 2.51297899e-04 2.56996634e+00] [-2.16778914e-03 3.33875841e-05 9.99997650e-01 3.38535126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:2.57, Z:0.34 [[ 9.91179281e-01 -1.32510905e-01 2.11953072e-03 5.94653849e+01] [ 1.32510678e-01 9.91181547e-01 2.47781985e-04 2.57369282e+00] [-2.13367355e-03 3.52640825e-05 9.99997723e-01 3.38474741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:2.58, Z:0.34 [[ 9.90933730e-01 -1.34333161e-01 2.22369373e-03 5.94920809e+01] [ 1.34332917e-01 9.90936224e-01 2.59360721e-04 2.57630507e+00] [-2.23837942e-03 4.17059791e-05 9.99997494e-01 3.38146707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:2.58, Z:0.34 [[ 9.90652657e-01 -1.36390897e-01 2.19925162e-03 5.95190576e+01] [ 1.36390663e-01 9.90655097e-01 2.56697760e-04 2.57889235e+00] [-2.21371107e-03 4.56590685e-05 9.99997549e-01 3.38176531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:2.58, Z:0.34 [[ 9.90422718e-01 -1.38046848e-01 2.43035841e-03 5.95465846e+01] [ 1.38046565e-01 9.90425699e-01 2.84788133e-04 2.58183293e+00] [-2.44640353e-03 5.34419930e-05 9.99997006e-01 3.38193670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:59.58, Y:2.58, Z:0.34 [[ 9.90552661e-01 -1.37132875e-01 1.98829735e-05 5.95760914e+01] [ 1.37132826e-01 9.90552413e-01 7.11008449e-04 2.58438656e+00] [-1.17197760e-04 -7.01564703e-04 9.99999747e-01 3.40511864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:2.59, Z:0.34 [[ 9.90721943e-01 -1.35889157e-01 2.04172994e-03 5.96013777e+01] [ 1.35890368e-01 9.90723771e-01 -4.65820298e-04 2.58957765e+00] [-1.95949046e-03 7.38949824e-04 9.99997807e-01 3.39212403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:2.59, Z:0.34 [[ 9.91002549e-01 -1.33833088e-01 1.62835371e-03 5.96289793e+01] [ 1.33832953e-01 9.91003887e-01 1.92019003e-04 2.59301729e+00] [-1.63940336e-03 2.76360640e-05 9.99998656e-01 3.39184978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:2.60, Z:0.34 [[ 9.91258057e-01 -1.31930264e-01 1.36729978e-03 5.96565758e+01] [ 1.31930166e-01 9.91259000e-01 1.61726527e-04 2.59687804e+00] [-1.37668483e-03 2.00753634e-05 9.99999052e-01 3.39493446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:2.60, Z:0.34 [[ 9.91410733e-01 -1.30780883e-01 1.05768519e-03 5.96847861e+01] [ 1.30780823e-01 9.91411297e-01 1.25608899e-04 2.60074902e+00] [-1.06502828e-03 1.37949289e-05 9.99999433e-01 3.40002993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:2.60, Z:0.34 [[ 9.91539166e-01 -1.29806783e-01 -5.31110735e-04 5.97120781e+01] [ 1.29806769e-01 9.91539308e-01 -6.15984363e-05 2.60379678e+00] [ 5.34613066e-04 -7.86450629e-06 9.99999857e-01 3.40976658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:59.74, Y:2.61, Z:0.34 [[ 9.91606990e-01 -1.29285682e-01 -8.88688125e-04 5.97403098e+01] [ 1.29285641e-01 9.91607388e-01 -1.03453575e-04 2.60749171e+00] [ 8.94604776e-04 -1.23093258e-05 9.99999600e-01 3.41309212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:2.61, Z:0.34 [[ 9.91752021e-01 -1.28164690e-01 -1.31980556e-03 5.97677602e+01] [ 1.28164597e-01 9.91752899e-01 -1.55101255e-04 2.60914315e+00] [ 1.32879949e-03 -1.53303648e-05 9.99999117e-01 3.41013607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:2.61, Z:0.34 [[ 9.91939775e-01 -1.26709417e-01 -4.55418805e-04 5.97959535e+01] [ 1.26709406e-01 9.91939879e-01 -5.25283007e-05 2.61260185e+00] [ 4.58403904e-04 -5.60093538e-06 9.99999895e-01 3.41361142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.351400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:2.62, Z:0.34 [[ 9.92294675e-01 -1.23898635e-01 6.36988427e-04 5.98228775e+01] [ 1.23898612e-01 9.92294880e-01 7.62058081e-05 2.61624575e+00] [-6.41522150e-04 3.30336409e-06 9.99999794e-01 3.41463693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:2.62, Z:0.34 [[ 9.92734777e-01 -1.20317641e-01 1.15222891e-03 5.98509188e+01] [ 1.20317562e-01 9.92735446e-01 1.37773538e-04 2.62018116e+00] [-1.16043507e-03 1.86079087e-06 9.99999327e-01 3.41712319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:2.62, Z:0.34 [[ 9.93176356e-01 -1.16607792e-01 1.83015705e-03 5.98783080e+01] [ 1.16607587e-01 9.93178042e-01 2.18437727e-04 2.62319286e+00] [-1.84314333e-03 -3.53698822e-06 9.99998301e-01 3.41759176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.91, Y:2.63, Z:0.34 [[ 9.93953798e-01 -1.09795594e-01 8.80258040e-04 5.99057704e+01] [ 1.09795544e-01 9.93954188e-01 1.05901611e-04 2.62622428e+00] [-8.86563696e-04 -8.61289871e-06 9.99999607e-01 3.43075721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:2.63, Z:0.34 [[ 9.94220961e-01 -1.07353020e-01 -1.03008036e-04 5.99325141e+01] [ 1.07353019e-01 9.94220966e-01 -1.16997207e-05 2.63031053e+00] [ 1.03668750e-04 5.73883873e-07 9.99999995e-01 3.43026279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:2.64, Z:0.34 [[ 9.94520513e-01 -1.04539990e-01 -5.82098937e-04 5.99605900e+01] [ 1.04539968e-01 9.94520684e-01 -6.80925144e-05 2.63500278e+00] [ 5.86027824e-04 6.86679797e-06 9.99999828e-01 3.43310718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:2.64, Z:0.34 [[ 9.94735147e-01 -1.02476520e-01 -7.41898918e-04 5.99878219e+01] [ 1.02476484e-01 9.94735423e-01 -8.76264208e-05 2.63811384e+00] [ 7.46972785e-04 1.11378883e-05 9.99999721e-01 3.43370944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:2.64, Z:0.34 [[ 9.94898243e-01 -1.00882704e-01 4.07134784e-04 6.00158323e+01] [ 1.00882692e-01 9.94898326e-01 4.99321378e-05 2.63878992e+00] [-4.10095004e-04 -8.60454299e-06 9.99999916e-01 3.42771017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:2.64, Z:0.34 [[ 9.94869669e-01 -1.01155895e-01 1.35169366e-03 6.00423251e+01] [ 1.01155768e-01 9.94870587e-01 1.62155362e-04 2.64093239e+00] [-1.36116324e-03 -2.45918409e-05 9.99999073e-01 3.42284281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:2.64, Z:0.34 [[ 9.94855601e-01 -1.01279527e-01 2.18885304e-03 6.00689943e+01] [ 1.01279195e-01 9.94858008e-01 2.62399079e-04 2.64308392e+00] [-2.20417363e-03 -3.93639210e-05 9.99997570e-01 3.42386146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:2.65, Z:0.34 [[ 9.94929513e-01 -1.00545725e-01 2.41294514e-03 6.00968443e+01] [ 1.00545316e-01 9.94932437e-01 2.90383849e-04 2.64545877e+00] [-2.42991424e-03 -4.63011294e-05 9.99997047e-01 3.42632396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.13, Y:2.65, Z:0.34 [[ 9.95052994e-01 -9.93286445e-02 1.83294901e-03 6.01252643e+01] [ 9.93284054e-02 9.95054681e-01 2.21228580e-04 2.64741325e+00] [-1.84585882e-03 -3.80702592e-05 9.99998296e-01 3.43285323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:2.65, Z:0.34 [[ 9.95369481e-01 -9.61143851e-02 -1.27307125e-03 6.01527647e+01] [ 9.61142695e-02 9.95370295e-01 -1.51787218e-04 2.64937558e+00] [ 1.28176624e-03 2.87240505e-05 9.99999178e-01 3.43204846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:2.65, Z:0.34 [[ 9.95533068e-01 -9.43789028e-02 -2.55610412e-03 6.01794318e+01] [ 9.43784261e-02 9.95536347e-01 -3.06742758e-04 2.65423147e+00] [ 2.57364461e-03 6.41314746e-05 9.99996686e-01 3.41875144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:2.66, Z:0.34 [[ 9.95667178e-01 -9.29341393e-02 -3.18055119e-03 6.02075308e+01] [ 9.29333926e-02 9.95672255e-01 -3.82091926e-04 2.65912046e+00] [ 3.20229596e-03 8.48569769e-05 9.99994869e-01 3.41257051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:2.66, Z:0.34 [[ 9.95872762e-01 -9.06608143e-02 -4.24953803e-03 6.02352922e+01] [ 9.06594552e-02 9.95881821e-01 -5.11752173e-04 2.66230267e+00] [ 4.27843354e-03 1.24379247e-04 9.99990840e-01 3.41175649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:2.67, Z:0.34 [[ 9.95923554e-01 -9.00361304e-02 -5.45614329e-03 6.02625748e+01] [ 9.00338723e-02 9.95938486e-01 -6.58580403e-04 2.66561670e+00] [ 5.49327912e-03 1.64658027e-04 9.99984898e-01 3.41623658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.29, Y:2.67, Z:0.34 [[ 9.95996676e-01 -8.91641946e-02 -6.35349488e-03 6.02907116e+01] [ 8.91611111e-02 9.96016921e-01 -7.67496014e-04 2.66973036e+00] [ 6.39662158e-03 1.97938816e-04 9.99979522e-01 3.41986644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:2.67, Z:0.34 [[ 9.95936563e-01 -8.96150134e-02 -8.91698782e-03 6.03199016e+01] [ 8.95919491e-02 9.95974175e-01 -2.95404051e-03 2.67485767e+00] [ 9.14581596e-03 2.14314663e-03 9.99955880e-01 3.42244680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:2.68, Z:0.34 [[ 9.95925055e-01 -8.97181876e-02 -9.16136814e-03 6.03474083e+01] [ 8.97120087e-02 9.95967158e-01 -1.08402693e-03 2.67665672e+00] [ 9.22167873e-03 2.57724843e-04 9.99957446e-01 3.42718369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:2.68, Z:0.34 [[ 9.95977245e-01 -8.93585457e-02 -6.66165838e-03 6.03738596e+01] [ 8.93676202e-02 9.95998127e-01 1.07660837e-03 2.67848940e+00] [ 6.53879511e-03 -1.66761400e-03 9.99977231e-01 3.41328306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:2.68, Z:0.34 [[ 9.96006608e-01 -8.90740042e-02 -6.05462101e-03 6.04003740e+01] [ 8.90711821e-02 9.96024992e-01 -7.34706833e-04 2.68289545e+00] [ 6.09599713e-03 1.92480610e-04 9.99981401e-01 3.40979995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:2.69, Z:0.34 [[ 9.96081322e-01 -8.80962519e-02 -7.81347062e-03 6.04274508e+01] [ 8.80915117e-02 9.96111934e-01 -9.49423835e-04 2.68587838e+00] [ 7.86673201e-03 2.57402910e-04 9.99969024e-01 3.41477246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:2.69, Z:0.34 [[ 9.96073764e-01 -8.79377125e-02 -1.01987609e-02 6.04536334e+01] [ 8.79296135e-02 9.96125918e-01 -1.24067576e-03 2.69019022e+00] [ 1.02683522e-02 3.39031477e-04 9.99947222e-01 3.41698378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:2.70, Z:0.34 [[ 9.96068404e-01 -8.77874290e-02 -1.18785940e-02 6.04814831e+01] [ 8.77764119e-02 9.96139151e-01 -1.44667259e-03 2.69555601e+00] [ 1.19597322e-02 3.98324504e-04 9.99928401e-01 3.41600391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.101400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:2.70, Z:0.34 [[ 9.96320443e-01 -8.49930768e-02 -1.10341362e-02 6.05086208e+01] [ 8.49833769e-02 9.96381460e-01 -1.34585401e-03 2.70336253e+00] [ 1.11085970e-02 4.03183714e-04 9.99938216e-01 3.41535558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.131400512999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:60.54, Y:2.71, Z:0.34 [[ 9.96484078e-01 -8.32021830e-02 -9.84272024e-03 6.05362647e+01] [ 8.31943599e-02 9.96532615e-01 -1.20230876e-03 2.70804806e+00] [ 9.90862645e-03 3.79222725e-04 9.99950836e-01 3.41111507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:2.71, Z:0.34 [[ 9.96465924e-01 -8.33377805e-02 -1.05107497e-02 6.05636225e+01] [ 8.33288442e-02 9.96521274e-01 -1.28606301e-03 2.71131191e+00] [ 1.05813634e-02 4.05669338e-04 9.99943934e-01 3.40129142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:2.71, Z:0.34 [[ 9.96426232e-01 -8.36851019e-02 -1.14702649e-02 6.05904276e+01] [ 8.36744614e-02 9.96492152e-01 -1.40528538e-03 2.71440192e+00] [ 1.15476304e-02 4.40494975e-04 9.99933227e-01 3.39599876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.62, Y:2.72, Z:0.34 [[ 9.96214288e-01 -8.56547656e-02 -1.48443239e-02 6.06195390e+01] [ 8.55494111e-02 9.96304990e-01 -7.59379756e-03 2.72280123e+00] [ 1.54399189e-02 6.29512646e-03 9.99860980e-01 3.39667339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.65, Y:2.72, Z:0.34 [[ 9.96201919e-01 -8.61108143e-02 -1.29098495e-02 6.06461454e+01] [ 8.61713197e-02 9.96271459e-01 4.20512234e-03 2.71580214e+00] [ 1.24996081e-02 -5.30160972e-03 9.99907822e-01 3.42111885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:2.73, Z:0.34 [[ 9.96033121e-01 -8.80838070e-02 -1.26200449e-02 6.06748734e+01] [ 8.80142066e-02 9.96101334e-01 -5.96929107e-03 2.72753517e+00] [ 1.30966414e-02 4.83486837e-03 9.99902546e-01 3.42341506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:2.72, Z:0.34 [[ 9.96033567e-01 -8.83141521e-02 -1.08509710e-02 6.07029809e+01] [ 8.83514598e-02 9.96084823e-01 3.00738858e-03 2.72197944e+00] [ 1.05428926e-02 -3.95415911e-03 9.99936604e-01 3.44132187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:2.73, Z:0.34 [[ 9.96209294e-01 -8.65157973e-02 -9.05861750e-03 6.07292975e+01] [ 8.65092264e-02 9.96250425e-01 -1.11545144e-03 2.72618680e+00] [ 9.12115571e-03 3.27569103e-04 9.99958348e-01 3.43766002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:60.76, Y:2.73, Z:0.34 [[ 9.96414044e-01 -8.41489790e-02 -8.83183702e-03 6.07557170e+01] [ 8.41426335e-02 9.96453126e-01 -1.08827350e-03 2.72929679e+00] [ 8.89208871e-03 3.41236969e-04 9.99960406e-01 3.43530294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.78, Y:2.73, Z:0.34 [[ 9.96608164e-01 -8.17071991e-02 -9.80309947e-03 6.07837853e+01] [ 8.16992509e-02 9.96656295e-01 -1.20919389e-03 2.73256987e+00] [ 9.86912064e-03 4.04186619e-04 9.99951217e-01 3.42689912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:2.74, Z:0.34 [[ 9.96732181e-01 -7.99262876e-02 -1.16939419e-02 6.08121091e+01] [ 7.99148257e-02 9.96800648e-01 -1.44492182e-03 2.73538466e+00] [ 1.17720161e-02 5.05680743e-04 9.99930580e-01 3.42307838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.84, Y:2.74, Z:0.34 [[ 9.96889821e-01 -7.74601462e-02 -1.45124132e-02 6.08391213e+01] [ 7.74421993e-02 9.96995227e-01 -1.79541424e-03 2.73543583e+00] [ 1.46078798e-02 6.65956979e-04 9.99893077e-01 3.41779966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.491400512999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.87, Y:2.74, Z:0.34 [[ 9.96904730e-01 -7.72148189e-02 -1.47929088e-02 6.08657838e+01] [ 7.71961263e-02 9.97014245e-01 -1.83134492e-03 2.73744026e+00] [ 1.48901478e-02 6.83721158e-04 9.99888902e-01 3.42230688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:2.74, Z:0.34 [[ 9.96786761e-01 -7.87278732e-02 -1.47673618e-02 6.08939335e+01] [ 7.87093799e-02 9.96895924e-01 -1.83025768e-03 2.74023161e+00] [ 1.48656151e-02 6.62046736e-04 9.99889281e-01 3.42486428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:2.74, Z:0.34 [[ 9.96703585e-01 -7.99277145e-02 -1.39113137e-02 6.09221524e+01] [ 7.99113839e-02 9.96800476e-01 -1.72673068e-03 2.74353288e+00] [ 1.40048178e-02 6.09366326e-04 9.99901742e-01 3.42686474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.95, Y:2.75, Z:0.34 [[ 9.96652202e-01 -8.08328016e-02 -1.22656893e-02 6.09494259e+01] [ 8.08201551e-02 9.96727535e-01 -1.52405398e-03 2.74619653e+00] [ 1.23487438e-02 5.27636849e-04 9.99923612e-01 3.43081259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.98, Y:2.75, Z:0.34 [[ 9.96673273e-01 -8.05551735e-02 -1.23794737e-02 6.09769605e+01] [ 8.05422492e-02 9.96750006e-01 -1.53985792e-03 2.74827328e+00] [ 1.24632840e-02 5.37664579e-04 9.99922186e-01 3.42951933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:2.75, Z:0.34 [[ 9.96675296e-01 -8.03292676e-02 -1.36221792e-02 6.10051867e+01] [ 8.03135592e-02 9.96768204e-01 -1.69719224e-03 2.75056658e+00] [ 1.37144893e-02 5.97503877e-04 9.99905773e-01 3.42980120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:2.75, Z:0.34 [[ 9.96733774e-01 -7.93751263e-02 -1.48786002e-02 6.10334896e+01] [ 7.93562352e-02 9.96844592e-01 -1.85673384e-03 2.75312445e+00] [ 1.49790307e-02 6.69959626e-04 9.99887584e-01 3.42857656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701400512999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.06, Y:2.76, Z:0.34 [[ 9.96972106e-01 -7.59156879e-02 -1.68352966e-02 6.10610441e+01] [ 7.58909500e-02 9.97113903e-01 -2.10436210e-03 2.75782948e+00] [ 1.69464624e-02 8.20343667e-04 9.99856062e-01 3.42864315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:61.09, Y:2.76, Z:0.34 [[ 9.97009714e-01 -7.47599414e-02 -1.95596691e-02 6.10900594e+01] [ 7.47135082e-02 9.97200237e-01 -3.09503024e-03 2.76347151e+00] [ 1.97362909e-02 1.62440372e-03 9.99803901e-01 3.44598022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.12, Y:2.77, Z:0.34 [[ 9.97200754e-01 -7.25751215e-02 -1.79863094e-02 6.11154366e+01] [ 7.25586913e-02 9.97362916e-01 -1.56525537e-03 2.76628363e+00] [ 1.80524766e-02 2.55810769e-04 9.99837008e-01 3.43186298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:2.77, Z:0.34 [[ 9.97247178e-01 -7.19033278e-02 -1.81101333e-02 6.11417854e+01] [ 7.18739281e-02 9.97411142e-01 -2.26990745e-03 2.77032758e+00] [ 1.82264626e-02 9.62012385e-04 9.99833421e-01 3.43031687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:2.78, Z:0.34 [[ 9.97395330e-01 -7.01376211e-02 -1.68306191e-02 6.11681055e+01] [ 7.01119479e-02 9.97536895e-01 -2.11135477e-03 2.77569620e+00] [ 1.69372490e-02 9.25827897e-04 9.99856126e-01 3.43614551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.851400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:2.78, Z:0.34 [[ 9.97475807e-01 -6.91002120e-02 -1.63454797e-02 6.11955897e+01] [ 6.90758145e-02 9.97609300e-01 -2.05318865e-03 2.78112657e+00] [ 1.64482784e-02 9.18928676e-04 9.99864296e-01 3.43729614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:2.79, Z:0.34 [[ 9.97527661e-01 -6.82570397e-02 -1.67195208e-02 6.12225071e+01] [ 6.82313586e-02 9.97667310e-01 -2.10231457e-03 2.78637939e+00] [ 1.68240171e-02 9.56321321e-04 9.99858009e-01 3.43941591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:2.79, Z:0.34 [[ 9.97554552e-01 -6.76142853e-02 -1.76981410e-02 6.12497144e+01] [ 6.75853612e-02 9.97711008e-01 -2.22802861e-03 2.79093950e+00] [ 1.78082767e-02 1.02644482e-03 9.99840893e-01 3.44392956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.28, Y:2.80, Z:0.34 [[ 9.97546723e-01 -6.67409031e-02 -2.11231501e-02 6.12770056e+01] [ 6.66994144e-02 9.97769560e-01 -2.66339290e-03 2.79657804e+00] [ 2.12537934e-02 1.24795713e-03 9.99773334e-01 3.44183015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:2.80, Z:0.34 [[ 9.97470811e-01 -6.74000622e-02 -2.25657230e-02 6.13047787e+01] [ 6.73527814e-02 9.97725154e-01 -2.84962624e-03 2.80145741e+00] [ 2.27064545e-02 1.32255479e-03 9.99741300e-01 3.44196097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:61.33, Y:2.81, Z:0.34 [[ 9.97481689e-01 -6.70504473e-02 -2.31196462e-02 6.13321475e+01] [ 6.70006199e-02 9.97748649e-01 -2.92399393e-03 2.80653873e+00] [ 2.32636508e-02 1.36759977e-03 9.99728429e-01 3.44308732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:2.81, Z:0.34 [[ 9.97498410e-01 -6.69195900e-02 -2.27747905e-02 6.13602021e+01] [ 6.68711040e-02 9.97757452e-01 -2.88475737e-03 2.81164437e+00] [ 2.29167637e-02 1.35456551e-03 9.99736459e-01 3.44811353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061400512999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.39, Y:2.82, Z:0.35 [[ 9.97768658e-01 -6.36964058e-02 -2.00118137e-02 6.13868718e+01] [ 6.36582810e-02 9.97968530e-01 -2.53704374e-03 2.81871811e+00] [ 2.01327609e-02 1.25746507e-03 9.99796525e-01 3.47097805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:2.82, Z:0.35 [[ 9.97834042e-01 -6.28519298e-02 -1.94128590e-02 6.14145951e+01] [ 6.28158360e-02 9.98022093e-01 -2.46409002e-03 2.82425551e+00] [ 1.95293350e-02 1.23931794e-03 9.99808516e-01 3.47470790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:2.83, Z:0.35 [[ 9.97809602e-01 -6.23964431e-02 -2.19700259e-02 6.14405281e+01] [ 6.23500423e-02 9.98050440e-01 -2.79137304e-03 2.83120508e+00] [ 2.21013657e-02 1.41542678e-03 9.99754733e-01 3.46836440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.47, Y:2.84, Z:0.35 [[ 9.97709097e-01 -6.34925320e-02 -2.33507065e-02 6.14673169e+01] [ 6.34403679e-02 9.97981215e-01 -2.96873819e-03 2.83639319e+00] [ 2.34920592e-02 1.48055969e-03 9.99722927e-01 3.46172221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.49, Y:2.84, Z:0.35 [[ 9.97605830e-01 -6.48911889e-02 -2.39111274e-02 6.14945262e+01] [ 6.48367980e-02 9.97891239e-01 -3.04382595e-03 2.84138838e+00] [ 2.40582221e-02 1.48621758e-03 9.99709454e-01 3.46095861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.52, Y:2.85, Z:0.35 [[ 9.97461106e-01 -6.72216722e-02 -2.35071953e-02 6.15211449e+01] [ 6.71696672e-02 9.97737070e-01 -2.99583965e-03 2.84588268e+00] [ 2.36553855e-02 1.40926305e-03 9.99719179e-01 3.46176975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:2.85, Z:0.35 [[ 9.97128144e-01 -7.23157337e-02 -2.24922108e-02 6.15475065e+01] [ 7.22693671e-02 9.97381025e-01 -2.86858441e-03 2.84961611e+00] [ 2.26407481e-02 1.23484840e-03 9.99742903e-01 3.47295946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.58, Y:2.85, Z:0.35 [[ 9.96932188e-01 -7.50942865e-02 -2.20694315e-02 6.15756152e+01] [ 7.50502509e-02 9.97175771e-01 -2.81801937e-03 2.85279867e+00] [ 2.22187196e-02 1.15305784e-03 9.99752469e-01 3.48393239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.60, Y:2.86, Z:0.35 [[ 9.96742145e-01 -7.76571918e-02 -2.17820502e-02 6.16032403e+01] [ 7.76148225e-02 9.96979530e-01 -2.78513586e-03 2.85608020e+00] [ 2.19325440e-02 1.08545233e-03 9.99758864e-01 3.49323535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.63, Y:2.86, Z:0.35 [[ 9.96638029e-01 -7.91159995e-02 -2.12908018e-02 6.16302010e+01] [ 7.90758029e-02 9.96864882e-01 -2.72461683e-03 2.85927045e+00] [ 2.14396135e-02 1.03186950e-03 9.99769613e-01 3.49907313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.66, Y:2.86, Z:0.35 [[ 9.96545052e-01 -8.04675168e-02 -2.05654666e-02 6.16583105e+01] [ 8.04302345e-02 9.96756758e-01 -2.63494652e-03 2.86224114e+00] [ 2.07107954e-02 9.71757611e-04 9.99785036e-01 3.50855215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:2.86, Z:0.35 [[ 9.96540737e-01 -8.07495694e-02 -1.96485891e-02 6.16848641e+01] [ 8.07155476e-02 9.96733992e-01 -2.51974119e-03 2.86389250e+00] [ 1.97878847e-02 9.25078111e-04 9.99803773e-01 3.51187975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:2.87, Z:0.35 [[ 9.96585598e-01 -8.01369195e-02 -1.98801446e-02 6.17121996e+01] [ 8.01019073e-02 9.96783411e-01 -2.55253871e-03 2.86745940e+00] [ 2.00207510e-02 9.51385810e-04 9.99799112e-01 3.51583026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.74, Y:2.87, Z:0.35 [[ 9.96637984e-01 -7.93767513e-02 -2.02992612e-02 6.17388606e+01] [ 7.93400397e-02 9.96844197e-01 -2.60879583e-03 2.87118720e+00] [ 2.04422785e-02 9.89480824e-04 9.99790545e-01 3.51654125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.77, Y:2.87, Z:0.35 [[ 9.96701032e-01 -7.86542704e-02 -2.00139591e-02 6.17657299e+01] [ 7.86184050e-02 9.96901461e-01 -2.57378486e-03 2.87384163e+00] [ 2.01543842e-02 9.91828484e-04 9.99796388e-01 3.51736167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.79, Y:2.88, Z:0.35 [[ 9.96770141e-01 -7.78898147e-02 -1.95566542e-02 6.17937090e+01] [ 7.78553637e-02 9.96961485e-01 -2.51798623e-03 2.87589609e+00] [ 1.96933565e-02 9.87263062e-04 9.99805580e-01 3.53010198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.82, Y:2.88, Z:0.36 [[ 9.96942197e-01 -7.63782590e-02 -1.65111241e-02 6.18209045e+01] [ 7.63534654e-02 9.97078543e-01 -2.12775539e-03 2.87622750e+00] [ 1.66254018e-02 8.60567592e-04 9.99861418e-01 3.56578585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.85, Y:2.88, Z:0.36 [[ 9.97077711e-01 -7.47438086e-02 -1.57924361e-02 6.18491387e+01] [ 7.47208859e-02 9.97202406e-01 -2.03742501e-03 2.87955720e+00] [ 1.59005402e-02 8.51446249e-04 9.99873216e-01 3.57779895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.601400512999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.88, Y:2.88, Z:0.36 [[ 9.97265664e-01 -7.21703443e-02 -1.58945607e-02 6.18759140e+01] [ 7.21467655e-02 9.97391914e-01 -2.05264667e-03 2.88297618e+00] [ 1.60012466e-02 9.00292897e-04 9.99871567e-01 3.57562854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:2.89, Z:0.36 [[ 9.97422414e-01 -6.98444671e-02 -1.64401775e-02 6.19036847e+01] [ 6.98188858e-02 9.97557419e-01 -2.12557371e-03 2.88653974e+00] [ 1.65484806e-02 9.72259991e-04 9.99862592e-01 3.57898191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:2.89, Z:0.36 [[ 9.97726164e-01 -6.52991696e-02 -1.66889311e-02 6.19300834e+01] [ 6.52721386e-02 9.97865163e-01 -2.15987969e-03 2.88970069e+00] [ 1.67943413e-02 1.06564626e-03 9.99858397e-01 3.58752771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:2.89, Z:0.36 [[ 9.97826479e-01 -6.38894937e-02 -1.61384693e-02 6.19567469e+01] [ 6.38640115e-02 9.97956422e-01 -2.08995905e-03 2.89308776e+00] [ 1.62390155e-02 1.05474909e-03 9.99867582e-01 3.59772029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.98, Y:2.90, Z:0.36 [[ 9.97912033e-01 -6.26810021e-02 -1.55777398e-02 6.19842377e+01] [ 6.26570784e-02 9.98033072e-01 -2.01958382e-03 2.89623035e+00] [ 1.56736891e-02 1.03931133e-03 9.99876620e-01 3.60472067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.01, Y:2.90, Z:0.36 [[ 9.98015317e-01 -6.12223948e-02 -1.47392245e-02 6.20110986e+01] [ 6.12007914e-02 9.98123642e-01 -1.91274902e-03 2.89840444e+00] [ 1.48286715e-02 1.00690061e-03 9.99889542e-01 3.60074541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.04, Y:2.90, Z:0.36 [[ 9.97990429e-01 -6.14958920e-02 -1.52760958e-02 6.20379349e+01] [ 6.14726985e-02 9.98106794e-01 -1.98368033e-03 2.90012230e+00] [ 1.53691632e-02 1.04063115e-03 9.99881346e-01 3.59747771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.07, Y:2.90, Z:0.36 [[ 9.97980124e-01 -6.16629539e-02 -1.52758402e-02 6.20661850e+01] [ 6.16397499e-02 9.98096488e-01 -1.98564762e-03 2.90394584e+00] [ 1.53692033e-02 1.04003789e-03 9.99881346e-01 3.59937818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.09, Y:2.90, Z:0.36 [[ 9.97890876e-01 -6.30297127e-02 -1.55259656e-02 6.20942989e+01] [ 6.30058630e-02 9.98011111e-01 -2.02098963e-03 2.90476993e+00] [ 1.56224686e-02 1.03850025e-03 9.99877422e-01 3.59621831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:2.90, Z:0.36 [[ 9.97749630e-01 -6.52044849e-02 -1.56221160e-02 6.21214367e+01] [ 6.51805728e-02 9.97871409e-01 -2.03550300e-03 2.90400494e+00] [ 1.57215868e-02 1.01266390e-03 9.99875895e-01 3.60022151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.15, Y:2.90, Z:0.36 [[ 9.97556308e-01 -6.82330523e-02 -1.50220664e-02 6.21494003e+01] [ 6.82112519e-02 9.97668976e-01 -1.95943790e-03 2.90300588e+00] [ 1.51207481e-02 9.29975679e-04 9.99885242e-01 3.60682122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:2.90, Z:0.36 [[ 9.97170427e-01 -7.39027354e-02 -1.37668497e-02 6.21780202e+01] [ 7.38849290e-02 9.97265152e-01 -1.79826655e-03 2.89707382e+00] [ 1.38620963e-02 7.76015512e-04 9.99903615e-01 3.61847948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:2.90, Z:0.36 [[ 9.97030201e-01 -7.57347801e-02 -1.39650112e-02 6.22056253e+01] [ 7.57166092e-02 9.97127705e-01 -1.82609737e-03 2.89538421e+00] [ 1.40631986e-02 7.63290930e-04 9.99900817e-01 3.61628566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.23, Y:2.89, Z:0.36 [[ 9.96924193e-01 -7.70013838e-02 -1.45924589e-02 6.22346864e+01] [ 7.69816482e-02 9.97030680e-01 -1.91019920e-03 2.89296814e+00] [ 1.46962172e-02 7.80972259e-04 9.99891700e-01 3.61428289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:2.89, Z:0.36 [[ 9.96872608e-01 -7.75456623e-02 -1.52208470e-02 6.22628770e+01] [ 7.75242097e-02 9.96988473e-01 -1.99531040e-03 2.89073604e+00] [ 1.53297367e-02 8.09086143e-04 9.99882165e-01 3.61624481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:2.88, Z:0.36 [[ 9.96988875e-01 -7.60183994e-02 -1.53096860e-02 6.22920858e+01] [ 7.59964717e-02 9.97106061e-01 -2.00983973e-03 2.88417930e+00] [ 1.54181655e-02 8.40305729e-04 9.99880780e-01 3.63146796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:2.88, Z:0.36 [[ 9.97081608e-01 -7.49732249e-02 -1.43973135e-02 6.23199562e+01] [ 7.49536856e-02 9.97185220e-01 -1.89274398e-03 2.88440264e+00] [ 1.44986933e-02 8.08088497e-04 9.99894562e-01 3.63883856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:2.89, Z:0.36 [[ 9.97204234e-01 -7.35041681e-02 -1.34481254e-02 6.23469699e+01] [ 7.34869635e-02 9.97294608e-01 -1.76971517e-03 2.88556727e+00] [ 1.35418243e-02 7.76505564e-04 9.99908004e-01 3.64446340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:2.89, Z:0.36 [[ 9.97379325e-01 -7.12599116e-02 -1.25103157e-02 6.23739995e+01] [ 7.12448311e-02 9.97457498e-01 -1.64756647e-03 2.88712836e+00] [ 1.25959137e-02 7.51953405e-04 9.99920386e-01 3.64649338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.40, Y:2.89, Z:0.36 [[ 9.97716708e-01 -6.64000352e-02 -1.23453132e-02 6.24020183e+01] [ 6.63849559e-02 9.97792758e-01 -1.62771290e-03 2.88531736e+00] [ 1.24261443e-02 8.04453281e-04 9.99922469e-01 3.64692479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:2.89, Z:0.36 [[ 9.97786842e-01 -6.52587478e-02 -1.27559090e-02 6.24300038e+01] [ 6.52425254e-02 9.97868015e-01 -1.68421910e-03 2.88675542e+00] [ 1.28386236e-02 8.48263943e-04 9.99917222e-01 3.64963390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:2.89, Z:0.37 [[ 9.97813220e-01 -6.48015456e-02 -1.30206691e-02 6.24579806e+01] [ 6.47845721e-02 9.97897788e-01 -1.72160867e-03 2.88885845e+00] [ 1.31048598e-02 8.74305421e-04 9.99913745e-01 3.65356867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:2.89, Z:0.37 [[ 9.97850293e-01 -6.44601242e-02 -1.18188148e-02 6.24847737e+01] [ 6.44460975e-02 9.97919964e-01 -1.56424333e-03 2.89036586e+00] [ 1.18950626e-02 7.99204171e-04 9.99928932e-01 3.66758606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:2.89, Z:0.37 [[ 9.97862866e-01 -6.44666116e-02 -1.06656864e-02 6.25127788e+01] [ 6.44551755e-02 9.97919603e-01 -1.41287518e-03 2.89243156e+00] [ 1.07345808e-02 7.22396986e-04 9.99942122e-01 3.67674094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:2.89, Z:0.37 [[ 9.97891358e-01 -6.41319989e-02 -9.99618359e-03 6.25394552e+01] [ 6.41219223e-02 9.97941192e-01 -1.32563713e-03 2.89413310e+00] [ 1.00606191e-02 6.81867326e-04 9.99949158e-01 3.68734845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.57, Y:2.90, Z:0.37 [[ 9.97898074e-01 -6.40102334e-02 -1.01056276e-02 6.25669257e+01] [ 6.39999166e-02 9.97949002e-01 -1.34133695e-03 2.89652639e+00] [ 1.01707603e-02 6.91758231e-04 9.99948037e-01 3.68511850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:2.90, Z:0.37 [[ 9.97902848e-01 -6.37803247e-02 -1.10442613e-02 6.25935105e+01] [ 6.37679675e-02 9.97963673e-01 -1.46779110e-03 2.89958910e+00] [ 1.11153877e-02 7.60442829e-04 9.99937933e-01 3.68357782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:2.90, Z:0.37 [[ 9.97925369e-01 -6.32683931e-02 -1.19192716e-02 6.26212047e+01] [ 6.32539419e-02 9.97996204e-01 -1.58591470e-03 2.90311925e+00] [ 1.19957261e-02 8.28683600e-04 9.99927705e-01 3.68407213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.65, Y:2.91, Z:0.37 [[ 9.97982205e-01 -6.24681295e-02 -1.13689063e-02 6.26477073e+01] [ 6.24549133e-02 9.98046638e-01 -1.51417912e-03 2.90608611e+00] [ 1.14412867e-02 8.01079756e-04 9.99934225e-01 3.68891747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.68, Y:2.91, Z:0.37 [[ 9.98152564e-01 -5.98120835e-02 -1.06758104e-02 6.26759373e+01] [ 5.98002656e-02 9.98209348e-01 -1.42306838e-03 2.90881709e+00] [ 1.07418104e-02 7.82023056e-04 9.99941999e-01 3.69081507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:2.91, Z:0.37 [[ 9.98230184e-01 -5.83578345e-02 -1.14395425e-02 6.27040308e+01] [ 5.83441457e-02 9.98295362e-01 -1.52699811e-03 2.91253957e+00] [ 1.15091545e-02 8.56865271e-04 9.99933400e-01 3.68933450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:2.92, Z:0.37 [[ 9.98257262e-01 -5.75968989e-02 -1.28466682e-02 6.27313221e+01] [ 5.75795403e-02 9.98339445e-01 -1.71732363e-03 2.91678960e+00] [ 1.29242482e-02 9.74625530e-04 9.99916003e-01 3.68852268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:2.92, Z:0.37 [[ 9.98256625e-01 -5.73340791e-02 -1.40183255e-02 6.27580092e+01] [ 5.73133563e-02 9.98354476e-01 -1.87588706e-03 2.92178625e+00] [ 1.41028102e-02 1.06917940e-03 9.99899979e-01 3.68815661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:2.93, Z:0.37 [[ 9.98255208e-01 -5.74622063e-02 -1.35880076e-02 6.27842518e+01] [ 5.74427294e-02 9.98347145e-01 -1.81968117e-03 2.92738105e+00] [ 1.36701115e-02 1.03597397e-03 9.99906023e-01 3.69077559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:2.93, Z:0.37 [[ 9.98248007e-01 -5.84581665e-02 -9.14110528e-03 6.28119577e+01] [ 5.84493845e-02 9.98289622e-01 -1.22516637e-03 2.93435619e+00] [ 9.19709151e-03 6.88727910e-04 9.99957469e-01 3.69593245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:2.94, Z:0.37 [[ 9.98212427e-01 -5.92383734e-02 -7.92246751e-03 6.28384395e+01] [ 5.92317922e-02 9.98243690e-01 -1.06297374e-03 2.93820902e+00] [ 7.97152203e-03 5.91811653e-04 9.99968052e-01 3.70113063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:2.94, Z:0.37 [[ 9.98128368e-01 -6.06049687e-02 -8.17307557e-03 6.28663438e+01] [ 6.05980034e-02 9.98161649e-01 -1.09741569e-03 2.94123879e+00] [ 8.22455943e-03 6.00089671e-04 9.99965998e-01 3.70011300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:2.94, Z:0.37 [[ 9.97997477e-01 -6.25390835e-02 -9.48145455e-03 6.28943878e+01] [ 6.25297782e-02 9.98042284e-01 -1.27499654e-03 2.94386230e+00] [ 9.54262967e-03 6.79570078e-04 9.99954237e-01 3.70285671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:2.95, Z:0.37 [[ 9.97884503e-01 -6.41733634e-02 -1.04066178e-02 6.29214579e+01] [ 6.41622249e-02 9.97938498e-01 -1.40102312e-03 2.94624200e+00] [ 1.04750729e-02 7.30347507e-04 9.99944868e-01 3.70398860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:2.95, Z:0.37 [[ 9.97685602e-01 -6.71636849e-02 -1.06055807e-02 6.29494184e+01] [ 6.71522712e-02 9.97741715e-01 -1.42905986e-03 2.94796226e+00] [ 1.06776112e-02 7.13563613e-04 9.99942738e-01 3.70264884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:2.95, Z:0.37 [[ 9.97609902e-01 -6.81664911e-02 -1.13054493e-02 6.29762568e+01] [ 6.81535668e-02 9.97673677e-01 -1.52499524e-03 2.95004425e+00] [ 1.13831028e-02 7.50843660e-04 9.99934928e-01 3.70419543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:2.95, Z:0.37 [[ 9.97562401e-01 -6.86936541e-02 -1.22653441e-02 6.30032979e+01] [ 6.86784691e-02 9.97637473e-01 -1.65547302e-03 2.95173503e+00] [ 1.23500873e-02 8.09072591e-04 9.99923407e-01 3.70775162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86140051299999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:63.03, Y:2.95, Z:0.37 [[ 9.97520409e-01 -6.91708085e-02 -1.29781975e-02 6.30313781e+01] [ 6.91538254e-02 9.97604468e-01 -1.75335755e-03 2.95375327e+00] [ 1.30683890e-02 8.51517931e-04 9.99914242e-01 3.71178954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:2.95, Z:0.37 [[ 9.97555541e-01 -6.89144296e-02 -1.15647745e-02 6.30597254e+01] [ 6.89009048e-02 9.97622282e-01 -1.56433588e-03 2.95449128e+00] [ 1.16450820e-02 7.63688496e-04 9.99931902e-01 3.72598560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:2.96, Z:0.37 [[ 9.97586909e-01 -6.87013751e-02 -1.00239554e-02 6.30876341e+01] [ 6.86911869e-02 9.97637047e-01 -1.35755738e-03 2.95688165e+00] [ 1.00935353e-02 6.65724076e-04 9.99948837e-01 3.73249826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:2.96, Z:0.37 [[ 9.97619446e-01 -6.83601003e-02 -9.07406074e-03 6.31160701e+01] [ 6.83517236e-02 9.97660527e-01 -1.23044263e-03 2.95851935e+00] [ 9.13694540e-03 6.07285803e-04 9.99958073e-01 3.74063523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:2.96, Z:0.37 [[ 9.97707989e-01 -6.70464651e-02 -9.14008665e-03 6.31444961e+01] [ 6.70378955e-02 9.97749658e-01 -1.24109652e-03 2.95797423e+00] [ 9.20272947e-03 6.25519738e-04 9.99957458e-01 3.74515677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:2.96, Z:0.38 [[ 9.97761743e-01 -6.61170889e-02 -1.00017459e-02 6.31714670e+01] [ 6.61067642e-02 9.97811629e-01 -1.35975415e-03 2.96086408e+00] [ 1.00697614e-02 6.95527612e-04 9.99949057e-01 3.75041057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:2.96, Z:0.38 [[ 9.97849621e-01 -6.47463728e-02 -1.02000852e-02 6.31992852e+01] [ 6.47355510e-02 9.97901489e-01 -1.38791027e-03 2.96431462e+00] [ 1.02685424e-02 7.24617602e-04 9.99947015e-01 3.75632138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:2.97, Z:0.38 [[ 9.98169676e-01 -5.97417015e-02 -9.39290817e-03 6.32275800e+01] [ 5.97322891e-02 9.98213612e-01 -1.27968138e-03 2.96624173e+00] [ 9.45257914e-03 7.16279246e-04 9.99955067e-01 3.76178483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:2.97, Z:0.38 [[ 9.98405845e-01 -5.57505504e-02 -8.81166587e-03 6.32548672e+01] [ 5.57421004e-02 9.98444477e-01 -1.20185111e-03 2.96808496e+00] [ 8.86496298e-03 7.08754413e-04 9.99960454e-01 3.76344855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:2.97, Z:0.38 [[ 9.98661363e-01 -5.09990483e-02 -8.63589519e-03 6.32814481e+01] [ 5.09907495e-02 9.98698430e-01 -1.17857204e-03 2.97003396e+00] [ 8.68476102e-03 7.36643594e-04 9.99962015e-01 3.76095109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:2.97, Z:0.38 [[ 9.98871874e-01 -4.66049710e-02 -9.10805882e-03 6.33088816e+01] [ 4.65955495e-02 9.98913063e-01 -1.24401314e-03 2.97334754e+00] [ 9.15613613e-03 8.18214734e-04 9.99957747e-01 3.75748875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:2.98, Z:0.38 [[ 9.99231487e-01 -3.81226121e-02 -9.11599951e-03 6.33351253e+01] [ 3.81128115e-02 9.99272665e-01 -1.24647813e-03 2.97823676e+00] [ 9.15688813e-03 8.98083826e-04 9.99957672e-01 3.75747910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:2.98, Z:0.38 [[ 9.99350993e-01 -3.50747567e-02 -8.20695405e-03 6.33628849e+01] [ 3.50667053e-02 9.99384343e-01 -1.12292908e-03 2.98359156e+00] [ 8.24128785e-03 8.34409455e-04 9.99965692e-01 3.76014770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:2.99, Z:0.38 [[ 9.99421086e-01 -3.31770799e-02 -7.53485834e-03 6.33892632e+01] [ 3.31702312e-02 9.99449184e-01 -1.03212684e-03 2.98860722e+00] [ 7.56495097e-03 7.81596331e-04 9.99971080e-01 3.76147790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:63.42, Y:2.99, Z:0.38 [[ 9.99428875e-01 -3.29325492e-02 -7.57432549e-03 6.34171473e+01] [ 3.29256164e-02 9.99457266e-01 -1.03821964e-03 2.99331951e+00] [ 7.60440586e-03 7.88237355e-04 9.99970775e-01 3.75587568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:3.00, Z:0.38 [[ 9.99376225e-01 -3.44272796e-02 -7.86918771e-03 6.34451879e+01] [ 3.44198310e-02 9.99406878e-01 -1.08007408e-03 2.99720979e+00] [ 7.90170434e-03 8.08544244e-04 9.99968454e-01 3.75110541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:3.00, Z:0.37 [[ 9.99167009e-01 -3.98776621e-02 -8.66372389e-03 6.34719190e+01] [ 3.98688217e-02 9.99204213e-01 -1.19078268e-03 2.99904204e+00] [ 8.70431504e-03 8.44378309e-04 9.99961760e-01 3.74268463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:3.00, Z:0.37 [[ 9.99004473e-01 -4.38244166e-02 -8.33570458e-03 6.34993819e+01] [ 4.38163571e-02 9.99038944e-01 -1.14713521e-03 3.00182795e+00] [ 8.37796603e-03 7.80752994e-04 9.99964599e-01 3.74976362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:3.01, Z:0.38 [[ 9.98824379e-01 -4.78924839e-02 -7.49463082e-03 6.35270919e+01] [ 4.78860730e-02 9.98852270e-01 -1.03261700e-03 3.00512931e+00] [ 7.53548360e-03 6.72514591e-04 9.99971382e-01 3.76082068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.55, Y:3.01, Z:0.38 [[ 9.98639611e-01 -5.17489495e-02 -6.40100108e-03 6.35548727e+01] [ 5.17443455e-02 9.98659974e-01 -8.82908785e-04 3.00868599e+00] [ 6.43811318e-03 5.50492075e-04 9.99979124e-01 3.76757880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:3.01, Z:0.38 [[ 9.98454049e-01 -5.53050952e-02 -5.55513081e-03 6.35824383e+01] [ 5.53016775e-02 9.98469397e-01 -7.67083373e-04 3.01186656e+00] [ 5.58905173e-03 4.58689447e-04 9.99984276e-01 3.77216173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:3.01, Z:0.38 [[ 9.98020998e-01 -6.25981165e-02 -5.96357128e-03 6.36099392e+01] [ 6.25942999e-02 9.98038713e-01 -8.24674302e-04 3.01284974e+00] [ 6.00349807e-03 4.49756700e-04 9.99981878e-01 3.76848737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:3.02, Z:0.38 [[ 9.97772884e-01 -6.63303447e-02 -7.03974464e-03 6.36380668e+01] [ 6.63251080e-02 9.97797589e-01 -9.75004088e-04 3.01531532e+00] [ 7.08891259e-03 5.05920817e-04 9.99974745e-01 3.76928710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:3.02, Z:0.38 [[ 9.97366363e-01 -7.19839172e-02 -8.86872462e-03 6.36651810e+01] [ 7.19758133e-02 9.97405619e-01 -1.22999342e-03 3.01757024e+00] [ 8.93425552e-03 5.88420396e-04 9.99959916e-01 3.77068488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:3.02, Z:0.38 [[ 9.97216151e-01 -7.40447473e-02 -8.79337806e-03 6.36932089e+01] [ 7.40368521e-02 9.97254759e-01 -1.22044977e-03 3.02218883e+00] [ 8.85960601e-03 5.66018190e-04 9.99960593e-01 3.77796653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:3.03, Z:0.38 [[ 9.97131573e-01 -7.52327104e-02 -8.28646442e-03 6.37206698e+01] [ 7.52257283e-02 9.97165866e-01 -1.15151846e-03 3.02769037e+00] [ 8.34961132e-03 5.24860093e-04 9.99965004e-01 3.78076021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:3.03, Z:0.38 [[ 9.97087192e-01 -7.58834534e-02 -7.67033515e-03 6.37480602e+01] [ 7.58774800e-02 9.97116577e-01 -1.06721281e-03 3.03375675e+00] [ 7.72920213e-03 4.82098524e-04 9.99970013e-01 3.78147975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.77, Y:3.04, Z:0.38 [[ 9.97062400e-01 -7.62025203e-02 -7.72957058e-03 6.37746652e+01] [ 7.61964533e-02 9.97092243e-01 -1.07679929e-03 3.03994005e+00] [ 7.78914968e-03 4.84670220e-04 9.99969547e-01 3.77855586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:3.04, Z:0.38 [[ 9.97049679e-01 -7.63687955e-02 -7.72947041e-03 6.38028966e+01] [ 7.63627280e-02 9.97079522e-01 -1.07751782e-03 3.04401787e+00] [ 7.78918540e-03 4.84095351e-04 9.99969547e-01 3.78045687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:3.05, Z:0.38 [[ 9.96952772e-01 -7.75811475e-02 -8.14474979e-03 6.38296143e+01] [ 7.75744388e-02 9.96985915e-01 -1.13687211e-03 3.05201387e+00] [ 8.20840066e-03 5.01583403e-04 9.99966185e-01 3.77588567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:3.06, Z:0.38 [[ 9.96868262e-01 -7.86737121e-02 -8.00720081e-03 6.38563099e+01] [ 7.86672528e-02 9.96900302e-01 -1.11896221e-03 3.05803556e+00] [ 8.07041381e-03 4.85553421e-04 9.99967316e-01 3.78109671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:3.06, Z:0.38 [[ 9.96754885e-01 -8.01313323e-02 -7.65954227e-03 6.38841080e+01] [ 8.01254599e-02 9.96784211e-01 -1.07099876e-03 3.06372494e+00] [ 7.72073135e-03 4.53798898e-04 9.99970092e-01 3.78277602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:3.07, Z:0.38 [[ 9.96463203e-01 -8.36980733e-02 -7.46438189e-03 6.39112739e+01] [ 8.36925893e-02 9.96491073e-01 -1.04459912e-03 3.06966271e+00] [ 7.52562085e-03 4.16191133e-04 9.99971596e-01 3.78792783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:3.08, Z:0.38 [[ 9.96312671e-01 -8.55406888e-02 -6.62214484e-03 6.39386240e+01] [ 8.55364059e-02 9.96334614e-01 -9.27813629e-04 3.07547247e+00] [ 6.67723793e-03 3.57958006e-04 9.99977643e-01 3.79482572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:3.08, Z:0.38 [[ 9.96151706e-01 -8.74834184e-02 -5.33191286e-03 6.39663617e+01] [ 8.74806655e-02 9.96165937e-01 -7.47815362e-04 3.08183170e+00] [ 5.37689141e-03 2.78498264e-04 9.99985506e-01 3.79469893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:3.09, Z:0.38 [[ 9.95950543e-01 -8.97845533e-02 -4.60977535e-03 6.39928974e+01] [ 8.97825158e-02 9.95961184e-01 -6.47461308e-04 3.08743655e+00] [ 4.64928935e-03 2.30962213e-04 9.99989165e-01 3.79342249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:3.09, Z:0.38 [[ 9.95652586e-01 -9.30333282e-02 -4.55273614e-03 6.40208096e+01] [ 9.30313739e-02 9.95662972e-01 -6.39616925e-04 3.09243305e+00] [ 4.59249649e-03 2.13288947e-04 9.99989432e-01 3.79450598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:3.10, Z:0.38 [[ 9.95308929e-01 -9.66192128e-02 -4.98630092e-03 6.40480855e+01] [ 9.66169084e-02 9.95321396e-01 -7.01551841e-04 3.09733281e+00] [ 5.03075538e-03 2.16499832e-04 9.99987322e-01 3.79097383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:3.10, Z:0.38 [[ 9.94665686e-01 -1.02906638e-01 -7.09900914e-03 6.40740847e+01] [ 1.02902114e-01 9.94690984e-01 -1.00065113e-03 3.10320957e+00] [ 7.16429403e-03 2.64810298e-04 9.99974301e-01 3.77991199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:3.11, Z:0.38 [[ 9.94337557e-01 -1.05951947e-01 -8.18584916e-03 6.41019106e+01] [ 1.05946026e-01 9.94371211e-01 -1.15478211e-03 3.10715267e+00] [ 8.26212415e-03 2.80985032e-04 9.99965829e-01 3.77576109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:3.11, Z:0.38 [[ 9.93977099e-01 -1.09241047e-01 -8.71320850e-03 6.41292980e+01] [ 1.09234450e-01 9.94015251e-01 -1.23089473e-03 3.11022156e+00] [ 8.79552636e-03 2.71698637e-04 9.99961282e-01 3.78144506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.16, Y:3.11, Z:0.38 [[ 9.93282040e-01 -1.15325317e-01 -9.53207698e-03 6.41570209e+01] [ 1.15317683e-01 9.93327747e-01 -1.34851123e-03 3.11353817e+00] [ 9.62399403e-03 2.40234952e-04 9.99953659e-01 3.78510058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:3.12, Z:0.38 [[ 9.92989354e-01 -1.17846525e-01 -9.18364647e-03 6.41837598e+01] [ 1.17839532e-01 9.93031798e-01 -1.30069981e-03 3.11727711e+00] [ 9.27293592e-03 2.09384460e-04 9.99956983e-01 3.78356461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:3.12, Z:0.38 [[ 9.92682239e-01 -1.20468555e-01 -8.32463378e-03 6.42120060e+01] [ 1.20462895e-01 9.92717129e-01 -1.17988163e-03 3.12078529e+00] [ 8.40614519e-03 1.68438061e-04 9.99964654e-01 3.77971030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:3.12, Z:0.38 [[ 9.92355822e-01 -1.23193685e-01 -7.29646551e-03 6.42401479e+01] [ 1.23189401e-01 9.92382638e-01 -1.03539509e-03 3.12389862e+00] [ 7.36843982e-03 1.28633131e-04 9.99972844e-01 3.78046638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.27, Y:3.13, Z:0.38 [[ 9.91691471e-01 -1.28439745e-01 -7.15943362e-03 6.42668602e+01] [ 1.28435747e-01 9.91717311e-01 -1.01725579e-03 3.12630826e+00] [ 7.23079033e-03 8.92766786e-05 9.99973854e-01 3.78218158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:3.13, Z:0.38 [[ 9.91311831e-01 -1.31310334e-01 -7.64521921e-03 6.42933500e+01] [ 1.31305856e-01 9.91341309e-01 -1.08695924e-03 3.13008768e+00] [ 7.72175060e-03 7.36535032e-05 9.99970184e-01 3.78297622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:64.32, Y:3.13, Z:0.38 [[ 9.90974285e-01 -1.33795952e-01 -8.28311220e-03 6.43214784e+01] [ 1.33790774e-01 9.91008900e-01 -1.17856510e-03 3.13350028e+00] [ 8.36632515e-03 5.97237119e-05 9.99965000e-01 3.78530136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:3.13, Z:0.38 [[ 9.90653214e-01 -1.36176538e-01 -7.88413549e-03 6.43487879e+01] [ 1.36171912e-01 9.90684586e-01 -1.12316434e-03 3.13247535e+00] [ 7.96364014e-03 3.90685612e-05 9.99968289e-01 3.79580729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:3.13, Z:0.38 [[ 9.90610832e-01 -1.36514491e-01 -7.34668608e-03 6.43771060e+01] [ 1.36510478e-01 9.90638073e-01 -1.04728117e-03 3.13400877e+00] [ 7.42087600e-03 3.45484394e-05 9.99972464e-01 3.80049805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:3.14, Z:0.38 [[ 9.90658098e-01 -1.36187652e-01 -7.03256446e-03 6.44048861e+01] [ 1.36183957e-01 9.90683058e-01 -1.00382540e-03 3.13675999e+00] [ 7.10375109e-03 3.67253038e-05 9.99974767e-01 3.80549758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:3.14, Z:0.38 [[ 9.90794553e-01 -1.35180165e-01 -7.24413916e-03 6.44314645e+01] [ 1.35176207e-01 9.90821034e-01 -1.03544264e-03 3.14081596e+00] [ 7.31761676e-03 4.66756668e-05 9.99973225e-01 3.80603937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:3.15, Z:0.38 [[ 9.91251316e-01 -1.31732658e-01 -8.20581969e-03 6.44577391e+01] [ 1.31727453e-01 9.91285277e-01 -1.17402696e-03 3.14564626e+00] [ 8.28896594e-03 8.28240444e-05 9.99965643e-01 3.80147477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:3.15, Z:0.38 [[ 9.91434028e-01 -1.30353468e-01 -8.15727011e-03 6.44849919e+01] [ 1.30348270e-01 9.91467581e-01 -1.16792606e-03 3.15038103e+00] [ 8.23991208e-03 9.46355909e-05 9.99966047e-01 3.80721383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:3.16, Z:0.38 [[ 9.91605980e-01 -1.29084181e-01 -7.40643288e-03 6.45112657e+01] [ 1.29079851e-01 9.91633634e-01 -1.06167372e-03 3.15534872e+00] [ 7.48151323e-03 9.67407577e-05 9.99972008e-01 3.81375624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:3.16, Z:0.38 [[ 9.91707439e-01 -1.28344000e-01 -6.64627909e-03 6.45390115e+01] [ 1.28340494e-01 9.91729706e-01 -9.53223276e-04 3.16150297e+00] [ 6.71365289e-03 9.23318739e-05 9.99977459e-01 3.81944194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:3.17, Z:0.38 [[ 9.91741134e-01 -1.28100851e-01 -6.30041375e-03 6.45650724e+01] [ 1.28097688e-01 9.91761143e-01 -9.04790733e-04 3.16726891e+00] [ 6.36441000e-03 9.02497548e-05 9.99979743e-01 3.82225749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:3.17, Z:0.38 [[ 9.91307083e-01 -1.31375855e-01 -7.11702635e-03 6.45924309e+01] [ 1.31371895e-01 9.91332628e-01 -1.02314263e-03 3.17320388e+00] [ 7.18975667e-03 7.92713026e-05 9.99974150e-01 3.82091186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:3.18, Z:0.38 [[ 9.90842417e-01 -1.34824971e-01 -7.31660407e-03 6.46201832e+01] [ 1.34820869e-01 9.90869428e-01 -1.05324341e-03 3.17799950e+00] [ 7.39180281e-03 5.71673280e-05 9.99972679e-01 3.82102879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:3.18, Z:0.38 [[ 9.90291414e-01 -1.38825628e-01 -7.09653702e-03 6.46481858e+01] [ 1.38821862e-01 9.90316840e-01 -1.02290131e-03 3.18305366e+00] [ 7.16982504e-03 2.78159022e-05 9.99974296e-01 3.82162191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:3.19, Z:0.38 [[ 9.89757216e-01 -1.42582957e-01 -7.12412160e-03 6.46759555e+01] [ 1.42579249e-01 9.89782855e-01 -1.02826941e-03 3.18799904e+00] [ 7.19794711e-03 1.98516356e-06 9.99974094e-01 3.82345737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:3.19, Z:0.38 [[ 9.89351200e-01 -1.45339086e-01 -7.79447458e-03 6.47028362e+01] [ 1.45334721e-01 9.89381903e-01 -1.12656204e-03 3.19256374e+00] [ 7.87544559e-03 -1.82422837e-05 9.99968988e-01 3.82433779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:3.20, Z:0.38 [[ 9.88914063e-01 -1.48200842e-01 -9.24590969e-03 6.47290743e+01] [ 1.48194815e-01 9.88957283e-01 -1.33737521e-03 3.19669710e+00] [ 9.34200986e-03 -4.76467230e-05 9.99956361e-01 3.82013900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:3.20, Z:0.38 [[ 9.88874713e-01 -1.48492409e-01 -8.76390898e-03 6.47568101e+01] [ 1.48486994e-01 9.88913546e-01 -1.26892468e-03 3.20159790e+00] [ 8.85517399e-03 -4.65189758e-05 9.99960791e-01 3.82198314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.78, Y:3.21, Z:0.38 [[ 9.88911694e-01 -1.48291618e-01 -7.95344258e-03 6.47839331e+01] [ 1.48287141e-01 9.88943676e-01 -1.15302726e-03 3.20722306e+00] [ 8.03649103e-03 -3.91511189e-05 9.99967706e-01 3.82988321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:3.21, Z:0.38 [[ 9.89270602e-01 -1.45982119e-01 -5.73556064e-03 6.48110967e+01] [ 1.45979747e-01 9.89287229e-01 -8.32267229e-04 3.21407031e+00] [ 5.79561302e-03 -1.39381882e-05 9.99983205e-01 3.84500336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:3.22, Z:0.38 [[ 9.89506236e-01 -1.44407510e-01 -4.88676242e-03 6.48376456e+01] [ 1.44405765e-01 9.89518302e-01 -7.09982451e-04 3.21946177e+00] [ 4.93806766e-03 -3.14460308e-06 9.99987808e-01 3.84727537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:3.23, Z:0.38 [[ 9.89720022e-01 -1.42941979e-01 -4.67635100e-03 6.48649953e+01] [ 1.42940362e-01 9.89731070e-01 -6.79883438e-04 3.22572443e+00] [ 4.72551376e-03 4.45494764e-06 9.99988835e-01 3.84737114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:3.23, Z:0.38 [[ 9.90042788e-01 -1.40682650e-01 -4.86518302e-03 6.48906416e+01] [ 1.40680867e-01 9.90054742e-01 -7.08529802e-04 3.23497736e+00] [ 4.91647537e-03 1.70366573e-05 9.99987914e-01 3.84343641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.92, Y:3.24, Z:0.38 [[ 9.90098875e-01 -1.40277970e-01 -5.12915348e-03 6.49176345e+01] [ 1.40275982e-01 9.90112161e-01 -7.47273218e-04 3.24186825e+00] [ 5.18326321e-03 2.03773331e-05 9.99986567e-01 3.84457500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.95, Y:3.25, Z:0.38 [[ 9.90096432e-01 -1.40286701e-01 -5.35692546e-03 6.49454865e+01] [ 1.40284525e-01 9.90110924e-01 -7.81560707e-04 3.24784129e+00] [ 5.41359298e-03 2.23267224e-05 9.99985346e-01 3.84401692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:3.25, Z:0.38 [[ 9.90067646e-01 -1.40459465e-01 -6.09879578e-03 6.49718760e+01] [ 1.40456640e-01 9.90086430e-01 -8.91241930e-04 3.25270628e+00] [ 6.16351830e-03 2.57734352e-05 9.99981005e-01 3.84476256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:3.26, Z:0.38 [[ 9.89952024e-01 -1.41160898e-01 -8.28192178e-03 6.49984344e+01] [ 1.41155705e-01 9.89986667e-01 -1.21118822e-03 3.25781100e+00] [ 8.36996455e-03 2.99777233e-05 9.99964971e-01 3.83804086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:3.26, Z:0.38 [[ 9.89844979e-01 -1.41846919e-01 -9.29349323e-03 6.50263345e+01] [ 1.41840399e-01 9.89888605e-01 -1.36028179e-03 3.26199397e+00] [ 9.39247483e-03 2.82753120e-05 9.99955889e-01 3.83580658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:3.27, Z:0.38 [[ 9.89714548e-01 -1.42731403e-01 -9.63636310e-03 6.50542571e+01] [ 1.42724417e-01 9.89761459e-01 -1.41239577e-03 3.26570564e+00] [ 9.73929404e-03 2.25243425e-05 9.99952572e-01 3.83946595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.08, Y:3.27, Z:0.38 [[ 9.89562418e-01 -1.43802979e-01 -9.32336344e-03 6.50810417e+01] [ 1.43796472e-01 9.89606337e-01 -1.36801101e-03 3.26969691e+00] [ 9.42318361e-03 1.30655078e-05 9.99955601e-01 3.84449268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:3.27, Z:0.39 [[ 9.89439224e-01 -1.44758317e-01 -7.41969513e-03 6.51076989e+01] [ 1.44754219e-01 9.89467043e-01 -1.08920769e-03 3.27390382e+00] [ 7.49921567e-03 3.67263504e-06 9.99971880e-01 3.86079572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.14, Y:3.28, Z:0.39 [[ 9.89497828e-01 -1.44387676e-01 -6.80052729e-03 6.51354214e+01] [ 1.44384221e-01 9.89521197e-01 -9.98868535e-04 3.27823622e+00] [ 6.87349021e-03 6.48940814e-06 9.99976377e-01 3.86112047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:3.28, Z:0.39 [[ 9.89629364e-01 -1.43458678e-01 -7.30274717e-03 6.51636448e+01] [ 1.43454658e-01 9.89656308e-01 -1.07416242e-03 3.28218344e+00] [ 7.38130772e-03 1.54095769e-05 9.99972758e-01 3.85669143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:3.29, Z:0.39 [[ 9.89833168e-01 -1.41989605e-01 -8.32174286e-03 6.51904155e+01] [ 1.41984319e-01 9.89868148e-01 -1.22568288e-03 3.28609806e+00] [ 8.41146242e-03 3.16645738e-05 9.99964623e-01 3.85368672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:3.29, Z:0.39 [[ 9.90284266e-01 -1.38828636e-01 -7.98011863e-03 6.52181498e+01] [ 1.38823665e-01 9.90316417e-01 -1.17618129e-03 3.29114768e+00] [ 8.06613014e-03 5.69245112e-05 9.99967467e-01 3.85266660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:3.30, Z:0.39 [[ 9.90449169e-01 -1.37683222e-01 -7.33307376e-03 6.52445570e+01] [ 1.37678984e-01 9.90476313e-01 -1.08206266e-03 3.29570970e+00] [ 7.41221773e-03 6.21179171e-05 9.99972527e-01 3.85704756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:3.30, Z:0.39 [[ 9.90587098e-01 -1.36714707e-01 -6.80369356e-03 6.52719359e+01] [ 1.36711032e-01 9.90610461e-01 -1.00450746e-03 3.29988585e+00] [ 6.87714096e-03 6.49121560e-05 9.99976350e-01 3.86521003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:3.30, Z:0.39 [[ 9.90745856e-01 -1.35554400e-01 -6.90315731e-03 6.52987944e+01] [ 1.35550579e-01 9.90769902e-01 -1.02050117e-03 3.30340966e+00] [ 6.97777392e-03 7.53303286e-05 9.99975652e-01 3.86900901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:3.31, Z:0.39 [[ 9.91206169e-01 -1.32045170e-01 -8.62576004e-03 6.53267970e+01] [ 1.32039062e-01 9.91243692e-01 -1.27623535e-03 3.30757780e+00] [ 8.71875094e-03 1.26075087e-04 9.99961983e-01 3.86351674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:3.31, Z:0.39 [[ 9.91468673e-01 -1.30047354e-01 -8.80662648e-03 6.53547076e+01] [ 1.30040894e-01 9.91507773e-01 -1.30472787e-03 3.31273227e+00] [ 8.90151501e-03 1.48375227e-04 9.99960370e-01 3.85780980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:3.32, Z:0.39 [[ 9.91747447e-01 -1.27959275e-01 -7.96402142e-03 6.53824882e+01] [ 1.27953912e-01 9.91779411e-01 -1.18131301e-03 3.31834931e+00] [ 8.04971244e-03 1.52536462e-04 9.99967589e-01 3.85624510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:3.32, Z:0.39 [[ 9.92056878e-01 -1.25582229e-01 -7.22868471e-03 6.54091826e+01] [ 1.25577739e-01 9.92083202e-01 -1.07346896e-03 3.32347431e+00] [ 7.30626530e-03 1.57180384e-04 9.99973297e-01 3.86059768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:3.33, Z:0.39 [[ 9.92761026e-01 -1.19888115e-01 -7.23772663e-03 6.54357421e+01] [ 1.19883458e-01 9.92787389e-01 -1.07542939e-03 3.32823405e+00] [ 7.31445493e-03 1.99960694e-04 9.99973229e-01 3.86874967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:3.33, Z:0.39 [[ 9.93079675e-01 -1.17191099e-01 -7.68156320e-03 6.54635091e+01] [ 1.17185767e-01 9.93109355e-01 -1.14215260e-03 3.33274172e+00] [ 7.76248239e-03 2.34078655e-04 9.99969844e-01 3.87535104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:3.34, Z:0.39 [[ 9.93369873e-01 -1.14697892e-01 -7.79032486e-03 6.54910143e+01] [ 1.14692320e-01 9.93400386e-01 -1.15978661e-03 3.33843138e+00] [ 7.87193681e-03 2.58606647e-04 9.99968982e-01 3.87967755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:3.34, Z:0.39 [[ 9.93349631e-01 -1.14873079e-01 -7.79010903e-03 6.55192000e+01] [ 1.14867500e-01 9.93380143e-01 -1.16123467e-03 3.34278177e+00] [ 7.87193423e-03 2.58681681e-04 9.99968982e-01 3.88157702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:3.35, Z:0.39 [[ 9.93661414e-01 -1.12206247e-01 -6.83752307e-03 6.55459458e+01] [ 1.12201879e-01 9.93684909e-01 -1.02030108e-03 3.34928364e+00] [ 6.90882764e-03 2.46650885e-04 9.99976103e-01 3.88420754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:3.36, Z:0.39 [[ 9.94152251e-01 -1.07913929e-01 -3.98575727e-03 6.55733031e+01] [ 1.07912411e-01 9.94160227e-01 -5.94579254e-04 3.35754399e+00] [ 4.02664474e-03 1.60989625e-04 9.99991880e-01 3.89029634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:3.36, Z:0.39 [[ 9.94317551e-01 -1.06403624e-01 -3.29807869e-03 6.56012260e+01] [ 1.06402575e-01 9.94323011e-01 -4.92413626e-04 3.36304064e+00] [ 3.33175013e-03 1.38691444e-04 9.99994440e-01 3.89261731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:3.37, Z:0.39 [[ 9.94438598e-01 -1.05270596e-01 -3.15870807e-03 6.56274577e+01] [ 1.05269625e-01 9.94443605e-01 -4.72521439e-04 3.36813961e+00] [ 3.19089966e-03 1.37377543e-04 9.99994900e-01 3.89375362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.65, Y:3.37, Z:0.39 [[ 9.94491191e-01 -1.04702308e-01 -4.96975941e-03 6.56544973e+01] [ 1.04699895e-01 9.94503584e-01 -7.44001350e-04 3.37496630e+00] [ 5.02034220e-03 2.19569500e-04 9.99987374e-01 3.88688118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:3.38, Z:0.39 [[ 9.94425805e-01 -1.05253556e-01 -6.24550765e-03 6.56821925e+01] [ 1.05249747e-01 9.94445380e-01 -9.36442797e-04 3.38016666e+00] [ 6.30938016e-03 2.73884784e-04 9.99980058e-01 3.88096521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:3.38, Z:0.39 [[ 9.94348517e-01 -1.05959807e-01 -6.59899521e-03 6.57086156e+01] [ 1.05955561e-01 9.94370372e-01 -9.90776806e-04 3.38428367e+00] [ 6.66682785e-03 2.85977207e-04 9.99977736e-01 3.88116774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:3.39, Z:0.39 [[ 9.94293357e-01 -1.06523132e-01 -5.79154566e-03 6.57348925e+01] [ 1.06519868e-01 9.94310193e-01 -8.69961078e-04 3.38854545e+00] [ 5.85126387e-03 2.48081840e-04 9.99982850e-01 3.88592021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:3.40, Z:0.39 [[ 9.94364920e-01 -1.05972374e-01 -2.87437657e-03 6.57625387e+01] [ 1.05971569e-01 9.94369067e-01 -4.31346012e-04 3.39549087e+00] [ 2.90390190e-03 1.24313147e-04 9.99995776e-01 3.90589806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:3.40, Z:0.39 [[ 9.94469781e-01 -1.05002908e-01 -2.05988793e-03 6.57900139e+01] [ 1.05002492e-01 9.94471911e-01 -3.09112353e-04 3.40133588e+00] [ 2.08095838e-03 9.11095281e-05 9.99997831e-01 3.91165672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:3.41, Z:0.39 [[ 9.94561917e-01 -1.04127978e-01 -1.98948954e-03 6.58161058e+01] [ 1.04127588e-01 9.94563902e-01 -2.99179206e-04 3.40696025e+00] [ 2.00982741e-03 9.03914976e-05 9.99997976e-01 3.91365414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:3.41, Z:0.39 [[ 9.94614820e-01 -1.03606444e-01 -2.65793090e-03 6.58435288e+01] [ 1.03605744e-01 9.94618364e-01 -4.00140703e-04 3.41298793e+00] [ 2.68508404e-03 1.22608966e-04 9.99996388e-01 3.91144582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:3.42, Z:0.39 [[ 9.94777108e-01 -1.01997690e-01 -3.87003295e-03 6.58705647e+01] [ 1.01996188e-01 9.94784618e-01 -5.83888873e-04 3.42032400e+00] [ 3.90940457e-03 1.86110674e-04 9.99992341e-01 3.90321731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:3.43, Z:0.39 [[ 9.94841490e-01 -1.01360843e-01 -4.04847366e-03 6.58982019e+01] [ 1.01359191e-01 9.94849707e-01 -6.11590117e-04 3.42532381e+00] [ 4.08961413e-03 1.98085208e-04 9.99991618e-01 3.89808140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:3.43, Z:0.39 [[ 9.94912665e-01 -1.00626074e-01 -4.81482226e-03 6.59247157e+01] [ 1.00623723e-01 9.94924286e-01 -7.28715150e-04 3.42970417e+00] [ 4.86371134e-03 2.40522592e-04 9.99988143e-01 3.89880364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.95, Y:3.43, Z:0.39 [[ 9.95006451e-01 -9.96398901e-02 -5.83560181e-03 6.59523276e+01] [ 9.96364162e-02 9.95023519e-01 -8.83735414e-04 3.43475841e+00] [ 5.89461635e-03 2.97883987e-04 9.99982582e-01 3.90220396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:3.44, Z:0.39 [[ 9.95302090e-01 -9.64975920e-02 -7.87170542e-03 6.59795762e+01] [ 9.64911580e-02 9.95333126e-01 -1.19396538e-03 3.44373409e+00] [ 7.95018394e-03 4.28806270e-04 9.99968305e-01 3.90040305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.01, Y:3.45, Z:0.39 [[ 9.95491957e-01 -9.45218841e-02 -7.83429061e-03 6.60057195e+01] [ 9.45154394e-02 9.95522685e-01 -1.18965496e-03 3.45006564e+00] [ 7.91166245e-03 4.43830529e-04 9.99968604e-01 3.89544687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:3.46, Z:0.39 [[ 9.95688341e-01 -9.24707658e-02 -7.34058611e-03 6.60333222e+01] [ 9.24650474e-02 9.95715306e-01 -1.11534002e-03 3.45587364e+00] [ 7.41227029e-03 4.31783409e-04 9.99972436e-01 3.89523049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:3.46, Z:0.39 [[ 9.95884063e-01 -9.03833111e-02 -6.76689533e-03 6.60600924e+01] [ 9.03783957e-02 9.95906967e-01 -1.02931419e-03 3.46042653e+00] [ 6.83223103e-03 4.13496450e-04 9.99976575e-01 3.89995784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:3.47, Z:0.39 [[ 9.96011026e-01 -8.88757988e-02 -7.94529771e-03 6.60874807e+01] [ 8.88689676e-02 9.96042591e-01 -1.20943770e-03 3.46617385e+00] [ 8.02134466e-03 4.98522881e-04 9.99967704e-01 3.89676748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:3.47, Z:0.39 [[ 9.95955637e-01 -8.93815200e-02 -9.12761641e-03 6.61145645e+01] [ 8.93725080e-02 9.95997299e-01 -1.39130386e-03 3.47199141e+00] [ 9.21543815e-03 5.69918947e-04 9.99957375e-01 3.89069954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:3.48, Z:0.39 [[ 9.95884945e-01 -9.01370009e-02 -9.40725854e-03 6.61424174e+01] [ 9.01274446e-02 9.95929205e-01 -1.43574820e-03 3.47745593e+00] [ 9.49837756e-03 5.81987843e-04 9.99954720e-01 3.88545341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:3.48, Z:0.39 [[ 9.95808812e-01 -9.10883374e-02 -8.22945553e-03 6.61688975e+01] [ 9.10810465e-02 9.95842690e-01 -1.25721564e-03 3.48184623e+00] [ 8.30976081e-03 5.02398996e-04 9.99965347e-01 3.88442161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:3.48, Z:0.39 [[ 9.95722805e-01 -9.22810069e-02 -4.50679296e-03 6.61967096e+01] [ 9.22788328e-02 9.95732968e-01 -6.88417770e-04 3.48490287e+00] [ 4.55109021e-03 2.69591679e-04 9.99989607e-01 3.91104938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:3.49, Z:0.39 [[ 9.95738801e-01 -9.21503207e-02 -3.54382112e-03 6.62235250e+01] [ 9.21489736e-02 9.95745084e-01 -5.41894412e-04 3.48947271e+00] [ 3.57867820e-03 2.13025813e-04 9.99993574e-01 3.92197182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:3.50, Z:0.39 [[ 9.95771324e-01 -9.18039412e-02 -3.39222585e-03 6.62511134e+01] [ 9.18027042e-02 9.95777081e-01 -5.18931046e-04 3.49535168e+00] [ 3.42554067e-03 2.05321149e-04 9.99994112e-01 3.92477202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:3.50, Z:0.39 [[ 9.95802676e-01 -9.14407417e-02 -3.95227147e-03 6.62785933e+01] [ 9.14390561e-02 9.95810490e-01 -6.05473557e-04 3.50093613e+00] [ 3.99107834e-03 2.41540215e-04 9.99992006e-01 3.92113560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:3.50, Z:0.39 [[ 9.95806973e-01 -9.13697958e-02 -4.47582946e-03 6.63061264e+01] [ 9.13676288e-02 9.95816994e-01 -6.86694416e-04 3.50337184e+00] [ 4.51985016e-03 2.74869163e-04 9.99989748e-01 3.91904661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:3.50, Z:0.39 [[ 9.95782669e-01 -9.16832037e-02 -3.32648283e-03 6.63328155e+01] [ 9.16820062e-02 9.95788205e-01 -5.11033182e-04 3.50497157e+00] [ 3.35932552e-03 2.03899367e-04 9.99994337e-01 3.92517037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:3.51, Z:0.39 [[ 9.95710998e-01 -9.25042128e-02 -1.60585970e-03 6.63611484e+01] [ 9.25039359e-02 9.95712288e-01 -2.46020220e-04 3.50700328e+00] [ 1.62173214e-03 9.64166956e-05 9.99998680e-01 3.93212243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:3.51, Z:0.39 [[ 9.95633280e-01 -9.33500495e-02 3.74258043e-04 6.63883015e+01] [ 9.33500342e-02 9.95633350e-01 5.82069152e-05 3.50906479e+00] [-3.78057408e-04 -2.30157407e-05 9.99999928e-01 3.93448649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:3.51, Z:0.39 [[ 9.95411446e-01 -9.56769708e-02 1.40338319e-03 6.64163904e+01] [ 9.56767586e-02 9.95412432e-01 2.17731471e-04 3.50873903e+00] [-1.41777696e-03 -8.24612439e-05 9.99998992e-01 3.92898171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:3.51, Z:0.39 [[ 9.95282374e-01 -9.70162966e-02 9.12911271e-04 6.64439032e+01] [ 9.70162076e-02 9.95282792e-01 1.41441379e-04 3.50908562e+00] [-9.22326997e-04 -5.22069220e-05 9.99999573e-01 3.92520096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.47, Y:3.51, Z:0.39 [[ 9.95130515e-01 -9.85655093e-02 3.13973490e-04 6.64726754e+01] [ 9.85654985e-02 9.95130564e-01 4.97195583e-05 3.50914865e+00] [-3.17345250e-04 -1.85304961e-05 9.99999949e-01 3.92318786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:3.51, Z:0.39 [[ 9.94868199e-01 -1.01179210e-01 1.84468830e-04 6.65009438e+01] [ 1.01179207e-01 9.94868216e-01 2.97963187e-05 3.50659952e+00] [-1.86536944e-04 -1.09790000e-05 9.99999983e-01 3.92702647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:3.51, Z:0.39 [[ 9.94833939e-01 -1.01514994e-01 3.72715464e-04 6.65283386e+01] [ 1.01514979e-01 9.94834009e-01 5.82411141e-05 3.50738504e+00] [-3.76702366e-04 -2.01040343e-05 9.99999929e-01 3.92682594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:3.51, Z:0.39 [[ 9.94882805e-01 -1.01035631e-01 -7.80659871e-05 6.65560756e+01] [ 1.01035631e-01 9.94882808e-01 -1.12546501e-05 3.50721081e+00] [ 7.88036291e-05 3.30961162e-06 9.99999997e-01 3.92566769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:3.51, Z:0.39 [[ 9.94992053e-01 -9.99497687e-02 -9.26707589e-04 6.65840736e+01] [ 9.99496792e-02 9.94992483e-01 -1.42525781e-04 3.50704563e+00] [ 9.36312504e-04 4.91878932e-05 9.99999560e-01 3.92730249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:3.50, Z:0.39 [[ 9.95527489e-01 -9.44565197e-02 -1.72767642e-03 6.66132471e+01] [ 9.44561980e-02 9.95528983e-01 -2.67081891e-04 3.50371360e+00] [ 1.74517957e-03 1.02697618e-04 9.99998472e-01 3.92978858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:3.51, Z:0.39 [[ 9.95880426e-01 -9.06680276e-02 -1.21871015e-03 6.66411088e+01] [ 9.06678648e-02 9.95881169e-01 -1.88272911e-04 3.50500898e+00] [ 1.23076083e-03 7.69994598e-05 9.99999240e-01 3.93388448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:3.51, Z:0.39 [[ 9.96231986e-01 -8.67228077e-02 -9.91930231e-04 6.66691376e+01] [ 8.67226979e-02 9.96232478e-01 -1.53202858e-04 3.50667904e+00] [ 1.00147929e-03 6.66027222e-05 9.99999496e-01 3.94003953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:3.51, Z:0.39 [[ 9.96824471e-01 -7.96132642e-02 -1.64360873e-03 6.66969067e+01] [ 7.96129515e-02 9.96825819e-01 -2.54937892e-04 3.50920495e+00] [ 1.65868805e-03 1.23275787e-04 9.99998617e-01 3.93575108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:3.51, Z:0.39 [[ 9.97032193e-01 -7.69289811e-02 -2.95589481e-03 6.67247051e+01] [ 7.69279536e-02 9.97036548e-01 -4.59943893e-04 3.51395738e+00] [ 2.98251817e-03 2.31187929e-04 9.99995526e-01 3.93096628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:3.52, Z:0.39 [[ 9.97219190e-01 -7.44305867e-02 -3.73830177e-03 6.67517359e+01] [ 7.44289207e-02 9.97226151e-01 -5.83025488e-04 3.51820321e+00] [ 3.77132721e-03 3.03166439e-04 9.99992843e-01 3.92904509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:3.52, Z:0.39 [[ 9.97342430e-01 -7.27451316e-02 -4.02786690e-03 6.67796307e+01] [ 7.27431833e-02 9.97350507e-01 -6.28297952e-04 3.52270687e+00] [ 4.06290072e-03 3.33628345e-04 9.99991691e-01 3.92966028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:3.53, Z:0.39 [[ 9.97446007e-01 -7.12956353e-02 -4.28893446e-03 6.68057151e+01] [ 7.12934082e-02 9.97455162e-01 -6.70122451e-04 3.52846881e+00] [ 4.32579662e-03 3.62638208e-04 9.99990578e-01 3.92443840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:66.83, Y:3.53, Z:0.39 [[ 9.97352101e-01 -7.25677551e-02 -4.76515551e-03 6.68335624e+01] [ 7.25650192e-02 9.97363406e-01 -7.44781089e-04 3.53403526e+00] [ 4.80663882e-03 3.97025383e-04 9.99988369e-01 3.91631646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:3.54, Z:0.39 [[ 9.97199085e-01 -7.46681879e-02 -4.31815469e-03 6.68613616e+01] [ 7.46659579e-02 9.97208373e-01 -6.75579969e-04 3.53813627e+00] [ 4.35654435e-03 3.51268571e-04 9.99990449e-01 3.91948534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:3.54, Z:0.39 [[ 9.97013348e-01 -7.71332970e-02 -3.85216199e-03 6.68880878e+01] [ 7.71315377e-02 9.97020743e-01 -6.03420041e-04 3.54154301e+00] [ 3.88722918e-03 3.04494658e-04 9.99992398e-01 3.92841089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:3.55, Z:0.39 [[ 9.96567761e-01 -8.27696329e-02 -1.37312203e-03 6.69151714e+01] [ 8.27694148e-02 9.96568702e-01 -2.14981146e-04 3.54540029e+00] [ 1.38620435e-03 1.00590772e-04 9.99999034e-01 3.93638823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:3.55, Z:0.39 [[ 9.96307460e-01 -8.58546107e-02 -6.55820210e-04 6.69423351e+01] [ 8.58545622e-02 9.96307675e-01 -1.01823125e-04 3.55031862e+00] [ 6.62140693e-04 4.51419816e-05 9.99999780e-01 3.93798723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:3.56, Z:0.39 [[ 9.96094129e-01 -8.82938006e-02 -8.30751748e-04 6.69701836e+01] [ 8.82937232e-02 9.96094474e-01 -1.29459622e-04 3.55529424e+00] [ 8.38937708e-04 5.56038047e-05 9.99999647e-01 3.93008718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:3.56, Z:0.39 [[ 9.95982749e-01 -8.94887319e-02 -3.18282249e-03 6.69967135e+01] [ 8.94875877e-02 9.95987812e-01 -5.00416916e-04 3.56014585e+00] [ 3.21483408e-03 2.13583509e-04 9.99994810e-01 3.92265623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:3.57, Z:0.39 [[ 9.95996693e-01 -8.92904362e-02 -4.21973062e-03 6.70237860e+01] [ 8.92884219e-02 9.96005591e-01 -6.63719744e-04 3.56591968e+00] [ 4.26213911e-03 2.84289583e-04 9.99990877e-01 3.92359814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:3.57, Z:0.39 [[ 9.96016656e-01 -8.90381588e-02 -4.79872207e-03 6.70510680e+01] [ 8.90355459e-02 9.96028162e-01 -7.55822192e-04 3.57285037e+00] [ 4.84695934e-03 3.25554653e-04 9.99988200e-01 3.92878794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:3.58, Z:0.39 [[ 9.96046893e-01 -8.86981916e-02 -4.81855726e-03 6.70778082e+01] [ 8.86955487e-02 9.96058493e-01 -7.59870783e-04 3.58005966e+00] [ 4.86696405e-03 3.29482353e-04 9.99988102e-01 3.93283072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:3.59, Z:0.39 [[ 9.96116642e-01 -8.79481977e-02 -4.09260413e-03 6.71041502e+01] [ 8.79462815e-02 9.96125009e-01 -6.46177393e-04 3.58936165e+00] [ 4.13357546e-03 2.83738740e-04 9.99991416e-01 3.93637549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:3.60, Z:0.39 [[ 9.96097117e-01 -8.81412910e-02 -4.65256615e-03 6.71314371e+01] [ 8.81388155e-02 9.96107930e-01 -7.34862715e-04 3.59613761e+00] [ 4.69922979e-03 3.21922963e-04 9.99988907e-01 3.93431341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:3.60, Z:0.39 [[ 9.96051947e-01 -8.86226721e-02 -5.15184191e-03 6.71583111e+01] [ 8.86196377e-02 9.96065207e-01 -8.14762166e-04 3.60315480e+00] [ 5.20377688e-03 3.54991078e-04 9.99986397e-01 3.93153573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:3.61, Z:0.39 [[ 9.95953970e-01 -8.96927298e-02 -5.55919117e-03 6.71846554e+01] [ 8.96892063e-02 9.95969413e-01 -8.80421021e-04 3.60989430e+00] [ 5.61575173e-03 3.78259367e-04 9.99984160e-01 3.92494945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:3.62, Z:0.39 [[ 9.95514819e-01 -9.44450597e-02 -5.51143440e-03 6.72116102e+01] [ 9.44416670e-02 9.95530014e-01 -8.73190892e-04 3.61627812e+00] [ 5.56926693e-03 3.48765420e-04 9.99984431e-01 3.91371662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:3.62, Z:0.39 [[ 9.95245801e-01 -9.72533498e-02 -5.25188589e-03 6.72395712e+01] [ 9.72503033e-02 9.95259607e-01 -8.32967159e-04 3.62167879e+00] [ 5.30799873e-03 3.18259571e-04 9.99985862e-01 3.91117929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:3.63, Z:0.39 [[ 9.95229171e-01 -9.74233927e-02 -5.25173136e-03 6.72677130e+01] [ 9.74203435e-02 9.95242976e-01 -8.33940167e-04 3.62629267e+00] [ 5.30799403e-03 3.18336108e-04 9.99985862e-01 3.91307876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:3.63, Z:0.39 [[ 9.95002369e-01 -9.97281415e-02 -4.95824584e-03 6.72948331e+01] [ 9.97254482e-02 9.95014680e-01 -7.88117459e-04 3.63168140e+00] [ 5.01212489e-03 2.89715450e-04 9.99987397e-01 3.91137686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:3.64, Z:0.39 [[ 9.94830540e-01 -1.01416225e-01 -5.19097374e-03 6.73211200e+01] [ 1.01413290e-01 9.94844039e-01 -8.26235396e-04 3.63694313e+00] [ 5.24800296e-03 2.95530483e-04 9.99986185e-01 3.91159829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:3.64, Z:0.39 [[ 9.94844202e-01 -1.01233503e-01 -6.06560007e-03 6.73488526e+01] [ 1.01229487e-01 9.94862632e-01 -9.66348108e-04 3.64189572e+00] [ 6.13226565e-03 3.47348232e-04 9.99981137e-01 3.91242873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.38, Y:3.65, Z:0.39 [[ 9.94917726e-01 -1.00426769e-01 -7.29260725e-03 6.73758490e+01] [ 1.00420930e-01 9.94944362e-01 -1.16342529e-03 3.64738268e+00] [ 7.37257751e-03 4.25182041e-04 9.99972732e-01 3.90963189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:3.65, Z:0.39 [[ 9.95063268e-01 -9.88886275e-02 -8.37452637e-03 6.74022682e+01] [ 9.88808596e-02 9.95098380e-01 -1.33760325e-03 3.65315503e+00] [ 8.46575138e-03 5.02919495e-04 9.99964038e-01 3.90597159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:3.66, Z:0.39 [[ 9.95264209e-01 -9.68166384e-02 -8.70015831e-03 6.74296888e+01] [ 9.68081674e-02 9.95302087e-01 -1.39056405e-03 3.65878998e+00] [ 8.79391546e-03 5.41732246e-04 9.99961186e-01 3.90589876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:3.66, Z:0.39 [[ 9.95679119e-01 -9.24943730e-02 -8.23915285e-03 6.74576925e+01] [ 9.24866165e-02 9.95713055e-01 -1.31832437e-03 3.66408225e+00] [ 8.32576964e-03 5.50616674e-04 9.99965189e-01 3.91053976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:3.67, Z:0.39 [[ 9.95844519e-01 -9.06427981e-02 -8.80776089e-03 6.74841276e+01] [ 9.06338489e-02 9.95883284e-01 -1.41077186e-03 3.66912490e+00] [ 8.89937815e-03 6.06628152e-04 9.99960216e-01 3.91318134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:3.67, Z:0.39 [[ 9.96001530e-01 -8.88439964e-02 -9.36465905e-03 6.75116076e+01] [ 8.88337905e-02 9.96045333e-01 -1.50103433e-03 3.67468175e+00] [ 9.46098283e-03 6.63134332e-04 9.99955024e-01 3.90851065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:3.68, Z:0.39 [[ 9.96299952e-01 -8.53541978e-02 -1.00531388e-02 6.75375322e+01] [ 8.53422434e-02 9.96350390e-01 -1.61294752e-03 3.68201650e+00] [ 1.01541206e-02 7.49022118e-04 9.99948165e-01 3.89893159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:3.69, Z:0.39 [[ 9.96408653e-01 -8.40508714e-02 -1.02590262e-02 6.75645247e+01] [ 8.40383412e-02 9.96461160e-01 -1.64717632e-03 3.68868670e+00] [ 1.03611677e-02 7.79109194e-04 9.99946018e-01 3.89523303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:3.70, Z:0.39 [[ 9.96461446e-01 -8.33479842e-02 -1.08489441e-02 6.75918941e+01] [ 8.33339074e-02 9.96520155e-01 -1.74396173e-03 3.69523582e+00] [ 1.09565472e-02 8.33705723e-04 9.99939628e-01 3.89070753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:3.70, Z:0.39 [[ 9.96456816e-01 -8.33226324e-02 -1.14521788e-02 6.76180110e+01] [ 8.33069251e-02 9.96522233e-01 -1.84264842e-03 3.70020756e+00] [ 1.15658851e-02 8.82073784e-04 9.99932724e-01 3.88989048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:3.70, Z:0.39 [[ 9.96252789e-01 -8.56563222e-02 -1.19738966e-02 6.76456287e+01] [ 8.56393000e-02 9.96324341e-01 -1.92813646e-03 3.70399581e+00] [ 1.20950418e-02 8.95475201e-04 9.99926451e-01 3.89599418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:3.71, Z:0.39 [[ 9.96086929e-01 -8.74886836e-02 -1.25124025e-02 6.76737657e+01] [ 8.74702152e-02 9.96165094e-01 -2.01677595e-03 3.70839905e+00] [ 1.26408637e-02 9.14421625e-04 9.99919683e-01 3.90251907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:3.71, Z:0.39 [[ 9.95942973e-01 -8.90261280e-02 -1.31127129e-02 6.77001938e+01] [ 8.90059559e-02 9.96028848e-01 -2.11514784e-03 3.71379011e+00] [ 1.32489438e-02 9.39457076e-04 9.99911788e-01 3.90945185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.73, Y:3.72, Z:0.39 [[ 9.95879928e-01 -8.96783018e-02 -1.34525388e-02 6.77274326e+01] [ 8.96571013e-02 9.95970324e-01 -2.17205573e-03 3.72017544e+00] [ 1.35931157e-02 9.56991067e-04 9.99907151e-01 3.90868977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:3.73, Z:0.39 [[ 9.95973408e-01 -8.85704273e-02 -1.38654052e-02 6.77539509e+01] [ 8.85477623e-02 9.96069410e-01 -2.24131326e-03 3.72922617e+00] [ 1.40094201e-02 1.00453781e-03 9.99901359e-01 3.90768156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:3.73, Z:0.39 [[ 9.96084552e-01 -8.72087052e-02 -1.44984996e-02 6.77803494e+01] [ 8.71837457e-02 9.96189485e-01 -2.34595921e-03 3.73499358e+00] [ 1.46478409e-02 1.07274023e-03 9.99892139e-01 3.91160649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:3.74, Z:0.39 [[ 9.96178010e-01 -8.59175094e-02 -1.57338622e-02 6.78075553e+01] [ 8.58879127e-02 9.96301547e-01 -2.54849097e-03 3.74056308e+00] [ 1.58946313e-02 1.18740207e-03 9.99872967e-01 3.91349166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:3.75, Z:0.39 [[ 9.96162410e-01 -8.58544790e-02 -1.70135912e-02 6.78333593e+01] [ 8.58198244e-02 9.96306856e-01 -2.75797165e-03 3.74699727e+00] [ 1.71875418e-02 1.28728427e-03 9.99851455e-01 3.92527159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:67.86, Y:3.75, Z:0.39 [[ 9.96063177e-01 -8.68533607e-02 -1.77381448e-02 6.78609707e+01] [ 8.68503497e-02 9.96220924e-01 -9.41478613e-04 3.75067462e+00] [ 1.77528816e-02 -6.02791903e-04 9.99842223e-01 3.94888285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.89, Y:3.76, Z:0.39 [[ 9.95872742e-01 -8.93434599e-02 -1.59758542e-02 6.78880258e+01] [ 8.92816280e-02 9.95996056e-01 -4.54398136e-03 3.76021652e+00] [ 1.63178627e-02 3.09887691e-03 9.99862053e-01 3.93434874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:3.76, Z:0.39 [[ 9.95706723e-01 -9.11974930e-02 -1.58473598e-02 6.79157039e+01] [ 9.11680042e-02 9.95832197e-01 -2.57488226e-03 3.76406587e+00] [ 1.60161340e-02 1.11905541e-03 9.99871107e-01 3.93755860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:3.77, Z:0.39 [[ 9.95531167e-01 -9.32378201e-02 -1.49801196e-02 6.79421716e+01] [ 9.32116725e-02 9.95643335e-01 -2.43582991e-03 3.76927510e+00] [ 1.51419677e-02 1.02862259e-03 9.99884825e-01 3.93928267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.97, Y:3.78, Z:0.39 [[ 9.95116648e-01 -9.77296262e-02 -1.38483921e-02 6.79695908e+01] [ 9.77076868e-02 9.95212605e-01 -2.25370182e-03 3.77733449e+00] [ 1.40023479e-02 8.89601833e-04 9.99901567e-01 3.93666670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:3.78, Z:0.39 [[ 9.94971145e-01 -9.91944690e-02 -1.38880814e-02 6.79972996e+01] [ 9.91725080e-02 9.95067683e-01 -2.26284926e-03 3.78313640e+00] [ 1.40440431e-02 8.74153861e-04 9.99900995e-01 3.94266896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:3.79, Z:0.39 [[ 9.94894275e-01 -9.99032776e-02 -1.43079000e-02 6.80241826e+01] [ 9.98800132e-02 9.94996753e-01 -2.33322318e-03 3.78746199e+00] [ 1.44694107e-02 8.92237144e-04 9.99894915e-01 3.94525278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:3.79, Z:0.40 [[ 9.94859262e-01 -9.99316630e-02 -1.63924400e-02 6.80521680e+01] [ 9.99010889e-02 9.94993776e-01 -2.67556925e-03 3.78942406e+00] [ 1.65777498e-02 1.02419224e-03 9.99862055e-01 3.95435236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:3.79, Z:0.40 [[ 9.94893716e-01 -9.94080657e-02 -1.74508239e-02 6.80796105e+01] [ 9.93732772e-02 9.95046140e-01 -2.85161483e-03 3.79338408e+00] [ 1.76478485e-02 1.10290811e-03 9.99843656e-01 3.96108760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:3.80, Z:0.40 [[ 9.94969773e-01 -9.85735866e-02 -1.78437251e-02 6.81075921e+01] [ 9.85370184e-02 9.95129104e-01 -2.91924019e-03 3.79846902e+00] [ 1.80445701e-02 1.14628828e-03 9.99836526e-01 3.96302488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:3.80, Z:0.40 [[ 9.95207337e-01 -9.64867514e-02 -1.58953739e-02 6.81337098e+01] [ 9.64574380e-02 9.95333708e-01 -2.60239610e-03 3.80410382e+00] [ 1.60722982e-02 1.05669665e-03 9.99870274e-01 3.96702799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:3.81, Z:0.40 [[ 9.95322732e-01 -9.55365185e-02 -1.43329258e-02 6.81615188e+01] [ 9.55125584e-02 9.95425454e-01 -2.34856221e-03 3.80813132e+00] [ 1.44917327e-02 9.68602942e-04 9.99894520e-01 3.97227255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:3.81, Z:0.40 [[ 9.95404380e-01 -9.48246899e-02 -1.33565858e-02 6.81884503e+01] [ 9.48037917e-02 9.95493567e-01 -2.19062524e-03 3.81174411e+00] [ 1.35041206e-02 9.14302985e-04 9.99908397e-01 3.97492659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:3.82, Z:0.40 [[ 9.95392803e-01 -9.49705129e-02 -1.31821475e-02 6.82162265e+01] [ 9.49501417e-02 9.95479677e-01 -2.16412628e-03 3.81557575e+00] [ 1.33280881e-02 9.02508950e-04 9.99910770e-01 3.97878588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:3.82, Z:0.40 [[ 9.95189980e-01 -9.69514503e-02 -1.40470449e-02 6.82435551e+01] [ 9.69284864e-02 9.95288672e-01 -2.30808974e-03 3.81813564e+00] [ 1.42046374e-02 9.35428979e-04 9.99898671e-01 3.97778099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:3.82, Z:0.40 [[ 9.94975764e-01 -9.90788397e-02 -1.43740089e-02 6.82714394e+01] [ 9.90549857e-02 9.95079154e-01 -2.36384544e-03 3.82130981e+00] [ 1.45374837e-02 9.28151674e-04 9.99893894e-01 3.97877315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:3.82, Z:0.40 [[ 9.94712857e-01 -1.01702128e-01 -1.42481290e-02 6.82984011e+01] [ 1.01678931e-01 9.94814503e-01 -2.34500382e-03 3.82434088e+00] [ 1.44127373e-02 8.83870917e-04 9.99895740e-01 3.97975000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:3.83, Z:0.40 [[ 9.94217242e-01 -1.06308372e-01 -1.51856825e-02 6.83266767e+01] [ 1.06282523e-01 9.94332825e-01 -2.50151661e-03 3.82665582e+00] [ 1.53655547e-02 8.73078295e-04 9.99881562e-01 3.98408627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:3.83, Z:0.40 [[ 9.94039240e-01 -1.07804754e-01 -1.62518850e-02 6.83534067e+01] [ 1.07775311e-01 9.94171667e-01 -2.67928491e-03 3.82940315e+00] [ 1.64460033e-02 9.11762372e-04 9.99864340e-01 3.98166713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:3.83, Z:0.40 [[ 9.93912107e-01 -1.08826684e-01 -1.71894540e-02 6.83819563e+01] [ 1.08793854e-01 9.94060286e-01 -2.83640905e-03 3.83144517e+00] [ 1.73960305e-02 9.49034353e-04 9.99848227e-01 3.98481695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:3.83, Z:0.40 [[ 9.93906890e-01 -1.08863811e-01 -1.72558371e-02 6.84101250e+01] [ 1.08830676e-01 9.94056215e-01 -2.85058159e-03 3.83365712e+00] [ 1.74635973e-02 9.55248279e-04 9.99847043e-01 3.99762850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:3.84, Z:0.40 [[ 9.94340074e-01 -1.05044985e-01 -1.59175565e-02 6.84379366e+01] [ 1.05016256e-01 9.94467021e-01 -2.63241169e-03 3.83664378e+00] [ 1.61060066e-02 9.45910254e-04 9.99869842e-01 4.01479953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:3.84, Z:0.40 [[ 9.94635937e-01 -1.02170002e-01 -1.61444630e-02 6.84641844e+01] [ 1.02140030e-01 9.94766441e-01 -2.67244581e-03 3.84089329e+00] [ 1.63330138e-02 1.00911471e-03 9.99866098e-01 4.01212185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:3.85, Z:0.40 [[ 9.94939893e-01 -9.90389992e-02 -1.69081688e-02 6.84920007e+01] [ 9.90056253e-02 9.95082930e-01 -2.80167246e-03 3.84572996e+00] [ 1.71025049e-02 1.11349188e-03 9.99853121e-01 4.01384650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:3.85, Z:0.40 [[ 9.95290152e-01 -9.52698654e-02 -1.79211314e-02 6.85181527e+01] [ 9.52317241e-02 9.95450696e-01 -2.97172670e-03 3.85116838e+00] [ 1.81227188e-02 1.25107008e-03 9.99834987e-01 4.02131181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:3.86, Z:0.40 [[ 9.95959308e-01 -8.78644778e-02 -1.85712208e-02 6.85447950e+01] [ 8.78221858e-02 9.96131399e-01 -3.08228541e-03 3.86010233e+00] [ 1.87701996e-02 1.43886564e-03 9.99822789e-01 4.03014948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:3.87, Z:0.40 [[ 9.96207435e-01 -8.52393970e-02 -1.74640312e-02 6.85723461e+01] [ 8.52015406e-02 9.96359512e-01 -2.90172706e-03 3.86677339e+00] [ 1.76477950e-02 1.40275971e-03 9.99843282e-01 4.03508330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.60, Y:3.87, Z:0.40 [[ 9.96355616e-01 -8.38457351e-02 -1.56645968e-02 6.85989780e+01] [ 8.38150781e-02 9.96477922e-01 -2.60460930e-03 3.87252040e+00] [ 1.58278102e-02 1.28218770e-03 9.99873910e-01 4.04069210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01140051299998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:68.63, Y:3.88, Z:0.41 [[ 9.96295949e-01 -8.49621550e-02 -1.32594997e-02 6.86258645e+01] [ 8.49402747e-02 9.96383603e-01 -2.20569967e-03 3.87721350e+00] [ 1.33989491e-02 1.07126410e-03 9.99909656e-01 4.05264307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:3.88, Z:0.41 [[ 9.96177077e-01 -8.63168239e-02 -1.34401630e-02 6.86535557e+01] [ 8.62944410e-02 9.96267164e-01 -2.23757250e-03 3.88203855e+00] [ 1.35831333e-02 1.06920708e-03 9.99907173e-01 4.06116783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:3.89, Z:0.41 [[ 9.96060312e-01 -8.75338866e-02 -1.42011793e-02 6.86801785e+01] [ 8.75089924e-02 9.96160919e-01 -2.36619281e-03 3.88711631e+00] [ 1.43537819e-02 1.11413986e-03 9.99896358e-01 4.06390855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:3.89, Z:0.41 [[ 9.95983137e-01 -8.83393998e-02 -1.46198929e-02 6.87070652e+01] [ 8.83130845e-02 9.96089785e-01 -2.43714721e-03 3.89019286e+00] [ 1.47780221e-02 1.13622969e-03 9.99890153e-01 4.06701961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:3.89, Z:0.41 [[ 9.95951032e-01 -8.87462756e-02 -1.43401605e-02 6.87348194e+01] [ 8.87209710e-02 9.96053646e-01 -2.39249493e-03 3.89378565e+00] [ 1.44958942e-02 1.11053483e-03 9.99894312e-01 4.07301473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:3.90, Z:0.41 [[ 9.95953464e-01 -8.87479797e-02 -1.41596001e-02 6.87612502e+01] [ 8.87232820e-02 9.96053507e-01 -2.36422268e-03 3.89722451e+00] [ 1.43135393e-02 1.09836957e-03 9.99896953e-01 4.07231342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:3.90, Z:0.41 [[ 9.95961356e-01 -8.87029824e-02 -1.38837095e-02 6.87885295e+01] [ 8.86792067e-02 9.96057536e-01 -2.32006698e-03 3.90124436e+00] [ 1.40347704e-02 1.07950071e-03 9.99900925e-01 4.07482644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:3.90, Z:0.41 [[ 9.95996174e-01 -8.86673419e-02 -1.13896610e-02 6.88157280e+01] [ 8.86513229e-02 9.96060899e-01 -1.90470921e-03 3.90416159e+00] [ 1.15136815e-02 8.87374570e-04 9.99933322e-01 4.08415892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:3.91, Z:0.41 [[ 9.95984556e-01 -8.88839467e-02 -1.06962016e-02 6.88436059e+01] [ 8.88698175e-02 9.96041641e-01 -1.79002253e-03 3.90775401e+00] [ 1.08129665e-02 8.32265305e-04 9.99941192e-01 4.08688634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:3.91, Z:0.41 [[ 9.95949360e-01 -8.93039711e-02 -1.04725208e-02 6.88710221e+01] [ 8.92904291e-02 9.96004087e-01 -1.75454047e-03 3.91075240e+00] [ 1.05873609e-02 8.12337581e-04 9.99943622e-01 4.08837436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.90, Y:3.91, Z:0.41 [[ 9.95866294e-01 -9.01758781e-02 -1.08920108e-02 6.88983385e+01] [ 9.01612631e-02 9.95925505e-01 -1.82648066e-03 3.91330025e+00] [ 1.10123359e-02 8.36893070e-04 9.99939012e-01 4.09086558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:3.91, Z:0.41 [[ 9.95457263e-01 -9.44901281e-02 -1.16813604e-02 6.89268613e+01] [ 9.44735951e-02 9.95525438e-01 -1.96037423e-03 3.91483092e+00] [ 1.18143274e-02 8.47888648e-04 9.99929849e-01 4.08806503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:3.92, Z:0.41 [[ 9.95210301e-01 -9.70244479e-02 -1.19462956e-02 6.89534974e+01] [ 9.70073176e-02 9.95281646e-01 -2.00651538e-03 3.91764472e+00] [ 1.20846098e-02 8.38026682e-04 9.99926627e-01 4.08534682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:3.92, Z:0.41 [[ 9.95194193e-01 -9.71895549e-02 -1.19460592e-02 6.89815937e+01] [ 9.71724197e-02 9.95265537e-01 -2.00792160e-03 3.92251432e+00] [ 1.20846501e-02 8.37444434e-04 9.99926627e-01 4.08724806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:3.92, Z:0.41 [[ 9.94974699e-01 -9.93706853e-02 -1.22806921e-02 6.90085433e+01] [ 9.93527219e-02 9.95050134e-01 -2.06577221e-03 3.92473764e+00] [ 1.24251815e-02 8.35270895e-04 9.99922456e-01 4.08305351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:3.92, Z:0.41 [[ 9.94604727e-01 -1.02870959e-01 -1.33791651e-02 6.90369151e+01] [ 1.02849928e-01 9.94694334e-01 -2.25239082e-03 3.92332920e+00] [ 1.35398853e-02 8.64192391e-04 9.99907958e-01 4.08456598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.06, Y:3.92, Z:0.41 [[ 9.94495805e-01 -1.03942875e-01 -1.31898820e-02 6.90639330e+01] [ 1.03922505e-01 9.94582915e-01 -2.22227870e-03 3.92462070e+00] [ 1.33494213e-02 8.39321270e-04 9.99910540e-01 4.09173278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:3.93, Z:0.41 [[ 9.94476419e-01 -1.04190212e-01 -1.26905982e-02 6.90921663e+01] [ 1.04171355e-01 9.94557062e-01 -2.13979592e-03 3.92666961e+00] [ 1.28444698e-02 8.05979777e-04 9.99917182e-01 4.10055590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:3.93, Z:0.41 [[ 9.94603517e-01 -1.03034746e-01 -1.21525878e-02 6.91195301e+01] [ 1.03017348e-01 9.94677446e-01 -2.05068110e-03 3.92898945e+00] [ 1.22991964e-02 7.87687261e-04 9.99924052e-01 4.11188053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.15, Y:3.93, Z:0.41 [[ 9.95104147e-01 -9.81324251e-02 -1.17372875e-02 6.91476187e+01] [ 9.81158392e-02 9.95173027e-01 -1.98206128e-03 3.92925814e+00] [ 1.18751364e-02 8.20743594e-04 9.99929151e-01 4.10951677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:3.93, Z:0.41 [[ 9.95400143e-01 -9.50284884e-02 -1.21713089e-02 6.91756363e+01] [ 9.50103936e-02 9.95474154e-01 -2.05767862e-03 3.93236180e+00] [ 1.23117615e-02 8.91812750e-04 9.99923810e-01 4.10708560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:3.94, Z:0.41 [[ 9.95698810e-01 -9.18892126e-02 -1.18428113e-02 6.92026643e+01] [ 9.18718378e-02 9.95768823e-01 -2.00404012e-03 3.93581669e+00] [ 1.19768519e-02 9.07399529e-04 9.99927863e-01 4.10537710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:3.94, Z:0.41 [[ 9.95976583e-01 -8.89466480e-02 -1.09150804e-02 6.92291562e+01] [ 8.89317008e-02 9.96036012e-01 -1.84817597e-03 3.93945135e+00] [ 1.10362022e-02 8.70043325e-04 9.99938721e-01 4.11112337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:3.94, Z:0.41 [[ 9.96386268e-01 -8.45112883e-02 -8.49979161e-03 6.92570283e+01] [ 8.45020576e-02 9.96422264e-01 -1.43996692e-03 3.94328485e+00] [ 8.59107506e-03 7.16513391e-04 9.99962839e-01 4.12672023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:3.95, Z:0.41 [[ 9.96544382e-01 -8.26063123e-02 -8.68855557e-03 6.92837011e+01] [ 8.25965821e-02 9.96581975e-01 -1.47343319e-03 3.94836924e+00] [ 8.78057276e-03 7.50696573e-04 9.99961168e-01 4.13147918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:3.95, Z:0.41 [[ 9.96745221e-01 -7.98823002e-02 -1.08528009e-02 6.93110909e+01] [ 7.98669388e-02 9.96803831e-01 -1.84223260e-03 3.95402723e+00] [ 1.09652753e-02 9.69456553e-04 9.99939410e-01 4.12089176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:3.96, Z:0.41 [[ 9.96801922e-01 -7.90829764e-02 -1.14809017e-02 6.93386886e+01] [ 7.90657077e-02 9.96867497e-01 -1.95101414e-03 3.95796509e+00] [ 1.15992297e-02 1.03702902e-03 9.99932189e-01 4.11746989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:3.96, Z:0.41 [[ 9.96840437e-01 -7.85573765e-02 -1.17423478e-02 6.93652410e+01] [ 7.85392561e-02 9.96909021e-01 -1.99712740e-03 3.96066505e+00] [ 1.18629415e-02 1.06858209e-03 9.99929062e-01 4.11813221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:3.96, Z:0.41 [[ 9.96829022e-01 -7.86752817e-02 -1.19205937e-02 6.93929149e+01] [ 7.86565969e-02 9.96899706e-01 -2.02897453e-03 3.96358222e+00] [ 1.20432665e-02 1.08490737e-03 9.99926889e-01 4.12037261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:3.97, Z:0.41 [[ 9.96768457e-01 -7.94519620e-02 -1.18333686e-02 6.94195176e+01] [ 7.94335845e-02 9.96838122e-01 -2.01575378e-03 3.96639232e+00] [ 1.19561085e-02 1.06927291e-03 9.99927951e-01 4.12825135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:3.97, Z:0.41 [[ 9.96787776e-01 -7.93868125e-02 -1.05765416e-02 6.94468820e+01] [ 7.93721151e-02 9.96843427e-01 -1.80286381e-03 3.97097923e+00] [ 1.06862796e-02 9.57590136e-04 9.99942442e-01 4.13158999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:3.98, Z:0.41 [[ 9.96844583e-01 -7.88806074e-02 -8.87282072e-03 6.94734106e+01] [ 7.88702333e-02 9.96883742e-01 -1.51364564e-03 3.97558310e+00] [ 8.96456801e-03 8.09068019e-04 9.99959490e-01 4.13365165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:3.98, Z:0.41 [[ 9.96924147e-01 -7.79647668e-02 -7.98379403e-03 6.95003226e+01] [ 7.79563331e-02 9.96955843e-01 -1.36262659e-03 3.97998035e+00] [ 8.06572697e-03 7.36048040e-04 9.99967201e-01 4.13899136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:3.98, Z:0.41 [[ 9.96982760e-01 -7.69739565e-02 -1.00192914e-02 6.95280432e+01] [ 7.69606078e-02 9.97032665e-01 -1.71167109e-03 3.98474777e+00] [ 1.01213149e-02 9.35415811e-04 9.99948341e-01 4.13010908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:3.99, Z:0.41 [[ 9.96893567e-01 -7.78178200e-02 -1.21491946e-02 6.95553343e+01] [ 7.77982239e-02 9.96966959e-01 -2.07803700e-03 3.98921542e+00] [ 1.22740539e-02 1.12639595e-03 9.99924037e-01 4.12564175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:3.99, Z:0.41 [[ 9.96745275e-01 -7.95718377e-02 -1.29297749e-02 6.95828065e+01] [ 7.95497562e-02 9.96828438e-01 -2.21403882e-03 3.99273013e+00] [ 1.30649424e-02 1.17827229e-03 9.99913956e-01 4.12296820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:3.99, Z:0.41 [[ 9.96311908e-01 -8.51063637e-02 -1.09311345e-02 6.96095513e+01] [ 8.50908963e-02 9.96371432e-01 -1.87320003e-03 3.99499503e+00] [ 1.10508914e-02 9.36151467e-04 9.99938499e-01 4.14315831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:4.00, Z:0.42 [[ 9.96025006e-01 -8.86149606e-02 -9.03200651e-03 6.96359293e+01] [ 8.86045384e-02 9.96065680e-01 -1.54839963e-03 3.99944078e+00] [ 9.13368308e-03 7.41967986e-04 9.99958012e-01 4.15225632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:4.00, Z:0.42 [[ 9.95719066e-01 -9.20679673e-02 -8.18722311e-03 6.96627000e+01] [ 9.20595144e-02 9.95752516e-01 -1.40418072e-03 4.00372327e+00] [ 8.28172808e-03 6.44457735e-04 9.99965498e-01 4.15446464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:4.01, Z:0.41 [[ 9.95218211e-01 -9.71230900e-02 -1.03835385e-02 6.96909583e+01] [ 9.71097527e-02 9.95272083e-01 -1.78221577e-03 4.00534510e+00] [ 1.05075403e-02 7.65350733e-04 9.99944501e-01 4.13849444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:4.01, Z:0.41 [[ 9.95087211e-01 -9.82034733e-02 -1.25507109e-02 6.97193158e+01] [ 9.81840407e-02 9.95165937e-01 -2.15671495e-03 4.00861692e+00] [ 1.27018369e-02 9.13839951e-04 9.99918911e-01 4.12988598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:4.01, Z:0.41 [[ 9.95030444e-01 -9.85696460e-02 -1.40868639e-02 6.97467062e+01] [ 9.85451621e-02 9.95129629e-01 -2.42344875e-03 4.01273051e+00] [ 1.42571341e-02 1.02321300e-03 9.99897838e-01 4.12668807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:4.02, Z:0.41 [[ 9.95051588e-01 -9.83291205e-02 -1.42730936e-02 6.97738506e+01] [ 9.83039329e-02 9.95153404e-01 -2.45738056e-03 4.01633949e+00] [ 1.44455497e-02 1.04211919e-03 9.99895115e-01 4.13069213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:4.02, Z:0.41 [[ 9.95030207e-01 -9.85740599e-02 -1.40727047e-02 6.98013932e+01] [ 9.85495714e-02 9.95129189e-01 -2.42481712e-03 4.01945212e+00] [ 1.42431833e-02 1.02590726e-03 9.99898034e-01 4.13530187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:4.02, Z:0.41 [[ 9.95021359e-01 -9.86320380e-02 -1.42904492e-02 6.98281925e+01] [ 9.86067646e-02 9.95123426e-01 -2.46421304e-03 4.02182328e+00] [ 1.44638111e-02 1.04280965e-03 9.99894850e-01 4.13639263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:4.02, Z:0.41 [[ 9.95005666e-01 -9.87571097e-02 -1.45175152e-02 6.98553621e+01] [ 9.87310227e-02 9.95111005e-01 -2.50454072e-03 4.02477206e+00] [ 1.46938803e-02 1.05870308e-03 9.99891479e-01 4.12953712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:4.03, Z:0.41 [[ 9.95168246e-01 -9.73053325e-02 -1.31085394e-02 6.98830481e+01] [ 9.72839158e-02 9.95254097e-01 -2.26317606e-03 4.02908223e+00] [ 1.32665466e-02 9.76990911e-04 9.99911518e-01 4.13404881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:4.03, Z:0.41 [[ 9.95353855e-01 -9.56420994e-02 -1.11037397e-02 6.99096309e+01] [ 9.56266140e-02 9.95415426e-01 -1.91847932e-03 4.03380128e+00] [ 1.12363212e-02 8.47752758e-04 9.99936511e-01 4.14489710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:4.04, Z:0.42 [[ 9.95536399e-01 -9.39027990e-02 -9.46274226e-03 6.99370671e+01] [ 9.38914651e-02 9.95581095e-01 -1.63594179e-03 4.03858936e+00] [ 9.57454682e-03 7.40168862e-04 9.99953889e-01 4.15767428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:4.04, Z:0.42 [[ 9.95669552e-01 -9.25541753e-02 -8.71025659e-03 6.99646276e+01] [ 9.25445078e-02 9.95707408e-01 -1.50735028e-03 4.04363826e+00] [ 8.81237857e-03 6.94736373e-04 9.99960929e-01 4.16581523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:4.05, Z:0.42 [[ 9.95747024e-01 -9.17684056e-02 -8.15011135e-03 6.99917319e+01] [ 9.17599036e-02 9.95780160e-01 -1.41183560e-03 4.05026673e+00] [ 8.24528109e-03 6.57977666e-04 9.99965791e-01 4.16079560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:4.05, Z:0.42 [[ 9.95712943e-01 -9.21018984e-02 -8.54256613e-03 7.00180321e+01] [ 9.20925579e-02 9.95749349e-01 -1.48124134e-03 4.05469812e+00] [ 8.64267981e-03 6.88184403e-04 9.99962415e-01 4.15993683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:4.06, Z:0.42 [[ 9.95636416e-01 -9.28624554e-02 -9.20274720e-03 7.00459633e+01] [ 9.28516379e-02 9.95678675e-01 -1.59675495e-03 4.05812238e+00] [ 9.31125773e-03 7.35297225e-04 9.99956379e-01 4.16265276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:4.06, Z:0.42 [[ 9.95253453e-01 -9.67245095e-02 -1.07207222e-02 7.00745424e+01] [ 9.67100280e-02 9.95310857e-01 -1.86230219e-03 4.05991346e+00] [ 1.08505815e-02 8.16661343e-04 9.99940797e-01 4.16693098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:4.06, Z:0.42 [[ 9.95041155e-01 -9.89093378e-02 -1.04901592e-02 7.01016600e+01] [ 9.88955769e-02 9.95096145e-01 -1.82377955e-03 4.06416909e+00] [ 1.06191058e-02 7.77305368e-04 9.99943314e-01 4.16432384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:4.07, Z:0.42 [[ 9.94872415e-01 -1.00689224e-01 -9.51624930e-03 7.01293329e+01] [ 1.00677971e-01 9.94917688e-01 -1.65548905e-03 4.06827334e+00] [ 9.63457466e-03 6.88923719e-04 9.99953349e-01 4.16660425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:4.07, Z:0.42 [[ 9.94789734e-01 -1.01607327e-01 -8.32684548e-03 7.01565761e+01] [ 1.01598733e-01 9.94824404e-01 -1.44977225e-03 4.07171845e+00] [ 8.43105658e-03 5.96221601e-04 9.99964280e-01 4.17398102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:4.07, Z:0.42 [[ 9.94857399e-01 -1.00896140e-01 -8.87267359e-03 7.01847456e+01] [ 1.00886345e-01 9.94896756e-01 -1.54578723e-03 4.07468163e+00] [ 8.98335814e-03 6.42706253e-04 9.99959442e-01 4.18643215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.21, Y:4.08, Z:0.42 [[ 9.94933621e-01 -1.00049942e-01 -9.85388451e-03 7.02122181e+01] [ 1.00037801e-01 9.94982153e-01 -1.71867651e-03 4.08110426e+00] [ 9.97639271e-03 7.24208114e-04 9.99949972e-01 4.18009741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:4.09, Z:0.42 [[ 9.95043091e-01 -9.89059713e-02 -1.03370978e-02 7.02380387e+01] [ 9.88925319e-02 9.95096483e-01 -1.80452633e-03 4.08764912e+00] [ 1.04648881e-02 7.73319684e-04 9.99944943e-01 4.17314310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:4.09, Z:0.42 [[ 9.95242453e-01 -9.69984724e-02 -9.15178962e-03 7.02659777e+01] [ 9.69878496e-02 9.95284282e-01 -1.59854601e-03 4.09311136e+00] [ 9.26368888e-03 7.03328461e-04 9.99956844e-01 4.16993054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:4.10, Z:0.42 [[ 9.95317022e-01 -9.63586094e-02 -7.68406866e-03 7.02935759e+01] [ 9.63510923e-02 9.95346504e-01 -1.34339740e-03 4.09693469e+00] [ 7.77775878e-03 5.96737891e-04 9.99969575e-01 4.18066610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87140051299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:70.32, Y:4.10, Z:0.42 [[ 9.95417337e-01 -9.54144499e-02 -6.35664781e-03 7.03198141e+01] [ 9.54092800e-02 9.95437508e-01 -1.11232712e-03 4.10104985e+00] [ 6.43377773e-03 5.00746510e-04 9.99979178e-01 4.19248822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:4.11, Z:0.42 [[ 9.95747936e-01 -9.19440384e-02 -5.68696811e-03 7.03466292e+01] [ 9.19398408e-02 9.95764066e-01 -9.95738986e-04 4.10923559e+00] [ 5.75443075e-03 4.68646097e-04 9.99983333e-01 4.20293431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:4.12, Z:0.42 [[ 9.95970983e-01 -8.94282884e-02 -6.66192896e-03 7.03732738e+01] [ 8.94224628e-02 9.95993102e-01 -1.16786215e-03 4.11618335e+00] [ 6.73967521e-03 5.67430715e-04 9.99977127e-01 4.19724764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:4.12, Z:0.42 [[ 9.96207181e-01 -8.66731719e-02 -7.68208400e-03 7.04008180e+01] [ 8.66653378e-02 9.96236570e-01 -1.34750746e-03 4.12178857e+00] [ 7.76996576e-03 6.76626204e-04 9.99969584e-01 4.19185495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:4.12, Z:0.42 [[ 9.96572575e-01 -8.22922016e-02 -8.43186556e-03 7.04279846e+01] [ 8.22825945e-02 9.96607938e-01 -1.48060470e-03 4.12356874e+00] [ 8.52510637e-03 7.81734261e-04 9.99963355e-01 4.19950408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:4.13, Z:0.42 [[ 9.96599189e-01 -8.20144634e-02 -7.98021795e-03 7.04562181e+01] [ 8.20058409e-02 9.96630862e-01 -1.40232995e-03 4.12739040e+00] [ 8.06834284e-03 7.43136410e-04 9.99967174e-01 4.21144200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:4.13, Z:0.42 [[ 9.96524761e-01 -8.29742654e-02 -7.32616363e-03 7.04839216e+01] [ 8.29670152e-02 9.96551461e-01 -1.28858315e-03 4.13176355e+00] [ 7.40781830e-03 6.76275087e-04 9.99972333e-01 4.21643641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:4.14, Z:0.42 [[ 9.96346857e-01 -8.50478179e-02 -7.73364323e-03 7.05118269e+01] [ 8.50397894e-02 9.96376626e-01 -1.36170178e-03 4.13584251e+00] [ 7.82143111e-03 6.99059900e-04 9.99969168e-01 4.21600398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:4.14, Z:0.42 [[ 9.95852731e-01 -9.05579291e-02 -8.75215111e-03 7.05397665e+01] [ 9.05478423e-02 9.95890912e-01 -1.54276606e-03 4.13734669e+00] [ 8.85589745e-03 7.43879399e-04 9.99960509e-01 4.21037195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.57, Y:4.14, Z:0.42 [[ 9.95626911e-01 -9.31246479e-02 -7.40628532e-03 7.05663505e+01] [ 9.31174873e-02 9.95654270e-01 -1.30660257e-03 4.14147389e+00] [ 7.49577652e-03 6.11233997e-04 9.99971719e-01 4.21144136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:4.15, Z:0.42 [[ 9.95476662e-01 -9.47717335e-02 -6.67332473e-03 7.05937101e+01] [ 9.47659533e-02 9.95498883e-01 -1.17781324e-03 4.14669691e+00] [ 6.75491072e-03 5.40081618e-04 9.99977039e-01 4.21382809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:4.15, Z:0.42 [[ 9.95430784e-01 -9.52561721e-02 -6.61933752e-03 7.06198678e+01] [ 9.52504877e-02 9.95452649e-01 -1.16948831e-03 4.15205079e+00] [ 6.70063805e-03 5.33649541e-04 9.99977408e-01 4.23066620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:4.16, Z:0.42 [[ 9.95438067e-01 -9.51911582e-02 -6.45743377e-03 7.06471701e+01] [ 9.51857439e-02 9.95458875e-01 -1.14137524e-03 4.15803926e+00] [ 6.53675859e-03 5.21512730e-04 9.99978499e-01 4.24168082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:4.17, Z:0.42 [[ 9.95504926e-01 -9.45066093e-02 -6.20022096e-03 7.06736499e+01] [ 9.45015973e-02 9.95524105e-01 -1.09706140e-03 4.16526769e+00] [ 6.27614898e-03 5.06199244e-04 9.99980177e-01 4.24869720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:4.17, Z:0.43 [[ 9.95578748e-01 -9.37161121e-02 -6.34401815e-03 7.07002497e+01] [ 9.37108458e-02 9.95598823e-01 -1.12301162e-03 4.17357278e+00] [ 6.42134129e-03 5.23543197e-04 9.99979246e-01 4.25322882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:4.18, Z:0.43 [[ 9.95568423e-01 -9.38257489e-02 -6.34381691e-03 7.07283066e+01] [ 9.38204775e-02 9.95588496e-01 -1.12414728e-03 4.17867001e+00] [ 6.42130510e-03 5.23985600e-04 9.99979246e-01 4.25512827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:4.19, Z:0.42 [[ 9.95481497e-01 -9.46621026e-02 -7.46153783e-03 7.07538200e+01] [ 9.46548259e-02 9.95509273e-01 -1.32319973e-03 4.18999535e+00] [ 7.55328697e-03 6.10950286e-04 9.99971287e-01 4.24778757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:4.20, Z:0.42 [[ 9.95232421e-01 -9.72094675e-02 -7.92132630e-03 7.07812335e+01] [ 9.72013376e-02 9.95263746e-01 -1.40584604e-03 4.19770385e+00] [ 8.02047043e-03 6.29180050e-04 9.99967638e-01 4.24555177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:4.20, Z:0.42 [[ 9.94875141e-01 -1.00761608e-01 -8.39958326e-03 7.08069811e+01] [ 1.00752580e-01 9.94910394e-01 -1.49212707e-03 4.20486011e+00] [ 8.50718181e-03 6.38200441e-04 9.99963610e-01 4.24689073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:4.21, Z:0.42 [[ 9.93964447e-01 -1.09347659e-01 -8.81862904e-03 7.08331748e+01] [ 1.09338036e-01 9.94003389e-01 -1.56750678e-03 4.21333365e+00] [ 8.93715034e-03 5.93834434e-04 9.99959887e-01 4.24829063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:4.22, Z:0.43 [[ 9.93440661e-01 -1.14003434e-01 -8.88085146e-03 7.08609365e+01] [ 1.13993845e-01 9.93480199e-01 -1.58013622e-03 4.21937886e+00] [ 9.00309104e-03 5.57409168e-04 9.99959316e-01 4.25024205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:4.23, Z:0.43 [[ 9.92931100e-01 -1.18348134e-01 -9.03048463e-03 7.08870328e+01] [ 1.18338386e-01 9.92972024e-01 -1.60812028e-03 4.22551112e+00] [ 9.15733664e-03 5.28099666e-04 9.99957931e-01 4.25883821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:4.23, Z:0.43 [[ 9.92107327e-01 -1.25087648e-01 -8.72533924e-03 7.09141250e+01] [ 1.25078799e-01 9.92145593e-01 -1.55467540e-03 4.23342053e+00] [ 8.85127756e-03 4.51049897e-04 9.99960725e-01 4.25196279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:4.24, Z:0.42 [[ 9.91830673e-01 -1.27293453e-01 -8.26390803e-03 7.09406325e+01] [ 1.27285582e-01 9.91865015e-01 -1.47369339e-03 4.23817258e+00] [ 8.38427279e-03 4.09777967e-04 9.99964767e-01 4.24603175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:4.24, Z:0.42 [[ 9.91669406e-01 -1.28558963e-01 -8.02389831e-03 7.09684054e+01] [ 1.28551577e-01 9.91701791e-01 -1.43168954e-03 4.24174928e+00] [ 8.14137085e-03 3.88277933e-04 9.99966783e-01 4.24687307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:4.25, Z:0.43 [[ 9.91571752e-01 -1.29248254e-01 -8.96380118e-03 7.09965999e+01] [ 1.29239048e-01 9.91612175e-01 -1.60121947e-03 4.24526178e+00] [ 9.09556920e-03 4.29250871e-04 9.99958542e-01 4.25024159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:4.25, Z:0.43 [[ 9.91625799e-01 -1.28798436e-01 -9.44653407e-03 7.10227614e+01] [ 1.28788175e-01 9.91670688e-01 -1.68911781e-03 4.25058183e+00] [ 9.58540666e-03 4.58370919e-04 9.99953954e-01 4.25197078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:4.25, Z:0.43 [[ 9.91795964e-01 -1.27462038e-01 -9.70539291e-03 7.10507605e+01] [ 1.27451129e-01 9.91843331e-01 -1.73687853e-03 4.25499475e+00] [ 9.84761531e-03 4.85665836e-04 9.99951393e-01 4.25557931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:4.25, Z:0.43 [[ 9.92391860e-01 -1.22723971e-01 -9.86020886e-03 7.10781890e+01] [ 1.22712462e-01 9.92440695e-01 -1.76616180e-03 4.25444729e+00] [ 1.00024229e-02 5.42754094e-04 9.99949827e-01 4.26384214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:4.26, Z:0.43 [[ 9.92713739e-01 -1.20090757e-01 -9.88144624e-03 7.11056347e+01] [ 1.20079060e-01 9.92762753e-01 -1.77079005e-03 4.25681263e+00] [ 1.00225873e-02 5.71332830e-04 9.99949609e-01 4.26598616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:4.26, Z:0.43 [[ 9.93009691e-01 -1.17608270e-01 -1.00024049e-02 7.11339302e+01] [ 1.17596147e-01 9.93059882e-01 -1.79366324e-03 4.26034099e+00] [ 1.01439367e-02 6.04880701e-04 9.99948366e-01 4.26740623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:4.26, Z:0.43 [[ 9.93699407e-01 -1.11643156e-01 -9.86380588e-03 7.11606188e+01] [ 1.11631058e-01 9.93748144e-01 -1.77032560e-03 4.26218919e+00] [ 9.99978352e-03 6.58064407e-04 9.99949784e-01 4.26389749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:4.26, Z:0.43 [[ 9.94020121e-01 -1.08847191e-01 -8.73435652e-03 7.11880282e+01] [ 1.08837592e-01 9.94058308e-01 -1.56827412e-03 4.26437588e+00] [ 8.85316190e-03 6.08269701e-04 9.99960625e-01 4.26610046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:4.27, Z:0.43 [[ 9.94300739e-01 -1.06338661e-01 -7.62424921e-03 7.12163491e+01] [ 1.06331269e-01 9.94329817e-01 -1.36960640e-03 4.26692727e+00] [ 7.72666043e-03 5.51104568e-04 9.99969997e-01 4.27087120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:4.27, Z:0.43 [[ 9.94564647e-01 -1.03860527e-01 -7.35895470e-03 7.12437538e+01] [ 1.03853564e-01 9.94591718e-01 -1.32324644e-03 4.27044782e+00] [ 7.45658848e-03 5.51800457e-04 9.99972047e-01 4.26898144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:4.27, Z:0.42 [[ 9.94926492e-01 -9.99828323e-02 -1.11672763e-02 7.12711150e+01] [ 9.99665249e-02 9.94988770e-01 -2.01045756e-03 4.27296152e+00] [ 1.13123257e-02 8.83903687e-04 9.99935623e-01 4.24838330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:4.28, Z:0.42 [[ 9.94994351e-01 -9.90534072e-02 -1.32160209e-02 7.12991982e+01] [ 9.90304559e-02 9.95081553e-01 -2.38150171e-03 4.27539807e+00] [ 1.33869144e-02 1.06079218e-03 9.99909829e-01 4.24245458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:4.28, Z:0.42 [[ 9.95038334e-01 -9.84865475e-02 -1.41107532e-02 7.13261420e+01] [ 9.84602994e-02 9.95137726e-01 -2.54463368e-03 4.27678924e+00] [ 1.42927550e-02 1.14265908e-03 9.99897200e-01 4.23650190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:4.28, Z:0.42 [[ 9.95039602e-01 -9.85236374e-02 -1.37580198e-02 7.13540490e+01] [ 9.84986634e-02 9.95134086e-01 -2.48283974e-03 4.27860369e+00] [ 1.39356929e-02 1.11537731e-03 9.99902271e-01 4.24197617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:4.28, Z:0.42 [[ 9.95000373e-01 -9.92835742e-02 -1.08179996e-02 7.13822652e+01] [ 9.92681598e-02 9.95058799e-01 -1.95397740e-03 4.27798521e+00] [ 1.09585435e-02 8.70325331e-04 9.99939575e-01 4.24635428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:4.28, Z:0.42 [[ 9.94911477e-01 -1.00241950e-01 -1.01343641e-02 7.14094549e+01] [ 1.00228458e-01 9.94962763e-01 -1.83189941e-03 4.28000249e+00] [ 1.02669480e-02 8.06826069e-04 9.99946968e-01 4.24647452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:4.28, Z:0.42 [[ 9.94705153e-01 -1.02131478e-01 -1.14376194e-02 7.14376394e+01] [ 1.02114399e-01 9.94770511e-01 -2.06894182e-03 4.28012143e+00] [ 1.15891106e-02 8.90041455e-04 9.99932448e-01 4.23965710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:4.28, Z:0.42 [[ 9.94561479e-01 -1.03491361e-01 -1.17048506e-02 7.14656428e+01] [ 1.03473542e-01 9.94629948e-01 -2.11946950e-03 4.28279791e+00] [ 1.18613417e-02 8.96800378e-04 9.99929250e-01 4.24086128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:4.29, Z:0.43 [[ 9.94432053e-01 -1.04796911e-01 -1.10679857e-02 7.14930941e+01] [ 1.04781042e-01 9.94493293e-01 -2.00569937e-03 4.28522348e+00] [ 1.12172287e-02 8.34816672e-04 9.99936736e-01 4.25082225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:4.29, Z:0.43 [[ 9.94306895e-01 -1.06169830e-01 -9.04239795e-03 7.15202789e+01] [ 1.06159289e-01 9.94347785e-01 -1.63926811e-03 4.28764954e+00] [ 9.16532920e-03 6.70001053e-04 9.99957773e-01 4.26324316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:4.29, Z:0.43 [[ 9.93999450e-01 -1.09211478e-01 -6.16011733e-03 7.15482215e+01] [ 1.09206642e-01 9.94018441e-01 -1.11702996e-03 4.28810729e+00] [ 6.24526272e-03 4.37601433e-04 9.99980402e-01 4.28427360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:4.29, Z:0.43 [[ 9.93862638e-01 -1.10434300e-01 -6.42820688e-03 7.15752548e+01] [ 1.10429052e-01 9.93883325e-01 -1.16686162e-03 4.29073272e+00] [ 6.51774917e-03 4.49839380e-04 9.99978658e-01 4.28679314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:4.29, Z:0.43 [[ 9.93782185e-01 -1.11092535e-01 -7.44430774e-03 7.16035019e+01] [ 1.11085509e-01 9.93809932e-01 -1.35205966e-03 4.29396538e+00] [ 7.54843071e-03 5.16698087e-04 9.99971377e-01 4.28524274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:4.30, Z:0.43 [[ 9.93890169e-01 -1.10101192e-01 -7.74985261e-03 7.16299992e+01] [ 1.10093537e-01 9.93920232e-01 -1.40889194e-03 4.29689228e+00] [ 7.85785598e-03 5.47075161e-04 9.99968977e-01 4.28348205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:4.30, Z:0.43 [[ 9.94080052e-01 -1.08405040e-01 -7.29366282e-03 7.16571707e+01] [ 1.08398210e-01 9.94106669e-01 -1.32650548e-03 4.30094622e+00] [ 7.39447872e-03 5.28032638e-04 9.99972521e-01 4.28858508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:4.30, Z:0.43 [[ 9.94311160e-01 -1.06247016e-01 -7.54241260e-03 7.16846527e+01] [ 1.06239645e-01 9.94339607e-01 -1.37244187e-03 4.30470009e+00] [ 7.64553743e-03 5.63331036e-04 9.99970614e-01 4.28875057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:4.31, Z:0.43 [[ 9.94801660e-01 -1.01489281e-01 -8.34168287e-03 7.17130984e+01] [ 1.01480085e-01 9.94836410e-01 -1.51947009e-03 4.30510973e+00] [ 8.45281977e-03 6.65056682e-04 9.99964053e-01 4.29069637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:4.31, Z:0.43 [[ 9.94973385e-01 -9.98437720e-02 -7.69316563e-03 7.17405489e+01] [ 9.98358913e-02 9.95002928e-01 -1.40264780e-03 4.30860384e+00] [ 7.79476797e-03 6.27543183e-04 9.99969423e-01 4.29405809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:4.31, Z:0.43 [[ 9.95067691e-01 -9.89867910e-02 -6.47337595e-03 7.17678490e+01] [ 9.89811868e-02 9.95088604e-01 -1.18124054e-03 4.31315646e+00] [ 6.55850985e-03 5.34671860e-04 9.99978350e-01 4.29484941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:4.31, Z:0.43 [[ 9.95175717e-01 -9.78840974e-02 -6.63294453e-03 7.17945623e+01] [ 9.78781808e-02 9.95197666e-01 -1.21160121e-03 4.31497195e+00] [ 6.71968740e-03 5.56535554e-04 9.99977268e-01 4.29605438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:4.32, Z:0.43 [[ 9.95164094e-01 -9.79181013e-02 -7.77630607e-03 7.18223053e+01] [ 9.79099635e-02 9.95194262e-01 -1.42129258e-03 4.31732542e+00] [ 7.87810545e-03 6.53041498e-04 9.99968754e-01 4.29446027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:4.32, Z:0.43 [[ 9.95155394e-01 -9.79500042e-02 -8.45804062e-03 7.18495978e+01] [ 9.79403654e-02 9.95191082e-01 -1.54738063e-03 4.31991914e+00] [ 8.56893254e-03 7.11500592e-04 9.99963033e-01 4.29379486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:4.32, Z:0.43 [[ 9.95081273e-01 -9.86022408e-02 -9.53198479e-03 7.18766446e+01] [ 9.85900191e-02 9.95126607e-01 -1.74482625e-03 4.32461068e+00] [ 9.65757545e-03 7.96485368e-04 9.99953047e-01 4.28523435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:4.33, Z:0.43 [[ 9.95094465e-01 -9.83893644e-02 -1.03217280e-02 7.19029153e+01] [ 9.83750081e-02 9.95147619e-01 -1.89073322e-03 4.32886503e+00] [ 1.04576711e-02 8.66058087e-04 9.99944942e-01 4.28392874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:4.33, Z:0.43 [[ 9.95140682e-01 -9.78639344e-02 -1.08477723e-02 7.19306992e+01] [ 9.78480286e-02 9.95199381e-01 -1.98871167e-03 4.33185011e+00] [ 1.09903194e-02 9.17614758e-04 9.99939184e-01 4.28576660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:4.33, Z:0.43 [[ 9.95221327e-01 -9.69685438e-02 -1.14721876e-02 7.19587892e+01] [ 9.69506703e-02 9.95286961e-01 -2.10531012e-03 4.33410379e+00] [ 1.16222676e-02 9.83013257e-04 9.99931976e-01 4.29563869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:4.34, Z:0.43 [[ 9.95521477e-01 -9.38475871e-02 -1.13850238e-02 7.19863251e+01] [ 9.38297638e-02 9.95586060e-01 -2.09085971e-03 4.33538067e+00] [ 1.15309931e-02 1.01324165e-03 9.99933003e-01 4.30886224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:4.34, Z:0.43 [[ 9.95676014e-01 -9.23152152e-02 -1.03525613e-02 7.20130073e+01] [ 9.23003880e-02 9.95729391e-01 -1.90200568e-03 4.33944604e+00] [ 1.04839336e-02 9.38236010e-04 9.99944602e-01 4.30622326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:4.34, Z:0.43 [[ 9.95773668e-01 -9.13593665e-02 -9.39509839e-03 7.20409947e+01] [ 9.13471039e-02 9.95817616e-01 -1.72704783e-03 4.34355602e+00] [ 9.51358647e-03 8.61533720e-04 9.99954374e-01 4.30738242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:4.34, Z:0.43 [[ 9.95779356e-01 -9.13643846e-02 -8.71914154e-03 7.20690208e+01] [ 9.13538106e-02 9.95817206e-01 -1.60422646e-03 4.34474817e+00] [ 8.82924033e-03 8.00928783e-04 9.99960701e-01 4.30581536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:4.35, Z:0.43 [[ 9.95706762e-01 -9.21035383e-02 -9.21862230e-03 7.20971684e+01] [ 9.20917337e-02 9.95749080e-01 -1.69781627e-03 4.34926497e+00] [ 9.33580955e-03 8.41568226e-04 9.99956066e-01 4.30335395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:4.36, Z:0.43 [[ 9.95605227e-01 -9.31421433e-02 -9.73518181e-03 7.21238185e+01] [ 9.31290131e-02 9.95652433e-01 -1.79445568e-03 4.35529601e+00] [ 9.85999690e-03 8.79941579e-04 9.99951002e-01 4.29733161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:4.36, Z:0.43 [[ 9.95418765e-01 -9.51784488e-02 -9.08546298e-03 7.21512462e+01] [ 9.51670883e-02 9.95459903e-01 -1.67563481e-03 4.36043509e+00] [ 9.20369842e-03 8.03321280e-04 9.99957322e-01 4.29181810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:4.36, Z:0.43 [[ 9.95322674e-01 -9.61818056e-02 -9.04621650e-03 7.21782414e+01] [ 9.61705704e-02 9.95363468e-01 -1.66988715e-03 4.36441087e+00] [ 9.16488619e-03 7.92096740e-04 9.99957688e-01 4.30400768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:4.37, Z:0.43 [[ 9.95296714e-01 -9.63086344e-02 -1.04450282e-02 7.22059724e+01] [ 9.62936455e-02 9.95351099e-01 -1.92973630e-03 4.37091280e+00] [ 1.05823206e-02 9.14870356e-04 9.99943587e-01 4.32039158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:4.38, Z:0.43 [[ 9.95310892e-01 -9.60987481e-02 -1.10117724e-02 7.22331455e+01] [ 9.60820533e-02 9.95371334e-01 -2.03644369e-03 4.37804252e+00] [ 1.11565022e-02 9.68860888e-04 9.99937295e-01 4.31698239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:4.38, Z:0.43 [[ 9.95326201e-01 -9.59631552e-02 -1.08086488e-02 7.22590186e+01] [ 9.59470471e-02 9.95384430e-01 -2.00030390e-03 4.38494670e+00] [ 1.09507162e-02 9.53896948e-04 9.99939584e-01 4.32014164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:4.39, Z:0.43 [[ 9.95365583e-01 -9.56775966e-02 -9.65163491e-03 7.22851399e+01] [ 9.56647325e-02 9.95412008e-01 -1.78687821e-03 4.39160846e+00] [ 9.77831750e-03 8.55275996e-04 9.99951825e-01 4.32210032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:4.40, Z:0.43 [[ 9.95333058e-01 -9.61701934e-02 -7.96226530e-03 7.23118028e+01] [ 9.61614490e-02 9.95364657e-01 -1.47476914e-03 4.40084065e+00] [ 8.06718630e-03 7.02223507e-04 9.99967213e-01 4.32624353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:4.41, Z:0.43 [[ 9.95224928e-01 -9.72302800e-02 -8.57990808e-03 7.23384057e+01] [ 9.72201515e-02 9.95261630e-01 -1.59076574e-03 4.40845656e+00] [ 8.69392390e-03 7.49029761e-04 9.99961927e-01 4.32370980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:4.42, Z:0.43 [[ 9.95042202e-01 -9.89920627e-02 -9.57017643e-03 7.23643321e+01] [ 9.89795257e-02 9.95087885e-01 -1.77605324e-03 4.41539378e+00] [ 9.69898179e-03 8.19996397e-04 9.99952628e-01 4.31733327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:4.42, Z:0.43 [[ 9.94845174e-01 -1.00896021e-01 -1.01525165e-02 7.23921146e+01] [ 1.00881994e-01 9.94896612e-01 -1.88562564e-03 4.42163796e+00] [ 1.02909564e-02 8.51699458e-04 9.99946684e-01 4.32168611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:4.43, Z:0.43 [[ 9.94503505e-01 -1.04282687e-01 -9.37551006e-03 7.24180850e+01] [ 1.04270863e-01 9.94547410e-01 -1.74262439e-03 4.42819908e+00] [ 9.50611480e-03 7.55453545e-04 9.99954531e-01 4.33374735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:4.43, Z:0.43 [[ 9.94487160e-01 -1.04438459e-01 -9.37533551e-03 7.24461089e+01] [ 1.04426633e-01 9.94531065e-01 -1.74356305e-03 4.43355862e+00] [ 9.50615744e-03 7.54916342e-04 9.99954531e-01 4.33564913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:4.44, Z:0.43 [[ 9.94344964e-01 -1.05830815e-01 -8.82787240e-03 7.24735389e+01] [ 1.05820371e-01 9.94383904e-01 -1.64316274e-03 4.44092034e+00] [ 8.95219147e-03 6.99701867e-04 9.99959684e-01 4.34072249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:4.45, Z:0.43 [[ 9.94365876e-01 -1.05637517e-01 -8.78743001e-03 7.24996694e+01] [ 1.05627149e-01 9.94404458e-01 -1.63709780e-03 4.45059851e+00] [ 8.91119852e-03 6.99683007e-04 9.99960050e-01 4.33172479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:4.46, Z:0.43 [[ 9.94533101e-01 -1.04032270e-01 -9.01103203e-03 7.25273917e+01] [ 1.04021290e-01 9.94573652e-01 -1.68002227e-03 4.45659069e+00] [ 9.13691156e-03 7.33498579e-04 9.99957989e-01 4.33159048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:4.46, Z:0.43 [[ 9.94901171e-01 -1.00521993e-01 -8.18464813e-03 7.25547678e+01] [ 1.00512805e-01 9.94934593e-01 -1.52729903e-03 4.46260777e+00] [ 8.29671669e-03 6.96849652e-04 9.99965339e-01 4.34209473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:4.47, Z:0.43 [[ 9.94990853e-01 -9.96649416e-02 -7.75253477e-03 7.25817704e+01] [ 9.96566621e-02 9.95020830e-01 -1.44800979e-03 4.46986679e+00] [ 7.85824940e-03 6.68164763e-04 9.99968900e-01 4.34733108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:4.48, Z:0.43 [[ 9.95081337e-01 -9.87954323e-02 -7.25231138e-03 7.26075340e+01] [ 9.87881547e-02 9.95107563e-01 -1.35582794e-03 4.47681838e+00] [ 7.35077951e-03 6.32716623e-04 9.99972782e-01 4.34902114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:4.48, Z:0.43 [[ 9.95111177e-01 -9.84882762e-02 -7.33519900e-03 7.26335454e+01] [ 9.84808162e-02 9.95138003e-01 -1.37224097e-03 4.48250829e+00] [ 7.43468494e-03 6.43155943e-04 9.99972156e-01 4.34639142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:72.66, Y:4.49, Z:0.43 [[ 9.94836297e-01 -1.01030075e-01 -9.67809905e-03 7.26605050e+01] [ 1.01017199e-01 9.94883030e-01 -1.81146947e-03 4.48622611e+00] [ 9.81158941e-03 8.24461129e-04 9.99951525e-01 4.34090308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:4.49, Z:0.43 [[ 9.94568263e-01 -1.03549922e-01 -1.05538153e-02 7.26878934e+01] [ 1.03534737e-01 9.94623874e-01 -1.97665496e-03 4.49142818e+00] [ 1.07017591e-02 8.73231797e-04 9.99942353e-01 4.33985172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:4.50, Z:0.43 [[ 9.94272517e-01 -1.06344417e-01 -1.06313769e-02 7.27146505e+01] [ 1.06329150e-01 9.94328990e-01 -1.99270427e-03 4.49668252e+00] [ 1.07829992e-02 8.50865822e-04 9.99941500e-01 4.33640456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:4.50, Z:0.44 [[ 9.93640046e-01 -1.12333170e-01 -7.79221038e-03 7.27431633e+01] [ 1.12325147e-01 9.93670432e-01 -1.46113926e-03 4.49907935e+00] [ 7.90702345e-03 5.76585312e-04 9.99968573e-01 4.35742834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:4.50, Z:0.44 [[ 9.93329381e-01 -1.15100586e-01 -6.97109156e-03 7.27705971e+01] [ 1.15094224e-01 9.93353717e-01 -1.30827386e-03 4.50267265e+00] [ 7.07534280e-03 4.97214491e-04 9.99974846e-01 4.37068379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:4.51, Z:0.44 [[ 9.93085145e-01 -1.17195796e-01 -6.85865205e-03 7.27979611e+01] [ 1.17189679e-01 9.93108715e-01 -1.28840125e-03 4.50749773e+00] [ 6.96238233e-03 4.75728914e-04 9.99975649e-01 4.37298048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:4.52, Z:0.44 [[ 9.93038365e-01 -1.17477158e-01 -8.59787067e-03 7.28246520e+01] [ 1.17467540e-01 9.93075406e-01 -1.61699239e-03 4.51539627e+00] [ 8.72829358e-03 5.95764762e-04 9.99961730e-01 4.36351542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:4.52, Z:0.44 [[ 9.93187705e-01 -1.16142095e-01 -9.44439177e-03 7.28518572e+01] [ 1.16130412e-01 9.93232383e-01 -1.77805670e-03 4.52141023e+00] [ 9.58698297e-03 6.69162941e-04 9.99953820e-01 4.36539014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:4.53, Z:0.44 [[ 9.93511908e-01 -1.13301993e-01 -9.83601656e-03 7.28794419e+01] [ 1.13289163e-01 9.93560330e-01 -1.85365325e-03 4.52523590e+00] [ 9.98269847e-03 7.27312488e-04 9.99949907e-01 4.38677927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:4.53, Z:0.44 [[ 9.93604577e-01 -1.12485226e-01 -9.84978669e-03 7.29055655e+01] [ 1.12472306e-01 9.93653123e-01 -1.85773603e-03 4.53033999e+00] [ 9.99623916e-03 7.38026799e-04 9.99949764e-01 4.39323430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:4.54, Z:0.44 [[ 9.93577858e-01 -1.12682453e-01 -1.02813239e-02 7.29318122e+01] [ 1.12668377e-01 9.93630753e-01 -1.93997626e-03 4.53667488e+00] [ 1.04344409e-02 7.69137382e-04 9.99945264e-01 4.38859626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:4.54, Z:0.44 [[ 9.93433164e-01 -1.13913638e-01 -1.06878804e-02 7.29593536e+01] [ 1.13898484e-01 9.93490344e-01 -2.01798718e-03 4.54311673e+00] [ 1.08481823e-02 7.87402011e-04 9.99940847e-01 4.37624294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:72.99, Y:4.55, Z:0.44 [[ 9.92918398e-01 -1.18350924e-01 -1.03010981e-02 7.29855311e+01] [ 1.18337070e-01 9.92971575e-01 -1.94640808e-03 4.54851329e+00] [ 1.04590568e-02 7.13622630e-04 9.99945048e-01 4.36771146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:4.55, Z:0.44 [[ 9.92571888e-01 -1.21244779e-01 -1.00374446e-02 7.30117734e+01] [ 1.21231764e-01 9.92622415e-01 -1.89737112e-03 4.55340700e+00] [ 1.01934388e-02 6.66420128e-04 9.99947823e-01 4.37286109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:4.56, Z:0.44 [[ 9.92103660e-01 -1.25046855e-01 -9.67534088e-03 7.30397370e+01] [ 1.25034931e-01 9.92150652e-01 -1.82998978e-03 4.55887600e+00] [ 9.82823023e-03 6.05783977e-04 9.99951518e-01 4.37479322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:4.56, Z:0.44 [[ 9.90885186e-01 -1.34513657e-01 -7.25418600e-03 7.30678027e+01] [ 1.34507200e-01 9.90911665e-01 -1.37306817e-03 4.56234342e+00] [ 7.37295395e-03 3.84812667e-04 9.99972745e-01 4.39046531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:4.57, Z:0.44 [[ 9.90203121e-01 -1.39485096e-01 -6.45651753e-03 7.30953091e+01] [ 1.39480079e-01 9.90224122e-01 -1.22307169e-03 4.56513846e+00] [ 6.56399967e-03 3.10533834e-04 9.99978409e-01 4.39815396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:4.57, Z:0.44 [[ 9.89484837e-01 -1.44476984e-01 -6.79398566e-03 7.31228278e+01] [ 1.44471537e-01 9.89508118e-01 -1.28834106e-03 4.56740946e+00] [ 6.90883959e-03 2.93256387e-04 9.99976091e-01 4.40794680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:4.57, Z:0.44 [[ 9.88323757e-01 -1.52149617e-01 -8.16370188e-03 7.31506650e+01] [ 1.52142003e-01 9.88357430e-01 -1.54938627e-03 4.57032072e+00] [ 8.30439394e-03 2.89253299e-04 9.99965476e-01 4.40961565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:4.58, Z:0.44 [[ 9.87972244e-01 -1.54391011e-01 -8.61751110e-03 7.31783386e+01] [ 1.54382598e-01 9.88009784e-01 -1.63712227e-03 4.57609801e+00] [ 8.76694224e-03 2.87037616e-04 9.99961528e-01 4.40496830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:4.58, Z:0.44 [[ 9.87776090e-01 -1.55649165e-01 -8.46955208e-03 7.32052750e+01] [ 1.55641072e-01 9.87812362e-01 -1.61042354e-03 4.58175599e+00] [ 8.61698933e-03 2.72527702e-04 9.99962836e-01 4.39955009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:4.59, Z:0.44 [[ 9.87721008e-01 -1.56026471e-01 -7.93413190e-03 7.32331350e+01] [ 1.56019375e-01 9.87752842e-01 -1.50939113e-03 4.58677778e+00] [ 8.07246630e-03 2.52979025e-04 9.99967385e-01 4.40408547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:4.59, Z:0.44 [[ 9.87868410e-01 -1.55097300e-01 -7.79944378e-03 7.32595166e+01] [ 1.55090404e-01 9.87899165e-01 -1.48506870e-03 4.59198215e+00] [ 7.93539415e-03 2.57433569e-04 9.99968481e-01 4.41774756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:4.60, Z:0.44 [[ 9.87864436e-01 -1.55095149e-01 -8.32770224e-03 7.32866854e+01] [ 1.55087279e-01 9.87899498e-01 -1.58655477e-03 4.59801317e+00] [ 8.47299981e-03 2.75780348e-04 9.99964065e-01 4.41440612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:4.60, Z:0.44 [[ 9.87588447e-01 -1.56838630e-01 -8.40854208e-03 7.33144609e+01] [ 1.56830656e-01 9.87624207e-01 -1.60355945e-03 4.60241412e+00] [ 8.55597977e-03 2.64939617e-04 9.99963362e-01 4.40060675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:4.61, Z:0.44 [[ 9.87312639e-01 -1.58581635e-01 -8.10052917e-03 7.33421071e+01] [ 1.58574281e-01 9.87345839e-01 -1.54632174e-03 4.60675846e+00] [ 8.24324201e-03 2.42167414e-04 9.99965995e-01 4.39858082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:4.61, Z:0.44 [[ 9.86993974e-01 -1.60533101e-01 -8.48634278e-03 7.33690050e+01] [ 1.60525088e-01 9.87030429e-01 -1.62154646e-03 4.61179433e+00] [ 8.63659044e-03 2.38185660e-04 9.99962676e-01 4.40336399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:4.62, Z:0.44 [[ 9.86423401e-01 -1.63961235e-01 -9.25135822e-03 7.33965536e+01] [ 1.63951849e-01 9.86466756e-01 -1.76917107e-03 4.61935410e+00] [ 9.41623280e-03 2.28374450e-04 9.99955640e-01 4.41551493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.42, Y:4.63, Z:0.44 [[ 9.86206445e-01 -1.65291115e-01 -8.70029059e-03 7.34236876e+01] [ 1.65282851e-01 9.86244800e-01 -1.66537614e-03 4.62594303e+00] [ 8.85588823e-03 2.04395851e-04 9.99960765e-01 4.42278886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:4.63, Z:0.44 [[ 9.86059309e-01 -1.66204646e-01 -7.94074468e-03 7.34503127e+01] [ 1.66197781e-01 9.86091265e-01 -1.52129255e-03 4.63169987e+00] [ 8.08314486e-03 1.80350531e-04 9.99967315e-01 4.44054508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:73.48, Y:4.64, Z:0.44 [[ 9.85680942e-01 -1.68453707e-01 -7.51195912e-03 7.34771016e+01] [ 1.68447623e-01 9.85709554e-01 -1.43986777e-03 4.63853428e+00] [ 7.64716093e-03 1.53878557e-04 9.99970748e-01 4.43511587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:4.65, Z:0.44 [[ 9.85484397e-01 -1.69574828e-01 -8.05487721e-03 7.35044089e+01] [ 1.69567857e-01 9.85517302e-01 -1.54559824e-03 4.64502986e+00] [ 8.20031542e-03 1.57314684e-04 9.99966364e-01 4.43433001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:4.65, Z:0.44 [[ 9.85358200e-01 -1.70255071e-01 -9.07897109e-03 7.35310173e+01] [ 1.70246228e-01 9.85400011e-01 -1.74376557e-03 4.65062396e+00] [ 9.24330314e-03 1.72573122e-04 9.99957265e-01 4.43048608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:4.66, Z:0.44 [[ 9.85284860e-01 -1.70633377e-01 -9.89930325e-03 7.35577142e+01] [ 1.70622873e-01 9.85334571e-01 -1.90236844e-03 4.65561648e+00] [ 1.00787333e-02 1.85327268e-04 9.99949191e-01 4.42708392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:4.66, Z:0.44 [[ 9.85315137e-01 -1.70389823e-01 -1.10176517e-02 7.35851149e+01] [ 1.70376776e-01 9.85376712e-01 -2.11910892e-03 4.66152297e+00] [ 1.12176120e-02 2.10838129e-04 9.99937058e-01 4.44533770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:4.67, Z:0.44 [[ 9.85468553e-01 -1.69530467e-01 -1.05428286e-02 7.36110289e+01] [ 1.69518454e-01 9.85524924e-01 -2.02934730e-03 4.66816830e+00] [ 1.07342565e-02 2.12653952e-04 9.99942364e-01 4.44594713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:4.67, Z:0.44 [[ 9.85847228e-01 -1.67399404e-01 -9.09297747e-03 7.36382469e+01] [ 1.67390368e-01 9.85889141e-01 -1.75122449e-03 4.67460917e+00] [ 9.25782168e-03 2.04362966e-04 9.99957125e-01 4.44183090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:4.68, Z:0.44 [[ 9.85964613e-01 -1.66704504e-01 -9.13184726e-03 7.36657926e+01] [ 1.66695345e-01 9.86006878e-01 -1.76038799e-03 4.67969819e+00] [ 9.29752881e-03 2.13443829e-04 9.99956754e-01 4.44273861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:4.69, Z:0.44 [[ 9.86004285e-01 -1.66435739e-01 -9.73114370e-03 7.36927498e+01] [ 1.66425308e-01 9.86052276e-01 -1.87777918e-03 4.68551371e+00] [ 9.90794596e-03 2.31989731e-04 9.99950888e-01 4.44528639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:4.69, Z:0.45 [[ 9.85881348e-01 -1.67136165e-01 -1.01720645e-02 7.37188693e+01] [ 1.67124785e-01 9.85933794e-01 -1.96470430e-03 4.69325596e+00] [ 1.03573553e-02 2.36961222e-04 9.99946333e-01 4.45701516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:4.70, Z:0.45 [[ 9.85656059e-01 -1.68484843e-01 -9.74638363e-03 7.37454858e+01] [ 1.68474449e-01 9.85704221e-01 -1.88374263e-03 4.70029786e+00] [ 9.92443357e-03 2.14705728e-04 9.99950729e-01 4.46176789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:4.71, Z:0.45 [[ 9.85413682e-01 -1.69949586e-01 -8.77574267e-03 7.37724553e+01] [ 1.69941207e-01 9.85452741e-01 -1.69731033e-03 4.70726015e+00] [ 8.93653686e-03 1.81192526e-04 9.99960052e-01 4.46683923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:4.72, Z:0.45 [[ 9.84994784e-01 -1.72372011e-01 -8.55365356e-03 7.37987340e+01] [ 1.72364129e-01 9.85031911e-01 -1.65590313e-03 4.71768568e+00] [ 8.71105306e-03 1.56712905e-04 9.99962046e-01 4.46177805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:4.73, Z:0.45 [[ 9.84855965e-01 -1.73142032e-01 -8.97580006e-03 7.38241652e+01] [ 1.73133368e-01 9.84896853e-01 -1.73929849e-03 4.72600812e+00] [ 9.14138291e-03 1.58947997e-04 9.99958204e-01 4.45625731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:4.74, Z:0.45 [[ 9.84315202e-01 -1.76163363e-01 -9.48957200e-03 7.38502827e+01] [ 1.76153808e-01 9.84360935e-01 -1.84002264e-03 4.73524137e+00] [ 9.66530854e-03 1.39538014e-04 9.99953280e-01 4.45858181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:4.74, Z:0.45 [[ 9.83762325e-01 -1.79234269e-01 -9.31477125e-03 7.38779890e+01] [ 1.79225190e-01 9.83806417e-01 -1.80720745e-03 4.74098145e+00] [ 9.48784523e-03 1.08420954e-04 9.99954984e-01 4.46762931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:4.75, Z:0.45 [[ 9.83028878e-01 -1.83193949e-01 -9.70578137e-03 7.39041372e+01] [ 1.83184269e-01 9.83076788e-01 -1.88468213e-03 4.74628775e+00] [ 9.88679074e-03 7.47504911e-05 9.99951122e-01 4.47352853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:4.75, Z:0.45 [[ 9.81064991e-01 -1.93375403e-01 -1.08368288e-02 7.39311091e+01] [ 1.93363943e-01 9.81124840e-01 -2.10547054e-03 4.75209031e+00] [ 1.10394282e-02 -2.98485108e-05 9.99939063e-01 4.47136135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:4.76, Z:0.45 [[ 9.80033511e-01 -1.98523312e-01 -1.10820971e-02 7.39592320e+01] [ 1.98511636e-01 9.80096162e-01 -2.15486404e-03 4.75664219e+00] [ 1.12893116e-02 -8.80862587e-05 9.99936270e-01 4.47113980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:4.76, Z:0.45 [[ 9.79133827e-01 -2.02909528e-01 -1.11656582e-02 7.39868251e+01] [ 2.02897934e-01 9.79197480e-01 -2.17336120e-03 4.75987306e+00] [ 1.13743800e-02 -1.37477501e-04 9.99935300e-01 4.47524402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:4.76, Z:0.45 [[ 9.77923948e-01 -2.08683252e-01 -1.07727826e-02 7.40139884e+01] [ 2.08672792e-01 9.77983263e-01 -2.09852622e-03 4.76048247e+00] [ 1.09735283e-02 -1.95787569e-04 9.99939770e-01 4.49437516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:4.77, Z:0.45 [[ 9.77648002e-01 -2.10018903e-01 -9.82064952e-03 7.40401705e+01] [ 2.10010269e-01 9.77697307e-01 -1.91385372e-03 4.76505568e+00] [ 1.00035680e-02 -1.91361983e-04 9.99949945e-01 4.49726919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:4.77, Z:0.45 [[ 9.77633239e-01 -2.10127690e-01 -8.92210614e-03 7.40674342e+01] [ 2.10120560e-01 9.77673935e-01 -1.73971406e-03 4.77014928e+00] [ 9.08847272e-03 -1.73915650e-04 9.99958684e-01 4.49965841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:4.77, Z:0.45 [[ 9.78347680e-01 -2.06801171e-01 -8.31217721e-03 7.40948951e+01] [ 2.06794850e-01 9.78382981e-01 -1.62230969e-03 4.77354546e+00] [ 8.46798827e-03 -1.31732521e-04 9.99964137e-01 4.50118048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:4.78, Z:0.45 [[ 9.78907523e-01 -2.04123135e-01 -8.59108737e-03 7.41224224e+01] [ 2.04116264e-01 9.78945215e-01 -1.67845387e-03 4.77848440e+00] [ 8.75281514e-03 -1.10529531e-04 9.99961687e-01 4.50916515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:4.78, Z:0.45 [[ 9.79590923e-01 -2.00799323e-01 -9.01417461e-03 7.41487746e+01] [ 2.00791604e-01 9.79632393e-01 -1.76265402e-03 4.78458335e+00] [ 9.18451718e-03 -8.32906967e-05 9.99957818e-01 4.51363220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:4.79, Z:0.45 [[ 9.79556296e-01 -2.00968185e-01 -9.01398754e-03 7.41767445e+01] [ 2.00960464e-01 9.79597765e-01 -1.76361018e-03 4.79022981e+00] [ 9.18451159e-03 -8.38996641e-05 9.99957818e-01 4.51553411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:4.80, Z:0.45 [[ 9.80595704e-01 -1.95805261e-01 -9.61070590e-03 7.42037287e+01] [ 1.95796218e-01 9.80642799e-01 -1.88220452e-03 4.79967365e+00] [ 9.79321508e-03 -3.60581985e-05 9.99952045e-01 4.50867378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:4.81, Z:0.45 [[ 9.80862255e-01 -1.94479607e-01 -9.32310115e-03 7.42306847e+01] [ 1.94471020e-01 9.80906561e-01 -1.82765948e-03 4.80594501e+00] [ 9.50053359e-03 -2.03907841e-05 9.99954869e-01 4.50395571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:4.81, Z:0.45 [[ 9.81043575e-01 -1.93578349e-01 -8.99588479e-03 7.42580303e+01] [ 1.93570300e-01 9.81084819e-01 -1.76523980e-03 4.81163495e+00] [ 9.16743821e-03 -9.55895435e-06 9.99957978e-01 4.50614785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:4.82, Z:0.45 [[ 9.81716015e-01 -1.90111805e-01 -9.54816823e-03 7.42844712e+01] [ 1.90102558e-01 9.81762446e-01 -1.87524049e-03 4.81915169e+00] [ 9.73053835e-03 2.58224102e-05 9.99952657e-01 4.51120362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:4.83, Z:0.45 [[ 9.82169652e-01 -1.87707932e-01 -1.04166573e-02 7.43110740e+01] [ 1.87696776e-01 9.82224887e-01 -2.04719197e-03 4.82732852e+00] [ 1.06157742e-02 5.55168379e-05 9.99943650e-01 4.51322613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:4.84, Z:0.45 [[ 9.83161880e-01 -1.82310684e-01 -1.24712556e-02 7.43378695e+01] [ 1.82294224e-01 9.83240965e-01 -2.45372232e-03 4.83681338e+00] [ 1.27095892e-02 1.38968385e-04 9.99919220e-01 4.51061260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:4.84, Z:0.45 [[ 9.83594536e-01 -1.79900145e-01 -1.33314407e-02 7.43638534e+01] [ 1.79881083e-01 9.83684860e-01 -2.62527492e-03 4.84335096e+00] [ 1.35862238e-02 1.84132077e-04 9.99907686e-01 4.50690486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:4.85, Z:0.45 [[ 9.84450168e-01 -1.75110422e-01 -1.39358042e-02 7.43898186e+01] [ 1.75089091e-01 9.84548765e-01 -2.74582913e-03 4.85290745e+00] [ 1.42013022e-02 2.63124657e-04 9.99899122e-01 4.50426446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:4.86, Z:0.45 [[ 9.85000710e-01 -1.72033487e-01 -1.33447100e-02 7.44166743e+01] [ 1.72013619e-01 9.85091058e-01 -2.63121483e-03 4.86026808e+00] [ 1.35984115e-02 2.96276623e-04 9.99907493e-01 4.50864771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:4.87, Z:0.45 [[ 9.85627271e-01 -1.68474892e-01 -1.24536602e-02 7.44433075e+01] [ 1.68457283e-01 9.85705892e-01 -2.45721784e-03 4.86678757e+00] [ 1.26896258e-02 3.23991146e-04 9.99919431e-01 4.51855937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:4.87, Z:0.45 [[ 9.86224777e-01 -1.64999670e-01 -1.16532617e-02 7.44692838e+01] [ 1.64983998e-01 9.86293561e-01 -2.30021588e-03 4.87347773e+00] [ 1.18730718e-02 3.45928189e-04 9.99929453e-01 4.52634000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:4.88, Z:0.45 [[ 9.86855970e-01 -1.61262697e-01 -1.04708181e-02 7.44959709e+01] [ 1.61249821e-01 9.86911454e-01 -2.06804119e-03 4.88155171e+00] [ 1.06672682e-02 3.52441256e-04 9.99943041e-01 4.53613111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:4.90, Z:0.45 [[ 9.88416820e-01 -1.51484123e-01 -9.20602663e-03 7.45204054e+01] [ 1.51473734e-01 9.88459608e-01 -1.81957417e-03 4.89654839e+00] [ 9.37542207e-03 4.04026489e-04 9.99955968e-01 4.53633984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:4.91, Z:0.45 [[ 9.89282168e-01 -1.45731190e-01 -9.12206756e-03 7.45453151e+01] [ 1.45720737e-01 9.89324119e-01 -1.80385644e-03 4.90786406e+00] [ 9.28755960e-03 4.55248604e-04 9.99956766e-01 4.53820402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:4.92, Z:0.45 [[ 9.90875239e-01 -1.34419898e-01 -9.87683243e-03 7.45708100e+01] [ 1.34407067e-01 9.90924276e-01 -1.95461716e-03 4.92310528e+00] [ 1.00499325e-02 6.09265665e-04 9.99949313e-01 4.53662447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:4.93, Z:0.45 [[ 9.91278568e-01 -1.31313377e-01 -1.11174153e-02 7.45972591e+01] [ 1.31296901e-01 9.91340645e-01 -2.20230797e-03 4.93218676e+00] [ 1.13103382e-02 7.23418511e-04 9.99935774e-01 4.53369384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:4.94, Z:0.45 [[ 9.91449892e-01 -1.29871652e-01 -1.26675242e-02 7.46230731e+01] [ 1.29850119e-01 9.91530453e-01 -2.51127947e-03 4.94092766e+00] [ 1.28863800e-02 8.44928229e-04 9.99916610e-01 4.53041695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:4.95, Z:0.45 [[ 9.91245700e-01 -1.31339956e-01 -1.34825403e-02 7.46484549e+01] [ 1.31315673e-01 9.91336996e-01 -2.67471332e-03 4.95469881e+00] [ 1.37170377e-02 8.80829228e-04 9.99905529e-01 4.51364398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:4.96, Z:0.45 [[ 9.91030670e-01 -1.33068869e-01 -1.22836476e-02 7.46755451e+01] [ 1.33048817e-01 9.91106484e-01 -2.43904974e-03 4.96415627e+00] [ 1.24989644e-02 7.82848309e-04 9.99921578e-01 4.51502746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:4.97, Z:0.45 [[ 9.90816256e-01 -1.34789367e-01 -1.07225724e-02 7.47020257e+01] [ 1.34774168e-01 9.90874050e-01 -2.13092819e-03 4.97328411e+00] [ 1.09119452e-02 6.66232508e-04 9.99940241e-01 4.52165314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:4.99, Z:0.45 [[ 9.90718400e-01 -1.35593912e-01 -9.55731252e-03 7.47283594e+01] [ 1.35581858e-01 9.90764324e-01 -1.90101644e-03 4.98619669e+00] [ 9.72681053e-03 5.87573777e-04 9.99952521e-01 4.53267459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:5.00, Z:0.45 [[ 9.90777436e-01 -1.35152031e-01 -9.69537551e-03 7.47549732e+01] [ 1.35139587e-01 9.90824690e-01 -1.93033067e-03 4.99660169e+00] [ 9.86730554e-03 6.02299031e-04 9.99951136e-01 4.53359679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:5.01, Z:0.45 [[ 9.90839231e-01 -1.34685361e-01 -9.87277147e-03 7.47809679e+01] [ 1.34672418e-01 9.90888223e-01 -1.96734204e-03 5.00650417e+00] [ 1.00477851e-02 6.19729668e-04 9.99949328e-01 4.53167434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:74.81, Y:5.02, Z:0.45 [[ 9.90743010e-01 -1.35348732e-01 -1.04407199e-02 7.48068209e+01] [ 1.35334277e-01 9.90797809e-01 -2.08212949e-03 5.02057494e+00] [ 1.06264560e-02 6.49867962e-04 9.99943326e-01 4.52557928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:5.03, Z:0.45 [[ 9.90617771e-01 -1.36252081e-01 -1.05736460e-02 7.48329218e+01] [ 1.36237289e-01 9.90673987e-01 -2.11018635e-03 5.02943850e+00] [ 1.07625533e-02 6.49863227e-04 9.99941871e-01 4.52812089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:5.04, Z:0.45 [[ 9.90357767e-01 -1.38104435e-01 -1.08930571e-02 7.48589046e+01] [ 1.38088837e-01 9.90417459e-01 -2.17481929e-03 5.03768277e+00] [ 1.10890261e-02 6.49639584e-04 9.99938304e-01 4.53104802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:5.04, Z:0.45 [[ 9.89621353e-01 -1.43342383e-01 -1.01261587e-02 7.48855805e+01] [ 1.43329166e-01 9.89673006e-01 -2.02286471e-03 5.04464541e+00] [ 1.03115482e-02 5.50496228e-04 9.99946683e-01 4.54106238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:5.05, Z:0.45 [[ 9.89272645e-01 -1.45727414e-01 -1.01564711e-02 7.49120335e+01] [ 1.45714227e-01 9.89324639e-01 -2.03044800e-03 5.04971916e+00] [ 1.03439390e-02 5.28724330e-04 9.99946360e-01 4.54494810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:74.94, Y:5.06, Z:0.45 [[ 9.88934987e-01 -1.47951139e-01 -1.08652222e-02 7.49398277e+01] [ 1.47936165e-01 9.88994523e-01 -2.17355567e-03 5.05538424e+00] [ 1.10672253e-02 5.42145936e-04 9.99938609e-01 4.54251496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:5.06, Z:0.45 [[ 9.88665093e-01 -1.49574830e-01 -1.29886370e-02 7.49667553e+01] [ 1.49553540e-01 9.88750209e-01 -2.60072263e-03 5.06100891e+00] [ 1.32315202e-02 6.28747036e-04 9.99912262e-01 4.54198744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:5.07, Z:0.45 [[ 9.88806928e-01 -1.48626017e-01 -1.30830836e-02 7.49944341e+01] [ 1.48604305e-01 9.88893264e-01 -2.62177585e-03 5.06684713e+00] [ 1.33274374e-02 6.48227579e-04 9.99910976e-01 4.54266344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:5.07, Z:0.46 [[ 9.89592284e-01 -1.43489797e-01 -1.08530735e-02 7.50208018e+01] [ 1.43474532e-01 9.89651617e-01 -2.17630682e-03 5.07239597e+00] [ 1.10530396e-02 5.96516786e-04 9.99938735e-01 4.55159967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:5.08, Z:0.46 [[ 9.89931157e-01 -1.41170226e-01 -1.03572404e-02 7.50487830e+01] [ 1.41156184e-01 9.89985158e-01 -2.07812858e-03 5.07758015e+00] [ 1.05468842e-02 5.95215693e-04 9.99944203e-01 4.55743075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:5.08, Z:0.46 [[ 9.90168189e-01 -1.39474779e-01 -1.06650640e-02 7.50760419e+01] [ 1.39459774e-01 9.90225421e-01 -2.14150591e-03 5.08139105e+00] [ 1.08595036e-02 6.33103600e-04 9.99940833e-01 4.56348626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:5.09, Z:0.46 [[ 9.90289681e-01 -1.38569808e-01 -1.11694237e-02 7.51038730e+01] [ 1.38553277e-01 9.90352439e-01 -2.24423669e-03 5.08532842e+00] [ 1.13726494e-02 6.74884191e-04 9.99935102e-01 4.56450057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:5.09, Z:0.46 [[ 9.90539683e-01 -1.36823025e-01 -1.05165118e-02 7.51306468e+01] [ 1.36808254e-01 9.90595290e-01 -2.11476690e-03 5.08912551e+00] [ 1.07069559e-02 6.56014908e-04 9.99942464e-01 4.56693270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:5.10, Z:0.46 [[ 9.90808939e-01 -1.34981403e-01 -8.81286809e-03 7.51567765e+01] [ 1.34959736e-01 9.90846507e-01 -3.01140149e-03 5.09614403e+00] [ 9.13868277e-03 1.79434116e-03 9.99956631e-01 4.55882924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:5.10, Z:0.46 [[ 9.91369675e-01 -1.30826689e-01 -8.39904720e-03 7.51854905e+01] [ 1.30827224e-01 9.91405063e-01 -4.88026659e-04 5.10076431e+00] [ 8.39070483e-03 -6.15009203e-04 9.99964608e-01 4.58807464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:5.11, Z:0.46 [[ 9.91654180e-01 -1.28615787e-01 -8.94237352e-03 7.52121167e+01] [ 1.28604744e-01 9.91694295e-01 -1.80151741e-03 5.10871316e+00] [ 9.09980438e-03 6.36450609e-04 9.99958393e-01 4.58751471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:5.12, Z:0.46 [[ 9.91908891e-01 -1.26608678e-01 -9.32714202e-03 7.52370775e+01] [ 1.26578771e-01 9.91949538e-01 -3.73221699e-03 5.11793257e+00] [ 9.72458527e-03 2.52140103e-03 9.99949536e-01 4.56660317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:5.12, Z:0.46 [[ 9.92082804e-01 -1.25048762e-01 -1.15981645e-02 7.52660335e+01] [ 1.25051066e-01 9.92150165e-01 -5.29238583e-04 5.12214777e+00] [ 1.15733015e-02 -9.25314335e-04 9.99932599e-01 4.58969855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:5.13, Z:0.46 [[ 9.92045357e-01 -1.25460438e-01 -1.02804999e-02 7.52918795e+01] [ 1.25445625e-01 9.92098325e-01 -2.07580880e-03 5.12873178e+00] [ 1.04596986e-02 7.69652743e-04 9.99945000e-01 4.59565731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:5.13, Z:0.46 [[ 9.91857623e-01 -1.26967313e-01 -9.88721555e-03 7.53184998e+01] [ 1.26953678e-01 9.91906636e-01 -1.99718314e-03 5.13288029e+00] [ 1.00607717e-02 7.25702935e-04 9.99949126e-01 4.60507363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:5.14, Z:0.46 [[ 9.91483969e-01 -1.29834449e-01 -1.01269037e-02 7.53459611e+01] [ 1.29820282e-01 9.91535428e-01 -2.04677480e-03 5.13706449e+00] [ 1.03069257e-02 7.14666909e-04 9.99946627e-01 4.60728936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:5.14, Z:0.46 [[ 9.90511122e-01 -1.36979612e-01 -1.11491173e-02 7.53732484e+01] [ 1.36962866e-01 9.90573615e-01 -2.25547483e-03 5.13959724e+00] [ 1.13529755e-02 7.07057841e-04 9.99935303e-01 4.59970626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:5.14, Z:0.46 [[ 9.90138092e-01 -1.39754209e-01 -9.76322246e-03 7.53991170e+01] [ 1.39733740e-01 9.90185291e-01 -2.75154850e-03 5.14498097e+00] [ 1.00519398e-02 1.36016140e-03 9.99948553e-01 4.58833996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:5.15, Z:0.46 [[ 9.89622438e-01 -1.43457714e-01 -8.20454888e-03 7.54292690e+01] [ 1.43454944e-01 9.89656414e-01 -9.28169651e-04 5.14583875e+00] [ 8.25283752e-03 -2.58445590e-04 9.99965911e-01 4.60687920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:5.15, Z:0.46 [[ 9.89584772e-01 -1.43689303e-01 -8.68117872e-03 7.54557874e+01] [ 1.43679378e-01 9.89622726e-01 -1.75961714e-03 5.14901084e+00] [ 8.84392992e-03 4.93983970e-04 9.99960770e-01 4.61084541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:5.15, Z:0.46 [[ 9.89616432e-01 -1.43118592e-01 -1.32810281e-02 7.54846061e+01] [ 1.43095275e-01 9.89705250e-01 -2.69453932e-03 5.14904102e+00] [ 1.35299419e-02 7.66108017e-04 9.99908173e-01 4.59937949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:5.15, Z:0.46 [[ 9.89685784e-01 -1.42460651e-01 -1.50669152e-02 7.55121764e+01] [ 1.42430519e-01 9.89800073e-01 -3.05988265e-03 5.15188590e+00] [ 1.53491466e-02 8.82333813e-04 9.99881806e-01 4.58738265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:5.15, Z:0.46 [[ 9.89816931e-01 -1.41512388e-01 -1.53846467e-02 7.55393398e+01] [ 1.41480820e-01 9.89936059e-01 -3.12681393e-03 5.15407201e+00] [ 1.56722995e-02 9.18340925e-04 9.99876760e-01 4.58465412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:5.16, Z:0.46 [[ 9.89939464e-01 -1.40740560e-01 -1.45586029e-02 7.55674701e+01] [ 1.40712173e-01 9.90046118e-01 -2.96128538e-03 5.15641377e+00] [ 1.48304613e-02 8.82920607e-04 9.99889633e-01 4.59124216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:5.16, Z:0.46 [[ 9.90121476e-01 -1.39574471e-01 -1.33577559e-02 7.55951559e+01] [ 1.39550444e-01 9.90211231e-01 -2.71876990e-03 5.15794160e+00] [ 1.36064707e-02 8.27831709e-04 9.99907085e-01 4.59716554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:5.16, Z:0.46 [[ 9.90149660e-01 -1.39357476e-01 -1.35331015e-02 7.56226200e+01] [ 1.39332769e-01 9.90241780e-01 -2.75633100e-03 5.16265572e+00] [ 1.37851578e-02 8.43575702e-04 9.99904624e-01 4.60190362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:5.16, Z:0.46 [[ 9.90317806e-01 -1.38143115e-01 -1.36793140e-02 7.56506811e+01] [ 1.38117719e-01 9.90411893e-01 -2.78874899e-03 5.16436242e+00] [ 1.39334018e-02 8.72392134e-04 9.99902545e-01 4.61431259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:5.17, Z:0.46 [[ 9.90392404e-01 -1.37587530e-01 -1.38764813e-02 7.56776400e+01] [ 1.37561315e-01 9.90489208e-01 -2.83086341e-03 5.16787600e+00] [ 1.41339965e-02 8.94798613e-04 9.99899710e-01 4.62165841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:5.17, Z:0.46 [[ 9.90349640e-01 -1.37829806e-01 -1.45098194e-02 7.57052753e+01] [ 1.37801138e-01 9.90455487e-01 -2.96214130e-03 5.17249748e+00] [ 1.47796016e-02 9.34085953e-04 9.99890339e-01 4.62271013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.73, Y:5.18, Z:0.46 [[ 9.90020966e-01 -1.40041005e-01 -1.57163523e-02 7.57323636e+01] [ 1.40007615e-01 9.90145222e-01 -3.21053008e-03 5.17650546e+00] [ 1.60110770e-02 9.78083092e-04 9.99871336e-01 4.61749025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:5.18, Z:0.46 [[ 9.89708109e-01 -1.42179180e-01 -1.62154320e-02 7.57597000e+01] [ 1.42143883e-01 9.89840456e-01 -3.31482499e-03 5.18090920e+00] [ 1.65219897e-02 9.75784715e-04 9.99863026e-01 4.62330828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:5.18, Z:0.46 [[ 9.89316595e-01 -1.44782876e-01 -1.70467803e-02 7.57870729e+01] [ 1.44744195e-01 9.89462961e-01 -3.48802363e-03 5.18496553e+00] [ 1.73721638e-02 9.83337176e-04 9.99848609e-01 4.63066847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:5.19, Z:0.46 [[ 9.88480220e-01 -1.50336982e-01 -1.74827215e-02 7.58138914e+01] [ 1.50297114e-01 9.88634392e-01 -3.57988892e-03 5.18941932e+00] [ 1.78222095e-02 9.11046791e-04 9.99840757e-01 4.64623989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:5.19, Z:0.47 [[ 9.88177757e-01 -1.52430809e-01 -1.64185872e-02 7.58412492e+01] [ 1.52395891e-01 9.88313802e-01 -3.36464798e-03 5.19494438e+00] [ 1.67395923e-02 8.22745077e-04 9.99859545e-01 4.65266057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:5.20, Z:0.47 [[ 9.88151746e-01 -1.52599396e-01 -1.64179978e-02 7.58691603e+01] [ 1.52564454e-01 9.88287786e-01 -3.36752202e-03 5.20082053e+00] [ 1.67395886e-02 8.22819890e-04 9.99859545e-01 4.65456160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:5.21, Z:0.47 [[ 9.87927940e-01 -1.54144575e-01 -1.54219181e-02 7.58972730e+01] [ 1.54113888e-01 9.88048018e-01 -3.16605182e-03 5.20542447e+00] [ 1.57256253e-02 7.51099295e-04 9.99876063e-01 4.66148949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:5.21, Z:0.47 [[ 9.87692063e-01 -1.55751970e-01 -1.43427130e-02 7.59244190e+01] [ 1.55725569e-01 9.87795964e-01 -2.94635876e-03 5.20652799e+00] [ 1.46265752e-02 6.76568026e-04 9.99892797e-01 4.66499385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:5.21, Z:0.47 [[ 9.87577824e-01 -1.56515876e-01 -1.38860397e-02 7.59519469e+01] [ 1.56491177e-01 9.87675232e-01 -2.85453761e-03 5.21115028e+00] [ 1.41616779e-02 6.46035339e-04 9.99899510e-01 4.65944725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:5.22, Z:0.47 [[ 9.87537001e-01 -1.56861431e-01 -1.28515841e-02 7.59788606e+01] [ 1.56840281e-01 9.87620442e-01 -2.64361938e-03 5.21587625e+00] [ 1.31071690e-02 5.95025893e-04 9.99913920e-01 4.65870728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:5.22, Z:0.47 [[ 9.87478131e-01 -1.57279509e-01 -1.22514366e-02 7.60067618e+01] [ 1.57260300e-01 9.87553967e-01 -2.52182271e-03 5.21758707e+00] [ 1.24955858e-02 5.63580188e-04 9.99921768e-01 4.67755933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:5.21, Z:0.47 [[ 9.87593620e-01 -1.56510174e-01 -1.27830879e-02 7.60342793e+01] [ 1.56595620e-01 9.87644725e-01 5.97564325e-03 5.21293984e+00] [ 1.16899004e-02 -7.90328272e-03 9.99900437e-01 4.71536750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:5.23, Z:0.47 [[ 9.87583729e-01 -1.56633433e-01 -1.20144474e-02 7.60612919e+01] [ 1.56503309e-01 9.87615014e-01 -1.11039538e-02 5.23091871e+00] [ 1.36048990e-02 9.08578330e-03 9.99866169e-01 4.67683619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:5.23, Z:0.47 [[ 9.88193225e-01 -1.52468300e-01 -1.50853164e-02 7.60903967e+01] [ 1.52438509e-01 9.88308057e-01 -3.11210447e-03 5.22672195e+00] [ 1.53834370e-02 7.75777417e-04 9.99881367e-01 4.70428098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:5.23, Z:0.47 [[ 9.88593921e-01 -1.49864122e-01 -1.49266178e-02 7.61184059e+01] [ 1.49834615e-01 9.88706270e-01 -3.08227396e-03 5.23139070e+00] [ 1.52199629e-02 8.10593268e-04 9.99883841e-01 4.70210399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:5.24, Z:0.47 [[ 9.88993280e-01 -1.47290635e-01 -1.40627208e-02 7.61453261e+01] [ 1.47264154e-01 9.89092930e-01 -2.90609963e-03 5.23513285e+00] [ 1.43373790e-02 8.03178325e-04 9.99896892e-01 4.70003816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:5.24, Z:0.47 [[ 9.89529268e-01 -1.43662073e-01 -1.38937855e-02 7.61732452e+01] [ 1.43635835e-01 9.89626440e-01 -2.87347776e-03 5.23917672e+00] [ 1.41624672e-02 8.47744872e-04 9.99899348e-01 4.70480435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:5.25, Z:0.47 [[ 9.89728120e-01 -1.42209524e-01 -1.46526238e-02 7.62001197e+01] [ 1.42180139e-01 9.89836152e-01 -3.03333778e-03 5.24555040e+00] [ 1.49350663e-02 9.18867602e-04 9.99888043e-01 4.70275251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:5.25, Z:0.47 [[ 9.90216162e-01 -1.38498934e-01 -1.70292970e-02 7.62262628e+01] [ 1.38458654e-01 9.90361932e-01 -3.52771811e-03 5.25286180e+00] [ 1.73537527e-02 1.13534995e-03 9.99848768e-01 4.69874978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:5.26, Z:0.47 [[ 9.90538065e-01 -1.36126078e-01 -1.74365215e-02 7.62539298e+01] [ 1.36083435e-01 9.90690785e-01 -3.61476545e-03 5.25972959e+00] [ 1.77662650e-02 1.20774104e-03 9.99841438e-01 4.70253763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:5.27, Z:0.47 [[ 9.90867454e-01 -1.33814606e-01 -1.65933420e-02 7.62804927e+01] [ 1.33775631e-01 9.91005668e-01 -3.44202702e-03 5.26700150e+00] [ 1.69046895e-02 1.19080776e-03 9.99856396e-01 4.70636217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:5.28, Z:0.47 [[ 9.91183847e-01 -1.31734851e-01 -1.41601669e-02 7.63065403e+01] [ 1.31706230e-01 9.91284434e-01 -2.93920281e-03 5.27799170e+00] [ 1.44239485e-02 1.04830815e-03 9.99895420e-01 4.72018962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:5.29, Z:0.47 [[ 9.91011099e-01 -1.33079056e-01 -1.36735366e-02 7.63321041e+01] [ 1.33052472e-01 9.91104926e-01 -2.83995672e-03 5.28594542e+00] [ 1.39298482e-02 9.95130798e-04 9.99902480e-01 4.72353528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:5.29, Z:0.47 [[ 9.90617234e-01 -1.35905474e-01 -1.43943858e-02 7.63593930e+01] [ 1.35876279e-01 9.90721296e-01 -2.99168727e-03 5.29331998e+00] [ 1.46674112e-02 1.00776138e-03 9.99891920e-01 4.72711661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.591400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:76.39, Y:5.30, Z:0.47 [[ 9.90053950e-01 -1.39830545e-01 -1.55111395e-02 7.63868533e+01] [ 1.39797077e-01 9.90174917e-01 -3.22668178e-03 5.30008252e+00] [ 1.58099299e-02 1.02617707e-03 9.99874489e-01 4.72486882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62140051299998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.41, Y:5.30, Z:0.47 [[ 9.88937833e-01 -1.47152645e-01 -1.86563940e-02 7.64142323e+01] [ 1.47105451e-01 9.89113186e-01 -3.88477054e-03 5.30465818e+00] [ 1.90249396e-02 1.09733932e-03 9.99818407e-01 4.72447855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:5.31, Z:0.47 [[ 9.88517190e-01 -1.50059641e-01 -1.77726989e-02 7.64406044e+01] [ 1.50017231e-01 9.88676446e-01 -3.70352741e-03 5.30924391e+00] [ 1.81271987e-02 9.94789446e-04 9.99835194e-01 4.71838722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.47, Y:5.31, Z:0.47 [[ 9.88021446e-01 -1.53376527e-01 -1.70077649e-02 7.64683642e+01] [ 1.53338130e-01 9.88167414e-01 -3.54694932e-03 5.31468241e+00] [ 1.73505378e-02 8.96523131e-04 9.99849066e-01 4.72956416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:5.32, Z:0.47 [[ 9.87702314e-01 -1.55479143e-01 -1.64430729e-02 7.64960972e+01] [ 1.55443493e-01 9.87838823e-01 -3.43217190e-03 5.31899874e+00] [ 1.67767369e-02 8.33995433e-04 9.99858913e-01 4.74045591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:5.32, Z:0.47 [[ 9.87607976e-01 -1.56250199e-01 -1.47092229e-02 7.65234678e+01] [ 1.56221731e-01 9.87717234e-01 -3.07201845e-03 5.32175790e+00] [ 1.50085565e-02 7.36049661e-04 9.99887094e-01 4.74977223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:5.33, Z:0.47 [[ 9.87728708e-01 -1.55432461e-01 -1.52560989e-02 7.65514184e+01] [ 1.55401704e-01 9.87846215e-01 -3.18850071e-03 5.32653392e+00] [ 1.55662760e-02 7.78549922e-04 9.99878535e-01 4.74408595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:5.33, Z:0.47 [[ 9.88009161e-01 -1.53631755e-01 -1.53356611e-02 7.65783538e+01] [ 1.53600428e-01 9.88127837e-01 -3.20714667e-03 5.33134137e+00] [ 1.56463132e-02 8.13126186e-04 9.99877258e-01 4.73535632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83140051299999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:76.60, Y:5.34, Z:0.47 [[ 9.88301133e-01 -1.51764792e-01 -1.51101756e-02 7.66046686e+01] [ 1.51734143e-01 9.88416287e-01 -3.16123919e-03 5.33692041e+00] [ 1.54149085e-02 8.31526721e-04 9.99880837e-01 4.73288076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:76.63, Y:5.34, Z:0.47 [[ 9.88887104e-01 -1.48113790e-01 -1.28296874e-02 7.66301837e+01] [ 1.48154345e-01 9.88961657e-01 2.26524063e-03 5.33752898e+00] [ 1.23525556e-02 -4.14084118e-03 9.99915130e-01 4.74185154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:5.35, Z:0.48 [[ 9.90244707e-01 -1.38705967e-01 -1.32693231e-02 7.66596671e+01] [ 1.38611664e-01 9.90316212e-01 -7.78497431e-03 5.34813820e+00] [ 1.42206482e-02 5.86974664e-03 9.99881653e-01 4.76357793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:76.69, Y:5.35, Z:0.48 [[ 9.90904922e-01 -1.33843279e-01 -1.39072878e-02 7.66877453e+01] [ 1.33815473e-01 9.91001978e-01 -2.91526653e-03 5.34901111e+00] [ 1.41723385e-02 1.02774166e-03 9.99899039e-01 4.78195577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:5.35, Z:0.48 [[ 9.91632889e-01 -1.28440502e-01 -1.29325730e-02 7.67148480e+01] [ 1.28415974e-01 9.91716682e-01 -2.71295593e-03 5.35309858e+00] [ 1.31739019e-02 1.02950736e-03 9.99912690e-01 4.78691092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:5.36, Z:0.48 [[ 9.92653747e-01 -1.20338574e-01 -1.25366039e-02 7.67423787e+01] [ 1.20314857e-01 9.92732294e-01 -2.63186951e-03 5.36037728e+00] [ 1.27622070e-02 1.10419542e-03 9.99917950e-01 4.77888486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:5.37, Z:0.48 [[ 9.93079982e-01 -1.16624751e-01 -1.38136194e-02 7.67681296e+01] [ 1.16595572e-01 9.93175237e-01 -2.90194482e-03 5.36790972e+00] [ 1.40577833e-02 1.27125645e-03 9.99900376e-01 4.76912526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:5.38, Z:0.48 [[ 9.93374233e-01 -1.13834591e-01 -1.57898447e-02 7.67948232e+01] [ 1.13796078e-01 9.93498583e-01 -3.31941008e-03 5.37693057e+00] [ 1.60650520e-02 1.50059404e-03 9.99869823e-01 4.76303101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:5.39, Z:0.48 [[ 9.93577232e-01 -1.11817435e-01 -1.73535159e-02 7.68215079e+01] [ 1.11770555e-01 9.93727332e-01 -3.65126728e-03 5.38702492e+00] [ 1.76529384e-02 1.68820393e-03 9.99842750e-01 4.75438429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:5.40, Z:0.48 [[ 9.93703936e-01 -1.10539052e-01 -1.82648617e-02 7.68477708e+01] [ 1.10486843e-01 9.93870144e-01 -3.84632389e-03 5.39734935e+00] [ 1.85780697e-02 1.80408028e-03 9.99825785e-01 4.75146088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:5.41, Z:0.48 [[ 9.93727801e-01 -1.10482974e-01 -1.72791491e-02 7.68741103e+01] [ 1.10436186e-01 9.93876545e-01 -3.64184282e-03 5.41025003e+00] [ 1.75757027e-02 1.71075713e-03 9.99844072e-01 4.76045883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:5.42, Z:0.48 [[ 9.93506043e-01 -1.12599676e-01 -1.63418594e-02 7.69005857e+01] [ 1.12558062e-01 9.93639170e-01 -3.44723766e-03 5.41933783e+00] [ 1.66260695e-02 1.58544342e-03 9.99860520e-01 4.76932014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:5.43, Z:0.48 [[ 9.93252566e-01 -1.14894608e-01 -1.57660763e-02 7.69261148e+01] [ 1.14856130e-01 9.93376563e-01 -3.32768547e-03 5.42925007e+00] [ 1.60439838e-02 1.49440162e-03 9.99870170e-01 4.77246656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:5.44, Z:0.48 [[ 9.92508494e-01 -1.21188859e-01 -1.54967493e-02 7.69518373e+01] [ 1.21152411e-01 9.92628521e-01 -3.27299604e-03 5.44400950e+00] [ 1.57791660e-02 1.37100783e-03 9.99874561e-01 4.76995852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:5.45, Z:0.48 [[ 9.92007235e-01 -1.25299697e-01 -1.48872706e-02 7.69773573e+01] [ 1.25266491e-01 9.92118142e-01 -3.14608720e-03 5.45287026e+00] [ 1.51641350e-02 1.25606511e-03 9.99884229e-01 4.77423128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:5.46, Z:0.48 [[ 9.91393974e-01 -1.30154928e-01 -1.40600022e-02 7.70036764e+01] [ 1.30125769e-01 9.91493038e-01 -2.97314839e-03 5.46188162e+00] [ 1.43273642e-02 1.11799280e-03 9.99896733e-01 4.77875254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:5.48, Z:0.48 [[ 9.90210809e-01 -1.38960157e-01 -1.31388232e-02 7.70293297e+01] [ 1.38935432e-01 9.90297538e-01 -2.78063433e-03 5.47627379e+00] [ 1.33977417e-02 9.27966093e-04 9.99909816e-01 4.77361088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:5.49, Z:0.48 [[ 9.89742025e-01 -1.42191773e-01 -1.38645010e-02 7.70561815e+01] [ 1.42164521e-01 9.89838686e-01 -2.93683395e-03 5.48683716e+00] [ 1.41412131e-02 9.35667838e-04 9.99899570e-01 4.77208092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:5.50, Z:0.48 [[ 9.89452397e-01 -1.44114852e-01 -1.46582044e-02 7.70816922e+01] [ 1.44084569e-01 9.89560500e-01 -3.10698289e-03 5.49577448e+00] [ 1.49529425e-02 9.62190601e-04 9.99887736e-01 4.76878362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:5.50, Z:0.48 [[ 9.89183361e-01 -1.45821310e-01 -1.58878712e-02 7.71083169e+01] [ 1.45785914e-01 9.89310422e-01 -3.36996474e-03 5.50417511e+00] [ 1.62094493e-02 1.01728522e-03 9.99868101e-01 4.77434378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:5.51, Z:0.48 [[ 9.88986560e-01 -1.47088196e-01 -1.64513191e-02 7.71348079e+01] [ 1.47050364e-01 9.89122839e-01 -3.49276074e-03 5.51238079e+00] [ 1.67861194e-02 1.03512097e-03 9.99858567e-01 4.78003900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:5.53, Z:0.48 [[ 9.88787910e-01 -1.48488200e-01 -1.58026526e-02 7.71595553e+01] [ 1.48453437e-01 9.88913700e-01 -3.35714760e-03 5.52556287e+00] [ 1.61259564e-02 9.73548876e-04 9.99869494e-01 4.78433598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:5.53, Z:0.48 [[ 9.88839430e-01 -1.48247183e-01 -1.48105941e-02 7.71850920e+01] [ 1.48216602e-01 9.88949913e-01 -3.14763488e-03 5.53470897e+00] [ 1.51135638e-02 9.17329546e-04 9.99885363e-01 4.78378131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:5.54, Z:0.48 [[ 9.88948173e-01 -1.47606235e-01 -1.39252084e-02 7.72118881e+01] [ 1.47579110e-01 9.89045821e-01 -2.96143023e-03 5.54293894e+00] [ 1.42097948e-02 8.73631147e-04 9.99898654e-01 4.78915453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:5.55, Z:0.48 [[ 9.89092797e-01 -1.46674281e-01 -1.34941982e-02 7.72391379e+01] [ 1.46648687e-01 9.89184468e-01 -2.87237804e-03 5.55052203e+00] [ 1.37695553e-02 8.62141981e-04 9.99904823e-01 4.79412796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:5.56, Z:0.48 [[ 9.89249138e-01 -1.45627750e-01 -1.33679288e-02 7.72649308e+01] [ 1.45602513e-01 9.89339073e-01 -2.84736013e-03 5.55804929e+00] [ 1.36400689e-02 8.70344536e-04 9.99906591e-01 4.79733833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:5.57, Z:0.48 [[ 9.89397430e-01 -1.44535107e-01 -1.42241955e-02 7.72917128e+01] [ 1.44506391e-01 9.89499222e-01 -3.03178435e-03 5.56711535e+00] [ 1.45130297e-02 9.44152492e-04 9.99894235e-01 4.79342579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:5.57, Z:0.48 [[ 9.89349855e-01 -1.44805974e-01 -1.47680414e-02 7.73186106e+01] [ 1.44775006e-01 9.89459586e-01 -3.15055863e-03 5.57418469e+00] [ 1.50685999e-02 9.78961436e-04 9.99885983e-01 4.79018848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:5.58, Z:0.48 [[ 9.89263697e-01 -1.45329704e-01 -1.53823228e-02 7.73461932e+01] [ 1.45296121e-01 9.89382761e-01 -3.28463371e-03 5.58109927e+00] [ 1.56963598e-02 1.01437705e-03 9.99876290e-01 4.78771086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:5.59, Z:0.48 [[ 9.89083385e-01 -1.46580891e-01 -1.51029463e-02 7.73723332e+01] [ 1.46548633e-01 9.89198203e-01 -3.22694577e-03 5.58627089e+00] [ 1.54128160e-02 9.78402308e-04 9.99880737e-01 4.79133931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:5.59, Z:0.48 [[ 9.88968289e-01 -1.47453175e-01 -1.41168399e-02 7.73985985e+01] [ 1.47425059e-01 9.89068625e-01 -3.01776381e-03 5.59117405e+00] [ 1.44075023e-02 9.03296762e-04 9.99895799e-01 4.80134511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:5.60, Z:0.48 [[ 9.88949503e-01 -1.47678235e-01 -1.30391398e-02 7.74257501e+01] [ 1.47654241e-01 9.89035108e-01 -2.78940931e-03 5.59618028e+00] [ 1.33081021e-02 8.33300667e-04 9.99911096e-01 4.81122636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:5.60, Z:0.48 [[ 9.89041197e-01 -1.47097882e-01 -1.26381719e-02 7.74518216e+01] [ 1.47075271e-01 9.89121603e-01 -2.70533391e-03 5.60128057e+00] [ 1.28986377e-02 8.16924141e-04 9.99916475e-01 4.81585372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:5.61, Z:0.48 [[ 9.89096270e-01 -1.46716922e-01 -1.27559090e-02 7.74789587e+01] [ 1.46693834e-01 9.89178171e-01 -2.73228890e-03 5.60723005e+00] [ 1.30187398e-02 8.31283553e-04 9.99914907e-01 4.81396156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:5.61, Z:0.48 [[ 9.89095152e-01 -1.46699342e-01 -1.30416370e-02 7.75052296e+01] [ 1.46675181e-01 9.89180761e-01 -2.79533880e-03 5.61332811e+00] [ 1.33106108e-02 8.51971579e-04 9.99911047e-01 4.81390506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:5.62, Z:0.48 [[ 9.88906794e-01 -1.48133792e-01 -1.09422380e-02 7.75331581e+01] [ 1.48116857e-01 9.88967082e-01 -2.34664868e-03 5.61803224e+00] [ 1.11691312e-02 6.99886917e-04 9.99937378e-01 4.81506630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:5.62, Z:0.48 [[ 9.88722792e-01 -1.49462505e-01 -9.39147515e-03 7.75610388e+01] [ 1.49450075e-01 9.88767218e-01 -2.01568854e-03 5.62169252e+00] [ 9.58725262e-03 5.89400538e-04 9.99953868e-01 4.82271168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:5.63, Z:0.48 [[ 9.88696679e-01 -1.49635168e-01 -9.39110657e-03 7.75888875e+01] [ 1.49622729e-01 9.88741103e-01 -2.01740457e-03 5.62781622e+00] [ 9.58724774e-03 5.89478203e-04 9.99953868e-01 4.82461452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:5.63, Z:0.48 [[ 9.88474132e-01 -1.51144595e-01 -8.61402770e-03 7.76155605e+01] [ 1.51134176e-01 9.88511523e-01 -1.85174284e-03 5.63043495e+00] [ 8.79494656e-03 5.28525924e-04 9.99961184e-01 4.83429870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:5.63, Z:0.48 [[ 9.87725572e-01 -1.55882778e-01 -9.93751716e-03 7.76434016e+01] [ 1.55869136e-01 9.87775401e-01 -2.13754448e-03 5.63269433e+00] [ 1.01492414e-02 5.62355136e-04 9.99948337e-01 4.83055696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:5.64, Z:0.48 [[ 9.87394701e-01 -1.57923277e-01 -1.05803083e-02 7.76707361e+01] [ 1.57907907e-01 9.87451216e-01 -2.27789789e-03 5.63748288e+00] [ 1.08072714e-02 5.78469962e-04 9.99941432e-01 4.82164388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:5.64, Z:0.48 [[ 9.87304780e-01 -1.58446049e-01 -1.11409216e-02 7.76973203e+01] [ 1.58429022e-01 9.87367451e-01 -2.40027331e-03 5.64177623e+00] [ 1.13804972e-02 6.04755995e-04 9.99935057e-01 4.82487137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:5.65, Z:0.48 [[ 9.87325710e-01 -1.58337112e-01 -1.08306122e-02 7.77256018e+01] [ 1.58320999e-01 9.87384935e-01 -2.33477962e-03 5.64532997e+00] [ 1.10636656e-02 5.90474598e-04 9.99938621e-01 4.82829900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:5.65, Z:0.48 [[ 9.87495958e-01 -1.57253784e-01 -1.10896114e-02 7.77539395e+01] [ 1.57236799e-01 9.87558031e-01 -2.39273476e-03 5.64868859e+00] [ 1.13279014e-02 6.19120908e-04 9.99935646e-01 4.83489824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:5.65, Z:0.48 [[ 9.87752878e-01 -1.55580010e-01 -1.17945738e-02 7.77820890e+01] [ 1.55560648e-01 9.87823059e-01 -2.54718829e-03 5.65289957e+00] [ 1.20472436e-02 6.81221017e-04 9.99927197e-01 4.83916624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:5.66, Z:0.48 [[ 9.88575450e-01 -1.50194547e-01 -1.26561332e-02 7.78092457e+01] [ 1.50171789e-01 9.88656135e-01 -2.73515916e-03 5.65737407e+00] [ 1.29233697e-02 8.03317032e-04 9.99916167e-01 4.83852341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:5.66, Z:0.48 [[ 9.89089019e-01 -1.46786864e-01 -1.25111336e-02 7.78360084e+01] [ 1.46764340e-01 9.89167788e-01 -2.70486536e-03 5.66222443e+00] [ 1.27726491e-02 8.39164356e-04 9.99918074e-01 4.84111072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:77.86, Y:5.67, Z:0.48 [[ 9.89553225e-01 -1.43633403e-01 -1.24040322e-02 7.78637938e+01] [ 1.43610995e-01 9.89630578e-01 -2.68333035e-03 5.66744329e+00] [ 1.26608254e-02 8.73942792e-04 9.99919467e-01 4.84083164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:5.67, Z:0.48 [[ 9.90030816e-01 -1.40399471e-01 -1.12681988e-02 7.78912208e+01] [ 1.40380748e-01 9.90094588e-01 -2.43964028e-03 5.67108601e+00] [ 1.14991069e-02 8.33480882e-04 9.99933536e-01 4.84518725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:5.68, Z:0.48 [[ 9.90399998e-01 -1.37866771e-01 -1.00298425e-02 7.79191096e+01] [ 1.37851789e-01 9.90450484e-01 -2.17333901e-03 5.67538456e+00] [ 1.02336936e-02 7.69843216e-04 9.99947338e-01 4.84871880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:5.68, Z:0.48 [[ 9.90661717e-01 -1.36011986e-01 -9.49217972e-03 7.79456855e+01] [ 1.35998467e-01 9.90706909e-01 -2.05843060e-03 5.68011205e+00] [ 9.68393926e-03 7.48286500e-04 9.99952830e-01 4.84958349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:5.68, Z:0.48 [[ 9.90922978e-01 -1.34003441e-01 -1.07112062e-02 7.79718183e+01] [ 1.33986096e-01 9.90980486e-01 -2.32410620e-03 5.68491212e+00] [ 1.09260345e-02 8.67857541e-04 9.99939932e-01 4.83740362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.00, Y:5.69, Z:0.48 [[ 9.90861746e-01 -1.34392553e-01 -1.14735468e-02 7.79990485e+01] [ 1.34372659e-01 9.90927739e-01 -2.49105009e-03 5.69028828e+00] [ 1.17042344e-02 9.26555252e-04 9.99931074e-01 4.82875069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:78.03, Y:5.69, Z:0.48 [[ 9.90787594e-01 -1.34866855e-01 -1.22831490e-02 7.80253894e+01] [ 1.34844068e-01 9.90863238e-01 -2.66864982e-03 5.69484526e+00] [ 1.25308332e-02 9.87755353e-04 9.99920998e-01 4.82648678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:5.70, Z:0.48 [[ 9.90735456e-01 -1.35265527e-01 -1.21034193e-02 7.80536786e+01] [ 1.35243412e-01 9.90808910e-01 -2.63119061e-03 5.69894246e+00] [ 1.23480850e-02 9.69906116e-04 9.99923289e-01 4.82442968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:5.70, Z:0.48 [[ 9.90470921e-01 -1.37286929e-01 -1.09386155e-02 7.80809303e+01] [ 1.37268972e-01 9.90530952e-01 -2.37944537e-03 5.70069033e+00] [ 1.11617039e-02 8.55238956e-04 9.99937341e-01 4.82354314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:5.70, Z:0.48 [[ 9.90235007e-01 -1.39015707e-01 -1.04529662e-02 7.81087368e+01] [ 1.38999391e-01 9.90289853e-01 -2.27504388e-03 5.70399623e+00] [ 1.06677332e-02 7.99872157e-04 9.99942778e-01 4.82391016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:5.71, Z:0.48 [[ 9.89968630e-01 -1.40939876e-01 -9.90266860e-03 7.81362948e+01] [ 1.40925311e-01 9.90017881e-01 -2.15706427e-03 5.70762415e+00] [ 1.01078353e-02 7.39889310e-04 9.99948641e-01 4.81846303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:5.71, Z:0.48 [[ 9.89740515e-01 -1.42497608e-01 -1.03992948e-02 7.81633676e+01] [ 1.42481609e-01 9.89794853e-01 -2.26727429e-03 5.71113338e+00] [ 1.06162497e-02 7.62304958e-04 9.99943355e-01 4.81937924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:5.71, Z:0.48 [[ 9.89517844e-01 -1.43995425e-01 -1.09431835e-02 7.81915780e+01] [ 1.43977776e-01 9.89578040e-01 -2.38796366e-03 5.71482728e+00] [ 1.11729899e-02 7.87357428e-04 9.99937270e-01 4.81247298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:5.72, Z:0.48 [[ 9.89331571e-01 -1.45259822e-01 -1.10736749e-02 7.82195869e+01] [ 1.45241805e-01 9.89393233e-01 -2.41850417e-03 5.71834073e+00] [ 1.13075305e-02 7.84341987e-04 9.99935760e-01 4.81449580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:5.72, Z:0.48 [[ 9.88916664e-01 -1.48150704e-01 -9.75705207e-03 7.82485873e+01] [ 1.48136840e-01 9.88964574e-01 -2.13262474e-03 5.71895231e+00] [ 9.96532870e-03 6.63609286e-04 9.99950125e-01 4.81682248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.28, Y:5.72, Z:0.48 [[ 9.88607067e-01 -1.50193727e-01 -9.89505375e-03 7.82753047e+01] [ 1.50179555e-01 9.88656370e-01 -2.16428764e-03 5.72267930e+00] [ 1.01078703e-02 6.53595290e-04 9.99948701e-01 4.81846776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72140051299999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:78.30, Y:5.73, Z:0.48 [[ 9.88199747e-01 -1.52805320e-01 -1.05732493e-02 7.83034129e+01] [ 1.52789273e-01 9.88256082e-01 -2.31395445e-03 5.72735181e+00] [ 1.08026625e-02 6.71170125e-04 9.99941424e-01 4.81810874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:5.73, Z:0.48 [[ 9.87677397e-01 -1.56107894e-01 -1.11213701e-02 7.83302140e+01] [ 1.56090329e-01 9.87739782e-01 -2.43558919e-03 5.73053399e+00] [ 1.13652344e-02 6.69638081e-04 9.99935189e-01 4.81426280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:5.73, Z:0.48 [[ 9.87010816e-01 -1.60254533e-01 -1.13196528e-02 7.83575283e+01] [ 1.60236592e-01 9.87075520e-01 -2.48044647e-03 5.73457844e+00] [ 1.15708550e-02 6.34404906e-04 9.99932854e-01 4.81364800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:5.74, Z:0.48 [[ 9.86306697e-01 -1.64543920e-01 -1.11534255e-02 7.83854789e+01] [ 1.64526751e-01 9.86369588e-01 -2.44608298e-03 5.73838678e+00] [ 1.14038878e-02 5.77551169e-04 9.99934807e-01 4.81955605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:5.74, Z:0.48 [[ 9.85100495e-01 -1.71690334e-01 -9.97221129e-03 7.84139961e+01] [ 1.71676956e-01 9.85150868e-01 -2.18878963e-03 5.73918353e+00] [ 1.01999266e-02 4.44178868e-04 9.99947881e-01 4.83158883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:5.74, Z:0.48 [[ 9.84582844e-01 -1.74643785e-01 -9.80667207e-03 7.84415010e+01] [ 1.74630975e-01 9.84631597e-01 -2.15433385e-03 5.74267625e+00] [ 1.00322002e-02 4.08571445e-04 9.99949593e-01 4.83641252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:5.75, Z:0.48 [[ 9.84109035e-01 -1.77264680e-01 -1.03266932e-02 7.84681687e+01] [ 1.77250599e-01 9.84163132e-01 -2.27044594e-03 5.74644811e+00] [ 1.05656206e-02 4.03953814e-04 9.99944101e-01 4.83676582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:5.75, Z:0.48 [[ 9.83376961e-01 -1.81247026e-01 -1.09209677e-02 7.84956086e+01] [ 1.81231503e-01 9.83437526e-01 -2.40290576e-03 5.75003939e+00] [ 1.11756090e-02 3.83738768e-04 9.99937477e-01 4.83004841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:5.75, Z:0.48 [[ 9.83167946e-01 -1.82381063e-01 -1.08598783e-02 7.85220517e+01] [ 1.82365764e-01 9.83227853e-01 -2.39112039e-03 5.75394502e+00] [ 1.11138299e-02 3.70402920e-04 9.99938171e-01 4.83370006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:5.76, Z:0.48 [[ 9.83004736e-01 -1.83272568e-01 -1.06233326e-02 7.85486861e+01] [ 1.83257970e-01 9.83062074e-01 -2.33992482e-03 5.75744849e+00] [ 1.08722394e-02 3.53346814e-04 9.99940833e-01 4.84113044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.58, Y:5.76, Z:0.48 [[ 9.82805591e-01 -1.84391470e-01 -9.64138683e-03 7.85768204e+01] [ 1.84379489e-01 9.82852832e-01 -2.12475331e-03 5.76218544e+00] [ 9.86785074e-03 3.10545450e-04 9.99951263e-01 4.84275572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:5.77, Z:0.48 [[ 9.82720316e-01 -1.84860729e-01 -9.34301827e-03 7.86035699e+01] [ 1.84849485e-01 9.82764683e-01 -2.06051606e-03 5.76643829e+00] [ 9.56289689e-03 2.97858878e-04 9.99954230e-01 4.84862482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:5.77, Z:0.49 [[ 9.82594819e-01 -1.85545123e-01 -8.96826642e-03 7.86296526e+01] [ 1.85534785e-01 9.82635705e-01 -1.97862215e-03 5.77190891e+00] [ 9.17966248e-03 2.80258490e-04 9.99957827e-01 4.85308450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:5.78, Z:0.48 [[ 9.82286233e-01 -1.87112403e-01 -1.01343709e-02 7.86570731e+01] [ 1.87099271e-01 9.82338464e-01 -2.23723161e-03 5.77678168e+00] [ 1.03739962e-02 3.01468401e-04 9.99946143e-01 4.84447972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.68, Y:5.78, Z:0.48 [[ 9.82022355e-01 -1.88501383e-01 -9.96606187e-03 7.86846009e+01] [ 1.88488734e-01 9.82072883e-01 -2.20204286e-03 5.78129914e+00] [ 1.02024872e-02 2.83964925e-04 9.99947913e-01 4.84142624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.71, Y:5.79, Z:0.48 [[ 9.81671123e-01 -1.90340996e-01 -9.59747047e-03 7.87116493e+01] [ 1.90329339e-01 9.81718004e-01 -2.12214531e-03 5.78532345e+00] [ 9.82594080e-03 2.56568560e-04 9.99951691e-01 4.84508767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:5.79, Z:0.48 [[ 9.81241021e-01 -1.92581415e-01 -8.85762709e-03 7.87397635e+01] [ 1.92571568e-01 9.81280975e-01 -1.95953337e-03 5.78996151e+00] [ 9.06919065e-03 2.17047385e-04 9.99958850e-01 4.84648823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:5.80, Z:0.48 [[ 9.80754415e-01 -1.95097659e-01 -7.59475888e-03 7.87676809e+01] [ 1.95090485e-01 9.80783807e-01 -1.68144687e-03 5.79548077e+00] [ 7.77686287e-03 1.67421247e-04 9.99969746e-01 4.84234400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:5.80, Z:0.48 [[ 9.79993236e-01 -1.98882954e-01 -7.66995275e-03 7.87943696e+01] [ 1.98875741e-01 9.80023240e-01 -1.69960013e-03 5.80001042e+00] [ 7.85475344e-03 1.40229092e-04 9.99969141e-01 4.84549001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:5.81, Z:0.49 [[ 9.79708409e-01 -2.00242541e-01 -8.62314792e-03 7.88211281e+01] [ 2.00233466e-01 9.79746346e-01 -1.91202434e-03 5.80542346e+00] [ 8.83136628e-03 1.46583526e-04 9.99960992e-01 4.85472052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:5.81, Z:0.49 [[ 9.79350589e-01 -2.01974837e-01 -8.86506551e-03 7.88485853e+01] [ 2.01965307e-01 9.79390702e-01 -1.96671541e-03 5.81167030e+00] [ 9.07958975e-03 1.35668215e-04 9.99958770e-01 4.85272274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:5.82, Z:0.49 [[ 9.78894300e-01 -2.04185945e-01 -8.60522688e-03 7.88755975e+01] [ 2.04177036e-01 9.78932116e-01 -1.91073805e-03 5.81795194e+00] [ 8.81407881e-03 1.13420862e-04 9.99961149e-01 4.85312255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:78.90, Y:5.82, Z:0.49 [[ 9.77610238e-01 -2.10312847e-01 -6.83579410e-03 7.89032251e+01] [ 2.10307367e-01 9.77634136e-01 -1.51895127e-03 5.82446935e+00] [ 7.00236063e-03 4.73244490e-05 9.99975482e-01 4.86018296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:78.93, Y:5.83, Z:0.49 [[ 9.76866008e-01 -2.13759452e-01 -6.30063266e-03 7.89290745e+01] [ 2.13754861e-01 9.76886327e-01 -1.40122273e-03 5.83047377e+00] [ 6.45452650e-03 2.20159927e-05 9.99979169e-01 4.86678213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:78.96, Y:5.84, Z:0.49 [[ 9.76071835e-01 -2.17358587e-01 -6.24645983e-03 7.89561481e+01] [ 2.17354144e-01 9.76091822e-01 -1.38968458e-03 5.83737527e+00] [ 6.39917823e-03 -1.26195745e-06 9.99979525e-01 4.86872369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:78.98, Y:5.84, Z:0.49 [[ 9.75300334e-01 -2.20785252e-01 -6.56737350e-03 7.89837046e+01] [ 2.20780410e-01 9.75322445e-01 -1.46245959e-03 5.84474182e+00] [ 6.72819629e-03 -2.36100820e-05 9.99977365e-01 4.87302516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:79.01, Y:5.85, Z:0.49 [[ 9.74570471e-01 -2.23996427e-01 -6.16425609e-03 7.90097776e+01] [ 2.23992218e-01 9.74589964e-01 -1.37388860e-03 5.85190512e+00] [ 6.31536826e-03 -4.17941324e-05 9.99980057e-01 4.87098225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:79.04, Y:5.86, Z:0.49 [[ 9.73844919e-01 -2.27135586e-01 -5.95818135e-03 7.90372035e+01] [ 2.27131708e-01 9.73863143e-01 -1.32871583e-03 5.85921169e+00] [ 6.10425186e-03 -5.93287457e-05 9.99981367e-01 4.88013816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:79.06, Y:5.86, Z:0.49 [[ 9.72411776e-01 -2.33176743e-01 -6.62912457e-03 7.90639337e+01] [ 2.33172071e-01 9.72434365e-01 -1.47984645e-03 5.86419510e+00] [ 6.79145432e-03 -1.06706589e-04 9.99976932e-01 4.89080230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.591400513 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:79.09, Y:5.87, Z:0.49 [[ 9.71626862e-01 -2.36379818e-01 -8.11306988e-03 7.90902870e+01] [ 2.36372926e-01 9.71660721e-01 -1.81197325e-03 5.86888217e+00] [ 8.31146524e-03 -1.57148185e-04 9.99965447e-01 4.89287540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62140051299998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:79.12, Y:5.87, Z:0.49 [[ 9.70761151e-01 -2.39853037e-01 -9.65964720e-03 7.91179961e+01] [ 2.39843425e-01 9.70809184e-01 -2.15872226e-03 5.87434172e+00] [ 9.89545030e-03 -2.21199160e-04 9.99951014e-01 4.89608438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.14, Y:5.88, Z:0.49 [[ 9.69864249e-01 -2.43444396e-01 -9.90776181e-03 7.91448167e+01] [ 2.43434450e-01 9.69914819e-01 -2.21623803e-03 5.88089519e+00] [ 1.01492157e-02 -2.62440510e-04 9.99948461e-01 4.89628484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:79.17, Y:5.89, Z:0.49 [[ 9.69061116e-01 -2.46658995e-01 -8.93835655e-03 7.91712816e+01] [ 2.46651023e-01 9.69102301e-01 -2.00082278e-03 5.88779557e+00] [ 9.15570283e-03 -2.65735228e-04 9.99958050e-01 4.89632993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.20, Y:5.89, Z:0.49 [[ 9.68369740e-01 -2.49405159e-01 -7.55734129e-03 7.91984471e+01] [ 2.49399538e-01 9.68399198e-01 -1.69239420e-03 5.89405600e+00] [ 7.74061509e-03 -2.45934091e-04 9.99970011e-01 4.90311774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.23, Y:5.90, Z:0.49 [[ 9.67800151e-01 -2.51606396e-01 -7.55568874e-03 7.92257959e+01] [ 2.51600832e-01 9.67829609e-01 -1.69356835e-03 5.89865417e+00] [ 7.73873191e-03 -2.61981877e-04 9.99970021e-01 4.90921383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:79.25, Y:5.90, Z:0.49 [[ 9.67935658e-01 -2.51063927e-01 -8.21374281e-03 7.92532076e+01] [ 2.51057318e-01 9.67970468e-01 -1.84287952e-03 5.90482669e+00] [ 8.41334104e-03 -2.78331437e-04 9.99964568e-01 4.91557018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.28, Y:5.91, Z:0.49 [[ 9.68199437e-01 -2.50051347e-01 -8.01087485e-03 7.92798093e+01] [ 2.50045013e-01 9.68232542e-01 -1.79882398e-03 5.91134788e+00] [ 8.20618808e-03 -2.61458949e-04 9.99966294e-01 4.91971288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.31, Y:5.92, Z:0.49 [[ 9.68153538e-01 -2.50229006e-01 -8.01068719e-03 7.93076111e+01] [ 2.50222671e-01 9.68186643e-01 -1.79965932e-03 5.91776694e+00] [ 8.20616730e-03 -2.62109008e-04 9.99966294e-01 4.92161759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:5.92, Z:0.49 [[ 9.68673539e-01 -2.48243636e-01 -6.83172947e-03 7.93344885e+01] [ 2.48238971e-01 9.68697607e-01 -1.53593437e-03 5.92451514e+00] [ 6.99916592e-03 -2.08082512e-04 9.99975484e-01 4.93425454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.36, Y:5.93, Z:0.49 [[ 9.68613914e-01 -2.48461222e-01 -7.35565737e-03 7.93600774e+01] [ 2.48455810e-01 9.68641818e-01 -1.65525394e-03 5.93194286e+00] [ 7.53626374e-03 -2.24253812e-04 9.99971577e-01 4.93805165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.39, Y:5.94, Z:0.49 [[ 9.68471795e-01 -2.48991905e-01 -8.08792228e-03 7.93877385e+01] [ 2.48985371e-01 9.68505534e-01 -1.82100399e-03 5.93887922e+00] [ 8.28661273e-03 -2.50183329e-04 9.99965634e-01 4.93517757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:79.42, Y:5.94, Z:0.49 [[ 9.68292101e-01 -2.49676951e-01 -8.47504041e-03 7.94155438e+01] [ 2.49669788e-01 9.68329153e-01 -1.90999199e-03 5.94494462e+00] [ 8.68350968e-03 -2.66531377e-04 9.99962262e-01 4.93179326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:79.44, Y:5.95, Z:0.49 [[ 9.68089737e-01 -2.50457216e-01 -8.56988523e-03 7.94420981e+01] [ 2.50449908e-01 9.68127630e-01 -1.93297006e-03 5.95062984e+00] [ 8.78086898e-03 -2.75038491e-04 9.99961410e-01 4.92867701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.47, Y:5.96, Z:0.49 [[ 9.67812568e-01 -2.51500339e-01 -9.29585558e-03 7.94693856e+01] [ 2.51491776e-01 9.67857162e-01 -2.09797122e-03 5.95630436e+00] [ 9.52470087e-03 -3.07388317e-04 9.99954592e-01 4.93398254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.50, Y:5.96, Z:0.49 [[ 9.67161491e-01 -2.53943294e-01 -1.05572017e-02 7.94954628e+01] [ 2.53932374e-01 9.67219036e-01 -2.38460927e-03 5.96318454e+00] [ 1.08166820e-02 -3.74513029e-04 9.99941428e-01 4.92477627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.52, Y:5.97, Z:0.49 [[ 9.66801792e-01 -2.55301414e-01 -1.07462589e-02 7.95216845e+01] [ 2.55290172e-01 9.66861433e-01 -2.42831353e-03 5.96930112e+00] [ 1.10100952e-02 -3.95716416e-04 9.99939309e-01 4.92259707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.55, Y:5.97, Z:0.49 [[ 9.66291755e-01 -2.57226380e-01 -1.07160464e-02 7.95494459e+01] [ 2.57215303e-01 9.66351084e-01 -2.42296196e-03 5.97459861e+00] [ 1.09787128e-02 -4.15042967e-04 9.99939646e-01 4.92321558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.58, Y:5.98, Z:0.49 [[ 9.65819167e-01 -2.58982154e-01 -1.10263389e-02 7.95760788e+01] [ 2.58970520e-01 9.65882004e-01 -2.49495441e-03 5.97884777e+00] [ 1.12962910e-02 -4.45821916e-04 9.99936095e-01 4.92806077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.60, Y:5.99, Z:0.49 [[ 9.65124473e-01 -2.61490706e-01 -1.25444243e-02 7.96035300e+01] [ 2.61475834e-01 9.65205844e-01 -2.84039941e-03 5.98520257e+00] [ 1.28506897e-02 -5.38724825e-04 9.99917281e-01 4.93232058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:79.63, Y:5.99, Z:0.49 [[ 9.65033851e-01 -2.61822983e-01 -1.25854000e-02 7.96310628e+01] [ 2.61808008e-01 9.65115761e-01 -2.85232189e-03 5.99262087e+00] [ 1.28931713e-02 -5.42371322e-04 9.99916733e-01 4.93485764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22140051299999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:79.66, Y:6.00, Z:0.49 [[ 9.65149501e-01 -2.61442303e-01 -1.15915135e-02 7.96574006e+01] [ 2.61429552e-01 9.65218980e-01 -2.62879111e-03 5.99917461e+00] [ 1.18756261e-02 -4.93187763e-04 9.99929361e-01 4.94268554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.68, Y:6.01, Z:0.50 [[ 9.65368901e-01 -2.60672487e-01 -1.06178570e-02 7.96840862e+01] [ 2.60661730e-01 9.65427190e-01 -2.40910189e-03 6.00556123e+00] [ 1.08787544e-02 -4.41996919e-04 9.99940727e-01 4.95061701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:79.71, Y:6.01, Z:0.50 [[ 9.65585738e-01 -2.59871849e-01 -1.05263956e-02 7.97108462e+01] [ 2.59861209e-01 9.65643019e-01 -2.39008988e-03 6.01239330e+00] [ 1.07858575e-02 -4.27565193e-04 9.99941740e-01 4.95750992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:79.74, Y:6.02, Z:0.50 [[ 9.65779057e-01 -2.59136090e-01 -1.09224861e-02 7.97381699e+01] [ 2.59124562e-01 9.65840721e-01 -2.48233332e-03 6.02033953e+00] [ 1.11926440e-02 -4.32898893e-04 9.99937267e-01 4.95721885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:79.76, Y:6.03, Z:0.50 [[ 9.66005238e-01 -2.58271485e-01 -1.13895201e-02 7.97643913e+01] [ 2.58258861e-01 9.66072279e-01 -2.59090022e-03 6.03248821e+00] [ 1.16722553e-02 -4.38621304e-04 9.99931781e-01 4.95076469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:79.79, Y:6.04, Z:0.50 [[ 9.66095411e-01 -2.57951065e-01 -1.09956903e-02 7.97915157e+01] [ 2.57939254e-01 9.66157893e-01 -2.50356107e-03 6.04141806e+00] [ 1.12693693e-02 -4.17541302e-04 9.99936411e-01 4.95273120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:79.82, Y:6.05, Z:0.50 [[ 9.65776918e-01 -2.59161310e-01 -1.05052279e-02 7.98177757e+01] [ 2.59150577e-01 9.65833965e-01 -2.39404944e-03 6.05188215e+00] [ 1.07667509e-02 -4.10318172e-04 9.99941953e-01 4.95372342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:79.84, Y:6.06, Z:0.50 [[ 9.65485271e-01 -2.60221831e-01 -1.10810268e-02 7.98433704e+01] [ 2.60209937e-01 9.65548757e-01 -2.52716206e-03 6.06058448e+00] [ 1.13568944e-02 -4.43455540e-04 9.99935410e-01 4.95951504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46140051299999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:79.87, Y:6.07, Z:0.50 [[ 9.65318367e-01 -2.60832080e-01 -1.12728218e-02 7.98694563e+01] [ 2.60819798e-01 9.65384077e-01 -2.57218659e-03 6.06948489e+00] [ 1.15535114e-02 -4.57196133e-04 9.99933151e-01 4.96292307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:79.89, Y:6.08, Z:0.50 [[ 9.65201987e-01 -2.61289236e-01 -1.06329548e-02 7.98948671e+01] [ 2.61278323e-01 9.65260455e-01 -2.42740412e-03 6.07915660e+00] [ 1.08978254e-02 -4.35225316e-04 9.99940522e-01 4.96063636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:79.92, Y:6.09, Z:0.50 [[ 9.65127995e-01 -2.61609451e-01 -9.40467105e-03 7.99213511e+01] [ 2.61600918e-01 9.65173738e-01 -2.14807465e-03 6.08824501e+00] [ 9.63909814e-03 -3.87103597e-04 9.99953468e-01 4.96478113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.95, Y:6.10, Z:0.50 [[ 9.65056419e-01 -2.61909710e-01 -8.33137525e-03 7.99478241e+01] [ 2.61903012e-01 9.65092319e-01 -1.90445616e-03 6.09692113e+00] [ 8.53934182e-03 -3.44104635e-04 9.99963480e-01 4.97062941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.97, Y:6.11, Z:0.50 [[ 9.65037362e-01 -2.61990743e-01 -7.98378686e-03 7.99739000e+01] [ 2.61974374e-01 9.65070010e-01 -3.04996056e-03 6.10861324e+00] [ 8.50397470e-03 8.51778324e-04 9.99963478e-01 4.97378501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:80.00, Y:6.12, Z:0.50 [[ 9.64791436e-01 -2.62869069e-01 -8.79422807e-03 8.00006778e+01] [ 2.62872391e-01 9.64830281e-01 -7.96637405e-04 6.11659801e+00] [ 8.69434888e-03 -1.54317082e-03 9.99961013e-01 4.98424507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:80.03, Y:6.13, Z:0.50 [[ 9.64495917e-01 -2.63940949e-01 -9.09958870e-03 8.00265487e+01] [ 2.63933011e-01 9.64538761e-01 -2.08406436e-03 6.12710813e+00] [ 9.32697594e-03 -3.91610283e-04 9.99956426e-01 4.97843981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.05, Y:6.14, Z:0.50 [[ 9.64133350e-01 -2.65253460e-01 -9.35339014e-03 8.00535967e+01] [ 2.65245116e-01 9.64178630e-01 -2.14420709e-03 6.13614811e+00] [ 9.58709725e-03 -4.13639494e-04 9.99953957e-01 4.97814040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.08, Y:6.15, Z:0.50 [[ 9.63306828e-01 -2.68260479e-01 -8.73328317e-03 8.00792788e+01] [ 2.68253314e-01 9.63346327e-01 -2.00356572e-03 6.14651319e+00] [ 8.95065376e-03 -4.12683618e-04 9.99959857e-01 4.98504025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:6.16, Z:0.50 [[ 9.62851676e-01 -2.69881443e-01 -8.98095300e-03 8.01065068e+01] [ 2.69873926e-01 9.62893459e-01 -2.06150902e-03 6.15539980e+00] [ 9.20406393e-03 -4.38797633e-04 9.99957545e-01 4.98361008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:80.13, Y:6.17, Z:0.50 [[ 9.62387796e-01 -2.71470019e-01 -1.06658156e-02 8.01326229e+01] [ 2.71459488e-01 9.62446747e-01 -2.45069021e-03 6.16550690e+00] [ 1.09305684e-02 -5.36822480e-04 9.99940115e-01 4.97924650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:80.16, Y:6.18, Z:0.50 [[ 9.62253974e-01 -2.71878878e-01 -1.22133125e-02 8.01578502e+01] [ 2.71865076e-01 9.62331281e-01 -2.80833923e-03 6.17520957e+00] [ 1.25167808e-02 -6.18037556e-04 9.99921471e-01 4.97104014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82140051299999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:80.18, Y:6.18, Z:0.50 [[ 9.62290854e-01 -2.71712525e-01 -1.29852231e-02 8.01833226e+01] [ 2.71696892e-01 9.62378240e-01 -2.98703523e-03 6.18439120e+00] [ 1.33083111e-02 -6.53648085e-04 9.99911227e-01 4.96636463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:80.21, Y:6.19, Z:0.50 [[ 9.62292328e-01 -2.71717568e-01 -1.27686909e-02 8.02104119e+01] [ 2.71702428e-01 9.62376825e-01 -2.93906090e-03 6.19351740e+00] [ 1.30868867e-02 -6.41048572e-04 9.99914158e-01 4.97067368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.24, Y:6.21, Z:0.50 [[ 9.62257377e-01 -2.71923407e-01 -1.08811847e-02 8.02366771e+01] [ 2.71912403e-01 9.62318742e-01 -2.50661711e-03 6.20546868e+00] [ 1.11527758e-02 -5.46718266e-04 9.99937656e-01 4.99339017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:6.22, Z:0.50 [[ 9.62237990e-01 -2.72034366e-01 -9.76494262e-03 8.02627407e+01] [ 2.72025491e-01 9.62287412e-01 -2.25135476e-03 6.21517196e+00] [ 1.00091272e-02 -4.89974238e-04 9.99949787e-01 4.99030636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.29, Y:6.22, Z:0.50 [[ 9.62029712e-01 -2.72778553e-01 -9.52334237e-03 8.02878273e+01] [ 2.72770132e-01 9.62076726e-01 -2.19726462e-03 6.22491619e+00] [ 9.76155271e-03 -4.83849504e-04 9.99952238e-01 4.99552665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.31, Y:6.23, Z:0.50 [[ 9.61631815e-01 -2.74195004e-01 -9.01958300e-03 8.03146953e+01] [ 2.74187503e-01 9.61673998e-01 -2.08211601e-03 6.23401765e+00] [ 9.24480425e-03 -4.70827942e-04 9.99957155e-01 4.99064739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.34, Y:6.25, Z:0.50 [[ 9.60250668e-01 -2.78988421e-01 -9.17148936e-03 8.03393179e+01] [ 2.78980867e-01 9.60294323e-01 -2.11878592e-03 6.24524662e+00] [ 9.39844590e-03 -5.24104461e-04 9.99955696e-01 4.97886420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:6.25, Z:0.50 [[ 9.59574290e-01 -2.81289543e-01 -9.66301473e-03 8.03662785e+01] [ 2.81281262e-01 9.59622771e-01 -2.23360149e-03 6.25365562e+00] [ 9.90113772e-03 -5.74718418e-04 9.99950817e-01 4.97327678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:80.39, Y:6.26, Z:0.50 [[ 9.58934379e-01 -2.83432839e-01 -1.05206123e-02 8.03928135e+01] [ 2.83423127e-01 9.58991870e-01 -2.43412619e-03 6.26226501e+00] [ 1.07790929e-02 -6.47617542e-04 9.99941694e-01 4.98161803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:6.27, Z:0.50 [[ 9.58662341e-01 -2.84347093e-01 -1.06417520e-02 8.04188108e+01] [ 2.84337190e-01 9.58721175e-01 -2.46410193e-03 6.26972220e+00] [ 1.09031332e-02 -6.63604142e-04 9.99940339e-01 4.97905228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:6.28, Z:0.50 [[ 9.58540478e-01 -2.84739975e-01 -1.11040042e-02 8.04442508e+01] [ 2.84729201e-01 9.58604539e-01 -2.57273670e-03 6.27799688e+00] [ 1.13769098e-02 -6.95561976e-04 9.99935039e-01 4.98102457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:6.29, Z:0.50 [[ 9.58811464e-01 -2.83754822e-01 -1.27975204e-02 8.04703554e+01] [ 2.83740394e-01 9.58896545e-01 -2.96742340e-03 6.28971465e+00] [ 1.31135188e-02 -7.85973894e-04 9.99913705e-01 4.97549059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18140051299999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:80.50, Y:6.30, Z:0.50 [[ 9.59041369e-01 -2.82968033e-01 -1.29902034e-02 8.04960132e+01] [ 2.82997694e-01 9.59120476e-01 4.66580176e-04 6.29515250e+00] [ 1.23271428e-02 -4.12366729e-03 9.99915515e-01 4.97879699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21140051299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:80.52, Y:6.31, Z:0.50 [[ 9.58955852e-01 -2.83307593e-01 -1.18525372e-02 8.05227885e+01] [ 2.83252026e-01 9.59025693e-01 -6.16515384e-03 6.30889298e+00] [ 1.31135226e-02 2.55485518e-03 9.99910750e-01 4.97601582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:80.55, Y:6.31, Z:0.50 [[ 9.58864453e-01 -2.83614945e-01 -1.18963507e-02 8.05500423e+01] [ 2.83602411e-01 9.58937974e-01 -2.76302592e-03 6.31305208e+00] [ 1.21914979e-02 -7.24466392e-04 9.99925418e-01 4.98237904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.58, Y:6.32, Z:0.50 [[ 9.58631420e-01 -2.84431073e-01 -1.11698281e-02 8.05758349e+01] [ 2.84420065e-01 9.58696245e-01 -2.59546776e-03 6.31946975e+00] [ 1.14467039e-02 -6.88826281e-04 9.99934247e-01 4.97987070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30140051299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:80.60, Y:6.33, Z:0.50 [[ 9.58215326e-01 -2.85896552e-01 -9.30329851e-03 8.06023831e+01] [ 2.85888972e-01 9.58260308e-01 -2.16308881e-03 6.32700623e+00] [ 9.53340132e-03 -5.87005594e-04 9.99954384e-01 4.98253242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:80.63, Y:6.33, Z:0.50 [[ 9.58259153e-01 -2.85785502e-01 -8.12668990e-03 8.06283104e+01] [ 2.85779703e-01 9.58293476e-01 -1.89084788e-03 6.33327145e+00] [ 8.32813082e-03 -5.10520740e-04 9.99965190e-01 4.98440326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.65, Y:6.34, Z:0.50 [[ 9.58408797e-01 -2.85292721e-01 -7.78726965e-03 8.06544309e+01] [ 2.85287374e-01 9.58440310e-01 -1.81262279e-03 6.33906053e+00] [ 7.98076123e-03 -4.84376086e-04 9.99968036e-01 4.99475560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.68, Y:6.35, Z:0.50 [[ 9.58567089e-01 -2.84756813e-01 -7.91795405e-03 8.06812189e+01] [ 2.84751257e-01 9.58599666e-01 -1.84425310e-03 6.34567103e+00] [ 8.11531175e-03 -4.86807042e-04 9.99966952e-01 5.00381080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:6.35, Z:0.50 [[ 9.58851008e-01 -2.83778204e-01 -8.64152666e-03 8.07078740e+01] [ 2.83771530e-01 9.58889806e-01 -2.01467706e-03 6.35348189e+00] [ 8.85799326e-03 -5.20444103e-04 9.99960632e-01 5.00622164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451400513 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:80.73, Y:6.37, Z:0.50 [[ 9.59696010e-01 -2.80820566e-01 -1.11075622e-02 8.07331659e+01] [ 2.80809311e-01 9.59760080e-01 -2.59227409e-03 6.36800583e+00] [ 1.13885587e-02 -6.31311786e-04 9.99934949e-01 5.02103585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:6.38, Z:0.50 [[ 9.60274411e-01 -2.78849115e-01 -1.07808432e-02 8.07598715e+01] [ 2.78838363e-01 9.60334747e-01 -2.51823030e-03 6.37831699e+00] [ 1.10554246e-02 -5.87920558e-04 9.99938714e-01 5.00882304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:80.79, Y:6.39, Z:0.50 [[ 9.60488048e-01 -2.78128210e-01 -1.03637926e-02 8.07855816e+01] [ 2.78118215e-01 9.60543799e-01 -2.42245586e-03 6.38755823e+00] [ 1.06286301e-02 -5.55619614e-04 9.99943360e-01 5.01608343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:6.40, Z:0.50 [[ 9.59583640e-01 -2.81308274e-01 -8.05559260e-03 8.08117195e+01] [ 2.81302340e-01 9.59617343e-01 -1.88371808e-03 6.39819053e+00] [ 8.26019185e-03 -4.58471999e-04 9.99965779e-01 5.01481886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:80.84, Y:6.41, Z:0.50 [[ 9.58428956e-01 -2.85217849e-01 -8.04454957e-03 8.08381663e+01] [ 2.85212055e-01 9.58462591e-01 -1.88278903e-03 6.40727400e+00] [ 8.24740486e-03 -4.89882989e-04 9.99965870e-01 5.02473103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:6.42, Z:0.50 [[ 9.57214901e-01 -2.89255610e-01 -8.41581253e-03 8.08639356e+01] [ 2.89249412e-01 9.57251739e-01 -1.97123384e-03 6.41509369e+00] [ 8.62624162e-03 -5.47374417e-04 9.99962643e-01 5.01901609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.89, Y:6.42, Z:0.50 [[ 9.55765581e-01 -2.93972194e-01 -9.61782365e-03 8.08899069e+01] [ 2.93964325e-01 9.55813735e-01 -2.25387281e-03 6.42211963e+00] [ 9.85542388e-03 -6.73122981e-04 9.99951208e-01 5.01994109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:80.92, Y:6.43, Z:0.50 [[ 9.54187697e-01 -2.99015458e-01 -1.07514947e-02 8.09176197e+01] [ 2.99005921e-01 9.54247925e-01 -2.52141768e-03 6.42806725e+00] [ 1.10135344e-02 -8.08854856e-04 9.99939022e-01 5.01574827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.94, Y:6.43, Z:0.50 [[ 9.52712930e-01 -3.03645608e-01 -1.17225612e-02 8.09442679e+01] [ 3.03634596e-01 9.52784584e-01 -2.75106068e-03 6.43343549e+00] [ 1.20044231e-02 -9.38404055e-04 9.99927504e-01 5.01227135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:6.44, Z:0.50 [[ 9.50820783e-01 -3.09429080e-01 -1.39098312e-02 8.09714560e+01] [ 3.09414156e-01 9.50921768e-01 -3.26656198e-03 6.43956124e+00] [ 1.42379306e-02 -1.19798368e-03 9.99897918e-01 5.00747147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:6.45, Z:0.50 [[ 9.50765093e-01 -3.09600180e-01 -1.39092253e-02 8.09991757e+01] [ 3.09585237e-01 9.50866076e-01 -3.26914048e-03 6.44622454e+00] [ 1.42379370e-02 -1.19790617e-03 9.99897918e-01 5.00935451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:6.45, Z:0.50 [[ 9.50428615e-01 -3.10588432e-01 -1.48416457e-02 8.10257862e+01] [ 3.10571507e-01 9.50543611e-01 -3.49033487e-03 6.45264612e+00] [ 1.51916891e-02 -1.29207813e-03 9.99883765e-01 5.01013314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:6.46, Z:0.50 [[ 9.50298602e-01 -3.10978144e-01 -1.50053742e-02 8.10526583e+01] [ 3.10960857e-01 9.50416160e-01 -3.53114798e-03 6.45857172e+00] [ 1.53594599e-02 -1.31043902e-03 9.99881178e-01 5.01612862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:81.08, Y:6.46, Z:0.50 [[ 9.50405593e-01 -3.10657399e-01 -1.48723962e-02 8.10787252e+01] [ 3.10640347e-01 9.50521074e-01 -3.50189002e-03 6.46487685e+00] [ 1.52244140e-02 -1.29175044e-03 9.99883267e-01 5.03188759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87140051299998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.11, Y:6.47, Z:0.50 [[ 9.50836261e-01 -3.09387016e-01 -1.37869095e-02 8.11059246e+01] [ 3.09372201e-01 9.50935481e-01 -3.24831907e-03 6.47139436e+00] [ 1.41154491e-02 -1.17666697e-03 9.99899680e-01 5.02750142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:6.48, Z:0.50 [[ 9.51959258e-01 -3.06020016e-01 -1.11947307e-02 8.11329018e+01] [ 3.06009997e-01 9.52024640e-01 -2.63929973e-03 6.47675969e+00] [ 1.14653380e-02 -9.13193694e-04 9.99933854e-01 5.02440168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:81.16, Y:6.48, Z:0.50 [[ 9.52277900e-01 -3.05070251e-01 -9.94705754e-03 8.11600136e+01] [ 3.05062274e-01 9.52329513e-01 -2.34664799e-03 6.48185072e+00] [ 1.01887690e-02 -7.99810977e-04 9.99947773e-01 5.03731081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.19, Y:6.49, Z:0.50 [[ 9.52615699e-01 -3.04035634e-01 -9.25550462e-03 8.11878322e+01] [ 3.04028662e-01 9.52660379e-01 -2.18530748e-03 6.48669550e+00] [ 9.48176388e-03 -7.32180476e-04 9.99954779e-01 5.03836515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:81.21, Y:6.49, Z:0.50 [[ 9.52839629e-01 -3.03316464e-01 -9.78591451e-03 8.12143580e+01] [ 3.03308615e-01 9.52889573e-01 -2.31227882e-03 6.49149515e+00] [ 1.00262481e-02 -7.64921279e-04 9.99949443e-01 5.04229286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:6.49, Z:0.50 [[ 9.52689914e-01 -3.03624052e-01 -1.39414067e-02 8.12427360e+01] [ 3.03608120e-01 9.52791290e-01 -3.29653778e-03 6.49423339e+00] [ 1.42841590e-02 -1.09214598e-03 9.99897380e-01 5.02809920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:81.27, Y:6.50, Z:0.50 [[ 9.52397421e-01 -3.04471045e-01 -1.53797368e-02 8.12691115e+01] [ 3.04451723e-01 9.52520815e-01 -3.63933568e-03 6.49839271e+00] [ 1.57575917e-02 -1.21629344e-03 9.99875102e-01 5.03803516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:81.30, Y:6.50, Z:0.50 [[ 9.52236072e-01 -3.04998648e-01 -1.49093450e-02 8.12969200e+01] [ 3.04980515e-01 9.52352046e-01 -3.53061824e-03 6.50188890e+00] [ 1.52757790e-02 -1.18507766e-03 9.99882616e-01 5.03935854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:6.51, Z:0.50 [[ 9.52252314e-01 -3.05009897e-01 -1.35828447e-02 8.13251227e+01] [ 3.04994811e-01 9.52348572e-01 -3.21914932e-03 6.50500448e+00] [ 1.39174751e-02 -1.07725476e-03 9.99902567e-01 5.04338465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:81.35, Y:6.51, Z:0.51 [[ 9.53078439e-01 -3.02523172e-01 -1.10099534e-02 8.13517551e+01] [ 3.02513078e-01 9.53141659e-01 -2.61084532e-03 6.50789042e+00] [ 1.12838865e-02 -8.42314515e-04 9.99935980e-01 5.06429738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:81.38, Y:6.51, Z:0.51 [[ 9.53747912e-01 -3.00437848e-01 -1.01005138e-02 8.13788485e+01] [ 3.00429223e-01 9.53801100e-01 -2.39644903e-03 6.51354557e+00] [ 1.03538651e-02 -7.48881246e-04 9.99946117e-01 5.06268545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:81.40, Y:6.52, Z:0.51 [[ 9.54362850e-01 -2.98469089e-01 -1.03804432e-02 8.14048516e+01] [ 2.98459844e-01 9.54419010e-01 -2.46473499e-03 6.51883705e+00] [ 1.06429396e-02 -7.45893956e-04 9.99943084e-01 5.05775207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.43, Y:6.52, Z:0.51 [[ 9.54776459e-01 -2.97122838e-01 -1.09513846e-02 8.14327469e+01] [ 2.97112439e-01 9.54838954e-01 -2.60216296e-03 6.52377029e+00] [ 1.12299707e-02 -7.69308661e-04 9.99936646e-01 5.05234247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:6.53, Z:0.51 [[ 9.54942849e-01 -2.96629135e-01 -9.76276721e-03 8.14598833e+01] [ 2.96620831e-01 9.54992510e-01 -2.32122264e-03 6.52802762e+00] [ 1.00119118e-02 -6.79205160e-04 9.99949649e-01 5.05022035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:6.54, Z:0.51 [[ 9.54511982e-01 -2.98053141e-01 -8.43806670e-03 8.14865800e+01] [ 2.98046984e-01 9.54549091e-01 -2.00717450e-03 6.53549955e+00] [ 8.65279356e-03 -5.99068220e-04 9.99962384e-01 5.05749700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.51, Y:6.54, Z:0.51 [[ 9.53792600e-01 -3.00372304e-01 -7.49371010e-03 8.15137324e+01] [ 3.00367509e-01 9.53821879e-01 -1.78393581e-03 6.54382050e+00] [ 7.68350955e-03 -5.49362263e-04 9.99970331e-01 5.06040904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:6.55, Z:0.51 [[ 9.53060682e-01 -3.02672276e-01 -8.05170578e-03 8.15398315e+01] [ 3.02666809e-01 9.53094498e-01 -1.91833043e-03 6.54985628e+00] [ 8.25466192e-03 -6.08698783e-04 9.99965744e-01 5.05801236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:81.57, Y:6.55, Z:0.51 [[ 9.52132775e-01 -3.05514944e-01 -1.01881409e-02 8.15674580e+01] [ 3.05506336e-01 9.52186945e-01 -2.42882390e-03 6.55498302e+00] [ 1.04430567e-02 -7.99978749e-04 9.99945150e-01 5.05987459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.60, Y:6.56, Z:0.51 [[ 9.50781887e-01 -3.09576599e-01 -1.32714751e-02 8.15955043e+01] [ 3.09562344e-01 9.50873875e-01 -3.16697835e-03 6.55733601e+00] [ 1.35999213e-02 -1.09724329e-03 9.99906915e-01 5.05729983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:6.56, Z:0.51 [[ 9.50579975e-01 -3.10212244e-01 -1.28869706e-02 8.16215392e+01] [ 3.10198837e-01 9.50666720e-01 -3.07707323e-03 6.56389499e+00] [ 1.32057598e-02 -1.07251909e-03 9.99912225e-01 5.06401476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:6.57, Z:0.51 [[ 9.50689018e-01 -3.09917617e-01 -1.18937361e-02 8.16482028e+01] [ 3.09906154e-01 9.50762905e-01 -2.84156120e-03 6.57189935e+00] [ 1.21887730e-02 -9.84500983e-04 9.99925229e-01 5.07690026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:6.58, Z:0.51 [[ 9.50921888e-01 -3.09217107e-01 -1.15040993e-02 8.16749300e+01] [ 3.09206304e-01 9.50991007e-01 -2.75078741e-03 6.57999464e+00] [ 1.17908855e-02 -9.41356081e-04 9.99930042e-01 5.09009057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:6.59, Z:0.51 [[ 9.51935136e-01 -3.06045585e-01 -1.24738082e-02 8.17005588e+01] [ 3.06032589e-01 9.52016358e-01 -2.98462557e-03 6.58832645e+00] [ 1.27887009e-02 -9.76221849e-04 9.99917745e-01 5.09127333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:6.60, Z:0.51 [[ 9.52635389e-01 -3.03840271e-01 -1.29191655e-02 8.17264508e+01] [ 3.03826113e-01 9.52722484e-01 -3.09235147e-03 6.59671049e+00] [ 1.32479603e-02 -9.79296373e-04 9.99911762e-01 5.08809587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:6.61, Z:0.51 [[ 9.53264763e-01 -3.01873806e-01 -1.25895692e-02 8.17532875e+01] [ 3.01860167e-01 9.53347443e-01 -3.01528335e-03 6.60654904e+00] [ 1.29124687e-02 -9.25926105e-04 9.99916202e-01 5.08573730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:6.62, Z:0.51 [[ 9.53734476e-01 -3.00430167e-01 -1.15005701e-02 8.17789684e+01] [ 3.00418661e-01 9.53803456e-01 -2.75612984e-03 6.61601655e+00] [ 1.17973081e-02 -8.26369825e-04 9.99930068e-01 5.08674023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:6.63, Z:0.51 [[ 9.53631386e-01 -3.00767195e-01 -1.12371528e-02 8.18054514e+01] [ 3.00756216e-01 9.53697247e-01 -2.69453794e-03 6.62700175e+00] [ 1.15272703e-02 -8.10047609e-04 9.99933231e-01 5.09005920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:6.63, Z:0.51 [[ 9.53317909e-01 -3.01730233e-01 -1.19929472e-02 8.18325252e+01] [ 3.01717772e-01 9.53392942e-01 -2.87828278e-03 6.63384344e+00] [ 1.23024561e-02 -8.74566773e-04 9.99923939e-01 5.08555311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.86, Y:6.64, Z:0.51 [[ 9.53065841e-01 -3.02470006e-01 -1.33191200e-02 8.18587687e+01] [ 3.02490392e-01 9.53152301e-01 -5.04728792e-04 6.63869878e+00] [ 1.28478152e-02 -3.54786607e-03 9.99911169e-01 5.09166153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.89, Y:6.65, Z:0.51 [[ 9.52745289e-01 -3.03483207e-01 -1.32044512e-02 8.18860028e+01] [ 3.03430975e-01 9.52835511e-01 -5.84229287e-03 6.65141696e+00] [ 1.43547078e-02 1.55957750e-03 9.99895750e-01 5.08873728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:6.66, Z:0.51 [[ 9.52757313e-01 -3.03439513e-01 -1.33403144e-02 8.19136474e+01] [ 3.03424161e-01 9.52850188e-01 -3.20895604e-03 6.65682113e+00] [ 1.36850452e-02 -9.90417375e-04 9.99905865e-01 5.09148309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:6.66, Z:0.51 [[ 9.52915083e-01 -3.02970394e-01 -1.27194969e-02 8.19397813e+01] [ 3.02956363e-01 9.52999510e-01 -3.06218366e-03 6.66315831e+00] [ 1.30494253e-02 -9.35451518e-04 9.99914415e-01 5.09674007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:81.97, Y:6.67, Z:0.51 [[ 9.53100805e-01 -3.02352284e-01 -1.34889304e-02 8.19669637e+01] [ 3.02336403e-01 9.53195749e-01 -3.25027391e-03 6.66912910e+00] [ 1.38403188e-02 -9.80355997e-04 9.99903738e-01 5.09777156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:6.68, Z:0.51 [[ 9.53416033e-01 -3.01354421e-01 -1.35417920e-02 8.19928649e+01] [ 3.01338288e-01 9.53511707e-01 -3.26496515e-03 6.67576762e+00] [ 1.38961689e-02 -9.67790284e-04 9.99902975e-01 5.08506550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:6.69, Z:0.51 [[ 9.54518708e-01 -2.97855804e-01 -1.32648200e-02 8.20182373e+01] [ 2.97839972e-01 9.54610452e-01 -3.19934621e-03 6.68575103e+00] [ 1.36156797e-02 -8.96957804e-04 9.99906900e-01 5.08300466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:6.69, Z:0.51 [[ 9.55242943e-01 -2.95547430e-01 -1.27529174e-02 8.20450606e+01] [ 2.95532566e-01 9.55327708e-01 -3.07773048e-03 6.69348342e+00] [ 1.30928307e-02 -8.28922076e-04 9.99913942e-01 5.08771713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:6.70, Z:0.51 [[ 9.55935555e-01 -2.93315144e-01 -1.23871389e-02 8.20714565e+01] [ 2.93300902e-01 9.56015496e-01 -2.99198175e-03 6.70138551e+00] [ 1.27198903e-02 -7.73017288e-04 9.99918800e-01 5.10098094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:82.10, Y:6.71, Z:0.51 [[ 9.56439798e-01 -2.91699260e-01 -1.15954595e-02 8.20974361e+01] [ 2.91686639e-01 9.56509827e-01 -2.80274258e-03 6.71064246e+00] [ 1.19087289e-02 -7.01586061e-04 9.99928842e-01 5.11043974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:6.72, Z:0.51 [[ 9.56893930e-01 -2.90241367e-01 -1.06749565e-02 8.21241429e+01] [ 2.90230561e-01 9.56953267e-01 -2.58195503e-03 6.72039817e+00] [ 1.09648246e-02 -6.27541507e-04 9.99939688e-01 5.11051513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:6.73, Z:0.51 [[ 9.57299234e-01 -2.88925310e-01 -1.00171208e-02 8.21484042e+01] [ 2.88915705e-01 9.57351470e-01 -2.42457000e-03 6.73437152e+00] [ 1.02904250e-02 -5.73064527e-04 9.99946888e-01 5.09987812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:6.74, Z:0.51 [[ 9.57188231e-01 -2.89298975e-01 -9.83835661e-03 8.21741561e+01] [ 2.89289716e-01 9.57238624e-01 -2.38264810e-03 6.74413049e+00] [ 1.01069526e-02 -5.65492664e-04 9.99948764e-01 5.09698459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10140051299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:82.20, Y:6.75, Z:0.51 [[ 9.56690936e-01 -2.90927908e-01 -1.01688736e-02 8.22009555e+01] [ 2.90918091e-01 9.56744789e-01 -2.46436046e-03 6.75430238e+00] [ 1.04459681e-02 -6.00677990e-04 9.99945259e-01 5.09955300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:6.76, Z:0.51 [[ 9.56117882e-01 -2.92800247e-01 -1.03252163e-02 8.22272862e+01] [ 2.92790212e-01 9.56173426e-01 -2.50434094e-03 6.76338247e+00] [ 1.06059691e-02 -6.28677118e-04 9.99943557e-01 5.10232471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:6.77, Z:0.51 [[ 9.55294888e-01 -2.95452810e-01 -1.09231072e-02 8.22526073e+01] [ 2.95441732e-01 9.55357082e-01 -2.65110442e-03 6.77316762e+00] [ 1.12187441e-02 -6.94555203e-04 9.99936827e-01 5.10437228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:6.78, Z:0.51 [[ 9.54343948e-01 -2.98473794e-01 -1.18753534e-02 8.22785069e+01] [ 2.98460912e-01 9.54417501e-01 -2.88393467e-03 6.78328196e+00] [ 1.21948240e-02 -7.92063208e-04 9.99925327e-01 5.10605162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:6.80, Z:0.51 [[ 9.52799132e-01 -3.03289522e-01 -1.37579201e-02 8.23033293e+01] [ 3.03272700e-01 9.52897944e-01 -3.34326241e-03 6.79611701e+00] [ 1.41238702e-02 -9.86944049e-04 9.99899766e-01 5.09273016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:6.80, Z:0.51 [[ 9.52065097e-01 -3.05538077e-01 -1.47829440e-02 8.23302847e+01] [ 3.05518890e-01 9.52179230e-01 -3.59460447e-03 6.80463394e+00] [ 1.51743007e-02 -1.09417118e-03 9.99884265e-01 5.08949458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:6.81, Z:0.51 [[ 9.51318935e-01 -3.07860405e-01 -1.46374252e-02 8.23573951e+01] [ 3.07841824e-01 9.51430882e-01 -3.56211374e-03 6.81279783e+00] [ 1.50231322e-02 -1.11730543e-03 9.99886522e-01 5.09193063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.38, Y:6.83, Z:0.51 [[ 9.49957240e-01 -3.12160124e-01 -1.17174767e-02 8.23833911e+01] [ 3.12148516e-01 9.50029031e-01 -2.85361341e-03 6.82526443e+00] [ 1.20227274e-02 -9.46782260e-04 9.99927276e-01 5.10583695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:6.84, Z:0.51 [[ 9.49541479e-01 -3.13463962e-01 -1.05510069e-02 8.24091341e+01] [ 3.13454614e-01 9.49599702e-01 -2.57104811e-03 6.83565465e+00] [ 1.08251639e-02 -8.65944952e-04 9.99941031e-01 5.10600353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:6.85, Z:0.51 [[ 9.49115410e-01 -3.14739698e-01 -1.09023277e-02 8.24345540e+01] [ 3.14729787e-01 9.49177590e-01 -2.65783257e-03 6.84561856e+00] [ 1.11847706e-02 -9.08697433e-04 9.99937036e-01 5.10825637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:6.85, Z:0.51 [[ 9.48250213e-01 -3.17279495e-01 -1.24601902e-02 8.24610495e+01] [ 3.17307624e-01 9.48322616e-01 2.97109812e-04 6.85155955e+00] [ 1.17220133e-02 -4.23544779e-03 9.99922325e-01 5.09893329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:6.86, Z:0.51 [[ 9.47574151e-01 -3.19321072e-01 -1.17167452e-02 8.24878410e+01] [ 3.19293873e-01 9.47646563e-01 -4.17309619e-03 6.86167322e+00] [ 1.24358908e-02 2.13233127e-04 9.99922649e-01 5.09724569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.51, Y:6.87, Z:0.51 [[ 9.46818687e-01 -3.21543508e-01 -1.20061240e-02 8.25149776e+01] [ 3.21537995e-01 9.46893535e-01 -2.43937339e-03 6.86681329e+00] [ 1.21528859e-02 -1.55078073e-03 9.99924948e-01 5.10981759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:6.88, Z:0.51 [[ 9.46208139e-01 -3.23333399e-01 -1.20694034e-02 8.25426236e+01] [ 3.23289751e-01 9.46284266e-01 -5.46129240e-03 6.87752249e+00] [ 1.31869048e-02 1.26560490e-03 9.99912248e-01 5.11973832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:6.88, Z:0.51 [[ 9.46057747e-01 -3.23764966e-01 -1.22876391e-02 8.25695339e+01] [ 3.23753017e-01 9.46136860e-01 -3.00444802e-03 6.88379325e+00] [ 1.25985233e-02 -1.13577891e-03 9.99919990e-01 5.13261592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:6.89, Z:0.51 [[ 9.47078297e-01 -3.20836934e-01 -1.03131249e-02 8.25952135e+01] [ 3.20828328e-01 9.47134002e-01 -2.52324478e-03 6.89396623e+00] [ 1.05774614e-02 -9.19032244e-04 9.99943635e-01 5.14187915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:6.90, Z:0.51 [[ 9.47827610e-01 -3.18627721e-01 -9.95979023e-03 8.26229938e+01] [ 3.18657527e-01 9.47868695e-01 1.52206597e-03 6.89851142e+00] [ 8.95560096e-03 -4.61641827e-03 9.99949242e-01 5.14261501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:6.91, Z:0.51 [[ 9.48416919e-01 -3.16880732e-01 -9.58906627e-03 8.26493376e+01] [ 3.16832355e-01 9.48461015e-01 -6.24197367e-03 6.91306331e+00] [ 1.10728167e-02 2.88186698e-03 9.99934542e-01 5.13260018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:6.92, Z:0.51 [[ 9.48358356e-01 -3.17027468e-01 -1.04887075e-02 8.26777672e+01] [ 3.17018279e-01 9.48415942e-01 -2.57142676e-03 6.91677744e+00] [ 1.07628703e-02 -8.86477941e-04 9.99941686e-01 5.13751139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:6.92, Z:0.51 [[ 9.49029020e-01 -3.14984202e-01 -1.13521420e-02 8.27037012e+01] [ 3.15015427e-01 9.49085992e-01 1.02962235e-03 6.92182328e+00] [ 1.04498442e-02 -4.55324135e-03 9.99935032e-01 5.13287701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.73, Y:6.94, Z:0.51 [[ 9.49271856e-01 -3.14260737e-01 -1.10964936e-02 8.27300261e+01] [ 3.14203937e-01 9.49332693e-01 -6.58205159e-03 6.93806456e+00] [ 1.26027445e-02 2.76159437e-03 9.99916769e-01 5.12408997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:6.95, Z:0.51 [[ 9.49225089e-01 -3.14383984e-01 -1.15948468e-02 8.27566166e+01] [ 3.14372474e-01 9.49295437e-01 -2.84965812e-03 6.94669968e+00] [ 1.19028220e-02 -9.40133676e-04 9.99928717e-01 5.13566859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:6.95, Z:0.51 [[ 9.48802312e-01 -3.15641219e-01 -1.20329786e-02 8.27837862e+01] [ 3.15628894e-01 9.48878096e-01 -2.95976705e-03 6.95495839e+00] [ 1.23520543e-02 -9.89721898e-04 9.99923221e-01 5.14191284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:6.96, Z:0.51 [[ 9.48148240e-01 -3.17579373e-01 -1.25800474e-02 8.28094132e+01] [ 3.17566046e-01 9.48231100e-01 -3.09619144e-03 6.96204283e+00] [ 1.29120787e-02 -1.05934744e-03 9.99916074e-01 5.14415299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:6.97, Z:0.51 [[ 9.46598381e-01 -3.22146691e-01 -1.31535268e-02 8.28349462e+01] [ 3.22132543e-01 9.46689039e-01 -3.23849555e-03 6.96972651e+00] [ 1.34955703e-02 -1.17162441e-03 9.99908244e-01 5.14405241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:6.98, Z:0.51 [[ 9.45908299e-01 -3.24191875e-01 -1.25346874e-02 8.28622794e+01] [ 3.24179183e-01 9.45990657e-01 -3.08788403e-03 6.97782869e+00] [ 1.28587641e-02 -1.14262960e-03 9.99916670e-01 5.14392357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:6.98, Z:0.51 [[ 9.45510714e-01 -3.25371429e-01 -1.19550690e-02 8.28899683e+01] [ 3.25400295e-01 9.45576226e-01 4.99933959e-04 6.98203031e+00] [ 1.11417648e-02 -4.36287588e-03 9.99928411e-01 5.14557102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:6.99, Z:0.51 [[ 9.45285735e-01 -3.26051916e-01 -1.11815955e-02 8.29165327e+01] [ 3.26000619e-01 9.45349291e-01 -6.18989003e-03 6.99465841e+00] [ 1.25887389e-02 2.20600769e-03 9.99918325e-01 5.14530698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94140051299999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:82.95, Y:7.00, Z:0.52 [[ 9.45549418e-01 -3.25207276e-01 -1.32863330e-02 8.29462440e+01] [ 3.25233524e-01 9.45633712e-01 -1.95258393e-04 6.99630635e+00] [ 1.26275039e-02 -4.13653445e-03 9.99911714e-01 5.15828539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:7.01, Z:0.51 [[ 9.45803409e-01 -3.24485965e-01 -1.28362783e-02 8.29710778e+01] [ 3.24430706e-01 9.45888927e-01 -6.23339277e-03 7.00723858e+00] [ 1.41643420e-02 1.73108129e-03 9.99898182e-01 5.14531739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:7.01, Z:0.52 [[ 9.45923472e-01 -3.24085167e-01 -1.40566739e-02 8.29989603e+01] [ 3.24069049e-01 9.46027056e-01 -3.47283522e-03 7.01143110e+00] [ 1.44234882e-02 -1.27029658e-03 9.99895169e-01 5.15266836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:7.02, Z:0.52 [[ 9.45995503e-01 -3.23882969e-01 -1.38683404e-02 8.30248119e+01] [ 3.23867231e-01 9.46096329e-01 -3.42822844e-03 7.01733033e+00] [ 1.42311308e-02 -1.24841233e-03 9.99897953e-01 5.15820400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:7.02, Z:0.52 [[ 9.45839806e-01 -3.24347326e-01 -1.36335449e-02 8.30522561e+01] [ 3.24332136e-01 9.45937257e-01 -3.37222616e-03 7.02370653e+00] [ 1.39902506e-02 -1.23221100e-03 9.99901372e-01 5.15793379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:7.03, Z:0.52 [[ 9.45564895e-01 -3.25143445e-01 -1.37393706e-02 8.30793163e+01] [ 3.25128061e-01 9.45663881e-01 -3.40124791e-03 7.03038423e+00] [ 1.40987199e-02 -1.25095429e-03 9.99899826e-01 5.15412232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:7.04, Z:0.51 [[ 9.45210831e-01 -3.26189422e-01 -1.33021285e-02 8.31054917e+01] [ 3.26175078e-01 9.45303635e-01 -3.29491625e-03 7.03651044e+00] [ 1.36493172e-02 -1.22443228e-03 9.99906094e-01 5.14795968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:7.04, Z:0.52 [[ 9.44872676e-01 -3.27182294e-01 -1.29372656e-02 8.31329584e+01] [ 3.27228577e-01 9.44943895e-01 1.57919264e-03 7.03829345e+00] [ 1.17083063e-02 -5.72557900e-03 9.99915063e-01 5.15182006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:7.05, Z:0.52 [[ 9.44336722e-01 -3.28787878e-01 -1.12554661e-02 8.31595953e+01] [ 3.28718784e-01 9.44397492e-01 -7.57220505e-03 7.05217974e+00] [ 1.31192831e-02 3.45082818e-03 9.99907984e-01 5.15267621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:7.05, Z:0.52 [[ 9.42786387e-01 -3.33120132e-01 -1.35943250e-02 8.31889320e+01] [ 3.33105765e-01 9.42883430e-01 -3.37433553e-03 7.05098975e+00] [ 1.39419229e-02 -1.34707044e-03 9.99901899e-01 5.16125173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:7.05, Z:0.52 [[ 9.41971396e-01 -3.35384214e-01 -1.43985456e-02 8.32176461e+01] [ 3.35442814e-01 9.42058858e-01 1.79647219e-03 7.05040139e+00] [ 1.29617690e-02 -6.52211407e-03 9.99894722e-01 5.16875655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:7.06, Z:0.52 [[ 9.41211515e-01 -3.37568538e-01 -1.29755526e-02 8.32439063e+01] [ 3.37541453e-01 9.41300890e-01 -4.28982702e-03 7.05920567e+00] [ 1.36620098e-02 -3.42152289e-04 9.99906612e-01 5.16988081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:7.07, Z:0.52 [[ 9.40815748e-01 -3.38693589e-01 -1.23442706e-02 8.32721032e+01] [ 3.38624279e-01 9.40892638e-01 -7.39203558e-03 7.06632997e+00] [ 1.41182683e-02 2.77447377e-03 9.99896483e-01 5.17236620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:7.07, Z:0.52 [[ 9.41467590e-01 -3.36892827e-01 -1.19163722e-02 8.33008406e+01] [ 3.36882015e-01 9.41542205e-01 -2.96367229e-03 7.06662143e+00] [ 1.22182073e-02 -1.22421006e-03 9.99924606e-01 5.19141449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.33, Y:7.07, Z:0.52 [[ 9.42039145e-01 -3.35299688e-01 -1.16776986e-02 8.33285436e+01] [ 3.35289156e-01 9.42110786e-01 -2.90658374e-03 7.07304697e+00] [ 1.19762624e-02 -1.17729004e-03 9.99927589e-01 5.21075931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:7.08, Z:0.52 [[ 9.43044040e-01 -3.32492116e-01 -1.08135117e-02 8.33554594e+01] [ 3.32482885e-01 9.43105444e-01 -2.69304285e-03 7.07846426e+00] [ 1.10936973e-02 -1.05564956e-03 9.99937906e-01 5.20443745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:7.08, Z:0.52 [[ 9.44674789e-01 -3.27809960e-01 -1.14093479e-02 8.33824214e+01] [ 3.27846479e-01 9.44729915e-01 1.43984636e-03 7.08012551e+00] [ 1.03067563e-02 -5.10070110e-03 9.99933875e-01 5.20501334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:7.09, Z:0.52 [[ 9.45334074e-01 -3.25887081e-01 -1.18784751e-02 8.34079377e+01] [ 3.25822782e-01 9.45404567e-01 -7.05116699e-03 7.09355690e+00] [ 1.35278488e-02 2.79543062e-03 9.99904587e-01 5.19423961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:7.10, Z:0.52 [[ 9.45754126e-01 -3.24583508e-01 -1.39527223e-02 8.34352925e+01] [ 3.24567182e-01 9.45856236e-01 -3.48204858e-03 7.09600776e+00] [ 1.43274849e-02 -1.23543394e-03 9.99896593e-01 5.19382697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:7.10, Z:0.52 [[ 9.45877026e-01 -3.24217779e-01 -1.41238950e-02 8.34631193e+01] [ 3.24255475e-01 9.45969463e-01 4.02597408e-04 7.09740121e+00] [ 1.32302442e-02 -4.96055793e-03 9.99900172e-01 5.19316851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:7.11, Z:0.52 [[ 9.45372352e-01 -3.25790628e-01 -1.14709502e-02 8.34903344e+01] [ 3.25731496e-01 9.45438256e-01 -6.74508005e-03 7.10634754e+00] [ 1.30425590e-02 2.64016243e-03 9.99911457e-01 5.20139392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:7.11, Z:0.52 [[ 9.45051487e-01 -3.26720107e-01 -1.14742849e-02 8.35191873e+01] [ 3.26756645e-01 9.45107449e-01 1.41590760e-03 7.10560502e+00] [ 1.03818267e-02 -5.08740444e-03 9.99933166e-01 5.21794335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:7.12, Z:0.52 [[ 9.44760038e-01 -3.27596945e-01 -1.04264921e-02 8.35440107e+01] [ 3.27581296e-01 9.44817498e-01 -3.22330507e-03 7.11603803e+00] [ 1.09070771e-02 -3.70273976e-04 9.99940448e-01 5.21521248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:7.12, Z:0.52 [[ 9.44654665e-01 -3.27891191e-01 -1.07206310e-02 8.35706890e+01] [ 3.27877961e-01 9.44715263e-01 -3.01913139e-03 7.12216083e+00] [ 1.11178903e-02 -6.63022086e-04 9.99937975e-01 5.21598181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:7.13, Z:0.52 [[ 9.44655887e-01 -3.27874628e-01 -1.11122852e-02 8.35977889e+01] [ 3.27869190e-01 9.44720185e-01 -2.35942846e-03 7.12730196e+00] [ 1.12715968e-02 -1.41452796e-03 9.99935473e-01 5.21670889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:7.13, Z:0.53 [[ 9.44704648e-01 -3.27658966e-01 -1.31426823e-02 8.36264159e+01] [ 3.27721256e-01 9.44770179e-01 2.84370289e-03 7.12903017e+00] [ 1.14850495e-02 -6.99359568e-03 9.99909588e-01 5.25713572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:7.15, Z:0.52 [[ 9.45176393e-01 -3.26492678e-01 -6.64204964e-03 8.36508094e+01] [ 3.26441683e-01 9.45185818e-01 -7.71992214e-03 7.14540165e+00] [ 8.79846918e-03 5.12844629e-03 9.99948142e-01 5.22435137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:7.15, Z:0.52 [[ 9.45325927e-01 -3.26035728e-01 -7.71987015e-03 8.36795548e+01] [ 3.26028746e-01 9.45357338e-01 -2.18157762e-03 7.14787949e+00] [ 8.00930814e-03 -4.54597702e-04 9.99967822e-01 5.22630592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:7.16, Z:0.52 [[ 9.45362010e-01 -3.25910308e-01 -8.55223804e-03 8.37059226e+01] [ 3.25872225e-01 9.45397466e-01 -5.56090719e-03 7.15680980e+00] [ 9.89762115e-03 2.47013356e-03 9.99947966e-01 5.21808900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:7.16, Z:0.52 [[ 9.45362335e-01 -3.25854867e-01 -1.04240401e-02 8.37327585e+01] [ 3.25845657e-01 9.45419354e-01 -2.61772527e-03 7.15921846e+00] [ 1.07080878e-02 -9.21929316e-04 9.99942242e-01 5.21500737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:83.76, Y:7.16, Z:0.52 [[ 9.45043626e-01 -3.26720116e-01 -1.21041188e-02 8.37600157e+01] [ 3.26707745e-01 9.45120521e-01 -3.04147344e-03 7.16487536e+00] [ 1.24335616e-02 -1.08018426e-03 9.99922117e-01 5.22106842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:83.79, Y:7.17, Z:0.52 [[ 9.44796228e-01 -3.27433243e-01 -1.21473503e-02 8.37874493e+01] [ 3.27420811e-01 9.44873685e-01 -3.05480393e-03 7.17145785e+00] [ 1.24779560e-02 -1.09112806e-03 9.99921552e-01 5.23476703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:7.18, Z:0.52 [[ 9.44607084e-01 -3.27997793e-01 -1.16148172e-02 8.38138453e+01] [ 3.27986449e-01 9.44677907e-01 -2.92253772e-03 7.17634284e+00] [ 1.19308471e-02 -1.04885282e-03 9.99928275e-01 5.23164622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:7.18, Z:0.52 [[ 9.44201298e-01 -3.29152293e-01 -1.19447265e-02 8.38428627e+01] [ 3.29184851e-01 9.44265149e-01 8.14083987e-04 7.17629049e+00] [ 1.10110314e-02 -4.70068218e-03 9.99928328e-01 5.23418251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:83.87, Y:7.19, Z:0.52 [[ 9.44071687e-01 -3.29534550e-01 -1.16460192e-02 8.38695423e+01] [ 3.29475298e-01 9.44140138e-01 -6.74006644e-03 7.19015271e+00] [ 1.32165589e-02 2.52603025e-03 9.99909467e-01 5.24027328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:7.19, Z:0.52 [[ 9.44531899e-01 -3.28228774e-01 -1.11965680e-02 8.38966324e+01] [ 3.28240820e-01 9.44593738e-01 -7.96551091e-04 7.19196476e+00] [ 1.08376590e-02 -2.92280274e-03 9.99936999e-01 5.22691358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:7.20, Z:0.52 [[ 9.45091798e-01 -3.26644066e-01 -1.02541473e-02 8.39231838e+01] [ 3.26636693e-01 9.45146841e-01 -2.43297607e-03 7.20077814e+00] [ 1.04863921e-02 -1.04999503e-03 9.99944465e-01 5.23370957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.95, Y:7.21, Z:0.53 [[ 9.45538116e-01 -3.25327948e-01 -1.09268672e-02 8.39513455e+01] [ 3.25293045e-01 9.45600655e-01 -4.88222043e-03 7.20934277e+00] [ 1.19207755e-02 1.06189162e-03 9.99928381e-01 5.25255688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:83.98, Y:7.21, Z:0.52 [[ 9.46389517e-01 -3.22774264e-01 -1.27928447e-02 8.39783510e+01] [ 3.22840601e-01 9.46447041e-01 3.45613613e-03 7.20675384e+00] [ 1.09921982e-02 -7.40090066e-03 9.99912195e-01 5.24522518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:7.22, Z:0.52 [[ 9.46449443e-01 -3.22648257e-01 -1.14697043e-02 8.40034691e+01] [ 3.22602682e-01 9.46517465e-01 -5.67426440e-03 7.22215072e+00] [ 1.26870669e-02 1.67024703e-03 9.99918121e-01 5.23925044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.03, Y:7.23, Z:0.52 [[ 9.46541372e-01 -3.22391780e-01 -1.10892623e-02 8.40303883e+01] [ 3.22335272e-01 9.46602549e-01 -6.60197620e-03 7.23010226e+00] [ 1.26255468e-02 2.67458324e-03 9.99916718e-01 5.23854370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:84.06, Y:7.23, Z:0.53 [[ 9.46488193e-01 -3.22548838e-01 -1.10611114e-02 8.40588018e+01] [ 3.22535005e-01 9.46552586e-01 -3.06137148e-03 7.23442087e+00] [ 1.14573655e-02 -6.70043680e-04 9.99934138e-01 5.25995642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:84.09, Y:7.24, Z:0.52 [[ 9.46189015e-01 -3.23461977e-01 -9.93468203e-03 8.40867365e+01] [ 3.23488799e-01 9.46231265e-01 1.17890524e-03 7.23589627e+00] [ 9.01917573e-03 -4.32922555e-03 9.99949955e-01 5.24619332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:84.11, Y:7.25, Z:0.52 [[ 9.45808923e-01 -3.24543670e-01 -1.08114288e-02 8.41132085e+01] [ 3.24519538e-01 9.45870682e-01 -3.96510263e-03 7.24651926e+00] [ 1.15130625e-02 2.41709572e-04 9.99933693e-01 5.23885584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.14, Y:7.25, Z:0.52 [[ 9.45465992e-01 -3.25446372e-01 -1.33684840e-02 8.41413494e+01] [ 3.25395467e-01 9.45559724e-01 -5.88199856e-03 7.25455262e+00] [ 1.45549751e-02 1.21118551e-03 9.99893337e-01 5.24473438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.17, Y:7.26, Z:0.52 [[ 9.45415283e-01 -3.25541736e-01 -1.45781236e-02 8.41692820e+01] [ 3.25560651e-01 9.45520493e-01 -1.12271126e-03 7.25562424e+00] [ 1.41494039e-02 -3.68463502e-03 9.99893103e-01 5.23901568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32140051299999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:84.20, Y:7.26, Z:0.52 [[ 9.45344262e-01 -3.25776867e-01 -1.39161747e-02 8.41974277e+01] [ 3.25842899e-01 9.45420040e-01 2.71170455e-03 7.25780460e+00] [ 1.22732199e-02 -7.09798106e-03 9.99899488e-01 5.24015028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:84.22, Y:7.27, Z:0.52 [[ 9.45405785e-01 -3.25742841e-01 -9.97515200e-03 8.42232000e+01] [ 3.25667429e-01 9.45446412e-01 -8.47394407e-03 7.27303384e+00] [ 1.21912983e-02 4.76273363e-03 9.99914341e-01 5.23538597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.25, Y:7.28, Z:0.53 [[ 9.45893063e-01 -3.24271445e-01 -1.15906395e-02 8.42508463e+01] [ 3.24230953e-01 9.45963280e-01 -5.26900809e-03 7.27640828e+00] [ 1.26729082e-02 1.22587412e-03 9.99918944e-01 5.25773870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:84.28, Y:7.28, Z:0.53 [[ 9.46731589e-01 -3.21834673e-01 -1.10336368e-02 8.42776930e+01] [ 3.21850155e-01 9.46790539e-01 -3.90994765e-04 7.27878391e+00] [ 1.05723786e-02 -3.18101062e-03 9.99939051e-01 5.25177153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:7.29, Z:0.53 [[ 9.47703024e-01 -3.18986364e-01 -1.03284640e-02 8.43042549e+01] [ 3.18962318e-01 9.47759202e-01 -3.94141217e-03 7.28900761e+00] [ 1.10461535e-02 4.40897429e-04 9.99938892e-01 5.25269034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.33, Y:7.29, Z:0.53 [[ 9.49633355e-01 -3.13071254e-01 -1.35233492e-02 8.43324526e+01] [ 3.13143413e-01 9.49699247e-01 3.54165421e-03 7.29300254e+00] [ 1.17343244e-02 -7.59802068e-03 9.99902283e-01 5.29328359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:7.31, Z:0.52 [[ 9.50590200e-01 -3.10292292e-01 -9.84711138e-03 8.43568036e+01] [ 3.10192455e-01 9.50616251e-01 -1.04586501e-02 7.31460806e+00] [ 1.26060626e-02 6.88739066e-03 9.99896820e-01 5.24674467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:84.38, Y:7.31, Z:0.53 [[ 9.51322770e-01 -3.07940221e-01 -1.25621208e-02 8.43839721e+01] [ 3.07990360e-01 9.51386875e-01 2.22555167e-03 7.31188666e+00] [ 1.12661000e-02 -5.98623008e-03 9.99918617e-01 5.25875472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:84.41, Y:7.32, Z:0.53 [[ 9.51308509e-01 -3.08036273e-01 -1.12149291e-02 8.44094246e+01] [ 3.08023980e-01 9.51374323e-01 -2.85043284e-03 7.32321260e+00] [ 1.15476323e-02 -7.42826086e-04 9.99933048e-01 5.25326065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.591400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.44, Y:7.33, Z:0.53 [[ 9.51583979e-01 -3.07140393e-01 -1.23575477e-02 8.44364145e+01] [ 3.07108611e-01 9.51664119e-01 -4.43920519e-03 7.33308423e+00] [ 1.31236940e-02 4.29167225e-04 9.99913789e-01 5.25965143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62140051299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:84.46, Y:7.35, Z:0.52 [[ 9.51420420e-01 -3.07666270e-01 -1.18596356e-02 8.44624610e+01] [ 3.07619360e-01 9.51492782e-01 -5.64051349e-03 7.34522679e+00] [ 1.30197534e-02 1.71824620e-03 9.99913763e-01 5.24683801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.49, Y:7.35, Z:0.53 [[ 9.51093387e-01 -3.08687767e-01 -1.15425545e-02 8.44895985e+01] [ 3.08733176e-01 9.51145810e-01 2.33967752e-03 7.34695489e+00] [ 1.02564225e-02 -5.78882132e-03 9.99930645e-01 5.25171422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:84.52, Y:7.36, Z:0.52 [[ 9.50369302e-01 -3.10983888e-01 -9.33873299e-03 8.45158119e+01] [ 3.10961056e-01 9.50414890e-01 -3.84160912e-03 7.35954717e+00] [ 1.00703494e-02 7.46965105e-04 9.99949014e-01 5.24640049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.54, Y:7.36, Z:0.53 [[ 9.49491268e-01 -3.13514443e-01 -1.32297562e-02 8.45449432e+01] [ 3.13576839e-01 9.49558443e-01 2.88623301e-03 7.35930981e+00] [ 1.16575510e-02 -6.88899817e-03 9.99908317e-01 5.30795477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.57, Y:7.38, Z:0.53 [[ 9.48525514e-01 -3.16586171e-01 -8.51734958e-03 8.45694672e+01] [ 3.16488657e-01 9.48531541e-01 -1.10835888e-02 7.37882656e+00] [ 1.15878857e-02 7.81742228e-03 9.99902300e-01 5.25616215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.60, Y:7.37, Z:0.53 [[ 9.47766130e-01 -3.18687082e-01 -1.33381660e-02 8.45991980e+01] [ 3.18767413e-01 9.47822988e-01 4.34957289e-03 7.37265157e+00] [ 1.12560676e-02 -8.37415052e-03 9.99901582e-01 5.29472361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:84.62, Y:7.39, Z:0.52 [[ 9.47040701e-01 -3.20986394e-01 -9.03584070e-03 8.46219794e+01] [ 3.20908074e-01 9.47066415e-01 -9.12209553e-03 7.39299396e+00] [ 1.14856098e-02 5.73932150e-03 9.99917567e-01 5.23814775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:84.65, Y:7.40, Z:0.53 [[ 9.47055456e-01 -3.20905034e-01 -1.02918734e-02 8.46512019e+01] [ 3.20874249e-01 9.47110832e-01 -4.55951188e-03 7.39677683e+00] [ 1.12107151e-02 1.01571345e-03 9.99936642e-01 5.25535148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.68, Y:7.40, Z:0.53 [[ 9.47087839e-01 -3.20807842e-01 -1.03418679e-02 8.46788310e+01] [ 3.20777689e-01 9.47143833e-01 -4.49822270e-03 7.40464627e+00] [ 1.12383015e-02 9.42771527e-04 9.99936404e-01 5.27488283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:84.71, Y:7.40, Z:0.53 [[ 9.47558612e-01 -3.19316139e-01 -1.30338409e-02 8.47076830e+01] [ 3.19447842e-01 9.47554451e-01 9.67670964e-03 7.39896755e+00] [ 9.26034436e-03 -1.33328819e-02 9.99868231e-01 5.31341375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:7.42, Z:0.53 [[ 9.47696740e-01 -3.19018893e-01 -9.89112077e-03 8.47320849e+01] [ 3.19000528e-01 9.47748352e-01 -3.42422786e-03 7.41749249e+00] [ 1.04666868e-02 8.98568344e-05 9.99945219e-01 5.30058316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.76, Y:7.43, Z:0.53 [[ 9.47578119e-01 -3.19439626e-01 -7.35081318e-03 8.47566705e+01] [ 3.19326673e-01 9.47550508e-01 -1.33607643e-02 7.43391609e+00] [ 1.12332243e-02 1.03130572e-02 9.99883721e-01 5.26584092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.79, Y:7.43, Z:0.53 [[ 9.46961830e-01 -3.21229528e-01 -8.65350743e-03 8.47867223e+01] [ 3.21228173e-01 9.47000503e-01 -1.58383390e-03 7.43217045e+00] [ 8.70365010e-03 -1.27992014e-03 9.99961303e-01 5.26548088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:7.44, Z:0.53 [[ 9.46754993e-01 -3.21839658e-01 -8.61502553e-03 8.48140424e+01] [ 3.21847619e-01 9.46791358e-01 -4.83631120e-04 7.43910348e+00] [ 8.31228340e-03 -2.31484528e-03 9.99962773e-01 5.26727876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.84, Y:7.44, Z:0.53 [[ 9.46647698e-01 -3.22073623e-01 -1.12569097e-02 8.48424635e+01] [ 3.22129314e-01 9.46689225e-01 3.49511178e-03 7.44197376e+00] [ 9.53111178e-03 -6.93482011e-03 9.99930531e-01 5.30825291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:84.87, Y:7.46, Z:0.53 [[ 9.46217713e-01 -3.23446394e-01 -7.38038931e-03 8.48657505e+01] [ 3.23385528e-01 9.46230382e-01 -8.35852569e-03 7.46175172e+00] [ 9.68708359e-03 5.52227396e-03 9.99937831e-01 5.27271746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.89, Y:7.47, Z:0.53 [[ 9.46076954e-01 -3.23789547e-01 -9.93608785e-03 8.48931640e+01] [ 3.23755511e-01 9.46128057e-01 -4.90607531e-03 7.46731419e+00] [ 1.09893474e-02 1.42466159e-03 9.99938600e-01 5.27877130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:7.47, Z:0.53 [[ 9.46159519e-01 -3.23470219e-01 -1.22139823e-02 8.49201195e+01] [ 3.23452016e-01 9.46238130e-01 -3.49199810e-03 7.47441727e+00] [ 1.26868932e-02 -6.46649950e-04 9.99919309e-01 5.28538506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:7.48, Z:0.53 [[ 9.46371995e-01 -3.22830857e-01 -1.26603686e-02 8.49484733e+01] [ 3.22837285e-01 9.46453149e-01 -1.58892933e-03 7.48063936e+00] [ 1.24954011e-02 -2.58352080e-03 9.99918592e-01 5.28520753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19140051299999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:84.98, Y:7.48, Z:0.53 [[ 9.46543947e-01 -3.22265136e-01 -1.41329026e-02 8.49759909e+01] [ 3.22367949e-01 9.46597494e-01 5.66482624e-03 7.48179167e+00] [ 1.15525942e-02 -9.91800182e-03 9.99884079e-01 5.33854785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:7.50, Z:0.53 [[ 9.46824136e-01 -3.21703142e-01 -5.58073796e-03 8.50003038e+01] [ 3.21642285e-01 9.46812209e-01 -9.63752932e-03 7.50369333e+00] [ 8.38433430e-03 7.33004406e-03 9.99937985e-01 5.27184524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.03, Y:7.51, Z:0.53 [[ 9.46893405e-01 -3.21473906e-01 -6.88525741e-03 8.50281531e+01] [ 3.21474494e-01 9.46917655e-01 -1.05132139e-03 7.50673628e+00] [ 6.85774419e-03 -1.21794534e-03 9.99975744e-01 5.28208555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:7.52, Z:0.53 [[ 9.46677104e-01 -3.22062498e-01 -8.84358333e-03 8.50541931e+01] [ 3.22033504e-01 9.46717261e-01 -4.56610744e-03 7.51768904e+00] [ 9.84294496e-03 1.47469923e-03 9.99950470e-01 5.28201620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:85.08, Y:7.52, Z:0.53 [[ 9.46706501e-01 -3.21914377e-01 -1.08597616e-02 8.50814351e+01] [ 3.21929255e-01 9.46763644e-01 -3.96820450e-04 7.52052320e+00] [ 1.04093697e-02 -3.12040248e-03 9.99940952e-01 5.27581289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.11, Y:7.53, Z:0.53 [[ 9.46371634e-01 -3.22889024e-01 -1.11089835e-02 8.51077590e+01] [ 3.22843454e-01 9.46435059e-01 -5.72557887e-03 7.53210278e+00] [ 1.23626580e-02 1.83206283e-03 9.99921901e-01 5.27170282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.13, Y:7.53, Z:0.53 [[ 9.46308345e-01 -3.23087959e-01 -1.07091884e-02 8.51338648e+01] [ 3.23122694e-01 9.46355656e-01 1.64198794e-03 7.53267084e+00] [ 9.60419451e-03 -5.01420871e-03 9.99941307e-01 5.26862520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.16, Y:7.55, Z:0.53 [[ 9.45996636e-01 -3.24054753e-01 -8.88156470e-03 8.51609578e+01] [ 3.23985693e-01 9.46024827e-01 -8.38431986e-03 7.54974827e+00] [ 1.11191594e-02 5.05403849e-03 9.99925408e-01 5.26659334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:7.55, Z:0.53 [[ 9.46737625e-01 -3.21811241e-01 -1.11979910e-02 8.51891141e+01] [ 3.21900159e-01 9.46745556e-01 7.28966292e-03 7.54547976e+00] [ 8.25575270e-03 -1.05060332e-02 9.99910729e-01 5.27801496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:85.21, Y:7.56, Z:0.53 [[ 9.47265268e-01 -3.20337197e-01 -8.52012025e-03 8.52132579e+01] [ 3.20311149e-01 9.47302629e-01 -4.30075534e-03 7.56475632e+00] [ 9.44882423e-03 1.34486665e-03 9.99954454e-01 5.26443279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:85.24, Y:7.57, Z:0.53 [[ 9.47911096e-01 -3.18405224e-01 -9.09210996e-03 8.52389155e+01] [ 3.18371835e-01 9.47952999e-01 -4.94845232e-03 7.57425743e+00] [ 1.01945060e-02 1.79602113e-03 9.99946422e-01 5.27159155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:7.59, Z:0.53 [[ 9.48153116e-01 -3.17649168e-01 -1.02310797e-02 8.52674669e+01] [ 3.17577249e-01 9.48198127e-01 -8.06242105e-03 7.58730010e+00] [ 1.22621119e-02 4.39525150e-03 9.99915158e-01 5.27331807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:85.30, Y:7.59, Z:0.53 [[ 9.48627708e-01 -3.16151785e-01 -1.23903078e-02 8.52954650e+01] [ 3.16163553e-01 9.48704120e-01 -1.04872385e-03 7.59083069e+00] [ 1.20862920e-02 -2.92251523e-03 9.99922687e-01 5.28466962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:85.32, Y:7.60, Z:0.53 [[ 9.48936303e-01 -3.15222683e-01 -1.24319544e-02 8.53214802e+01] [ 3.15212638e-01 9.49016909e-01 -2.81057645e-03 7.60273540e+00] [ 1.26840924e-02 -1.25165111e-03 9.99918770e-01 5.28441198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.35, Y:7.62, Z:0.53 [[ 9.49573077e-01 -3.13364723e-01 -1.06546950e-02 8.53458498e+01] [ 3.13347723e-01 9.49632822e-01 -3.27222692e-03 7.61587065e+00] [ 1.11434485e-02 -2.31405827e-04 9.99937883e-01 5.26482132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:85.38, Y:7.61, Z:0.53 [[ 9.50035031e-01 -3.11877528e-01 -1.28782152e-02 8.53751860e+01] [ 3.12000721e-01 9.50039405e-01 8.98213194e-03 7.61262467e+00] [ 9.43348681e-03 -1.25513524e-02 9.99876729e-01 5.31030422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:85.40, Y:7.63, Z:0.53 [[ 9.50136444e-01 -3.11775941e-01 -6.04157929e-03 8.53965045e+01] [ 3.11750473e-01 9.50151876e-01 -4.80165198e-03 7.63461745e+00] [ 7.23745746e-03 2.67875933e-03 9.99970221e-01 5.25696379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.42, Y:7.65, Z:0.53 [[ 9.49828314e-01 -3.12692448e-01 -7.04324188e-03 8.54246171e+01] [ 3.12587799e-01 9.49801169e-01 -1.29076296e-02 7.65207653e+00] [ 1.07257977e-02 1.00584006e-02 9.99891887e-01 5.26824884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73140051299998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:85.45, Y:7.65, Z:0.53 [[ 9.50068999e-01 -3.11864069e-01 -1.04737075e-02 8.54532999e+01] [ 3.11864578e-01 9.50125171e-01 -1.62640308e-03 7.65305071e+00] [ 1.04585498e-02 -1.72118324e-03 9.99943827e-01 5.27903951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.48, Y:7.66, Z:0.53 [[ 9.51531781e-01 -3.07356414e-01 -1.09226619e-02 8.54778094e+01] [ 3.07424732e-01 9.51558139e-01 5.20983587e-03 7.65978639e+00] [ 8.79227133e-03 -8.31522081e-03 9.99926774e-01 5.28043884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.50, Y:7.68, Z:0.53 [[ 9.52411315e-01 -3.04698722e-01 -8.44848701e-03 8.55025418e+01] [ 3.04664104e-01 9.52445931e-01 -5.15100485e-03 7.67911697e+00] [ 9.61623166e-03 2.33192457e-03 9.99951044e-01 5.27779582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:85.53, Y:7.68, Z:0.53 [[ 9.53459174e-01 -3.01325742e-01 -1.08812185e-02 8.55293791e+01] [ 3.01358630e-01 9.53509716e-01 1.48218311e-03 7.68346263e+00] [ 9.92872760e-03 -4.69235018e-03 9.99939699e-01 5.32156569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:7.71, Z:0.53 [[ 9.54610234e-01 -2.97809185e-01 -5.38426029e-03 8.55550107e+01] [ 2.97750402e-01 9.54595444e-01 -9.60396893e-03 7.70508839e+00] [ 7.99994051e-03 7.56488136e-03 9.99939385e-01 5.29542004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.58, Y:7.71, Z:0.53 [[ 9.57123019e-01 -2.89614036e-01 -6.26385253e-03 8.55836473e+01] [ 2.89623590e-01 9.57140400e-01 6.56160508e-04 7.71138593e+00] [ 5.80535303e-03 -2.44218578e-03 9.99980167e-01 5.34456325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.61, Y:7.73, Z:0.53 [[ 9.58258994e-01 -2.85885859e-01 -2.99595846e-03 8.56058191e+01] [ 2.85874898e-01 9.58260131e-01 -3.61446456e-03 7.72823767e+00] [ 3.90423185e-03 2.60712385e-03 9.99988980e-01 5.31679683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:7.74, Z:0.53 [[ 9.59050622e-01 -2.83187646e-01 -5.16348170e-03 8.56340734e+01] [ 2.83202177e-01 9.59057408e-01 2.32678318e-03 7.73634167e+00] [ 4.29315912e-03 -3.69381212e-03 9.99983962e-01 5.33620177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:7.75, Z:0.53 [[ 9.59838166e-01 -2.80513233e-01 -4.79802260e-03 8.56594852e+01] [ 2.80509142e-01 9.59850152e-01 -1.51915551e-03 7.75167695e+00] [ 5.03152594e-03 1.12254233e-04 9.99987335e-01 5.33480194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:7.77, Z:0.53 [[ 9.60221676e-01 -2.79223748e-01 -2.90377901e-03 8.56835588e+01] [ 2.79209108e-01 9.60219262e-01 -4.60907188e-03 7.76620322e+00] [ 4.07522686e-03 3.61496918e-03 9.99985162e-01 5.29972129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.71, Y:7.77, Z:0.53 [[ 9.60380250e-01 -2.78660069e-01 -4.28267092e-03 8.57112767e+01] [ 2.78648791e-01 9.60388233e-01 -3.04854883e-03 7.77490402e+00] [ 4.96253558e-03 1.73440502e-03 9.99986182e-01 5.30021892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.74, Y:7.78, Z:0.53 [[ 9.60471583e-01 -2.78335052e-01 -4.89248856e-03 8.57380508e+01] [ 2.78332161e-01 9.60484034e-01 -1.27587796e-03 7.78433361e+00] [ 5.05427871e-03 -1.36292393e-04 9.99987218e-01 5.29923298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:7.79, Z:0.53 [[ 9.60503244e-01 -2.78229900e-01 -4.65211520e-03 8.57633474e+01] [ 2.78238408e-01 9.60511190e-01 1.28138199e-03 7.79164687e+00] [ 4.11188993e-03 -2.52516868e-03 9.99988358e-01 5.30566664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:85.79, Y:7.81, Z:0.53 [[ 9.60271909e-01 -2.79044467e-01 -3.47075658e-03 8.57895889e+01] [ 2.79033114e-01 9.60275387e-01 -3.42079650e-03 7.80608542e+00] [ 4.28743646e-03 2.31643877e-03 9.99988126e-01 5.30260507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:7.81, Z:0.54 [[ 9.60427024e-01 -2.78460931e-01 -6.28018530e-03 8.58192695e+01] [ 2.78499384e-01 9.60414989e-01 6.41422369e-03 7.80627108e+00] [ 4.24547339e-03 -7.90942151e-03 9.99959708e-01 5.35375921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:7.83, Z:0.53 [[ 9.60406242e-01 -2.78598262e-01 -1.69101147e-03 8.58422289e+01] [ 2.78586545e-01 9.60397221e-01 -5.16860785e-03 7.82557206e+00] [ 3.06400788e-03 4.49287020e-03 9.99985213e-01 5.32684598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:7.83, Z:0.53 [[ 9.60496826e-01 -2.78272693e-01 -3.18682794e-03 8.58705363e+01] [ 2.78258867e-01 9.60497009e-01 -4.18317186e-03 7.83238969e+00] [ 4.22500121e-03 3.13116016e-03 9.99986173e-01 5.32966106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:7.83, Z:0.53 [[ 9.61100975e-01 -2.76143891e-01 -5.42844765e-03 8.58964128e+01] [ 2.76164551e-01 9.61103977e-01 3.50507727e-03 7.83334148e+00] [ 4.24939695e-03 -4.86787799e-03 9.99979123e-01 5.32418741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:7.85, Z:0.53 [[ 9.61153149e-01 -2.75976206e-01 -4.66458421e-03 8.59230162e+01] [ 2.75946483e-01 9.61153396e-01 -6.13901712e-03 7.85103856e+00] [ 6.17760361e-03 4.61336002e-03 9.99970277e-01 5.32451609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:7.86, Z:0.53 [[ 9.61618841e-01 -2.74326139e-01 -5.86299108e-03 8.59518361e+01] [ 2.74320973e-01 9.61636714e-01 -1.68353776e-03 7.85591748e+00] [ 6.09990589e-03 1.05802068e-05 9.99981395e-01 5.32012363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.98, Y:7.86, Z:0.53 [[ 9.62549815e-01 -2.71041094e-01 -5.88038624e-03 8.59764717e+01] [ 2.71061359e-01 9.62557512e-01 2.96233891e-03 7.85860831e+00] [ 4.85729437e-03 -4.44534425e-03 9.99978323e-01 5.30624970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:7.87, Z:0.53 [[ 9.63512296e-01 -2.67594935e-01 -6.08329218e-03 8.60058038e+01] [ 2.67590827e-01 9.63531481e-01 -1.49454402e-03 7.86856152e+00] [ 6.26137593e-03 -1.87821643e-04 9.99980380e-01 5.33972671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:7.88, Z:0.53 [[ 9.65060246e-01 -2.61965045e-01 -5.74770566e-03 8.60305697e+01] [ 2.61933143e-01 9.65068890e-01 -5.75039520e-03 7.87710435e+00] [ 7.05333446e-03 4.04396321e-03 9.99966948e-01 5.32584531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:7.88, Z:0.53 [[ 9.65832755e-01 -2.59065345e-01 -7.22746109e-03 8.60587785e+01] [ 2.59076055e-01 9.65856755e-01 5.70877886e-04 7.87857135e+00] [ 6.83279744e-03 -2.42383467e-03 9.99973719e-01 5.31595825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:7.89, Z:0.53 [[ 9.65815295e-01 -2.59147157e-01 -6.60054669e-03 8.60847948e+01] [ 2.59141400e-01 9.65837848e-01 -1.72783871e-03 7.88766903e+00] [ 6.82282230e-03 -4.17018583e-05 9.99976723e-01 5.31647052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:7.89, Z:0.53 [[ 9.66672379e-01 -2.55884757e-01 -8.21605624e-03 8.61118951e+01] [ 2.55890878e-01 9.66705622e-01 -3.15209593e-04 7.89366679e+00] [ 8.02316509e-03 -1.79770943e-03 9.99966198e-01 5.31710592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:7.90, Z:0.53 [[ 9.67562854e-01 -2.52486098e-01 -8.53777027e-03 8.61387356e+01] [ 2.52500340e-01 9.67596610e-01 6.15749057e-04 7.89932078e+00] [ 8.10564949e-03 -2.75156581e-03 9.99963363e-01 5.30428870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:7.91, Z:0.53 [[ 9.69050994e-01 -2.46735008e-01 -7.87446043e-03 8.61680266e+01] [ 2.46676021e-01 9.69066943e-01 -7.75891057e-03 7.91250410e+00] [ 9.54527417e-03 5.57633944e-03 9.99938894e-01 5.31347201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:7.91, Z:0.53 [[ 9.70034406e-01 -2.42820755e-01 -8.44587954e-03 8.61957206e+01] [ 2.42842877e-01 9.70064172e-01 1.68496072e-03 7.91115138e+00] [ 7.78390171e-03 -3.68549156e-03 9.99962913e-01 5.31214207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:7.92, Z:0.53 [[ 9.70908415e-01 -2.39371511e-01 -6.17484109e-03 8.62210687e+01] [ 2.39350637e-01 9.70925228e-01 -3.93384009e-03 7.92343190e+00] [ 6.93695823e-03 2.34144630e-03 9.99973198e-01 5.30185900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:7.93, Z:0.53 [[ 9.71620518e-01 -2.36435244e-01 -7.20727281e-03 8.62491485e+01] [ 2.36431253e-01 9.71647192e-01 -1.41300313e-03 7.92784987e+00] [ 7.33701013e-03 -3.31121714e-04 9.99973029e-01 5.30395273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:7.94, Z:0.53 [[ 9.72118508e-01 -2.34355432e-01 -7.94587236e-03 8.62767847e+01] [ 2.34315352e-01 9.72144165e-01 -5.66025411e-03 7.93849996e+00] [ 9.05104475e-03 3.64059791e-03 9.99952411e-01 5.30607758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:7.94, Z:0.53 [[ 9.72594239e-01 -2.32323848e-01 -9.27766700e-03 8.63042947e+01] [ 2.32337779e-01 9.72635062e-01 4.38206817e-04 7.94018367e+00] [ 8.92197833e-03 -2.58174997e-03 9.99956866e-01 5.29398777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:7.95, Z:0.53 [[ 9.72754413e-01 -2.31699971e-01 -7.99849624e-03 8.63318838e+01] [ 2.31712616e-01 9.72784047e-01 6.79357040e-04 7.94559256e+00] [ 7.62340253e-03 -2.51420005e-03 9.99967781e-01 5.28182266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:7.95, Z:0.53 [[ 9.72242544e-01 -2.33893514e-01 -6.18545161e-03 8.63585239e+01] [ 2.33883512e-01 9.72261896e-01 -2.30401620e-03 7.95425175e+00] [ 6.55277335e-03 7.93387431e-04 9.99978216e-01 5.27900539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:7.96, Z:0.53 [[ 9.71621088e-01 -2.36456008e-01 -6.40449064e-03 8.63859277e+01] [ 2.36411881e-01 9.71628062e-01 -6.95209398e-03 7.96356164e+00] [ 7.86664722e-03 5.24070344e-03 9.99955324e-01 5.29561335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:7.97, Z:0.53 [[ 9.71110843e-01 -2.38507975e-01 -7.59454456e-03 8.64142879e+01] [ 2.38499586e-01 9.71140529e-01 -2.00501723e-03 7.96590932e+00] [ 7.85358262e-03 1.35798240e-04 9.99969151e-01 5.30901054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:7.97, Z:0.53 [[ 9.70960884e-01 -2.39140252e-01 -6.84847647e-03 8.64419666e+01] [ 2.39160893e-01 9.70977082e-01 2.36088665e-03 7.96997995e+00] [ 6.08513067e-03 -3.93021634e-03 9.99973762e-01 5.30650314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:7.98, Z:0.53 [[ 9.70957560e-01 -2.39211477e-01 -4.39156311e-03 8.64678783e+01] [ 2.39188434e-01 9.70959300e-01 -5.18948102e-03 7.98478850e+00] [ 5.50541246e-03 3.98835472e-03 9.99976891e-01 5.31462087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90140051299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:86.50, Y:7.99, Z:0.53 [[ 9.71353036e-01 -2.37632945e-01 -1.96550739e-03 8.64950536e+01] [ 2.37632381e-01 9.71355024e-01 -5.19244778e-04 7.98774780e+00] [ 2.03259514e-03 3.73017903e-05 9.99997934e-01 5.29162117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:7.99, Z:0.53 [[ 9.71801553e-01 -2.35799753e-01 -4.65763645e-04 8.65223042e+01] [ 2.35799722e-01 9.71801665e-01 -1.22681509e-04 7.99454140e+00] [ 4.81558156e-04 9.39514344e-06 9.99999884e-01 5.30092015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.55, Y:8.00, Z:0.53 [[ 9.71958378e-01 -2.35147841e-01 -1.55042563e-03 8.65482481e+01] [ 2.35147486e-01 9.71959614e-01 -4.09983499e-04 8.00240211e+00] [ 1.60335783e-03 3.39082065e-05 9.99998714e-01 5.29706279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:8.00, Z:0.53 [[ 9.72505723e-01 -2.32853180e-01 -3.46629696e-03 8.65752125e+01] [ 2.32874077e-01 9.72474094e-01 7.98752403e-03 8.00346642e+00] [ 1.51096362e-03 -8.57512354e-03 9.99962091e-01 5.29452737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.60, Y:8.03, Z:0.53 [[ 9.72316474e-01 -2.33667798e-01 -1.84269540e-04 8.66009158e+01] [ 2.33653431e-01 9.72264852e-01 -1.03504432e-02 8.02659233e+00] [ 2.59772407e-03 1.00208512e-02 9.99946416e-01 5.28690540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:8.02, Z:0.53 [[ 9.72208178e-01 -2.34098462e-01 -3.02787433e-03 8.66294124e+01] [ 2.34107835e-01 9.72205252e-01 3.23557455e-03 8.02038662e+00] [ 2.18627230e-03 -3.85450115e-03 9.99990181e-01 5.29930597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:8.03, Z:0.53 [[ 9.71823940e-01 -2.35701327e-01 -1.76475351e-03 8.66564971e+01] [ 2.35692742e-01 9.71819071e-01 -4.07724917e-03 8.03432281e+00] [ 2.67603416e-03 3.54642876e-03 9.99990131e-01 5.29652388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.68, Y:8.04, Z:0.53 [[ 9.71755730e-01 -2.35962178e-01 -3.55696783e-03 8.66835013e+01] [ 2.35966405e-01 9.71760873e-01 8.13484041e-04 8.03705014e+00] [ 3.26457070e-03 -1.62983269e-03 9.99993343e-01 5.28652036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:8.04, Z:0.53 [[ 9.71674091e-01 -2.36281619e-01 -4.52294609e-03 8.67116182e+01] [ 2.36294473e-01 9.71678147e-01 2.54960800e-03 8.04215562e+00] [ 3.79242237e-03 -3.54613520e-03 9.99986521e-01 5.29329362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:8.05, Z:0.53 [[ 9.71396436e-01 -2.37431406e-01 -3.91052907e-03 8.67392017e+01] [ 2.37409533e-01 9.71394956e-01 -5.34352701e-03 8.05042360e+00] [ 5.06738935e-03 4.26228621e-03 9.99978077e-01 5.29068370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:8.04, Z:0.53 [[ 9.71120455e-01 -2.38557148e-01 -3.94323612e-03 8.67674750e+01] [ 2.38576188e-01 9.71108801e-01 5.39428379e-03 8.04427478e+00] [ 2.54246635e-03 -6.17926158e-03 9.99977676e-01 5.30133097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:8.05, Z:0.53 [[ 9.70757503e-01 -2.40050600e-01 -2.36233042e-03 8.67929808e+01] [ 2.40059435e-01 9.70746655e-01 4.73284408e-03 8.04836074e+00] [ 1.15710229e-03 -5.16154361e-03 9.99986010e-01 5.32337247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:8.07, Z:0.53 [[ 9.69904526e-01 -2.43485469e-01 1.91441453e-04 8.68208348e+01] [ 2.43477338e-01 9.69865082e-01 -8.97263648e-03 8.06504885e+00] [ 1.99903422e-03 8.74921239e-03 9.99959727e-01 5.32269718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.85, Y:8.06, Z:0.53 [[ 9.69435059e-01 -2.45340505e-01 -1.92415901e-03 8.68502721e+01] [ 2.45335213e-01 9.69434750e-01 -2.62648821e-03 8.06182807e+00] [ 2.50973055e-03 2.07414580e-03 9.99994700e-01 5.29909371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:8.05, Z:0.53 [[ 9.69258571e-01 -2.45987938e-01 -5.26850828e-03 8.68810033e+01] [ 2.46018039e-01 9.69245856e-01 6.13154139e-03 8.04829304e+00] [ 3.59819459e-03 -7.23919713e-03 9.99967323e-01 5.30508632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:8.06, Z:0.53 [[ 9.69098280e-01 -2.46629075e-01 -4.75627805e-03 8.69073880e+01] [ 2.46584130e-01 9.69084575e-01 -8.44704665e-03 8.06373146e+00] [ 6.69252300e-03 7.01319570e-03 9.99953012e-01 5.31668810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:8.06, Z:0.53 [[ 9.69167495e-01 -2.46316511e-01 -6.52243124e-03 8.69358110e+01] [ 2.46344775e-01 9.69174228e-01 3.94545763e-03 8.05747371e+00] [ 5.34954090e-03 -5.43057614e-03 9.99970945e-01 5.30243952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:8.07, Z:0.53 [[ 9.69304500e-01 -2.45834239e-01 -3.78320066e-03 8.69629571e+01] [ 2.45804767e-01 9.69294697e-01 -6.91418976e-03 8.07261572e+00] [ 5.36678092e-03 5.77202649e-03 9.99968940e-01 5.29746401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:8.07, Z:0.53 [[ 9.69479319e-01 -2.45116392e-01 -5.27297468e-03 8.69921078e+01] [ 2.45105603e-01 9.69492864e-01 -2.61335987e-03 8.07260525e+00] [ 5.75268867e-03 1.24116271e-03 9.99982683e-01 5.30169497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:8.07, Z:0.53 [[ 9.70247816e-01 -2.42061103e-01 -5.05947457e-03 8.70207786e+01] [ 2.42063509e-01 9.70260397e-01 -1.40464115e-04 8.06847599e+00] [ 4.94300871e-03 -1.08842917e-03 9.99987191e-01 5.31503320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:8.07, Z:0.53 [[ 9.70332794e-01 -2.41708774e-01 -5.58015082e-03 8.70476870e+01] [ 2.41702215e-01 9.70348744e-01 -1.83140078e-03 8.07443188e+00] [ 5.85735798e-03 4.28333425e-04 9.99982754e-01 5.32012663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:8.08, Z:0.53 [[ 9.70216602e-01 -2.42189040e-01 -4.92079503e-03 8.70752426e+01] [ 2.42187191e-01 9.70229050e-01 -9.77275977e-04 8.07941816e+00] [ 5.01098382e-03 -2.43584149e-04 9.99987415e-01 5.30916844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:8.08, Z:0.53 [[ 9.69905945e-01 -2.43429363e-01 -4.96011227e-03 8.71012685e+01] [ 2.43425772e-01 9.69918625e-01 -1.32448959e-03 8.08470658e+00] [ 5.13332493e-03 7.72111714e-05 9.99986821e-01 5.32237619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:8.09, Z:0.53 [[ 9.69528922e-01 -2.44955598e-01 -3.22882661e-03 8.71293028e+01] [ 2.44954083e-01 9.69534297e-01 -8.62613343e-04 8.09012454e+00] [ 3.34176011e-03 4.54143209e-05 9.99994415e-01 5.31278445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.16, Y:8.09, Z:0.53 [[ 9.69149595e-01 -2.46465919e-01 -1.90072161e-03 8.71550770e+01] [ 2.46466561e-01 9.69151290e-01 1.07659743e-04 8.09466333e+00] [ 1.81555234e-03 -5.72802714e-04 9.99998188e-01 5.30592397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:8.10, Z:0.53 [[ 9.68258602e-01 -2.49950282e-01 -3.70269624e-04 8.71836449e+01] [ 2.49949977e-01 9.68258485e-01 -7.18220230e-04 8.10148391e+00] [ 5.38036054e-04 6.02874031e-04 9.99999674e-01 5.32253539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:8.11, Z:0.53 [[ 9.67922669e-01 -2.51246705e-01 -8.94689424e-04 8.72107813e+01] [ 2.51246591e-01 9.67923082e-01 -2.39233315e-04 8.10715988e+00] [ 9.26097127e-04 6.77168104e-06 9.99999571e-01 5.31905919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:8.11, Z:0.53 [[ 9.67725023e-01 -2.52001641e-01 -1.85828896e-03 8.72375279e+01] [ 2.52001150e-01 9.67726807e-01 -4.97640032e-04 8.11367628e+00] [ 1.92372215e-03 1.32877559e-05 9.99998150e-01 5.32055437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:8.12, Z:0.53 [[ 9.67668073e-01 -2.52197031e-01 -3.89326844e-03 8.72636631e+01] [ 2.52194873e-01 9.67675905e-01 -1.04378437e-03 8.12285006e+00] [ 4.03066138e-03 2.81744691e-05 9.99991876e-01 5.32074355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:8.13, Z:0.53 [[ 9.67715132e-01 -2.51998709e-01 -4.90660936e-03 8.72898481e+01] [ 2.51995272e-01 9.67727570e-01 -1.31656054e-03 8.13189423e+00] [ 5.08003271e-03 3.76131921e-05 9.99987096e-01 5.31631231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:8.14, Z:0.53 [[ 9.67794786e-01 -2.51672715e-01 -5.83917818e-03 8.73161054e+01] [ 2.51667834e-01 9.67812400e-01 -1.56809050e-03 8.14033687e+00] [ 6.04587464e-03 4.80564869e-05 9.99981722e-01 5.30906356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.34, Y:8.15, Z:0.53 [[ 9.67597894e-01 -2.52416864e-01 -6.32795150e-03 8.73420504e+01] [ 2.52411143e-01 9.67618584e-01 -1.70017283e-03 8.14807616e+00] [ 6.55219577e-03 4.78381771e-05 9.99978533e-01 5.29737948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:8.16, Z:0.53 [[ 9.67167669e-01 -2.54084206e-01 -5.28348067e-03 8.73685779e+01] [ 2.54073805e-01 9.67181430e-01 -2.56578967e-03 8.15641691e+00] [ 5.76201102e-03 1.13915478e-03 9.99982751e-01 5.30093552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:8.16, Z:0.53 [[ 9.66326505e-01 -2.57280442e-01 -4.45652972e-03 8.73950558e+01] [ 2.57282759e-01 9.66336162e-01 -5.50827357e-05 8.16204519e+00] [ 4.32067754e-03 -1.09336035e-03 9.99990068e-01 5.31027615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:8.16, Z:0.53 [[ 9.64234517e-01 -2.65021697e-01 -3.91095192e-03 8.74210009e+01] [ 2.65045115e-01 9.64204280e-01 7.82259378e-03 8.16169563e+00] [ 1.69779950e-03 -8.57939364e-03 9.99961755e-01 5.32266790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:8.17, Z:0.53 [[ 9.62980481e-01 -2.69561916e-01 -2.22876975e-03 8.74454710e+01] [ 2.69562660e-01 9.62982851e-01 3.47296415e-05 8.17392888e+00] [ 2.13690526e-03 -6.34237070e-04 9.99997516e-01 5.31451862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:8.19, Z:0.53 [[ 9.61394962e-01 -2.75157772e-01 -2.81557407e-03 8.74740567e+01] [ 2.75114705e-01 9.61352961e-01 -1.06010769e-02 8.18936629e+00] [ 5.62372918e-03 9.41721614e-03 9.99939843e-01 5.30874881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:8.19, Z:0.53 [[ 9.59673430e-01 -2.81087196e-01 -4.11052487e-03 8.75042449e+01] [ 2.81085028e-01 9.59682229e-01 -1.10773445e-03 8.18594739e+00] [ 4.25616764e-03 -9.23436765e-05 9.99990938e-01 5.31363906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:8.19, Z:0.53 [[ 9.59520847e-01 -2.81624321e-01 -2.73585136e-03 8.75313774e+01] [ 2.81624280e-01 9.59524673e-01 -4.08297679e-04 8.19248114e+00] [ 2.74010343e-03 -3.78712034e-04 9.99996174e-01 5.32035251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:8.20, Z:0.53 [[ 9.59750453e-01 -2.80852228e-01 -1.04580003e-03 8.75593946e+01] [ 2.80851719e-01 9.59750979e-01 -6.08349187e-04 8.20135850e+00] [ 1.17456382e-03 2.90148674e-04 9.99999268e-01 5.32293011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:8.21, Z:0.53 [[ 9.60236152e-01 -2.79184626e-01 -1.57397572e-03 8.75858815e+01] [ 2.79184305e-01 9.60237441e-01 -4.24561604e-04 8.20985729e+00] [ 1.62992149e-03 -3.17499173e-05 9.99998671e-01 5.33288287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:8.22, Z:0.53 [[ 9.60954076e-01 -2.76703072e-01 -1.63514651e-03 8.76117387e+01] [ 2.76702722e-01 9.60955467e-01 -4.41442742e-04 8.21861505e+00] [ 1.69345154e-03 -2.82432873e-05 9.99998566e-01 5.33108129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:8.23, Z:0.53 [[ 9.61430914e-01 -2.75001673e-01 -4.96758679e-03 8.76392956e+01] [ 2.75017477e-01 9.61435065e-01 2.82899677e-03 8.22512955e+00] [ 3.99803328e-03 -4.08605814e-03 9.99983660e-01 5.34683914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:8.24, Z:0.53 [[ 9.60940374e-01 -2.76748600e-01 -1.95175108e-03 8.76645168e+01] [ 2.76737309e-01 9.60934197e-01 -4.68300061e-03 8.23977077e+00] [ 3.17151822e-03 3.95996201e-03 9.99987130e-01 5.32052206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:8.24, Z:0.53 [[ 9.60046217e-01 -2.79826815e-01 -2.86609948e-03 8.76922672e+01] [ 2.79825748e-01 9.60050493e-01 -7.75126122e-04 8.24404474e+00] [ 2.96850129e-03 -5.78515292e-05 9.99995592e-01 5.32836282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.72, Y:8.25, Z:0.53 [[ 9.58863669e-01 -2.83851716e-01 -2.94409051e-03 8.77182955e+01] [ 2.83854418e-01 9.58867239e-01 5.35820244e-04 8.24998780e+00] [ 2.67089844e-03 -1.34947166e-03 9.99995523e-01 5.32996999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.74, Y:8.26, Z:0.53 [[ 9.57370885e-01 -2.88846577e-01 -2.94000582e-03 8.77449547e+01] [ 2.88841080e-01 9.57374627e-01 -2.15750063e-03 8.25953088e+00] [ 3.43787365e-03 1.21633384e-03 9.99993351e-01 5.32707748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:8.26, Z:0.53 [[ 9.55190265e-01 -2.95967457e-01 -3.84995141e-03 8.77710608e+01] [ 2.95991499e-01 9.55140011e-01 9.82811147e-03 8.25560651e+00] [ 7.68441470e-04 -1.05272693e-02 9.99944291e-01 5.32440918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:87.80, Y:8.28, Z:0.53 [[ 9.53556489e-01 -3.01211906e-01 -1.18698341e-03 8.77967775e+01] [ 3.01181727e-01 9.53504046e-01 -1.09362952e-02 8.28292762e+00] [ 4.42593581e-03 1.00708775e-02 9.99939492e-01 5.30558821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37140051299998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:87.83, Y:8.28, Z:0.53 [[ 9.53513908e-01 -3.01324211e-01 -3.86612732e-03 8.78265802e+01] [ 3.01322435e-01 9.53521732e-01 -1.04774783e-03 8.28190262e+00] [ 4.00214820e-03 -1.65908764e-04 9.99991978e-01 5.31301960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.85, Y:8.29, Z:0.53 [[ 9.52546078e-01 -3.04357969e-01 -4.71121786e-03 8.78539359e+01] [ 3.04355364e-01 9.52557704e-01 -1.27766967e-03 8.28970563e+00] [ 4.87657581e-03 -2.16845195e-04 9.99988086e-01 5.32186041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:8.30, Z:0.53 [[ 9.52043545e-01 -3.05925459e-01 -4.76460031e-03 8.78798876e+01] [ 3.05922811e-01 9.52055441e-01 -1.29290710e-03 8.29706510e+00] [ 4.93169684e-03 -2.26696057e-04 9.99987813e-01 5.33539628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:8.30, Z:0.54 [[ 9.51831776e-01 -3.06517593e-01 -7.95199891e-03 8.79089952e+01] [ 3.06561564e-01 9.51837470e-01 5.04368012e-03 8.29911960e+00] [ 6.02303383e-03 -7.23851223e-03 9.99955663e-01 5.38518903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.93, Y:8.32, Z:0.53 [[ 9.51908841e-01 -3.06371400e-01 -2.47441534e-03 8.79315966e+01] [ 3.06344464e-01 9.51888455e-01 -7.83827088e-03 8.31938739e+00] [ 4.75678942e-03 6.70329592e-03 9.99966219e-01 5.34223331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:8.33, Z:0.53 [[ 9.52570595e-01 -3.04295610e-01 -3.66658335e-03 8.79592946e+01] [ 3.04292515e-01 9.52577629e-01 -1.38775636e-03 8.32554197e+00] [ 3.91499344e-03 2.06222028e-04 9.99992315e-01 5.33847286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:87.98, Y:8.33, Z:0.53 [[ 9.52759144e-01 -3.03695046e-01 -4.39688914e-03 8.79847173e+01] [ 3.03694509e-01 9.52769120e-01 -8.05382396e-04 8.33462811e+00] [ 4.43381084e-03 -5.67975648e-04 9.99990009e-01 5.32895735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:8.34, Z:0.53 [[ 9.53093609e-01 -3.02644653e-01 -4.33431827e-03 8.80115971e+01] [ 3.02642413e-01 9.53103446e-01 -1.17938919e-03 8.34401693e+00] [ 4.48798952e-03 -1.87680237e-04 9.99989911e-01 5.32543275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.04, Y:8.34, Z:0.53 [[ 9.53454083e-01 -3.01493839e-01 -5.17452690e-03 8.80365522e+01] [ 3.01527576e-01 9.53424297e-01 7.95177479e-03 8.34441402e+00] [ 2.53610857e-03 -9.14191469e-03 9.99954996e-01 5.32369410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:8.37, Z:0.53 [[ 9.52893832e-01 -3.03283222e-01 -3.55417529e-03 8.80619031e+01] [ 3.03235765e-01 9.52862535e-01 -1.00528246e-02 8.37264491e+00] [ 6.43549352e-03 8.50152150e-03 9.99943153e-01 5.33325820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:8.37, Z:0.53 [[ 9.52636929e-01 -3.04042382e-01 -6.41181210e-03 8.80898964e+01] [ 3.04037505e-01 9.52658463e-01 -1.74582855e-03 8.37419567e+00] [ 6.63907294e-03 -2.86290601e-04 9.99977920e-01 5.33384605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.12, Y:8.38, Z:0.53 [[ 9.52157744e-01 -3.05540855e-01 -6.35744961e-03 8.81168852e+01] [ 3.05536085e-01 9.52178922e-01 -1.73217813e-03 8.38305804e+00] [ 6.58268070e-03 -2.93123448e-04 9.99978291e-01 5.32319378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.14, Y:8.38, Z:0.53 [[ 9.52241937e-01 -3.05303716e-01 -4.99339977e-03 8.81411645e+01] [ 3.05325690e-01 9.52237544e-01 4.45903068e-03 8.38470546e+00] [ 3.39354409e-03 -5.77068924e-03 9.99977591e-01 5.31603066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:8.39, Z:0.53 [[ 9.51897892e-01 -3.06405029e-01 -2.52208226e-03 8.81683800e+01] [ 3.06413616e-01 9.51888231e-01 4.41488042e-03 8.39341605e+00] [ 1.04799886e-03 -4.97531572e-03 9.99987074e-01 5.31669251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.19, Y:8.42, Z:0.53 [[ 9.50970946e-01 -3.09279745e-01 -5.47017496e-04 8.81932484e+01] [ 3.09256071e-01 9.50917285e-01 -1.08166276e-02 8.41656506e+00] [ 3.86553223e-03 1.01171301e-02 9.99941349e-01 5.30917195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82140051299999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:88.22, Y:8.42, Z:0.53 [[ 9.50712533e-01 -3.10057245e-01 -3.19124622e-03 8.82220747e+01] [ 3.10056065e-01 9.50717875e-01 -8.70538396e-04 8.41637662e+00] [ 3.30389157e-03 -1.61833483e-04 9.99994529e-01 5.32003552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:8.42, Z:0.53 [[ 9.50676566e-01 -3.10178879e-01 -1.76910802e-03 8.82488430e+01] [ 3.10178516e-01 9.50678208e-01 -4.82868422e-04 8.42475662e+00] [ 1.83162803e-03 -8.96876080e-05 9.99998319e-01 5.32577346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.27, Y:8.43, Z:0.53 [[ 9.50139984e-01 -3.11821315e-01 -1.21627487e-03 8.82745414e+01] [ 3.11821144e-01 9.50140760e-01 -3.32149771e-04 8.43415183e+00] [ 1.25920371e-03 -6.36714438e-05 9.99999205e-01 5.31521393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.30, Y:8.44, Z:0.53 [[ 9.49920125e-01 -3.12486546e-01 -1.97870334e-03 8.83012647e+01] [ 3.12486096e-01 9.49922180e-01 -5.40789832e-04 8.44191610e+00] [ 2.04860374e-03 -1.04610137e-04 9.99997896e-01 5.31801981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.33, Y:8.45, Z:0.53 [[ 9.49778828e-01 -3.12904359e-01 -3.32268374e-03 8.83280782e+01] [ 3.12903089e-01 9.49784623e-01 -9.08940624e-04 8.45023274e+00] [ 3.44024541e-03 -1.76385445e-04 9.99994067e-01 5.32610041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.35, Y:8.46, Z:0.53 [[ 9.49712199e-01 -3.13090794e-01 -4.57098981e-03 8.83541080e+01] [ 3.13088389e-01 9.49723168e-01 -1.25104239e-03 8.45890036e+00] [ 4.73286478e-03 -2.42993612e-04 9.99988770e-01 5.32569010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:8.47, Z:0.53 [[ 9.49653920e-01 -3.13263500e-01 -4.83863216e-03 8.83810988e+01] [ 3.13260803e-01 9.49666212e-01 -1.32516933e-03 8.46687263e+00] [ 5.01021265e-03 -2.57301548e-04 9.99987416e-01 5.32819157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:88.41, Y:8.47, Z:0.53 [[ 9.49206124e-01 -3.14615340e-01 -4.99225595e-03 8.84076559e+01] [ 3.14612482e-01 9.49219213e-01 -1.36826200e-03 8.47477260e+00] [ 5.16922148e-03 -2.71863364e-04 9.99986603e-01 5.32217947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061400513 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:88.43, Y:8.48, Z:0.53 [[ 9.48466981e-01 -3.16834501e-01 -5.12694408e-03 8.84336406e+01] [ 3.16831513e-01 9.48480793e-01 -1.40622184e-03 8.48400139e+00] [ 5.30834758e-03 -2.90622465e-04 9.99985868e-01 5.31736952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.46, Y:8.49, Z:0.53 [[ 9.48470011e-01 -3.16824382e-01 -5.19121357e-03 8.84590802e+01] [ 3.16844447e-01 9.48470559e-01 3.63247323e-03 8.48770825e+00] [ 3.77285715e-03 -5.09009912e-03 9.99979928e-01 5.31348194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:88.49, Y:8.51, Z:0.53 [[ 9.47826324e-01 -3.18765154e-01 -3.74642523e-03 8.84860026e+01] [ 3.18740602e-01 9.47823289e-01 -5.95329765e-03 8.50500894e+00] [ 5.44865292e-03 4.44855440e-03 9.99975261e-01 5.30250455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.51, Y:8.51, Z:0.53 [[ 9.47653605e-01 -3.19266478e-01 -4.64343927e-03 8.85144040e+01] [ 3.19264047e-01 9.47664941e-01 -1.27566167e-03 8.50857631e+00] [ 4.80770061e-03 -2.73597832e-04 9.99988406e-01 5.31063347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.54, Y:8.52, Z:0.53 [[ 9.47476604e-01 -3.19807513e-01 -3.35251493e-03 8.85404993e+01] [ 3.19806248e-01 9.47482514e-01 -9.21373953e-04 8.51696223e+00] [ 3.47111159e-03 -1.99174955e-04 9.99993956e-01 5.31720600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.57, Y:8.53, Z:0.53 [[ 9.47367113e-01 -3.20136538e-01 -2.85476386e-03 8.85665150e+01] [ 3.20135621e-01 9.47371399e-01 -7.85038084e-04 8.52605744e+00] [ 2.95584101e-03 -1.70192338e-04 9.99995617e-01 5.32150431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.59, Y:8.53, Z:0.53 [[ 9.47322388e-01 -3.20268749e-01 -2.86730267e-03 8.85927593e+01] [ 3.20267823e-01 9.47326712e-01 -7.89059944e-04 8.53474124e+00] [ 2.96898365e-03 -1.70810632e-04 9.99995578e-01 5.32568067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.62, Y:8.54, Z:0.53 [[ 9.47143438e-01 -3.20789300e-01 -3.67869429e-03 8.86192654e+01] [ 3.20787776e-01 9.47150556e-01 -1.01313625e-03 8.54288536e+00] [ 3.80928061e-03 -2.20494806e-04 9.99992720e-01 5.31788038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30140051299999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:88.65, Y:8.55, Z:0.53 [[ 9.46690459e-01 -3.22114667e-01 -4.39494383e-03 8.86454103e+01] [ 3.22112504e-01 9.46700622e-01 -1.21091604e-03 8.55015175e+00] [ 4.55074987e-03 -2.69303696e-04 9.99989609e-01 5.31354999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:8.56, Z:0.53 [[ 9.46564802e-01 -3.22489877e-01 -3.91854450e-03 8.86721755e+01] [ 3.22488157e-01 9.46572882e-01 -1.08034551e-03 8.55804263e+00] [ 4.05758846e-03 -2.41067159e-04 9.99991739e-01 5.32108302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.70, Y:8.57, Z:0.53 [[ 9.46258780e-01 -3.23389066e-01 -3.71934573e-03 8.86974366e+01] [ 3.23387522e-01 9.46266061e-01 -1.02585308e-03 8.56757538e+00] [ 3.85124030e-03 -2.32067519e-04 9.99992557e-01 5.32474629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.72, Y:8.58, Z:0.53 [[ 9.46186213e-01 -3.23603663e-01 -3.51002362e-03 8.87240395e+01] [ 3.23602287e-01 9.46192698e-01 -9.68716976e-04 8.57737577e+00] [ 3.63463908e-03 -2.19265025e-04 9.99993371e-01 5.32727054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:88.75, Y:8.59, Z:0.53 [[ 9.46078893e-01 -3.23914999e-01 -3.71494754e-03 8.87507512e+01] [ 3.23913458e-01 9.46086158e-01 -1.02605239e-03 8.58664804e+00] [ 3.84701421e-03 -2.32594993e-04 9.99992573e-01 5.32612702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.78, Y:8.60, Z:0.53 [[ 9.45483066e-01 -3.25657316e-01 -3.01412514e-03 8.87758185e+01] [ 3.25656309e-01 9.45487850e-01 -8.32832941e-04 8.59671886e+00] [ 3.12103683e-03 -1.94139424e-04 9.99995111e-01 5.32965893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:8.61, Z:0.53 [[ 9.45069983e-01 -3.26862103e-01 -1.97311041e-03 8.88014556e+01] [ 3.26861674e-01 9.45072034e-01 -5.45393771e-04 8.60538741e+00] [ 2.04300003e-03 -1.29498891e-04 9.99997905e-01 5.33519133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.83, Y:8.61, Z:0.53 [[ 9.44155596e-01 -3.29494755e-01 -1.84826906e-03 8.88275894e+01] [ 3.29494383e-01 9.44157397e-01 -5.11193930e-04 8.61493194e+00] [ 1.91349262e-03 -1.26347663e-04 9.99998161e-01 5.32799799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.85, Y:8.62, Z:0.53 [[ 9.42309878e-01 -3.34728096e-01 -3.03232129e-03 8.88539476e+01] [ 3.34727119e-01 9.42314731e-01 -8.39264987e-04 8.62264506e+00] [ 3.13832659e-03 -2.24152480e-04 9.99995050e-01 5.31810558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:88.88, Y:8.63, Z:0.53 [[ 9.41175255e-01 -3.37891759e-01 -4.27765923e-03 8.88816537e+01] [ 3.37889843e-01 9.41184918e-01 -1.18479179e-03 8.62883934e+00] [ 4.42639973e-03 -3.30280887e-04 9.99990149e-01 5.31233835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.91, Y:8.63, Z:0.53 [[ 9.40161623e-01 -3.40688927e-01 -5.21322835e-03 8.89086833e+01] [ 3.40686121e-01 9.40175984e-01 -1.44451473e-03 8.63397410e+00] [ 5.39348226e-03 -4.17997231e-04 9.99985368e-01 5.30947679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.94, Y:8.64, Z:0.53 [[ 9.39239211e-01 -3.43224327e-01 -5.17358032e-03 8.89352271e+01] [ 3.43221600e-01 9.39253362e-01 -1.43397559e-03 8.63998522e+00] [ 5.35147802e-03 -4.28838417e-04 9.99985589e-01 5.30893161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.96, Y:8.65, Z:0.53 [[ 9.38503523e-01 -3.45242095e-01 -4.36264767e-03 8.89623190e+01] [ 3.45240174e-01 9.38513590e-01 -1.20996078e-03 8.64667586e+00] [ 4.51213352e-03 -3.70608781e-04 9.99989752e-01 5.31466674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:8.65, Z:0.53 [[ 9.38214317e-01 -3.46043142e-01 -2.83517165e-03 8.89884393e+01] [ 3.46042334e-01 9.38218570e-01 -7.86605428e-04 8.65270308e+00] [ 2.93221011e-03 -2.43084940e-04 9.99995672e-01 5.32020357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:8.66, Z:0.53 [[ 9.37658957e-01 -3.47555249e-01 -1.01461827e-03 8.90159804e+01] [ 3.47555146e-01 9.37659502e-01 -2.81551957e-04 8.65738268e+00] [ 1.04922132e-03 -8.86360857e-05 9.99999446e-01 5.33260662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:8.66, Z:0.53 [[ 9.37681460e-01 -3.47495779e-01 -4.02971961e-04 8.90421329e+01] [ 3.47495763e-01 9.37681546e-01 -1.11851153e-04 8.66301945e+00] [ 4.16727175e-04 -3.51502967e-05 9.99999913e-01 5.33195161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:8.67, Z:0.53 [[ 9.37739650e-01 -3.47338915e-01 -1.66820934e-04 8.90699682e+01] [ 3.47338912e-01 9.37739664e-01 -4.61856623e-05 8.66863989e+00] [ 1.72476685e-04 -1.46332751e-05 9.99999985e-01 5.33124943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:8.67, Z:0.53 [[ 9.37763282e-01 -3.47275123e-01 -1.25772885e-04 8.90970748e+01] [ 3.47275122e-01 9.37763290e-01 -3.48916035e-05 8.67361833e+00] [ 1.30062180e-04 -1.09577293e-05 9.99999991e-01 5.33133789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:8.68, Z:0.53 [[ 9.37542264e-01 -3.47871366e-01 -1.28836179e-04 8.91250986e+01] [ 3.47871364e-01 9.37542272e-01 -3.57570980e-05 8.67533495e+00] [ 1.33228235e-04 -1.12946269e-05 9.99999991e-01 5.33106252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:8.67, Z:0.54 [[ 9.37350908e-01 -3.48369068e-01 -3.50251068e-03 8.91528791e+01] [ 3.48385651e-01 9.37325152e-01 6.99979528e-03 8.67411556e+00] [ 8.44479199e-04 -7.78148892e-03 9.99969367e-01 5.37711904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:8.69, Z:0.53 [[ 9.37424423e-01 -3.48186645e-01 1.22922787e-03 8.91769629e+01] [ 3.48185516e-01 9.37394331e-01 -7.66248866e-03 8.69167539e+00] [ 1.51570499e-03 7.61100335e-03 9.99969887e-01 5.32639189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:8.69, Z:0.53 [[ 9.37705769e-01 -3.47426252e-01 -1.69983948e-03 8.92061633e+01] [ 3.47425960e-01 9.37707299e-01 -4.73414377e-04 8.69014854e+00] [ 1.75842847e-03 -1.46644970e-04 9.99998443e-01 5.32750751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:8.70, Z:0.53 [[ 9.38399303e-01 -3.45538580e-01 -3.13656979e-03 8.92335093e+01] [ 3.45537574e-01 9.38404508e-01 -8.74326213e-04 8.69517844e+00] [ 3.24548467e-03 -2.63335609e-04 9.99994699e-01 5.32094348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:8.70, Z:0.53 [[ 9.39294133e-01 -3.43082048e-01 -4.60873859e-03 8.92607318e+01] [ 3.43079842e-01 9.39305365e-01 -1.28572623e-03 8.70116401e+00] [ 4.77012247e-03 -3.73490203e-04 9.99988553e-01 5.32015983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:8.71, Z:0.53 [[ 9.41804303e-01 -3.36116970e-01 -5.48061939e-03 8.92869219e+01] [ 3.36113730e-01 9.41820164e-01 -1.52960163e-03 8.70746584e+00] [ 5.67588292e-03 -4.01526027e-04 9.99983811e-01 5.32238760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05140051299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:89.31, Y:8.72, Z:0.53 [[ 9.42983738e-01 -3.32784806e-01 -5.99527511e-03 8.93133028e+01] [ 3.32780854e-01 9.43002704e-01 -1.67434522e-03 8.71571012e+00] [ 6.21075729e-03 -4.16232462e-04 9.99980626e-01 5.31995070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:8.72, Z:0.53 [[ 9.44443797e-01 -3.28625759e-01 -5.57006510e-03 8.93402952e+01] [ 3.28622269e-01 9.44460153e-01 -1.55670308e-03 8.72431912e+00] [ 5.77227727e-03 -3.60228870e-04 9.99983275e-01 5.32949424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:8.73, Z:0.53 [[ 9.45339558e-01 -3.26040134e-01 -5.56341991e-03 8.93665060e+01] [ 3.26036601e-01 9.45355866e-01 -1.55598301e-03 8.73325679e+00] [ 5.76672456e-03 -3.42946228e-04 9.99983313e-01 5.33050043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:8.74, Z:0.53 [[ 9.46265037e-01 -3.23351260e-01 -5.14210450e-03 8.93910857e+01] [ 3.23348199e-01 9.46278961e-01 -1.43891699e-03 8.74404026e+00] [ 5.33114092e-03 -3.01093385e-04 9.99985744e-01 5.33087569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:8.75, Z:0.53 [[ 9.46227695e-01 -3.23474907e-01 -4.13917846e-03 8.94170989e+01] [ 3.23472922e-01 9.46236718e-01 -1.15901253e-03 8.75478822e+00] [ 4.29155411e-03 -2.42222397e-04 9.99990762e-01 5.32913685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:8.77, Z:0.53 [[ 9.45842896e-01 -3.24611867e-01 -2.88982356e-03 8.94427728e+01] [ 3.24610903e-01 9.45847295e-01 -8.09721149e-04 8.76654136e+00] [ 2.99617689e-03 -1.72199237e-04 9.99995497e-01 5.32610103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:8.78, Z:0.53 [[ 9.45159448e-01 -3.26604826e-01 -1.70471149e-03 8.94679084e+01] [ 3.26604494e-01 9.45160979e-01 -4.77881734e-04 8.77738141e+00] [ 1.76730526e-03 -1.05091998e-04 9.99998433e-01 5.32490370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:8.79, Z:0.53 [[ 9.45100548e-01 -3.26775225e-01 -1.70463815e-03 8.94953032e+01] [ 3.26774892e-01 9.45102080e-01 -4.78143233e-04 8.78521149e+00] [ 1.76730243e-03 -1.05139516e-04 9.99998433e-01 5.32518886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:8.80, Z:0.53 [[ 9.42775983e-01 -3.33417370e-01 -2.51061653e-03 8.95196727e+01] [ 3.33416670e-01 9.42779310e-01 -7.04632062e-04 8.79737725e+00] [ 2.60189389e-03 -1.72771219e-04 9.99996600e-01 5.32515064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:8.81, Z:0.53 [[ 9.41337240e-01 -3.37441179e-01 -4.20126342e-03 8.95461894e+01] [ 3.37439256e-01 9.41346566e-01 -1.17994453e-03 8.80709952e+00] [ 4.35300677e-03 -3.06945476e-04 9.99990479e-01 5.32392231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:8.82, Z:0.53 [[ 9.39883340e-01 -3.41454607e-01 -5.29701770e-03 8.95711887e+01] [ 3.41451608e-01 9.39898177e-01 -1.48855200e-03 8.81731295e+00] [ 5.48693022e-03 -4.09609981e-04 9.99984863e-01 5.32137932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:8.83, Z:0.53 [[ 9.38659753e-01 -3.44800837e-01 -5.50010335e-03 8.95962591e+01] [ 3.44797657e-01 9.38675761e-01 -1.54616403e-03 8.82850367e+00] [ 5.69593235e-03 -4.45100798e-04 9.99983679e-01 5.31588644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:8.84, Z:0.53 [[ 9.37493156e-01 -3.47982599e-01 -3.83319817e-03 8.96198740e+01] [ 3.47981080e-01 9.37500937e-01 -1.07788032e-03 8.84279067e+00] [ 3.96871047e-03 -3.23375022e-04 9.99992072e-01 5.31747742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:8.85, Z:0.53 [[ 9.37494686e-01 -3.47988039e-01 -2.83512896e-03 8.96457870e+01] [ 3.47987207e-01 9.37498943e-01 -7.97662902e-04 8.85314574e+00] [ 2.93550755e-03 -2.38783876e-04 9.99995663e-01 5.32001698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:8.86, Z:0.53 [[ 9.37893476e-01 -3.46918891e-01 -1.76358900e-03 8.96722432e+01] [ 3.46918567e-01 9.37895123e-01 -4.96466641e-04 8.86377401e+00] [ 1.82629518e-03 -1.46188944e-04 9.99998322e-01 5.32670714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:8.88, Z:0.53 [[ 9.38590817e-01 -3.45031916e-01 -5.05662209e-04 8.96975135e+01] [ 3.45031889e-01 9.38590952e-01 -1.42341331e-04 8.87539657e+00] [ 5.23722277e-04 -4.08693209e-05 9.99999862e-01 5.33757474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:8.89, Z:0.53 [[ 9.40062796e-01 -3.41001321e-01 1.94223920e-04 8.97215547e+01] [ 3.41001317e-01 9.40062816e-01 5.49548624e-05 8.89387292e+00] [-2.01322366e-04 1.45695908e-05 9.99999980e-01 5.34645684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:8.91, Z:0.53 [[ 9.40603681e-01 -3.39505722e-01 -7.61265874e-04 8.97464249e+01] [ 3.39505659e-01 9.40603988e-01 -2.14603439e-04 8.90701974e+00] [ 7.88908812e-04 -5.65972876e-05 9.99999687e-01 5.34952968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:8.92, Z:0.53 [[ 9.41075015e-01 -3.38193251e-01 -1.77261887e-03 8.97712674e+01] [ 3.38192905e-01 9.41076675e-01 -5.00228253e-04 8.91964593e+00] [ 1.83734409e-03 -1.28734813e-04 9.99998304e-01 5.34349978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:8.93, Z:0.53 [[ 9.41316239e-01 -3.37510467e-01 -3.22837379e-03 8.97967756e+01] [ 3.37509315e-01 9.41321747e-01 -9.11653869e-04 8.93174019e+00] [ 3.34663117e-03 -2.31451634e-04 9.99994373e-01 5.33802943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:8.95, Z:0.53 [[ 9.40944122e-01 -3.38538977e-01 -3.93947826e-03 8.98213301e+01] [ 3.38537268e-01 9.40952326e-01 -1.11330643e-03 8.94662794e+00] [ 4.08375885e-03 -2.86101061e-04 9.99991620e-01 5.32868137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:8.96, Z:0.53 [[ 9.40312426e-01 -3.40294878e-01 -3.45512173e-03 8.98463742e+01] [ 3.40293573e-01 9.40318738e-01 -9.76818183e-04 8.95745562e+00] [ 3.58132193e-03 -2.57241443e-04 9.99993554e-01 5.33091714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:8.97, Z:0.53 [[ 9.39490859e-01 -3.42560280e-01 -3.06284405e-03 8.98709678e+01] [ 3.42559265e-01 9.39495822e-01 -8.66276631e-04 8.96786813e+00] [ 3.17428115e-03 -2.35346631e-04 9.99994934e-01 5.32960003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:8.98, Z:0.53 [[ 9.38613550e-01 -3.44956274e-01 -3.12622156e-03 8.98966536e+01] [ 3.44955229e-01 9.38618723e-01 -8.84762069e-04 8.97842622e+00] [ 3.23953432e-03 -2.47956808e-04 9.99994722e-01 5.32955656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:8.99, Z:0.53 [[ 9.37747984e-01 -3.47301319e-01 -3.24237254e-03 8.99215785e+01] [ 3.47300207e-01 9.37753552e-01 -9.18026271e-04 8.98854028e+00] [ 3.35937810e-03 -2.65199368e-04 9.99994322e-01 5.32830865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:9.00, Z:0.53 [[ 9.35992747e-01 -3.52002360e-01 -3.45204489e-03 8.99465469e+01] [ 3.52001130e-01 9.35999064e-01 -9.77690164e-04 9.00051685e+00] [ 3.57526003e-03 -3.00012798e-04 9.99993564e-01 5.32042283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:9.01, Z:0.53 [[ 9.35164668e-01 -3.54196657e-01 -3.43108133e-03 8.99720271e+01] [ 3.54195455e-01 9.35170912e-01 -9.72153495e-04 9.01017620e+00] [ 3.55298097e-03 -3.06149811e-04 9.99993641e-01 5.31817885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:9.02, Z:0.53 [[ 9.34448554e-01 -3.56082812e-01 -3.30629249e-03 8.99986001e+01] [ 3.56081706e-01 9.34454354e-01 -9.37372147e-04 9.01980838e+00] [ 3.42336153e-03 -3.01384222e-04 9.99994095e-01 5.32067784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:9.03, Z:0.53 [[ 9.33823985e-01 -3.57716454e-01 -3.42096431e-03 9.00248083e+01] [ 3.57715279e-01 9.33830197e-01 -9.70562192e-04 9.02939835e+00] [ 3.54178584e-03 -3.17396947e-04 9.99993677e-01 5.32254288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:9.04, Z:0.53 [[ 9.33210161e-01 -3.59286190e-01 -5.67701644e-03 9.00508585e+01] [ 3.59282973e-01 9.33227275e-01 -1.61187069e-03 9.03942948e+00] [ 5.87706946e-03 -5.35441241e-04 9.99982587e-01 5.31780115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:9.05, Z:0.53 [[ 9.32985075e-01 -3.59840196e-01 -7.34055355e-03 9.00768587e+01] [ 3.59834829e-01 9.33013692e-01 -2.08498786e-03 9.04678442e+00] [ 7.59909941e-03 -6.96124275e-04 9.99970884e-01 5.31170897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:9.05, Z:0.53 [[ 9.32644870e-01 -3.60692930e-01 -8.61148974e-03 9.01034627e+01] [ 3.60685565e-01 9.32684262e-01 -2.44758869e-03 9.05374596e+00] [ 8.91462889e-03 -8.23309006e-04 9.99959925e-01 5.30563322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:9.06, Z:0.53 [[ 9.32100180e-01 -3.62087233e-01 -9.06039758e-03 9.01297285e+01] [ 3.62079129e-01 9.32143800e-01 -2.57701084e-03 9.06201177e+00] [ 9.37869615e-03 -8.78548592e-04 9.99955633e-01 5.30194084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:9.07, Z:0.53 [[ 9.32142499e-01 -3.61997247e-01 -8.26766787e-03 9.01556638e+01] [ 3.61990488e-01 9.32178820e-01 -2.35235271e-03 9.06934784e+00] [ 8.55849009e-03 -8.00089191e-04 9.99963055e-01 5.30392787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:9.08, Z:0.53 [[ 9.32387999e-01 -3.61391676e-01 -6.97685254e-03 9.01815300e+01] [ 3.61386841e-01 9.32413861e-01 -1.98567637e-03 9.07554929e+00] [ 7.22292093e-03 -6.69921889e-04 9.99973690e-01 5.31042518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:9.08, Z:0.53 [[ 9.32743969e-01 -3.60496662e-01 -5.55386709e-03 9.02076376e+01] [ 3.60493579e-01 9.32760354e-01 -1.58136111e-03 9.08100432e+00] [ 5.75050244e-03 -5.27128390e-04 9.99983327e-01 5.31508463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.24, Y:9.09, Z:0.53 [[ 9.32930038e-01 -3.60018278e-01 -5.32770963e-03 9.02350434e+01] [ 3.60015428e-01 9.32945115e-01 -1.51793188e-03 9.08734097e+00] [ 5.51694389e-03 -5.01933416e-04 9.99984656e-01 5.31947285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:9.09, Z:0.53 [[ 9.33549877e-01 -3.58404845e-01 -5.53124167e-03 9.02618452e+01] [ 3.58401742e-01 9.33566123e-01 -1.57649571e-03 9.09281226e+00] [ 5.72880354e-03 -5.10669272e-04 9.99983460e-01 5.32942629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:9.10, Z:0.53 [[ 9.34397247e-01 -3.56180542e-01 -6.09976220e-03 9.02893769e+01] [ 3.56176714e-01 9.34416996e-01 -1.73964054e-03 9.09796077e+00] [ 6.31934758e-03 -5.47077921e-04 9.99979883e-01 5.32914335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:9.10, Z:0.53 [[ 9.34929739e-01 -3.54762554e-01 -7.06498899e-03 9.03161928e+01] [ 3.54774329e-01 9.34951857e-01 4.47533101e-04 9.10183213e+00] [ 6.44665659e-03 -2.92488873e-03 9.99974943e-01 5.34293886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:9.11, Z:0.54 [[ 9.35710302e-01 -3.52712480e-01 -6.33538922e-03 9.03432291e+01] [ 3.52710068e-01 9.35731406e-01 -1.53108942e-03 9.11054997e+00] [ 6.46825701e-03 -8.01899427e-04 9.99978759e-01 5.35133330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.37, Y:9.12, Z:0.53 [[ 9.36510387e-01 -3.50604807e-01 -4.95632010e-03 9.03692030e+01] [ 3.50586894e-01 9.36521058e-01 -4.13972988e-03 9.12171151e+00] [ 6.09310734e-03 2.13927916e-03 9.99979149e-01 5.33547197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:9.13, Z:0.53 [[ 9.38757056e-01 -3.44519884e-01 -6.42176424e-03 9.03941029e+01] [ 3.44515337e-01 9.38778893e-01 -1.83624754e-03 9.13105274e+00] [ 6.66124052e-03 -4.88605940e-04 9.99977694e-01 5.32996261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:9.14, Z:0.53 [[ 9.39465267e-01 -3.42586068e-01 -6.30865092e-03 9.04198832e+01] [ 3.42581629e-01 9.39486333e-01 -1.80500717e-03 9.14124106e+00] [ 6.54526163e-03 -4.65486367e-04 9.99978471e-01 5.32267610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:9.15, Z:0.53 [[ 9.39827342e-01 -3.41613490e-01 -4.97894264e-03 9.04461636e+01] [ 3.41610707e-01 9.39840461e-01 -1.42549792e-03 9.15111182e+00] [ 5.16638107e-03 -3.61138198e-04 9.99986589e-01 5.32220079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:9.16, Z:0.53 [[ 9.39882178e-01 -3.41485292e-01 -3.04740657e-03 9.04715791e+01] [ 3.41484247e-01 9.39887093e-01 -8.73023253e-04 9.16398606e+00] [ 3.16234270e-03 -2.20102339e-04 9.99994976e-01 5.34288408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:9.18, Z:0.53 [[ 9.39615290e-01 -3.42222851e-01 -2.57421174e-03 9.04978179e+01] [ 3.42222107e-01 9.39618798e-01 -7.37947394e-04 9.17518022e+00] [ 2.67132020e-03 -1.87565509e-04 9.99996414e-01 5.34118869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:9.19, Z:0.53 [[ 9.39071592e-01 -3.43711188e-01 -2.67653952e-03 9.05241736e+01] [ 3.43710388e-01 9.39075386e-01 -7.67823388e-04 9.18553285e+00] [ 2.77738187e-03 -1.98913306e-04 9.99996123e-01 5.33397699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:9.19, Z:0.53 [[ 9.38227122e-01 -3.46007530e-01 -2.94209335e-03 9.05507079e+01] [ 3.46006573e-01 9.38231708e-01 -8.44609237e-04 9.19454837e+00] [ 3.05260642e-03 -2.25548343e-04 9.99995315e-01 5.32138252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:9.20, Z:0.53 [[ 9.37086594e-01 -3.49084549e-01 -2.94846313e-03 9.05773175e+01] [ 3.49083601e-01 9.37091203e-01 -8.47029129e-04 9.20238256e+00] [ 3.05866364e-03 -2.35520486e-04 9.99995295e-01 5.31209046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:9.21, Z:0.53 [[ 9.35867854e-01 -3.52339990e-01 -2.80907537e-03 9.06032768e+01] [ 3.52339143e-01 9.35872041e-01 -8.07325599e-04 9.21031488e+00] [ 2.91338819e-03 -2.34197131e-04 9.99995729e-01 5.31514721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:9.22, Z:0.53 [[ 9.33923368e-01 -3.57460456e-01 -3.02741408e-03 9.06288200e+01] [ 3.57459498e-01 9.33928236e-01 -8.70342747e-04 9.21918998e+00] [ 3.13850061e-03 -2.69344489e-04 9.99995039e-01 5.32811987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:9.23, Z:0.53 [[ 9.33181188e-01 -3.59395846e-01 -2.73796321e-03 9.06559254e+01] [ 3.59395070e-01 9.33185171e-01 -7.87557860e-04 9.22592781e+00] [ 2.83807169e-03 -2.49076301e-04 9.99995942e-01 5.33083414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:9.23, Z:0.53 [[ 9.32777965e-01 -3.60443667e-01 -2.37306002e-03 9.06831869e+01] [ 3.60443086e-01 9.32780958e-01 -6.83036213e-04 9.23064269e+00] [ 2.45974128e-03 -2.18231949e-04 9.99996951e-01 5.32335691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:90.71, Y:9.23, Z:0.53 [[ 9.32484185e-01 -3.61201359e-01 -2.61212238e-03 9.07109645e+01] [ 3.61200656e-01 9.32487812e-01 -7.52385278e-04 9.23486533e+00] [ 2.70753487e-03 -2.41912946e-04 9.99996305e-01 5.30786924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:9.24, Z:0.53 [[ 9.33869755e-01 -3.57585782e-01 -4.43731112e-03 9.07383600e+01] [ 3.57583711e-01 9.33880214e-01 -1.27872886e-03 9.23813744e+00] [ 4.60117232e-03 -3.92543974e-04 9.99989338e-01 5.29912504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:9.25, Z:0.53 [[ 9.35115871e-01 -3.54301199e-01 -5.38217296e-03 9.07648320e+01] [ 3.54298093e-01 9.35131249e-01 -1.55200397e-03 9.24585069e+00] [ 5.58291499e-03 -4.55590070e-04 9.99984312e-01 5.30170337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:9.25, Z:0.53 [[ 9.36723502e-01 -3.50034681e-01 -4.98027479e-03 9.07912548e+01] [ 3.50031958e-01 9.36736657e-01 -1.43683379e-03 9.25266446e+00] [ 5.16814761e-03 -3.97339358e-04 9.99986566e-01 5.31157526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:9.26, Z:0.53 [[ 9.38414755e-01 -3.45484718e-01 -4.24937495e-03 9.08170923e+01] [ 3.45482687e-01 9.38424322e-01 -1.22651225e-03 9.25879986e+00] [ 4.41145805e-03 -3.17108282e-04 9.99990219e-01 5.33720024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:9.27, Z:0.54 [[ 9.41431456e-01 -3.37185460e-01 -3.57488934e-03 9.08434162e+01] [ 3.37183960e-01 9.41438214e-01 -1.03244613e-03 9.26796456e+00] [ 3.71366326e-03 -2.33418087e-04 9.99993077e-01 5.36429869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:9.28, Z:0.54 [[ 9.42558548e-01 -3.34016956e-01 -4.00706160e-03 9.08696506e+01] [ 3.34015040e-01 9.42567033e-01 -1.15806716e-03 9.27879022e+00] [ 4.16373823e-03 -2.46872743e-04 9.99991301e-01 5.36003208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:9.29, Z:0.53 [[ 9.43504582e-01 -3.31339607e-01 -3.62885657e-03 9.08949078e+01] [ 3.31338015e-01 9.43511536e-01 -1.04915991e-03 9.28816894e+00] [ 3.77149627e-03 -2.12490947e-04 9.99992865e-01 5.33889010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:9.30, Z:0.53 [[ 9.44160896e-01 -3.29468770e-01 -3.24528973e-03 9.09218181e+01] [ 3.29467483e-01 9.44166456e-01 -9.38804254e-04 9.29665215e+00] [ 3.37340038e-03 -1.82835172e-04 9.99994293e-01 5.32906393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:9.30, Z:0.53 [[ 9.44994569e-01 -3.27062253e-01 -3.94299797e-03 9.09486963e+01] [ 3.27066573e-01 9.45001174e-01 4.87420328e-04 9.30367678e+00] [ 3.56672092e-03 -1.75023239e-03 9.99992108e-01 5.34474511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:9.32, Z:0.53 [[ 9.45189789e-01 -3.26504220e-01 -3.35518631e-03 9.09743912e+01] [ 3.26496723e-01 9.45194767e-01 -2.59641132e-03 9.31585692e+00] [ 4.01904380e-03 1.35864413e-03 9.99991001e-01 5.34394306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:9.32, Z:0.53 [[ 9.45296082e-01 -3.26179835e-01 -4.69392819e-03 9.10006219e+01] [ 3.26177093e-01 9.45307704e-01 -1.35971104e-03 9.32480534e+00] [ 4.88071680e-03 -2.45722340e-04 9.99988059e-01 5.34533561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:9.33, Z:0.53 [[ 9.45511296e-01 -3.25548378e-01 -5.16167202e-03 9.10265477e+01] [ 3.25545048e-01 9.45525348e-01 -1.49625254e-03 9.33451495e+00] [ 5.36759432e-03 -2.65633084e-04 9.99985559e-01 5.34524809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:9.34, Z:0.53 [[ 9.45709610e-01 -3.24974655e-01 -4.98062030e-03 9.10519890e+01] [ 3.24971543e-01 9.45722692e-01 -1.44430116e-03 9.34374007e+00] [ 5.17964691e-03 -2.52670377e-04 9.99986554e-01 5.34028818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:9.36, Z:0.53 [[ 9.46235295e-01 -3.23454293e-01 -4.01095711e-03 9.10771790e+01] [ 3.23452259e-01 9.46243775e-01 -1.16380349e-03 9.35653855e+00] [ 4.17178043e-03 -1.96121201e-04 9.99991279e-01 5.34090493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:9.37, Z:0.53 [[ 9.46739707e-01 -3.21986603e-01 -2.92490198e-03 9.11023559e+01] [ 3.21985513e-01 9.46744215e-01 -8.48989155e-04 9.36829626e+00] [ 3.04249716e-03 -1.38004321e-04 9.99995362e-01 5.34205991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:9.38, Z:0.53 [[ 9.47409918e-01 -3.20015366e-01 -2.14771155e-03 9.11277140e+01] [ 3.20014772e-01 9.47412348e-01 -6.23699895e-04 9.38010895e+00] [ 2.23436199e-03 -9.63999577e-05 9.99997499e-01 5.34477476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:9.39, Z:0.53 [[ 9.47374040e-01 -3.20121566e-01 -2.14762384e-03 9.11550260e+01] [ 3.20120972e-01 9.47376469e-01 -6.24001830e-04 9.38818776e+00] [ 2.23436473e-03 -9.63362961e-05 9.99997499e-01 5.34504428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:9.40, Z:0.53 [[ 9.48785230e-01 -3.15916698e-01 -1.79623412e-03 9.11798561e+01] [ 3.15916275e-01 9.48786928e-01 -5.22169995e-04 9.40340795e+00] [ 1.86920567e-03 -7.20324125e-05 9.99998250e-01 5.34485274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:9.42, Z:0.53 [[ 9.49219569e-01 -3.14608478e-01 -1.92764179e-03 9.12052253e+01] [ 3.14607987e-01 9.49221523e-01 -5.60760952e-04 9.41547359e+00] [ 2.00617923e-03 -7.41662363e-05 9.99997985e-01 5.33538198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:9.43, Z:0.53 [[ 9.49391692e-01 -3.14084560e-01 -2.51083652e-03 9.12309388e+01] [ 3.14083723e-01 9.49395008e-01 -7.30979305e-04 9.42702437e+00] [ 2.61336497e-03 -9.46272017e-05 9.99996581e-01 5.33421557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:9.44, Z:0.53 [[ 9.49363661e-01 -3.14166060e-01 -2.88556700e-03 9.12557221e+01] [ 3.14164955e-01 9.49368040e-01 -8.40569995e-04 9.43708903e+00] [ 3.00354365e-03 -1.08537419e-04 9.99995483e-01 5.32715381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:9.45, Z:0.53 [[ 9.48640129e-01 -3.16341817e-01 -3.12421800e-03 9.12811078e+01] [ 3.16340531e-01 9.48645265e-01 -9.10424175e-04 9.44634863e+00] [ 3.25177985e-03 -1.24651877e-04 9.99994705e-01 5.31856193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:9.46, Z:0.53 [[ 9.48169248e-01 -3.17747846e-01 -3.37395871e-03 9.13062514e+01] [ 3.17746355e-01 9.48175241e-01 -9.83502918e-04 9.45519895e+00] [ 3.51161005e-03 -1.39535860e-04 9.99993825e-01 5.32161711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:9.47, Z:0.53 [[ 9.47929556e-01 -3.18452960e-01 -4.15547756e-03 9.13322264e+01] [ 3.18450701e-01 9.47938649e-01 -1.21207468e-03 9.46532525e+00] [ 4.32512656e-03 -1.74353331e-04 9.99990631e-01 5.32051151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:9.47, Z:0.53 [[ 9.48164795e-01 -3.17745629e-01 -4.60830733e-03 9.13575605e+01] [ 3.17742839e-01 9.48175975e-01 -1.34487740e-03 9.47484342e+00] [ 4.79681521e-03 -1.89091252e-04 9.99988477e-01 5.31195881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:9.48, Z:0.53 [[ 9.49641508e-01 -3.13318775e-01 -3.51445323e-03 9.13838272e+01] [ 3.13317119e-01 9.49648003e-01 -1.02628454e-03 9.48340726e+00] [ 3.65904771e-03 -1.26535964e-04 9.99993298e-01 5.31052497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:9.49, Z:0.53 [[ 9.50708498e-01 -3.10074191e-01 -2.71066018e-03 9.14094148e+01] [ 3.10073192e-01 9.50712358e-01 -7.91961140e-04 9.49275585e+00] [ 2.82262484e-03 -8.75788685e-05 9.99996013e-01 5.31987003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:9.50, Z:0.53 [[ 9.51926693e-01 -3.06314205e-01 -2.67936257e-03 9.14356190e+01] [ 3.06313213e-01 9.51930461e-01 -7.83307057e-04 9.50394500e+00] [ 2.79050493e-03 -7.50732623e-05 9.99996104e-01 5.32956367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:9.52, Z:0.53 [[ 9.54523268e-01 -2.98107946e-01 -4.12119571e-03 9.14606511e+01] [ 2.98105517e-01 9.54532161e-01 -1.20578925e-03 9.51680241e+00] [ 4.29326920e-03 -7.75972828e-05 9.99990781e-01 5.32002806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:9.53, Z:0.53 [[ 9.55542672e-01 -2.94825535e-01 -4.01326911e-03 9.14862649e+01] [ 2.94823201e-01 9.55551098e-01 -1.17468393e-03 9.52561851e+00] [ 4.18121052e-03 -6.07442244e-05 9.99991257e-01 5.30516482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:9.53, Z:0.53 [[ 9.56252034e-01 -2.92528080e-01 -3.06098814e-03 9.15120536e+01] [ 2.92526710e-01 9.56256932e-01 -8.96210604e-04 9.53430198e+00] [ 3.18925790e-03 -3.84175777e-05 9.99994914e-01 5.29855634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:9.54, Z:0.53 [[ 9.56642077e-01 -2.91260601e-01 -1.78875074e-03 9.15381682e+01] [ 2.91260130e-01 9.56643749e-01 -5.23950420e-04 9.54339680e+00] [ 1.86380333e-03 -1.97587565e-05 9.99998263e-01 5.30138098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:9.55, Z:0.53 [[ 9.56748998e-01 -2.90908901e-01 -1.83459665e-03 9.15643560e+01] [ 2.90908405e-01 9.56750757e-01 -5.37770171e-04 9.55265362e+00] [ 1.91169386e-03 -1.91885129e-05 9.99998173e-01 5.30831069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:9.56, Z:0.53 [[ 9.56708488e-01 -2.91006572e-01 -4.90342370e-03 9.15901203e+01] [ 2.91003022e-01 9.56721053e-01 -1.43842173e-03 9.56070567e+00] [ 5.10979886e-03 -5.07608282e-05 9.99986944e-01 5.30620228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:9.57, Z:0.53 [[ 9.56690605e-01 -2.91036501e-01 -6.39068121e-03 9.16172937e+01] [ 2.91030462e-01 9.56711948e-01 -1.87599846e-03 9.56876993e+00] [ 6.66002510e-03 -6.51327996e-05 9.99977820e-01 5.29986454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:9.58, Z:0.53 [[ 9.56931421e-01 -2.90244452e-01 -6.35712217e-03 9.16441869e+01] [ 2.90238450e-01 9.56952535e-01 -1.86750167e-03 9.57735183e+00] [ 6.62549617e-03 -5.80102589e-05 9.99978049e-01 5.29485386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:9.59, Z:0.53 [[ 9.57401023e-01 -2.88716305e-01 -5.11627691e-03 9.16699720e+01] [ 2.88712392e-01 9.57414693e-01 -1.50353553e-03 9.58656026e+00] [ 5.33249391e-03 -3.76460898e-05 9.99985781e-01 5.29417565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:9.60, Z:0.53 [[ 9.57913012e-01 -2.87037825e-01 -3.45654219e-03 9.16965551e+01] [ 2.87036026e-01 9.57919249e-01 -1.01636525e-03 9.59579510e+00] [ 3.60282357e-03 -1.85626363e-05 9.99993510e-01 5.29636029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:9.60, Z:0.53 [[ 9.58669998e-01 -2.84495981e-01 -3.72438093e-03 9.17236003e+01] [ 2.84493871e-01 9.58677233e-01 -1.09591364e-03 9.60448239e+00] [ 3.88226223e-03 -8.94401939e-06 9.99992464e-01 5.30166380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:9.61, Z:0.53 [[ 9.59031855e-01 -2.83252432e-01 -5.09511104e-03 9.17492623e+01] [ 2.83248461e-01 9.59045390e-01 -1.49990010e-03 9.61153304e+00] [ 5.31129311e-03 -4.73038785e-06 9.99985895e-01 5.29683350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:9.62, Z:0.53 [[ 9.59237755e-01 -2.82532565e-01 -6.18699121e-03 9.17765810e+01] [ 2.82526686e-01 9.59257708e-01 -1.82256011e-03 9.61873405e+00] [ 6.44985159e-03 2.78337871e-07 9.99979199e-01 5.29555031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:9.62, Z:0.53 [[ 9.59493824e-01 -2.81679650e-01 -5.30818463e-03 9.18027422e+01] [ 2.81675306e-01 9.59508507e-01 -1.56425892e-03 9.62418492e+00] [ 5.53386821e-03 5.71223823e-06 9.99984688e-01 5.29319604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.83, Y:9.63, Z:0.53 [[ 9.59561873e-01 -2.81468410e-01 -4.06766537e-03 9.18294022e+01] [ 2.81465856e-01 9.59570495e-01 -1.19904967e-03 9.63072607e+00] [ 4.24070628e-03 5.65342830e-06 9.99991008e-01 5.29357983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.86, Y:9.64, Z:0.53 [[ 9.59653043e-01 -2.81176683e-01 -2.38965598e-03 9.18561467e+01] [ 2.81175800e-01 9.59656018e-01 -7.04770280e-04 9.63716969e+00] [ 2.49141272e-03 4.42151022e-06 9.99996896e-01 5.29617397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.88, Y:9.64, Z:0.53 [[ 9.60195694e-01 -2.79328080e-01 2.30106002e-04 9.18838222e+01] [ 2.79328072e-01 9.60195722e-01 6.81198590e-05 9.64248075e+00] [-2.39974588e-04 -1.13332936e-06 9.99999971e-01 5.30563810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.91, Y:9.65, Z:0.53 [[ 9.60746050e-01 -2.77428072e-01 8.31657908e-04 9.19111383e+01] [ 2.77427963e-01 9.60746410e-01 2.45877207e-04 9.64826510e+00] [-8.67225589e-04 -5.50039623e-06 9.99999624e-01 5.31295441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.94, Y:9.65, Z:0.53 [[ 9.61402517e-01 -2.75143408e-01 1.14267238e-03 9.19384910e+01] [ 2.75143200e-01 9.61403196e-01 3.37999783e-04 9.65376963e+00] [-1.19156729e-03 -1.05553072e-05 9.99999290e-01 5.31872575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.97, Y:9.66, Z:0.53 [[ 9.62039939e-01 -2.72907451e-01 8.23681818e-04 9.19653112e+01] [ 2.72907342e-01 9.62040292e-01 2.43664081e-04 9.65935683e+00] [-8.58912840e-04 -9.62576170e-06 9.99999631e-01 5.32585932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:9.67, Z:0.53 [[ 9.62595267e-01 -2.70943442e-01 5.23991608e-05 9.19926889e+01] [ 2.70943441e-01 9.62595269e-01 1.56922266e-05 9.66545658e+00] [-5.46908901e-05 -9.08054137e-07 9.99999999e-01 5.32880367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:9.67, Z:0.53 [[ 9.63614734e-01 -2.67287464e-01 -2.01408954e-03 9.20204228e+01] [ 2.67286801e-01 9.63616838e-01 -5.96252527e-04 9.67069529e+00] [ 2.10018142e-03 3.62181695e-05 9.99997794e-01 5.31785135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:9.68, Z:0.53 [[ 9.64219258e-01 -2.65093262e-01 -2.60468757e-03 9.20472085e+01] [ 2.65092144e-01 9.64222775e-01 -7.71574238e-04 9.67677223e+00] [ 2.71603821e-03 5.34845263e-05 9.99996310e-01 5.31606541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:9.68, Z:0.53 [[ 9.65193826e-01 -2.61524278e-01 -2.43527741e-03 9.20751501e+01] [ 2.61523288e-01 9.65196896e-01 -7.21826705e-04 9.68186786e+00] [ 2.53929740e-03 5.98209236e-05 9.99996774e-01 5.31130760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:9.69, Z:0.53 [[ 9.65618465e-01 -2.59953652e-01 -2.25356671e-03 9.21026610e+01] [ 2.59952799e-01 9.65621093e-01 -6.68419136e-04 9.68774344e+00] [ 2.34984955e-03 5.96168845e-05 9.99997237e-01 5.30889612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.13, Y:9.69, Z:0.53 [[ 9.65915285e-01 -2.58843602e-01 -2.76611913e-03 9.21307400e+01] [ 2.58842311e-01 9.65919243e-01 -8.21061964e-04 9.69288943e+00] [ 2.88437433e-03 7.70876338e-05 9.99995837e-01 5.31251185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.16, Y:9.70, Z:0.53 [[ 9.66176081e-01 -2.57866313e-01 -2.95713456e-03 9.21583920e+01] [ 2.57864831e-01 9.66180603e-01 -8.78388603e-04 9.69741902e+00] [ 3.08363288e-03 8.61370538e-05 9.99995242e-01 5.31003229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:9.70, Z:0.53 [[ 9.66693469e-01 -2.55906422e-01 -3.95470188e-03 9.21867944e+01] [ 2.55903752e-01 9.66701550e-01 -1.17559721e-03 9.69932141e+00] [ 4.12385931e-03 1.24419097e-04 9.99991489e-01 5.30099133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:9.70, Z:0.53 [[ 9.66993846e-01 -2.54765431e-01 -4.18049673e-03 9.22129685e+01] [ 2.54762435e-01 9.67002873e-01 -1.24321741e-03 9.70451448e+00] [ 4.35928117e-03 1.37150057e-04 9.99990489e-01 5.29427483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:9.71, Z:0.53 [[ 9.67342878e-01 -2.53440946e-01 -3.92974040e-03 9.22393985e+01] [ 2.53438285e-01 9.67350851e-01 -1.16914511e-03 9.71011687e+00] [ 4.09774696e-03 1.35017530e-04 9.99991595e-01 5.29089827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:9.72, Z:0.53 [[ 9.67784792e-01 -2.51756491e-01 -3.35644953e-03 9.22671559e+01] [ 2.51754538e-01 9.67790605e-01 -9.99204717e-04 9.71663577e+00] [ 3.49989660e-03 1.22013729e-04 9.99993868e-01 5.29329852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:9.72, Z:0.53 [[ 9.68796096e-01 -2.47817457e-01 -4.54231402e-03 9.22933939e+01] [ 2.47813833e-01 9.68806727e-01 -1.35282024e-03 9.72139870e+00] [ 4.73587685e-03 1.84958722e-04 9.99988769e-01 5.29087987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:9.73, Z:0.53 [[ 9.69051350e-01 -2.46788685e-01 -5.90141658e-03 9.23201336e+01] [ 2.46782547e-01 9.69069287e-01 -1.75814913e-03 9.72764713e+00] [ 6.15277287e-03 2.47370174e-04 9.99981041e-01 5.28651564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:9.73, Z:0.53 [[ 9.69106785e-01 -2.46547159e-01 -6.82190700e-03 9.23479043e+01] [ 2.46538941e-01 9.69130752e-01 -2.03367381e-03 9.73377321e+00] [ 7.11271637e-03 2.88981362e-04 9.99974663e-01 5.28476050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.38, Y:9.74, Z:0.53 [[ 9.68907255e-01 -2.47368835e-01 -5.23355484e-03 9.23761422e+01] [ 2.47364004e-01 9.68921365e-01 -1.56123626e-03 9.73758380e+00] [ 5.45710430e-03 2.18100061e-04 9.99985086e-01 5.28703859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:9.74, Z:0.53 [[ 9.68793859e-01 -2.47847641e-01 -3.16316899e-03 9.24028935e+01] [ 2.47845878e-01 9.68799014e-01 -9.43939783e-04 9.74276117e+00] [ 3.29842825e-03 1.30504669e-04 9.99994552e-01 5.29521466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:9.75, Z:0.53 [[ 9.68653873e-01 -2.48410321e-01 -1.40953612e-03 9.24302072e+01] [ 2.48409971e-01 9.68654897e-01 -4.20769690e-04 9.74779817e+00] [ 1.46987760e-03 5.74373625e-05 9.99998918e-01 5.29945942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:9.75, Z:0.53 [[ 9.68609740e-01 -2.48585327e-01 -7.11176624e-04 9.24571381e+01] [ 2.48585238e-01 9.68610001e-01 -2.12375154e-04 9.75295359e+00] [ 7.41646138e-04 2.89206328e-05 9.99999725e-01 5.30027837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:9.76, Z:0.53 [[ 9.68971451e-01 -2.47165255e-01 -1.91386700e-03 9.24839810e+01] [ 2.47164607e-01 9.68973338e-01 -5.71838346e-04 9.75633493e+00] [ 1.99582466e-03 8.10548469e-05 9.99998005e-01 5.29330530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:9.76, Z:0.53 [[ 9.69211046e-01 -2.46212432e-01 -3.06385610e-03 9.25109887e+01] [ 2.46210764e-01 9.69215879e-01 -9.16016252e-04 9.76245731e+00] [ 3.19507258e-03 1.33458718e-04 9.99994887e-01 5.28932969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.54, Y:9.77, Z:0.53 [[ 9.69631051e-01 -2.44544490e-01 -3.69031920e-03 9.25380948e+01] [ 2.44542055e-01 9.69638058e-01 -1.10412184e-03 9.76793550e+00] [ 3.84828086e-03 1.68152580e-04 9.99992581e-01 5.28698595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:9.77, Z:0.53 [[ 9.70178605e-01 -2.42366298e-01 -3.47166898e-03 9.25644265e+01] [ 2.42364128e-01 9.70184802e-01 -1.03911448e-03 9.77287169e+00] [ 3.62000681e-03 1.66718609e-04 9.99993434e-01 5.28897932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:9.78, Z:0.53 [[ 9.70666247e-01 -2.40404738e-01 -3.54949594e-03 9.25905158e+01] [ 2.40402456e-01 9.70672720e-01 -1.06273047e-03 9.77838288e+00] [ 3.70088432e-03 1.78249059e-04 9.99993136e-01 5.29094263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:9.78, Z:0.53 [[ 9.71449775e-01 -2.37216538e-01 -3.69433158e-03 9.26173234e+01] [ 2.37214040e-01 9.71456779e-01 -1.10674524e-03 9.78471257e+00] [ 3.85142173e-03 1.98800096e-04 9.99992563e-01 5.28282658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:9.79, Z:0.53 [[ 9.71840490e-01 -2.35616977e-01 -3.27136684e-03 9.26424264e+01] [ 2.35618704e-01 9.71845566e-01 1.47357824e-04 9.79036818e+00] [ 3.14454335e-03 -9.14003515e-04 9.99994638e-01 5.27994935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:9.80, Z:0.53 [[ 9.71866072e-01 -2.35528125e-01 -1.68513147e-03 9.26712666e+01] [ 2.35525538e-01 9.71866844e-01 -1.59974300e-03 9.79900537e+00] [ 2.01450787e-03 1.15784445e-03 9.99997301e-01 5.27899080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:9.80, Z:0.53 [[ 9.71723092e-01 -2.36122778e-01 -5.15113292e-04 9.26982090e+01] [ 2.36122729e-01 9.71723229e-01 -1.54371006e-04 9.80325129e+00] [ 5.36998061e-04 2.83759151e-05 9.99999855e-01 5.28279083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:9.81, Z:0.53 [[ 9.71155956e-01 -2.38441423e-01 1.34019942e-03 9.27264923e+01] [ 2.38441094e-01 9.71156878e-01 4.02424978e-04 9.80647831e+00] [-1.39749867e-03 -7.12587976e-05 9.99999021e-01 5.29345647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:9.81, Z:0.53 [[ 9.70871201e-01 -2.39597595e-01 1.45041271e-03 9.27530957e+01] [ 2.39597211e-01 9.70872281e-01 4.35534179e-04 9.81209964e+00] [-1.51251844e-03 -7.53327518e-05 9.99998853e-01 5.29521446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:9.82, Z:0.53 [[ 9.70746067e-01 -2.40106100e-01 1.06490331e-03 9.27798663e+01] [ 2.40105893e-01 9.70746650e-01 3.19885538e-04 9.81693275e+00] [-1.11055779e-03 -5.48380670e-05 9.99999382e-01 5.29200888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:9.82, Z:0.53 [[ 9.70756306e-01 -2.40065872e-01 7.56064627e-04 9.28078199e+01] [ 2.40065767e-01 9.70756600e-01 2.27379614e-04 9.82081997e+00] [-7.88540811e-04 -3.92249592e-05 9.99999688e-01 5.28388932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:9.83, Z:0.53 [[ 9.70715377e-01 -2.40231315e-01 7.56028854e-04 9.28350487e+01] [ 2.40231211e-01 9.70715671e-01 2.27498568e-04 9.82917767e+00] [-7.88541336e-04 -3.92146312e-05 9.99999688e-01 5.28414482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:9.83, Z:0.53 [[ 9.71141811e-01 -2.38500696e-01 1.00020217e-03 9.28640706e+01] [ 2.38500512e-01 9.71142325e-01 3.01149900e-04 9.82943958e+00] [-1.04316312e-03 -5.39105300e-05 9.99999454e-01 5.28677338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:9.83, Z:0.53 [[ 9.71512084e-01 -2.36988100e-01 9.54120415e-04 9.28905884e+01] [ 2.36987931e-01 9.71512552e-01 2.87268999e-04 9.83450736e+00] [-9.95019293e-04 -5.29702805e-05 9.99999504e-01 5.28906798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:9.84, Z:0.53 [[ 9.71922782e-01 -2.35299823e-01 3.15853634e-04 9.29185204e+01] [ 2.35299804e-01 9.71922833e-01 9.53139408e-05 9.84048757e+00] [-3.29412712e-04 -1.83174923e-05 9.99999946e-01 5.28385351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:9.84, Z:0.53 [[ 9.72828532e-01 -2.31523671e-01 -1.19907716e-03 9.29462392e+01] [ 2.31523401e-01 9.72829268e-01 -3.61200249e-04 9.84370582e+00] [ 1.25012377e-03 7.37714855e-05 9.99999216e-01 5.27677038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:9.85, Z:0.53 [[ 9.73132333e-01 -2.30234177e-01 -2.38464507e-03 9.29738397e+01] [ 2.30233104e-01 9.73135243e-01 -7.18797485e-04 9.84995679e+00] [ 2.48607391e-03 1.50460837e-04 9.99996898e-01 5.27669832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:9.86, Z:0.53 [[ 9.73419982e-01 -2.29004657e-01 -3.22588165e-03 9.29999434e+01] [ 2.29002686e-01 9.73425305e-01 -9.72819479e-04 9.85622770e+00] [ 3.36293502e-03 2.08226358e-04 9.99994324e-01 5.27380456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:9.86, Z:0.53 [[ 9.73660387e-01 -2.27979714e-01 -3.27133595e-03 9.30269033e+01] [ 2.27977679e-01 9.73665858e-01 -9.87103373e-04 9.86233962e+00] [ 3.41022767e-03 2.15311875e-04 9.99994162e-01 5.26839670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:9.86, Z:0.53 [[ 9.73966846e-01 -2.26688992e-01 -8.27311227e-04 9.30550539e+01] [ 2.26688861e-01 9.73967195e-01 -2.49677609e-04 9.86419853e+00] [ 8.62373161e-04 5.56354732e-05 9.99999627e-01 5.26657136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:9.87, Z:0.53 [[ 9.74005274e-01 -2.26525332e-01 3.24474806e-05 9.30818646e+01] [ 2.26525331e-01 9.74005274e-01 9.87425890e-06 9.86976869e+00] [-3.38407870e-05 -2.26740394e-06 9.99999999e-01 5.27083180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:9.88, Z:0.53 [[ 9.74018751e-01 -2.26467342e-01 -1.24865343e-04 9.31086812e+01] [ 2.26467339e-01 9.74018759e-01 -3.75555503e-05 9.87710384e+00] [ 1.30126292e-04 8.30188832e-06 9.99999991e-01 5.27275803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:9.88, Z:0.53 [[ 9.74048184e-01 -2.26337481e-01 -1.21636003e-03 9.31341080e+01] [ 2.26337198e-01 9.74048940e-01 -3.67593052e-04 9.88458553e+00] [ 1.26799428e-03 8.27458244e-05 9.99999193e-01 5.27081994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:9.89, Z:0.53 [[ 9.74044894e-01 -2.26343944e-01 -2.22786497e-03 9.31605218e+01] [ 2.26342992e-01 9.74047430e-01 -6.73537840e-04 9.88955638e+00] [ 2.32249736e-03 1.51794470e-04 9.99997291e-01 5.26559434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:9.90, Z:0.53 [[ 9.73893992e-01 -2.26990419e-01 -2.41681210e-03 9.31877739e+01] [ 2.26989301e-01 9.73896978e-01 -7.31047276e-04 9.89527941e+00] [ 2.51966672e-03 1.63372062e-04 9.99996812e-01 5.26657490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:9.90, Z:0.53 [[ 9.73696767e-01 -2.27838067e-01 -2.10275201e-03 9.32155610e+01] [ 2.27837221e-01 9.73699027e-01 -6.36443850e-04 9.90145257e+00] [ 2.19245372e-03 1.40618145e-04 9.99997587e-01 5.27145759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:9.91, Z:0.53 [[ 9.73399328e-01 -2.29112078e-01 -1.18477021e-03 9.32430921e+01] [ 2.29111811e-01 9.73400046e-01 -3.58759136e-04 9.90723513e+00] [ 1.23545142e-03 7.77710549e-05 9.99999234e-01 5.27694774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:9.91, Z:0.53 [[ 9.72692705e-01 -2.32096216e-01 4.99043986e-04 9.32721196e+01] [ 2.32096168e-01 9.72692832e-01 1.51465477e-04 9.90895206e+00] [-5.20571072e-04 -3.15031677e-05 9.99999864e-01 5.28439616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:9.91, Z:0.53 [[ 9.72397854e-01 -2.33328025e-01 6.67718872e-04 9.32998949e+01] [ 2.33327941e-01 9.72398083e-01 2.02739441e-04 9.91408170e+00] [-6.96593344e-04 -4.13459281e-05 9.99999757e-01 5.28889723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.33, Y:9.92, Z:0.53 [[ 9.72253988e-01 -2.33927730e-01 2.62638594e-05 9.33266863e+01] [ 2.33927730e-01 9.72253988e-01 8.04664982e-06 9.91923498e+00] [-2.74174765e-05 -1.67954236e-06 1.00000000e+00 5.28818275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:9.93, Z:0.53 [[ 9.72214621e-01 -2.34089881e-01 -8.10753644e-04 9.33542765e+01] [ 2.34089757e-01 9.72214958e-01 -2.46016990e-04 9.92500284e+00] [ 8.45816908e-04 4.93921908e-05 9.99999641e-01 5.29077975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:9.93, Z:0.53 [[ 9.72332076e-01 -2.33597876e-01 -1.53806284e-03 9.33817058e+01] [ 2.33597428e-01 9.72333288e-01 -4.67123411e-04 9.92784331e+00] [ 1.60462874e-03 9.49115512e-05 9.99998708e-01 5.28639893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:9.93, Z:0.53 [[ 9.72434856e-01 -2.33172999e-01 -8.96521043e-04 9.34090179e+01] [ 2.33172847e-01 9.72435267e-01 -2.72335602e-04 9.93354128e+00] [ 9.35309989e-04 5.57842687e-05 9.99999561e-01 5.28644717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:9.94, Z:0.53 [[ 9.72620783e-01 -2.32397660e-01 -3.74913390e-04 9.34356530e+01] [ 2.32397633e-01 9.72620855e-01 -1.13917477e-04 9.93970001e+00] [ 3.91122737e-04 2.36695214e-05 9.99999923e-01 5.28799944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.46, Y:9.95, Z:0.53 [[ 9.72798968e-01 -2.31649888e-01 -7.05399415e-04 9.34631566e+01] [ 2.31649793e-01 9.72799223e-01 -2.14447214e-04 9.94670991e+00] [ 7.35888676e-04 4.52083996e-05 9.99999728e-01 5.28261883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:9.95, Z:0.53 [[ 9.73007435e-01 -2.30768610e-01 -1.54259765e-03 9.34894873e+01] [ 2.30768155e-01 9.73008653e-01 -4.69409998e-04 9.95429536e+00] [ 1.60928595e-03 1.00757005e-04 9.99998700e-01 5.27929547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:9.96, Z:0.53 [[ 9.73889919e-01 -2.27010238e-01 -2.18586196e-03 9.35159581e+01] [ 2.27009313e-01 9.73892360e-01 -6.65540974e-04 9.96217856e+00] [ 2.27987888e-03 1.51952621e-04 9.99997390e-01 5.26959656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:9.97, Z:0.53 [[ 9.74421718e-01 -2.24721791e-01 -1.55957578e-03 9.35422708e+01] [ 2.24721317e-01 9.74422959e-01 -4.75044034e-04 9.96954396e+00] [ 1.62643920e-03 1.12423299e-04 9.99998671e-01 5.26903078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:9.98, Z:0.53 [[ 9.74868804e-01 -2.22779411e-01 -3.85762696e-04 9.35686234e+01] [ 2.22779382e-01 9.74868880e-01 -1.17479454e-04 9.97640108e+00] [ 4.02240051e-04 2.85870797e-05 9.99999919e-01 5.27035564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:9.98, Z:0.53 [[ 9.74997364e-01 -2.22213614e-01 1.11751646e-03 9.35954811e+01] [ 2.22213369e-01 9.74998001e-01 3.40720638e-04 9.97955090e+00] [-1.16528908e-03 -8.38746265e-05 9.99999318e-01 5.27530194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:9.98, Z:0.53 [[ 9.74561728e-01 -2.24118564e-01 5.54181861e-04 9.36233094e+01] [ 2.24118504e-01 9.74561885e-01 1.69211754e-04 9.98476067e+00] [-5.78008014e-04 -4.07048897e-05 9.99999832e-01 5.27274958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:9.99, Z:0.53 [[ 9.74028168e-01 -2.26426873e-01 -8.57681362e-06 9.36498428e+01] [ 2.26426873e-01 9.74028168e-01 -2.54184917e-06 9.98921611e+00] [ 8.92960101e-06 5.33811602e-07 1.00000000e+00 5.26957188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:9.99, Z:0.53 [[ 9.72923219e-01 -2.31128553e-01 4.95014050e-05 9.36778651e+01] [ 2.31128552e-01 9.72923220e-01 1.52276854e-05 9.98824211e+00] [-5.16806193e-05 -3.37418062e-06 9.99999999e-01 5.26655229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.71, Y:9.99, Z:0.53 [[ 9.72323290e-01 -2.33637948e-01 8.54357568e-04 9.37062219e+01] [ 2.33637808e-01 9.72323663e-01 2.61141588e-04 9.99109713e+00] [-8.91724665e-04 -5.43038180e-05 9.99999601e-01 5.26767243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:9.99, Z:0.53 [[ 9.71765072e-01 -2.35945699e-01 1.50745922e-03 9.37335159e+01] [ 2.35945267e-01 9.71766237e-01 4.60669043e-04 9.99381155e+00] [-1.57359085e-03 -9.19842174e-05 9.99998758e-01 5.27439410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.091400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:93.76, Y:10.00, Z:0.53 [[ 9.71278927e-01 -2.37940853e-01 1.18170839e-03 9.37619784e+01] [ 2.37940588e-01 9.71279643e-01 3.61490581e-04 9.99706302e+00] [-1.23378268e-03 -6.99317945e-05 9.99999236e-01 5.27666821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.79, Y:9.99, Z:0.53 [[ 9.70951613e-01 -2.39275918e-01 -4.05810648e-06 9.37914113e+01] [ 2.39275918e-01 9.70951613e-01 -1.16294332e-06 9.99449901e+00] [ 4.21848937e-06 1.58154542e-07 1.00000000e+00 5.27248874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.82, Y:10.00, Z:0.53 [[ 9.71074315e-01 -2.38776971e-01 -4.82337667e-04 9.38191737e+01] [ 2.38776927e-01 9.71074434e-01 -1.47444835e-04 9.99792871e+00] [ 5.03592209e-04 2.80087863e-05 9.99999873e-01 5.27642172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18140051299999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:93.85, Y:10.00, Z:0.53 [[ 9.71499608e-01 -2.37030635e-01 -2.23377482e-03 9.38464806e+01] [ 2.37032046e-01 9.71501755e-01 3.85512933e-04 1.00016050e+01] [ 2.07873778e-03 -9.04001878e-04 9.99997431e-01 5.30134009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.87, Y:10.01, Z:0.53 [[ 9.71976384e-01 -2.35077149e-01 8.01853465e-04 9.38741038e+01] [ 2.35077788e-01 9.71976209e-01 -8.26048325e-04 1.00089322e+01] [-5.85197407e-04 9.91397403e-04 9.99999337e-01 5.27983655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:10.01, Z:0.53 [[ 9.73570585e-01 -2.28386265e-01 1.73584681e-04 9.39018194e+01] [ 2.28386259e-01 9.73570600e-01 5.33160179e-05 1.00098799e+01] [-1.81173588e-04 -1.22625509e-05 9.99999984e-01 5.27478928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:10.01, Z:0.53 [[ 9.74367954e-01 -2.24958432e-01 -8.90605467e-04 9.39298004e+01] [ 2.24958276e-01 9.74368359e-01 -2.72942450e-04 1.00144354e+01] [ 9.29178493e-04 6.55973064e-05 9.99999566e-01 5.27390597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:10.02, Z:0.53 [[ 9.75040772e-01 -2.22021248e-01 -1.43508059e-03 9.39577408e+01] [ 2.22020839e-01 9.75041821e-01 -4.40202681e-04 1.00197980e+01] [ 1.49699794e-03 1.10597766e-04 9.99998873e-01 5.27582830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:93.99, Y:10.03, Z:0.53 [[ 9.75539207e-01 -2.19823262e-01 -9.94823359e-04 9.39852565e+01] [ 2.19823064e-01 9.75539711e-01 -3.05303342e-04 1.00265758e+01] [ 1.03760247e-03 7.91502609e-05 9.99999459e-01 5.27685330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:10.03, Z:0.53 [[ 9.76017996e-01 -2.17689837e-01 -8.30487111e-05 9.40110093e+01] [ 2.17689836e-01 9.76017999e-01 -2.53946942e-05 1.00330356e+01] [ 8.65852036e-05 6.70681825e-06 9.99999996e-01 5.28091026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:10.04, Z:0.53 [[ 9.76865672e-01 -2.13845753e-01 1.85824812e-03 9.40383115e+01] [ 2.13845050e-01 9.76867426e-01 5.71394759e-04 1.00392543e+01] [-1.93745240e-03 -1.60798764e-04 9.99998110e-01 5.28452139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:10.05, Z:0.53 [[ 9.77271400e-01 -2.11987800e-01 1.33519570e-03 9.40652979e+01] [ 2.11987435e-01 9.77272305e-01 4.10883509e-04 1.00480086e+01] [-1.39195207e-03 -1.18499991e-04 9.99999024e-01 5.28557846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.09, Y:10.06, Z:0.53 [[ 9.77832104e-01 -2.09390328e-01 2.56962060e-04 9.40911653e+01] [ 2.09390315e-01 9.77832138e-01 7.91401526e-05 1.00573947e+01] [-2.67836943e-04 -2.35804153e-05 9.99999964e-01 5.28405074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:10.07, Z:0.53 [[ 9.78426347e-01 -2.06594621e-01 -7.39430232e-04 9.41172587e+01] [ 2.06594507e-01 9.78426624e-01 -2.27492014e-04 1.00676169e+01] [ 7.70476852e-04 6.98219562e-05 9.99999701e-01 5.29157427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:10.08, Z:0.53 [[ 9.79429377e-01 -2.01782719e-01 -1.35266273e-03 9.41417505e+01] [ 2.01782334e-01 9.79430302e-01 -4.16538690e-04 1.00783995e+01] [ 1.40888917e-03 1.35026786e-04 9.99998998e-01 5.29186590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:10.09, Z:0.53 [[ 9.79494762e-01 -2.01462285e-01 -1.72029256e-03 9.41685176e+01] [ 2.01461662e-01 9.79496257e-01 -5.30064346e-04 1.00882092e+01] [ 1.79180810e-03 1.72622254e-04 9.99998380e-01 5.28645927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:10.10, Z:0.53 [[ 9.79281806e-01 -2.02491295e-01 -2.10211171e-03 9.41940758e+01] [ 2.02490366e-01 9.79284040e-01 -6.48025264e-04 1.00983431e+01] [ 2.18978393e-03 2.08941981e-04 9.99997581e-01 5.27604792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:10.11, Z:0.53 [[ 9.78745208e-01 -2.05059661e-01 -2.89036701e-03 9.42196278e+01] [ 2.05057914e-01 9.78749435e-01 -8.91528092e-04 1.01090973e+01] [ 3.01176152e-03 2.79886220e-04 9.99995425e-01 5.26388880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:10.12, Z:0.53 [[ 9.76979615e-01 -2.13309876e-01 -3.11908507e-03 9.42449167e+01] [ 2.13307882e-01 9.76984555e-01 -9.62455728e-04 1.01191852e+01] [ 3.25259926e-03 2.74974195e-04 9.99994672e-01 5.25816841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:10.13, Z:0.53 [[ 9.75784716e-01 -2.18705790e-01 -3.45924543e-03 9.42718706e+01] [ 2.18703368e-01 9.75790805e-01 -1.06802456e-03 1.01266791e+01] [ 3.60908304e-03 2.85613413e-04 9.99993446e-01 5.27034053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.30, Y:10.13, Z:0.53 [[ 9.74511289e-01 -2.24314156e-01 -3.30267905e-03 9.42990390e+01] [ 2.24311979e-01 9.74516852e-01 -1.02034602e-03 1.01338250e+01] [ 3.44739445e-03 2.53508245e-04 9.99994026e-01 5.27370877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:94.33, Y:10.14, Z:0.53 [[ 9.72147231e-01 -2.34358465e-01 -2.42317213e-03 9.43253675e+01] [ 2.34357323e-01 9.72150237e-01 -7.49071402e-04 1.01388016e+01] [ 2.53123858e-03 1.60319557e-04 9.99996784e-01 5.27244574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.35, Y:10.15, Z:0.53 [[ 9.71366311e-01 -2.37582614e-01 -1.41111995e-03 9.43523091e+01] [ 2.37582229e-01 9.71367332e-01 -4.36433109e-04 1.01453981e+01] [ 1.47440474e-03 8.86793969e-05 9.99998909e-01 5.26808266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.38, Y:10.15, Z:0.53 [[ 9.71050868e-01 -2.38871681e-01 -7.29675256e-04 9.43789184e+01] [ 2.38871579e-01 9.71051141e-01 -2.25748810e-04 1.01519810e+01] [ 7.62476987e-04 4.49148978e-05 9.99999708e-01 5.26790721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.41, Y:10.16, Z:0.53 [[ 9.71346285e-01 -2.37668228e-01 -4.56760226e-04 9.44065665e+01] [ 2.37668188e-01 9.71346392e-01 -1.41307616e-04 1.01562787e+01] [ 4.77256728e-04 2.87012523e-05 9.99999886e-01 5.27887268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.43, Y:10.16, Z:0.53 [[ 9.71589741e-01 -2.36671432e-01 9.28790208e-05 9.44343947e+01] [ 2.36671430e-01 9.71589745e-01 2.89630720e-05 1.01619339e+01] [-9.70950359e-05 -6.15841293e-06 9.99999995e-01 5.28555536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:10.17, Z:0.53 [[ 9.71852079e-01 -2.35591419e-01 4.68130113e-04 9.44620755e+01] [ 2.35591376e-01 9.71852192e-01 1.45369963e-04 1.01667436e+01] [-4.89201192e-04 -3.09906835e-05 9.99999880e-01 5.29766856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:10.17, Z:0.53 [[ 9.72107926e-01 -2.34533839e-01 -2.42532237e-04 9.44897913e+01] [ 2.34533828e-01 9.72107956e-01 -7.50947295e-05 1.01720467e+01] [ 2.53379773e-04 1.61181678e-05 9.99999968e-01 5.30159034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:10.18, Z:0.53 [[ 9.72856681e-01 -2.31388963e-01 -3.00431709e-03 9.45158783e+01] [ 2.31387180e-01 9.72861297e-01 -9.32644663e-04 1.01775949e+01] [ 3.13858750e-03 2.12169132e-04 9.99995052e-01 5.28088128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.54, Y:10.19, Z:0.53 [[ 9.73228039e-01 -2.29829211e-01 -2.39138890e-03 9.45426338e+01] [ 2.29828076e-01 9.73230961e-01 -7.42743998e-04 1.01853580e+01] [ 2.49807798e-03 1.73250975e-04 9.99996865e-01 5.27447673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.57, Y:10.19, Z:0.53 [[ 9.73201543e-01 -2.29941380e-01 -2.39128465e-03 9.45698207e+01] [ 2.29940245e-01 9.73204466e-01 -7.43079513e-04 1.01939356e+01] [ 2.49807363e-03 1.73313551e-04 9.99996865e-01 5.27473243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:10.20, Z:0.53 [[ 9.73583201e-01 -2.28329786e-01 -1.12264026e-03 9.45972707e+01] [ 2.28329535e-01 9.73583844e-01 -3.48959810e-04 1.02009393e+01] [ 1.17266234e-03 8.34094792e-05 9.99999309e-01 5.27746840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:10.21, Z:0.53 [[ 9.73953315e-01 -2.26748477e-01 2.62406195e-04 9.46236389e+01] [ 2.26748463e-01 9.73953350e-01 8.17627330e-05 1.02071826e+01] [-2.74110967e-04 -2.01328835e-05 9.99999962e-01 5.28419913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:10.21, Z:0.53 [[ 9.74578539e-01 -2.24046113e-01 1.07814334e-04 9.46516329e+01] [ 2.24046110e-01 9.74578544e-01 3.37427812e-05 1.02124428e+01] [-1.12633475e-04 -8.72960833e-06 9.99999994e-01 5.28868006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:10.22, Z:0.53 [[ 9.74741062e-01 -2.23337915e-01 -1.95046650e-04 9.46769824e+01] [ 2.23337908e-01 9.74741081e-01 -6.06328535e-05 1.02203550e+01] [ 2.03661598e-04 1.55400211e-05 9.99999979e-01 5.28180846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:10.23, Z:0.53 [[ 9.74691375e-01 -2.23553516e-01 -7.40512554e-04 9.47035289e+01] [ 2.23553404e-01 9.74691655e-01 -2.30630891e-04 1.02283724e+01] [ 7.73329753e-04 5.92498384e-05 9.99999699e-01 5.27392119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:94.73, Y:10.24, Z:0.53 [[ 9.74381187e-01 -2.24897390e-01 -1.57064148e-03 9.47311034e+01] [ 2.24896891e-01 9.74382445e-01 -4.89679595e-04 1.02355543e+01] [ 1.64053315e-03 1.23902199e-04 9.99998647e-01 5.27185891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:10.24, Z:0.53 [[ 9.74020555e-01 -2.26449783e-01 -2.11035710e-03 9.47579694e+01] [ 2.26448885e-01 9.74022828e-01 -6.58290916e-04 1.02413782e+01] [ 2.20460582e-03 1.63300874e-04 9.99997557e-01 5.27074412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.79, Y:10.25, Z:0.53 [[ 9.73048163e-01 -2.30593097e-01 -2.02386666e-03 9.47863808e+01] [ 2.30592279e-01 9.73050257e-01 -6.31620467e-04 1.02457248e+01] [ 2.11497130e-03 1.47909108e-04 9.99997753e-01 5.29112861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:10.25, Z:0.53 [[ 9.72762036e-01 -2.31801932e-01 -1.37336927e-03 9.48130781e+01] [ 2.31801556e-01 9.72763000e-01 -4.28772611e-04 1.02521184e+01] [ 1.43535313e-03 9.87445843e-05 9.99998965e-01 5.29626637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.84, Y:10.26, Z:0.53 [[ 9.72487728e-01 -2.32951491e-01 -1.10492532e-03 9.48404682e+01] [ 2.32951249e-01 9.72488353e-01 -3.45073687e-04 1.02592475e+01] [ 1.15491244e-03 7.81861920e-05 9.99999330e-01 5.29536945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.87, Y:10.26, Z:0.53 [[ 9.72324801e-01 -2.33626106e-01 -1.82300766e-03 9.48683427e+01] [ 2.33625446e-01 9.72326502e-01 -5.69816148e-04 1.02631686e+01] [ 1.90568259e-03 1.28145395e-04 9.99998176e-01 5.27795559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:10.27, Z:0.53 [[ 9.72389835e-01 -2.33352259e-01 -2.17536281e-03 9.48947003e+01] [ 2.33351318e-01 9.72392256e-01 -6.80278393e-04 1.02696292e+01] [ 2.27405045e-03 1.53872015e-04 9.99997403e-01 5.26631063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:10.28, Z:0.53 [[ 9.72413588e-01 -2.33254078e-01 -2.08549839e-03 9.49218273e+01] [ 2.33253212e-01 9.72415813e-01 -6.52489008e-04 1.02767835e+01] [ 2.18016733e-03 1.48039980e-04 9.99997612e-01 5.26006428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:10.28, Z:0.53 [[ 9.72412739e-01 -2.33260148e-01 -1.78013779e-03 9.49495398e+01] [ 2.33259517e-01 9.72414360e-01 -5.57282127e-04 1.02832989e+01] [ 1.86102326e-03 1.26674158e-04 9.99998260e-01 5.26921532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.98, Y:10.28, Z:0.53 [[ 9.71972254e-01 -2.35095571e-01 1.03459378e-04 9.49784067e+01] [ 2.35095569e-01 9.71972259e-01 3.24841232e-05 1.02822541e+01] [-1.08196519e-04 -7.25082499e-06 9.99999994e-01 5.27849066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.01, Y:10.29, Z:0.53 [[ 9.71456484e-01 -2.37217391e-01 4.57833147e-04 9.50069787e+01] [ 2.37217350e-01 9.71456591e-01 1.43668661e-04 1.02852950e+01] [-4.78845733e-04 -3.09618868e-05 9.99999885e-01 5.28275986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:10.29, Z:0.53 [[ 9.70948989e-01 -2.39286351e-01 3.21913270e-04 9.50352515e+01] [ 2.39286331e-01 9.70949042e-01 1.01137383e-04 1.02895953e+01] [-3.36762176e-04 -2.11697947e-05 9.99999943e-01 5.27921593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.06, Y:10.29, Z:0.53 [[ 9.70562920e-01 -2.40846676e-01 -7.04917096e-04 9.50616546e+01] [ 2.40846579e-01 9.70563175e-01 -2.21076205e-04 1.02943300e+01] [ 7.37412044e-04 4.47914962e-05 9.99999727e-01 5.26965926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.09, Y:10.30, Z:0.53 [[ 9.70437889e-01 -2.41341786e-01 -2.10850183e-03 9.50897814e+01] [ 2.41340916e-01 9.70440170e-01 -6.61746044e-04 1.02991450e+01] [ 2.20588185e-03 1.33315670e-04 9.99997558e-01 5.25933343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.12, Y:10.30, Z:0.53 [[ 9.70576347e-01 -2.40770129e-01 -3.36149980e-03 9.51171408e+01] [ 2.40767910e-01 9.70582144e-01 -1.05578631e-03 1.03038918e+01] [ 3.51681349e-03 2.15379942e-04 9.99993793e-01 5.25674966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:10.31, Z:0.53 [[ 9.71525976e-01 -2.36926329e-01 -1.78692920e-03 9.51441808e+01] [ 2.36925695e-01 9.71527611e-01 -5.61419339e-04 1.03065029e+01] [ 1.86906608e-03 1.22064030e-04 9.99998246e-01 5.26741348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:10.31, Z:0.53 [[ 9.71984874e-01 -2.35041097e-01 -1.04297723e-03 9.51715287e+01] [ 2.35040880e-01 9.71985431e-01 -3.27766073e-04 1.03140465e+01] [ 1.09079717e-03 7.34413786e-05 9.99999402e-01 5.27451232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:95.20, Y:10.32, Z:0.53 [[ 9.72510173e-01 -2.32854137e-01 -1.70726389e-03 9.51990852e+01] [ 2.32853551e-01 9.72511663e-01 -5.36981577e-04 1.03214037e+01] [ 1.78537243e-03 1.24677585e-04 9.99998398e-01 5.27408614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.23, Y:10.32, Z:0.53 [[ 9.74033658e-01 -2.26364831e-01 -4.17098935e-03 9.52268317e+01] [ 2.26361272e-01 9.74042531e-01 -1.31261521e-03 1.03245504e+01] [ 4.35985094e-03 3.34380936e-04 9.99990440e-01 5.26091537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:10.33, Z:0.53 [[ 9.74578056e-01 -2.23995930e-01 -4.84108880e-03 9.52532517e+01] [ 2.23991103e-01 9.74589997e-01 -1.52412089e-03 1.03306407e+01] [ 5.05947359e-03 4.01013955e-04 9.99987120e-01 5.26315126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:10.34, Z:0.53 [[ 9.74820410e-01 -2.22928829e-01 -5.28248991e-03 9.52803692e+01] [ 2.22923061e-01 9.74834622e-01 -1.66410567e-03 1.03385330e+01] [ 5.52053118e-03 4.44615351e-04 9.99984663e-01 5.27199706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:10.35, Z:0.53 [[ 9.74870708e-01 -2.22711544e-01 -5.16435728e-03 9.53062901e+01] [ 2.22706024e-01 9.74884289e-01 -1.62765380e-03 1.03474872e+01] [ 5.39714807e-03 4.36618542e-04 9.99985340e-01 5.27222623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:10.36, Z:0.53 [[ 9.74821056e-01 -2.22926916e-01 -5.24403211e-03 9.53327469e+01] [ 2.22921222e-01 9.74835060e-01 -1.65376474e-03 1.03566802e+01] [ 5.48073503e-03 4.43118639e-04 9.99984882e-01 5.26981461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:10.36, Z:0.53 [[ 9.74722237e-01 -2.23390822e-01 -3.61949839e-03 9.53604684e+01] [ 2.23388110e-01 9.74728910e-01 -1.14212934e-03 1.03613349e+01] [ 3.78317093e-03 3.04705964e-04 9.99992797e-01 5.26434851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:10.37, Z:0.53 [[ 9.74556220e-01 -2.24129654e-01 -2.46424110e-03 9.53878357e+01] [ 2.24128399e-01 9.74559314e-01 -7.77849151e-04 1.03657411e+01] [ 2.57588818e-03 2.05751316e-04 9.99996661e-01 5.27085843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:10.37, Z:0.53 [[ 9.74274084e-01 -2.25359091e-01 -1.81358511e-03 9.54155417e+01] [ 2.25358413e-01 9.74275761e-01 -5.72712051e-04 1.03720021e+01] [ 1.89599788e-03 1.49271847e-04 9.99998191e-01 5.27754590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:10.38, Z:0.53 [[ 9.73997819e-01 -2.26550983e-01 -1.70338435e-03 9.54416468e+01] [ 2.26550386e-01 9.73999298e-01 -5.38144378e-04 1.03795822e+01] [ 1.78101229e-03 1.38249068e-04 9.99998404e-01 5.27356930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.47, Y:10.39, Z:0.53 [[ 9.73652790e-01 -2.28025905e-01 -2.10487626e-03 9.54684250e+01] [ 2.28024996e-01 9.73655051e-01 -6.65331196e-04 1.03877942e+01] [ 2.20113615e-03 1.67837175e-04 9.99997563e-01 5.26953083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.50, Y:10.39, Z:0.53 [[ 9.73365860e-01 -2.29247230e-01 -2.14711242e-03 9.54969151e+01] [ 2.29246286e-01 9.73368214e-01 -6.79120124e-04 1.03918949e+01] [ 2.24561739e-03 1.68814796e-04 9.99997464e-01 5.26366678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:10.40, Z:0.53 [[ 9.73450062e-01 -2.28894110e-01 -1.56930225e-03 9.55242236e+01] [ 2.28893605e-01 9.73451319e-01 -4.96632803e-04 1.03973399e+01] [ 1.64131567e-03 1.24243983e-04 9.99998645e-01 5.26393184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.55, Y:10.40, Z:0.53 [[ 9.73500505e-01 -2.28677857e-01 -1.79019388e-03 9.55503428e+01] [ 2.28677199e-01 9.73502140e-01 -5.66817540e-04 1.04046031e+01] [ 1.87237620e-03 1.42420639e-04 9.99998237e-01 5.26684029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:10.41, Z:0.53 [[ 9.74090412e-01 -2.26131422e-01 -3.52849925e-03 9.55772251e+01] [ 2.26128847e-01 9.74096759e-01 -1.11758066e-03 1.04103453e+01] [ 3.68981978e-03 2.90729136e-04 9.99993150e-01 5.25824544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.60, Y:10.42, Z:0.53 [[ 9.74375675e-01 -2.24886709e-01 -4.24409894e-03 9.56046860e+01] [ 2.24882969e-01 9.74384853e-01 -1.34500165e-03 1.04167416e+01] [ 4.43785872e-03 3.56111323e-04 9.99990089e-01 5.25387058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.63, Y:10.42, Z:0.53 [[ 9.74632646e-01 -2.23778868e-01 -3.77133873e-03 9.56314615e+01] [ 2.23775903e-01 9.74639890e-01 -1.19592183e-03 1.04233909e+01] [ 3.94331919e-03 3.21649725e-04 9.99992173e-01 5.26046774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.66, Y:10.43, Z:0.53 [[ 9.74809852e-01 -2.23023473e-01 -2.50669730e-03 9.56584195e+01] [ 2.23022160e-01 9.74813051e-01 -7.95341922e-04 1.04316361e+01] [ 2.62094116e-03 2.16258094e-04 9.99996542e-01 5.26687256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.68, Y:10.44, Z:0.53 [[ 9.74881760e-01 -2.22717909e-01 -1.51252889e-03 9.56836021e+01] [ 2.22717430e-01 9.74882924e-01 -4.80099854e-04 1.04403201e+01] [ 1.58146542e-03 1.31174043e-04 9.99998741e-01 5.26189889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.71, Y:10.45, Z:0.53 [[ 9.74874343e-01 -2.22744800e-01 -2.18384694e-03 9.57102006e+01] [ 2.22743801e-01 9.74876771e-01 -6.93621972e-04 1.04486891e+01] [ 2.28348234e-03 1.89755896e-04 9.99997375e-01 5.25541017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.74, Y:10.45, Z:0.52 [[ 9.74497103e-01 -2.24329299e-01 -5.63572605e-03 9.57383849e+01] [ 2.24322664e-01 9.74513280e-01 -1.79132167e-03 1.04540145e+01] [ 5.89393581e-03 4.81416704e-04 9.99982515e-01 5.24105040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:10.46, Z:0.52 [[ 9.74280463e-01 -2.25229890e-01 -7.00549212e-03 9.57658267e+01] [ 2.25219650e-01 9.74305468e-01 -2.22814293e-03 1.04615132e+01] [ 7.32733367e-03 5.93061639e-04 9.99972979e-01 5.24378840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:10.47, Z:0.52 [[ 9.74094204e-01 -2.26021930e-01 -7.38704954e-03 9.57926263e+01] [ 2.26010555e-01 9.74122016e-01 -2.35099807e-03 1.04702867e+01] [ 7.72726471e-03 6.20542432e-04 9.99969952e-01 5.24668799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.82, Y:10.48, Z:0.52 [[ 9.73977604e-01 -2.26525930e-01 -7.32326695e-03 9.58182560e+01] [ 2.26514756e-01 9.74004943e-01 -2.33175919e-03 1.04793924e+01] [ 7.66110213e-03 6.12253199e-04 9.99970466e-01 5.24631656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.84, Y:10.49, Z:0.52 [[ 9.73833107e-01 -2.27153564e-01 -7.09488173e-03 9.58445841e+01] [ 2.27143083e-01 9.73858773e-01 -2.26040447e-03 1.04887708e+01] [ 7.42287175e-03 5.89703402e-04 9.99972276e-01 5.24716899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:10.50, Z:0.52 [[ 9.73713030e-01 -2.27679660e-01 -6.70133818e-03 9.58698877e+01] [ 2.27670316e-01 9.73735932e-01 -2.13569385e-03 1.04971337e+01] [ 7.01158783e-03 5.53857150e-04 9.99975265e-01 5.24465768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.90, Y:10.51, Z:0.53 [[ 9.73447343e-01 -2.28866463e-01 -4.51800833e-03 9.58962279e+01] [ 2.28862226e-01 9.73457758e-01 -1.44064721e-03 1.05063368e+01] [ 4.72780609e-03 3.68392755e-04 9.99988756e-01 5.25616660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.92, Y:10.52, Z:0.53 [[ 9.73435755e-01 -2.28930441e-01 -3.69906468e-03 9.59209588e+01] [ 2.28927599e-01 9.73442737e-01 -1.17989531e-03 1.05160864e+01] [ 3.87094161e-03 3.01734287e-04 9.99992462e-01 5.26272540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:10.53, Z:0.53 [[ 9.73451624e-01 -2.28861561e-01 -3.78441022e-03 9.59470682e+01] [ 2.28858584e-01 9.73458931e-01 -1.20778625e-03 1.05268872e+01] [ 3.96038378e-03 3.09626726e-04 9.99992110e-01 5.26715075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:10.54, Z:0.53 [[ 9.73381454e-01 -2.29153129e-01 -4.16984315e-03 9.59716826e+01] [ 2.29149515e-01 9.73390326e-01 -1.33127895e-03 1.05384990e+01] [ 4.36395173e-03 3.40324705e-04 9.99990420e-01 5.27272401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58140051299999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:96.00, Y:10.55, Z:0.53 [[ 9.73330935e-01 -2.29359583e-01 -4.59047385e-03 9.59978720e+01] [ 2.29356734e-01 9.73341758e-01 -1.14490492e-03 1.05494162e+01] [ 4.73069480e-03 6.15152823e-05 9.99988808e-01 5.28414920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.02, Y:10.56, Z:0.53 [[ 9.72977031e-01 -2.30885132e-01 -2.78432982e-03 9.60230756e+01] [ 2.30882570e-01 9.72980867e-01 -1.21328733e-03 1.05607129e+01] [ 2.98922964e-03 5.37647481e-04 9.99995388e-01 5.28194802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:10.57, Z:0.53 [[ 9.72574221e-01 -2.32590466e-01 -1.02917558e-03 9.60496399e+01] [ 2.32590247e-01 9.72574763e-01 -3.28895030e-04 1.05692489e+01] [ 1.07744804e-03 8.04986263e-05 9.99999416e-01 5.29408134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.07, Y:10.58, Z:0.53 [[ 9.72207436e-01 -2.34118219e-01 -1.16694683e-03 9.60745611e+01] [ 2.34117939e-01 9.72208132e-01 -3.73142202e-04 1.05785731e+01] [ 1.22187458e-03 8.95684377e-05 9.99999249e-01 5.28763348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.10, Y:10.59, Z:0.53 [[ 9.71706033e-01 -2.36186393e-01 -1.83637658e-03 9.61011184e+01] [ 2.36185702e-01 9.71707759e-01 -5.87508687e-04 1.05891507e+01] [ 1.92318293e-03 1.37159844e-04 9.99998141e-01 5.27376646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73140051299998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.13, Y:10.60, Z:0.53 [[ 9.71148094e-01 -2.38464288e-01 -2.48240065e-03 9.61269866e+01] [ 2.38463031e-01 9.71151250e-01 -7.94746179e-04 1.05994278e+01] [ 2.60030508e-03 1.79855453e-04 9.99996603e-01 5.26522212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.15, Y:10.61, Z:0.53 [[ 9.70596833e-01 -2.40694698e-01 -2.80176553e-03 9.61528545e+01] [ 2.40693105e-01 9.70600857e-01 -8.97356528e-04 1.06078870e+01] [ 2.93538498e-03 1.96605758e-04 9.99995672e-01 5.26445166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.18, Y:10.62, Z:0.53 [[ 9.70073766e-01 -2.42796713e-01 -2.57774053e-03 9.61795502e+01] [ 2.42795372e-01 9.70077175e-01 -8.26014919e-04 1.06153311e+01] [ 2.70116096e-03 1.75431933e-04 9.99996336e-01 5.27713147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.21, Y:10.62, Z:0.53 [[ 9.69685422e-01 -2.44350764e-01 -1.69906427e-03 9.62054286e+01] [ 2.44350183e-01 9.69686904e-01 -5.44635016e-04 1.06244980e+01] [ 1.78064235e-03 1.12957971e-04 9.99998408e-01 5.29667248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:10.63, Z:0.53 [[ 9.69763710e-01 -2.44041390e-01 -1.46553773e-03 9.62320501e+01] [ 2.44040957e-01 9.69764812e-01 -4.69966295e-04 1.06344544e+01] [ 1.53591815e-03 9.81050262e-05 9.99998816e-01 5.28760820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:10.64, Z:0.53 [[ 9.69735625e-01 -2.44152963e-01 -1.46546445e-03 9.62591677e+01] [ 2.44152530e-01 9.69736728e-01 -4.70194710e-04 1.06432813e+01] [ 1.53591414e-03 9.81677077e-05 9.99998816e-01 5.28786394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.28, Y:10.65, Z:0.53 [[ 9.69882659e-01 -2.43566397e-01 -1.74287869e-03 9.62843797e+01] [ 2.43565783e-01 9.69884218e-01 -5.59455281e-04 1.06516971e+01] [ 1.82665504e-03 1.18100363e-04 9.99998325e-01 5.27569344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.31, Y:10.66, Z:0.53 [[ 9.70131044e-01 -2.42572175e-01 -2.12065690e-03 9.63118233e+01] [ 2.42571263e-01 9.70133351e-01 -6.81115365e-04 1.06584987e+01] [ 2.22253962e-03 1.46360737e-04 9.99997519e-01 5.26418329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:10.66, Z:0.53 [[ 9.70359913e-01 -2.41643388e-01 -3.18002345e-03 9.63387234e+01] [ 2.41641331e-01 9.70365098e-01 -1.02181907e-03 1.06642518e+01] [ 3.33269959e-03 2.23107167e-04 9.99994422e-01 5.26589823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.37, Y:10.67, Z:0.53 [[ 9.70324469e-01 -2.41765358e-01 -4.46496573e-03 9.63653660e+01] [ 2.41761300e-01 9.70334691e-01 -1.43552106e-03 1.06718076e+01] [ 4.67957040e-03 3.13465295e-04 9.99989002e-01 5.26604797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:96.39, Y:10.68, Z:0.53 [[ 9.70211827e-01 -2.42205684e-01 -5.04163777e-03 9.63917794e+01] [ 2.42200509e-01 9.70224862e-01 -1.62198382e-03 1.06819447e+01] [ 5.28437600e-03 3.52580647e-04 9.99985975e-01 5.28069553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:10.69, Z:0.53 [[ 9.70291737e-01 -2.41904417e-01 -4.02466783e-03 9.64177314e+01] [ 2.41901115e-01 9.70300043e-01 -1.29523390e-03 1.06908158e+01] [ 4.21845816e-03 2.83183113e-04 9.99991062e-01 5.28508901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.44, Y:10.70, Z:0.53 [[ 9.70344531e-01 -2.41701477e-01 -3.44772103e-03 9.64440462e+01] [ 2.41699051e-01 9.70350625e-01 -1.11015268e-03 1.06993088e+01] [ 3.61382381e-03 2.43919682e-04 9.99993440e-01 5.28731696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:10.71, Z:0.53 [[ 9.70539434e-01 -2.40915602e-01 -3.58869164e-03 9.64711336e+01] [ 2.40912965e-01 9.70546035e-01 -1.15628446e-03 1.07067082e+01] [ 3.76155741e-03 2.57657323e-04 9.99992892e-01 5.28603987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:10.71, Z:0.53 [[ 9.70816206e-01 -2.39783198e-01 -4.46234674e-03 9.64974040e+01] [ 2.39779107e-01 9.70826406e-01 -1.43831489e-03 1.07140102e+01] [ 4.67704780e-03 3.26361887e-04 9.99989009e-01 5.28398488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:10.72, Z:0.53 [[ 9.71059643e-01 -2.38775171e-01 -5.43949864e-03 9.65241399e+01] [ 2.38769070e-01 9.71074793e-01 -1.75430873e-03 1.07210646e+01] [ 5.70104538e-03 4.04754383e-04 9.99983667e-01 5.27996419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:10.73, Z:0.53 [[ 9.70975784e-01 -2.39114607e-01 -5.49838191e-03 9.65516020e+01] [ 2.39108372e-01 9.70991266e-01 -1.77444162e-03 1.07284563e+01] [ 5.76317572e-03 4.08230692e-04 9.99983309e-01 5.28023228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.58, Y:10.74, Z:0.53 [[ 9.70828620e-01 -2.39707795e-01 -5.65354824e-03 9.65777897e+01] [ 2.39701208e-01 9.70844992e-01 -1.82538120e-03 1.07351192e+01] [ 5.92627710e-03 4.16969972e-04 9.99982353e-01 5.28402928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:10.74, Z:0.53 [[ 9.70658130e-01 -2.40395536e-01 -5.72547907e-03 9.66048393e+01] [ 2.40388785e-01 9.70674925e-01 -1.84971346e-03 1.07424362e+01] [ 6.00224183e-03 4.19098451e-04 9.99981899e-01 5.29034628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.63, Y:10.75, Z:0.53 [[ 9.70539019e-01 -2.40863869e-01 -6.21356285e-03 9.66316952e+01] [ 2.40855919e-01 9.70558804e-01 -2.00868876e-03 1.07517671e+01] [ 6.51444867e-03 4.52937426e-04 9.99978678e-01 5.29380010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:10.76, Z:0.53 [[ 9.70649006e-01 -2.40412315e-01 -6.51355202e-03 9.66575986e+01] [ 2.40403560e-01 9.70670742e-01 -2.10694029e-03 1.07612952e+01] [ 6.82904876e-03 4.79218406e-04 9.99976567e-01 5.29566246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.68, Y:10.77, Z:0.53 [[ 9.71194555e-01 -2.38218142e-01 -5.76648951e-03 9.66837020e+01] [ 2.38211238e-01 9.71211576e-01 -1.86587359e-03 1.07695033e+01] [ 6.04496630e-03 4.38483668e-04 9.99981633e-01 5.29377313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:10.78, Z:0.53 [[ 9.71364115e-01 -2.37545270e-01 -4.89908302e-03 9.67104386e+01] [ 2.37540274e-01 9.71376396e-01 -1.58609257e-03 1.07763437e+01] [ 5.13562240e-03 3.76943886e-04 9.99986742e-01 5.29724860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:10.78, Z:0.53 [[ 9.71423265e-01 -2.37312170e-01 -4.44677923e-03 9.67374126e+01] [ 2.37308048e-01 9.71433382e-01 -1.44054915e-03 1.07838172e+01] [ 4.66160963e-03 3.44126460e-04 9.99989075e-01 5.29850363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.76, Y:10.79, Z:0.53 [[ 9.71320339e-01 -2.37735365e-01 -4.32385741e-03 9.67628819e+01] [ 2.37731469e-01 9.71329905e-01 -1.40120536e-03 1.07918783e+01] [ 4.53300807e-03 3.33102294e-04 9.99989670e-01 5.28905056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:10.80, Z:0.53 [[ 9.70976647e-01 -2.39130995e-01 -4.55176519e-03 9.67896164e+01] [ 2.39126689e-01 9.70987254e-01 -1.47588662e-03 1.08006822e+01] [ 4.77263622e-03 3.44602900e-04 9.99988552e-01 5.28780000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:10.81, Z:0.53 [[ 9.70108058e-01 -2.42632894e-01 -4.43109267e-03 9.68163164e+01] [ 2.42628845e-01 9.70118125e-01 -1.43766716e-03 1.08081045e+01] [ 4.64750866e-03 3.19581596e-04 9.99989149e-01 5.29384031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.84, Y:10.81, Z:0.53 [[ 9.69663081e-01 -2.44409191e-01 -4.20205483e-03 9.68420922e+01] [ 2.44405565e-01 9.69672140e-01 -1.36382567e-03 1.08148578e+01] [ 4.40794703e-03 2.95445817e-04 9.99990241e-01 5.30207815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:10.82, Z:0.53 [[ 9.69174447e-01 -2.46346979e-01 -3.74934358e-03 9.68696220e+01] [ 2.46344103e-01 9.69181665e-01 -1.21755158e-03 1.08224251e+01] [ 3.93373521e-03 2.56391194e-04 9.99992230e-01 5.30938894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.90, Y:10.83, Z:0.53 [[ 9.68783475e-01 -2.47885186e-01 -3.39299746e-03 9.68957715e+01] [ 2.47882838e-01 9.68789391e-01 -1.10251004e-03 1.08311010e+01] [ 3.56039585e-03 2.27027674e-04 9.99993636e-01 5.30867550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:10.84, Z:0.53 [[ 9.68744083e-01 -2.48044759e-01 -2.94945347e-03 9.69213781e+01] [ 2.48042984e-01 9.68748553e-01 -9.58831068e-04 1.08404214e+01] [ 3.09511180e-03 1.97270684e-04 9.99995191e-01 5.30843729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.95, Y:10.85, Z:0.53 [[ 9.69561912e-01 -2.44837053e-01 -2.12500093e-03 9.69455247e+01] [ 2.44836124e-01 9.69564229e-01 -6.91070181e-04 1.08519995e+01] [ 2.22952447e-03 1.49758337e-04 9.99997503e-01 5.31458267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:10.86, Z:0.53 [[ 9.70318582e-01 -2.41820037e-01 -2.21785128e-03 9.69719178e+01] [ 2.41819016e-01 9.70321103e-01 -7.21667114e-04 1.08625484e+01] [ 2.32654147e-03 1.63928397e-04 9.99997280e-01 5.32042233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.00, Y:10.87, Z:0.53 [[ 9.71288025e-01 -2.37890515e-01 -2.77052759e-03 9.69972319e+01] [ 2.37888904e-01 9.71291952e-01 -9.01989190e-04 1.08728510e+01] [ 2.90556582e-03 2.17013526e-04 9.99995755e-01 5.32287214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:10.88, Z:0.53 [[ 9.72338546e-01 -2.33556846e-01 -2.99190330e-03 9.70226678e+01] [ 2.33554946e-01 9.72343117e-01 -9.74378283e-04 1.08834487e+01] [ 3.13672930e-03 2.48651747e-04 9.99995050e-01 5.31890592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:10.89, Z:0.53 [[ 9.73307043e-01 -2.29489410e-01 -2.83023063e-03 9.70485957e+01] [ 2.29487691e-01 9.73311127e-01 -9.22194937e-04 1.08945867e+01] [ 2.96632893e-03 2.48075735e-04 9.99995570e-01 5.31861521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.07, Y:10.91, Z:0.53 [[ 9.74046092e-01 -2.26337456e-01 -2.35935054e-03 9.70743591e+01] [ 2.26336251e-01 9.74048926e-01 -7.69215342e-04 1.09068203e+01] [ 2.47222510e-03 2.15244641e-04 9.99996921e-01 5.31591449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:10.92, Z:0.53 [[ 9.74758760e-01 -2.23242996e-01 -2.81518745e-03 9.70988846e+01] [ 2.23241266e-01 9.74762788e-01 -9.18439218e-04 1.09233075e+01] [ 2.94917509e-03 2.66790663e-04 9.99995616e-01 5.30716726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:97.12, Y:10.94, Z:0.53 [[ 9.74653842e-01 -2.23682801e-01 -3.98661724e-03 9.71234594e+01] [ 2.23679334e-01 9.74661922e-01 -1.30113543e-03 1.09356978e+01] [ 4.17664564e-03 3.76432755e-04 9.99991207e-01 5.30023954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:10.95, Z:0.53 [[ 9.74399850e-01 -2.24767269e-01 -4.96052229e-03 9.71488299e+01] [ 2.24761909e-01 9.74412367e-01 -1.61991727e-03 1.09479507e+01] [ 5.19769864e-03 4.63510690e-04 9.99986384e-01 5.29351093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:10.96, Z:0.53 [[ 9.74033837e-01 -2.26339664e-01 -5.33305920e-03 9.71732375e+01] [ 2.26333490e-01 9.74048313e-01 -1.74215349e-03 1.09601181e+01] [ 5.58897575e-03 4.89866550e-04 9.99984262e-01 5.28830080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:10.97, Z:0.53 [[ 9.73488768e-01 -2.28674238e-01 -5.26422707e-03 9.71983172e+01] [ 2.28668250e-01 9.73502887e-01 -1.72062886e-03 1.09727010e+01] [ 5.51820375e-03 4.71251272e-04 9.99984664e-01 5.28616800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:10.99, Z:0.53 [[ 9.72810195e-01 -2.31548776e-01 -5.04862703e-03 9.72234963e+01] [ 2.31543302e-01 9.72823197e-01 -1.65118605e-03 1.09856031e+01] [ 5.29375159e-03 4.37314853e-04 9.99985892e-01 5.28616511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02140051299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:97.25, Y:11.00, Z:0.53 [[ 9.71378576e-01 -2.37483783e-01 -5.01156648e-03 9.72463469e+01] [ 2.37473400e-01 9.71390608e-01 -2.58271045e-03 1.10037104e+01] [ 5.48154046e-03 1.31867586e-03 9.99984107e-01 5.27504530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:11.01, Z:0.53 [[ 9.70671224e-01 -2.40341459e-01 -5.77558812e-03 9.72724445e+01] [ 2.40340153e-01 9.70688285e-01 -9.29438714e-04 1.10145755e+01] [ 5.82967839e-03 -4.85926319e-04 9.99982889e-01 5.28156413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:11.03, Z:0.53 [[ 9.70009433e-01 -2.43002434e-01 -5.61396391e-03 9.72974908e+01] [ 2.42995838e-01 9.70025588e-01 -1.83905117e-03 1.10270126e+01] [ 5.89258256e-03 4.19727124e-04 9.99982550e-01 5.27974705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.32, Y:11.04, Z:0.53 [[ 9.69307991e-01 -2.45782048e-01 -5.76221210e-03 9.73222788e+01] [ 2.45775143e-01 9.69325030e-01 -1.88822005e-03 1.10379270e+01] [ 6.04954701e-03 4.14058278e-04 9.99981616e-01 5.28206246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:11.05, Z:0.53 [[ 9.68559730e-01 -2.48712485e-01 -5.84379845e-03 9.73484761e+01] [ 2.48705430e-01 9.68577275e-01 -1.91601086e-03 1.10486441e+01] [ 6.13670620e-03 4.02386556e-04 9.99981089e-01 5.27948763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:11.06, Z:0.53 [[ 9.67748066e-01 -2.51848848e-01 -5.98662321e-03 9.73742149e+01] [ 2.51841496e-01 9.67766503e-01 -1.96401991e-03 1.10596887e+01] [ 6.28828956e-03 3.92996328e-04 9.99980151e-01 5.28031476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:11.07, Z:0.53 [[ 9.66431294e-01 -2.56859266e-01 -5.81995347e-03 9.73993009e+01] [ 2.56852401e-01 9.66448754e-01 -1.91053300e-03 1.10735857e+01] [ 6.11542488e-03 3.51529851e-04 9.99981239e-01 5.27738020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:11.08, Z:0.53 [[ 9.66013955e-01 -2.58428988e-01 -5.61222149e-03 9.74240975e+01] [ 2.58422627e-01 9.66030201e-01 -1.84293659e-03 1.10843020e+01] [ 5.89784369e-03 3.29977445e-04 9.99982553e-01 5.28242337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.45, Y:11.09, Z:0.53 [[ 9.65667219e-01 -2.59730637e-01 -5.17861709e-03 9.74505073e+01] [ 2.59725234e-01 9.65681059e-01 -1.70152172e-03 1.10949156e+01] [ 5.44282976e-03 2.98086213e-04 9.99985143e-01 5.28845816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.48, Y:11.10, Z:0.53 [[ 9.65426817e-01 -2.60640005e-01 -4.22477194e-03 9.74762455e+01] [ 2.60636414e-01 9.65436031e-01 -1.38897312e-03 1.11047839e+01] [ 4.44076902e-03 2.39822484e-04 9.99990111e-01 5.29321437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.50, Y:11.11, Z:0.53 [[ 9.65311232e-01 -2.61079014e-01 -3.46038790e-03 9.75017256e+01] [ 2.61076607e-01 9.65317414e-01 -1.13804963e-03 1.11149493e+01] [ 3.63749357e-03 1.95145759e-04 9.99993365e-01 5.29853209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.53, Y:11.13, Z:0.53 [[ 9.65222366e-01 -2.61413498e-01 -2.96084993e-03 9.75267296e+01] [ 2.61411736e-01 9.65226893e-01 -9.74017946e-04 1.11250728e+01] [ 3.11251342e-03 1.66142985e-04 9.99995142e-01 5.29679635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38140051299999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:97.55, Y:11.13, Z:0.53 [[ 9.65129836e-01 -2.61731479e-01 -4.58608251e-03 9.75515633e+01] [ 2.61727252e-01 9.65140698e-01 -1.50952944e-03 1.11344770e+01] [ 4.82130625e-03 2.56589133e-04 9.99988345e-01 5.29606004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.58, Y:11.14, Z:0.53 [[ 9.65099967e-01 -2.61820880e-01 -5.64630736e-03 9.75782741e+01] [ 2.61814467e-01 9.65116432e-01 -1.85971372e-03 1.11425510e+01] [ 5.93625590e-03 3.16524700e-04 9.99982330e-01 5.29977604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.60, Y:11.15, Z:0.53 [[ 9.65302030e-01 -2.61099486e-01 -4.36448599e-03 9.76044197e+01] [ 2.61095643e-01 9.65311865e-01 -1.43839513e-03 1.11522035e+01] [ 4.58865434e-03 2.48937463e-04 9.99989441e-01 5.32417786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.63, Y:11.16, Z:0.53 [[ 9.65483524e-01 -2.60453308e-01 -2.37474158e-03 9.76298795e+01] [ 2.60452167e-01 9.65486435e-01 -7.83057144e-04 1.11631354e+01] [ 2.49673061e-03 1.37522179e-04 9.99996874e-01 5.33262401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.65, Y:11.17, Z:0.53 [[ 9.65722962e-01 -2.59573727e-01 -8.00307714e-04 9.76547043e+01] [ 2.59573597e-01 9.65723293e-01 -2.63949784e-04 1.11735424e+01] [ 8.41390229e-04 4.71636151e-05 9.99999645e-01 5.33676582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:11.18, Z:0.53 [[ 9.66011586e-01 -2.58498164e-01 5.61188514e-04 9.76799436e+01] [ 2.58498100e-01 9.66011748e-01 1.85331582e-04 1.11820897e+01] [-5.90022571e-04 -3.39662904e-05 9.99999825e-01 5.32610428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.71, Y:11.19, Z:0.53 [[ 9.66014101e-01 -2.58489330e-01 -1.51435460e-04 9.77070485e+01] [ 2.58489325e-01 9.66014113e-01 -4.98520853e-05 1.11901128e+01] [ 1.59175024e-04 9.01336747e-06 9.99999987e-01 5.32228357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:11.20, Z:0.53 [[ 9.65815000e-01 -2.59229502e-01 -1.20436043e-03 9.77334935e+01] [ 2.59229206e-01 9.65815749e-01 -3.97859884e-04 1.11966795e+01] [ 1.26632729e-03 7.20536452e-05 9.99999196e-01 5.30486250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.76, Y:11.20, Z:0.53 [[ 9.64806002e-01 -2.62941631e-01 -3.32819752e-03 9.77600497e+01] [ 2.62939396e-01 9.64811725e-01 -1.10002251e-03 1.12026307e+01] [ 3.50032570e-03 1.86194072e-04 9.99993857e-01 5.29421944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.79, Y:11.21, Z:0.53 [[ 9.64274577e-01 -2.64882526e-01 -3.43326101e-03 9.77872694e+01] [ 2.64880158e-01 9.64280671e-01 -1.13541250e-03 1.12109612e+01] [ 3.61137817e-03 1.85446690e-04 9.99993462e-01 5.30316691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68140051299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:97.81, Y:11.22, Z:0.53 [[ 9.63997101e-01 -2.65898532e-01 -2.74964181e-03 9.78129028e+01] [ 2.65895778e-01 9.64000865e-01 -1.32962285e-03 1.12198270e+01] [ 3.00420185e-03 5.50634425e-04 9.99995336e-01 5.30363395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:11.23, Z:0.53 [[ 9.63824806e-01 -2.66503004e-01 -4.22982033e-03 9.78413822e+01] [ 2.66501226e-01 9.63834072e-01 -9.89088793e-04 1.12285146e+01] [ 4.34044009e-03 -1.73943987e-04 9.99990565e-01 5.32044140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.87, Y:11.24, Z:0.53 [[ 9.63862785e-01 -2.66352765e-01 -4.97351136e-03 9.78676836e+01] [ 2.66347802e-01 9.63875581e-01 -1.64715046e-03 1.12381165e+01] [ 5.23256923e-03 2.62943209e-04 9.99986275e-01 5.31789837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:11.25, Z:0.53 [[ 9.64096360e-01 -2.65502349e-01 -5.16836610e-03 9.78946450e+01] [ 2.65496971e-01 9.64110173e-01 -1.71278239e-03 1.12469631e+01] [ 5.43762208e-03 2.79101721e-04 9.99985177e-01 5.30825816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:11.26, Z:0.53 [[ 9.64064837e-01 -2.65616792e-01 -5.16814306e-03 9.79216697e+01] [ 2.65611412e-01 9.64078649e-01 -1.71345524e-03 1.12560516e+01] [ 5.43761887e-03 2.79164174e-04 9.99985177e-01 5.30850596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:97.95, Y:11.26, Z:0.53 [[ 9.64794115e-01 -2.62971057e-01 -4.30558876e-03 9.79477230e+01] [ 2.62967294e-01 9.64803691e-01 -1.42807364e-03 1.12623529e+01] [ 4.52958996e-03 2.45568023e-04 9.99989711e-01 5.29354445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:11.27, Z:0.53 [[ 9.65070150e-01 -2.61963770e-01 -3.81957939e-03 9.79745861e+01] [ 2.61960798e-01 9.65077683e-01 -1.26757571e-03 1.12695674e+01] [ 4.01824974e-03 2.22719412e-04 9.99991902e-01 5.28939395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.00, Y:11.28, Z:0.53 [[ 9.65185568e-01 -2.61524745e-01 -4.65047029e-03 9.80018017e+01] [ 2.61520330e-01 9.65196732e-01 -1.54432230e-03 1.12777128e+01] [ 4.89249723e-03 2.74365068e-04 9.99987994e-01 5.29190739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:11.29, Z:0.53 [[ 9.65181867e-01 -2.61522437e-01 -5.47518706e-03 9.80274020e+01] [ 2.61516312e-01 9.65197343e-01 -1.81882355e-03 1.12853658e+01] [ 5.76029917e-03 3.23644779e-04 9.99983357e-01 5.29316209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.05, Y:11.29, Z:0.53 [[ 9.65006270e-01 -2.62160078e-01 -5.91542840e-03 9.80528363e+01] [ 2.62152937e-01 9.65024338e-01 -1.96561016e-03 1.12936417e+01] [ 6.22383689e-03 3.46079197e-04 9.99980572e-01 5.29960143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:98.08, Y:11.30, Z:0.53 [[ 9.64733123e-01 -2.63159775e-01 -6.07729990e-03 9.80798158e+01] [ 2.63152250e-01 9.64752202e-01 -2.02056170e-03 1.13017421e+01] [ 6.39481902e-03 3.50047656e-04 9.99979492e-01 5.30135936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01140051299998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:98.11, Y:11.31, Z:0.53 [[ 9.64316809e-01 -2.64708584e-01 -4.73899717e-03 9.81077148e+01] [ 2.64694288e-01 9.64326254e-01 -3.43659799e-03 1.13073415e+01] [ 5.47963637e-03 2.05958373e-03 9.99982866e-01 5.28566295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:11.31, Z:0.53 [[ 9.64096886e-01 -2.65470258e-01 -6.53732064e-03 9.81363305e+01] [ 2.65473818e-01 9.64118012e-01 -3.32828676e-04 1.13105503e+01] [ 6.39110470e-03 -1.41460838e-03 9.99978576e-01 5.30074783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:11.32, Z:0.53 [[ 9.64117653e-01 -2.65399439e-01 -6.34740639e-03 9.81634520e+01] [ 2.65391259e-01 9.64138482e-01 -2.11342188e-03 1.13190650e+01] [ 6.68067975e-03 3.53041166e-04 9.99977622e-01 5.29784018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:98.19, Y:11.33, Z:0.53 [[ 9.64360987e-01 -2.64495460e-01 -7.07381009e-03 9.81909859e+01] [ 2.64498153e-01 9.64386024e-01 -5.69138477e-04 1.13258325e+01] [ 6.97241813e-03 -1.32215476e-03 9.99974818e-01 5.30534510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.22, Y:11.34, Z:0.53 [[ 9.64627928e-01 -2.63526888e-01 -6.82199663e-03 9.82171796e+01] [ 2.63504137e-01 9.64649726e-01 -4.05910256e-03 1.13366743e+01] [ 7.65051984e-03 2.11789936e-03 9.99968492e-01 5.29964508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:11.34, Z:0.53 [[ 9.65094744e-01 -2.61804057e-01 -7.12529824e-03 9.82448431e+01] [ 2.61793626e-01 9.65120953e-01 -2.37577145e-03 1.13426878e+01] [ 7.49876123e-03 4.27486876e-04 9.99971793e-01 5.30420519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:11.35, Z:0.53 [[ 9.66134543e-01 -2.57954537e-01 -6.59552876e-03 9.82720964e+01] [ 2.57945501e-01 9.66156963e-01 -2.20047751e-03 1.13503136e+01] [ 6.93993919e-03 4.24670365e-04 9.99975828e-01 5.30606164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:11.36, Z:0.53 [[ 9.66324666e-01 -2.57251965e-01 -6.16978246e-03 9.82988217e+01] [ 2.57244036e-01 9.66344278e-01 -2.05968981e-03 1.13589399e+01] [ 6.49199323e-03 4.03189329e-04 9.99978846e-01 5.29792695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.32, Y:11.37, Z:0.53 [[ 9.66233089e-01 -2.57600302e-01 -5.97509413e-03 9.83248191e+01] [ 2.57592867e-01 9.66251486e-01 -1.99531827e-03 1.13668115e+01] [ 6.28743817e-03 3.88800904e-04 9.99980158e-01 5.29861624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:11.37, Z:0.53 [[ 9.65530828e-01 -2.60252199e-01 -4.36047703e-03 9.83532500e+01] [ 2.60248263e-01 9.65540636e-01 -1.45692354e-03 1.13710318e+01] [ 4.58938532e-03 2.71898013e-04 9.99989432e-01 5.31284854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.38, Y:11.38, Z:0.53 [[ 9.64759765e-01 -2.63088731e-01 -4.78698078e-03 9.83795271e+01] [ 2.63084019e-01 9.64771599e-01 -1.59997460e-03 1.13767747e+01] [ 5.03927839e-03 2.84212977e-04 9.99987262e-01 5.32203612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:11.38, Z:0.53 [[ 9.63995004e-01 -2.65873754e-01 -4.97793478e-03 9.84063704e+01] [ 2.65868693e-01 9.64007815e-01 -1.66446210e-03 1.13828464e+01] [ 5.24130482e-03 2.81056138e-04 9.99986225e-01 5.32178972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.43, Y:11.39, Z:0.53 [[ 9.63335588e-01 -2.68249828e-01 -5.15497105e-03 9.84335724e+01] [ 2.68244429e-01 9.63349341e-01 -1.72465896e-03 1.13897271e+01] [ 5.42867743e-03 2.78633083e-04 9.99985226e-01 5.31698075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:11.40, Z:0.53 [[ 9.62945203e-01 -2.69666755e-01 -4.04687885e-03 9.84604592e+01] [ 2.69663438e-01 9.62953683e-01 -1.35435064e-03 1.13957075e+01] [ 4.26218023e-03 2.12870187e-04 9.99990894e-01 5.31418812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.49, Y:11.40, Z:0.53 [[ 9.62700006e-01 -2.70549064e-01 -3.44996860e-03 9.84881710e+01] [ 2.70546657e-01 9.62706171e-01 -1.15520329e-03 1.14020707e+01] [ 3.63384523e-03 1.78736746e-04 9.99993382e-01 5.31543216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:11.41, Z:0.53 [[ 9.62754737e-01 -2.70353161e-01 -3.53328909e-03 9.85150398e+01] [ 2.70350633e-01 9.62761203e-01 -1.18353061e-03 1.14055623e+01] [ 3.72168489e-03 1.84222762e-04 9.99993058e-01 5.31916682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.54, Y:11.41, Z:0.53 [[ 9.62805985e-01 -2.70161874e-01 -4.14696535e-03 9.85409229e+01] [ 2.70158389e-01 9.62814891e-01 -1.38948160e-03 1.14133194e+01] [ 4.36814495e-03 2.17463727e-04 9.99990436e-01 5.32434228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.57, Y:11.42, Z:0.53 [[ 9.62978880e-01 -2.69543138e-01 -4.26301358e-03 9.85675152e+01] [ 2.69539445e-01 9.62988289e-01 -1.42915593e-03 1.14217296e+01] [ 4.49045132e-03 2.27196660e-04 9.99989892e-01 5.32386851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.59, Y:11.43, Z:0.53 [[ 9.63218878e-01 -2.68684241e-01 -4.26289091e-03 9.85929524e+01] [ 2.68680538e-01 9.63228283e-01 -1.42959729e-03 1.14293907e+01] [ 4.49024735e-03 2.31659277e-04 9.99989892e-01 5.31608209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58140051299999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:98.62, Y:11.44, Z:0.53 [[ 9.63505470e-01 -2.67669896e-01 -3.16797100e-03 9.86197231e+01] [ 2.67655826e-01 9.63505189e-01 -4.25554100e-03 1.14387584e+01] [ 4.19143671e-03 3.25231113e-03 9.99985927e-01 5.28094281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.65, Y:11.44, Z:0.53 [[ 9.63712127e-01 -2.66852310e-01 -6.98430685e-03 9.86491384e+01] [ 2.66864496e-01 9.63733679e-01 8.57881590e-04 1.14382035e+01] [ 6.50208406e-03 -2.69061442e-03 9.99975241e-01 5.30991504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:11.45, Z:0.53 [[ 9.63795318e-01 -2.66583189e-01 -5.65578652e-03 9.86750735e+01] [ 2.66576618e-01 9.63811859e-01 -1.89933286e-03 1.14483435e+01] [ 5.95744432e-03 3.22867672e-04 9.99982202e-01 5.30679038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:11.46, Z:0.53 [[ 9.63883811e-01 -2.66268992e-01 -5.36862281e-03 9.87015200e+01] [ 2.66263061e-01 9.63898713e-01 -1.80401287e-03 1.14570860e+01] [ 5.65516130e-03 3.09392864e-04 9.99983962e-01 5.31687604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:98.73, Y:11.47, Z:0.53 [[ 9.63999023e-01 -2.65859767e-01 -4.94659692e-03 9.87264471e+01] [ 2.65854722e-01 9.64011671e-01 -1.66294816e-03 1.14662661e+01] [ 5.21068817e-03 2.88004249e-04 9.99986383e-01 5.32067244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:11.47, Z:0.53 [[ 9.64275514e-01 -2.64862377e-01 -4.54476760e-03 9.87529873e+01] [ 2.64858103e-01 9.64286186e-01 -1.52876726e-03 1.14747956e+01] [ 4.78736955e-03 2.70434314e-04 9.99988504e-01 5.31663415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.78, Y:11.48, Z:0.53 [[ 9.64992264e-01 -2.62188063e-01 -6.88119744e-03 9.87792805e+01] [ 2.62178189e-01 9.65016702e-01 -2.31585527e-03 1.14803380e+01] [ 7.24766006e-03 4.30682535e-04 9.99973643e-01 5.31425159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.81, Y:11.49, Z:0.53 [[ 9.65363088e-01 -2.60767532e-01 -8.62573071e-03 9.88066353e+01] [ 2.60751944e-01 9.65401464e-01 -2.90473244e-03 1.14867826e+01] [ 9.08475296e-03 5.54945428e-04 9.99958579e-01 5.31328858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:11.49, Z:0.53 [[ 9.65764516e-01 -2.59247317e-01 -9.47254360e-03 9.88341568e+01] [ 2.59228425e-01 9.65810766e-01 -3.19191128e-03 1.14939185e+01] [ 9.97617903e-03 6.27082095e-04 9.99950040e-01 5.31062609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:98.86, Y:11.50, Z:0.53 [[ 9.66168150e-01 -2.57740201e-01 -9.43903586e-03 9.88599618e+01] [ 2.57721362e-01 9.66214043e-01 -3.18158261e-03 1.15017554e+01] [ 9.94015074e-03 6.41302614e-04 9.99950390e-01 5.30882043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.89, Y:11.51, Z:0.53 [[ 9.66511475e-01 -2.56488173e-01 -8.32979878e-03 9.88866636e+01] [ 2.56473441e-01 9.66547196e-01 -2.80924012e-03 1.15098436e+01] [ 8.77168052e-03 5.78790657e-04 9.99961361e-01 5.30760468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:11.52, Z:0.53 [[ 9.66848740e-01 -2.55259796e-01 -6.77868645e-03 9.89136023e+01] [ 2.55250001e-01 9.66872383e-01 -2.28747790e-03 1.15176467e+01] [ 7.13802586e-03 4.81385408e-04 9.99974408e-01 5.30823661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.94, Y:11.52, Z:0.53 [[ 9.67735521e-01 -2.51871281e-01 -6.98704321e-03 9.89411974e+01] [ 2.51860775e-01 9.67760603e-01 -2.35923574e-03 1.15235830e+01] [ 7.35600887e-03 5.23354116e-04 9.99972807e-01 5.31264910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:98.97, Y:11.53, Z:0.53 [[ 9.68321843e-01 -2.49591289e-01 -7.54966668e-03 9.89669174e+01] [ 2.49578948e-01 9.68351097e-01 -2.55000041e-03 1.15303758e+01] [ 7.94718589e-03 5.84983229e-04 9.99968250e-01 5.31150694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:11.54, Z:0.53 [[ 9.68871286e-01 -2.47454990e-01 -7.37965859e-03 9.89938904e+01] [ 2.47443126e-01 9.68899210e-01 -2.49393568e-03 1.15375763e+01] [ 7.76728221e-03 5.90256880e-04 9.99969660e-01 5.30933959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.02, Y:11.54, Z:0.53 [[ 9.69338400e-01 -2.45634332e-01 -6.84413142e-03 9.90199535e+01] [ 2.45624078e-01 9.69362399e-01 -2.31362044e-03 1.15448434e+01] [ 7.20274826e-03 5.61597664e-04 9.99973902e-01 5.30557700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.05, Y:11.55, Z:0.53 [[ 9.69721013e-01 -2.44131843e-01 -6.38743424e-03 9.90471188e+01] [ 2.44122872e-01 9.69741902e-01 -2.16038845e-03 1.15525605e+01] [ 6.72158224e-03 5.35655289e-04 9.99977266e-01 5.30719233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.07, Y:11.56, Z:0.53 [[ 9.70600054e-01 -2.40622825e-01 -6.01590098e-03 9.90741783e+01] [ 2.40614792e-01 9.70618554e-01 -2.03589927e-03 1.15605224e+01] [ 6.32902894e-03 5.28529173e-04 9.99979832e-01 5.32257540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.10, Y:11.57, Z:0.53 [[ 9.71053632e-01 -2.38790385e-01 -5.83055418e-03 9.91008786e+01] [ 2.38782800e-01 9.71070995e-01 -1.97432331e-03 1.15703451e+01] [ 6.13333147e-03 5.24937764e-04 9.99981053e-01 5.33284950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:11.58, Z:0.53 [[ 9.71473127e-01 -2.37081533e-01 -5.68423750e-03 9.91262231e+01] [ 2.37074291e-01 9.71489616e-01 -1.92535697e-03 1.15803117e+01] [ 5.97864428e-03 5.22845981e-04 9.99981991e-01 5.32995422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:11.59, Z:0.53 [[ 9.72048756e-01 -2.34709300e-01 -5.72363141e-03 9.91514941e+01] [ 2.34701910e-01 9.72065456e-01 -1.93977208e-03 1.15920695e+01] [ 6.01902692e-03 5.42205816e-04 9.99981738e-01 5.31064126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:11.60, Z:0.53 [[ 9.72008262e-01 -2.34876953e-01 -5.72329360e-03 9.91784752e+01] [ 2.34869560e-01 9.72024960e-01 -1.94076853e-03 1.16013406e+01] [ 6.01902603e-03 5.42215598e-04 9.99981738e-01 5.31089443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:11.61, Z:0.53 [[ 9.72286407e-01 -2.33735589e-01 -5.17860076e-03 9.92033011e+01] [ 2.33729518e-01 9.72300070e-01 -1.75659643e-03 1.16107534e+01] [ 5.44573298e-03 4.97522976e-04 9.99985048e-01 5.30876124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:11.62, Z:0.53 [[ 9.72455017e-01 -2.33049114e-01 -4.39891447e-03 9.92280653e+01] [ 2.33044724e-01 9.72464873e-01 -1.49249306e-03 1.16207775e+01] [ 4.62561398e-03 4.26238556e-04 9.99989211e-01 5.32276986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:11.63, Z:0.53 [[ 9.72385151e-01 -2.33333840e-01 -4.73680659e-03 9.92542406e+01] [ 2.33328750e-01 9.72396580e-01 -1.60800370e-03 1.16322521e+01] [ 4.98125621e-03 4.58365763e-04 9.99987488e-01 5.33186881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:99.28, Y:11.64, Z:0.53 [[ 9.72171381e-01 -2.34221047e-01 -4.82781846e-03 9.92784659e+01] [ 2.34215767e-01 9.72183258e-01 -1.63942591e-03 1.16439862e+01] [ 5.07751233e-03 4.63051753e-04 9.99987002e-01 5.32929403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:11.66, Z:0.53 [[ 9.71456940e-01 -2.37188506e-01 -3.60930360e-03 9.93041031e+01] [ 2.37185572e-01 9.71463587e-01 -1.22626796e-03 1.16552787e+01] [ 3.79716369e-03 3.35191780e-04 9.99992735e-01 5.33022042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:11.66, Z:0.53 [[ 9.71045249e-01 -2.38880652e-01 -2.67573085e-03 9.93292314e+01] [ 2.38879045e-01 9.71048904e-01 -9.09376121e-04 1.16639003e+01] [ 2.81549787e-03 2.43869331e-04 9.99996007e-01 5.33531160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:11.67, Z:0.53 [[ 9.70655993e-01 -2.40460535e-01 -2.38193805e-03 9.93543295e+01] [ 2.40459266e-01 9.70658892e-01 -8.09730215e-04 1.16726119e+01] [ 2.50675751e-03 2.13210410e-04 9.99996835e-01 5.34296463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:11.68, Z:0.53 [[ 9.70114421e-01 -2.42636058e-01 -2.39853645e-03 9.93803104e+01] [ 2.42634777e-01 9.70117364e-01 -8.15763955e-04 1.16821684e+01] [ 2.52479561e-03 2.09416021e-04 9.99996791e-01 5.34676823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:11.69, Z:0.54 [[ 9.69470810e-01 -2.45190540e-01 -2.81911653e-03 9.94067743e+01] [ 2.45188780e-01 9.69474879e-01 -9.59412535e-04 1.16918570e+01] [ 2.96830154e-03 2.38906705e-04 9.99995566e-01 5.35022613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:11.70, Z:0.53 [[ 9.68743950e-01 -2.48045308e-01 -2.94692160e-03 9.94325696e+01] [ 2.48043396e-01 9.68748402e-01 -1.00327489e-03 1.17009112e+01] [ 3.10368322e-03 2.40952037e-04 9.99995155e-01 5.34711348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:11.71, Z:0.53 [[ 9.67241190e-01 -2.53844820e-01 -2.69946234e-03 9.94580706e+01] [ 2.53843238e-01 9.67244936e-01 -9.19257557e-04 1.17092803e+01] [ 2.84439005e-03 2.03903513e-04 9.99995934e-01 5.34519951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:11.72, Z:0.53 [[ 9.66400998e-01 -2.57011048e-01 -3.79895125e-03 9.94842159e+01] [ 2.57007935e-01 9.66408426e-01 -1.29437887e-03 1.17182190e+01] [ 4.00400817e-03 2.74528415e-04 9.99991946e-01 5.33980067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:11.73, Z:0.53 [[ 9.65599025e-01 -2.59969674e-01 -5.85595141e-03 9.95103853e+01] [ 2.59962324e-01 9.65616696e-01 -1.99653745e-03 1.17273380e+01] [ 6.17364365e-03 4.05527874e-04 9.99980861e-01 5.33184275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:11.74, Z:0.53 [[ 9.65040254e-01 -2.61984480e-01 -7.83841179e-03 9.95358205e+01] [ 2.61971369e-01 9.65071943e-01 -2.67329868e-03 1.17361252e+01] [ 8.26499406e-03 5.26401371e-04 9.99965706e-01 5.32878501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.56, Y:11.75, Z:0.53 [[ 9.64678894e-01 -2.63246616e-01 -9.79030483e-03 9.95615947e+01] [ 2.63226213e-01 9.64728357e-01 -3.34031720e-03 1.17451686e+01] [ 1.03243119e-02 6.45268634e-04 9.99946495e-01 5.32610786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.59, Y:11.75, Z:0.53 [[ 9.64649457e-01 -2.63354480e-01 -9.78992806e-03 9.95885427e+01] [ 2.63334072e-01 9.64698918e-01 -3.34142128e-03 1.17545010e+01] [ 1.03243113e-02 6.45278600e-04 9.99946495e-01 5.32636108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.62, Y:11.76, Z:0.53 [[ 9.64463606e-01 -2.63989982e-01 -1.09198023e-02 9.96153411e+01] [ 2.63964607e-01 9.64525157e-01 -3.72926477e-03 1.17642024e+01] [ 1.15169126e-02 7.14298830e-04 9.99933423e-01 5.32861879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:11.78, Z:0.53 [[ 9.64945800e-01 -2.62291812e-01 -9.08893382e-03 9.96402418e+01] [ 2.62274149e-01 9.64988410e-01 -3.10488410e-03 1.17758780e+01] [ 9.58510147e-03 6.12252493e-04 9.99953874e-01 5.33181351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:11.79, Z:0.53 [[ 9.65523095e-01 -2.60205035e-01 -7.64807904e-03 9.96660682e+01] [ 2.60192451e-01 9.65553238e-01 -2.61414766e-03 1.17869257e+01] [ 8.06484186e-03 5.34047511e-04 9.99967336e-01 5.33852013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:11.80, Z:0.53 [[ 9.66180409e-01 -2.57782805e-01 -6.59110658e-03 9.96912131e+01] [ 2.57773398e-01 9.66202772e-01 -2.25353615e-03 1.17971080e+01] [ 6.94926831e-03 4.78310539e-04 9.99975739e-01 5.33941096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:11.81, Z:0.53 [[ 9.66637506e-01 -2.56060395e-01 -6.70861980e-03 9.97170023e+01] [ 2.56050600e-01 9.66660656e-01 -2.29499824e-03 1.18076800e+01] [ 7.07261697e-03 5.00685256e-04 9.99974863e-01 5.34187686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87140051299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:99.74, Y:11.82, Z:0.53 [[ 9.67359675e-01 -2.53301571e-01 -7.31939840e-03 9.97404231e+01] [ 2.53289824e-01 9.67387197e-01 -2.50504202e-03 1.18220131e+01] [ 7.71522339e-03 5.69347498e-04 9.99970075e-01 5.34053850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:99.77, Y:11.83, Z:0.53 [[ 9.67573029e-01 -2.52505372e-01 -6.59316401e-03 9.97659446e+01] [ 2.52495813e-01 9.67595353e-01 -2.25777767e-03 1.18339260e+01] [ 6.94961585e-03 5.19818475e-04 9.99975716e-01 5.34163714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:11.84, Z:0.53 [[ 9.67616351e-01 -2.52356001e-01 -5.91993593e-03 9.97919082e+01] [ 2.52348284e-01 9.67634347e-01 -2.02843741e-03 1.18444594e+01] [ 6.24022169e-03 4.68863532e-04 9.99980420e-01 5.34490348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:11.85, Z:0.53 [[ 9.67330600e-01 -2.53448561e-01 -5.94458306e-03 9.98167583e+01] [ 2.53440796e-01 9.67348754e-01 -2.03751180e-03 1.18538402e+01] [ 6.26688945e-03 4.64347646e-04 9.99980255e-01 5.34850598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:11.86, Z:0.53 [[ 9.66747920e-01 -2.55654927e-01 -6.24639464e-03 9.98431039e+01] [ 2.55646392e-01 9.66767983e-01 -2.14215136e-03 1.18638146e+01] [ 6.58646590e-03 4.74052119e-04 9.99978197e-01 5.34434154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.87, Y:11.87, Z:0.53 [[ 9.65284704e-01 -2.61121678e-01 -6.39601779e-03 9.98678774e+01] [ 2.61112840e-01 9.65305790e-01 -2.19478549e-03 1.18743158e+01] [ 6.74721908e-03 4.48510492e-04 9.99977137e-01 5.33209999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:11.88, Z:0.53 [[ 9.64652314e-01 -2.63459814e-01 -5.90242973e-03 9.98939786e+01] [ 2.63452327e-01 9.64670289e-01 -2.02602637e-03 1.18819805e+01] [ 6.22767513e-03 3.99402183e-04 9.99980528e-01 5.33654130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.92, Y:11.89, Z:0.53 [[ 9.64043981e-01 -2.65685098e-01 -5.53465705e-03 9.99203416e+01] [ 2.65678546e-01 9.64059800e-01 -1.90050636e-03 1.18882618e+01] [ 5.84067658e-03 3.61732081e-04 9.99982878e-01 5.34004955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:11.89, Z:0.53 [[ 9.63551422e-01 -2.67472395e-01 -5.21303921e-03 9.99478554e+01] [ 2.67466604e-01 9.63565466e-01 -1.79109227e-03 1.18942561e+01] [ 5.50217230e-03 3.31495604e-04 9.99984808e-01 5.34789974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.97, Y:11.90, Z:0.53 [[ 9.63173772e-01 -2.68804397e-01 -6.36243605e-03 9.99740496e+01] [ 2.68795794e-01 9.63194705e-01 -2.18671716e-03 1.19014948e+01] [ 6.71606390e-03 3.95992571e-04 9.99977369e-01 5.33780731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:100.00, Y:11.91, Z:0.53 [[ 9.63410200e-01 -2.67934257e-01 -7.21252640e-03 1.00000213e+02] [ 2.67923166e-01 9.63437089e-01 -2.48032224e-03 1.19105323e+01] [ 7.61337874e-03 4.57164832e-04 9.99970913e-01 5.33386626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.03, Y:11.92, Z:0.53 [[ 9.63900540e-01 -2.66151317e-01 -7.69582127e-03 1.00026517e+02] [ 2.66138627e-01 9.63931130e-01 -2.64734289e-03 1.19186033e+01] [ 8.12283549e-03 5.03619932e-04 9.99966882e-01 5.33555495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:100.05, Y:11.93, Z:0.53 [[ 9.64341065e-01 -2.64551696e-01 -7.66232260e-03 1.00052880e+02] [ 2.64539058e-01 9.64371367e-01 -2.63686832e-03 1.19264082e+01] [ 8.08691251e-03 5.15856797e-04 9.99967167e-01 5.34296827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:100.08, Y:11.93, Z:0.53 [[ 9.64642707e-01 -2.63461131e-01 -7.25813015e-03 1.00079762e+02] [ 2.63449749e-01 9.64669883e-01 -2.49921034e-03 1.19344739e+01] [ 7.66014434e-03 4.98692458e-04 9.99970536e-01 5.34594790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.11, Y:11.94, Z:0.53 [[ 9.64822023e-01 -2.62816714e-01 -6.77039094e-03 1.00106143e+02] [ 2.62806784e-01 9.64845663e-01 -2.33266558e-03 1.19426504e+01] [ 7.14544583e-03 4.71302452e-04 9.99974360e-01 5.34260869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.13, Y:11.95, Z:0.53 [[ 9.64840253e-01 -2.62764689e-01 -6.16473152e-03 1.00133298e+02] [ 2.62756448e-01 9.64859851e-01 -2.12525948e-03 1.19494687e+01] [ 6.50654508e-03 4.30712937e-04 9.99978739e-01 5.33713946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:11.96, Z:0.53 [[ 9.64736070e-01 -2.63157351e-01 -5.70299192e-03 1.00159240e+02] [ 2.63150299e-01 9.64752845e-01 -1.96692869e-03 1.19567442e+01] [ 6.01958942e-03 3.96823024e-04 9.99981803e-01 5.33841389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:11.96, Z:0.53 [[ 9.64534436e-01 -2.63906424e-01 -5.16921027e-03 1.00186349e+02] [ 2.63900636e-01 9.64548222e-01 -1.78385838e-03 1.19649195e+01] [ 5.45672426e-03 3.56434959e-04 9.99985048e-01 5.34748948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:11.97, Z:0.54 [[ 9.64279679e-01 -2.64853745e-01 -4.14655642e-03 1.00211857e+02] [ 2.64850027e-01 9.64288553e-01 -1.43139642e-03 1.19730132e+01] [ 4.37758759e-03 2.82050905e-04 9.99990379e-01 5.35364983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:11.98, Z:0.54 [[ 9.63557208e-01 -2.67483968e-01 -3.13598675e-03 1.00238720e+02] [ 2.67481853e-01 9.63562289e-01 -1.08308573e-03 1.19797357e+01] [ 3.31142664e-03 2.04795518e-04 9.99994496e-01 5.35192136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:11.99, Z:0.53 [[ 9.63157072e-01 -2.68917399e-01 -3.44778529e-03 1.00265849e+02] [ 2.68914850e-01 9.63163218e-01 -1.19151022e-03 1.19870409e+01] [ 3.64119781e-03 2.20450829e-04 9.99993347e-01 5.34246761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:11.99, Z:0.53 [[ 9.62724731e-01 -2.70448441e-01 -4.32819375e-03 1.00293347e+02] [ 2.70444434e-01 9.62734422e-01 -1.49671442e-03 1.19947764e+01] [ 4.57168519e-03 2.70388073e-04 9.99989513e-01 5.33909905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:12.00, Z:0.53 [[ 9.62391043e-01 -2.71619032e-01 -5.15580307e-03 1.00318694e+02] [ 2.71613360e-01 9.62404801e-01 -1.78350574e-03 1.20026117e+01] [ 5.44640373e-03 3.16044952e-04 9.99985118e-01 5.34280368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:12.01, Z:0.53 [[ 9.62217759e-01 -2.72227602e-01 -5.39594403e-03 1.00344354e+02] [ 2.72221397e-01 9.62232833e-01 -1.86705741e-03 1.20107678e+01] [ 5.70041908e-03 3.27624378e-04 9.99983699e-01 5.34912085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:12.02, Z:0.54 [[ 9.62138364e-01 -2.72512970e-01 -5.14301808e-03 1.00369881e+02] [ 2.72507334e-01 9.62152059e-01 -1.77999189e-03 1.20191247e+01] [ 5.43343631e-03 3.11088339e-04 9.99985190e-01 5.35785222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:12.03, Z:0.54 [[ 9.62500153e-01 -2.71248406e-01 -4.21397949e-03 1.00396816e+02] [ 2.71244607e-01 9.62509342e-01 -1.45920652e-03 1.20279824e+01] [ 4.45180206e-03 2.61467286e-04 9.99990056e-01 5.36829854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:12.04, Z:0.54 [[ 9.62706413e-01 -2.70524601e-01 -3.57814195e-03 1.00423667e+02] [ 2.70521854e-01 9.62713036e-01 -1.23973870e-03 1.20375578e+01] [ 3.78010372e-03 2.25538801e-04 9.99992830e-01 5.35805433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.45, Y:12.05, Z:0.53 [[ 9.62763826e-01 -2.70330112e-01 -2.72881961e-03 1.00449411e+02] [ 2.70328513e-01 9.62767677e-01 -9.45768669e-04 1.20469506e+01] [ 2.88288907e-03 1.72874115e-04 9.99995830e-01 5.34757401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:12.06, Z:0.53 [[ 9.62300790e-01 -2.71981783e-01 -1.76044238e-03 1.00476015e+02] [ 2.71981120e-01 9.62302394e-01 -6.10376388e-04 1.20555853e+01] [ 1.86008918e-03 1.08558590e-04 9.99998264e-01 5.34061590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:100.50, Y:12.06, Z:0.53 [[ 9.61985613e-01 -2.73087920e-01 -2.58221695e-03 1.00502950e+02] [ 2.73086495e-01 9.61989066e-01 -8.95913074e-04 1.20638199e+01] [ 2.72872751e-03 1.56686910e-04 9.99996265e-01 5.34788532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:12.07, Z:0.54 [[ 9.61857925e-01 -2.73523290e-01 -3.78703907e-03 1.00528752e+02] [ 2.73520227e-01 9.61865353e-01 -1.31461232e-03 1.20710494e+01] [ 4.00219876e-03 2.28638488e-04 9.99991965e-01 5.35923382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:12.08, Z:0.54 [[ 9.61932263e-01 -2.73241692e-01 -5.02984727e-03 1.00555447e+02] [ 2.73236278e-01 9.61945364e-01 -1.74708039e-03 1.20789124e+01] [ 5.31581346e-03 3.06236245e-04 9.99985824e-01 5.37068922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:100.58, Y:12.09, Z:0.54 [[ 9.62234676e-01 -2.72166674e-01 -5.45257363e-03 1.00581400e+02] [ 2.72160291e-01 9.62250065e-01 -1.89452962e-03 1.20874077e+01] [ 5.76236715e-03 3.39008071e-04 9.99983340e-01 5.36872385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:12.10, Z:0.54 [[ 9.62611318e-01 -2.70832887e-01 -5.38490458e-03 1.00607500e+02] [ 2.70826635e-01 9.62626319e-01 -1.87204001e-03 1.20964652e+01] [ 5.69066088e-03 3.43671309e-04 9.99983749e-01 5.36706420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.63, Y:12.10, Z:0.54 [[ 9.63693914e-01 -2.66952942e-01 -5.49240050e-03 1.00633794e+02] [ 2.66946370e-01 9.63709493e-01 -1.91024841e-03 1.21038481e+01] [ 5.80302494e-03 3.74718387e-04 9.99983092e-01 5.35000237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:12.11, Z:0.53 [[ 9.64050424e-01 -2.65664276e-01 -5.41043424e-03 1.00660867e+02] [ 2.65657872e-01 9.64065532e-01 -1.88280750e-03 1.21118560e+01] [ 5.71620786e-03 3.77796918e-04 9.99983591e-01 5.34316191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:12.12, Z:0.53 [[ 9.64254999e-01 -2.64925357e-01 -5.18184761e-03 1.00687270e+02] [ 2.64919469e-01 9.64268853e-01 -1.80381972e-03 1.21195382e+01] [ 5.47457183e-03 3.66569860e-04 9.99984947e-01 5.34168173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.71, Y:12.13, Z:0.53 [[ 9.64371428e-01 -2.64505459e-01 -4.96102406e-03 1.00714002e+02] [ 2.64500055e-01 9.64384123e-01 -1.72737955e-03 1.21257808e+01] [ 5.24123416e-03 3.53644349e-04 9.99986202e-01 5.34355814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.74, Y:12.13, Z:0.53 [[ 9.64246267e-01 -2.64955180e-01 -5.28096397e-03 1.00740639e+02] [ 2.64949058e-01 9.64260656e-01 -1.83973675e-03 1.21337940e+01] [ 5.57967356e-03 3.74772862e-04 9.99984363e-01 5.34461549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:100.77, Y:12.14, Z:0.53 [[ 9.64046044e-01 -2.65662586e-01 -6.21413803e-03 1.00767227e+02] [ 2.65654115e-01 9.64065972e-01 -2.16613662e-03 1.21416352e+01] [ 6.56630048e-03 4.37444104e-04 9.99978346e-01 5.34333993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.79, Y:12.15, Z:0.53 [[ 9.63870334e-01 -2.66282214e-01 -6.91101394e-03 1.00793022e+02] [ 2.66271744e-01 9.63894989e-01 -2.41010898e-03 1.21500497e+01] [ 7.30326086e-03 4.82824812e-04 9.99973214e-01 5.33903360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.82, Y:12.16, Z:0.53 [[ 9.63720765e-01 -2.66820112e-01 -7.02249546e-03 1.00819734e+02] [ 2.66809306e-01 9.63746227e-01 -2.45034885e-03 1.21585544e+01] [ 7.42170585e-03 4.87784927e-04 9.99972340e-01 5.33339384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:12.16, Z:0.53 [[ 9.63652834e-01 -2.67087101e-01 -6.13970927e-03 1.00846738e+02] [ 2.67078841e-01 9.63672299e-01 -2.14319291e-03 1.21631884e+01] [ 6.48908693e-03 4.25507486e-04 9.99978855e-01 5.34362970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:12.17, Z:0.54 [[ 9.63574314e-01 -2.67382717e-01 -5.56997882e-03 1.00874005e+02] [ 2.67375917e-01 9.63590335e-01 -1.94541524e-03 1.21704180e+01] [ 5.88734817e-03 3.85273962e-04 9.99982595e-01 5.35253137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:100.90, Y:12.18, Z:0.54 [[ 9.63576190e-01 -2.67383263e-01 -5.20745691e-03 1.00899462e+02] [ 2.67375336e-01 9.63590003e-01 -2.17600797e-03 1.21784511e+01] [ 5.59968153e-03 7.04403927e-04 9.99984074e-01 5.36164264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.93, Y:12.19, Z:0.54 [[ 9.63517237e-01 -2.67600756e-01 -4.93648372e-03 1.00926305e+02] [ 2.67597209e-01 9.63529883e-01 -1.37772118e-03 1.21861437e+01] [ 5.12512881e-03 6.46883697e-06 9.99986866e-01 5.35987171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:12.19, Z:0.53 [[ 9.63600928e-01 -2.67283684e-01 -5.71700382e-03 1.00953442e+02] [ 2.67276501e-01 9.63617805e-01 -1.99961014e-03 1.21925802e+01] [ 6.04346983e-03 3.98805404e-04 9.99981659e-01 5.34918331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:12.20, Z:0.53 [[ 9.63656583e-01 -2.67065517e-01 -6.48076351e-03 1.00979221e+02] [ 2.67056277e-01 9.63678268e-01 -2.26746694e-03 1.21996281e+01] [ 6.85093318e-03 4.54330869e-04 9.99976429e-01 5.34341629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:12.21, Z:0.53 [[ 9.63669047e-01 -2.67013454e-01 -6.76633347e-03 1.01006469e+02] [ 2.67003372e-01 9.63692684e-01 -2.36870807e-03 1.22073745e+01] [ 7.15314299e-03 4.76016790e-04 9.99974303e-01 5.34245964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.03, Y:12.21, Z:0.53 [[ 9.63765236e-01 -2.66669683e-01 -6.62184945e-03 1.01032404e+02] [ 2.66660014e-01 9.63787871e-01 -2.31882888e-03 1.22149583e+01] [ 7.00041955e-03 4.69024199e-04 9.99975387e-01 5.34467595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.06, Y:12.22, Z:0.54 [[ 9.63832494e-01 -2.66452362e-01 -5.48283359e-03 1.01059720e+02] [ 2.66445724e-01 9.63848010e-01 -1.92100850e-03 1.22221601e+01] [ 5.79647550e-03 3.90652847e-04 9.99983124e-01 5.35725609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.09, Y:12.23, Z:0.54 [[ 9.63762773e-01 -2.66727637e-01 -4.20536836e-03 1.01085671e+02] [ 2.66723732e-01 9.63771902e-01 -1.47404201e-03 1.22286298e+01] [ 4.44618361e-03 2.98955267e-04 9.99990071e-01 5.37515837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.11, Y:12.24, Z:0.54 [[ 9.63743951e-01 -2.66818758e-01 -2.31236832e-03 1.01111873e+02] [ 2.66817577e-01 9.63746711e-01 -8.10717308e-04 1.22352307e+01] [ 2.44485195e-03 1.64343390e-04 9.99996998e-01 5.38355718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:101.14, Y:12.24, Z:0.54 [[ 9.63894889e-01 -2.66279440e-01 -1.37918777e-03 1.01137923e+02] [ 2.66279019e-01 9.63895871e-01 -4.83700469e-04 1.22444831e+01] [ 1.45819289e-03 9.89876439e-05 9.99998932e-01 5.37773650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:12.25, Z:0.54 [[ 9.64133878e-01 -2.65414692e-01 -9.51849686e-04 1.01163271e+02] [ 2.65414491e-01 9.64134346e-01 -3.33956317e-04 1.22524744e+01] [ 1.00634789e-03 6.93438993e-05 9.99999491e-01 5.37128720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:12.26, Z:0.54 [[ 9.64315807e-01 -2.64751511e-01 -1.28936529e-03 1.01189472e+02] [ 2.64751141e-01 9.64316664e-01 -4.52515330e-04 1.22597753e+01] [ 1.36316055e-03 9.50067537e-05 9.99999066e-01 5.37083887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:12.27, Z:0.54 [[ 9.64236080e-01 -2.65029713e-01 -2.83446115e-03 1.01217022e+02] [ 2.65027926e-01 9.64240223e-01 -9.95363401e-04 1.22664514e+01] [ 2.99690233e-03 2.08553944e-04 9.99995488e-01 5.37365262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.24, Y:12.28, Z:0.54 [[ 9.63926338e-01 -2.66144917e-01 -3.59128468e-03 1.01242573e+02] [ 2.66142054e-01 9.63932993e-01 -1.26160677e-03 1.22759336e+01] [ 3.79752802e-03 2.60304108e-04 9.99992755e-01 5.36739376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.27, Y:12.29, Z:0.54 [[ 9.63880788e-01 -2.66309838e-01 -3.59109522e-03 1.01269454e+02] [ 2.66306974e-01 9.63887443e-01 -1.26214590e-03 1.22855147e+01] [ 3.79753346e-03 2.60224483e-04 9.99992755e-01 5.36764683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:12.30, Z:0.54 [[ 9.63597399e-01 -2.67318741e-01 -4.55447793e-03 1.01296113e+02] [ 2.67314141e-01 9.63608107e-01 -1.60171773e-03 1.22954174e+01] [ 4.81690102e-03 3.25934686e-04 9.99988346e-01 5.36698926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:12.30, Z:0.54 [[ 9.63425200e-01 -2.67918732e-01 -5.60690218e-03 1.01322578e+02] [ 2.67911767e-01 9.63441433e-01 -1.97247891e-03 1.23027465e+01] [ 5.93038591e-03 3.98180816e-04 9.99982336e-01 5.37283519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.35, Y:12.31, Z:0.54 [[ 9.63459521e-01 -2.67789095e-01 -5.89505499e-03 1.01349135e+02] [ 2.67781387e-01 9.63477464e-01 -2.07496606e-03 1.23104448e+01] [ 6.23540592e-03 4.20559808e-04 9.99980471e-01 5.38151806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:12.32, Z:0.54 [[ 9.63697270e-01 -2.66937393e-01 -5.65683705e-03 1.01375759e+02] [ 2.66930273e-01 9.63713785e-01 -1.99228644e-03 1.23185696e+01] [ 5.98338760e-03 4.09979942e-04 9.99982015e-01 5.38801124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.40, Y:12.33, Z:0.54 [[ 9.64159629e-01 -2.65271802e-01 -5.20403324e-03 1.01401523e+02] [ 2.65265749e-01 9.64173595e-01 -1.83336915e-03 1.23278402e+01] [ 5.50393257e-03 3.87208748e-04 9.99984778e-01 5.38927677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.43, Y:12.34, Z:0.54 [[ 9.64690588e-01 -2.63352170e-01 -4.20765344e-03 1.01426982e+02] [ 2.63348192e-01 9.64699710e-01 -1.48288169e-03 1.23377998e+01] [ 4.44964216e-03 3.22444079e-04 9.99990048e-01 5.39186550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:12.35, Z:0.54 [[ 9.65228832e-01 -2.61379167e-01 -3.77275156e-03 1.01452714e+02] [ 2.61375952e-01 9.65236159e-01 -1.33033365e-03 1.23477121e+01] [ 3.98931772e-03 2.97969868e-04 9.99991998e-01 5.39831273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:12.36, Z:0.54 [[ 9.66002361e-01 -2.58487490e-01 -4.86371767e-03 1.01477180e+02] [ 2.58482106e-01 9.66014522e-01 -1.71562077e-03 1.23593819e+01] [ 5.14188841e-03 4.00109729e-04 9.99986700e-01 5.39406983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:12.37, Z:0.54 [[ 9.66205119e-01 -2.57714850e-01 -5.54301311e-03 1.01501879e+02] [ 2.57707841e-01 9.66220908e-01 -1.95573195e-03 1.23709790e+01] [ 5.85979633e-03 4.61160278e-04 9.99982725e-01 5.37861369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.53, Y:12.38, Z:0.54 [[ 9.66262996e-01 -2.57476917e-01 -6.43897584e-03 1.01528050e+02] [ 2.57467446e-01 9.66284299e-01 -2.27308027e-03 1.23824431e+01] [ 6.80714696e-03 5.38566682e-04 9.99976686e-01 5.36700515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:12.39, Z:0.54 [[ 9.66138347e-01 -2.57939674e-01 -6.61951728e-03 1.01552931e+02] [ 2.57929669e-01 9.66160867e-01 -2.33779365e-03 1.23925622e+01] [ 6.99852828e-03 5.51262193e-04 9.99975358e-01 5.36828024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.58, Y:12.40, Z:0.54 [[ 9.65771924e-01 -2.59311861e-01 -6.47684998e-03 1.01579211e+02] [ 2.59302305e-01 9.65793496e-01 -2.28863839e-03 1.24034447e+01] [ 6.84877067e-03 5.30840572e-04 9.99976406e-01 5.37683676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:12.42, Z:0.54 [[ 9.64896964e-01 -2.62554908e-01 -6.22656618e-03 1.01604667e+02] [ 2.62546134e-01 9.64916930e-01 -2.20147995e-03 1.24169019e+01] [ 6.58612848e-03 4.89440440e-04 9.99978191e-01 5.38720575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.63, Y:12.43, Z:0.54 [[ 9.64367832e-01 -2.64471558e-01 -7.03419782e-03 1.01630874e+02] [ 2.64460400e-01 9.64393335e-01 -2.48850869e-03 1.24283740e+01] [ 7.44187326e-03 5.39570955e-04 9.99972163e-01 5.38065662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:12.44, Z:0.54 [[ 9.63823458e-01 -2.66442090e-01 -7.27702851e-03 1.01656840e+02] [ 2.66430193e-01 9.63850775e-01 -2.57592652e-03 1.24389897e+01] [ 7.70030482e-03 5.43918295e-04 9.99970204e-01 5.38154022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:12.45, Z:0.54 [[ 9.62858485e-01 -2.69954696e-01 -5.29148376e-03 1.01682203e+02] [ 2.69948452e-01 9.62872952e-01 -1.87413714e-03 1.24509329e+01] [ 5.60095871e-03 3.76100999e-04 9.99984244e-01 5.38569685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:12.46, Z:0.54 [[ 9.62457182e-01 -2.71397338e-01 -4.43376643e-03 1.01707463e+02] [ 2.71392966e-01 9.62467345e-01 -1.57100920e-03 1.24599338e+01] [ 4.69372312e-03 3.08736065e-04 9.99988937e-01 5.38896297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:101.73, Y:12.47, Z:0.54 [[ 9.62032417e-01 -2.72902272e-01 -4.24017648e-03 1.01734462e+02] [ 2.72898285e-01 9.62041717e-01 -1.50323542e-03 1.24682031e+01] [ 4.48946302e-03 2.89024309e-04 9.99989881e-01 5.38967421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.76, Y:12.48, Z:0.54 [[ 9.61657277e-01 -2.74216170e-01 -4.55785940e-03 1.01760386e+02] [ 2.74211575e-01 9.61668030e-01 -1.61638488e-03 1.24758563e+01] [ 4.82638654e-03 3.04590478e-04 9.99988307e-01 5.39440251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.79, Y:12.49, Z:0.54 [[ 9.61291549e-01 -2.75485831e-01 -5.11031302e-03 1.01787162e+02] [ 2.75480067e-01 9.61305074e-01 -1.81329121e-03 1.24851762e+01] [ 5.41210587e-03 3.35312140e-04 9.99985298e-01 5.39350596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:12.50, Z:0.54 [[ 9.61204140e-01 -2.75782769e-01 -5.51955733e-03 1.01812259e+02] [ 2.75776046e-01 9.61219920e-01 -1.95912332e-03 1.24954885e+01] [ 5.84580091e-03 3.60955743e-04 9.99982848e-01 5.39640214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:12.50, Z:0.54 [[ 9.61337139e-01 -2.75326546e-01 -5.11850012e-03 1.01839028e+02] [ 2.75320754e-01 9.61350705e-01 -1.81771160e-03 1.25049858e+01] [ 5.42113796e-03 3.38204352e-04 9.99985248e-01 5.39692158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.87, Y:12.51, Z:0.54 [[ 9.61544822e-01 -2.74611760e-01 -4.46505542e-03 1.01865157e+02] [ 2.74607340e-01 9.61555142e-01 -1.58655421e-03 1.25144358e+01] [ 4.72908345e-03 2.99405988e-04 9.99988773e-01 5.39828763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:12.52, Z:0.54 [[ 9.61811718e-01 -2.73687428e-01 -3.66199770e-03 1.01890628e+02] [ 2.73684446e-01 9.61818657e-01 -1.30160235e-03 1.25240078e+01] [ 3.87840991e-03 2.49664584e-04 9.99992448e-01 5.40279550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.92, Y:12.53, Z:0.54 [[ 9.62398772e-01 -2.71624494e-01 -2.95609366e-03 1.01917389e+02] [ 2.71622541e-01 9.62403289e-01 -1.05120520e-03 1.25326840e+01] [ 3.13048734e-03 2.08736919e-04 9.99995078e-01 5.39911489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.94, Y:12.54, Z:0.54 [[ 9.62658441e-01 -2.70697577e-01 -3.39835423e-03 1.01943061e+02] [ 2.70694987e-01 9.62664408e-01 -1.20891045e-03 1.25400310e+01] [ 3.59872380e-03 2.43850394e-04 9.99993495e-01 5.40068991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:101.97, Y:12.55, Z:0.54 [[ 9.62958500e-01 -2.69620732e-01 -3.94828268e-03 1.01970375e+02] [ 2.69617224e-01 9.62966551e-01 -1.40526015e-03 1.25480444e+01] [ 4.18095142e-03 2.88682186e-04 9.99991218e-01 5.40274342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:12.56, Z:0.54 [[ 9.63264737e-01 -2.68519241e-01 -4.29692405e-03 1.01996480e+02] [ 2.68515073e-01 9.63274268e-01 -1.53001316e-03 1.25566673e+01] [ 4.54995434e-03 3.20018856e-04 9.99989598e-01 5.40550389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.02, Y:12.57, Z:0.54 [[ 9.63511343e-01 -2.67625834e-01 -4.72284285e-03 1.02022413e+02] [ 2.67620784e-01 9.63522851e-01 -1.68257133e-03 1.25661019e+01] [ 5.00086657e-03 3.57245655e-04 9.99987432e-01 5.40755529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.05, Y:12.57, Z:0.54 [[ 9.63693119e-01 -2.66971366e-01 -4.67577572e-03 1.02049078e+02] [ 2.66966403e-01 9.63704395e-01 -1.66677605e-03 1.25748294e+01] [ 4.95104709e-03 3.57985589e-04 9.99987679e-01 5.39993106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:12.58, Z:0.54 [[ 9.63505355e-01 -2.67645294e-01 -4.84022273e-03 1.02075387e+02] [ 2.67639981e-01 9.63517442e-01 -1.72594470e-03 1.25826802e+01] [ 5.12558001e-03 3.67519845e-04 9.99986797e-01 5.39568174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.10, Y:12.59, Z:0.54 [[ 9.63153721e-01 -2.68902737e-01 -5.12134189e-03 1.02101738e+02] [ 2.68896805e-01 9.63167261e-01 -1.82664473e-03 1.25904006e+01] [ 5.42389860e-03 3.82227203e-04 9.99985218e-01 5.38545866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:12.60, Z:0.54 [[ 9.62741155e-01 -2.70371543e-01 -5.35704701e-03 1.02128220e+02] [ 2.70365068e-01 9.62755979e-01 -1.91175535e-03 1.25982912e+01] [ 5.67441328e-03 3.92167170e-04 9.99983823e-01 5.38106669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.15, Y:12.61, Z:0.54 [[ 9.62198133e-01 -2.72284874e-01 -5.97499303e-03 1.02154205e+02] [ 2.72276852e-01 9.62216590e-01 -2.13295692e-03 1.26050769e+01] [ 6.33000932e-03 4.25474871e-04 9.99979875e-01 5.37643830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.18, Y:12.61, Z:0.54 [[ 9.61944829e-01 -2.73171347e-01 -6.28982955e-03 1.02180015e+02] [ 2.73162472e-01 9.61965290e-01 -2.24592700e-03 1.26128591e+01] [ 6.66412061e-03 4.42312471e-04 9.99977697e-01 5.37290072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:12.62, Z:0.54 [[ 9.61718875e-01 -2.73958388e-01 -6.60354105e-03 1.02206721e+02] [ 2.73948615e-01 9.61741436e-01 -2.35924611e-03 1.26211847e+01] [ 6.99723431e-03 4.59900590e-04 9.99975413e-01 5.37855379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:12.63, Z:0.54 [[ 9.61627080e-01 -2.74283572e-01 -6.47157647e-03 1.02232079e+02] [ 2.74274188e-01 9.61648751e-01 -2.31279188e-03 1.26296155e+01] [ 6.85774425e-03 4.49056918e-04 9.99976385e-01 5.37750552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:12.64, Z:0.54 [[ 9.61572683e-01 -2.74484194e-01 -6.03340810e-03 1.02257127e+02] [ 2.74476039e-01 9.61591521e-01 -2.15674714e-03 1.26387403e+01] [ 6.39366707e-03 4.17843175e-04 9.99979473e-01 5.37702221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:12.65, Z:0.54 [[ 9.61451760e-01 -2.74911737e-01 -5.83521531e-03 1.02282317e+02] [ 2.74904113e-01 9.61469384e-01 -2.08642533e-03 1.26483913e+01] [ 6.18396368e-03 4.01872619e-04 9.99980798e-01 5.37793478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:12.66, Z:0.54 [[ 9.60933184e-01 -2.76706166e-01 -6.41194597e-03 1.02307551e+02] [ 2.76696994e-01 9.60954480e-01 -2.29350145e-03 1.26582295e+01] [ 6.79621420e-03 4.29735479e-04 9.99976813e-01 5.37695852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.33, Y:12.67, Z:0.54 [[ 9.60607617e-01 -2.77829737e-01 -6.60625671e-03 1.02333975e+02] [ 2.77820019e-01 9.60630234e-01 -2.36430117e-03 1.26675994e+01] [ 7.00304311e-03 4.35815348e-04 9.99975383e-01 5.37878871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87140051299998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:102.36, Y:12.68, Z:0.54 [[ 9.60320750e-01 -2.78845243e-01 -5.42103237e-03 1.02359348e+02] [ 2.78834215e-01 9.60335432e-01 -2.70882277e-03 1.26768556e+01] [ 5.96135181e-03 1.08976941e-03 9.99981637e-01 5.37333631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.39, Y:12.68, Z:0.54 [[ 9.59827809e-01 -2.80517014e-01 -6.38601201e-03 1.02386386e+02] [ 2.80513266e-01 9.59848986e-01 -1.49352487e-03 1.26849046e+01] [ 6.54856629e-03 -3.57834381e-04 9.99978494e-01 5.38699883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.41, Y:12.69, Z:0.54 [[ 9.59245518e-01 -2.82509920e-01 -6.01516484e-03 1.02412125e+02] [ 2.82501932e-01 9.59264306e-01 -2.15620418e-03 1.26947319e+01] [ 6.37928200e-03 3.69033506e-04 9.99979584e-01 5.38389661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:12.70, Z:0.54 [[ 9.58400356e-01 -2.85360999e-01 -6.15282563e-03 1.02437833e+02] [ 2.85352696e-01 9.58420039e-01 -2.20621420e-03 1.27036325e+01] [ 6.52655887e-03 3.58711097e-04 9.99978637e-01 5.38300942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.46, Y:12.71, Z:0.54 [[ 9.56135621e-01 -2.92851089e-01 -6.55088914e-03 1.02464738e+02] [ 2.92841843e-01 9.56158006e-01 -2.35024538e-03 1.27115695e+01] [ 6.95195701e-03 3.28778877e-04 9.99975781e-01 5.38220434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:102.49, Y:12.72, Z:0.54 [[ 9.54946727e-01 -2.96705814e-01 -6.51213712e-03 1.02492317e+02] [ 2.96696756e-01 9.54968884e-01 -2.33772076e-03 1.27191275e+01] [ 6.91250366e-03 3.00268826e-04 9.99976063e-01 5.37898870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:12.73, Z:0.54 [[ 9.53858701e-01 -3.00186212e-01 -6.46652692e-03 1.02518588e+02] [ 3.00177354e-01 9.53880581e-01 -2.32233487e-03 1.27250253e+01] [ 6.86542736e-03 2.74074380e-04 9.99976395e-01 5.38501932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:102.55, Y:12.73, Z:0.54 [[ 9.52776902e-01 -3.03609131e-01 -6.13766109e-03 1.02546242e+02] [ 3.03601213e-01 9.52796641e-01 -2.20546418e-03 1.27319490e+01] [ 6.51754193e-03 2.37913977e-04 9.99978732e-01 5.38611208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11140051299999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:102.57, Y:12.74, Z:0.54 [[ 9.51878658e-01 -3.06419228e-01 -5.85466049e-03 1.02572253e+02] [ 3.06412073e-01 9.51896640e-01 -2.10439707e-03 1.27393964e+01] [ 6.21785937e-03 2.09192001e-04 9.99980647e-01 5.39373109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:102.60, Y:12.75, Z:0.54 [[ 9.51217888e-01 -3.08476280e-01 -5.18785269e-03 1.02598877e+02] [ 3.08470687e-01 9.51232019e-01 -1.86572031e-03 1.27482083e+01] [ 5.51038205e-03 1.74406049e-04 9.99984803e-01 5.39577110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:102.63, Y:12.76, Z:0.54 [[ 9.51027743e-01 -3.09079134e-01 -4.03989199e-03 1.02625405e+02] [ 3.09075746e-01 9.51036314e-01 -1.45330980e-03 1.27555026e+01] [ 4.29127172e-03 1.33505308e-04 9.99990784e-01 5.40219456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:102.65, Y:12.76, Z:0.54 [[ 9.51173659e-01 -3.08633975e-01 -3.70671031e-03 1.02652816e+02] [ 3.08631116e-01 9.51180873e-01 -1.33413741e-03 1.27627115e+01] [ 3.93751208e-03 1.24990217e-04 9.99992240e-01 5.40978940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.68, Y:12.77, Z:0.54 [[ 9.51351615e-01 -3.08085486e-01 -3.66575796e-03 1.02680162e+02] [ 3.08082683e-01 9.51358669e-01 -1.32018097e-03 1.27697472e+01] [ 3.89417921e-03 1.26599753e-04 9.99992410e-01 5.41214440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:102.71, Y:12.78, Z:0.54 [[ 9.51516501e-01 -3.07574555e-01 -3.77387686e-03 1.02705725e+02] [ 3.07571579e-01 9.51523975e-01 -1.35957364e-03 1.27776277e+01] [ 4.00910457e-03 1.32919489e-04 9.99991955e-01 5.41233032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:102.73, Y:12.79, Z:0.54 [[ 9.51722018e-01 -3.06946679e-01 -2.98939289e-03 1.02732170e+02] [ 3.06944807e-01 9.51726707e-01 -1.07748193e-03 1.27867285e+01] [ 3.17581455e-03 1.07884660e-04 9.99994951e-01 5.40651816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:102.76, Y:12.79, Z:0.54 [[ 9.51703751e-01 -3.07010073e-01 -2.18745031e-03 1.02759395e+02] [ 3.07015899e-01 9.51698999e-01 3.20190694e-03 1.27912897e+01] [ 1.09877659e-03 -3.71884887e-03 9.99992481e-01 5.42190246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.79, Y:12.80, Z:0.54 [[ 9.51409356e-01 -3.07928882e-01 2.00863983e-04 1.02785502e+02] [ 3.07927300e-01 9.51401928e-01 -3.89231630e-03 1.28043943e+01] [ 1.00745423e-03 3.76503765e-03 9.99992405e-01 5.40988367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:102.81, Y:12.81, Z:0.54 [[ 9.51014693e-01 -3.09145167e-01 -5.64511238e-04 1.02814143e+02] [ 3.09145101e-01 9.51014861e-01 -2.03676175e-04 1.28082350e+01] [ 5.99824082e-04 1.91831515e-05 9.99999820e-01 5.42072947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41140051299999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.84, Y:12.82, Z:0.54 [[ 9.50724099e-01 -3.10035977e-01 -1.17525535e-03 1.02840153e+02] [ 3.10035689e-01 9.50724824e-01 -4.24423991e-04 1.28158237e+01] [ 1.24893114e-03 3.91390143e-05 9.99999219e-01 5.41558222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44140051299999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:102.87, Y:12.82, Z:0.54 [[ 9.50448025e-01 -3.10875766e-01 -2.19290259e-03 1.02867336e+02] [ 3.10874765e-01 9.50450552e-01 -7.92358896e-04 1.28241401e+01] [ 2.33057066e-03 7.13778708e-05 9.99997282e-01 5.40291440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:102.89, Y:12.83, Z:0.54 [[ 9.50371873e-01 -3.11101468e-01 -3.02988930e-03 1.02894823e+02] [ 3.11099555e-01 9.50376697e-01 -1.09547849e-03 1.28314851e+01] [ 3.22034115e-03 9.85147329e-05 9.99994810e-01 5.39215551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:102.92, Y:12.84, Z:0.54 [[ 9.50318304e-01 -3.11265067e-01 -3.02969735e-03 1.02921617e+02] [ 3.11263153e-01 9.50323128e-01 -1.09600921e-03 1.28413258e+01] [ 3.22034084e-03 9.85244644e-05 9.99994810e-01 5.39239640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:102.95, Y:12.85, Z:0.54 [[ 9.50355272e-01 -3.11143389e-01 -3.82730149e-03 1.02948971e+02] [ 3.11140330e-01 9.50362971e-01 -1.38538938e-03 1.28470625e+01] [ 4.06838036e-03 1.25784252e-04 9.99991716e-01 5.39583303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:102.98, Y:12.85, Z:0.54 [[ 9.51063799e-01 -3.08976019e-01 -3.38685482e-03 1.02978019e+02] [ 3.08973607e-01 9.51069822e-01 -1.22666791e-03 1.28494618e+01] [ 3.60014637e-03 1.20190688e-04 9.99993512e-01 5.41689974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59140051299998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:103.00, Y:12.86, Z:0.54 [[ 9.51833529e-01 -3.06603272e-01 -2.71417780e-03 1.03003779e+02] [ 3.06601713e-01 9.51837393e-01 -9.83351600e-04 1.28574545e+01] [ 2.88495474e-03 1.03815461e-04 9.99995833e-01 5.42345929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.03, Y:12.87, Z:0.54 [[ 9.52829244e-01 -3.03491425e-01 -3.06360718e-03 1.03030372e+02] [ 3.03489421e-01 9.52834161e-01 -1.11050430e-03 1.28661068e+01] [ 3.25613811e-03 1.28348605e-04 9.99994691e-01 5.42483869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:103.06, Y:12.87, Z:0.54 [[ 9.54003950e-01 -2.99761982e-01 -4.38380451e-03 1.03057212e+02] [ 2.99757834e-01 9.54014000e-01 -1.59003659e-03 1.28740202e+01] [ 4.65884340e-03 2.02821447e-04 9.99989127e-01 5.42006247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:12.88, Z:0.54 [[ 9.55338634e-01 -2.95460442e-01 -5.58763818e-03 1.03084579e+02] [ 2.95453622e-01 9.55354931e-01 -2.02790368e-03 1.28808944e+01] [ 5.93734301e-03 2.86446792e-04 9.99982333e-01 5.41871696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:103.11, Y:12.89, Z:0.54 [[ 9.56742653e-01 -2.90863641e-01 -6.46824176e-03 1.03110635e+02] [ 2.90854392e-01 9.56764448e-01 -2.34821606e-03 1.28879115e+01] [ 6.87159443e-03 3.65321943e-04 9.99976324e-01 5.41211237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:12.90, Z:0.54 [[ 9.59118624e-01 -2.82928668e-01 -6.54475414e-03 1.03136633e+02] [ 2.82919005e-01 9.59140858e-01 -2.37728232e-03 1.28975642e+01] [ 6.94994242e-03 4.28460420e-04 9.99975757e-01 5.41121796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:12.91, Z:0.54 [[ 9.60072247e-01 -2.79678812e-01 -6.40647569e-03 1.03162125e+02] [ 2.79669471e-01 9.60093519e-01 -2.32839475e-03 1.29082163e+01] [ 6.80201847e-03 4.43731508e-04 9.99976768e-01 5.40807151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.19, Y:12.92, Z:0.54 [[ 9.60942703e-01 -2.76675740e-01 -6.29740114e-03 1.03187419e+02] [ 2.76666646e-01 9.60963228e-01 -2.28941534e-03 1.29180416e+01] [ 6.68499661e-03 4.57716107e-04 9.99977550e-01 5.40602726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.21, Y:12.93, Z:0.54 [[ 9.61658099e-01 -2.74183067e-01 -6.11121195e-03 1.03212504e+02] [ 2.74174448e-01 9.61677406e-01 -2.22251256e-03 1.29269650e+01] [ 6.48638976e-03 4.61759039e-04 9.99978857e-01 5.40973643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.24, Y:12.94, Z:0.54 [[ 9.62088958e-01 -2.72678896e-01 -5.57284063e-03 1.03238631e+02] [ 2.72671697e-01 9.62105001e-01 -2.02777592e-03 1.29373979e+01] [ 5.91458954e-03 4.31344913e-04 9.99982416e-01 5.41314054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.26, Y:12.95, Z:0.54 [[ 9.62331577e-01 -2.71849157e-01 -3.99645397e-03 1.03262588e+02] [ 2.71845444e-01 9.62339824e-01 -1.45493687e-03 1.29525572e+01] [ 4.24147018e-03 3.13713888e-04 9.99990956e-01 5.41142096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:12.96, Z:0.54 [[ 9.62099367e-01 -2.72668707e-01 -4.07237584e-03 1.03288018e+02] [ 2.72664855e-01 9.62107934e-01 -1.48339474e-03 1.29644234e+01] [ 4.32254043e-03 3.16779370e-04 9.99990608e-01 5.40910644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:103.31, Y:12.98, Z:0.54 [[ 9.61756782e-01 -2.73852975e-01 -5.33296704e-03 1.03313588e+02] [ 2.73846383e-01 9.61771480e-01 -1.94368847e-03 1.29751422e+01] [ 5.66138048e-03 4.08941837e-04 9.99983891e-01 5.40627335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.34, Y:12.99, Z:0.54 [[ 9.61301320e-01 -2.75437260e-01 -5.83855376e-03 1.03339208e+02] [ 2.75429380e-01 9.61318950e-01 -2.12917264e-03 1.29854608e+01] [ 6.19916585e-03 4.38667226e-04 9.99980689e-01 5.40728523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.37, Y:13.00, Z:0.54 [[ 9.60702844e-01 -2.77524601e-01 -5.49003964e-03 1.03365208e+02] [ 2.77517661e-01 9.60718447e-01 -2.00321733e-03 1.29972086e+01] [ 5.83032445e-03 4.00913624e-04 9.99982923e-01 5.41670001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04140051299999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:103.39, Y:13.01, Z:0.54 [[ 9.60133708e-01 -2.79508988e-01 -4.24126813e-03 1.03389723e+02] [ 2.79504863e-01 9.60143029e-01 -1.54800531e-03 1.30099833e+01] [ 4.50490543e-03 3.00837016e-04 9.99989808e-01 5.41947882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:103.41, Y:13.03, Z:0.54 [[ 9.59109318e-01 -2.83014614e-01 -3.47049206e-03 1.03413490e+02] [ 2.83011873e-01 9.59115569e-01 -1.26730109e-03 1.30257755e+01] [ 3.68726769e-03 2.33289829e-04 9.99993175e-01 5.41824179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.44, Y:13.04, Z:0.54 [[ 9.58610806e-01 -2.84697048e-01 -3.59349671e-03 1.03438566e+02] [ 2.84694120e-01 9.58617513e-01 -1.31264448e-03 1.30352484e+01] [ 3.81849489e-03 2.35267805e-04 9.99992682e-01 5.41377515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.47, Y:13.04, Z:0.54 [[ 9.58008172e-01 -2.86713128e-01 -3.99065000e-03 1.03465728e+02] [ 2.86709530e-01 9.58016450e-01 -1.45845902e-03 1.30440335e+01] [ 4.24126769e-03 2.53058271e-04 9.99990974e-01 5.41461317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.49, Y:13.05, Z:0.54 [[ 9.57392213e-01 -2.88752917e-01 -4.68015581e-03 1.03492142e+02] [ 2.88747988e-01 9.57403609e-01 -1.71144474e-03 1.30530023e+01] [ 4.97498273e-03 2.87138289e-04 9.99987583e-01 5.41457125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.52, Y:13.06, Z:0.54 [[ 9.56848741e-01 -2.90534372e-01 -5.50143013e-03 1.03517237e+02] [ 2.90527585e-01 9.56864500e-01 -2.01262231e-03 1.30621367e+01] [ 5.84885915e-03 3.27457915e-04 9.99982842e-01 5.41449266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.54, Y:13.07, Z:0.54 [[ 9.56590712e-01 -2.91383649e-01 -5.45696851e-03 1.03543478e+02] [ 2.91376982e-01 9.56606223e-01 -1.99688210e-03 1.30692745e+01] [ 5.80202883e-03 3.20163855e-04 9.99983117e-01 5.41442909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.57, Y:13.08, Z:0.54 [[ 9.56907695e-01 -2.90354680e-01 -4.67147131e-03 1.03570700e+02] [ 2.90349778e-01 9.56919057e-01 -1.71029721e-03 1.30763262e+01] [ 4.96681272e-03 2.80235906e-04 9.99987626e-01 5.42159809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:13.08, Z:0.54 [[ 9.57563592e-01 -2.88202617e-01 -3.34952978e-03 1.03596355e+02] [ 2.88200082e-01 9.57569427e-01 -1.22665864e-03 1.30842822e+01] [ 3.56093354e-03 2.09268893e-04 9.99993638e-01 5.42977230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.62, Y:13.09, Z:0.54 [[ 9.58597965e-01 -2.84747663e-01 -2.95136760e-03 1.03621646e+02] [ 2.84745678e-01 9.58602488e-01 -1.08109670e-03 1.30949973e+01] [ 3.13702809e-03 1.95947924e-04 9.99995060e-01 5.42853875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.65, Y:13.11, Z:0.54 [[ 9.59865706e-01 -2.80439365e-01 -3.40436054e-03 1.03647556e+02] [ 2.80436694e-01 9.59871712e-01 -1.24764688e-03 1.31072369e+01] [ 3.61763868e-03 2.42865840e-04 9.99993427e-01 5.42473664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:13.12, Z:0.54 [[ 9.61146566e-01 -2.76006848e-01 -4.18306375e-03 1.03671819e+02] [ 2.76002772e-01 9.61155616e-01 -1.53353232e-03 1.31181055e+01] [ 4.44384064e-03 3.19412131e-04 9.99990075e-01 5.42193952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40140051299998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:103.70, Y:13.13, Z:0.54 [[ 9.62417330e-01 -2.71532823e-01 -4.77590934e-03 1.03698010e+02] [ 2.71527451e-01 9.62429101e-01 -1.75175805e-03 1.31277523e+01] [ 5.07213394e-03 3.89131819e-04 9.99987061e-01 5.41745900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.72, Y:13.14, Z:0.54 [[ 9.63313681e-01 -2.68334695e-01 -4.82119942e-03 1.03723968e+02] [ 2.68329176e-01 9.63325658e-01 -1.76933814e-03 1.31371251e+01] [ 5.11915991e-03 4.10759171e-04 9.99986813e-01 5.41775169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:13.15, Z:0.54 [[ 9.63727366e-01 -2.66841409e-01 -5.02259380e-03 1.03747743e+02] [ 2.66835396e-01 9.63740355e-01 -1.84378070e-03 1.31495830e+01] [ 5.33247337e-03 4.36696110e-04 9.99985687e-01 5.39481361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:13.16, Z:0.54 [[ 9.63275703e-01 -2.68454090e-01 -5.68515599e-03 1.03773430e+02] [ 2.68446407e-01 9.63292358e-01 -2.08808363e-03 1.31601941e+01] [ 6.03702190e-03 4.85240525e-04 9.99981659e-01 5.38422377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.80, Y:13.17, Z:0.54 [[ 9.62613016e-01 -2.70809669e-01 -6.18900770e-03 1.03799341e+02] [ 2.70800608e-01 9.62632775e-01 -2.27379790e-03 1.31682226e+01] [ 6.57350811e-03 5.12800402e-04 9.99978263e-01 5.37985671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:13.18, Z:0.54 [[ 9.61634297e-01 -2.74262069e-01 -6.30847271e-03 1.03826672e+02] [ 2.74252721e-01 9.61654859e-01 -2.31889918e-03 1.31756055e+01] [ 6.70255952e-03 4.99817175e-04 9.99977413e-01 5.39140013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.85, Y:13.18, Z:0.54 [[ 9.60617823e-01 -2.77797869e-01 -6.46086417e-03 1.03853791e+02] [ 2.77788134e-01 9.60639425e-01 -2.37627183e-03 1.31842425e+01] [ 6.86668409e-03 4.87937669e-04 9.99976305e-01 5.40258288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61140051299999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:103.88, Y:13.20, Z:0.54 [[ 9.59604984e-01 -2.81279190e-01 -6.34756911e-03 1.03879991e+02] [ 2.81269860e-01 9.59625869e-01 -2.33592833e-03 1.31952723e+01] [ 6.74833956e-03 4.56188592e-04 9.99977126e-01 5.40457348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:13.21, Z:0.54 [[ 9.58435846e-01 -2.85251783e-01 -5.67008176e-03 1.03905837e+02] [ 2.85244401e-01 9.58452541e-01 -2.08778538e-03 1.32068555e+01] [ 6.03004877e-03 3.83649270e-04 9.99981745e-01 5.39992586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:13.21, Z:0.54 [[ 9.58264278e-01 -2.85829887e-01 -5.55416745e-03 1.03932369e+02] [ 2.85822806e-01 9.58280301e-01 -2.04628472e-03 1.32147617e+01] [ 5.90733859e-03 3.73373827e-04 9.99982482e-01 5.40311921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:13.22, Z:0.54 [[ 9.58408828e-01 -2.85355027e-01 -5.00265603e-03 1.03958784e+02] [ 2.85349273e-01 9.58421824e-01 -1.84363914e-03 1.32222786e+01] [ 5.32074641e-03 3.39455768e-04 9.99985787e-01 5.40917483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.98, Y:13.23, Z:0.54 [[ 9.58807657e-01 -2.84025489e-01 -4.17117736e-03 1.03984456e+02] [ 2.84021474e-01 9.58816686e-01 -1.53757882e-03 1.32312636e+01] [ 4.43610604e-03 2.89538402e-04 9.99990119e-01 5.41308976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:13.24, Z:0.54 [[ 9.59344699e-01 -2.82217157e-01 -3.35039982e-03 1.04010899e+02] [ 2.82214554e-01 9.59350519e-01 -1.23561982e-03 1.32419106e+01] [ 3.56292091e-03 2.39853736e-04 9.99993624e-01 5.41488278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:13.25, Z:0.54 [[ 9.60542729e-01 -2.78110771e-01 -3.47347634e-03 1.04037151e+02] [ 2.78107944e-01 9.60548973e-01 -1.28174905e-03 1.32518420e+01] [ 3.69291235e-03 2.65173368e-04 9.99993146e-01 5.41677892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.06, Y:13.26, Z:0.54 [[ 9.61127963e-01 -2.76071572e-01 -4.18631232e-03 1.04063733e+02] [ 2.76067442e-01 9.61137024e-01 -1.54570988e-03 1.32607956e+01] [ 4.45034632e-03 3.29920458e-04 9.99990043e-01 5.40978555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:13.27, Z:0.54 [[ 9.61618568e-01 -2.74343124e-01 -5.05772487e-03 1.04089418e+02] [ 2.74337069e-01 9.61631781e-01 -1.86805522e-03 1.32698092e+01] [ 5.37615708e-03 4.08835172e-04 9.99985465e-01 5.40884816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.11, Y:13.28, Z:0.54 [[ 9.61995943e-01 -2.73008989e-01 -5.46780262e-03 1.04114306e+02] [ 2.73001887e-01 9.62011377e-01 -2.02023577e-03 1.32795457e+01] [ 5.81163085e-03 4.50738181e-04 9.99983011e-01 5.40306249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:13.29, Z:0.54 [[ 9.62180658e-01 -2.72365745e-01 -5.02814565e-03 1.04140180e+02] [ 2.72359725e-01 9.62193705e-01 -1.85874730e-03 1.32904286e+01] [ 5.34430918e-03 4.18986333e-04 9.99985631e-01 5.40290125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94140051299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:104.17, Y:13.30, Z:0.54 [[ 9.62239328e-01 -2.72172897e-01 -4.17012596e-03 1.04166366e+02] [ 2.72168751e-01 9.62248301e-01 -1.54240415e-03 1.33009594e+01] [ 4.43249723e-03 3.49183958e-04 9.99990115e-01 5.40361194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:13.31, Z:0.54 [[ 9.62326103e-01 -2.71881815e-01 -2.95822044e-03 1.04191413e+02] [ 2.71879726e-01 9.62330617e-01 -1.09447139e-03 1.33111662e+01] [ 3.14435297e-03 2.48958227e-04 9.99995026e-01 5.42818271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:13.32, Z:0.54 [[ 9.62332369e-01 -2.71854334e-01 -3.41058273e-03 1.04217633e+02] [ 2.71851555e-01 9.62338370e-01 -1.26246610e-03 1.33222021e+01] [ 3.62534151e-03 2.87739778e-04 9.99993387e-01 5.43268550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.24, Y:13.33, Z:0.54 [[ 9.62231282e-01 -2.72205039e-01 -3.92132943e-03 1.04242026e+02] [ 2.72201366e-01 9.62239216e-01 -1.45200091e-03 1.33332552e+01] [ 4.16849892e-03 3.29769467e-04 9.99991257e-01 5.42311597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:13.34, Z:0.54 [[ 9.61913931e-01 -2.73324825e-01 -3.88965344e-03 1.04267901e+02] [ 2.73321217e-01 9.61921741e-01 -1.44099055e-03 1.33442663e+01] [ 4.13540070e-03 3.22984069e-04 9.99991397e-01 5.41660333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:13.35, Z:0.54 [[ 9.61428631e-01 -2.75031474e-01 -3.56037404e-03 1.04293893e+02] [ 2.75028460e-01 9.61435179e-01 -1.31974355e-03 1.33544243e+01] [ 3.78603987e-03 2.89635043e-04 9.99992791e-01 5.41479993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:13.36, Z:0.54 [[ 9.60881270e-01 -2.76940684e-01 -3.32289280e-03 1.04319654e+02] [ 2.76938069e-01 9.60886980e-01 -1.23210695e-03 1.33632695e+01] [ 3.53414496e-03 2.63672979e-04 9.99993720e-01 5.41806364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.35, Y:13.37, Z:0.54 [[ 9.59292896e-01 -2.82404708e-01 -2.17286259e-03 1.04345294e+02] [ 2.82403603e-01 9.59295343e-01 -8.05929527e-04 1.33704877e+01] [ 2.31201525e-03 1.59498247e-04 9.99997315e-01 5.42035514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:104.37, Y:13.38, Z:0.54 [[ 9.58420716e-01 -2.85352955e-01 -1.85010105e-03 1.04371992e+02] [ 2.85352159e-01 9.58422492e-01 -6.86539196e-04 1.33799028e+01] [ 1.96908445e-03 1.30063058e-04 9.99998053e-01 5.42009460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.40, Y:13.39, Z:0.54 [[ 9.57689751e-01 -2.87795829e-01 -1.97518245e-03 1.04397513e+02] [ 2.87794926e-01 9.57691779e-01 -7.33309880e-04 1.33892299e+01] [ 2.10265952e-03 1.33835869e-04 9.99997780e-01 5.41562546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24140051299999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:104.42, Y:13.40, Z:0.54 [[ 9.57144935e-01 -2.89599798e-01 -2.35186337e-03 1.04423753e+02] [ 2.89598522e-01 9.57147811e-01 -8.73625415e-04 1.33983877e+01] [ 2.50408262e-03 1.55089985e-04 9.99996853e-01 5.41638670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.45, Y:13.41, Z:0.54 [[ 9.56878760e-01 -2.90477716e-01 -2.39495882e-03 1.04450061e+02] [ 2.90476394e-01 9.56881744e-01 -8.90144481e-04 1.34068239e+01] [ 2.55025950e-03 1.56081345e-04 9.99996736e-01 5.42637390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:13.41, Z:0.54 [[ 9.56830674e-01 -2.90639899e-01 -1.87380171e-03 1.04475379e+02] [ 2.90639089e-01 9.56832501e-01 -6.96675385e-04 1.34149366e+01] [ 1.99539604e-03 1.22000355e-04 9.99998002e-01 5.44480391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.50, Y:13.42, Z:0.55 [[ 9.56880255e-01 -2.90479740e-01 -1.30309571e-03 1.04502075e+02] [ 2.90479348e-01 9.56881139e-01 -4.84645817e-04 1.34246269e+01] [ 1.38768750e-03 8.52256208e-05 9.99999034e-01 5.45268902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.53, Y:13.43, Z:0.55 [[ 9.56938623e-01 -2.90289994e-01 -4.36179633e-04 1.04527032e+02] [ 2.90289950e-01 9.56938722e-01 -1.62246458e-04 1.34342045e+01] [ 4.64495704e-04 2.86413378e-05 9.99999892e-01 5.45116384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.55, Y:13.44, Z:0.55 [[ 9.56889049e-01 -2.90453366e-01 -4.36178714e-04 1.04553739e+02] [ 2.90453322e-01 9.56889148e-01 -1.62248943e-04 1.34442808e+01] [ 4.64500430e-04 2.85646799e-05 9.99999892e-01 5.45140504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.58, Y:13.45, Z:0.55 [[ 9.56839447e-01 -2.90616729e-01 -4.36150996e-04 1.04580444e+02] [ 2.90616685e-01 9.56839546e-01 -1.62323404e-04 1.34543618e+01] [ 4.64500417e-04 2.85646791e-05 9.99999892e-01 5.45164597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:13.47, Z:0.54 [[ 9.56702715e-01 -2.91065788e-01 -7.89126592e-04 1.04606696e+02] [ 2.91065644e-01 9.56703039e-01 -2.93969284e-04 1.34655806e+01] [ 8.40524210e-04 5.15535719e-05 9.99999645e-01 5.44556469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:13.48, Z:0.54 [[ 9.56597743e-01 -2.91406881e-01 -1.66996148e-03 1.04631915e+02] [ 2.91406236e-01 9.56599194e-01 -6.22540194e-04 1.34764708e+01] [ 1.77889630e-03 1.08883356e-04 9.99998412e-01 5.44099455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.66, Y:13.49, Z:0.54 [[ 9.56320836e-01 -2.92304932e-01 -2.87837731e-03 1.04657029e+02] [ 2.92303020e-01 9.56325150e-01 -1.07334032e-03 1.34876593e+01] [ 3.06640728e-03 1.85099337e-04 9.99995281e-01 5.43221078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:13.50, Z:0.54 [[ 9.55671810e-01 -2.94406920e-01 -3.99470359e-03 1.04682246e+02] [ 2.94403252e-01 9.55680126e-01 -1.49040158e-03 1.34988873e+01] [ 4.25644337e-03 2.48281044e-04 9.99990910e-01 5.43338842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.71, Y:13.51, Z:0.54 [[ 9.54900000e-01 -2.96893923e-01 -4.47088876e-03 1.04707077e+02] [ 2.96889353e-01 9.54910429e-01 -1.66859625e-03 1.35100523e+01] [ 4.76469439e-03 2.65983288e-04 9.99988613e-01 5.43240156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.73, Y:13.52, Z:0.54 [[ 9.53909901e-01 -3.00066961e-01 -3.96480369e-03 1.04731700e+02] [ 3.00063393e-01 9.53918115e-01 -1.48007653e-03 1.35212475e+01] [ 4.22622013e-03 2.22167210e-04 9.99991045e-01 5.43155375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.76, Y:13.54, Z:0.54 [[ 9.51695256e-01 -3.07031218e-01 -2.82332886e-03 1.04756653e+02] [ 3.07029438e-01 9.51699434e-01 -1.05443879e-03 1.35360226e+01] [ 3.01070610e-03 1.36659322e-04 9.99995458e-01 5.43566490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.78, Y:13.55, Z:0.54 [[ 9.50798176e-01 -3.09797802e-01 -2.85499457e-03 1.04781948e+02] [ 3.09795992e-01 9.50802453e-01 -1.06687549e-03 1.35480176e+01] [ 3.04505153e-03 1.29917395e-04 9.99995355e-01 5.43429226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:104.81, Y:13.56, Z:0.54 [[ 9.50059855e-01 -3.12052667e-01 -3.06687459e-03 1.04806894e+02] [ 3.12050589e-01 9.50064796e-01 -1.14644685e-03 1.35597255e+01] [ 3.27148138e-03 1.32173110e-04 9.99994640e-01 5.43059375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.83, Y:13.57, Z:0.54 [[ 9.49393921e-01 -3.14069695e-01 -3.37766149e-03 1.04832261e+02] [ 3.14067185e-01 9.49399920e-01 -1.26325664e-03 1.35715493e+01] [ 3.60350218e-03 1.38515543e-04 9.99993498e-01 5.42479614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:104.86, Y:13.58, Z:0.54 [[ 9.48787940e-01 -3.15893307e-01 -3.58643422e-03 1.04857478e+02] [ 3.15890487e-01 9.48794708e-01 -1.34212486e-03 1.35835220e+01] [ 3.82675807e-03 1.40471430e-04 9.99992668e-01 5.42307872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.88, Y:13.60, Z:0.54 [[ 9.47753364e-01 -3.18970714e-01 -4.60909770e-03 1.04880704e+02] [ 3.18966089e-01 9.47764557e-01 -1.72561663e-03 1.35989725e+01] [ 4.91876061e-03 1.65313099e-04 9.99987889e-01 5.41787463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.91, Y:13.61, Z:0.54 [[ 9.47351990e-01 -3.20146842e-01 -5.49609010e-03 1.04905795e+02] [ 3.20140278e-01 9.47367913e-01 -2.05883217e-03 1.36122078e+01] [ 5.86594803e-03 1.90918940e-04 9.99982777e-01 5.41686357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:13.62, Z:0.54 [[ 9.46960378e-01 -3.21290557e-01 -6.19845870e-03 1.04930522e+02] [ 3.21282225e-01 9.46980641e-01 -2.32329316e-03 1.36248635e+01] [ 6.61627255e-03 2.08611968e-04 9.99978090e-01 5.41435203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.95, Y:13.64, Z:0.54 [[ 9.46637749e-01 -3.22233842e-01 -6.50571057e-03 1.04954780e+02] [ 3.22224680e-01 9.46660079e-01 -2.43917386e-03 1.36366418e+01] [ 6.94468085e-03 2.12713547e-04 9.99975863e-01 5.41439393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:104.98, Y:13.65, Z:0.54 [[ 9.45294888e-01 -3.26179970e-01 -4.91961748e-03 1.04978829e+02] [ 3.26174779e-01 9.45307679e-01 -1.84539350e-03 1.36516144e+01] [ 5.25248258e-03 1.39785894e-04 9.99986196e-01 5.41722068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93140051299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:105.00, Y:13.66, Z:0.54 [[ 9.44262072e-01 -3.29167200e-01 -4.25380749e-03 1.05003584e+02] [ 3.29163345e-01 9.44271647e-01 -1.59653080e-03 1.36640961e+01] [ 4.54227538e-03 1.07345979e-04 9.99989678e-01 5.42025166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.03, Y:13.68, Z:0.54 [[ 9.43229947e-01 -3.32116691e-01 -3.97111574e-03 1.05027810e+02] [ 3.32113356e-01 9.43238303e-01 -1.49106140e-03 1.36764548e+01] [ 4.24091485e-03 8.75531861e-05 9.99991003e-01 5.42195222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:105.05, Y:13.69, Z:0.54 [[ 9.42211640e-01 -3.34988746e-01 -4.44595166e-03 1.05052724e+02] [ 3.34984593e-01 9.42222125e-01 -1.67022822e-03 1.36893971e+01] [ 4.74858168e-03 8.43831600e-05 9.99988722e-01 5.42159174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:105.08, Y:13.70, Z:0.54 [[ 9.41330380e-01 -3.37455799e-01 -4.54963828e-03 1.05076738e+02] [ 3.37451476e-01 9.41341372e-01 -1.70970365e-03 1.37017317e+01] [ 4.85971215e-03 7.41138301e-05 9.99988189e-01 5.42209985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:105.10, Y:13.71, Z:0.54 [[ 9.40404462e-01 -3.40039279e-01 -3.56872866e-03 1.05102377e+02] [ 3.40036636e-01 9.40411233e-01 -1.34172723e-03 1.37139981e+01] [ 3.81231248e-03 4.82677890e-05 9.99992732e-01 5.42315389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08140051299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:105.13, Y:13.73, Z:0.54 [[ 9.38507061e-01 -3.45259534e-01 -5.91745269e-04 1.05127287e+02] [ 3.45259462e-01 9.38507248e-01 -2.22460001e-04 1.37267993e+01] [ 6.32163661e-04 4.47462852e-06 9.99999800e-01 5.43517861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11140051299999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:105.15, Y:13.74, Z:0.54 [[ 9.37534126e-01 -3.47893314e-01 -7.18199336e-05 1.05151871e+02] [ 3.47893313e-01 9.37534128e-01 -2.69514778e-05 1.37377756e+01] [ 7.67098778e-05 2.82255556e-07 9.99999997e-01 5.43880168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:105.18, Y:13.75, Z:0.54 [[ 9.36585562e-01 -3.50438572e-01 -5.41346919e-04 1.05177414e+02] [ 3.50438513e-01 9.36585718e-01 -2.03675341e-04 1.37496880e+01] [ 5.78393489e-04 1.05057465e-06 9.99999833e-01 5.44018966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:105.20, Y:13.76, Z:0.54 [[ 9.35751719e-01 -3.52656645e-01 -1.41814285e-03 1.05203139e+02] [ 3.52656240e-01 9.35752794e-01 -5.34125066e-04 1.37604131e+01] [ 1.51539389e-03 -3.08478221e-07 9.99998852e-01 5.43853575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201400513 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:105.23, Y:13.77, Z:0.54 [[ 9.35009667e-01 -3.54618134e-01 -1.70327603e-03 1.05229108e+02] [ 3.54617553e-01 9.35011219e-01 -6.41926355e-04 1.37707630e+01] [ 1.82022092e-03 -3.80423013e-06 9.99998343e-01 5.44201056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23140051299998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:105.25, Y:13.78, Z:0.54 [[ 9.34531053e-01 -3.55880383e-01 -9.29721757e-04 1.05254123e+02] [ 3.55880211e-01 9.34531515e-01 -3.50501812e-04 1.37810380e+01] [ 9.93591002e-04 -3.31474730e-06 9.99999506e-01 5.44424387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26140051299998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:105.28, Y:13.80, Z:0.55 [[ 9.33892512e-01 -3.57553641e-01 -4.11593910e-04 1.05278279e+02] [ 3.57553607e-01 9.33892603e-01 -1.55119889e-04 1.37975353e+01] [ 4.39848189e-04 -2.30158461e-06 9.99999903e-01 5.45096454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:105.30, Y:13.81, Z:0.54 [[ 9.33753285e-01 -3.57916265e-01 -8.65908063e-04 1.05301747e+02] [ 3.57916116e-01 9.33753687e-01 -3.26715029e-04 1.38110325e+01] [ 9.25481469e-04 -4.85121830e-06 9.99999572e-01 5.44571506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.33, Y:13.82, Z:0.54 [[ 9.33531357e-01 -3.58492594e-01 -1.50525590e-03 1.05326618e+02] [ 3.58492144e-01 9.33532570e-01 -5.68235729e-04 1.38244225e+01] [ 1.60891371e-03 -9.15654350e-06 9.99998706e-01 5.44382730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.35, Y:13.84, Z:0.54 [[ 9.33226411e-01 -3.59280986e-01 -2.37481285e-03 1.05351171e+02] [ 3.59279866e-01 9.33229432e-01 -8.96920214e-04 1.38365700e+01] [ 2.53849163e-03 -1.61928126e-05 9.99996778e-01 5.43969728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38140051299999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:105.38, Y:13.85, Z:0.54 [[ 9.32587850e-01 -3.60932042e-01 -2.82203995e-03 1.05376394e+02] [ 3.60930468e-01 9.32592119e-01 -1.06636303e-03 1.38496830e+01] [ 3.01669681e-03 -2.40829921e-05 9.99995449e-01 5.43368353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:105.40, Y:13.87, Z:0.54 [[ 9.31232483e-01 -3.64410867e-01 -3.28370736e-03 1.05399539e+02] [ 3.64408754e-01 9.31238271e-01 -1.24157368e-03 1.38678275e+01] [ 3.51035690e-03 -4.04179682e-05 9.99993838e-01 5.42564671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44140051299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:105.42, Y:13.88, Z:0.54 [[ 9.30624678e-01 -3.65961044e-01 -3.19731928e-03 1.05422979e+02] [ 3.65959049e-01 9.30630169e-01 -1.20931862e-03 1.38808244e+01] [ 3.41808529e-03 -4.46661712e-05 9.99994157e-01 5.42898678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47140051299999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:105.45, Y:13.89, Z:0.54 [[ 9.29988548e-01 -3.67574848e-01 -3.16721528e-03 1.05447656e+02] [ 3.67572898e-01 9.29993940e-01 -1.19853239e-03 1.38934437e+01] [ 3.38604138e-03 -4.95611046e-05 9.99994266e-01 5.43346014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501400513 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:105.47, Y:13.91, Z:0.54 [[ 9.29452472e-01 -3.68922512e-01 -3.77931322e-03 1.05472427e+02] [ 3.68919742e-01 9.29460153e-01 -1.43102732e-03 1.39058632e+01] [ 4.04065924e-03 -6.41913806e-05 9.99991834e-01 5.44068692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:105.50, Y:13.92, Z:0.54 [[ 9.29011479e-01 -3.70022534e-01 -4.58210658e-03 1.05497914e+02] [ 3.70018470e-01 9.29022776e-01 -1.73605497e-03 1.39186934e+01] [ 4.89926083e-03 -8.26490763e-05 9.99987995e-01 5.43877217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:105.52, Y:13.93, Z:0.54 [[ 9.28764553e-01 -3.70628692e-01 -5.54782329e-03 1.05522543e+02] [ 3.70622742e-01 9.28781116e-01 -2.10261508e-03 1.39311451e+01] [ 5.93200299e-03 -1.03315122e-04 9.99982400e-01 5.43366538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59140051299998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:105.55, Y:13.95, Z:0.54 [[ 9.29206468e-01 -3.69516919e-01 -5.70838212e-03 1.05546772e+02] [ 3.69510592e-01 9.29223997e-01 -2.16462710e-03 1.39453733e+01] [ 6.10423199e-03 -9.79221488e-05 9.99981364e-01 5.42589641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62140051299998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:105.57, Y:13.96, Z:0.54 [[ 9.29139866e-01 -3.69684363e-01 -5.70798829e-03 1.05573385e+02] [ 3.69678032e-01 9.29157394e-01 -2.16566534e-03 1.39556462e+01] [ 6.10423214e-03 -9.79118741e-05 9.99981364e-01 5.42613732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65140051299998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:105.60, Y:13.97, Z:0.54 [[ 9.29869946e-01 -3.67852970e-01 -5.10654887e-03 1.05597589e+02] [ 3.67847872e-01 9.29883964e-01 -1.93803170e-03 1.39673467e+01] [ 5.46140863e-03 -7.63157067e-05 9.99985083e-01 5.42607472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.62, Y:13.98, Z:0.54 [[ 9.31984939e-01 -3.62452605e-01 -5.67288526e-03 1.05623043e+02] [ 3.62446207e-01 9.32002203e-01 -2.15412506e-03 1.39800667e+01] [ 6.06790980e-03 -4.85036285e-05 9.99981589e-01 5.43193664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71140051299999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:105.65, Y:13.99, Z:0.54 [[ 9.33191742e-01 -3.59316014e-01 -6.72123022e-03 1.05648921e+02] [ 3.59306941e-01 9.33215945e-01 -2.55372723e-03 1.39907800e+01] [ 7.18995431e-03 -3.18675030e-05 9.99974151e-01 5.43872459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74140051299999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:105.67, Y:14.00, Z:0.54 [[ 9.34425785e-01 -3.56080501e-01 -7.42493606e-03 1.05674411e+02] [ 3.56069313e-01 9.34455283e-01 -2.82275440e-03 1.40016440e+01] [ 7.94339853e-03 -6.13738745e-06 9.99968451e-01 5.44257377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:105.70, Y:14.01, Z:0.54 [[ 9.36744370e-01 -3.49957128e-01 -6.32412787e-03 1.05698548e+02] [ 3.49948864e-01 9.36765716e-01 -2.40523490e-03 1.40145955e+01] [ 6.76595527e-03 3.99688876e-05 9.99977110e-01 5.44072981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.72, Y:14.02, Z:0.54 [[ 9.37757085e-01 -3.47255275e-01 -5.04207660e-03 1.05724154e+02] [ 3.47249978e-01 9.37770639e-01 -1.91866781e-03 1.40247620e+01] [ 5.39457891e-03 4.83833481e-05 9.99985448e-01 5.44824719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:14.03, Z:0.55 [[ 9.38655594e-01 -3.44834308e-01 -3.86980742e-03 1.05749259e+02] [ 3.44831166e-01 9.38663570e-01 -1.47301036e-03 1.40341209e+01] [ 4.14039176e-03 4.82192094e-05 9.99991427e-01 5.45446282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.78, Y:14.04, Z:0.55 [[ 9.39647112e-01 -3.42123405e-01 -3.85754116e-03 1.05775709e+02] [ 3.42120257e-01 9.39655028e-01 -1.46908870e-03 1.40446404e+01] [ 4.12736758e-03 6.06819814e-05 9.99991481e-01 5.45834076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.80, Y:14.06, Z:0.55 [[ 9.40368827e-01 -3.40133540e-01 -3.95533768e-03 1.05801051e+02] [ 3.40130208e-01 9.40377142e-01 -1.50721856e-03 1.40571341e+01] [ 4.23216473e-03 7.20115243e-05 9.99991042e-01 5.46002296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:105.83, Y:14.07, Z:0.55 [[ 9.41097143e-01 -3.38106446e-01 -4.49427423e-03 1.05825096e+02] [ 3.38102117e-01 9.41107870e-01 -1.71334841e-03 1.40705022e+01] [ 4.80889099e-03 9.29036574e-05 9.99988433e-01 5.46152169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.85, Y:14.09, Z:0.55 [[ 9.42575196e-01 -3.33951802e-01 -5.30982480e-03 1.05848072e+02] [ 3.33945690e-01 9.42590142e-01 -2.02508322e-03 1.40854570e+01] [ 5.68126870e-03 1.35600107e-04 9.99983852e-01 5.45633957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:14.10, Z:0.55 [[ 9.42940452e-01 -3.32919316e-01 -5.29468808e-03 1.05874241e+02] [ 3.32913216e-01 9.42955306e-01 -2.02045980e-03 1.40967806e+01] [ 5.66530431e-03 1.42501642e-04 9.99983942e-01 5.46190963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:14.11, Z:0.55 [[ 9.43100140e-01 -3.32479613e-01 -4.40816678e-03 1.05899418e+02] [ 3.32475377e-01 9.43110435e-01 -1.68267186e-03 1.41078764e+01] [ 4.71684218e-03 1.21321155e-04 9.99988868e-01 5.46616477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.92, Y:14.12, Z:0.55 [[ 9.43032508e-01 -3.32680103e-01 -3.69295748e-03 1.05924435e+02] [ 3.32677130e-01 9.43039734e-01 -1.40999920e-03 1.41186219e+01] [ 3.95168431e-03 1.01112584e-04 9.99992187e-01 5.47103217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.95, Y:14.13, Z:0.55 [[ 9.42537413e-01 -3.34085597e-01 -3.16845259e-03 1.05950114e+02] [ 3.34083415e-01 9.42542735e-01 -1.21031790e-03 1.41296204e+01] [ 3.39075174e-03 8.22424402e-05 9.99994248e-01 5.47335806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:14.14, Z:0.55 [[ 9.41794638e-01 -3.36166940e-01 -3.82719071e-03 1.05976266e+02] [ 3.36163770e-01 9.41802410e-01 -1.46281852e-03 1.41391904e+01] [ 4.09620866e-03 9.11117799e-05 9.99991606e-01 5.47036096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:14.15, Z:0.55 [[ 9.40418470e-01 -3.39956180e-01 -6.54958037e-03 1.06003979e+02] [ 3.39946975e-01 9.40441268e-01 -2.50491746e-03 1.41459415e+01] [ 7.01105784e-03 1.29160613e-04 9.99975414e-01 5.46791365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:14.16, Z:0.55 [[ 9.40134284e-01 -3.40744164e-01 -6.39869997e-03 1.06029872e+02] [ 3.40735391e-01 9.40156051e-01 -2.44814877e-03 1.41561189e+01] [ 6.84996890e-03 1.21325050e-04 9.99976531e-01 5.47577833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.06, Y:14.17, Z:0.55 [[ 9.40278838e-01 -3.40364433e-01 -5.26884248e-03 1.06055879e+02] [ 3.40358472e-01 9.40293594e-01 -2.01694498e-03 1.41673805e+01] [ 5.64075516e-03 1.03195503e-04 9.99984085e-01 5.47975000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:106.08, Y:14.18, Z:0.55 [[ 9.40641402e-01 -3.39377244e-01 -4.10362435e-03 1.06081530e+02] [ 3.39373615e-01 9.40650349e-01 -1.57176373e-03 1.41783205e+01] [ 4.39349652e-03 8.58042062e-05 9.99990345e-01 5.48628765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:14.19, Z:0.55 [[ 9.41127965e-01 -3.38029879e-01 -3.73545423e-03 1.06107949e+02] [ 3.38026859e-01 9.41135375e-01 -1.43156632e-03 1.41887227e+01] [ 3.99948031e-03 8.46032431e-05 9.99991998e-01 5.49344987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.13, Y:14.20, Z:0.55 [[ 9.42034738e-01 -3.35491735e-01 -3.98102443e-03 1.06134462e+02] [ 3.35488277e-01 9.42043144e-01 -1.52657727e-03 1.41984042e+01] [ 4.26245083e-03 1.02501794e-04 9.99990910e-01 5.49216370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.16, Y:14.21, Z:0.55 [[ 9.41994283e-01 -3.35605309e-01 -3.98081803e-03 1.06161040e+02] [ 3.35601850e-01 9.42002689e-01 -1.52711539e-03 1.42087376e+01] [ 4.26244932e-03 1.02564074e-04 9.99990910e-01 5.49240455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.19, Y:14.22, Z:0.55 [[ 9.43703967e-01 -3.30758514e-01 -4.65054555e-03 1.06185224e+02] [ 3.30753731e-01 9.43715415e-01 -1.78474590e-03 1.42199927e+01] [ 4.97911142e-03 1.46086491e-04 9.99987593e-01 5.48639400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.21, Y:14.23, Z:0.55 [[ 9.44371796e-01 -3.28844207e-01 -4.83707494e-03 1.06209425e+02] [ 3.28839005e-01 9.44384170e-01 -1.85684102e-03 1.42311062e+01] [ 5.17866842e-03 1.62929377e-04 9.99986577e-01 5.48402200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40140051299998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:106.24, Y:14.24, Z:0.55 [[ 9.44885800e-01 -3.27299754e-01 -8.10535641e-03 1.06236406e+02] [ 3.27336552e-01 9.44900603e-01 3.69204238e-03 1.42356600e+01] [ 6.45035160e-03 -6.14173784e-03 9.99960335e-01 5.52527421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.26, Y:14.26, Z:0.55 [[ 9.44724337e-01 -3.27840498e-01 -4.06637374e-03 1.06260993e+02] [ 3.27799880e-01 9.44710521e-01 -8.32289991e-03 1.42563864e+01] [ 6.57012971e-03 6.52988927e-03 9.99957096e-01 5.47122503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.29, Y:14.26, Z:0.55 [[ 9.44340661e-01 -3.28901774e-01 -6.65883230e-03 1.06289048e+02] [ 3.28891895e-01 9.44364110e-01 -2.55926282e-03 1.42604423e+01] [ 7.13010832e-03 2.26779968e-04 9.99974555e-01 5.49211645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.31, Y:14.27, Z:0.55 [[ 9.44162199e-01 -3.29422643e-01 -6.20196335e-03 1.06314473e+02] [ 3.29414080e-01 9.44182545e-01 -2.38435951e-03 1.42704550e+01] [ 6.64124755e-03 2.08208072e-04 9.99977925e-01 5.49459957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.34, Y:14.28, Z:0.55 [[ 9.44592928e-01 -3.28173856e-01 -6.79116328e-03 1.06338604e+02] [ 3.28163551e-01 9.44617311e-01 -2.61154309e-03 1.42822607e+01] [ 7.27209056e-03 2.38232879e-04 9.99973530e-01 5.48634351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.36, Y:14.29, Z:0.55 [[ 9.45061032e-01 -3.26809726e-01 -7.41954951e-03 1.06364289e+02] [ 3.26797372e-01 9.45090117e-01 -2.85472312e-03 1.42932653e+01] [ 7.94509419e-03 2.73198294e-04 9.99968400e-01 5.47787288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:14.30, Z:0.55 [[ 9.45627231e-01 -3.25167314e-01 -7.44033045e-03 1.06388698e+02] [ 3.25154830e-01 9.45656457e-01 -2.86387842e-03 1.43040601e+01] [ 7.96723618e-03 2.88902032e-04 9.99968219e-01 5.47980610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.41, Y:14.32, Z:0.55 [[ 9.46315528e-01 -3.23171196e-01 -6.87748971e-03 1.06413796e+02] [ 3.23160467e-01 9.46340476e-01 -2.64866560e-03 1.43156667e+01] [ 7.36441932e-03 2.83940598e-04 9.99972842e-01 5.47898158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.44, Y:14.33, Z:0.55 [[ 9.47054162e-01 -3.21024165e-01 -5.64790693e-03 1.06438307e+02] [ 3.21016888e-01 9.47070971e-01 -2.17572369e-03 1.43270105e+01] [ 6.04742858e-03 2.47454676e-04 9.99981684e-01 5.48514444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.46, Y:14.34, Z:0.55 [[ 9.47692422e-01 -3.19151325e-01 -4.63731093e-03 1.06463615e+02] [ 3.19146392e-01 9.47703744e-01 -1.78731518e-03 1.43382801e+01] [ 4.96522093e-03 2.13844002e-04 9.99987650e-01 5.48974426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.49, Y:14.35, Z:0.55 [[ 9.49135603e-01 -3.14829891e-01 -4.87300917e-03 1.06488604e+02] [ 3.14824384e-01 9.49148080e-01 -1.87871978e-03 1.43491676e+01] [ 5.21668444e-03 2.49017717e-04 9.99986362e-01 5.49367927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.51, Y:14.36, Z:0.55 [[ 9.49477355e-01 -3.13779310e-01 -5.94110809e-03 1.06513720e+02] [ 3.13771096e-01 9.49495891e-01 -2.29172099e-03 1.43605742e+01] [ 6.36015235e-03 3.11789186e-04 9.99979725e-01 5.49466770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.54, Y:14.37, Z:0.55 [[ 9.49661712e-01 -3.13221596e-01 -5.90462065e-03 1.06537822e+02] [ 3.13213468e-01 9.49680016e-01 -2.27829436e-03 1.43722614e+01] [ 6.32111123e-03 3.14202217e-04 9.99979972e-01 5.49474899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79140051299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.56, Y:14.38, Z:0.55 [[ 9.49555599e-01 -3.13565809e-01 -4.54396046e-03 1.06562639e+02] [ 3.13560995e-01 9.49566441e-01 -1.75419125e-03 1.43848648e+01] [ 4.86484676e-03 2.40893360e-04 9.99988138e-01 5.49894646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.59, Y:14.40, Z:0.55 [[ 9.49556373e-01 -3.13576471e-01 -3.53420486e-03 1.06587205e+02] [ 3.13573557e-01 9.49562932e-01 -1.36478081e-03 1.43970057e+01] [ 3.78391308e-03 1.87703122e-04 9.99992823e-01 5.50278048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:14.41, Z:0.55 [[ 9.49440352e-01 -3.13919187e-01 -4.21441023e-03 1.06612447e+02] [ 3.13915043e-01 9.49449680e-01 -1.62825647e-03 1.44103580e+01] [ 4.51251139e-03 2.22965628e-04 9.99989794e-01 5.49932500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:14.42, Z:0.55 [[ 9.49214638e-01 -3.14567344e-01 -6.24152746e-03 1.06638222e+02] [ 3.14558260e-01 9.49235102e-01 -2.41286238e-03 1.44214292e+01] [ 6.68368467e-03 3.27000274e-04 9.99977610e-01 5.49197906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.66, Y:14.43, Z:0.55 [[ 9.49039408e-01 -3.15057995e-01 -7.91596165e-03 1.06663472e+02] [ 3.15043393e-01 9.49072331e-01 -3.06105407e-03 1.44319850e+01] [ 8.47722974e-03 4.11189524e-04 9.99963983e-01 5.48502141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.69, Y:14.44, Z:0.55 [[ 9.48641067e-01 -3.16284274e-01 -6.66211642e-03 1.06688391e+02] [ 3.16273952e-01 9.48664400e-01 -2.57752272e-03 1.44444697e+01] [ 7.13534258e-03 3.38090008e-04 9.99974486e-01 5.48949619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:14.46, Z:0.55 [[ 9.48704831e-01 -3.16131491e-01 -4.47488053e-03 1.06713043e+02] [ 3.16126830e-01 9.48715357e-01 -1.73175202e-03 1.44557443e+01] [ 4.79284923e-03 2.28291707e-04 9.99988488e-01 5.49716965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:14.47, Z:0.55 [[ 9.49071900e-01 -3.15039683e-01 -3.53938962e-03 1.06738138e+02] [ 3.15036758e-01 9.49078481e-01 -1.37003497e-03 1.44664515e+01] [ 3.79077391e-03 1.85223862e-04 9.99992798e-01 5.49973542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:14.48, Z:0.55 [[ 9.49629888e-01 -3.13346360e-01 -4.13939218e-03 1.06763656e+02] [ 3.13342340e-01 9.49638883e-01 -1.60307000e-03 1.44772797e+01] [ 4.43324391e-03 2.25276355e-04 9.99990148e-01 5.49856580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.79, Y:14.49, Z:0.55 [[ 9.50540358e-01 -3.10549837e-01 -5.64142191e-03 1.06789661e+02] [ 3.10542314e-01 9.50557043e-01 -2.18603622e-03 1.44890021e+01] [ 6.04136652e-03 3.26015435e-04 9.99981698e-01 5.49079302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:14.50, Z:0.55 [[ 9.51298743e-01 -3.08200628e-01 -6.56305955e-03 1.06814832e+02] [ 3.08190381e-01 9.51321299e-01 -2.54461034e-03 1.45013998e+01] [ 7.02782885e-03 3.98012801e-04 9.99975225e-01 5.48964296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:14.52, Z:0.55 [[ 9.53096569e-01 -3.02590894e-01 -6.75876588e-03 1.06837981e+02] [ 3.02579880e-01 9.53120425e-01 -2.62122143e-03 1.45167633e+01] [ 7.23507555e-03 4.53210587e-04 9.99973724e-01 5.49151999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:14.53, Z:0.55 [[ 9.53808245e-01 -3.00352605e-01 -6.17613138e-03 1.06863451e+02] [ 3.00343353e-01 9.53828143e-01 -2.39646556e-03 1.45299071e+01] [ 6.61075260e-03 4.30808598e-04 9.99978056e-01 5.49479617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:14.54, Z:0.55 [[ 9.54286381e-01 -2.98839860e-01 -5.67811200e-03 1.06888098e+02] [ 2.98832006e-01 9.54303187e-01 -2.20441876e-03 1.45428159e+01] [ 6.07740857e-03 4.06845197e-04 9.99981450e-01 5.49781835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:14.56, Z:0.55 [[ 9.54541447e-01 -2.98028229e-01 -5.45901257e-03 1.06913113e+02] [ 2.98020949e-01 9.54556974e-01 -2.12051257e-03 1.45561554e+01] [ 5.84291113e-03 3.97217032e-04 9.99982851e-01 5.49552532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:14.57, Z:0.55 [[ 9.54556868e-01 -2.97969263e-01 -5.95851922e-03 1.06937943e+02] [ 2.97960581e-01 9.54575366e-01 -2.31581834e-03 1.45698222e+01] [ 6.37789835e-03 4.35176457e-04 9.99979566e-01 5.49083621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:14.58, Z:0.55 [[ 9.54393406e-01 -2.98477930e-01 -6.64466878e-03 1.06963038e+02] [ 2.98467136e-01 9.54416414e-01 -2.58393612e-03 1.45834708e+01] [ 7.11302886e-03 4.82876333e-04 9.99974586e-01 5.48703011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:14.60, Z:0.55 [[ 9.53457877e-01 -3.01446222e-01 -6.94633081e-03 1.06986840e+02] [ 3.01434498e-01 9.53483058e-01 -2.70199239e-03 1.45974687e+01] [ 7.43771414e-03 4.82372189e-04 9.99972223e-01 5.47657716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:14.61, Z:0.55 [[ 9.52760654e-01 -3.03648763e-01 -6.67567695e-03 1.07012015e+02] [ 3.03637985e-01 9.52783936e-01 -2.59733059e-03 1.46083427e+01] [ 7.14915398e-03 4.47645298e-04 9.99974344e-01 5.47908424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:14.62, Z:0.55 [[ 9.51999258e-01 -3.06045766e-01 -5.77945078e-03 1.07037209e+02] [ 3.06037724e-01 9.52016728e-01 -2.24967071e-03 1.46194834e+01] [ 6.19063601e-03 3.72954882e-04 9.99980768e-01 5.48038102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:14.63, Z:0.55 [[ 9.51505616e-01 -3.07587196e-01 -5.21334295e-03 1.07061887e+02] [ 3.07580672e-01 9.51519842e-01 -2.02984918e-03 1.46309780e+01] [ 5.58495488e-03 3.27889365e-04 9.99984350e-01 5.48739616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:14.64, Z:0.55 [[ 9.51244059e-01 -3.08393194e-01 -5.32704561e-03 1.07086767e+02] [ 3.08386390e-01 9.51258918e-01 -2.07516266e-03 1.46434086e+01] [ 5.70736568e-03 3.31197790e-04 9.99983658e-01 5.48837152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:14.66, Z:0.55 [[ 9.51178730e-01 -3.08582027e-01 -6.01303469e-03 1.07111597e+02] [ 3.08573353e-01 9.51197662e-01 -2.34371298e-03 1.46557979e+01] [ 6.44281224e-03 3.73827666e-04 9.99979175e-01 5.48904917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:14.67, Z:0.55 [[ 9.51578060e-01 -3.07326985e-01 -7.02276939e-03 1.07135763e+02] [ 3.07315113e-01 9.51603869e-01 -2.73806191e-03 1.46675341e+01] [ 7.52437483e-03 4.47276477e-04 9.99971591e-01 5.48248364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:14.68, Z:0.55 [[ 9.51789901e-01 -3.06679872e-01 -6.59096353e-03 1.07162179e+02] [ 3.06669391e-01 9.51812626e-01 -2.57102136e-03 1.46776553e+01] [ 7.06184280e-03 4.25825392e-04 9.99974974e-01 5.47979817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:14.69, Z:0.55 [[ 9.51956383e-01 -3.06168486e-01 -6.31683951e-03 1.07188424e+02] [ 3.06158838e-01 9.51977251e-01 -2.46549927e-03 1.46880139e+01] [ 6.76834570e-03 4.13091527e-04 9.99977009e-01 5.48441534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:14.70, Z:0.55 [[ 9.52095269e-01 -3.05735694e-01 -6.34704049e-03 1.07213863e+02] [ 3.05725938e-01 9.52116332e-01 -2.47800704e-03 1.46981166e+01] [ 6.80073611e-03 4.18843870e-04 9.99976787e-01 5.48418475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.24, Y:14.71, Z:0.55 [[ 9.52175880e-01 -3.05460459e-01 -7.41626934e-03 1.07238945e+02] [ 3.05447126e-01 9.52204634e-01 -2.89617836e-03 1.47076427e+01] [ 7.94647401e-03 4.92393028e-04 9.99968305e-01 5.48440007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:14.72, Z:0.55 [[ 9.51840292e-01 -3.06494492e-01 -7.82201445e-03 1.07264764e+02] [ 3.06479685e-01 9.51872294e-01 -3.05575835e-03 1.47162972e+01] [ 8.38213195e-03 5.11305389e-04 9.99964739e-01 5.48765831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:14.72, Z:0.55 [[ 9.51119598e-01 -3.08735675e-01 -7.33435233e-03 1.07291702e+02] [ 3.08722717e-01 9.51147765e-01 -2.86596695e-03 1.47218287e+01] [ 7.86087906e-03 4.61596149e-04 9.99968996e-01 5.48715928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.32, Y:14.73, Z:0.55 [[ 9.50923291e-01 -3.09350921e-01 -6.84855312e-03 1.07318374e+02] [ 3.09339629e-01 9.50947856e-01 -2.67750883e-03 1.47305924e+01] [ 7.34090673e-03 4.27576625e-04 9.99972964e-01 5.48161534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.34, Y:14.74, Z:0.55 [[ 9.50864046e-01 -3.09536406e-01 -6.69182190e-03 1.07343273e+02] [ 3.09525624e-01 9.50887501e-01 -2.61694557e-03 1.47398454e+01] [ 7.17320973e-03 4.17069099e-04 9.99974185e-01 5.47547931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:14.75, Z:0.55 [[ 9.50805978e-01 -3.09712341e-01 -6.80138239e-03 1.07369776e+02] [ 3.09701198e-01 9.50830209e-01 -2.66110891e-03 1.47498543e+01] [ 7.29113811e-03 4.23801984e-04 9.99973329e-01 5.47603629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:14.76, Z:0.55 [[ 9.50965241e-01 -3.09193859e-01 -8.01670554e-03 1.07396162e+02] [ 3.09178345e-01 9.50998897e-01 -3.13836425e-03 1.47593371e+01] [ 8.59424108e-03 5.05883571e-04 9.99962941e-01 5.47586656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:14.77, Z:0.55 [[ 9.51369298e-01 -3.07897630e-01 -9.77283190e-03 1.07421954e+02] [ 3.07874490e-01 9.51419282e-01 -3.82737209e-03 1.47664678e+01] [ 1.04764995e-02 6.32438658e-04 9.99944920e-01 5.47862489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:14.78, Z:0.55 [[ 9.51627649e-01 -3.07107432e-01 -9.47848876e-03 1.07446891e+02] [ 3.07085618e-01 9.51674649e-01 -3.71298911e-03 1.47757325e+01] [ 1.01607240e-02 6.22675522e-04 9.99948185e-01 5.48528121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:14.79, Z:0.55 [[ 9.51987604e-01 -3.06023872e-01 -8.30615512e-03 1.07472928e+02] [ 3.06007065e-01 9.52023676e-01 -3.25535953e-03 1.47861985e+01] [ 8.90387405e-03 5.57319768e-04 9.99960204e-01 5.48812059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:14.80, Z:0.55 [[ 9.52517922e-01 -3.04391543e-01 -7.44288471e-03 1.07499241e+02] [ 3.04377985e-01 9.52546862e-01 -2.91859294e-03 1.47966900e+01] [ 7.97809148e-03 5.14561830e-04 9.99968042e-01 5.48604764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:14.81, Z:0.55 [[ 9.53224059e-01 -3.02180820e-01 -7.11655854e-03 1.07524346e+02] [ 3.02168359e-01 9.53250487e-01 -2.79137642e-03 1.48064899e+01] [ 7.62736331e-03 5.10408352e-04 9.99970781e-01 5.48197664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:14.82, Z:0.55 [[ 9.54365326e-01 -2.98588950e-01 -5.60919913e-03 1.07550151e+02] [ 2.98581140e-01 9.54381715e-01 -2.20122858e-03 1.48162828e+01] [ 6.01057962e-03 4.25975164e-04 9.99981846e-01 5.47746702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:14.83, Z:0.55 [[ 9.54567505e-01 -2.97953237e-01 -4.97456155e-03 1.07576161e+02] [ 2.97947081e-01 9.54580391e-01 -1.95322496e-03 1.48271825e+01] [ 5.33058861e-03 3.82328983e-04 9.99985719e-01 5.48150988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:14.84, Z:0.55 [[ 9.54743265e-01 -2.97390938e-01 -4.89160560e-03 1.07600892e+02] [ 2.97384975e-01 9.54755720e-01 -1.92119862e-03 1.48371879e+01] [ 5.24163549e-03 3.79561431e-04 9.99986191e-01 5.47803877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:14.85, Z:0.55 [[ 9.54837684e-01 -2.97073758e-01 -5.67266250e-03 1.07626414e+02] [ 2.97065729e-01 9.54854432e-01 -2.22849637e-03 1.48464241e+01] [ 6.07859473e-03 4.42698695e-04 9.99981427e-01 5.47448809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:14.86, Z:0.55 [[ 9.54743916e-01 -2.97359303e-01 -6.44212354e-03 1.07653438e+02] [ 2.97348945e-01 9.54765517e-01 -2.53206984e-03 1.48555645e+01] [ 6.90365193e-03 5.01919631e-04 9.99976044e-01 5.46610522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:14.86, Z:0.55 [[ 9.54394405e-01 -2.98485012e-01 -6.16586353e-03 1.07679837e+02] [ 2.98475539e-01 9.54414204e-01 -2.42479171e-03 1.48645283e+01] [ 6.60855172e-03 4.73848196e-04 9.99978051e-01 5.46606562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:14.87, Z:0.55 [[ 9.54235759e-01 -2.98999725e-01 -5.76901546e-03 1.07705627e+02] [ 2.98991437e-01 9.54253096e-01 -2.26934118e-03 1.48739240e+01] [ 6.18363325e-03 4.40600280e-04 9.99980784e-01 5.46987232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.73, Y:14.88, Z:0.55 [[ 9.54127349e-01 -2.99344397e-01 -5.82527430e-03 1.07732584e+02] [ 2.99335947e-01 9.54145028e-01 -2.29263885e-03 1.48828910e+01] [ 6.24444510e-03 4.43755428e-04 9.99980405e-01 5.47100419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:14.89, Z:0.55 [[ 9.53749335e-01 -3.00554234e-01 -5.41823783e-03 1.07758749e+02] [ 3.00546939e-01 9.53764639e-01 -2.13303531e-03 1.48912239e+01] [ 5.80881645e-03 4.05946215e-04 9.99983046e-01 5.48203363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:14.90, Z:0.55 [[ 9.53697666e-01 -3.00718154e-01 -5.41789813e-03 1.07785227e+02] [ 3.00710857e-01 9.53712969e-01 -2.13389799e-03 1.49018015e+01] [ 5.80882157e-03 4.05872741e-04 9.99983046e-01 5.48226650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26140051299998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:107.81, Y:14.91, Z:0.55 [[ 9.53291447e-01 -3.02011875e-01 -4.92376913e-03 1.07811302e+02] [ 3.02005860e-01 9.53304094e-01 -1.94029701e-03 1.49109116e+01] [ 5.27984201e-03 3.62661415e-04 9.99985996e-01 5.47709138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:14.92, Z:0.55 [[ 9.52945728e-01 -3.03107688e-01 -4.49109604e-03 1.07838212e+02] [ 3.03102691e-01 9.52956255e-01 -1.77074188e-03 1.49202583e+01] [ 4.81654353e-03 3.26157613e-04 9.99988347e-01 5.48184937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:14.93, Z:0.55 [[ 9.52454464e-01 -3.04656280e-01 -3.87880776e-03 1.07865110e+02] [ 3.04652562e-01 9.52462322e-01 -1.53014616e-03 1.49283663e+01] [ 4.16058689e-03 2.75705817e-04 9.99991307e-01 5.47657433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.89, Y:14.94, Z:0.55 [[ 9.52422554e-01 -3.04741363e-01 -4.89691743e-03 1.07891427e+02] [ 3.04735433e-01 9.52435079e-01 -1.93289012e-03 1.49375226e+01] [ 5.25302751e-03 3.48663890e-04 9.99986142e-01 5.46904854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:14.95, Z:0.55 [[ 9.52273329e-01 -3.05186240e-01 -6.07165246e-03 1.07916300e+02] [ 3.05177127e-01 9.52292588e-01 -2.39728676e-03 1.49476154e+01] [ 6.51360857e-03 4.29942790e-04 9.99978694e-01 5.47395310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:14.96, Z:0.55 [[ 9.52342825e-01 -3.04941330e-01 -7.34366538e-03 1.07942404e+02] [ 3.04927979e-01 9.52370995e-01 -2.90101644e-03 1.49584448e+01] [ 7.87853372e-03 5.23473150e-04 9.99968827e-01 5.47020038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:14.97, Z:0.55 [[ 9.52440111e-01 -3.04630453e-01 -7.62379739e-03 1.07967376e+02] [ 3.04616048e-01 9.52470466e-01 -3.01248670e-03 1.49680471e+01] [ 8.17913704e-03 5.46882129e-04 9.99966401e-01 5.46484324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:14.98, Z:0.55 [[ 9.52375469e-01 -3.04839828e-01 -7.32432420e-03 1.07993893e+02] [ 3.04826527e-01 9.52403488e-01 -2.89563636e-03 1.49772212e+01] [ 7.85841721e-03 5.25084723e-04 9.99968984e-01 5.46783721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:14.99, Z:0.55 [[ 9.52358448e-01 -3.04897505e-01 -7.13423706e-03 1.08019720e+02] [ 3.04884879e-01 9.52385032e-01 -2.82158359e-03 1.49861365e+01] [ 7.65483438e-03 5.12037966e-04 9.99970570e-01 5.47267339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.05, Y:15.00, Z:0.55 [[ 9.52407744e-01 -3.04744226e-01 -7.10260644e-03 1.08045121e+02] [ 3.04731702e-01 9.52434090e-01 -2.80977398e-03 1.49954328e+01] [ 7.62102690e-03 5.11661148e-04 9.99970829e-01 5.46866982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:15.01, Z:0.55 [[ 9.52193699e-01 -3.05424514e-01 -6.55940761e-03 1.08070521e+02] [ 3.05413844e-01 9.52216177e-01 -2.59547520e-03 1.50056806e+01] [ 7.03869578e-03 4.68061243e-04 9.99975119e-01 5.47669946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:15.02, Z:0.55 [[ 9.52061327e-01 -3.05845123e-01 -6.16362360e-03 1.08095876e+02] [ 3.05835703e-01 9.52081178e-01 -2.44010093e-03 1.50167375e+01] [ 6.61456299e-03 4.38069577e-04 9.99978028e-01 5.47954083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.12, Y:15.03, Z:0.55 [[ 9.52266103e-01 -3.05218990e-01 -5.53509140e-03 1.08119776e+02] [ 3.05211379e-01 9.52282106e-01 -2.19186914e-03 1.50287292e+01] [ 5.93996858e-03 3.97869801e-04 9.99982279e-01 5.47992656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:15.04, Z:0.55 [[ 9.52402148e-01 -3.04805882e-01 -4.85014133e-03 1.08145145e+02] [ 3.04800028e-01 9.52414432e-01 -1.92156434e-03 1.50396182e+01] [ 5.20504872e-03 3.51778789e-04 9.99986392e-01 5.48482479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:15.05, Z:0.55 [[ 9.52738285e-01 -3.03755926e-01 -4.70070921e-03 1.08170210e+02] [ 3.03750412e-01 9.52749819e-01 -1.86288167e-03 1.50495909e+01] [ 5.04446120e-03 3.46996327e-04 9.99987216e-01 5.48255951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.20, Y:15.06, Z:0.55 [[ 9.53133219e-01 -3.02508109e-01 -5.09021649e-03 1.08196150e+02] [ 3.02501620e-01 9.53146734e-01 -2.01824818e-03 1.50592080e+01] [ 5.46225966e-03 3.83860649e-04 9.99985008e-01 5.47507117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.22, Y:15.07, Z:0.55 [[ 9.53182428e-01 -3.02343546e-01 -5.62491482e-03 1.08222032e+02] [ 3.02335612e-01 9.53198929e-01 -2.23149647e-03 1.50688176e+01] [ 6.03634134e-03 4.26411162e-04 9.99981690e-01 5.47527783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:15.08, Z:0.55 [[ 9.52841882e-01 -3.03402209e-01 -6.28066383e-03 1.08247970e+02] [ 3.03392335e-01 9.52862466e-01 -2.49235235e-03 1.50778361e+01] [ 6.74079404e-03 4.69312435e-04 9.99977170e-01 5.47840369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:108.27, Y:15.09, Z:0.55 [[ 9.52596151e-01 -3.04184237e-01 -5.70291888e-03 1.08272666e+02] [ 3.04176106e-01 9.52613128e-01 -2.26359440e-03 1.50880742e+01] [ 6.12122513e-03 4.21599654e-04 9.99981176e-01 5.46819814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:15.10, Z:0.55 [[ 9.52100433e-01 -3.05745383e-01 -4.95235341e-03 1.08298028e+02] [ 3.05739268e-01 9.52113246e-01 -1.96662674e-03 1.50988620e+01] [ 5.31648832e-03 3.58297259e-04 9.99985803e-01 5.47662609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:15.11, Z:0.55 [[ 9.51452946e-01 -3.07755512e-01 -4.88222584e-03 1.08323394e+02] [ 3.07749592e-01 9.51465411e-01 -1.93931559e-03 1.51074508e+01] [ 5.24210408e-03 3.42664524e-04 9.99986201e-01 5.47454847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:15.12, Z:0.55 [[ 9.51244400e-01 -3.08379649e-01 -6.00700429e-03 1.08349735e+02] [ 3.08370696e-01 9.51263275e-01 -2.38666467e-03 1.51153491e+01] [ 6.45024138e-03 4.17917311e-04 9.99979110e-01 5.47514883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:15.12, Z:0.55 [[ 9.51059711e-01 -3.08921830e-01 -7.26150458e-03 1.08376605e+02] [ 3.08908752e-01 9.51087299e-01 -2.88657280e-03 1.51234199e+01] [ 7.79805013e-03 5.02160782e-04 9.99969469e-01 5.47815042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:15.13, Z:0.55 [[ 9.50982120e-01 -3.09144995e-01 -7.89804006e-03 1.08403446e+02] [ 3.09129516e-01 9.51014760e-01 -3.14131984e-03 1.51320277e+01] [ 8.48227598e-03 5.45821701e-04 9.99963876e-01 5.47591998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:15.14, Z:0.55 [[ 9.51022657e-01 -3.09016422e-01 -8.04715010e-03 1.08429326e+02] [ 3.09000341e-01 9.51056539e-01 -3.20147206e-03 1.51405681e+01] [ 8.64260216e-03 5.58100339e-04 9.99962496e-01 5.47450824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:15.15, Z:0.55 [[ 9.51250805e-01 -3.08324368e-01 -7.61508579e-03 1.08455361e+02] [ 3.08309941e-01 9.51281135e-01 -3.03026634e-03 1.51489460e+01] [ 8.17839240e-03 5.34736647e-04 9.99966413e-01 5.47837810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:15.16, Z:0.55 [[ 9.52045811e-01 -3.05884821e-01 -6.57653508e-03 1.08482825e+02] [ 3.05873993e-01 9.52068404e-01 -2.61829866e-03 1.51557283e+01] [ 7.06220908e-03 4.81149226e-04 9.99974947e-01 5.48047846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:15.16, Z:0.55 [[ 9.52660922e-01 -3.03953403e-01 -7.03536411e-03 1.08509003e+02] [ 3.03940948e-01 9.52686751e-01 -2.80250007e-03 1.51645410e+01] [ 7.55432762e-03 5.31497063e-04 9.99971324e-01 5.47380183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:108.53, Y:15.17, Z:0.55 [[ 9.53569778e-01 -3.01072259e-01 -7.75718349e-03 1.08534271e+02] [ 3.01057015e-01 9.53601133e-01 -3.09086799e-03 1.51742886e+01] [ 8.32783358e-03 6.12003797e-04 9.99965136e-01 5.45928447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:15.18, Z:0.55 [[ 9.54456993e-01 -2.98241971e-01 -7.97340981e-03 1.08560313e+02] [ 2.98225754e-01 9.54490071e-01 -3.17858045e-03 1.51844443e+01] [ 8.55852660e-03 6.55942193e-04 9.99963160e-01 5.46417026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:15.19, Z:0.55 [[ 9.55466462e-01 -2.95008704e-01 -7.32832393e-03 1.08586145e+02] [ 2.94994898e-01 9.55494357e-01 -2.92292866e-03 1.51943208e+01] [ 7.86446156e-03 6.30942132e-04 9.99968876e-01 5.47004134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:15.20, Z:0.55 [[ 9.56445564e-01 -2.91840953e-01 -6.38294595e-03 1.08611406e+02] [ 2.91830405e-01 9.56466690e-01 -2.54650809e-03 1.52042062e+01] [ 6.84825053e-03 5.72858663e-04 9.99976386e-01 5.48283224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:15.21, Z:0.55 [[ 9.57409959e-01 -2.88679472e-01 -5.50751757e-03 1.08636971e+02] [ 2.88671561e-01 9.57425662e-01 -2.19833297e-03 1.52145257e+01] [ 5.90765225e-03 5.14842186e-04 9.99982417e-01 5.49080683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:15.23, Z:0.55 [[ 9.59158778e-01 -2.82828812e-01 -4.72253756e-03 1.08661561e+02] [ 2.82822921e-01 9.59170287e-01 -1.88572801e-03 1.52261057e+01] [ 5.06305592e-03 4.73070706e-04 9.99987071e-01 5.49273982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:15.24, Z:0.55 [[ 9.59572880e-01 -2.81436657e-01 -3.64630432e-03 1.08686298e+02] [ 2.81433133e-01 9.59579736e-01 -1.45632729e-03 1.52373914e+01] [ 3.90878363e-03 3.71261324e-04 9.99992292e-01 5.49015553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:15.25, Z:0.55 [[ 9.59701617e-01 -2.81008002e-01 -2.70351153e-03 1.08711483e+02] [ 2.81006063e-01 9.59705385e-01 -1.08023220e-03 1.52488439e+01] [ 2.89812846e-03 2.76997457e-04 9.99995762e-01 5.49113480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:15.26, Z:0.55 [[ 9.59614230e-01 -2.81310185e-01 -2.26046115e-03 1.08736435e+02] [ 2.81308829e-01 9.59616864e-01 -9.03654647e-04 1.52608229e+01] [ 2.42338390e-03 2.31272178e-04 9.99997037e-01 5.49425426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:15.27, Z:0.55 [[ 9.59497437e-01 -2.81705644e-01 -2.56887314e-03 1.08761860e+02] [ 2.81703892e-01 9.59500840e-01 -1.02751602e-03 1.52728129e+01] [ 2.75429300e-03 2.62237421e-04 9.99996173e-01 5.49946369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:15.29, Z:0.55 [[ 9.59467981e-01 -2.81789660e-01 -3.97253426e-03 1.08785990e+02] [ 2.81785469e-01 9.59476119e-01 -1.58951054e-03 1.52853484e+01] [ 4.25945939e-03 4.05682045e-04 9.99990846e-01 5.50138903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:15.30, Z:0.55 [[ 9.59244955e-01 -2.82529542e-01 -5.11604600e-03 1.08811608e+02] [ 2.82522596e-01 9.59258457e-01 -2.04805165e-03 1.52970416e+01] [ 5.48624549e-03 5.19184619e-04 9.99984816e-01 5.49794249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:15.31, Z:0.55 [[ 9.58968027e-01 -2.83458424e-01 -5.62541009e-03 1.08837675e+02] [ 2.83450034e-01 9.58984359e-01 -2.25308350e-03 1.53084670e+01] [ 6.03333579e-03 5.66112351e-04 9.99981639e-01 5.50074804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49140051299999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:108.86, Y:15.32, Z:0.55 [[ 9.58537731e-01 -2.84914068e-01 -5.42146081e-03 1.08862241e+02] [ 2.84906296e-01 9.58552912e-01 -2.17196548e-03 1.53198098e+01] [ 5.81558057e-03 5.37302542e-04 9.99982945e-01 5.50264135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:15.33, Z:0.55 [[ 9.57320194e-01 -2.88998603e-01 -4.22545053e-03 1.08887431e+02] [ 2.88993917e-01 9.57329435e-01 -1.69361154e-03 1.53325194e+01] [ 4.53459953e-03 4.00199029e-04 9.99989639e-01 5.50763722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:15.34, Z:0.55 [[ 9.56615869e-01 -2.91288796e-01 -6.07583026e-03 1.08912795e+02] [ 2.91291226e-01 9.56634293e-01 -5.00732332e-04 1.53429461e+01] [ 5.95820531e-03 -1.29082755e-03 9.99981417e-01 5.52646954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:15.36, Z:0.55 [[ 9.56046843e-01 -2.93193955e-01 -3.42610757e-03 1.08937088e+02] [ 2.93183244e-01 9.56050550e-01 -3.30610728e-03 1.53577194e+01] [ 4.24486270e-03 2.15631610e-03 9.99988666e-01 5.50492461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:15.37, Z:0.55 [[ 9.55580573e-01 -2.94705346e-01 -3.81157640e-03 1.08963368e+02] [ 2.94701571e-01 9.55588114e-01 -1.52957348e-03 1.53685050e+01] [ 4.09307058e-03 3.38353148e-04 9.99991566e-01 5.51533271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.99, Y:15.38, Z:0.55 [[ 9.55135537e-01 -2.96150082e-01 -3.35189788e-03 1.08988208e+02] [ 2.96147169e-01 9.55141373e-01 -1.34580830e-03 1.53810257e+01] [ 3.60009759e-03 2.92774266e-04 9.99993477e-01 5.52313022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:15.39, Z:0.55 [[ 9.54720018e-01 -2.97494125e-01 -2.63285031e-03 1.09013170e+02] [ 2.97492332e-01 9.54723622e-01 -1.05750936e-03 1.53918399e+01] [ 2.82824721e-03 2.26372578e-04 9.99995975e-01 5.52865693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:15.40, Z:0.55 [[ 9.53407487e-01 -3.01682134e-01 -1.43287917e-03 1.09038896e+02] [ 3.01681607e-01 9.53408557e-01 -5.75723739e-04 1.54028560e+01] [ 1.53980483e-03 1.16626034e-04 9.99998808e-01 5.53847797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:15.41, Z:0.55 [[ 9.52741921e-01 -3.03780114e-01 -6.88256698e-04 1.09064050e+02] [ 3.03779993e-01 9.52742168e-01 -2.76603931e-04 1.54137925e+01] [ 7.39757952e-04 5.44535459e-05 9.99999725e-01 5.54095879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:15.42, Z:0.55 [[ 9.52131374e-01 -3.05688862e-01 -4.08265691e-04 1.09090070e+02] [ 3.05688819e-01 9.52131461e-01 -1.64044629e-04 1.54248751e+01] [ 4.38869225e-04 3.13897808e-05 9.99999903e-01 5.54053194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:15.43, Z:0.55 [[ 9.51342415e-01 -3.08131746e-01 -1.56076750e-03 1.09116525e+02] [ 3.08131128e-01 9.51343689e-01 -6.27924172e-04 1.54343788e+01] [ 1.67830968e-03 1.16449849e-04 9.99998585e-01 5.52500390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.14, Y:15.45, Z:0.55 [[ 9.51028023e-01 -3.09094006e-01 -2.56801967e-03 1.09142477e+02] [ 3.09092335e-01 9.51031472e-01 -1.03382149e-03 1.54450603e+01] [ 2.76181555e-03 1.89438009e-04 9.99996168e-01 5.51859413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:15.45, Z:0.55 [[ 9.50904244e-01 -3.09469972e-01 -3.07484618e-03 1.09168042e+02] [ 3.09467577e-01 9.50909189e-01 -1.23827364e-03 1.54547538e+01] [ 3.30710800e-03 2.25914464e-04 9.99994506e-01 5.51399068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:15.46, Z:0.55 [[ 9.50766456e-01 -3.09884179e-01 -3.86552016e-03 1.09194519e+02] [ 3.09880395e-01 9.50774271e-01 -1.55745252e-03 1.54647515e+01] [ 4.15786701e-03 2.82924701e-04 9.99991316e-01 5.51408000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:15.47, Z:0.55 [[ 9.50792082e-01 -3.09797404e-01 -4.47051285e-03 1.09220017e+02] [ 3.09792338e-01 9.50802535e-01 -1.80195236e-03 1.54735992e+01] [ 4.80881512e-03 3.28351404e-04 9.99988384e-01 5.51541156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:15.48, Z:0.55 [[ 9.50895366e-01 -3.09476820e-01 -4.70113367e-03 1.09247081e+02] [ 3.09471208e-01 9.50906923e-01 -1.89585468e-03 1.54824678e+01] [ 5.05706364e-03 3.47893916e-04 9.99987152e-01 5.52011673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:15.49, Z:0.55 [[ 9.51276180e-01 -3.08314527e-01 -3.97263436e-03 1.09273425e+02] [ 3.08310506e-01 9.51284428e-01 -1.60289359e-03 1.54910794e+01] [ 4.27330059e-03 2.99989582e-04 9.99990824e-01 5.51968444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:15.50, Z:0.55 [[ 9.51562895e-01 -3.07435353e-01 -3.40019402e-03 1.09299719e+02] [ 3.07432399e-01 9.51568934e-01 -1.37263720e-03 1.55021165e+01] [ 3.65751619e-03 2.60820818e-04 9.99993277e-01 5.51847983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:15.51, Z:0.55 [[ 9.52004433e-01 -3.06067940e-01 -3.15846170e-03 1.09324380e+02] [ 3.06065382e-01 9.52009640e-01 -1.27543121e-03 1.55123114e+01] [ 3.39725459e-03 2.47520378e-04 9.99994199e-01 5.51259274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.35, Y:15.52, Z:0.55 [[ 9.52587888e-01 -3.04243343e-01 -3.50778874e-03 1.09350442e+02] [ 3.04240174e-01 9.52594304e-01 -1.41716598e-03 1.55227871e+01] [ 3.77266289e-03 2.82764893e-04 9.99992844e-01 5.51121353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:15.53, Z:0.55 [[ 9.53114194e-01 -3.02589476e-01 -3.59745790e-03 1.09377107e+02] [ 3.02586128e-01 9.53120937e-01 -1.45417414e-03 1.55328735e+01] [ 3.86883023e-03 2.97453157e-04 9.99992472e-01 5.50597318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:15.54, Z:0.55 [[ 9.53061466e-01 -3.02755516e-01 -3.59720093e-03 1.09403493e+02] [ 3.02752167e-01 9.53068208e-01 -1.45480966e-03 1.55436863e+01] [ 3.86882949e-03 2.97462647e-04 9.99992472e-01 5.50620642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:15.55, Z:0.55 [[ 9.53676240e-01 -3.00803894e-01 -4.31809632e-03 1.09428786e+02] [ 3.00799046e-01 9.53685945e-01 -1.74687943e-03 1.55535417e+01] [ 4.64357590e-03 3.67078156e-04 9.99989151e-01 5.50664728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:15.56, Z:0.55 [[ 9.54813314e-01 -2.97156099e-01 -5.45782248e-03 1.09454962e+02] [ 2.97148288e-01 9.54828788e-01 -2.20906091e-03 1.55648163e+01] [ 5.86772195e-03 4.87458164e-04 9.99982666e-01 5.51412970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:15.58, Z:0.55 [[ 9.55343595e-01 -2.95450157e-01 -5.27449066e-03 1.09479150e+02] [ 2.95442832e-01 9.55358034e-01 -2.13543997e-03 1.55766587e+01] [ 5.66994310e-03 4.81768441e-04 9.99983810e-01 5.51496509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:15.59, Z:0.55 [[ 9.55718993e-01 -2.94243671e-01 -4.67642567e-03 1.09504349e+02] [ 2.94237894e-01 9.55730335e-01 -1.89420171e-03 1.55899869e+01] [ 5.02675874e-03 4.34342904e-04 9.99987271e-01 5.51375735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:15.61, Z:0.55 [[ 9.56884166e-01 -2.90463902e-01 -1.84778364e-03 1.09527879e+02] [ 2.90462992e-01 9.56885933e-01 -7.48744935e-04 1.56054511e+01] [ 1.98560155e-03 1.79749406e-04 9.99998013e-01 5.51158237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:15.62, Z:0.55 [[ 9.57486261e-01 -2.88476356e-01 -1.20518375e-03 1.09552867e+02] [ 2.88475967e-01 9.57487012e-01 -4.88556133e-04 1.56184512e+01] [ 1.29488468e-03 1.20119236e-04 9.99999154e-01 5.51880843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:15.63, Z:0.55 [[ 9.57980987e-01 -2.86825011e-01 -1.95989846e-03 1.09576311e+02] [ 2.86823979e-01 9.57982971e-01 -7.94879154e-04 1.56322025e+01] [ 2.10554057e-03 1.99333242e-04 9.99997763e-01 5.51522742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.60, Y:15.65, Z:0.55 [[ 9.58416999e-01 -2.85342785e-01 -4.04375665e-03 1.09599937e+02] [ 2.85338374e-01 9.58425438e-01 -1.64088000e-03 1.56484687e+01] [ 4.34385251e-03 4.18808337e-04 9.99990478e-01 5.51009882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:15.66, Z:0.55 [[ 9.58634946e-01 -2.84591036e-01 -5.19450313e-03 1.09622295e+02] [ 2.84583742e-01 9.58648865e-01 -2.10868489e-03 1.56641519e+01] [ 5.57981735e-03 5.43187884e-04 9.99984285e-01 5.49470735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:15.68, Z:0.55 [[ 9.58779539e-01 -2.84100712e-01 -5.34602048e-03 1.09645049e+02] [ 2.84092973e-01 9.58794278e-01 -2.17128705e-03 1.56819488e+01] [ 5.74259805e-03 5.63018749e-04 9.99983353e-01 5.49317743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:15.69, Z:0.55 [[ 9.58466072e-01 -2.85171649e-01 -4.46318035e-03 1.09668663e+02] [ 2.85166264e-01 9.58476350e-01 -1.81320066e-03 1.56942669e+01] [ 4.79492624e-03 4.65142845e-04 9.99988396e-01 5.50950579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.69, Y:15.71, Z:0.55 [[ 9.57790209e-01 -2.87443226e-01 -3.78260911e-03 1.09692079e+02] [ 2.87439374e-01 9.57797600e-01 -1.53705247e-03 1.57072388e+01] [ 4.06478925e-03 3.84903006e-04 9.99991665e-01 5.52111327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:15.72, Z:0.55 [[ 9.56737724e-01 -2.90936455e-01 -2.98424212e-03 1.09715390e+02] [ 2.90934074e-01 9.56742334e-01 -1.21289472e-03 1.57204401e+01] [ 3.20802606e-03 2.92204417e-04 9.99994812e-01 5.52453418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:15.73, Z:0.55 [[ 9.55567466e-01 -2.94765036e-01 -2.09585282e-03 1.09739815e+02] [ 2.94763869e-01 9.55569744e-01 -8.52163719e-04 1.57342083e+01] [ 2.25392161e-03 1.96518239e-04 9.99997441e-01 5.52095887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:15.75, Z:0.55 [[ 9.53351780e-01 -3.01861526e-01 4.20499654e-05 1.09763556e+02] [ 3.01861526e-01 9.53351781e-01 1.71767564e-05 1.57480729e+01] [-4.52734113e-05 -3.68222457e-06 9.99999999e-01 5.50892851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.79, Y:15.76, Z:0.55 [[ 9.52590765e-01 -3.04254461e-01 2.40207266e-04 1.09788238e+02] [ 3.04254446e-01 9.52590795e-01 9.78535024e-05 1.57595467e+01] [-2.58591595e-04 -2.01302142e-05 9.99999966e-01 5.50713245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.81, Y:15.77, Z:0.55 [[ 9.52082389e-01 -3.05841576e-01 2.32737981e-04 1.09813490e+02] [ 3.05841562e-01 9.52082418e-01 9.49147355e-05 1.57714143e+01] [-2.50614612e-04 -1.91857005e-05 9.99999968e-01 5.50110564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:15.79, Z:0.55 [[ 9.52359706e-01 -3.04975388e-01 -1.00123897e-03 1.09836650e+02] [ 3.04975127e-01 9.52360229e-01 -4.07653103e-04 1.57863434e+01] [ 1.07786434e-03 8.28794066e-05 9.99999416e-01 5.50936253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.86, Y:15.80, Z:0.55 [[ 9.53016830e-01 -3.02913408e-01 -1.54586844e-03 1.09861071e+02] [ 3.02912782e-01 9.53018074e-01 -6.29670527e-04 1.57993192e+01] [ 1.66397621e-03 1.31823299e-04 9.99998607e-01 5.52215330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:15.81, Z:0.55 [[ 9.53632472e-01 -3.00971630e-01 -1.08954594e-03 1.09886581e+02] [ 3.00971318e-01 9.53633089e-01 -4.43979576e-04 1.58119141e+01] [ 1.17265232e-03 9.54712614e-05 9.99999308e-01 5.52919075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:109.91, Y:15.82, Z:0.55 [[ 9.54265561e-01 -2.98956695e-01 -1.46076647e-03 1.09912122e+02] [ 2.98956131e-01 9.54266670e-01 -5.95615401e-04 1.58240618e+01] [ 1.57202396e-03 1.31670173e-04 9.99998756e-01 5.53759961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:15.84, Z:0.55 [[ 9.54605369e-01 -2.97868603e-01 -1.69862366e-03 1.09936668e+02] [ 2.97867838e-01 9.54606867e-01 -6.92884042e-04 1.58357340e+01] [ 1.82790621e-03 1.55465470e-04 9.99998317e-01 5.53448904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:109.96, Y:15.85, Z:0.55 [[ 9.54681243e-01 -2.97615444e-01 -2.96183178e-03 1.09961620e+02] [ 2.97613114e-01 9.54685798e-01 -1.20875879e-03 1.58479166e+01] [ 3.18736402e-03 2.72499368e-04 9.99994883e-01 5.52537218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:15.86, Z:0.55 [[ 9.53896861e-01 -3.00100721e-01 -4.50952362e-03 1.09986720e+02] [ 3.00095342e-01 9.53907435e-01 -1.84145118e-03 1.58592770e+01] [ 4.85428894e-03 4.03267471e-04 9.99988137e-01 5.49294692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:15.87, Z:0.55 [[ 9.53285916e-01 -3.02042542e-01 -4.03309860e-03 1.10012846e+02] [ 3.02038253e-01 9.53294382e-01 -1.64776883e-03 1.58689816e+01] [ 4.34242652e-03 3.52644763e-04 9.99990509e-01 5.49010243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:15.88, Z:0.55 [[ 9.52501388e-01 -3.04524061e-01 -2.49019625e-03 1.10039276e+02] [ 3.04522433e-01 9.52504620e-01 -1.01788093e-03 1.58783773e+01] [ 2.68189267e-03 2.11212383e-04 9.99996381e-01 5.49865305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:15.89, Z:0.55 [[ 9.51656587e-01 -3.07161427e-01 -1.26452310e-03 1.10064222e+02] [ 3.07161009e-01 9.51657421e-01 -5.17013367e-04 1.58874552e+01] [ 1.36219935e-03 1.03606985e-04 9.99999067e-01 5.50840319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:15.90, Z:0.55 [[ 9.50152394e-01 -3.11780158e-01 -1.88699423e-03 1.10090698e+02] [ 3.11779236e-01 9.50154257e-01 -7.71866200e-04 1.58961860e+01] [ 2.03358817e-03 1.45064896e-04 9.99997922e-01 5.51021570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:110.12, Y:15.90, Z:0.55 [[ 9.49973457e-01 -3.12318279e-01 -2.77900401e-03 1.10117401e+02] [ 3.12316281e-01 9.49977498e-01 -1.13742216e-03 1.59044029e+01] [ 2.99522901e-03 2.12592660e-04 9.99995492e-01 5.50124570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:15.91, Z:0.55 [[ 9.49935883e-01 -3.12434635e-01 -2.53327784e-03 1.10143484e+02] [ 3.12432974e-01 9.49939241e-01 -1.03717121e-03 1.59116615e+01] [ 2.73050823e-03 1.93766617e-04 9.99996253e-01 5.49845310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.17, Y:15.92, Z:0.55 [[ 9.50401604e-01 -3.11020624e-01 -1.72121207e-03 1.10169910e+02] [ 3.11019855e-01 9.50403153e-01 -7.04836575e-04 1.59194031e+01] [ 1.85506409e-03 1.34546684e-04 9.99998270e-01 5.49874537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.20, Y:15.93, Z:0.55 [[ 9.51006241e-01 -3.09171156e-01 -5.69812489e-04 1.10196268e+02] [ 3.09171072e-01 9.51006411e-01 -2.33321308e-04 1.59290777e+01] [ 6.14031549e-04 4.57204825e-05 9.99999810e-01 5.50868820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.22, Y:15.94, Z:0.55 [[ 9.52661999e-01 -3.04031433e-01 5.61203100e-05 1.10221148e+02] [ 3.04031432e-01 9.52662001e-01 2.31153898e-05 1.59396422e+01] [-6.04914918e-05 -4.95881524e-06 9.99999998e-01 5.51105434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:15.95, Z:0.55 [[ 9.53223798e-01 -3.02265234e-01 -3.46440851e-04 1.10246118e+02] [ 3.02265202e-01 9.53223860e-01 -1.41969533e-04 1.59497524e+01] [ 3.73148140e-04 3.06117238e-05 9.99999930e-01 5.50873342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:15.96, Z:0.55 [[ 9.53470112e-01 -3.01486534e-01 -7.83941937e-04 1.10272147e+02] [ 3.01486371e-01 9.53470432e-01 -3.21420035e-04 1.59605020e+01] [ 8.44369270e-04 7.01165873e-05 9.99999641e-01 5.50891912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:15.97, Z:0.55 [[ 9.53644576e-01 -3.00933019e-01 -1.15804699e-03 1.10298173e+02] [ 3.00932662e-01 9.53645273e-01 -4.75127144e-04 1.59712861e+01] [ 1.24734748e-03 1.04608260e-04 9.99999217e-01 5.50802826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:15.98, Z:0.55 [[ 9.53631335e-01 -3.00973270e-01 -1.53896882e-03 1.10323244e+02] [ 3.00972639e-01 9.53632566e-01 -6.31791192e-04 1.59845617e+01] [ 1.65776305e-03 1.39308370e-04 9.99998616e-01 5.51081672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.35, Y:16.00, Z:0.55 [[ 9.53605252e-01 -3.01057574e-01 -1.16655297e-03 1.10347924e+02] [ 3.01057211e-01 9.53605960e-01 -4.79113486e-04 1.59975011e+01] [ 1.25667261e-03 1.05685952e-04 9.99999205e-01 5.50862585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:16.01, Z:0.55 [[ 9.53535015e-01 -3.01281794e-01 -5.05869163e-04 1.10372784e+02] [ 3.01281726e-01 9.53535148e-01 -2.07781576e-04 1.60114023e+01] [ 5.44964834e-04 4.57178737e-05 9.99999850e-01 5.51019165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.40, Y:16.03, Z:0.55 [[ 9.53896873e-01 -3.00133597e-01 -7.61552132e-04 1.10395455e+02] [ 3.00133442e-01 9.53897174e-01 -3.13047316e-04 1.60290480e+01] [ 8.20398444e-04 7.00475926e-05 9.99999661e-01 5.50857772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.42, Y:16.04, Z:0.55 [[ 9.54028353e-01 -2.99712293e-01 -1.56302414e-03 1.10418622e+02] [ 2.99711638e-01 9.54029623e-01 -6.42913465e-04 1.60426892e+01] [ 1.68386040e-03 1.44901149e-04 9.99998572e-01 5.50389380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:16.06, Z:0.55 [[ 9.54050386e-01 -2.99637223e-01 -2.32288002e-03 1.10442599e+02] [ 2.99635776e-01 9.54053189e-01 -9.55712662e-04 1.60559292e+01] [ 2.50251818e-03 2.15780075e-04 9.99996845e-01 5.50662099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:16.07, Z:0.55 [[ 9.53760740e-01 -3.00559658e-01 -2.08385716e-03 1.10467043e+02] [ 3.00558495e-01 9.53762997e-01 -8.57717565e-04 1.60689765e+01] [ 2.24530115e-03 1.91736369e-04 9.99997461e-01 5.50513489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.49, Y:16.08, Z:0.55 [[ 9.53244235e-01 -3.02196838e-01 -1.58075293e-03 1.10490721e+02] [ 3.02196171e-01 9.53245535e-01 -6.50882898e-04 1.60811213e+01] [ 1.70354043e-03 1.42752887e-04 9.99998539e-01 5.50994920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:16.09, Z:0.55 [[ 9.52270507e-01 -3.05254427e-01 -7.85228519e-04 1.10516052e+02] [ 3.05254263e-01 9.52270828e-01 -3.23382827e-04 1.60929477e+01] [ 8.46464251e-04 6.82535756e-05 9.99999639e-01 5.50993796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:110.54, Y:16.10, Z:0.55 [[ 9.50163023e-01 -3.11752578e-01 -7.47896848e-04 1.10541306e+02] [ 3.11752431e-01 9.50163316e-01 -3.08163002e-04 1.61022454e+01] [ 8.06694759e-04 5.96464288e-05 9.99999673e-01 5.50488949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:16.11, Z:0.55 [[ 9.49125893e-01 -3.14895837e-01 -8.06555416e-04 1.10567528e+02] [ 3.14895668e-01 9.49126234e-01 -3.32420338e-04 1.61113065e+01] [ 8.70200685e-04 6.15279440e-05 9.99999619e-01 5.50570560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:16.12, Z:0.55 [[ 9.48355689e-01 -3.17206885e-01 -1.13137682e-03 1.10593424e+02] [ 3.17206553e-01 9.48356360e-01 -4.66567813e-04 1.61202279e+01] [ 1.22094692e-03 8.35920994e-05 9.99999251e-01 5.50739380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:16.13, Z:0.55 [[ 9.47768774e-01 -3.18953159e-01 -1.79829237e-03 1.10619548e+02] [ 3.18952322e-01 9.47770471e-01 -7.41946030e-04 1.61301452e+01] [ 1.94101444e-03 1.29623751e-04 9.99998108e-01 5.50977719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:16.14, Z:0.55 [[ 9.47575657e-01 -3.19515648e-01 -3.18200044e-03 1.10645264e+02] [ 3.19513030e-01 9.47580972e-01 -1.31337603e-03 1.61395520e+01] [ 3.43484727e-03 2.27832549e-04 9.99994075e-01 5.49707852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.67, Y:16.15, Z:0.55 [[ 9.47828352e-01 -3.18769537e-01 -2.71987150e-03 1.10670659e+02] [ 3.18767620e-01 9.47832234e-01 -1.12287206e-03 1.61491287e+01] [ 2.93591929e-03 1.97283004e-04 9.99995671e-01 5.48896608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.70, Y:16.16, Z:0.55 [[ 9.48173516e-01 -3.17746795e-01 -1.98959996e-03 1.10696812e+02] [ 3.17745766e-01 9.48175592e-01 -8.21705316e-04 1.61583188e+01] [ 2.14758435e-03 1.46932254e-04 9.99997683e-01 5.49197539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.72, Y:16.17, Z:0.55 [[ 9.48490992e-01 -3.16796363e-01 -2.21399639e-03 1.10723933e+02] [ 3.16795085e-01 9.48493562e-01 -9.14883303e-04 1.61665655e+01] [ 2.38979303e-03 1.66375396e-04 9.99997131e-01 5.50756621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.75, Y:16.18, Z:0.55 [[ 9.48485365e-01 -3.16804909e-01 -3.18763400e-03 1.10749472e+02] [ 3.16802260e-01 9.48490692e-01 -1.31768608e-03 1.61751844e+01] [ 3.44089060e-03 2.39956305e-04 9.99994051e-01 5.50526605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:16.18, Z:0.55 [[ 9.48270895e-01 -3.17438361e-01 -3.89828318e-03 1.10776373e+02] [ 3.17434400e-01 9.48278863e-01 -1.61221685e-03 1.61833166e+01] [ 4.20843902e-03 2.91369130e-04 9.99991102e-01 5.50207873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.80, Y:16.19, Z:0.55 [[ 9.47827394e-01 -3.18767094e-01 -3.28178638e-03 1.10802257e+02] [ 3.18764294e-01 9.47833045e-01 -1.35762633e-03 1.61909043e+01] [ 3.54335217e-03 2.40679108e-04 9.99993693e-01 5.49704155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:16.20, Z:0.55 [[ 9.47128042e-01 -3.20852679e-01 -1.42501128e-03 1.10829572e+02] [ 3.20852153e-01 9.47129109e-01 -5.89681028e-04 1.61988373e+01] [ 1.53887040e-03 1.01285502e-04 9.99998811e-01 5.49645728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:16.20, Z:0.55 [[ 9.45913248e-01 -3.24417753e-01 1.11759670e-03 1.10858672e+02] [ 3.24417431e-01 9.45913905e-01 4.63003432e-04 1.62026654e+01] [-1.20735679e-03 -7.53932297e-05 9.99999268e-01 5.49142763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.89, Y:16.21, Z:0.55 [[ 9.45423749e-01 -3.25843115e-01 4.47394887e-04 1.10886264e+02] [ 3.25843063e-01 9.45423854e-01 1.85544572e-04 1.62086071e+01] [-4.83436219e-04 -2.96377241e-05 9.99999883e-01 5.49026987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:16.21, Z:0.55 [[ 9.44968981e-01 -3.27158760e-01 -8.78010481e-04 1.10914054e+02] [ 3.27158563e-01 9.44969387e-01 -3.63835028e-04 1.62148340e+01] [ 9.48724842e-04 5.65641685e-05 9.99999548e-01 5.48688618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.94, Y:16.22, Z:0.55 [[ 9.44842323e-01 -3.27515811e-01 -2.52555948e-03 1.10941714e+02] [ 3.27514176e-01 9.44845684e-01 -1.04742121e-03 1.62224715e+01] [ 2.72931098e-03 1.62491357e-04 9.99996262e-01 5.48388945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98140051299998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:110.97, Y:16.23, Z:0.55 [[ 9.45557660e-01 -3.25449002e-01 -1.91265278e-03 1.10969602e+02] [ 3.25448060e-01 9.45559586e-01 -7.93613730e-04 1.62291494e+01] [ 2.06680797e-03 1.27938405e-04 9.99997856e-01 5.47057960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.00, Y:16.24, Z:0.55 [[ 9.46623527e-01 -3.22340323e-01 -7.84356452e-04 1.10995715e+02] [ 3.22340163e-01 9.46623850e-01 -3.25524687e-04 1.62371847e+01] [ 8.47420257e-04 5.53197403e-05 9.99999639e-01 5.48296455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.02, Y:16.25, Z:0.55 [[ 9.46567532e-01 -3.22504717e-01 -7.84313941e-04 1.11021990e+02] [ 3.22504557e-01 9.46567855e-01 -3.25627081e-04 1.62482481e+01] [ 8.47422635e-04 5.52832023e-05 9.99999639e-01 5.48319785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:111.05, Y:16.26, Z:0.55 [[ 9.47911610e-01 -3.18533248e-01 3.86350280e-04 1.11049198e+02] [ 3.18533209e-01 9.47911688e-01 1.60732366e-04 1.62567745e+01] [-4.17424548e-04 -2.92946813e-05 9.99999912e-01 5.49313246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:16.27, Z:0.55 [[ 9.49291518e-01 -3.14396884e-01 4.61090914e-04 1.11074749e+02] [ 3.14396828e-01 9.49291630e-01 1.91743009e-04 1.62656451e+01] [-4.97993150e-04 -3.70544919e-05 9.99999875e-01 5.49691323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:16.28, Z:0.55 [[ 9.51618374e-01 -3.07280010e-01 -1.21020891e-03 1.11100650e+02] [ 3.07279617e-01 9.51619138e-01 -5.03168509e-04 1.62755905e+01] [ 1.30627159e-03 1.06951868e-04 9.99999141e-01 5.48218510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:16.29, Z:0.55 [[ 9.52457476e-01 -3.04667837e-01 -1.50494590e-03 1.11126650e+02] [ 3.04667225e-01 9.52458655e-01 -6.26074935e-04 1.62860180e+01] [ 1.62414365e-03 1.37802061e-04 9.99998672e-01 5.47078139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:16.30, Z:0.55 [[ 9.52984093e-01 -3.03017787e-01 -1.24055816e-03 1.11152678e+02] [ 3.03017369e-01 9.52984894e-01 -5.16324488e-04 1.62959104e+01] [ 1.33868869e-03 1.16138354e-04 9.99999097e-01 5.46331404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:16.31, Z:0.55 [[ 9.53291832e-01 -3.02049940e-01 -7.19152847e-04 1.11179091e+02] [ 3.02049800e-01 9.53292101e-01 -2.99400290e-04 1.63060834e+01] [ 7.75996568e-04 6.81958779e-05 9.99999697e-01 5.46409055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:16.32, Z:0.55 [[ 9.53472393e-01 -3.01478896e-01 9.33559162e-04 1.11203020e+02] [ 3.01478658e-01 9.53472846e-01 3.89122113e-04 1.63176020e+01] [-1.00743542e-03 -8.95690289e-05 9.99999489e-01 5.46709171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:16.33, Z:0.55 [[ 9.53296273e-01 -3.02034821e-01 1.08715350e-03 1.11228242e+02] [ 3.02034499e-01 9.53296888e-01 4.53398490e-04 1.63297784e+01] [-1.17332218e-03 -1.03865230e-04 9.99999306e-01 5.46499569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:16.34, Z:0.55 [[ 9.53034390e-01 -3.02861748e-01 4.61662819e-04 1.11253877e+02] [ 3.02861690e-01 9.53034501e-01 1.92724166e-04 1.63413735e+01] [-4.98349372e-04 -4.38527762e-05 9.99999875e-01 5.46342967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:16.35, Z:0.55 [[ 9.52704389e-01 -3.03898578e-01 -2.74777803e-05 1.11280009e+02] [ 3.03898578e-01 9.52704390e-01 -1.12994905e-05 1.63520118e+01] [ 2.96121010e-05 2.41461583e-06 1.00000000e+00 5.46151105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:16.36, Z:0.55 [[ 9.51794228e-01 -3.06736668e-01 6.02829892e-04 1.11305195e+02] [ 3.06736570e-01 9.51794418e-01 2.51714596e-04 1.63615476e+01] [-6.50980222e-04 -5.46705265e-05 9.99999787e-01 5.46242644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.33, Y:16.37, Z:0.55 [[ 9.51120919e-01 -3.08816954e-01 1.04260648e-03 1.11331046e+02] [ 3.08816660e-01 9.51121486e-01 4.35616935e-04 1.63719110e+01] [-1.12617132e-03 -9.23501292e-05 9.99999362e-01 5.46528548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:16.38, Z:0.55 [[ 9.50401920e-01 -3.11022845e-01 9.90092893e-04 1.11356069e+02] [ 3.11022581e-01 9.50402432e-01 4.13685806e-04 1.63809835e+01] [-1.06965243e-03 -8.52265368e-05 9.99999424e-01 5.46101553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:16.39, Z:0.55 [[ 9.49744256e-01 -3.13026881e-01 1.41221425e-04 1.11382869e+02] [ 3.13026876e-01 9.49744266e-01 5.91907387e-05 1.63902425e+01] [-1.52652531e-04 -1.20099624e-05 9.99999988e-01 5.45535462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:16.40, Z:0.55 [[ 9.49367999e-01 -3.14165881e-01 -4.49570565e-04 1.11408607e+02] [ 3.14165827e-01 9.49368105e-01 -1.87861067e-04 1.63988031e+01] [ 4.85827493e-04 3.71095773e-05 9.99999881e-01 5.45344169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:16.41, Z:0.55 [[ 9.48994405e-01 -3.15292861e-01 1.75188723e-04 1.11435313e+02] [ 3.15292853e-01 9.48994421e-01 7.34525434e-05 1.64066163e+01] [-1.89412183e-04 -1.44703005e-05 9.99999982e-01 5.46080133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:16.42, Z:0.55 [[ 9.48774645e-01 -3.15952085e-01 9.76163264e-04 1.11460580e+02] [ 3.15951831e-01 9.48775144e-01 4.08622157e-04 1.64158087e+01] [-1.05526446e-03 -7.92697717e-05 9.99999440e-01 5.47098249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:16.42, Z:0.55 [[ 9.48652260e-01 -3.16315628e-01 1.82010766e-03 1.11486851e+02] [ 3.16314744e-01 9.48653995e-01 7.62245710e-04 1.64249081e+01] [-1.96776264e-03 -1.47379227e-04 9.99998053e-01 5.47627109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.51, Y:16.43, Z:0.55 [[ 9.48845604e-01 -3.15736541e-01 1.56723042e-03 1.11513177e+02] [ 3.15735885e-01 9.48846890e-01 6.56421267e-04 1.64331510e+01] [-1.69431789e-03 -1.28011551e-04 9.99998556e-01 5.47879713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:111.54, Y:16.44, Z:0.55 [[ 9.50046184e-01 -3.12099899e-01 -2.42906807e-03 1.11540454e+02] [ 3.12098310e-01 9.50049267e-01 -1.01763263e-03 1.64403230e+01] [ 2.62533738e-03 2.08689958e-04 9.99996532e-01 5.46348995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:16.45, Z:0.55 [[ 9.50706951e-01 -3.10076103e-01 -3.01737636e-03 1.11566495e+02] [ 3.10073638e-01 9.50711701e-01 -1.26477546e-03 1.64519477e+01] [ 3.26083166e-03 2.66821953e-04 9.99994648e-01 5.45117966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:16.46, Z:0.54 [[ 9.51322252e-01 -3.08187847e-01 -2.49480526e-03 1.11590936e+02] [ 3.08186155e-01 9.51325496e-01 -1.04611777e-03 1.64646672e+01] [ 2.69577263e-03 2.26330676e-04 9.99996341e-01 5.44573109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:16.48, Z:0.55 [[ 9.52151528e-01 -3.05621909e-01 -1.64810110e-03 1.11614911e+02] [ 3.05621166e-01 9.52152942e-01 -6.91338109e-04 1.64797720e+01] [ 1.78053238e-03 1.54564057e-04 9.99998403e-01 5.45609620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:16.49, Z:0.55 [[ 9.52247262e-01 -3.05322433e-01 -1.83421682e-03 1.11639725e+02] [ 3.05321511e-01 9.52249013e-01 -7.69818225e-04 1.64918170e+01] [ 1.98167393e-03 1.73031444e-04 9.99998022e-01 5.45884856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:16.50, Z:0.55 [[ 9.52157570e-01 -3.05600169e-01 -2.12099737e-03 1.11663782e+02] [ 3.05598937e-01 9.52159911e-01 -8.90569822e-04 1.65032150e+01] [ 2.29168695e-03 1.99788257e-04 9.99997354e-01 5.45718784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:16.52, Z:0.55 [[ 9.51758088e-01 -3.06840352e-01 -2.35379178e-03 1.11688912e+02] [ 3.06838837e-01 9.51760973e-01 -9.88781512e-04 1.65153158e+01] [ 2.54364523e-03 2.18846069e-04 9.99996741e-01 5.45379072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.71, Y:16.53, Z:0.55 [[ 9.51259050e-01 -3.08380222e-01 -2.80318429e-03 1.11713920e+02] [ 3.08378079e-01 9.51263146e-01 -1.17794567e-03 1.65264934e+01] [ 3.02982106e-03 2.56090892e-04 9.99995377e-01 5.45486715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:16.54, Z:0.54 [[ 9.49750840e-01 -3.12993554e-01 -2.89425749e-03 1.11739483e+02] [ 3.12991289e-01 9.49755217e-01 -1.21659809e-03 1.65365003e+01] [ 3.12962351e-03 2.49587681e-04 9.99995072e-01 5.44488918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.76, Y:16.55, Z:0.54 [[ 9.48860945e-01 -3.15676427e-01 -3.36171828e-03 1.11764930e+02] [ 3.15673385e-01 9.48866858e-01 -1.41379100e-03 1.65471139e+01] [ 3.63612356e-03 2.80286076e-04 9.99993350e-01 5.44876869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:16.56, Z:0.54 [[ 9.48059802e-01 -3.18078523e-01 -2.94379476e-03 1.11790547e+02] [ 3.18076200e-01 9.48064342e-01 -1.23865677e-03 1.65589348e+01] [ 3.18489695e-03 2.37969640e-04 9.99994900e-01 5.44518556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:16.57, Z:0.54 [[ 9.47469512e-01 -3.19836997e-01 -2.41226540e-03 1.11815620e+02] [ 3.19835442e-01 9.47472564e-01 -1.01550798e-03 1.65717026e+01] [ 2.61035230e-03 1.90634882e-04 9.99996575e-01 5.44029603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.84, Y:16.58, Z:0.54 [[ 9.47119237e-01 -3.20874155e-01 -2.21955133e-03 1.11841101e+02] [ 3.20872840e-01 9.47121822e-01 -9.34859477e-04 1.65842133e+01] [ 2.40215774e-03 1.73229656e-04 9.99997100e-01 5.44167863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:16.59, Z:0.54 [[ 9.46809508e-01 -3.21791405e-01 -1.43071202e-03 1.11866240e+02] [ 3.21790859e-01 9.46810583e-01 -6.02779626e-04 1.65930870e+01] [ 1.54858258e-03 1.10327430e-04 9.99998795e-01 5.44026986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:16.60, Z:0.54 [[ 9.46556056e-01 -3.22537114e-01 -1.20152961e-03 1.11892638e+02] [ 3.22536730e-01 9.46556814e-01 -5.06376186e-04 1.66024928e+01] [ 1.30064116e-03 9.17760133e-05 9.99999150e-01 5.44662427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:16.61, Z:0.54 [[ 9.46432695e-01 -3.22898003e-01 -1.42622509e-03 1.11918877e+02] [ 3.22897461e-01 9.46433763e-01 -6.01404847e-04 1.66131009e+01] [ 1.54402000e-03 1.08664749e-04 9.99998802e-01 5.44460644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:16.62, Z:0.54 [[ 9.46385867e-01 -3.23024016e-01 -3.04573814e-03 1.11944041e+02] [ 3.23021543e-01 9.46390739e-01 -1.28516557e-03 1.66244763e+01] [ 3.29759772e-03 2.32423498e-04 9.99994536e-01 5.43255806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:16.63, Z:0.54 [[ 9.46533481e-01 -3.22587208e-01 -3.44414459e-03 1.11968949e+02] [ 3.22584042e-01 9.46539710e-01 -1.45371809e-03 1.66347263e+01] [ 3.72897048e-03 2.64966766e-04 9.99993012e-01 5.42786460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:16.64, Z:0.54 [[ 9.46776687e-01 -3.21879463e-01 -2.74156702e-03 1.11993775e+02] [ 3.21877452e-01 9.46780632e-01 -1.15741455e-03 1.66449743e+01] [ 2.96821053e-03 2.13364505e-04 9.99995572e-01 5.43103158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:16.66, Z:0.54 [[ 9.47088159e-01 -3.20965706e-01 -2.24379588e-03 1.12019065e+02] [ 3.20964356e-01 9.47090800e-01 -9.47644354e-04 1.66568989e+01] [ 2.42923977e-03 1.77324246e-04 9.99997034e-01 5.43464036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:16.67, Z:0.54 [[ 9.47436200e-01 -3.19938472e-01 -2.00510488e-03 1.12044277e+02] [ 3.19937391e-01 9.47438308e-01 -8.47251396e-04 1.66703018e+01] [ 2.17078149e-03 1.61208619e-04 9.99997631e-01 5.43295436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:16.68, Z:0.54 [[ 9.47817407e-01 -3.18807135e-01 -2.04307144e-03 1.12068186e+02] [ 3.18806010e-01 9.47819594e-01 -8.63583080e-04 1.66829199e+01] [ 2.21177959e-03 1.67175621e-04 9.99997540e-01 5.42953387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:16.69, Z:0.54 [[ 9.48331469e-01 -3.17259887e-01 -3.68639180e-03 1.12092769e+02] [ 3.17256208e-01 9.48338584e-01 -1.55859840e-03 1.66931478e+01] [ 3.99042833e-03 3.08537222e-04 9.99991991e-01 5.42079745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:16.70, Z:0.54 [[ 9.48210740e-01 -3.17614761e-01 -4.15397536e-03 1.12117821e+02] [ 3.17610091e-01 9.48219776e-01 -1.75686003e-03 1.67024677e+01] [ 4.49688627e-03 3.46529056e-04 9.99989829e-01 5.41527686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:16.71, Z:0.54 [[ 9.47855009e-01 -3.18679005e-01 -3.81756963e-03 1.12143962e+02] [ 3.18675067e-01 9.47862644e-01 -1.61532980e-03 1.67125058e+01] [ 4.13330334e-03 3.14534187e-04 9.99991408e-01 5.41622418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:16.72, Z:0.54 [[ 9.47328059e-01 -3.20257691e-01 -2.13551381e-03 1.12169150e+02] [ 3.20256462e-01 9.47330450e-01 -9.03816720e-04 1.67218904e+01] [ 2.31249152e-03 1.72298841e-04 9.99997311e-01 5.41372925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.20, Y:16.73, Z:0.54 [[ 9.45646618e-01 -3.25195924e-01 2.91594079e-04 1.12196819e+02] [ 3.25195901e-01 9.45646663e-01 1.23627936e-04 1.67288752e+01] [-3.15948269e-04 -2.20831407e-05 9.99999950e-01 5.43029714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:16.74, Z:0.54 [[ 9.44639632e-01 -3.28108683e-01 8.11478544e-04 1.12223799e+02] [ 3.28108508e-01 9.44639978e-01 3.43971874e-04 1.67372503e+01] [-8.79415233e-04 -5.86764502e-05 9.99999612e-01 5.43206919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.25, Y:16.75, Z:0.54 [[ 9.43757142e-01 -3.30639142e-01 4.62620889e-04 1.12250472e+02] [ 3.30639085e-01 9.43757255e-01 1.96277231e-04 1.67458801e+01] [-5.01498756e-04 -3.22774908e-05 9.99999874e-01 5.43373909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:16.75, Z:0.54 [[ 9.43136983e-01 -3.32404319e-01 2.79348378e-05 1.12276525e+02] [ 3.32404319e-01 9.43136983e-01 1.19182294e-05 1.67533412e+01] [-3.03080495e-05 -1.95486219e-06 1.00000000e+00 5.43244126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:16.76, Z:0.54 [[ 9.42735354e-01 -3.33541490e-01 -3.56579424e-04 1.12302656e+02] [ 3.33541456e-01 9.42735421e-01 -1.51152785e-04 1.67604218e+01] [ 3.86575778e-04 2.35630541e-05 9.99999925e-01 5.42868401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:16.76, Z:0.54 [[ 9.43150432e-01 -3.32363879e-01 -1.23043224e-03 1.12330889e+02] [ 3.32363479e-01 9.43151231e-01 -5.21927085e-04 1.67643768e+01] [ 1.33395339e-03 8.33050173e-05 9.99999107e-01 5.42428222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:16.77, Z:0.54 [[ 9.43886441e-01 -3.30265969e-01 -1.66619353e-03 1.12358106e+02] [ 3.30265232e-01 9.43887904e-01 -7.07187674e-04 1.67729742e+01] [ 1.80625994e-03 1.17219062e-04 9.99998362e-01 5.42462205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.39, Y:16.78, Z:0.54 [[ 9.44890417e-01 -3.27376613e-01 -2.57920511e-03 1.12385024e+02] [ 3.27374836e-01 9.44893918e-01 -1.09535563e-03 1.67821438e+01] [ 2.79566904e-03 1.90624187e-04 9.99996074e-01 5.42427517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:16.79, Z:0.54 [[ 9.45805440e-01 -3.24719458e-01 -3.05663145e-03 1.12410311e+02] [ 3.24716947e-01 9.45810350e-01 -1.29852872e-03 1.67910917e+01] [ 3.31265120e-03 2.35615494e-04 9.99994485e-01 5.41815383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.44, Y:16.80, Z:0.54 [[ 9.47204682e-01 -3.20613133e-01 -3.24181693e-03 1.12436738e+02] [ 3.20610283e-01 9.47210192e-01 -1.37782335e-03 1.67992814e+01] [ 3.51243030e-03 2.65720885e-04 9.99993796e-01 5.41634853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:16.81, Z:0.54 [[ 9.47608983e-01 -3.19421728e-01 -2.64098992e-03 1.12463022e+02] [ 3.19419830e-01 9.47612638e-01 -1.12301408e-03 1.68091118e+01] [ 2.86135052e-03 2.20593677e-04 9.99995882e-01 5.42257462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.49, Y:16.82, Z:0.54 [[ 9.47913614e-01 -3.18520822e-01 -2.06552753e-03 1.12487934e+02] [ 3.18519658e-01 9.47915848e-01 -8.78569017e-04 1.68189693e+01] [ 2.23778881e-03 1.74896409e-04 9.99997481e-01 5.42279865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:16.83, Z:0.54 [[ 9.47953160e-01 -3.18405253e-01 -1.70339323e-03 1.12513341e+02] [ 3.18404461e-01 9.47954679e-01 -7.24735676e-04 1.68282845e+01] [ 1.84549923e-03 1.44647470e-04 9.99998287e-01 5.42517160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:16.84, Z:0.54 [[ 9.47887359e-01 -3.18602755e-01 -1.35635948e-03 1.12538868e+02] [ 3.18602253e-01 9.47888322e-01 -5.77229851e-04 1.68369113e+01] [ 1.46958433e-03 1.15009693e-04 9.99998914e-01 5.42598720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.57, Y:16.85, Z:0.54 [[ 9.47769325e-01 -3.18954051e-01 -1.27279888e-03 1.12565992e+02] [ 3.18953609e-01 9.47770173e-01 -5.41848688e-04 1.68455273e+01] [ 1.37914565e-03 1.07583768e-04 9.99999043e-01 5.43003389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:16.85, Z:0.54 [[ 9.47737064e-01 -3.19052415e-01 1.14248004e-04 1.12592621e+02] [ 3.19052412e-01 9.47737071e-01 4.88426551e-05 1.68541550e+01] [-1.23860436e-04 -9.83889329e-06 9.99999992e-01 5.43649029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.62, Y:16.87, Z:0.54 [[ 9.47831883e-01 -3.18770125e-01 5.73249908e-04 1.12616796e+02] [ 3.18770036e-01 9.47832055e-01 2.44367760e-04 1.68651061e+01] [-6.21241780e-04 -4.88846604e-05 9.99999806e-01 5.43712302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.64, Y:16.88, Z:0.54 [[ 9.47797010e-01 -3.18873798e-01 5.73214009e-04 1.12642974e+02] [ 3.18873708e-01 9.47797182e-01 2.44451977e-04 1.68764048e+01] [-6.21239953e-04 -4.89079761e-05 9.99999806e-01 5.43735636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:16.89, Z:0.54 [[ 9.48035488e-01 -3.18162673e-01 1.10749882e-03 1.12668440e+02] [ 3.18162337e-01 9.48036130e-01 4.72524500e-04 1.68877338e+01] [-1.20028855e-03 -9.56055833e-05 9.99999275e-01 5.43309719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:16.90, Z:0.54 [[ 9.48924151e-01 -3.15504012e-01 4.16843883e-04 1.12695016e+02] [ 3.15503964e-01 9.48924242e-01 1.78046164e-04 1.68960599e+01] [-4.51727545e-04 -3.74364077e-05 9.99999897e-01 5.43387453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:16.91, Z:0.54 [[ 9.49508946e-01 -3.13739685e-01 -4.13546948e-04 1.12720574e+02] [ 3.13739637e-01 9.49509036e-01 -1.76440411e-04 1.69053004e+01] [ 4.48022923e-04 3.77856789e-05 9.99999899e-01 5.43742843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:16.92, Z:0.54 [[ 9.50023482e-01 -3.12176756e-01 -1.02754271e-03 1.12745630e+02] [ 3.12176462e-01 9.50024033e-01 -4.38607585e-04 1.69160419e+01] [ 1.11311336e-03 9.59128583e-05 9.99999376e-01 5.43265939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:16.93, Z:0.54 [[ 9.50276045e-01 -3.11404569e-01 -1.62272976e-03 1.12770945e+02] [ 3.11403836e-01 9.50277418e-01 -6.92966533e-04 1.69277449e+01] [ 1.75783639e-03 1.53185226e-04 9.99998443e-01 5.42658870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.80, Y:16.94, Z:0.54 [[ 9.50157155e-01 -3.11769131e-01 -1.17857711e-03 1.12795623e+02] [ 3.11768744e-01 9.50157880e-01 -5.03479482e-04 1.69381575e+01] [ 1.27680369e-03 1.10941127e-04 9.99999179e-01 5.41696629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:112.82, Y:16.95, Z:0.54 [[ 9.49607960e-01 -3.13436119e-01 -1.58788846e-03 1.12820806e+02] [ 3.13435419e-01 9.49609276e-01 -6.78560944e-04 1.69476018e+01] [ 1.72055912e-03 1.46666392e-04 9.99998509e-01 5.41540232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:16.96, Z:0.54 [[ 9.48925153e-01 -3.15489531e-01 -2.72203841e-03 1.12847223e+02] [ 3.15487480e-01 9.48929025e-01 -1.16376544e-03 1.69573527e+01] [ 2.95017707e-03 2.45557258e-04 9.99995618e-01 5.41997931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:16.97, Z:0.54 [[ 9.48254273e-01 -3.17490821e-01 -3.66238605e-03 1.12873184e+02] [ 3.17487120e-01 9.48261290e-01 -1.56664562e-03 1.69679398e+01] [ 3.97029453e-03 3.22818000e-04 9.99992066e-01 5.42110007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.90, Y:16.98, Z:0.54 [[ 9.47671423e-01 -3.19218212e-01 -4.31365322e-03 1.12897895e+02] [ 3.19213092e-01 9.47681167e-01 -1.84576415e-03 1.69783883e+01] [ 4.67716945e-03 3.72203352e-04 9.99988993e-01 5.42399060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:16.99, Z:0.54 [[ 9.46834434e-01 -3.21686611e-01 -4.72002451e-03 1.12923159e+02] [ 3.21680510e-01 9.46846117e-01 -2.02009546e-03 1.69870609e+01] [ 5.11897454e-03 3.94356053e-04 9.99986820e-01 5.43239416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:17.00, Z:0.54 [[ 9.46418513e-01 -3.22903487e-01 -5.03347251e-03 1.12948952e+02] [ 3.22896560e-01 9.46431807e-01 -2.15524605e-03 1.69977551e+01] [ 5.45977495e-03 4.14473799e-04 9.99985009e-01 5.43219904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.97, Y:17.01, Z:0.54 [[ 9.46124969e-01 -3.23763000e-01 -5.00639988e-03 1.12973681e+02] [ 3.23756156e-01 9.46138126e-01 -2.14421678e-03 1.70093059e+01] [ 5.43096385e-03 4.07844253e-04 9.99985169e-01 5.43196372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.00, Y:17.02, Z:0.54 [[ 9.45873577e-01 -3.24505229e-01 -4.41950419e-03 1.12998654e+02] [ 3.24499900e-01 9.45883835e-01 -1.89372336e-03 1.70215320e+01] [ 4.79486070e-03 3.57094221e-04 9.99988441e-01 5.42480360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.02, Y:17.03, Z:0.54 [[ 9.45666480e-01 -3.25113530e-01 -4.01254926e-03 1.13023683e+02] [ 3.25109140e-01 9.45674938e-01 -1.71980876e-03 1.70327624e+01] [ 4.35370037e-03 3.21849059e-04 9.99990471e-01 5.42104468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:17.04, Z:0.54 [[ 9.45160815e-01 -3.26584116e-01 -3.72149722e-03 1.13048124e+02] [ 3.26580350e-01 9.45168096e-01 -1.59540893e-03 1.70435001e+01] [ 4.03847566e-03 2.92550139e-04 9.99991803e-01 5.42232633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:17.06, Z:0.54 [[ 9.43542635e-01 -3.31236541e-01 -3.10625442e-03 1.13072736e+02] [ 3.31233941e-01 9.43547721e-01 -1.33223416e-03 1.70569257e+01] [ 3.37218391e-03 2.28122836e-04 9.99994288e-01 5.42677026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:17.07, Z:0.54 [[ 9.42669565e-01 -3.33711871e-01 -3.23706917e-03 1.13096504e+02] [ 3.33709060e-01 9.42675095e-01 -1.38875162e-03 1.70691297e+01] [ 3.51494739e-03 2.28894571e-04 9.99993796e-01 5.42814763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:17.08, Z:0.54 [[ 9.41758554e-01 -3.36261262e-01 -4.38059370e-03 1.13122362e+02] [ 3.36256137e-01 9.41768695e-01 -1.88024820e-03 1.70810382e+01] [ 4.75776065e-03 2.97738307e-04 9.99988637e-01 5.42878495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.15, Y:17.09, Z:0.54 [[ 9.41063135e-01 -3.38187600e-01 -5.41503849e-03 1.13148228e+02] [ 3.38179793e-01 9.41078647e-01 -2.32551589e-03 1.70917240e+01] [ 5.88243773e-03 3.57200681e-04 9.99982635e-01 5.43172137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:17.10, Z:0.54 [[ 9.40455522e-01 -3.39890298e-01 -4.24234038e-03 1.13173411e+02] [ 3.39885521e-01 9.40465051e-01 -1.82237171e-03 1.71021717e+01] [ 4.60917933e-03 2.71949469e-04 9.99989341e-01 5.44282921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:17.11, Z:0.54 [[ 9.40413323e-01 -3.40019743e-01 -3.05887580e-03 1.13198831e+02] [ 3.40017258e-01 9.40418277e-01 -1.31455996e-03 1.71140482e+01] [ 3.32359905e-03 1.96159139e-04 9.99994458e-01 5.44290528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:17.13, Z:0.54 [[ 9.40430609e-01 -3.39979750e-01 -2.00999527e-03 1.13224326e+02] [ 3.39978676e-01 9.40432748e-01 -8.64190342e-04 1.71256658e+01] [ 2.18407259e-03 1.29355517e-04 9.99997607e-01 5.43967625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:17.14, Z:0.54 [[ 9.40448841e-01 -3.39932951e-01 -1.25174765e-03 1.13249030e+02] [ 3.39932535e-01 9.40449670e-01 -5.38336858e-04 1.71354605e+01] [ 1.36020410e-03 8.07685240e-05 9.99999072e-01 5.43980157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.28, Y:17.15, Z:0.54 [[ 9.40368882e-01 -3.40155543e-01 -7.57318742e-04 1.13275253e+02] [ 3.40155390e-01 9.40369185e-01 -3.25743761e-04 1.71454950e+01] [ 8.22962754e-04 4.87132443e-05 9.99999660e-01 5.44504231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:17.15, Z:0.55 [[ 9.40335100e-01 -3.40249755e-01 -6.41919069e-05 1.13300277e+02] [ 3.40249754e-01 9.40335102e-01 -2.75589161e-05 1.71548221e+01] [ 6.97388178e-05 4.07333561e-06 9.99999998e-01 5.45314555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:17.16, Z:0.55 [[ 9.40481197e-01 -3.39845186e-01 -6.06260060e-04 1.13325477e+02] [ 3.39845089e-01 9.40481391e-01 -2.60945923e-04 1.71640728e+01] [ 6.58857521e-04 3.93802298e-05 9.99999782e-01 5.45587477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:17.17, Z:0.55 [[ 9.40589700e-01 -3.39541917e-01 -1.51756122e-03 1.13350331e+02] [ 3.39541303e-01 9.40590919e-01 -6.53478099e-04 1.71738739e+01] [ 1.64928751e-03 9.93800567e-05 9.99998635e-01 5.45142143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:17.18, Z:0.54 [[ 9.40733070e-01 -3.39142202e-01 -1.96390072e-03 1.13376266e+02] [ 3.39141171e-01 9.40735111e-01 -8.46086736e-04 1.71843480e+01] [ 2.13445408e-03 1.29902183e-04 9.99997714e-01 5.44211167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:17.20, Z:0.54 [[ 9.41212928e-01 -3.37813266e-01 -6.49267243e-04 1.13401416e+02] [ 3.37813153e-01 9.41213151e-01 -2.79748926e-04 1.71956321e+01] [ 7.05601766e-04 4.39722908e-05 9.99999750e-01 5.44958638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.43, Y:17.21, Z:0.55 [[ 9.41474590e-01 -3.37083955e-01 5.34093926e-05 1.13426131e+02] [ 3.37083954e-01 9.41474592e-01 2.31038617e-05 1.72066097e+01] [-5.80715271e-05 -3.74824946e-06 9.99999998e-01 5.46479172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:113.45, Y:17.22, Z:0.55 [[ 9.41777687e-01 -3.36235027e-01 8.91882850e-04 1.13452321e+02] [ 3.36234813e-01 9.41778107e-01 3.84960629e-04 1.72178452e+01] [-9.69392990e-04 -6.26652676e-05 9.99999528e-01 5.47621855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:17.23, Z:0.55 [[ 9.42265336e-01 -3.34865564e-01 1.04425286e-03 1.13477070e+02] [ 3.34865269e-01 9.42265912e-01 4.50705855e-04 1.72286813e+01] [-1.13488974e-03 -7.50004898e-05 9.99999353e-01 5.47348594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.50, Y:17.24, Z:0.55 [[ 9.42804769e-01 -3.33345407e-01 8.27995609e-05 1.13502219e+02] [ 3.33345405e-01 9.42804773e-01 3.59218544e-05 1.72405895e+01] [-9.00382064e-05 -6.26644249e-06 9.99999996e-01 5.46498239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:17.25, Z:0.55 [[ 9.43409091e-01 -3.31630448e-01 -7.29744968e-04 1.13526954e+02] [ 3.31630303e-01 9.43409372e-01 -3.15075556e-04 1.72518488e+01] [ 7.92936890e-04 5.52395995e-05 9.99999684e-01 5.45737070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01140051299998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:113.55, Y:17.27, Z:0.54 [[ 9.44178171e-01 -3.29435197e-01 1.81336813e-04 1.13550059e+02] [ 3.29433115e-01 9.44169939e-01 -4.11703532e-03 1.72670665e+01] [ 1.18508357e-03 3.94695323e-03 9.99991509e-01 5.42434423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:17.27, Z:0.55 [[ 9.44239931e-01 -3.29247679e-01 -2.63032976e-03 1.13577637e+02] [ 3.29254920e-01 9.44236017e-01 3.08900629e-03 1.72720821e+01] [ 1.46660394e-03 -3.78281210e-03 9.99991770e-01 5.45424399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:17.29, Z:0.54 [[ 9.44143877e-01 -3.29531449e-01 -1.16786612e-03 1.13600466e+02] [ 3.29531075e-01 9.44144595e-01 -5.04898640e-04 1.72863215e+01] [ 1.26901447e-03 9.18487816e-05 9.99999191e-01 5.44599517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:17.30, Z:0.54 [[ 9.43598528e-01 -3.31082737e-01 -2.45758328e-03 1.13625888e+02] [ 3.31081086e-01 9.43601709e-01 -1.06277257e-03 1.72962285e+01] [ 2.67084543e-03 1.89171289e-04 9.99996415e-01 5.43176246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:17.31, Z:0.54 [[ 9.43312588e-01 -3.31890890e-01 -3.13022049e-03 1.13652400e+02] [ 3.31888213e-01 9.43317752e-01 -1.35406932e-03 1.73061265e+01] [ 3.40219582e-03 2.38427348e-04 9.99994184e-01 5.42840675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:17.32, Z:0.54 [[ 9.43297683e-01 -3.31931773e-01 -3.28313185e-03 1.13677727e+02] [ 3.31928827e-01 9.43303363e-01 -1.42070981e-03 1.73155444e+01] [ 3.56856804e-03 2.50386167e-04 9.99993601e-01 5.42733320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:17.33, Z:0.54 [[ 9.43454650e-01 -3.31487563e-01 -3.05259788e-03 1.13703829e+02] [ 3.31485012e-01 9.43459559e-01 -1.32156907e-03 1.73253328e+01] [ 3.31808636e-03 2.34950043e-04 9.99994468e-01 5.43146249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:17.34, Z:0.54 [[ 9.43721957e-01 -3.30732325e-01 -2.23557336e-03 1.13729150e+02] [ 3.30730954e-01 9.43724588e-01 -9.68114133e-04 1.73356972e+01] [ 2.42995219e-03 1.74257255e-04 9.99997032e-01 5.43479162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:17.35, Z:0.54 [[ 9.44070296e-01 -3.29741728e-01 -1.29218452e-03 1.13753773e+02] [ 3.29741269e-01 9.44071175e-01 -5.59674609e-04 1.73461532e+01] [ 1.40446223e-03 1.02285611e-04 9.99999009e-01 5.43689885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:17.36, Z:0.54 [[ 9.44388939e-01 -3.28830128e-01 -5.28259009e-04 1.13779273e+02] [ 3.28830051e-01 9.44389086e-01 -2.28790671e-04 1.73567856e+01] [ 5.74115308e-04 4.23599425e-05 9.99999834e-01 5.43738793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:17.37, Z:0.54 [[ 9.45053355e-01 -3.26911740e-01 -1.69390893e-03 1.13806647e+02] [ 3.26910946e-01 9.45054863e-01 -7.34325099e-04 1.73650764e+01] [ 1.84089637e-03 1.40219028e-04 9.99998296e-01 5.42650059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:17.37, Z:0.54 [[ 9.45098766e-01 -3.26776158e-01 -2.38029355e-03 1.13832045e+02] [ 3.26774588e-01 9.45101742e-01 -1.03224419e-03 1.73736876e+01] [ 2.58693237e-03 1.97753264e-04 9.99996634e-01 5.42026550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:17.38, Z:0.54 [[ 9.45014809e-01 -3.27018684e-01 -2.40651057e-03 1.13857463e+02] [ 3.27017079e-01 9.45017852e-01 -1.04392287e-03 1.73820179e+01] [ 2.61557773e-03 1.99552518e-04 9.99996559e-01 5.41760403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:17.39, Z:0.54 [[ 9.44910022e-01 -3.27318254e-01 -2.79491164e-03 1.13885525e+02] [ 3.27316088e-01 9.44914127e-01 -1.21296251e-03 1.73886603e+01] [ 3.03797626e-03 2.31320891e-04 9.99995359e-01 5.42116838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:17.40, Z:0.54 [[ 9.45079790e-01 -3.26818400e-01 -3.73163693e-03 1.13912600e+02] [ 3.26814532e-01 9.45087105e-01 -1.62032379e-03 1.73970548e+01] [ 4.05627357e-03 3.11782090e-04 9.99991725e-01 5.41931229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:17.41, Z:0.54 [[ 9.45467742e-01 -3.25681824e-01 -4.70086549e-03 1.13939405e+02] [ 3.25675667e-01 9.45479344e-01 -2.04220039e-03 1.74057187e+01] [ 5.10967877e-03 3.99877093e-04 9.99986866e-01 5.41908449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:17.42, Z:0.54 [[ 9.46069729e-01 -3.23914108e-01 -5.63187108e-03 1.13965813e+02] [ 3.23905232e-01 9.46086364e-01 -2.44788477e-03 1.74154251e+01] [ 6.12114085e-03 4.91677173e-04 9.99981145e-01 5.41728745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:17.43, Z:0.54 [[ 9.47451827e-01 -3.19842917e-01 -5.96192706e-03 1.13991494e+02] [ 3.19832881e-01 9.47470425e-01 -2.59263033e-03 1.74261135e+01] [ 6.47798401e-03 5.49572038e-04 9.99978867e-01 5.40355904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:17.44, Z:0.54 [[ 9.48175781e-01 -3.17703459e-01 -5.21546789e-03 1.14016619e+02] [ 3.17695743e-01 9.48189996e-01 -2.26857441e-03 1.74370751e+01] [ 5.66598841e-03 4.94075360e-04 9.99983826e-01 5.40136765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:17.45, Z:0.54 [[ 9.48745511e-01 -3.16008134e-01 -4.56236984e-03 1.14042866e+02] [ 3.16002207e-01 9.48756377e-01 -1.98535913e-03 1.74478793e+01] [ 4.95596712e-03 4.41881619e-04 9.99987621e-01 5.40591135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:17.46, Z:0.54 [[ 9.49036995e-01 -3.15128289e-01 -4.78988410e-03 1.14068933e+02] [ 3.15121739e-01 9.49048966e-01 -2.08540725e-03 1.74586815e+01] [ 5.20300537e-03 4.69732024e-04 9.99986354e-01 5.40489395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:17.47, Z:0.54 [[ 9.48998974e-01 -3.15232725e-01 -5.41088179e-03 1.14094157e+02] [ 3.15224364e-01 9.49014251e-01 -2.35639402e-03 1.74694782e+01] [ 5.87781643e-03 5.30573738e-04 9.99982585e-01 5.40113702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:17.48, Z:0.54 [[ 9.47995954e-01 -3.18238548e-01 -5.28177973e-03 1.14119675e+02] [ 3.18230622e-01 9.48010536e-01 -2.30117937e-03 1.74804129e+01] [ 5.73950681e-03 5.00684683e-04 9.99983404e-01 5.40621335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:17.49, Z:0.54 [[ 9.47360489e-01 -3.20141555e-01 -4.18202934e-03 1.14145261e+02] [ 3.20136600e-01 9.47369640e-01 -1.82290123e-03 1.74917429e+01] [ 4.54551407e-03 3.88123946e-04 9.99989594e-01 5.41367621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:17.50, Z:0.54 [[ 9.46924113e-01 -3.21442331e-01 -3.09065138e-03 1.14170226e+02] [ 3.21439630e-01 9.46929115e-01 -1.34764436e-03 1.75031842e+01] [ 3.35981772e-03 2.82659108e-04 9.99994316e-01 5.42121806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:17.52, Z:0.54 [[ 9.46654548e-01 -3.22241218e-01 -2.40070110e-03 1.14195777e+02] [ 3.22239590e-01 9.46657567e-01 -1.04724804e-03 1.75155328e+01] [ 2.61010835e-03 2.17781186e-04 9.99996570e-01 5.42431876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:17.53, Z:0.54 [[ 9.46656322e-01 -3.22233740e-01 -2.68789538e-03 1.14219717e+02] [ 3.22231698e-01 9.46660106e-01 -1.17288803e-03 1.75277987e+01] [ 2.92246742e-03 2.44196772e-04 9.99995700e-01 5.42817664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:17.54, Z:0.54 [[ 9.46661974e-01 -3.22208350e-01 -3.58972209e-03 1.14244630e+02] [ 3.22204705e-01 9.46668723e-01 -1.56712932e-03 1.75406461e+01] [ 3.90321978e-03 3.26916388e-04 9.99992329e-01 5.42889840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:17.55, Z:0.54 [[ 9.46606183e-01 -3.22372223e-01 -3.58944735e-03 1.14270721e+02] [ 3.22368577e-01 9.46612932e-01 -1.56775847e-03 1.75521752e+01] [ 3.90321907e-03 3.26924832e-04 9.99992329e-01 5.42911779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:17.57, Z:0.54 [[ 9.46605905e-01 -3.22333573e-01 -6.19102268e-03 1.14293557e+02] [ 3.22322719e-01 9.46625981e-01 -2.70482064e-03 1.75663292e+01] [ 6.73243742e-03 5.64891925e-04 9.99977177e-01 5.41960888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:17.58, Z:0.54 [[ 9.46369330e-01 -3.23017435e-01 -6.69542422e-03 1.14317480e+02] [ 3.23004750e-01 9.46392820e-01 -2.92613322e-03 1.75798047e+01] [ 7.28169345e-03 6.06548908e-04 9.99973304e-01 5.41960816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:17.59, Z:0.54 [[ 9.45810130e-01 -3.24660183e-01 -6.24213038e-03 1.14342175e+02] [ 3.24649185e-01 9.45830565e-01 -2.72930825e-03 1.75943696e+01] [ 6.79009542e-03 5.54904846e-04 9.99976793e-01 5.41664759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97140051299999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:114.37, Y:17.61, Z:0.54 [[ 9.44369379e-01 -3.28856924e-01 -4.42718638e-03 1.14365188e+02] [ 3.28850601e-01 9.44379605e-01 -2.10831070e-03 1.76103586e+01] [ 4.87427709e-03 5.35141161e-04 9.99987977e-01 5.41395588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:17.62, Z:0.54 [[ 9.43513701e-01 -3.31297765e-01 -4.86685396e-03 1.14390625e+02] [ 3.31292028e-01 9.43526223e-01 -1.96455100e-03 1.76217683e+01] [ 5.24285569e-03 2.41230866e-04 9.99986227e-01 5.42754675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:17.63, Z:0.54 [[ 9.42508076e-01 -3.34149025e-01 -4.79129370e-03 1.14416476e+02] [ 3.34142654e-01 9.42520179e-01 -2.09728599e-03 1.76327725e+01] [ 5.21669706e-03 3.75733383e-04 9.99986322e-01 5.43209820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:17.64, Z:0.54 [[ 9.41538746e-01 -3.36879122e-01 -4.15300199e-03 1.14442741e+02] [ 3.36874358e-01 9.41547853e-01 -1.81878648e-03 1.76435619e+01] [ 4.52296130e-03 3.13418063e-04 9.99989722e-01 5.43142914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.47, Y:17.65, Z:0.54 [[ 9.40723871e-01 -3.39154532e-01 -3.57787527e-03 1.14467303e+02] [ 3.39151011e-01 9.40730639e-01 -1.56732347e-03 1.76537732e+01] [ 3.89738175e-03 2.60978591e-04 9.99992371e-01 5.43223251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:17.66, Z:0.54 [[ 9.40065649e-01 -3.40983980e-01 -2.54979096e-03 1.14493859e+02] [ 3.40982197e-01 9.40069089e-01 -1.11742981e-03 1.76636920e+01] [ 2.77800533e-03 1.81024056e-04 9.99996125e-01 5.42712658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:17.67, Z:0.54 [[ 9.39529246e-01 -3.42461927e-01 -2.15031117e-03 1.14520348e+02] [ 3.42460662e-01 9.39531695e-01 -9.42639009e-04 1.76706982e+01] [ 2.34310347e-03 1.49239930e-04 9.99997244e-01 5.42964936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:17.68, Z:0.54 [[ 9.39738226e-01 -3.41883076e-01 -2.83339482e-03 1.14547122e+02] [ 3.41880876e-01 9.39742477e-01 -1.24260422e-03 1.76804348e+01] [ 3.08748681e-03 1.99039180e-04 9.99995214e-01 5.43570321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:17.69, Z:0.54 [[ 9.40286421e-01 -3.40361346e-01 -3.94982342e-03 1.14573499e+02] [ 3.40357053e-01 9.40294673e-01 -1.73311501e-03 1.76909532e+01] [ 4.30388328e-03 2.85274251e-04 9.99990698e-01 5.43793641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:114.60, Y:17.70, Z:0.54 [[ 9.41074014e-01 -3.38169833e-01 -4.56775283e-03 1.14599086e+02] [ 3.38164061e-01 9.41085037e-01 -2.00528800e-03 1.77020462e+01] [ 4.97677175e-03 3.42474579e-04 9.99987557e-01 5.43596428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:17.71, Z:0.54 [[ 9.42078104e-01 -3.35374714e-01 -3.55637145e-03 1.14624072e+02] [ 3.35371194e-01 9.42084775e-01 -1.56168037e-03 1.77128212e+01] [ 3.87415150e-03 2.78520342e-04 9.99992457e-01 5.44140560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:17.73, Z:0.55 [[ 9.43686210e-01 -3.30838284e-01 -1.53874097e-03 1.14649360e+02] [ 3.30837618e-01 9.43687455e-01 -6.75898963e-04 1.77254350e+01] [ 1.67570380e-03 1.28763134e-04 9.99998588e-01 5.45085221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:17.74, Z:0.54 [[ 9.44212157e-01 -3.29333541e-01 -1.67991939e-03 1.14674469e+02] [ 3.29332745e-01 9.44213640e-01 -7.38289882e-04 1.77371604e+01] [ 1.82934642e-03 1.43849818e-04 9.99998316e-01 5.44670012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:17.75, Z:0.54 [[ 9.44612343e-01 -3.28176119e-01 -2.82076258e-03 1.14699381e+02] [ 3.28173868e-01 9.44616523e-01 -1.24013373e-03 1.77480611e+01] [ 3.07152122e-03 2.45745062e-04 9.99995253e-01 5.43900788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:17.76, Z:0.54 [[ 9.44663785e-01 -3.28013429e-01 -4.18619971e-03 1.14725075e+02] [ 3.28008466e-01 9.44672989e-01 -1.84127270e-03 1.77583708e+01] [ 4.55855197e-03 3.66274694e-04 9.99989543e-01 5.42740240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:17.77, Z:0.54 [[ 9.44492397e-01 -3.28485628e-01 -5.59491448e-03 1.14751159e+02] [ 3.28476763e-01 9.44508843e-01 -2.46210827e-03 1.77686383e+01] [ 6.09321338e-03 4.87643147e-04 9.99981317e-01 5.42563827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:17.78, Z:0.54 [[ 9.44220414e-01 -3.29249325e-01 -6.53394177e-03 1.14776564e+02] [ 3.29237242e-01 9.44242852e-01 -2.87673043e-03 1.77796890e+01] [ 7.11678936e-03 5.65050636e-04 9.99974516e-01 5.42393953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:17.79, Z:0.54 [[ 9.44385772e-01 -3.28785720e-01 -5.95518557e-03 1.14802140e+02] [ 3.28775665e-01 9.44404405e-01 -2.62320517e-03 1.77922808e+01] [ 6.48657589e-03 5.19397541e-04 9.99978827e-01 5.42693758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:17.80, Z:0.54 [[ 9.44879568e-01 -3.27382980e-01 -4.79435703e-03 1.14826118e+02] [ 3.27376442e-01 9.44891636e-01 -2.11238467e-03 1.78045389e+01] [ 5.22170664e-03 4.26389568e-04 9.99986276e-01 5.42909102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:17.82, Z:0.54 [[ 9.45468529e-01 -3.25687314e-01 -4.12733565e-03 1.14851050e+02] [ 3.25682449e-01 9.45477463e-01 -1.81931152e-03 1.78175948e+01] [ 4.49482951e-03 3.75900999e-04 9.99989828e-01 5.42948770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:17.83, Z:0.54 [[ 9.46117227e-01 -3.23801423e-01 -3.85100763e-03 1.14875342e+02] [ 3.23797170e-01 9.46124996e-01 -1.69812742e-03 1.78303159e+01] [ 4.19339066e-03 3.59682230e-04 9.99991143e-01 5.42595791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:17.85, Z:0.54 [[ 9.47497562e-01 -3.19734042e-01 -4.30256678e-03 1.14898186e+02] [ 3.19728689e-01 9.47507237e-01 -1.89790177e-03 1.78462114e+01] [ 4.68353696e-03 4.22603264e-04 9.99988943e-01 5.42642190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:17.86, Z:0.54 [[ 9.47860443e-01 -3.18656252e-01 -4.33290520e-03 1.14922747e+02] [ 3.18650807e-01 9.47870248e-01 -1.91214763e-03 1.78608698e+01] [ 4.71634972e-03 4.31765363e-04 9.99988785e-01 5.42913196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:17.88, Z:0.54 [[ 9.47799829e-01 -3.18826460e-01 -5.01720018e-03 1.14946558e+02] [ 3.18819156e-01 9.47812977e-01 -2.21525916e-03 1.78753482e+01] [ 5.46165067e-03 5.00042724e-04 9.99984960e-01 5.42885868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:17.89, Z:0.54 [[ 9.47322489e-01 -3.20230685e-01 -5.69304901e-03 1.14969650e+02] [ 3.20221302e-01 9.47339430e-01 -2.51432828e-03 1.78889246e+01] [ 6.19841487e-03 5.58844159e-04 9.99980633e-01 5.42454391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:17.90, Z:0.54 [[ 9.45007647e-01 -3.27007893e-01 -5.13670246e-03 1.14994370e+02] [ 3.27000348e-01 9.45021493e-01 -2.26955823e-03 1.79018293e+01] [ 5.59645769e-03 4.65046389e-04 9.99984232e-01 5.42539897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:17.91, Z:0.54 [[ 9.43269330e-01 -3.31996608e-01 -4.60696790e-03 1.15020007e+02] [ 3.31990592e-01 9.43280499e-01 -2.03648873e-03 1.79124353e+01] [ 5.02177033e-03 3.91487361e-04 9.99987314e-01 5.42929264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:17.92, Z:0.54 [[ 9.41296237e-01 -3.37555671e-01 -4.19092094e-03 1.15045740e+02] [ 3.37550744e-01 9.41305508e-01 -1.85348865e-03 1.79227627e+01] [ 4.57059257e-03 3.30033408e-04 9.99989500e-01 5.43049760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:17.93, Z:0.54 [[ 9.39354936e-01 -3.42922145e-01 -4.08729556e-03 1.15070969e+02] [ 3.42917506e-01 9.39363782e-01 -1.80813752e-03 1.79327584e+01] [ 4.45950781e-03 2.96877706e-04 9.99990012e-01 5.43325329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.10, Y:17.94, Z:0.54 [[ 9.37544653e-01 -3.47834704e-01 -4.58723113e-03 1.15096865e+02] [ 3.47828915e-01 9.37555824e-01 -2.03022823e-03 1.79436924e+01] [ 5.00696910e-03 3.07857990e-04 9.99987418e-01 5.43670353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:115.12, Y:17.95, Z:0.54 [[ 9.35236806e-01 -3.53987406e-01 -5.00338020e-03 1.15123595e+02] [ 3.53980601e-01 9.35250141e-01 -2.21553364e-03 1.79526265e+01] [ 5.46368304e-03 3.00949073e-04 9.99985029e-01 5.43831950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:17.96, Z:0.54 [[ 9.34527493e-01 -3.55857678e-01 -4.86591638e-03 1.15149339e+02] [ 3.55851263e-01 9.34540119e-01 -2.15521965e-03 1.79607718e+01] [ 5.31434553e-03 2.82569523e-04 9.99985839e-01 5.44286930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:115.18, Y:17.97, Z:0.54 [[ 9.33942018e-01 -3.57392002e-01 -4.82319218e-03 1.15175414e+02] [ 3.57385717e-01 9.33954433e-01 -2.13698760e-03 1.79683973e+01] [ 5.26838399e-03 2.72082524e-04 9.99986085e-01 5.44086236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.20, Y:17.98, Z:0.54 [[ 9.33578528e-01 -3.58346635e-01 -4.33844154e-03 1.15202244e+02] [ 3.58341556e-01 9.33588577e-01 -1.92310548e-03 1.79761127e+01] [ 4.73945784e-03 2.40726094e-04 9.99988740e-01 5.44301922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.23, Y:17.98, Z:0.54 [[ 9.33455269e-01 -3.58676719e-01 -3.50315992e-03 1.15229799e+02] [ 3.58673407e-01 9.33461822e-01 -1.55359752e-03 1.79841894e+01] [ 3.82730530e-03 1.93723488e-04 9.99992657e-01 5.44593220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:115.26, Y:17.99, Z:0.55 [[ 9.33739755e-01 -3.57937157e-01 -3.32594216e-03 1.15257895e+02] [ 3.57934164e-01 9.33745660e-01 -1.47574618e-03 1.79894934e+01] [ 3.63380845e-03 1.87494551e-04 9.99993380e-01 5.45757092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.28, Y:18.00, Z:0.55 [[ 9.34120112e-01 -3.56935268e-01 -4.10244154e-03 1.15284037e+02] [ 3.56930701e-01 9.34129091e-01 -1.82100512e-03 1.79969352e+01] [ 4.48219094e-03 2.36750169e-04 9.99989927e-01 5.46318523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:18.00, Z:0.55 [[ 9.34771714e-01 -3.55215108e-01 -4.90601204e-03 1.15310151e+02] [ 3.55208550e-01 9.34784543e-01 -2.17823254e-03 1.80035642e+01] [ 5.35980533e-03 2.93492739e-04 9.99985593e-01 5.46892423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:18.01, Z:0.55 [[ 9.36271972e-01 -3.51232689e-01 -5.51303840e-03 1.15338147e+02] [ 3.51224336e-01 9.36288135e-01 -2.44828192e-03 1.80081208e+01] [ 6.02170908e-03 3.55944490e-04 9.99981806e-01 5.47347058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:115.36, Y:18.02, Z:0.55 [[ 9.37276478e-01 -3.48549278e-01 -5.11906721e-03 1.15364239e+02] [ 3.48542031e-01 9.37290392e-01 -2.27437161e-03 1.80195246e+01] [ 5.59078310e-03 3.47504931e-04 9.99984311e-01 5.46452613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:18.03, Z:0.55 [[ 9.38613698e-01 -3.44941325e-01 -4.45072241e-03 1.15389695e+02] [ 3.44935802e-01 9.38624195e-01 -1.97840164e-03 1.80316955e+01] [ 4.85998822e-03 3.21741372e-04 9.99988138e-01 5.45800081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:18.04, Z:0.55 [[ 9.40071213e-01 -3.40952072e-01 -4.21885493e-03 1.15414950e+02] [ 3.40947065e-01 9.40080624e-01 -1.87626364e-03 1.80438528e+01] [ 4.60577975e-03 3.25415234e-04 9.99989340e-01 5.45072771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:18.05, Z:0.55 [[ 9.41490811e-01 -3.37010968e-01 -4.31968697e-03 1.15439935e+02] [ 3.37005675e-01 9.41500655e-01 -1.92161524e-03 1.80544368e+01] [ 4.71459353e-03 3.53424071e-04 9.99988824e-01 5.45111953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:18.07, Z:0.55 [[ 9.42530895e-01 -3.34087550e-01 -4.58486302e-03 1.15465824e+02] [ 3.34081548e-01 9.42541965e-01 -2.04049486e-03 1.80651314e+01] [ 5.00312973e-03 3.91511311e-04 9.99987408e-01 5.45865948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:18.08, Z:0.55 [[ 9.43280244e-01 -3.31953493e-01 -5.40915849e-03 1.15490765e+02] [ 3.31945097e-01 9.43295633e-01 -2.40856659e-03 1.80770224e+01] [ 5.90196767e-03 4.76409639e-04 9.99982470e-01 5.46707355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:18.09, Z:0.55 [[ 9.43091022e-01 -3.32483860e-01 -5.81444726e-03 1.15514865e+02] [ 3.32474163e-01 9.43108808e-01 -2.58996539e-03 1.80901522e+01] [ 6.34477811e-03 5.09419624e-04 9.99979742e-01 5.46222846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:18.10, Z:0.55 [[ 9.42611008e-01 -3.33844526e-01 -5.68518102e-03 1.15539871e+02] [ 3.33835272e-01 9.42628024e-01 -2.53357894e-03 1.81036401e+01] [ 6.20483241e-03 4.90265444e-04 9.99980630e-01 5.45707185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:18.12, Z:0.55 [[ 9.41562232e-01 -3.36811805e-01 -4.28620195e-03 1.15563888e+02] [ 3.36806573e-01 9.41571921e-01 -1.91058665e-03 1.81157658e+01] [ 4.67927554e-03 3.55315236e-04 9.99988989e-01 5.45151685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:18.13, Z:0.55 [[ 9.41099928e-01 -3.38105992e-01 -3.90681922e-03 1.15589522e+02] [ 3.38101653e-01 9.41107984e-01 -1.74219208e-03 1.81268849e+01] [ 4.26578434e-03 3.18674809e-04 9.99990851e-01 5.45581879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:18.14, Z:0.55 [[ 9.40814459e-01 -3.38893974e-01 -4.36203409e-03 1.15615787e+02] [ 3.38888569e-01 9.40824505e-01 -1.94615402e-03 1.81379683e+01] [ 4.76344843e-03 3.52726353e-04 9.99988593e-01 5.46032742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:18.15, Z:0.55 [[ 9.40759639e-01 -3.39036358e-01 -5.06451727e-03 1.15641725e+02] [ 3.39029068e-01 9.40773182e-01 -2.26071675e-03 1.81486746e+01] [ 5.53102720e-03 4.09772503e-04 9.99984620e-01 5.46047058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.67, Y:18.16, Z:0.55 [[ 9.40916911e-01 -3.38585671e-01 -5.92534400e-03 1.15667150e+02] [ 3.38575679e-01 9.40935444e-01 -2.64565879e-03 1.81590054e+01] [ 6.47114835e-03 4.83167728e-04 9.99978945e-01 5.46433998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:18.17, Z:0.55 [[ 9.41231637e-01 -3.37706727e-01 -6.09684887e-03 1.15692949e+02] [ 3.37696121e-01 9.41251248e-01 -2.72352144e-03 1.81703464e+01] [ 6.65841812e-03 5.04582330e-04 9.99977705e-01 5.47032603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:18.18, Z:0.55 [[ 9.41558067e-01 -3.36809771e-01 -5.25211844e-03 1.15717124e+02] [ 3.36801882e-01 9.41572612e-01 -2.34700741e-03 1.81826748e+01] [ 5.73574591e-03 4.40920381e-04 9.99983453e-01 5.47372301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:18.20, Z:0.55 [[ 9.42406865e-01 -3.34466069e-01 -1.32306756e-03 1.15741426e+02] [ 3.34465565e-01 9.42407786e-01 -5.91395739e-04 1.81968342e+01] [ 1.44467098e-03 1.14814864e-04 9.99998950e-01 5.48500762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:115.77, Y:18.21, Z:0.55 [[ 9.42642578e-01 -3.33803193e-01 6.31438449e-04 1.15767033e+02] [ 3.33803717e-01 9.42641938e-01 -1.12079699e-03 1.82098443e+01] [-2.21094750e-04 1.26728746e-03 9.99999173e-01 5.48311790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:18.22, Z:0.55 [[ 9.42568242e-01 -3.34013579e-01 -1.95148573e-04 1.15792102e+02] [ 3.34013540e-01 9.42567366e-01 1.31007431e-03 1.82187875e+01] [-2.53641934e-04 -1.30001671e-03 9.99999123e-01 5.49202531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:18.23, Z:0.55 [[ 9.42238068e-01 -3.34943212e-01 -6.83348692e-04 1.15817260e+02] [ 3.34943078e-01 9.42238314e-01 -3.05711858e-04 1.82318655e+01] [ 7.46273432e-04 5.91704368e-05 9.99999720e-01 5.48055137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.84, Y:18.24, Z:0.55 [[ 9.41769650e-01 -3.36250762e-01 -2.31331825e-03 1.15842665e+02] [ 3.36249225e-01 9.41772470e-01 -1.03577481e-03 1.82440730e+01] [ 2.52689951e-03 1.97609816e-04 9.99996788e-01 5.47057086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.87, Y:18.26, Z:0.55 [[ 9.41711334e-01 -3.36414050e-01 -2.31313890e-03 1.15868649e+02] [ 3.36412512e-01 9.41714154e-01 -1.03617526e-03 1.82558490e+01] [ 2.52689955e-03 1.97609115e-04 9.99996788e-01 5.47078979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:18.27, Z:0.55 [[ 9.41292654e-01 -3.37574740e-01 -3.38159389e-03 1.15894653e+02] [ 3.37571458e-01 9.41298685e-01 -1.51560715e-03 1.82674294e+01] [ 3.69472057e-03 2.85100291e-04 9.99993134e-01 5.46831325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:18.28, Z:0.55 [[ 9.40825909e-01 -3.38865619e-01 -4.08679194e-03 1.15919082e+02] [ 3.38860835e-01 9.40834724e-01 -1.83219179e-03 1.82778731e+01] [ 4.46586257e-03 3.38919778e-04 9.99989971e-01 5.48971500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:18.29, Z:0.55 [[ 9.40831064e-01 -3.38850442e-01 -4.15777061e-03 1.15943579e+02] [ 3.38845489e-01 9.40840188e-01 -1.86440943e-03 1.82903588e+01] [ 4.54355364e-03 3.45252496e-04 9.99989618e-01 5.49885550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:18.30, Z:0.55 [[ 9.40892136e-01 -3.38678959e-01 -4.30708913e-03 1.15968428e+02] [ 3.38673638e-01 9.40901925e-01 -1.93223686e-03 1.83038183e+01] [ 4.70695643e-03 3.59328917e-04 9.99988858e-01 5.49936198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:18.32, Z:0.55 [[ 9.41043328e-01 -3.38261392e-01 -4.08486758e-03 1.15992458e+02] [ 3.38256600e-01 9.41052131e-01 -1.83301912e-03 1.83165305e+01] [ 4.46411294e-03 3.43216991e-04 9.99989977e-01 5.49061340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:18.33, Z:0.55 [[ 9.41072048e-01 -3.38190295e-01 -3.27485172e-03 1.16017686e+02] [ 3.38187212e-01 9.41077706e-01 -1.47016041e-03 1.83291786e+01] [ 3.57908393e-03 2.76013896e-04 9.99993557e-01 5.48181187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:18.34, Z:0.55 [[ 9.41046963e-01 -3.38268689e-01 -2.21526489e-03 1.16042163e+02] [ 3.38267278e-01 9.41049552e-01 -9.94736267e-04 1.83408139e+01] [ 2.42116217e-03 1.86741917e-04 9.99997052e-01 5.48101716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:18.35, Z:0.55 [[ 9.41048781e-01 -3.38267878e-01 -1.42650255e-03 1.16067304e+02] [ 3.38267292e-01 9.41049854e-01 -6.40760978e-04 1.83533311e+01] [ 1.55915888e-03 1.20448181e-04 9.99998777e-01 5.49202313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:18.37, Z:0.55 [[ 9.41107543e-01 -3.38101751e-01 -1.94878603e-03 1.16091201e+02] [ 3.38100658e-01 9.41109546e-01 -8.75703476e-04 1.83657677e+01] [ 2.13009801e-03 1.65245309e-04 9.99997718e-01 5.49272275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:18.38, Z:0.55 [[ 9.41046949e-01 -3.38265523e-01 -2.66014564e-03 1.16115878e+02] [ 3.38263484e-01 9.41050682e-01 -1.19588840e-03 1.83783307e+01] [ 2.90785968e-03 2.25556999e-04 9.99995747e-01 5.49289215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:18.39, Z:0.55 [[ 9.40937881e-01 -3.38566430e-01 -2.94575419e-03 1.16140000e+02] [ 3.38563930e-01 9.40942459e-01 -1.32467440e-03 1.83903059e+01] [ 3.22027548e-03 2.49110210e-04 9.99994784e-01 5.49315107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:18.40, Z:0.55 [[ 9.40676652e-01 -3.39292005e-01 -2.89339414e-03 1.16164655e+02] [ 3.39289595e-01 9.40681070e-01 -1.30165822e-03 1.84028975e+01] [ 3.16340332e-03 2.42740970e-04 9.99994967e-01 5.49047476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:18.42, Z:0.55 [[ 9.39962249e-01 -3.41262848e-01 -3.26185224e-03 1.16189739e+02] [ 3.41259794e-01 9.39967871e-01 -1.46812615e-03 1.84166087e+01] [ 3.56705321e-03 2.66844134e-04 9.99993602e-01 5.48352023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:18.43, Z:0.55 [[ 9.39453309e-01 -3.42652289e-01 -4.10966476e-03 1.16214862e+02] [ 3.42647451e-01 9.39462240e-01 -1.85066419e-03 1.84280352e+01] [ 4.49500918e-03 3.30446444e-04 9.99989843e-01 5.47908989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:18.44, Z:0.55 [[ 9.39000307e-01 -3.43873133e-01 -5.44896790e-03 1.16240217e+02] [ 3.43864644e-01 9.39016018e-01 -2.45444551e-03 1.84385898e+01] [ 5.96068601e-03 4.31017677e-04 9.99982142e-01 5.47184214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:18.45, Z:0.55 [[ 9.38454889e-01 -3.45335197e-01 -6.78401200e-03 1.16265774e+02] [ 3.45322065e-01 9.38479262e-01 -3.05724016e-03 1.84492465e+01] [ 7.42242721e-03 5.26412941e-04 9.99972315e-01 5.47489300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:18.46, Z:0.55 [[ 9.37914476e-01 -3.46792478e-01 -7.17030609e-03 1.16291529e+02] [ 3.46777838e-01 9.37941725e-01 -3.23291903e-03 1.84609449e+01] [ 7.84648127e-03 5.45698312e-04 9.99969067e-01 5.47497418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:18.47, Z:0.55 [[ 9.37414418e-01 -3.48150886e-01 -6.72086158e-03 1.16316973e+02] [ 3.48138048e-01 9.37438376e-01 -3.03178916e-03 1.84733011e+01] [ 7.35591365e-03 5.02255238e-04 9.99972819e-01 5.47820924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:18.49, Z:0.55 [[ 9.36251292e-01 -3.51305870e-01 -4.20759655e-03 1.16341098e+02] [ 3.51300868e-01 9.36260699e-01 -1.89849931e-03 1.84864902e+01] [ 4.60636124e-03 2.99340109e-04 9.99989346e-01 5.47505697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.37, Y:18.50, Z:0.55 [[ 9.35620579e-01 -3.52991399e-01 -3.34717223e-03 1.16367318e+02] [ 3.52988242e-01 9.35626538e-01 -1.51089290e-03 1.84973717e+01] [ 3.66503537e-03 2.32110045e-04 9.99993257e-01 5.47854671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:18.51, Z:0.55 [[ 9.35038790e-01 -3.54534100e-01 -2.83421467e-03 1.16393438e+02] [ 3.54531842e-01 9.35043066e-01 -1.27993243e-03 1.85072275e+01] [ 3.10389247e-03 1.91967128e-04 9.99995164e-01 5.48162780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.42, Y:18.52, Z:0.55 [[ 9.34443304e-01 -3.56092272e-01 -3.74228555e-03 1.16419807e+02] [ 3.56088344e-01 9.34450765e-01 -1.69090072e-03 1.85172793e+01] [ 4.09909828e-03 2.47466591e-04 9.99991568e-01 5.48731391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:18.53, Z:0.55 [[ 9.33963491e-01 -3.57335790e-01 -4.83017804e-03 1.16445226e+02] [ 3.57329259e-01 9.33975929e-01 -2.18305766e-03 1.85276339e+01] [ 5.29135466e-03 3.12932209e-04 9.99985952e-01 5.48369316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:18.54, Z:0.55 [[ 9.33621048e-01 -3.58220359e-01 -5.46931808e-03 1.16471201e+02] [ 3.58211993e-01 9.33637002e-01 -2.47307544e-03 1.85393363e+01] [ 5.99226371e-03 3.49739960e-04 9.99981985e-01 5.48208254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.50, Y:18.55, Z:0.55 [[ 9.33787249e-01 -3.57803069e-01 -4.28230026e-03 1.16495362e+02] [ 3.57797933e-01 9.33797027e-01 -1.93681087e-03 1.85510545e+01] [ 4.69179613e-03 2.76371114e-04 9.99988955e-01 5.47938887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:18.56, Z:0.55 [[ 9.34191738e-01 -3.56753589e-01 -3.56003001e-03 1.16520306e+02] [ 3.56750030e-01 9.34198491e-01 -1.61081268e-03 1.85628971e+01] [ 3.90043787e-03 2.34767086e-04 9.99992366e-01 5.48211716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:18.58, Z:0.55 [[ 9.34833978e-01 -3.55067589e-01 -3.52715859e-03 1.16545340e+02] [ 3.55064080e-01 9.34840601e-01 -1.59670562e-03 1.85753768e+01] [ 3.86426947e-03 2.40287350e-04 9.99992505e-01 5.48558501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:18.59, Z:0.55 [[ 9.35709712e-01 -3.52750159e-01 -3.82890152e-03 1.16569904e+02] [ 3.52746003e-01 9.35717506e-01 -1.73376347e-03 1.85876695e+01] [ 4.19435552e-03 2.71669613e-04 9.99991167e-01 5.48695425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:18.60, Z:0.55 [[ 9.36600763e-01 -3.50371701e-01 -4.32221821e-03 1.16594545e+02] [ 3.50366375e-01 9.36610682e-01 -1.95800541e-03 1.86003945e+01] [ 4.73426543e-03 3.19509433e-04 9.99988742e-01 5.48952068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:18.62, Z:0.55 [[ 9.38226605e-01 -3.45995163e-01 -4.26435570e-03 1.16618645e+02] [ 3.45989930e-01 9.38236235e-01 -1.93273642e-03 1.86160889e+01] [ 4.66969050e-03 3.37920599e-04 9.99989040e-01 5.48503618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:18.63, Z:0.55 [[ 9.38820840e-01 -3.44388219e-01 -3.49064830e-03 1.16642263e+02] [ 3.44384700e-01 9.38827287e-01 -1.58246548e-03 1.86299794e+01] [ 3.82209834e-03 2.83525703e-04 9.99992656e-01 5.47834961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:18.64, Z:0.55 [[ 9.39195123e-01 -3.43368620e-01 -3.24224694e-03 1.16665739e+02] [ 3.43365577e-01 9.39200681e-01 -1.47015571e-03 1.86435652e+01] [ 3.54992587e-03 2.67487085e-04 9.99993663e-01 5.47092184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:18.66, Z:0.55 [[ 9.39379906e-01 -3.42858707e-01 -3.64676612e-03 1.16690518e+02] [ 3.42854850e-01 9.39386936e-01 -1.65430891e-03 1.86572857e+01] [ 3.99291866e-03 3.03713092e-04 9.99991982e-01 5.46392750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:18.67, Z:0.55 [[ 9.39338125e-01 -3.42967869e-01 -4.11440077e-03 1.16715374e+02] [ 3.42962957e-01 9.39347073e-01 -1.86738292e-03 1.86705994e+01] [ 4.50530266e-03 3.43016914e-04 9.99989792e-01 5.46142383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:18.68, Z:0.55 [[ 9.39093729e-01 -3.43639845e-01 -3.82422810e-03 1.16740156e+02] [ 3.43635604e-01 9.39101462e-01 -1.73652532e-03 1.86831519e+01] [ 4.18807749e-03 3.16619105e-04 9.99991180e-01 5.46091319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:18.69, Z:0.55 [[ 9.38418324e-01 -3.45495349e-01 -2.00318256e-03 1.16764383e+02] [ 3.45494189e-01 9.38420448e-01 -9.09823344e-04 1.86943928e+01] [ 2.19416721e-03 1.61706964e-04 9.99997580e-01 5.47322587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.79, Y:18.71, Z:0.55 [[ 9.38074817e-01 -3.46427232e-01 -1.95205165e-03 1.16789821e+02] [ 3.46426132e-01 9.38076835e-01 -8.86946845e-04 1.87053326e+01] [ 2.13843697e-03 1.55780796e-04 9.99997701e-01 5.48128854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:18.72, Z:0.55 [[ 9.37816741e-01 -3.47122699e-01 -2.36478973e-03 1.16814257e+02] [ 3.47121085e-01 9.37819704e-01 -1.07483333e-03 1.87156831e+01] [ 2.59084545e-03 1.87128316e-04 9.99996626e-01 5.48468631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:18.73, Z:0.55 [[ 9.37561572e-01 -3.47803392e-01 -3.33154572e-03 1.16840242e+02] [ 3.47800191e-01 9.37567455e-01 -1.51492630e-03 1.87271053e+01] [ 3.65044534e-03 2.61624444e-04 9.99993303e-01 5.48354414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:18.74, Z:0.55 [[ 9.37379096e-01 -3.48288189e-01 -3.97092686e-03 1.16864778e+02] [ 3.48283643e-01 9.37387455e-01 -1.80617492e-03 1.87385168e+01] [ 4.35136641e-03 3.10061744e-04 9.99990485e-01 5.47741805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:18.75, Z:0.55 [[ 9.37222531e-01 -3.48706649e-01 -4.19538937e-03 1.16889711e+02] [ 3.48701575e-01 9.37231864e-01 -1.90912038e-03 1.87508556e+01] [ 4.59777557e-03 3.26331754e-04 9.99989377e-01 5.46911801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:18.76, Z:0.55 [[ 9.37449657e-01 -3.48093765e-01 -4.34416486e-03 1.16914681e+02] [ 3.48088314e-01 9.37459660e-01 -1.97779789e-03 1.87628144e+01] [ 4.76093842e-03 3.41932937e-04 9.99988608e-01 5.46089247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.94, Y:18.77, Z:0.55 [[ 9.37588285e-01 -3.47723382e-01 -4.08137691e-03 1.16938877e+02] [ 3.47718566e-01 9.37597112e-01 -1.85863337e-03 1.87737237e+01] [ 4.47297749e-03 3.23462350e-04 9.99989944e-01 5.46276383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:18.78, Z:0.55 [[ 9.37833870e-01 -3.47066421e-01 -3.54005092e-03 1.16963433e+02] [ 3.47062792e-01 9.37840508e-01 -1.61244971e-03 1.87849051e+01] [ 3.87963030e-03 2.83589994e-04 9.99992434e-01 5.46897470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:18.80, Z:0.55 [[ 9.38089531e-01 -3.46378514e-01 -3.15538118e-03 1.16988793e+02] [ 3.46375624e-01 9.38094803e-01 -1.43783802e-03 1.87971714e+01] [ 3.45808288e-03 2.55873668e-04 9.99993988e-01 5.47399753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:18.81, Z:0.55 [[ 9.38388905e-01 -3.45566916e-01 -3.12560074e-03 1.17013270e+02] [ 3.45564075e-01 9.38394075e-01 -1.42465267e-03 1.88086505e+01] [ 3.42535805e-03 2.56782927e-04 9.99994100e-01 5.48007418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:18.82, Z:0.55 [[ 9.38726454e-01 -3.44649880e-01 -3.01736536e-03 1.17038178e+02] [ 3.44647226e-01 9.38731270e-01 -1.37560007e-03 1.88196808e+01] [ 3.30659562e-03 2.51385569e-04 9.99994502e-01 5.48220567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:18.83, Z:0.55 [[ 9.39063194e-01 -3.43736335e-01 -2.37704749e-03 1.17064331e+02] [ 3.43734684e-01 9.39066181e-01 -1.08408936e-03 1.88294649e+01] [ 2.60484581e-03 2.00954750e-04 9.99996587e-01 5.48710203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:18.84, Z:0.55 [[ 9.39012691e-01 -3.43878368e-01 -1.68344247e-03 1.17090078e+02] [ 3.43877540e-01 9.39014189e-01 -7.68077548e-04 1.88407303e+01] [ 1.84490162e-03 1.42336512e-04 9.99998288e-01 5.49126863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:18.85, Z:0.55 [[ 9.38780926e-01 -3.44511610e-01 -1.45745225e-03 1.17115129e+02] [ 3.44510990e-01 9.38782049e-01 -6.65263994e-04 1.88524377e+01] [ 1.59742118e-03 1.22428831e-04 9.99998717e-01 5.49271092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:18.86, Z:0.55 [[ 9.38492430e-01 -3.45295760e-01 -1.67233763e-03 1.17140451e+02] [ 3.45294943e-01 9.38493910e-01 -7.63739300e-04 1.88644515e+01] [ 1.83319463e-03 1.39313824e-04 9.99998310e-01 5.49179898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:18.88, Z:0.55 [[ 9.38167723e-01 -3.46172128e-01 -2.48628869e-03 1.17165636e+02] [ 3.46170325e-01 9.38170995e-01 -1.13609003e-03 1.88761722e+01] [ 2.72584664e-03 2.05163634e-04 9.99996264e-01 5.48789313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:18.89, Z:0.55 [[ 9.37957389e-01 -3.46738675e-01 -2.86826677e-03 1.17190262e+02] [ 3.46736277e-01 9.37961745e-01 -1.31102175e-03 1.88878883e+01] [ 3.14490645e-03 2.35150396e-04 9.99995027e-01 5.48551568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:18.90, Z:0.55 [[ 9.37567767e-01 -3.47794198e-01 -2.42435516e-03 1.17215072e+02] [ 3.47792486e-01 9.37570881e-01 -1.10856604e-03 1.89000196e+01] [ 2.65855764e-03 1.96183283e-04 9.99996447e-01 5.48880786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:18.91, Z:0.55 [[ 9.37376913e-01 -3.48311164e-01 -1.96377085e-03 1.17240696e+02] [ 3.48310042e-01 9.37378956e-01 -8.98370324e-04 1.89113593e+01] [ 2.15370988e-03 1.58110494e-04 9.99997668e-01 5.49430232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:18.92, Z:0.55 [[ 9.37316514e-01 -3.48473550e-01 -1.98447051e-03 1.17265240e+02] [ 3.48472403e-01 9.37318601e-01 -9.08124475e-04 1.89225015e+01] [ 2.17653848e-03 1.59666861e-04 9.99997619e-01 5.49926034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:18.93, Z:0.55 [[ 9.37447514e-01 -3.48118178e-01 -2.42750388e-03 1.17289668e+02] [ 3.48116460e-01 9.37450636e-01 -1.11120199e-03 1.89347011e+01] [ 2.66249467e-03 1.96639484e-04 9.99996436e-01 5.50043356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:18.95, Z:0.55 [[ 9.37544343e-01 -3.47851953e-01 -3.10212155e-03 1.17314421e+02] [ 3.47849143e-01 9.37549441e-01 -1.42068184e-03 1.89487589e+01] [ 3.40257928e-03 2.52881895e-04 9.99994179e-01 5.50229195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:18.96, Z:0.55 [[ 9.37694440e-01 -3.47444852e-01 -3.34862085e-03 1.17338993e+02] [ 3.47441573e-01 9.37700378e-01 -1.53433771e-03 1.89635477e+01] [ 3.67310078e-03 2.75289844e-04 9.99993216e-01 5.49615997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:18.98, Z:0.55 [[ 9.37602856e-01 -3.47695462e-01 -2.95802251e-03 1.17363153e+02] [ 3.47692902e-01 9.37607491e-01 -1.35601128e-03 1.89781202e+01] [ 3.24494304e-03 2.42916618e-04 9.99994706e-01 5.49160203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:18.99, Z:0.55 [[ 9.37018238e-01 -3.49269500e-01 -2.76368700e-03 1.17387194e+02] [ 3.49267271e-01 9.37022287e-01 -1.26738632e-03 1.89897791e+01] [ 3.03229570e-03 2.22298682e-04 9.99995378e-01 5.48922308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:19.00, Z:0.55 [[ 9.36276825e-01 -3.51252188e-01 -2.75821634e-03 1.17411285e+02] [ 3.51249976e-01 9.36280863e-01 -1.26518367e-03 1.90021587e+01] [ 3.02686371e-03 2.15738722e-04 9.99995396e-01 5.49027025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:19.02, Z:0.55 [[ 9.35564804e-01 -3.53143554e-01 -2.85109792e-03 1.17434499e+02] [ 3.53141198e-01 9.35569123e-01 -1.30817137e-03 1.90152594e+01] [ 3.12937147e-03 2.17038954e-04 9.99995080e-01 5.49036127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:19.03, Z:0.55 [[ 9.35506428e-01 -3.53298167e-01 -2.85089612e-03 1.17460356e+02] [ 3.53295810e-01 9.35510747e-01 -1.30861109e-03 1.90272905e+01] [ 3.12937385e-03 2.17004430e-04 9.99995080e-01 5.49058027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:19.04, Z:0.55 [[ 9.34997698e-01 -3.54639769e-01 -3.15261554e-03 1.17485059e+02] [ 3.54636892e-01 9.35002983e-01 -1.44780388e-03 1.90409805e+01] [ 3.46115377e-03 2.35659518e-04 9.99993982e-01 5.49232166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.51, Y:19.05, Z:0.55 [[ 9.34691331e-01 -3.55444398e-01 -3.37566005e-03 1.17509385e+02] [ 3.55441102e-01 9.34697393e-01 -1.55100435e-03 1.90540763e+01] [ 3.70651646e-03 2.49861995e-04 9.99993100e-01 5.49257198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:19.07, Z:0.55 [[ 9.34984573e-01 -3.54671696e-01 -3.44023600e-03 1.17532752e+02] [ 3.54668266e-01 9.34990867e-01 -1.58110448e-03 1.90672506e+01] [ 3.77736225e-03 2.58165766e-04 9.99992832e-01 5.50144450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:19.08, Z:0.55 [[ 9.35283990e-01 -3.53884007e-01 -3.15713414e-03 1.17557536e+02] [ 3.53881112e-01 9.35289288e-01 -1.45159133e-03 1.90810282e+01] [ 3.46652870e-03 2.40399992e-04 9.99993963e-01 5.50516633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:19.10, Z:0.55 [[ 9.35706645e-01 -3.52766243e-01 -3.00857750e-03 1.17582275e+02] [ 3.52763606e-01 9.35711453e-01 -1.38394913e-03 1.90953358e+01] [ 3.30337096e-03 2.33653746e-04 9.99994517e-01 5.50335747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:19.11, Z:0.55 [[ 9.36166881e-01 -3.51541245e-01 -3.21318532e-03 1.17605897e+02] [ 3.51538229e-01 9.36172360e-01 -1.47847897e-03 1.91081349e+01] [ 3.52784162e-03 2.54545572e-04 9.99993745e-01 5.49656232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:19.12, Z:0.55 [[ 9.36525871e-01 -3.50577817e-01 -3.80619138e-03 1.17630966e+02] [ 3.50573573e-01 9.36533555e-01 -1.75211720e-03 1.91200873e+01] [ 4.17887937e-03 3.06552977e-04 9.99991221e-01 5.49343329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:19.13, Z:0.55 [[ 9.36641475e-01 -3.50269487e-01 -3.74609127e-03 1.17656589e+02] [ 3.50265369e-01 9.36648917e-01 -1.72529403e-03 1.91317425e+01] [ 4.11309019e-03 3.03855908e-04 9.99991495e-01 5.49914664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:19.14, Z:0.55 [[ 9.36400731e-01 -3.50917496e-01 -3.25305651e-03 1.17681190e+02] [ 3.50914394e-01 9.36406345e-01 -1.49861051e-03 1.91430566e+01] [ 3.57207140e-03 2.61755628e-04 9.99993586e-01 5.51689822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:19.15, Z:0.55 [[ 9.36123792e-01 -3.51652836e-01 -3.53972624e-03 1.17706141e+02] [ 3.51649167e-01 9.36130441e-01 -1.63102183e-03 1.91540538e+01] [ 3.88719894e-03 2.82096559e-04 9.99992405e-01 5.52241634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:19.16, Z:0.55 [[ 9.35824900e-01 -3.52443276e-01 -3.93623100e-03 1.17732546e+02] [ 3.52438742e-01 9.35833126e-01 -1.81451984e-03 1.91647449e+01] [ 4.32317068e-03 3.10792545e-04 9.99990607e-01 5.52102799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:19.17, Z:0.55 [[ 9.35581455e-01 -3.53087554e-01 -4.06453610e-03 1.17758536e+02] [ 3.53082722e-01 9.35590229e-01 -1.87458503e-03 1.91743688e+01] [ 4.46463291e-03 3.18709524e-04 9.99989983e-01 5.51652803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:19.18, Z:0.55 [[ 9.35501266e-01 -3.53299009e-01 -4.14620246e-03 1.17785308e+02] [ 3.53293979e-01 9.35510398e-01 -1.91318444e-03 1.91838470e+01] [ 4.55474168e-03 3.24958099e-04 9.99989574e-01 5.51562839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:19.19, Z:0.55 [[ 9.36033790e-01 -3.51888568e-01 -3.89610520e-03 1.17812390e+02] [ 3.51884110e-01 9.36041846e-01 -1.79864734e-03 1.91923970e+01] [ 4.27984094e-03 3.12617174e-04 9.99990793e-01 5.51306627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:19.20, Z:0.55 [[ 9.36665211e-01 -3.50207555e-01 -3.59871078e-03 1.17836399e+02] [ 3.50203737e-01 9.36672077e-01 -1.66194290e-03 1.92037978e+01] [ 3.95283686e-03 2.96402128e-04 9.99992144e-01 5.51234759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:19.22, Z:0.55 [[ 9.37402681e-01 -3.48234239e-01 -3.02132921e-03 1.17861103e+02] [ 3.48231536e-01 9.37407515e-01 -1.39592490e-03 1.92174215e+01] [ 3.31832555e-03 2.56421628e-04 9.99994461e-01 5.51489543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:19.23, Z:0.55 [[ 9.38331577e-01 -3.45730094e-01 -2.13382621e-03 1.17884680e+02] [ 3.45728738e-01 9.38333985e-01 -9.86136011e-04 1.92307970e+01] [ 2.34317855e-03 1.87597515e-04 9.99997237e-01 5.51201600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:19.24, Z:0.55 [[ 9.39152134e-01 -3.43496392e-01 -1.87003566e-03 1.17908805e+02] [ 3.43495346e-01 9.39153981e-01 -8.64401318e-04 1.92440384e+01] [ 2.05317017e-03 1.69455794e-04 9.99997878e-01 5.51483235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:19.26, Z:0.55 [[ 9.39782183e-01 -3.41770962e-01 -1.43490370e-03 1.17933434e+02] [ 3.41770344e-01 9.39783269e-01 -6.63477600e-04 1.92567030e+01] [ 1.57525587e-03 1.33116896e-04 9.99998750e-01 5.51734757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:19.27, Z:0.55 [[ 9.40056815e-01 -3.41007972e-01 -2.59764201e-03 1.17957816e+02] [ 3.41005942e-01 9.40060372e-01 -1.20180700e-03 1.92696101e+01] [ 2.85176609e-03 2.43955501e-04 9.99995904e-01 5.51713231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:19.28, Z:0.55 [[ 9.39504232e-01 -3.42517662e-01 -3.66725318e-03 1.17982105e+02] [ 3.42513625e-01 9.39511329e-01 -1.69717437e-03 1.92821544e+01] [ 4.02673810e-03 3.38418323e-04 9.99991835e-01 5.51168244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:19.29, Z:0.55 [[ 9.38629132e-01 -3.44905383e-01 -3.95347442e-03 1.18005685e+02] [ 3.44900710e-01 9.38637391e-01 -1.83001418e-03 1.92943784e+01] [ 4.34206066e-03 3.54148482e-04 9.99990511e-01 5.50936623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:19.31, Z:0.55 [[ 9.37532888e-01 -3.47881261e-01 -3.27286453e-03 1.18030790e+02] [ 3.47878074e-01 9.37538558e-01 -1.51557228e-03 1.93062657e+01] [ 3.59567589e-03 2.82341049e-04 9.99993496e-01 5.51312410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:19.32, Z:0.55 [[ 9.36275737e-01 -3.51257668e-01 -2.40729894e-03 1.18056460e+02] [ 3.51255954e-01 9.36278811e-01 -1.11524292e-03 1.93172107e+01] [ 2.64564062e-03 1.98596797e-04 9.99996481e-01 5.52031137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:19.33, Z:0.55 [[ 9.35032011e-01 -3.54556869e-01 -2.13663547e-03 1.18082120e+02] [ 3.54555526e-01 9.35034437e-01 -9.90315393e-04 1.93276679e+01] [ 2.34895087e-03 1.68420682e-04 9.99997227e-01 5.52619674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.11, Y:19.34, Z:0.55 [[ 9.33215451e-01 -3.59304122e-01 -3.07744909e-03 1.18107942e+02] [ 3.59301359e-01 9.33220498e-01 -1.42683812e-03 1.93368098e+01] [ 3.38460739e-03 2.25815741e-04 9.99994247e-01 5.51692777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:19.35, Z:0.55 [[ 9.32583980e-01 -3.60937555e-01 -3.34684495e-03 1.18132936e+02] [ 3.60934297e-01 9.32589955e-01 -1.55206275e-03 1.93463147e+01] [ 3.68143172e-03 2.39437730e-04 9.99993195e-01 5.51092861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:19.35, Z:0.55 [[ 9.32203123e-01 -3.61918294e-01 -3.53352776e-03 1.18159540e+02] [ 3.61914668e-01 9.32209786e-01 -1.63933300e-03 1.93546676e+01] [ 3.88729376e-03 2.49355819e-04 9.99992413e-01 5.50586563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:19.36, Z:0.55 [[ 9.32216366e-01 -3.61885490e-01 -3.39688712e-03 1.18185991e+02] [ 3.61882136e-01 9.32222524e-01 -1.57635039e-03 1.93620968e+01] [ 3.73711302e-03 2.40226870e-04 9.99992988e-01 5.50856038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:19.37, Z:0.55 [[ 9.32425393e-01 -3.61348496e-01 -3.18595265e-03 1.18213170e+02] [ 3.61345541e-01 9.32430808e-01 -1.47905866e-03 1.93708559e+01] [ 3.50513603e-03 2.27882070e-04 9.99993831e-01 5.51870916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:19.38, Z:0.55 [[ 9.33567835e-01 -3.58389915e-01 -2.78674860e-03 1.18239908e+02] [ 3.58387639e-01 9.33571971e-01 -1.29431497e-03 1.93807418e+01] [ 3.06549982e-03 2.09594573e-04 9.99995279e-01 5.52522701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:19.39, Z:0.55 [[ 9.34369808e-01 -3.56296359e-01 -2.44254699e-03 1.18265552e+02] [ 3.56294602e-01 9.34372981e-01 -1.13497518e-03 1.93929404e+01] [ 2.68663744e-03 1.90220230e-04 9.99996373e-01 5.52405025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:19.40, Z:0.55 [[ 9.35364122e-01 -3.53680558e-01 -2.00540455e-03 1.18290029e+02] [ 3.53679367e-01 9.35366258e-01 -9.32105720e-04 1.94038633e+01] [ 2.20545542e-03 1.62588035e-04 9.99997555e-01 5.52227819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:19.42, Z:0.55 [[ 9.36198283e-01 -3.51466527e-01 -2.01379677e-03 1.18315275e+02] [ 3.51465320e-01 9.36200434e-01 -9.36371863e-04 1.94152191e+01] [ 2.21442077e-03 1.68850005e-04 9.99997534e-01 5.52332453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:19.43, Z:0.55 [[ 9.37088935e-01 -3.49082945e-01 -2.32929260e-03 1.18340109e+02] [ 3.49081322e-01 9.37091808e-01 -1.08341210e-03 1.94268399e+01] [ 2.56096170e-03 2.02140948e-04 9.99996700e-01 5.51980026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:19.44, Z:0.55 [[ 9.37971489e-01 -3.46703306e-01 -2.51055242e-03 1.18364322e+02] [ 3.46701412e-01 9.37974822e-01 -1.16796983e-03 1.94391457e+01] [ 2.75977396e-03 2.25110336e-04 9.99996166e-01 5.51489086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:19.45, Z:0.55 [[ 9.39291838e-01 -3.43108728e-01 -2.69162980e-03 1.18389914e+02] [ 3.43106534e-01 9.39295660e-01 -1.25271492e-03 1.94515680e+01] [ 2.95805361e-03 2.53149125e-04 9.99995593e-01 5.51377746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:19.46, Z:0.55 [[ 9.39522376e-01 -3.42475326e-01 -2.89079604e-03 1.18415314e+02] [ 3.42472791e-01 9.39526783e-01 -1.34605713e-03 1.94629034e+01] [ 3.17697166e-03 2.74631804e-04 9.99994916e-01 5.51743280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:19.47, Z:0.55 [[ 9.39596955e-01 -3.42267949e-01 -3.19571597e-03 1.18440283e+02] [ 3.42264848e-01 9.39602340e-01 -1.48858768e-03 1.94743238e+01] [ 3.51219805e-03 3.04891216e-04 9.99993786e-01 5.51747507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:19.49, Z:0.55 [[ 9.39476430e-01 -3.42598016e-01 -3.26128690e-03 1.18465494e+02] [ 3.42594786e-01 9.39482040e-01 -1.51982172e-03 1.94873153e+01] [ 3.58460837e-03 3.10536795e-04 9.99993527e-01 5.51519905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:19.50, Z:0.55 [[ 9.39318606e-01 -3.43034278e-01 -2.83563199e-03 1.18489411e+02] [ 3.43031837e-01 9.39322848e-01 -1.32180725e-03 1.95005470e+01] [ 3.11699911e-03 2.68886088e-04 9.99995106e-01 5.50805003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.51, Y:19.51, Z:0.55 [[ 9.39192557e-01 -3.43383792e-01 -2.21637258e-03 1.18513417e+02] [ 3.43382301e-01 9.39195149e-01 -1.03334152e-03 1.95138038e+01] [ 2.43643910e-03 2.09443543e-04 9.99997010e-01 5.50416404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:19.53, Z:0.55 [[ 9.39094822e-01 -3.43648151e-01 -2.61989482e-03 1.18537856e+02] [ 3.43646068e-01 9.39098444e-01 -1.22196685e-03 1.95267730e+01] [ 2.88026579e-03 2.47226189e-04 9.99995821e-01 5.49888737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:19.54, Z:0.55 [[ 9.39064050e-01 -3.43726640e-01 -3.27202716e-03 1.18562648e+02] [ 3.43723388e-01 9.39069700e-01 -1.52687972e-03 1.95390313e+01] [ 3.59749080e-03 3.09165597e-04 9.99993481e-01 5.49565651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.59, Y:19.55, Z:0.55 [[ 9.39117953e-01 -3.43574314e-01 -3.76316133e-03 1.18587710e+02] [ 3.43570007e-01 9.39125425e-01 -1.75692544e-03 1.95510399e+01] [ 4.13771494e-03 3.57050862e-04 9.99991376e-01 5.48951508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:19.56, Z:0.55 [[ 9.38985110e-01 -3.43938416e-01 -3.65089227e-03 1.18612946e+02] [ 3.43934362e-01 9.38992144e-01 -1.70532468e-03 1.95634970e+01] [ 4.01468583e-03 3.45607184e-04 9.99991881e-01 5.49648540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:19.58, Z:0.55 [[ 9.38852029e-01 -3.44305623e-01 -3.24127199e-03 1.18637257e+02] [ 3.44302428e-01 9.38857574e-01 -1.51470412e-03 1.95770277e+01] [ 3.56461390e-03 3.06105219e-04 9.99993600e-01 5.50415772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:19.59, Z:0.55 [[ 9.38764258e-01 -3.44546965e-01 -3.00939303e-03 1.18660732e+02] [ 3.44544210e-01 9.38769039e-01 -1.40671532e-03 1.95909266e+01] [ 3.30980449e-03 2.83705125e-04 9.99994482e-01 5.49982622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:19.61, Z:0.55 [[ 9.38760984e-01 -3.44556751e-01 -2.90865665e-03 1.18684765e+02] [ 3.44554175e-01 9.38765450e-01 -1.36018497e-03 1.96052372e+01] [ 3.19920728e-03 2.74698789e-04 9.99994845e-01 5.49804317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:19.62, Z:0.55 [[ 9.38826983e-01 -3.44378359e-01 -2.72787979e-03 1.18708498e+02] [ 3.44376092e-01 9.38830911e-01 -1.27598973e-03 1.96190903e+01] [ 3.00044112e-03 2.58517009e-04 9.99995465e-01 5.49409326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.73, Y:19.63, Z:0.55 [[ 9.39007706e-01 -3.43880985e-01 -3.22433457e-03 1.18733304e+02] [ 3.43877813e-01 9.39013191e-01 -1.50884255e-03 1.96321649e+01] [ 3.54655496e-03 3.08037661e-04 9.99993664e-01 5.48469202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:19.65, Z:0.55 [[ 9.39339910e-01 -3.42961980e-01 -4.19688325e-03 1.18756836e+02] [ 3.42956592e-01 9.39349198e-01 -1.96492518e-03 1.96475732e+01] [ 4.61623354e-03 4.06383862e-04 9.99989263e-01 5.48904342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:19.66, Z:0.55 [[ 9.39546295e-01 -3.42394106e-01 -4.36295953e-03 1.18779636e+02] [ 3.42388275e-01 9.39556329e-01 -2.04319313e-03 1.96619759e+01] [ 4.79882352e-03 4.25848354e-04 9.99988395e-01 5.49369825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:19.68, Z:0.55 [[ 9.39651691e-01 -3.42105438e-01 -4.30908660e-03 1.18803294e+02] [ 3.42099743e-01 9.39661477e-01 -2.01882682e-03 1.96771832e+01] [ 4.73973431e-03 4.22856617e-04 9.99988678e-01 5.49601979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:19.69, Z:0.55 [[ 9.39653722e-01 -3.42100428e-01 -4.26390017e-03 1.18826618e+02] [ 3.42094848e-01 9.39663302e-01 -1.99834568e-03 1.96913309e+01] [ 4.69026542e-03 4.19094674e-04 9.99988913e-01 5.49849401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:19.71, Z:0.55 [[ 9.39382775e-01 -3.42843623e-01 -4.27218798e-03 1.18850765e+02] [ 3.42838025e-01 9.39392397e-01 -2.00312178e-03 1.97052848e+01] [ 4.70001843e-03 4.17029606e-04 9.99988868e-01 5.49912595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:19.72, Z:0.55 [[ 9.38828206e-01 -3.44363220e-01 -3.94625297e-03 1.18875170e+02] [ 3.44358453e-01 9.38836423e-01 -1.85117079e-03 1.97196167e+01] [ 4.34236116e-03 3.79005785e-04 9.99990500e-01 5.49823548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:19.74, Z:0.55 [[ 9.36960671e-01 -3.49404863e-01 -4.57641124e-03 1.18898257e+02] [ 3.49398508e-01 9.36971756e-01 -2.14733463e-03 1.97350060e+01] [ 5.03825724e-03 4.12976831e-04 9.99987223e-01 5.48687663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:19.75, Z:0.55 [[ 9.35536119e-01 -3.53192487e-01 -5.21885590e-03 1.18923198e+02] [ 3.53184276e-01 9.35550568e-01 -2.44988026e-03 1.97480445e+01] [ 5.74778290e-03 4.48733628e-04 9.99983381e-01 5.48203320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:118.95, Y:19.76, Z:0.55 [[ 9.34181432e-01 -3.56753284e-01 -5.66975983e-03 1.18947491e+02] [ 3.56743653e-01 9.34198522e-01 -2.66220840e-03 1.97595857e+01] [ 6.24643284e-03 4.64334826e-04 9.99980383e-01 5.47528665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.97, Y:19.77, Z:0.55 [[ 9.32910910e-01 -3.60066413e-01 -5.42335513e-03 1.18972252e+02] [ 3.60057654e-01 9.32926577e-01 -2.54702505e-03 1.97713222e+01] [ 5.97669032e-03 4.23426928e-04 9.99982050e-01 5.48001062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:19.78, Z:0.55 [[ 9.31697871e-01 -3.63202640e-01 -4.78754024e-03 1.18996828e+02] [ 3.63195850e-01 9.31710103e-01 -2.24937270e-03 1.97837911e+01] [ 5.27757771e-03 3.56921014e-04 9.99986010e-01 5.48879103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:19.80, Z:0.55 [[ 9.31636885e-01 -3.63359047e-01 -4.78715894e-03 1.19022573e+02] [ 3.63352255e-01 9.31649116e-01 -2.25018404e-03 1.97960504e+01] [ 5.27757713e-03 3.56929451e-04 9.99986010e-01 5.48900994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.05, Y:19.81, Z:0.55 [[ 9.30726617e-01 -3.65685928e-01 -4.66545708e-03 1.19048084e+02] [ 3.65679501e-01 9.30738250e-01 -2.19400485e-03 1.98087449e+01] [ 5.14463605e-03 3.35956695e-04 9.99986710e-01 5.48754349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:19.82, Z:0.55 [[ 9.30254888e-01 -3.66894043e-01 -3.82150951e-03 1.19072094e+02] [ 3.66889739e-01 9.30262698e-01 -1.79755624e-03 1.98214907e+01] [ 4.21452042e-03 2.70112848e-04 9.99991082e-01 5.49562549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:19.83, Z:0.55 [[ 9.30703726e-01 -3.65760086e-01 -3.18325675e-03 1.19097256e+02] [ 3.65757091e-01 9.30709142e-01 -1.49794472e-03 1.98343808e+01] [ 3.51057455e-03 2.29844002e-04 9.99993812e-01 5.49580253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67140051299998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.12, Y:19.85, Z:0.55 [[ 9.31446297e-01 -3.63869515e-01 -2.60233054e-03 1.19122201e+02] [ 3.63867504e-01 9.31449912e-01 -1.22514003e-03 1.98474556e+01] [ 2.86973166e-03 1.94248627e-04 9.99995863e-01 5.48476835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:19.86, Z:0.55 [[ 9.32291388e-01 -3.61698161e-01 -2.68502610e-03 1.19145536e+02] [ 3.61696010e-01 9.32295231e-01 -1.26443266e-03 1.98601223e+01] [ 2.96057999e-03 2.07656453e-04 9.99995596e-01 5.48959882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:119.17, Y:19.87, Z:0.55 [[ 9.33124714e-01 -3.59539682e-01 -3.07975354e-03 1.19168819e+02] [ 3.59536840e-01 9.33129764e-01 -1.45062646e-03 1.98730679e+01] [ 3.39536747e-03 2.46330542e-04 9.99994205e-01 5.48571472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.19, Y:19.89, Z:0.55 [[ 9.34234577e-01 -3.56637636e-01 -3.91819343e-03 1.19193463e+02] [ 3.56633007e-01 9.34242736e-01 -1.84637331e-03 1.98871505e+01] [ 4.31902997e-03 3.27588685e-04 9.99990619e-01 5.47746595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:19.90, Z:0.55 [[ 9.34331119e-01 -3.56385916e-01 -3.79975717e-03 1.19217881e+02] [ 3.56381559e-01 9.34338791e-01 -1.79102721e-03 1.98982256e+01] [ 4.18855740e-03 3.19249076e-04 9.99991177e-01 5.47758665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.24, Y:19.91, Z:0.55 [[ 9.34106834e-01 -3.56972092e-01 -3.91756926e-03 1.19243856e+02] [ 3.56967462e-01 9.34114992e-01 -1.84737237e-03 1.99089995e+01] [ 4.31892056e-03 3.27198397e-04 9.99990620e-01 5.47421678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:19.92, Z:0.55 [[ 9.33439875e-01 -3.58718798e-01 -3.29005069e-03 1.19268668e+02] [ 3.58715542e-01 9.33445634e-01 -1.55185281e-03 1.99193850e+01] [ 3.62776223e-03 2.68368978e-04 9.99993384e-01 5.47500014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:19.93, Z:0.55 [[ 9.32633662e-01 -3.60813481e-01 -2.84321948e-03 1.19294178e+02] [ 3.60811057e-01 9.32637969e-01 -1.34163971e-03 1.99307391e+01] [ 3.13577614e-03 2.25393333e-04 9.99995058e-01 5.47093045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:19.94, Z:0.55 [[ 9.31839820e-01 -3.62860464e-01 -2.61404377e-03 1.19319449e+02] [ 3.62858421e-01 9.31843465e-01 -1.23408613e-03 1.99423540e+01] [ 2.88368067e-03 2.01442799e-04 9.99995822e-01 5.46630435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:19.95, Z:0.55 [[ 9.30567395e-01 -3.66104730e-01 -3.41334192e-03 1.19343916e+02] [ 3.66101267e-01 9.30573621e-01 -1.61191662e-03 1.99526459e+01] [ 3.76649625e-03 2.50368246e-04 9.99992875e-01 5.46038046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:19.96, Z:0.55 [[ 9.29971458e-01 -3.67610437e-01 -3.95648893e-03 1.19369534e+02] [ 3.67605794e-01 9.29979831e-01 -1.86923621e-03 1.99640378e+01] [ 4.36660564e-03 2.83908068e-04 9.99990426e-01 5.46251806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:19.97, Z:0.55 [[ 9.29435742e-01 -3.68961077e-01 -4.11404083e-03 1.19395341e+02] [ 3.68956066e-01 9.29444802e-01 -1.94462049e-03 1.99749533e+01] [ 4.54126314e-03 2.89499469e-04 9.99989647e-01 5.46571986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:19.99, Z:0.55 [[ 9.28965160e-01 -3.70141708e-01 -4.34126745e-03 1.19420446e+02] [ 3.70136139e-01 9.28975256e-01 -2.05255798e-03 1.99850730e+01] [ 4.79266735e-03 2.99894886e-04 9.99988470e-01 5.46750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.45, Y:20.00, Z:0.55 [[ 9.28519620e-01 -3.71253441e-01 -4.71143299e-03 1.19447255e+02] [ 3.71246890e-01 9.28531518e-01 -2.22853444e-03 1.99950509e+01] [ 5.20206511e-03 3.20133110e-04 9.99986418e-01 5.45936171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:20.00, Z:0.55 [[ 9.27821858e-01 -3.72996868e-01 -4.46505190e-03 1.19473275e+02] [ 3.72990999e-01 9.27832555e-01 -2.11300004e-03 2.00046342e+01] [ 4.93096291e-03 2.95063453e-04 9.99987799e-01 5.46053408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:20.01, Z:0.55 [[ 9.26481650e-01 -3.76313748e-01 -4.44028066e-03 1.19500473e+02] [ 3.76307977e-01 9.26492249e-01 -2.10233004e-03 2.00128919e+01] [ 4.90502131e-03 2.76857168e-04 9.99987932e-01 5.46266470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:20.02, Z:0.55 [[ 9.26074558e-01 -3.77304265e-01 -5.23497657e-03 1.19524927e+02] [ 3.77296255e-01 9.26089299e-01 -2.47925895e-03 2.00231963e+01] [ 5.78349076e-03 3.20841576e-04 9.99983224e-01 5.46583059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:20.03, Z:0.55 [[ 9.25745444e-01 -3.78101744e-01 -5.86891853e-03 1.19550000e+02] [ 3.78091686e-01 9.25763979e-01 -2.78071246e-03 2.00346871e+01] [ 6.48462560e-03 3.55242596e-04 9.99978911e-01 5.46487531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:20.05, Z:0.55 [[ 9.25515507e-01 -3.78660575e-01 -6.10041484e-03 1.19575126e+02] [ 3.78649710e-01 9.25535540e-01 -2.89176504e-03 2.00466118e+01] [ 6.74114815e-03 3.66453084e-04 9.99977211e-01 5.46531320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:20.06, Z:0.55 [[ 9.25230606e-01 -3.79365096e-01 -5.51820786e-03 1.19599952e+02] [ 3.79356211e-01 9.25247003e-01 -2.61704595e-03 2.00591445e+01] [ 6.09852118e-03 3.28004586e-04 9.99981350e-01 5.46751573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27140051299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.63, Y:20.07, Z:0.55 [[ 9.24909953e-01 -3.80157807e-01 -4.64985763e-03 1.19625154e+02] [ 3.80151503e-01 9.24921601e-01 -2.20630059e-03 2.00713226e+01] [ 5.13949615e-03 2.72979008e-04 9.99986755e-01 5.46438497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.65, Y:20.08, Z:0.55 [[ 9.23988927e-01 -3.82402236e-01 -3.60460708e-03 1.19650822e+02] [ 3.82398462e-01 9.23995936e-01 -1.71076943e-03 2.00806266e+01] [ 3.98484434e-03 2.02335809e-04 9.99992040e-01 5.47059061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:20.09, Z:0.55 [[ 9.23232022e-01 -3.84221566e-01 -4.05230459e-03 1.19676909e+02] [ 3.84216811e-01 9.23240890e-01 -1.92411808e-03 2.00912448e+01] [ 4.48054096e-03 2.19443884e-04 9.99989938e-01 5.47025148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:20.10, Z:0.55 [[ 9.22303228e-01 -3.86434975e-01 -4.97655056e-03 1.19703483e+02] [ 3.86447874e-01 9.22309243e-01 1.92353265e-03 2.00993494e+01] [ 3.84659829e-03 -3.69725776e-03 9.99985767e-01 5.47732905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:20.12, Z:0.55 [[ 9.21346946e-01 -3.88736755e-01 -1.88149287e-03 1.19724594e+02] [ 3.88722731e-01 9.21339443e-01 -5.31696269e-03 2.01171777e+01] [ 3.80039241e-03 4.16738829e-03 9.99984095e-01 5.46559517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:20.13, Z:0.55 [[ 9.20378248e-01 -3.91019824e-01 -2.71607673e-03 1.19751097e+02] [ 3.91017712e-01 9.20382247e-01 -1.29146465e-03 2.01264504e+01] [ 3.00481708e-03 1.26601861e-04 9.99995478e-01 5.47584409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.78, Y:20.14, Z:0.55 [[ 9.19518750e-01 -3.93040062e-01 -2.18601422e-03 1.19776670e+02] [ 3.93038698e-01 9.19521343e-01 -1.03989534e-03 2.01387620e+01] [ 2.41880726e-03 9.70150749e-05 9.99997070e-01 5.47266363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:20.15, Z:0.55 [[ 9.18677674e-01 -3.95003303e-01 -1.92942048e-03 1.19801819e+02] [ 3.95002244e-01 9.18679696e-01 -9.18257915e-04 2.01503444e+01] [ 2.13523433e-03 8.14576255e-05 9.99997717e-01 5.47886948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:20.16, Z:0.55 [[ 9.17444297e-01 -3.97856178e-01 -2.53434363e-03 1.19827614e+02] [ 3.97854360e-01 9.17447792e-01 -1.20680584e-03 2.01623835e+01] [ 2.80526313e-03 9.88774758e-05 9.99996060e-01 5.47695680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:20.17, Z:0.55 [[ 9.16988100e-01 -3.98908594e-01 -2.18138763e-03 1.19851798e+02] [ 3.98907250e-01 9.16990691e-01 -1.03903854e-03 2.01745429e+01] [ 2.41479355e-03 8.26146343e-05 9.99997081e-01 5.47466359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.88, Y:20.19, Z:0.55 [[ 9.16273973e-01 -4.00551720e-01 -5.70424389e-04 1.19877222e+02] [ 4.00551628e-01 9.16274151e-01 -2.71666039e-04 2.01872586e+01] [ 6.31481422e-04 2.04361035e-05 9.99999800e-01 5.47192681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:20.20, Z:0.55 [[ 9.15842792e-01 -4.01536241e-01 -7.91991557e-04 1.19902632e+02] [ 4.01536064e-01 9.15843134e-01 -3.77449931e-04 2.01996410e+01] [ 8.76899856e-04 2.76716256e-05 9.99999615e-01 5.47742964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:20.21, Z:0.55 [[ 9.15472099e-01 -4.02377755e-01 -1.72595998e-03 1.19926833e+02] [ 4.02376917e-01 9.15473724e-01 -8.23085102e-04 2.02121371e+01] [ 1.91126215e-03 5.90249890e-05 9.99998172e-01 5.47226262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:20.23, Z:0.55 [[ 9.15221518e-01 -4.02940333e-01 -2.94308932e-03 1.19951942e+02] [ 4.02937899e-01 9.15226244e-01 -1.40415421e-03 2.02254392e+01] [ 3.25938295e-03 9.92299238e-05 9.99994683e-01 5.46253866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:20.24, Z:0.55 [[ 9.15039742e-01 -4.03342279e-01 -4.15641708e-03 1.19976815e+02] [ 4.03337423e-01 9.15049172e-01 -1.98408388e-03 2.02385440e+01] [ 4.60359092e-03 1.39077043e-04 9.99989394e-01 5.45312430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:20.25, Z:0.54 [[ 9.14774095e-01 -4.03931482e-01 -5.26436272e-03 1.20000936e+02] [ 4.03923698e-01 9.14789226e-01 -2.51366090e-03 2.02511264e+01] [ 5.83112907e-03 1.73031024e-04 9.99982984e-01 5.44746088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.03, Y:20.27, Z:0.54 [[ 9.14025314e-01 -4.05623579e-01 -5.21888572e-03 1.20025391e+02] [ 4.05615950e-01 9.14040199e-01 -2.49305452e-03 2.02652723e+01] [ 5.78151304e-03 1.61851658e-04 9.99983274e-01 5.44838715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:20.28, Z:0.55 [[ 9.13589103e-01 -4.06605500e-01 -5.18821068e-03 1.20049590e+02] [ 4.06597973e-01 9.13603822e-01 -2.47903661e-03 2.02776363e+01] [ 5.74795903e-03 1.55304887e-04 9.99983468e-01 5.46011175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:20.29, Z:0.55 [[ 9.13111793e-01 -4.07674347e-01 -5.33672751e-03 1.20074950e+02] [ 4.07666394e-01 9.13127375e-01 -2.55115845e-03 2.02893713e+01] [ 5.91315384e-03 1.53888409e-04 9.99982505e-01 5.46651398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:20.30, Z:0.55 [[ 9.12457745e-01 -4.09127585e-01 -5.95671518e-03 1.20101482e+02] [ 4.09137695e-01 9.12472498e-01 5.35516078e-04 2.02980314e+01] [ 5.21624438e-03 -2.92575251e-03 9.99982115e-01 5.46948668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.12, Y:20.31, Z:0.54 [[ 9.11965486e-01 -4.10249049e-01 -3.83016213e-03 1.20124217e+02] [ 4.10228126e-01 9.11967891e-01 -5.23935195e-03 2.03146250e+01] [ 5.64242404e-03 3.20686791e-03 9.99978939e-01 5.44957061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.15, Y:20.33, Z:0.55 [[ 9.11449261e-01 -4.11386175e-01 -4.65399327e-03 1.20150128e+02] [ 4.11380159e-01 9.11461135e-01 -2.22783346e-03 2.03253309e+01] [ 5.15843388e-03 1.15996671e-04 9.99986688e-01 5.45382303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.17, Y:20.34, Z:0.55 [[ 9.11297929e-01 -4.11730470e-01 -3.75567778e-03 1.20174213e+02] [ 4.11726552e-01 9.11305663e-01 -1.79866319e-03 2.03403468e+01] [ 4.16313487e-03 9.28057759e-05 9.99991330e-01 5.45563372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.20, Y:20.35, Z:0.55 [[ 9.11236060e-01 -4.11860297e-01 -4.46533646e-03 1.20197876e+02] [ 4.11854757e-01 9.11246994e-01 -2.13914622e-03 2.03523771e+01] [ 4.95005382e-03 1.10197112e-04 9.99987742e-01 5.46549695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.22, Y:20.36, Z:0.55 [[ 9.11172723e-01 -4.12002191e-01 -4.29682313e-03 1.20222794e+02] [ 4.11997058e-01 9.11182848e-01 -2.05930933e-03 2.03645675e+01] [ 4.76363149e-03 1.06107998e-04 9.99988648e-01 5.46931069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:20.38, Z:0.55 [[ 9.10881585e-01 -4.12651806e-01 -3.63670796e-03 1.20248194e+02] [ 4.12648131e-01 9.10888840e-01 -1.74376454e-03 2.03769915e+01] [ 4.03220428e-03 8.76822694e-05 9.99991867e-01 5.48932772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.27, Y:20.39, Z:0.55 [[ 9.10420641e-01 -4.13674409e-01 -2.78189403e-03 1.20273248e+02] [ 4.13672262e-01 9.10424889e-01 -1.33450856e-03 2.03890727e+01] [ 3.08475760e-03 6.41717400e-05 9.99995240e-01 5.48242139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:20.40, Z:0.55 [[ 9.09527250e-01 -4.15636806e-01 -2.49542787e-03 1.20297239e+02] [ 4.15635084e-01 9.09530672e-01 -1.19744617e-03 2.04005088e+01] [ 2.76737088e-03 5.19225474e-05 9.99996169e-01 5.49418515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.32, Y:20.41, Z:0.55 [[ 9.07030966e-01 -4.21057180e-01 -2.38292380e-03 1.20323104e+02] [ 4.21055627e-01 9.07034095e-01 -1.14390344e-03 2.04113354e+01] [ 2.64304189e-03 3.42123693e-05 9.99996507e-01 5.47857590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:20.42, Z:0.55 [[ 9.05440802e-01 -4.24465810e-01 -2.39386857e-03 1.20348831e+02] [ 4.24464254e-01 9.05443966e-01 -1.14973084e-03 2.04224503e+01] [ 2.65553529e-03 2.49015789e-05 9.99996474e-01 5.49247723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:120.37, Y:20.43, Z:0.55 [[ 9.04019417e-01 -4.27487496e-01 -1.82571642e-03 1.20373510e+02] [ 4.27486597e-01 9.04021261e-01 -8.77118702e-04 2.04333320e+01] [ 2.02544374e-03 1.24630406e-05 9.99997949e-01 5.48331458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:20.44, Z:0.55 [[ 9.01497502e-01 -4.32783148e-01 -1.00028805e-03 1.20400060e+02] [ 4.32782881e-01 9.01498057e-01 -4.80644739e-04 2.04433404e+01] [ 1.10977268e-03 3.92488584e-07 9.99999384e-01 5.49252885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23140051299998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:120.43, Y:20.45, Z:0.55 [[ 9.00419875e-01 -4.35021856e-01 -1.83285113e-04 1.20425927e+02] [ 4.35021847e-01 9.00419894e-01 -8.79451391e-05 2.04540632e+01] [ 2.03291620e-04 -5.45477353e-07 9.99999979e-01 5.47553371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:20.46, Z:0.55 [[ 8.99640182e-01 -4.36631840e-01 -4.22384199e-04 1.20452247e+02] [ 4.36631793e-01 8.99640282e-01 -2.03039837e-04 2.04647856e+01] [ 4.68647498e-04 -1.76357447e-06 9.99999890e-01 5.49323874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:20.47, Z:0.55 [[ 8.99404853e-01 -4.37112340e-01 -1.92698344e-03 1.20480794e+02] [ 4.37116586e-01 8.99396471e-01 3.88313360e-03 2.04724706e+01] [ 3.57564945e-05 -4.33482562e-03 9.99990604e-01 5.50396949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.50, Y:20.49, Z:0.55 [[ 8.99702711e-01 -4.36503186e-01 -1.07346032e-05 1.20503476e+02] [ 4.36498210e-01 8.99692572e-01 -4.75277490e-03 2.04905567e+01] [ 2.08425923e-03 4.27139883e-03 9.99988705e-01 5.48478516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351400513 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:120.53, Y:20.50, Z:0.55 [[ 9.00192463e-01 -4.35485956e-01 -2.34750129e-03 1.20530999e+02] [ 4.35484488e-01 9.00195524e-01 -1.13064944e-03 2.04987113e+01] [ 2.60559210e-03 -4.49828763e-06 9.99996605e-01 5.49178411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.56, Y:20.51, Z:0.55 [[ 9.02525801e-01 -4.30631076e-01 -2.01354402e-03 1.20555303e+02] [ 4.30629983e-01 9.02528047e-01 -9.70110813e-04 2.05096337e+01] [ 2.23503981e-03 8.45761207e-06 9.99997502e-01 5.49850106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.58, Y:20.52, Z:0.55 [[ 9.03978465e-01 -4.27574816e-01 -1.64654590e-03 1.20580141e+02] [ 4.27574080e-01 9.03979965e-01 -7.93561155e-04 2.05221500e+01] [ 1.82775127e-03 1.33418450e-05 9.99998330e-01 5.49813814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:20.53, Z:0.55 [[ 9.05421818e-01 -4.24512208e-01 -8.46403815e-04 1.20604916e+02] [ 4.24512012e-01 9.05422214e-01 -4.08033321e-04 2.05343243e+01] [ 9.39567942e-04 1.01336855e-05 9.99999559e-01 5.51239256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:20.55, Z:0.55 [[ 9.05345989e-01 -4.24673904e-01 -8.46326020e-04 1.20630535e+02] [ 4.24673707e-01 9.05346384e-01 -4.08194616e-04 2.05468557e+01] [ 9.39567803e-04 1.01449492e-05 9.99999559e-01 5.51265593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:20.56, Z:0.55 [[ 9.06801744e-01 -4.21557052e-01 -4.99060479e-04 1.20655310e+02] [ 4.21556984e-01 9.06801881e-01 -2.40733275e-04 2.05589135e+01] [ 5.54031790e-04 7.91492314e-06 9.99999846e-01 5.52526546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:120.68, Y:20.57, Z:0.55 [[ 9.08310343e-01 -4.18296464e-01 -6.23254808e-04 1.20679691e+02] [ 4.18296356e-01 9.08310557e-01 -3.00852508e-04 2.05709325e+01] [ 6.91954462e-04 1.25622297e-05 9.99999761e-01 5.51792812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:120.70, Y:20.58, Z:0.55 [[ 9.09488950e-01 -4.15725130e-01 -1.57053777e-03 1.20704445e+02] [ 4.15724439e-01 9.09490305e-01 -7.58628603e-04 2.05834914e+01] [ 1.74376985e-03 3.70533959e-05 9.99998479e-01 5.51671380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.73, Y:20.60, Z:0.55 [[ 9.11099480e-01 -4.12172157e-01 -3.44262930e-03 1.20729366e+02] [ 4.12168809e-01 9.11105978e-01 -1.66397623e-03 2.05954366e+01] [ 3.82244481e-03 9.71034581e-05 9.99992690e-01 5.50288754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:120.76, Y:20.60, Z:0.55 [[ 9.11599732e-01 -4.11044752e-01 -5.30483588e-03 1.20757606e+02] [ 4.11074177e-01 9.11575562e-01 6.92928420e-03 2.05998084e+01] [ 1.98751285e-03 -8.49741466e-03 9.99961921e-01 5.50365261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.78, Y:20.62, Z:0.55 [[ 9.12186488e-01 -4.09775314e-01 -5.04209315e-05 1.20776303e+02] [ 4.09756204e-01 9.12145121e-01 -9.54633172e-03 2.06241703e+01] [ 3.95784229e-03 8.68737452e-03 9.99954431e-01 5.47655125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.81, Y:20.63, Z:0.55 [[ 9.12674082e-01 -4.08665271e-01 -4.32622270e-03 1.20805406e+02] [ 4.08659934e-01 9.12684325e-01 -2.09341831e-03 2.06285294e+01] [ 4.80398300e-03 1.42654758e-04 9.99988451e-01 5.49554182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.83, Y:20.64, Z:0.55 [[ 9.13296095e-01 -4.07266258e-01 -4.94341511e-03 1.20831413e+02] [ 4.07259263e-01 9.13309458e-01 -2.39325151e-03 2.06396564e+01] [ 5.48955836e-03 1.72495668e-04 9.99984917e-01 5.49293340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.86, Y:20.65, Z:0.55 [[ 9.14930280e-01 -4.03570717e-01 -5.76711136e-03 1.20857217e+02] [ 4.03561114e-01 9.14948427e-01 -2.79341742e-03 2.06495755e+01] [ 6.40395094e-03 2.28400298e-04 9.99979468e-01 5.49431841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77140051299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.88, Y:20.66, Z:0.55 [[ 9.15841311e-01 -4.01498147e-01 -5.82506319e-03 1.20881998e+02] [ 4.01488304e-01 9.15859802e-01 -2.82220458e-03 2.06610111e+01] [ 6.46805113e-03 2.45996804e-04 9.99979052e-01 5.50041050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.91, Y:20.67, Z:0.55 [[ 9.16861627e-01 -3.99164593e-01 -5.69074271e-03 1.20907823e+02] [ 3.99155145e-01 9.16879251e-01 -2.75831989e-03 2.06730374e+01] [ 6.31874755e-03 2.57508430e-04 9.99980003e-01 5.49451499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.93, Y:20.68, Z:0.55 [[ 9.17933455e-01 -3.96679631e-01 -6.59102746e-03 1.20933216e+02] [ 3.96666883e-01 9.17957062e-01 -3.19626832e-03 2.06848888e+01] [ 7.31817474e-03 3.19519304e-04 9.99973171e-01 5.49864779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.96, Y:20.70, Z:0.55 [[ 9.19185140e-01 -3.93759473e-01 -7.22192217e-03 1.20957587e+02] [ 3.93744070e-01 9.19213433e-01 -3.50309196e-03 2.06954202e+01] [ 8.01786351e-03 3.76401041e-04 9.99967786e-01 5.49648317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:20.71, Z:0.55 [[ 9.21211165e-01 -3.89006268e-01 -6.64178982e-03 1.20983000e+02] [ 3.88993106e-01 9.21235027e-01 -3.22312489e-03 2.07064837e+01] [ 7.37246521e-03 3.85568185e-04 9.99972749e-01 5.51290960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:20.72, Z:0.55 [[ 9.21802641e-01 -3.87617325e-01 -5.71841747e-03 1.21007639e+02] [ 3.87607533e-01 9.21820314e-01 -2.77633637e-03 2.07187720e+01] [ 6.34750947e-03 3.42732513e-04 9.99979796e-01 5.51717020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.03, Y:20.73, Z:0.55 [[ 9.22133171e-01 -3.86843564e-01 -4.74038155e-03 1.21032404e+02] [ 3.86836820e-01 9.22145310e-01 -2.30255775e-03 2.07311441e+01] [ 5.26205026e-03 2.89510755e-04 9.99986113e-01 5.51005339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98140051299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:121.06, Y:20.74, Z:0.55 [[ 9.22242996e-01 -3.86592176e-01 -3.78760612e-03 1.21056543e+02] [ 3.86587866e-01 9.22250744e-01 -1.84022093e-03 2.07422797e+01] [ 4.20453758e-03 2.32888294e-04 9.99991134e-01 5.50959333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.08, Y:20.75, Z:0.55 [[ 9.22152782e-01 -3.86808540e-01 -3.66052610e-03 1.21081953e+02] [ 3.86804514e-01 9.22160020e-01 -1.77920011e-03 2.07533732e+01] [ 4.06380062e-03 2.24786318e-04 9.99991717e-01 5.51591187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.11, Y:20.76, Z:0.55 [[ 9.21985606e-01 -3.87205114e-01 -3.83948234e-03 1.21108083e+02] [ 3.87200684e-01 9.21993571e-01 -1.86708422e-03 2.07644356e+01] [ 4.26292259e-03 2.34774587e-04 9.99990886e-01 5.53715767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:20.77, Z:0.55 [[ 9.22000580e-01 -3.87153363e-01 -5.21567553e-03 1.21133095e+02] [ 3.87145182e-01 9.22015277e-01 -2.53702875e-03 2.07746555e+01] [ 5.79115173e-03 3.19918329e-04 9.99983180e-01 5.52954297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:20.79, Z:0.55 [[ 9.21993125e-01 -3.87156069e-01 -6.23351235e-03 1.21158262e+02] [ 3.87144375e-01 9.22014117e-01 -3.03349631e-03 2.07863281e+01] [ 6.92182289e-03 3.83593502e-04 9.99975970e-01 5.52340033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:20.80, Z:0.55 [[ 9.22050892e-01 -3.87016723e-01 -6.34098459e-03 1.21182699e+02] [ 3.87004613e-01 9.22072612e-01 -3.08656960e-03 2.07976243e+01] [ 7.04140228e-03 3.91983964e-04 9.99975132e-01 5.51688556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.21, Y:20.81, Z:0.55 [[ 9.22252086e-01 -3.86545585e-01 -5.79666664e-03 1.21207670e+02] [ 3.86535448e-01 9.22270231e-01 -2.82284081e-03 2.08094253e+01] [ 6.43724974e-03 3.62753687e-04 9.99979215e-01 5.50213463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:20.82, Z:0.55 [[ 9.22510656e-01 -3.85934415e-01 -5.35871696e-03 1.21232421e+02] [ 3.85925738e-01 9.22526158e-01 -2.61021397e-03 2.08208384e+01] [ 5.95092797e-03 3.39883406e-04 9.99982235e-01 5.52035584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:20.83, Z:0.55 [[ 9.23128995e-01 -3.84451312e-01 -5.48158462e-03 1.21256968e+02] [ 3.84442203e-01 9.23145200e-01 -2.67059759e-03 2.08317111e+01] [ 6.08701328e-03 3.57953602e-04 9.99981410e-01 5.52581129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.28, Y:20.84, Z:0.55 [[ 9.24530880e-01 -3.81042534e-01 -7.01704957e-03 1.21282966e+02] [ 3.81027497e-01 9.24557380e-01 -3.42018540e-03 2.08413262e+01] [ 7.79090108e-03 4.88378188e-04 9.99969531e-01 5.51626084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.31, Y:20.85, Z:0.55 [[ 9.24906326e-01 -3.80138802e-01 -6.54061948e-03 1.21306918e+02] [ 3.80125709e-01 9.24929336e-01 -3.18872316e-03 2.08534118e+01] [ 7.26176823e-03 4.63012601e-04 9.99973526e-01 5.51224391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:20.87, Z:0.55 [[ 9.25283822e-01 -3.79245321e-01 -4.77858198e-03 1.21331426e+02] [ 3.79238315e-01 9.25296098e-01 -2.33064456e-03 2.08669420e+01] [ 5.30548931e-03 3.44286329e-04 9.99985867e-01 5.51956566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:20.88, Z:0.55 [[ 9.25992521e-01 -3.77531593e-01 -2.78351331e-03 1.21356311e+02] [ 3.77529207e-01 9.25996681e-01 -1.35815204e-03 2.08804308e+01] [ 3.09026939e-03 2.06781061e-04 9.99995204e-01 5.51803701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:20.89, Z:0.55 [[ 9.27175300e-01 -3.74621360e-01 -2.19099655e-03 1.21380293e+02] [ 3.74619873e-01 9.27177873e-01 -1.06933926e-03 2.08933382e+01] [ 2.43204085e-03 1.70674104e-04 9.99997028e-01 5.52027492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.41, Y:20.91, Z:0.55 [[ 9.27360879e-01 -3.74155312e-01 -3.09864011e-03 1.21405312e+02] [ 3.74152333e-01 9.27366024e-01 -1.51293926e-03 2.09067232e+01] [ 3.43964782e-03 2.43677257e-04 9.99994055e-01 5.51616103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.43, Y:20.92, Z:0.55 [[ 9.27219929e-01 -3.74493517e-01 -4.22013351e-03 1.21429056e+02] [ 3.74487991e-01 9.27229474e-01 -2.06110908e-03 2.09205321e+01] [ 4.68490416e-03 3.30712099e-04 9.99988971e-01 5.51793315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:20.93, Z:0.55 [[ 9.26847970e-01 -3.75403512e-01 -5.00426204e-03 1.21453885e+02] [ 3.75395750e-01 9.26861399e-01 -2.44510870e-03 2.09345575e+01] [ 5.55615971e-03 3.87665339e-04 9.99984489e-01 5.51989764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:20.95, Z:0.55 [[ 9.25756193e-01 -3.78076892e-01 -5.77364920e-03 1.21478498e+02] [ 3.78066602e-01 9.25774097e-01 -2.82238793e-03 2.09477377e+01] [ 6.41217453e-03 4.30019167e-04 9.99979349e-01 5.51863888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.50, Y:20.96, Z:0.55 [[ 9.25184806e-01 -3.79477924e-01 -5.43885027e-03 1.21502744e+02] [ 3.79468809e-01 9.25200707e-01 -2.65995295e-03 2.09596602e+01] [ 6.04142154e-03 3.97074016e-04 9.99981672e-01 5.51222229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:20.97, Z:0.55 [[ 9.24630225e-01 -3.80835347e-01 -4.83586070e-03 1.21526689e+02] [ 3.80828157e-01 9.24642806e-01 -2.36561162e-03 2.09717391e+01] [ 5.37235232e-03 3.45684084e-04 9.99985509e-01 5.52187147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.55, Y:20.98, Z:0.55 [[ 9.24190176e-01 -3.81894310e-01 -5.40879025e-03 1.21551806e+02] [ 3.81885326e-01 9.24205925e-01 -2.64695053e-03 2.09849814e+01] [ 6.00969134e-03 3.80748050e-04 9.99981869e-01 5.51734643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.58, Y:21.00, Z:0.55 [[ 9.23890618e-01 -3.82615861e-01 -5.58824303e-03 1.21576346e+02] [ 3.82606281e-01 9.23907436e-01 -2.73544408e-03 2.09969792e+01] [ 6.20964358e-03 3.89154237e-04 9.99980644e-01 5.51615022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.60, Y:21.01, Z:0.55 [[ 9.23497633e-01 -3.83567041e-01 -5.33350278e-03 1.21600856e+02] [ 3.83558325e-01 9.23512962e-01 -2.61152490e-03 2.10075265e+01] [ 5.92725383e-03 3.66027666e-04 9.99982367e-01 5.51968917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.63, Y:21.02, Z:0.55 [[ 9.22903909e-01 -3.85006622e-01 -4.27494025e-03 1.21628153e+02] [ 3.85001034e-01 9.22913765e-01 -2.09409020e-03 2.10151710e+01] [ 4.75163979e-03 2.86787612e-04 9.99988670e-01 5.52857295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:21.03, Z:0.55 [[ 9.22537849e-01 -3.85894609e-01 -3.04433498e-03 1.21653178e+02] [ 3.85891779e-01 9.22542850e-01 -1.49163516e-03 2.10250366e+01] [ 3.38414343e-03 2.01306050e-04 9.99994254e-01 5.53913323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:21.04, Z:0.55 [[ 9.22302178e-01 -3.86460078e-01 -2.70212567e-03 1.21678902e+02] [ 3.86457849e-01 9.22306119e-01 -1.32444210e-03 2.10351891e+01] [ 3.00403104e-03 1.77278158e-04 9.99995472e-01 5.54149792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76140051299998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:121.71, Y:21.05, Z:0.55 [[ 9.22119059e-01 -3.86893320e-01 -3.16229359e-03 1.21705711e+02] [ 3.86890267e-01 9.22124458e-01 -1.55074880e-03 2.10452806e+01] [ 3.51600261e-03 2.06514408e-04 9.99993798e-01 5.53230731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.73, Y:21.05, Z:0.55 [[ 9.21976606e-01 -3.87224796e-01 -4.01188806e-03 1.21732030e+02] [ 3.87219881e-01 9.21985298e-01 -1.96837077e-03 2.10544080e+01] [ 4.46110378e-03 2.61308990e-04 9.99990015e-01 5.53811598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:21.06, Z:0.55 [[ 9.21777822e-01 -3.87695630e-01 -4.21250960e-03 1.21759125e+02] [ 3.87690211e-01 9.21787407e-01 -2.06779501e-03 2.10636158e+01] [ 4.68471339e-03 2.72898843e-04 9.99988989e-01 5.54553926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:21.07, Z:0.55 [[ 9.21822206e-01 -3.87599999e-01 -3.17204442e-03 1.21786649e+02] [ 3.87596925e-01 9.21827640e-01 -1.55744932e-03 2.10693405e+01] [ 3.52774558e-03 2.06216710e-04 9.99993756e-01 5.54614915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.81, Y:21.08, Z:0.55 [[ 9.21983612e-01 -3.87217022e-01 -3.03256515e-03 1.21812171e+02] [ 3.87214209e-01 9.21988578e-01 -1.48926634e-03 2.10786568e+01] [ 3.37265971e-03 1.98826844e-04 9.99994293e-01 5.54039044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.84, Y:21.09, Z:0.55 [[ 9.22143074e-01 -3.86833900e-01 -3.41831941e-03 1.21838600e+02] [ 3.86830321e-01 9.22149382e-01 -1.67938776e-03 2.10875653e+01] [ 3.80184524e-03 2.26326196e-04 9.99992747e-01 5.53824217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:21.10, Z:0.55 [[ 9.22075692e-01 -3.86984054e-01 -4.44525125e-03 1.21865413e+02] [ 3.86977998e-01 9.22086360e-01 -2.18499895e-03 2.10960582e+01] [ 4.94446530e-03 2.94519993e-04 9.99987733e-01 5.53526730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:21.10, Z:0.55 [[ 9.22095804e-01 -3.86921133e-01 -5.60046536e-03 1.21892109e+02] [ 3.86911514e-01 9.22112736e-01 -2.75356272e-03 2.11038837e+01] [ 6.22967205e-03 3.72164100e-04 9.99980526e-01 5.52684348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:21.11, Z:0.55 [[ 9.21836505e-01 -3.87529891e-01 -6.16777689e-03 1.21918940e+02] [ 3.87518229e-01 9.21857049e-01 -3.03379107e-03 2.11126542e+01] [ 6.86149333e-03 4.06533379e-04 9.99976377e-01 5.51981599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:121.95, Y:21.12, Z:0.55 [[ 9.21335500e-01 -3.88716424e-01 -6.35908633e-03 1.21948103e+02] [ 3.88704045e-01 9.21357353e-01 -3.12937164e-03 2.11173237e+01] [ 7.07542911e-03 4.11398603e-04 9.99974884e-01 5.50924475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:21.12, Z:0.55 [[ 9.21154035e-01 -3.89144387e-01 -6.47219158e-03 1.21974447e+02] [ 3.89131568e-01 9.21176679e-01 -3.18580501e-03 2.11239534e+01] [ 7.20177008e-03 4.16083078e-04 9.99973980e-01 5.51312347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.00, Y:21.13, Z:0.55 [[ 9.21194203e-01 -3.89038657e-01 -7.08264800e-03 1.22001892e+02] [ 3.89023291e-01 9.21221316e-01 -3.48780630e-03 2.11309209e+01] [ 7.88157779e-03 4.57631907e-04 9.99968835e-01 5.51615445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:21.14, Z:0.55 [[ 9.21428384e-01 -3.88497097e-01 -6.30391001e-03 1.22028066e+02] [ 3.88484907e-01 9.21449855e-01 -3.10504448e-03 2.11384075e+01] [ 7.01503773e-03 4.12102225e-04 9.99975309e-01 5.52169774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:21.15, Z:0.55 [[ 9.22167101e-01 -3.86749609e-01 -5.70764464e-03 1.22054770e+02] [ 3.86739575e-01 9.22184684e-01 -2.81254390e-03 2.11477718e+01] [ 6.35125272e-03 3.86263387e-04 9.99979756e-01 5.52262654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:21.16, Z:0.55 [[ 9.23181421e-01 -3.84330657e-01 -5.10000087e-03 1.22079764e+02] [ 3.84322605e-01 9.23195437e-01 -2.51396469e-03 2.11577856e+01] [ 5.67449124e-03 3.60799874e-04 9.99983835e-01 5.52003001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:21.17, Z:0.55 [[ 9.25577004e-01 -3.78532924e-01 -4.47597824e-03 1.22107219e+02] [ 3.78526649e-01 9.25587761e-01 -2.20731050e-03 2.11662387e+01] [ 4.97845037e-03 3.48758794e-04 9.99987547e-01 5.52915773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:21.18, Z:0.55 [[ 9.26834464e-01 -3.75440928e-01 -4.68886820e-03 1.22132840e+02] [ 3.75433999e-01 9.26846246e-01 -2.31288982e-03 2.11760688e+01] [ 5.21421339e-03 3.83305462e-04 9.99986332e-01 5.53814064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:21.19, Z:0.55 [[ 9.28023458e-01 -3.72482237e-01 -5.42625140e-03 1.22159100e+02] [ 3.72472901e-01 9.28039206e-01 -2.67775816e-03 2.11868011e+01] [ 6.03319139e-03 4.63890791e-04 9.99981693e-01 5.54879345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:21.20, Z:0.56 [[ 9.29177377e-01 -3.69591995e-01 -5.58210626e-03 1.22183673e+02] [ 3.69582058e-01 9.29194011e-01 -2.75534371e-03 2.11985927e+01] [ 6.20521268e-03 4.97156718e-04 9.99980624e-01 5.55381289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:21.21, Z:0.56 [[ 9.31471328e-01 -3.63799103e-01 -3.37318112e-03 1.22208347e+02] [ 3.63795435e-01 9.31477379e-01 -1.66561026e-03 2.12111217e+01] [ 3.74798943e-03 3.24320304e-04 9.99992924e-01 5.55914009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:21.22, Z:0.56 [[ 9.31411411e-01 -3.63952479e-01 -3.37290155e-03 1.22233875e+02] [ 3.63948809e-01 9.31417462e-01 -1.66617631e-03 2.12238718e+01] [ 3.74798839e-03 3.24332123e-04 9.99992924e-01 5.55942341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:21.24, Z:0.56 [[ 9.32477765e-01 -3.61223411e-01 -1.69286158e-03 1.22259297e+02] [ 3.61222482e-01 9.32479286e-01 -8.36521530e-04 2.12365186e+01] [ 1.88072952e-03 1.68538064e-04 9.99998217e-01 5.56324763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:21.25, Z:0.56 [[ 9.33534923e-01 -3.58483611e-01 -1.43142090e-03 1.22284106e+02] [ 3.58482943e-01 9.33536008e-01 -7.07614512e-04 2.12488817e+01] [ 1.58995116e-03 1.47442881e-04 9.99998725e-01 5.56889615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:21.26, Z:0.56 [[ 9.34506491e-01 -3.55941282e-01 -1.84999656e-03 1.22308254e+02] [ 3.55940161e-01 9.34508301e-01 -9.14878989e-04 2.12617466e+01] [ 2.05448034e-03 1.96472282e-04 9.99997870e-01 5.56283177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:21.28, Z:0.55 [[ 9.35614692e-01 -3.52990273e-01 -4.79749808e-03 1.22332534e+02] [ 3.52982686e-01 9.35626843e-01 -2.37359760e-03 2.12750792e+01] [ 5.32652485e-03 5.27339022e-04 9.99985675e-01 5.54346848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:21.29, Z:0.55 [[ 9.35757581e-01 -3.52594583e-01 -5.90001052e-03 1.22357111e+02] [ 3.52583097e-01 9.35775953e-01 -2.91980235e-03 2.12869222e+01] [ 6.55059446e-03 6.51983201e-04 9.99978332e-01 5.53406929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:21.30, Z:0.55 [[ 9.35732946e-01 -3.52646697e-01 -6.64534683e-03 1.22382854e+02] [ 3.52632116e-01 9.35756254e-01 -3.28999496e-03 2.12988160e+01] [ 7.37863071e-03 7.35193957e-04 9.99972507e-01 5.53679531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:21.31, Z:0.55 [[ 9.35517293e-01 -3.53215856e-01 -6.77887036e-03 1.22407929e+02] [ 3.53200687e-01 9.35541555e-01 -3.35760310e-03 2.13108690e+01] [ 7.52787357e-03 7.46794105e-04 9.99971386e-01 5.54018606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:21.32, Z:0.55 [[ 9.35209388e-01 -3.54032921e-01 -6.64017342e-03 1.22432303e+02] [ 3.54018381e-01 9.35232679e-01 -3.28965330e-03 2.13225331e+01] [ 7.37475274e-03 7.25771200e-04 9.99972543e-01 5.54818775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:21.33, Z:0.56 [[ 9.34796847e-01 -3.55123816e-01 -6.47540406e-03 1.22456183e+02] [ 3.55110010e-01 9.34819012e-01 -3.20863195e-03 2.13341601e+01] [ 7.19279245e-03 6.99938231e-04 9.99973887e-01 5.55419102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:21.35, Z:0.56 [[ 9.34048616e-01 -3.57114033e-01 -4.76971307e-03 1.22481761e+02] [ 3.57106564e-01 9.34060658e-01 -2.36435980e-03 2.13451399e+01] [ 5.29954739e-03 5.05131152e-04 9.99985830e-01 5.55103663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:122.51, Y:21.36, Z:0.55 [[ 9.33532355e-01 -3.58468049e-01 -4.24259256e-03 1.22507688e+02] [ 3.58462148e-01 9.33541891e-01 -2.10400296e-03 2.13562890e+01] [ 4.71485571e-03 4.43346000e-04 9.99988787e-01 5.54084959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:21.37, Z:0.55 [[ 9.32693375e-01 -3.60654209e-01 -3.40715217e-03 1.22533136e+02] [ 3.60650416e-01 9.32699534e-01 -1.69024181e-03 2.13668156e+01] [ 3.78744206e-03 3.47686496e-04 9.99992767e-01 5.54550965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:122.56, Y:21.38, Z:0.55 [[ 9.32151371e-01 -3.62054124e-01 -3.26071076e-03 1.22557666e+02] [ 3.62050658e-01 9.32157017e-01 -1.61795222e-03 2.13773114e+01] [ 3.62528068e-03 3.27633906e-04 9.99993375e-01 5.54324182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:21.39, Z:0.56 [[ 9.31571588e-01 -3.63532585e-01 -4.29373162e-03 1.22583531e+02] [ 3.63526584e-01 9.31581386e-01 -2.13139171e-03 2.13884618e+01] [ 4.77479080e-03 4.24658373e-04 9.99988510e-01 5.55697567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:21.40, Z:0.56 [[ 9.31395101e-01 -3.63958269e-01 -6.12735575e-03 1.22608288e+02] [ 3.63946053e-01 9.31415060e-01 -3.04237471e-03 2.13996579e+01] [ 6.81440885e-03 6.03625955e-04 9.99976599e-01 5.55885195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:21.41, Z:0.56 [[ 9.31417884e-01 -3.63856130e-01 -8.33319935e-03 1.22633516e+02] [ 3.63833516e-01 9.31454797e-01 -4.13936028e-03 2.14117518e+01] [ 9.26813012e-03 8.23576975e-04 9.99956711e-01 5.55877868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:21.43, Z:0.56 [[ 9.31287358e-01 -3.64208448e-01 -7.48759302e-03 1.22658487e+02] [ 3.64190188e-01 9.31317165e-01 -3.72095314e-03 2.14253457e+01] [ 8.32852647e-03 7.38368704e-04 9.99965045e-01 5.55811297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:21.44, Z:0.56 [[ 9.30987397e-01 -3.64992005e-01 -6.58052810e-03 1.22682942e+02] [ 3.64977911e-01 9.31010430e-01 -3.27165153e-03 2.14395543e+01] [ 7.32066695e-03 6.44118945e-04 9.99972996e-01 5.56128007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:21.45, Z:0.56 [[ 9.30530958e-01 -3.66164641e-01 -5.96589108e-03 1.22706463e+02] [ 3.66153076e-01 9.30549904e-01 -2.96675465e-03 2.14535028e+01] [ 6.63788003e-03 5.76227674e-04 9.99977803e-01 5.55871266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:21.47, Z:0.56 [[ 9.29808846e-01 -3.67995740e-01 -5.88603242e-03 1.22730994e+02] [ 3.67984511e-01 9.29827309e-01 -2.92817976e-03 2.14672033e+01] [ 6.55055137e-03 5.56678681e-04 9.99978390e-01 5.55969929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:21.48, Z:0.56 [[ 9.28878579e-01 -3.70338401e-01 -5.83554028e-03 1.22755089e+02] [ 3.70327405e-01 9.28896755e-01 -2.90369883e-03 2.14797368e+01] [ 6.49596561e-03 5.36123159e-04 9.99978757e-01 5.56169137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:21.49, Z:0.56 [[ 9.26090656e-01 -3.77268842e-01 -4.93128950e-03 1.22779578e+02] [ 3.77261082e-01 9.26103693e-01 -2.45470675e-03 2.14942266e+01] [ 5.49296979e-03 4.12897368e-04 9.99984828e-01 5.57104111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:21.51, Z:0.56 [[ 9.24484073e-01 -3.81197902e-01 -4.16620657e-03 1.22803862e+02] [ 3.81192399e-01 9.24493402e-01 -2.07474456e-03 2.15088231e+01] [ 4.64251875e-03 3.29942023e-04 9.99989169e-01 5.57416464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:21.52, Z:0.56 [[ 9.23016615e-01 -3.84744805e-01 -3.42986245e-03 1.22827831e+02] [ 3.84741096e-01 9.23022951e-01 -1.70877301e-03 2.15235903e+01] [ 3.82328330e-03 2.57616845e-04 9.99992658e-01 5.57660655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:21.54, Z:0.56 [[ 9.21932832e-01 -3.87339131e-01 -2.87250444e-03 1.22850840e+02] [ 3.87336541e-01 9.21937284e-01 -1.43145103e-03 2.15373012e+01] [ 3.20272594e-03 2.07075767e-04 9.99994850e-01 5.57726781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:21.54, Z:0.57 [[ 9.21338557e-01 -3.88674426e-01 -8.21305654e-03 1.22881052e+02] [ 3.88725649e-01 9.21334380e-01 5.94383182e-03 2.15433618e+01] [ 5.25675593e-03 -8.66890717e-03 9.99948607e-01 5.65600619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:21.57, Z:0.56 [[ 9.20302817e-01 -3.91204654e-01 1.28229808e-03 1.22896681e+02] [ 3.91198898e-01 9.20258613e-01 -9.35451093e-03 2.15714077e+01] [ 2.47948236e-03 9.11061635e-03 9.99955423e-01 5.55096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:21.58, Z:0.56 [[ 9.20127185e-01 -3.91611634e-01 -2.50822662e-03 1.22924585e+02] [ 3.91609672e-01 9.20130588e-01 -1.25097412e-03 2.15781333e+01] [ 2.79779206e-03 1.68809488e-04 9.99996072e-01 5.57626576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:21.59, Z:0.56 [[ 9.20238028e-01 -3.91352564e-01 -2.26760214e-03 1.22947941e+02] [ 3.91350959e-01 9.20240809e-01 -1.13128732e-03 2.15910442e+01] [ 2.52947222e-03 1.53625343e-04 9.99996789e-01 5.57468320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:21.60, Z:0.56 [[ 9.20541255e-01 -3.90638848e-01 -2.25567112e-03 1.22973251e+02] [ 3.90637257e-01 9.20544006e-01 -1.12572974e-03 2.16038467e+01] [ 2.51619830e-03 1.55131490e-04 9.99996822e-01 5.57230580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:21.62, Z:0.56 [[ 9.21094302e-01 -3.89330100e-01 -2.71302973e-03 1.22998077e+02] [ 3.89327791e-01 9.21098277e-01 -1.35440301e-03 2.16155309e+01] [ 3.02627687e-03 1.91275026e-04 9.99995403e-01 5.57089220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:21.63, Z:0.56 [[ 9.21740055e-01 -3.87796327e-01 -3.04621911e-03 1.23023298e+02] [ 3.87793406e-01 9.21745062e-01 -1.52131642e-03 2.16282424e+01] [ 3.39779834e-03 2.20954596e-04 9.99994203e-01 5.56737348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:21.64, Z:0.56 [[ 9.23075699e-01 -3.84596319e-01 -4.11411710e-03 1.23047300e+02] [ 3.84590955e-01 9.23084813e-01 -2.05562672e-03 2.16432320e+01] [ 4.58826549e-03 3.15246848e-04 9.99989424e-01 5.55210561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.07, Y:21.66, Z:0.55 [[ 9.23691932e-01 -3.83104949e-01 -4.87972672e-03 1.23070289e+02] [ 3.83097379e-01 9.23704742e-01 -2.43879028e-03 2.16569840e+01] [ 5.44173933e-03 3.83280390e-04 9.99985120e-01 5.53605989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:21.67, Z:0.55 [[ 9.24012682e-01 -3.82333182e-01 -4.67984422e-03 1.23095108e+02] [ 3.82326204e-01 9.24024458e-01 -2.33982260e-03 2.16705232e+01] [ 5.21888234e-03 3.72798675e-04 9.99986312e-01 5.53518494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:21.68, Z:0.55 [[ 9.23911979e-01 -3.82582740e-01 -4.13542438e-03 1.23119313e+02] [ 3.82577290e-01 9.23921176e-01 -2.06829570e-03 2.16815154e+01] [ 4.61210039e-03 3.28803718e-04 9.99989310e-01 5.53965483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:21.69, Z:0.55 [[ 9.23412244e-01 -3.83783069e-01 -4.51490154e-03 1.23145160e+02] [ 3.83776583e-01 9.23423214e-01 -2.25903918e-03 2.16927876e+01] [ 5.03614588e-03 3.53310953e-04 9.99987256e-01 5.53641470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:21.70, Z:0.55 [[ 9.22671275e-01 -3.85543521e-01 -5.82327266e-03 1.23170374e+02] [ 3.85532762e-01 9.22689545e-01 -2.91441807e-03 2.17038577e+01] [ 6.49670781e-03 4.43987443e-04 9.99978798e-01 5.53270413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:21.71, Z:0.55 [[ 9.21886408e-01 -3.87394996e-01 -7.11114303e-03 1.23196213e+02] [ 3.87378993e-01 9.21913683e-01 -3.56044767e-03 2.17149877e+01] [ 7.93515968e-03 5.27620889e-04 9.99968377e-01 5.52702996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:21.73, Z:0.55 [[ 9.21286393e-01 -3.88803434e-01 -7.95431622e-03 1.23222197e+02] [ 3.88783448e-01 9.21320550e-01 -3.98441021e-03 2.17256066e+01] [ 8.87762737e-03 5.78276430e-04 9.99960426e-01 5.52885223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:21.73, Z:0.55 [[ 9.20993462e-01 -3.89500131e-01 -7.79038758e-03 1.23248561e+02] [ 3.89480977e-01 9.21026239e-01 -3.90316483e-03 2.17327010e+01] [ 8.69543459e-03 5.60581522e-04 9.99962037e-01 5.53385994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:21.74, Z:0.55 [[ 9.21204470e-01 -3.89014809e-01 -7.05715948e-03 1.23274731e+02] [ 3.88999066e-01 9.21231358e-01 -3.53723829e-03 2.17438189e+01] [ 7.87731469e-03 5.13291285e-04 9.99968842e-01 5.53397222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:21.76, Z:0.55 [[ 9.21646502e-01 -3.87985554e-01 -5.91067165e-03 1.23299439e+02] [ 3.87974485e-01 9.21665350e-01 -2.96323570e-03 2.17552093e+01] [ 6.59735390e-03 4.37866019e-04 9.99978141e-01 5.53402905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:123.32, Y:21.77, Z:0.55 [[ 9.22371262e-01 -3.86268019e-01 -5.31718123e-03 1.23324463e+02] [ 3.86259027e-01 9.22386498e-01 -2.66676587e-03 2.17668045e+01] [ 5.93458255e-03 4.05938949e-04 9.99982308e-01 5.52221771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:21.78, Z:0.55 [[ 9.23893025e-01 -3.82608607e-01 -5.68621102e-03 1.23349285e+02] [ 3.82598249e-01 9.23910408e-01 -2.85252878e-03 2.17765254e+01] [ 6.34495161e-03 4.59897061e-04 9.99979765e-01 5.53031961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:21.78, Z:0.56 [[ 9.24611836e-01 -3.80774294e-01 -1.01926438e-02 1.23377558e+02] [ 3.80822524e-01 9.24642514e-01 3.22908032e-03 2.17818534e+01] [ 8.19500101e-03 -6.86723422e-03 9.99942840e-01 5.59621977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:21.81, Z:0.55 [[ 9.25100211e-01 -3.79711660e-01 -2.94197925e-03 1.23397597e+02] [ 3.79668412e-01 9.25070756e-01 -9.79755939e-03 2.18054660e+01] [ 6.44178651e-03 7.94674767e-03 9.99947675e-01 5.51465484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:21.81, Z:0.55 [[ 9.25443794e-01 -3.78837855e-01 -5.97182772e-03 1.23425572e+02] [ 3.78826336e-01 9.25462920e-01 -2.99841132e-03 2.18110548e+01] [ 6.66261684e-03 5.12575538e-04 9.99977673e-01 5.54148604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:21.82, Z:0.55 [[ 9.25680738e-01 -3.78269231e-01 -5.24978845e-03 1.23451489e+02] [ 3.78260314e-01 9.25695512e-01 -2.63693850e-03 2.18225621e+01] [ 5.85717831e-03 4.55176549e-04 9.99982743e-01 5.54153316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:21.83, Z:0.55 [[ 9.26055472e-01 -3.77373580e-01 -3.23163683e-03 1.23476818e+02] [ 3.77370194e-01 9.26061067e-01 -1.62369413e-03 2.18322992e+01] [ 3.60543232e-03 2.84107421e-04 9.99993460e-01 5.54731608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:21.85, Z:0.56 [[ 9.26236472e-01 -3.76932920e-01 -2.75178571e-03 1.23502034e+02] [ 3.76930461e-01 9.26240527e-01 -1.38312233e-03 2.18451759e+01] [ 3.07015978e-03 2.43866494e-04 9.99995257e-01 5.55000918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:21.86, Z:0.56 [[ 9.26529253e-01 -3.76209695e-01 -3.13181090e-03 1.23526867e+02] [ 3.76206504e-01 9.26534504e-01 -1.57485516e-03 2.18585075e+01] [ 3.49420663e-03 2.80941745e-04 9.99993856e-01 5.55080383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:21.87, Z:0.55 [[ 9.26887715e-01 -3.75318787e-01 -3.86926596e-03 1.23551487e+02] [ 3.75313904e-01 9.26895724e-01 -1.94659517e-03 2.18717785e+01] [ 4.31699982e-03 3.52085838e-04 9.99990620e-01 5.54834802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:21.88, Z:0.56 [[ 9.27252458e-01 -3.74349753e-01 -8.07099705e-03 1.23577307e+02] [ 3.74386985e-01 9.27265229e-01 3.68510474e-03 2.18795496e+01] [ 6.10443688e-03 -6.43869868e-03 9.99960639e-01 5.60640253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:21.90, Z:0.55 [[ 9.27605165e-01 -3.73559883e-01 -1.29262323e-03 1.23597301e+02] [ 3.73537018e-01 9.27577395e-01 -8.38288965e-03 2.19044219e+01] [ 4.33051937e-03 7.29316912e-03 9.99964027e-01 5.53072806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:21.91, Z:0.55 [[ 9.27767950e-01 -3.73145714e-01 -2.98443647e-03 1.23623389e+02] [ 3.73142792e-01 9.27772708e-01 -1.50295104e-03 2.19149625e+01] [ 3.32969844e-03 2.80768845e-04 9.99994417e-01 5.54734841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:21.93, Z:0.55 [[ 9.27542894e-01 -3.73709817e-01 -2.26992757e-03 1.23647142e+02] [ 3.73708128e-01 9.27545647e-01 -1.14340122e-03 2.19287430e+01] [ 2.53276169e-03 2.12263293e-04 9.99996770e-01 5.54888753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:21.94, Z:0.56 [[ 9.27245028e-01 -3.74420091e-01 -5.12376755e-03 1.23672438e+02] [ 3.74443031e-01 9.27238295e-01 4.64344715e-03 2.19378528e+01] [ 3.01235359e-03 -6.22417234e-03 9.99976092e-01 5.60539635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:21.96, Z:0.55 [[ 9.27015370e-01 -3.75019994e-01 1.58352375e-03 1.23693444e+02] [ 3.75022168e-01 9.26993677e-01 -6.41066065e-03 2.19622908e+01] [ 9.36209415e-04 6.53663747e-03 9.99978198e-01 5.54021491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:21.97, Z:0.56 [[ 9.26515656e-01 -3.76246261e-01 -2.73671504e-03 1.23719542e+02] [ 3.76253498e-01 9.26512097e-01 2.93946415e-03 2.19686304e+01] [ 1.42963719e-03 -3.75315816e-03 9.99991935e-01 5.59170563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:21.99, Z:0.56 [[ 9.25957140e-01 -3.77626918e-01 1.13368776e-03 1.23743006e+02] [ 3.77628447e-01 9.25949680e-01 -3.73452828e-03 2.19881046e+01] [ 3.60520585e-04 3.88612588e-03 9.99992384e-01 5.55112818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:22.00, Z:0.56 [[ 9.23640458e-01 -3.83260097e-01 -5.05992933e-05 1.23769880e+02] [ 3.83260097e-01 9.23640459e-01 -2.53285794e-05 2.19980615e+01] [ 5.64429883e-05 4.00181062e-06 9.99999998e-01 5.56033922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:22.01, Z:0.56 [[ 9.22113295e-01 -3.86919976e-01 -5.59567420e-05 1.23795040e+02] [ 3.86919975e-01 9.22113297e-01 -2.81502600e-05 2.20088723e+01] [ 6.24903538e-05 4.30694776e-06 9.99999998e-01 5.56238133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:22.02, Z:0.56 [[ 9.22049784e-01 -3.87071302e-01 -5.59925998e-05 1.23820453e+02] [ 3.87071301e-01 9.22049786e-01 -2.80792324e-05 2.20218510e+01] [ 6.24966297e-05 4.21732180e-06 9.99999998e-01 5.56267341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:22.03, Z:0.56 [[ 9.20342955e-01 -3.91112005e-01 -4.95600045e-04 1.23846428e+02] [ 3.91111926e-01 9.20343087e-01 -2.50109171e-04 2.20325047e+01] [ 5.53942775e-04 3.63511250e-05 9.99999846e-01 5.56515427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:22.04, Z:0.56 [[ 9.18548985e-01 -3.95303508e-01 -1.70247304e-03 1.23872455e+02] [ 3.95302590e-01 9.18550555e-01 -8.59967955e-04 2.20428130e+01] [ 1.90375590e-03 1.16930690e-04 9.99998181e-01 5.56431866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:22.05, Z:0.56 [[ 9.15344059e-01 -4.02638924e-01 -5.21063676e-03 1.23899328e+02] [ 4.02630434e-01 9.15358836e-01 -2.63339907e-03 2.20518399e+01] [ 5.82991137e-03 3.12505253e-04 9.99982957e-01 5.55628637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:22.06, Z:0.56 [[ 9.14342163e-01 -4.04894418e-01 -6.23860793e-03 1.23925725e+02] [ 4.04882289e-01 9.14363375e-01 -3.15437737e-03 2.20623252e+01] [ 6.98154439e-03 3.58278373e-04 9.99975565e-01 5.55321622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:22.07, Z:0.56 [[ 9.14143412e-01 -4.05346862e-01 -5.97859810e-03 1.23952614e+02] [ 4.05335724e-01 9.14162899e-01 -3.02426164e-03 2.20716661e+01] [ 6.69128753e-03 3.41269464e-04 9.99977555e-01 5.55374607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:22.08, Z:0.56 [[ 9.14398788e-01 -4.04787262e-01 -4.70416482e-03 1.23979820e+02] [ 4.04780354e-01 9.14410847e-01 -2.38064777e-03 2.20806050e+01] [ 5.26519523e-03 2.72707938e-04 9.99986102e-01 5.56291581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:22.09, Z:0.56 [[ 9.15076085e-01 -4.03268328e-01 -3.22726331e-03 1.24005949e+02] [ 4.03265065e-01 9.15081755e-01 -1.63361264e-03 2.20896722e+01] [ 3.61199401e-03 1.93437314e-04 9.99993458e-01 5.57296888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:22.10, Z:0.56 [[ 9.16036374e-01 -4.01085909e-01 -2.73034368e-03 1.24031183e+02] [ 4.01083563e-01 9.16040427e-01 -1.38243450e-03 2.20998659e+01] [ 3.05558020e-03 1.71264318e-04 9.99995317e-01 5.58117468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:22.11, Z:0.56 [[ 9.18526981e-01 -3.95311253e-01 -6.09909266e-03 1.24056967e+02] [ 3.95299410e-01 9.18547131e-01 -3.08958106e-03 2.21109449e+01] [ 6.82365022e-03 4.26895828e-04 9.99976628e-01 5.56298817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:22.12, Z:0.56 [[ 9.20311763e-01 -3.91030550e-01 -1.10166966e-02 1.24084378e+02] [ 3.91073388e-01 9.20357415e-01 1.95818962e-03 2.21164268e+01] [ 9.37358641e-03 -6.11048179e-03 9.99937397e-01 5.60687552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:22.14, Z:0.55 [[ 9.21844352e-01 -3.87525350e-01 -5.20514468e-03 1.24105689e+02] [ 3.87461727e-01 9.21829654e-01 -1.01734697e-02 2.21391688e+01] [ 8.74073411e-03 7.36156122e-03 9.99934701e-01 5.53454410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:22.15, Z:0.56 [[ 9.23514469e-01 -3.83478640e-01 -8.07208524e-03 1.24134105e+02] [ 3.83457405e-01 9.23549492e-01 -4.09327501e-03 2.21454559e+01] [ 9.02465375e-03 6.84897836e-04 9.99959042e-01 5.56790671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:22.16, Z:0.56 [[ 9.25134580e-01 -3.79559643e-01 -7.77735850e-03 1.24159459e+02] [ 3.79539778e-01 9.25167007e-01 -3.94547932e-03 2.21580802e+01] [ 8.69290021e-03 6.98282433e-04 9.99961972e-01 5.57723047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:22.17, Z:0.56 [[ 9.27444829e-01 -3.73885962e-01 -7.44152724e-03 1.24183031e+02] [ 3.73867581e-01 9.27474403e-01 -3.77671956e-03 2.21732857e+01] [ 8.31388846e-03 7.20553236e-04 9.99965179e-01 5.56884135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:22.19, Z:0.56 [[ 9.28201002e-01 -3.72012423e-01 -7.04679595e-03 1.24206079e+02] [ 3.71995878e-01 9.28227487e-01 -3.57748259e-03 2.21868445e+01] [ 7.87189766e-03 6.99243880e-04 9.99968772e-01 5.56110340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:22.20, Z:0.56 [[ 9.28993683e-01 -3.69959276e-01 -1.00434276e-02 1.24233062e+02] [ 3.69996344e-01 9.29030934e-01 2.05655686e-03 2.21956654e+01] [ 8.56981260e-03 -5.62655981e-03 9.99947449e-01 5.61587647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:22.22, Z:0.55 [[ 9.29252526e-01 -3.69425946e-01 -3.76991049e-03 1.24251938e+02] [ 3.69381708e-01 9.29233647e-01 -9.05440996e-03 2.22219589e+01] [ 6.84806164e-03 7.02129735e-03 9.99951902e-01 5.54332518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:22.24, Z:0.56 [[ 9.30066227e-01 -3.67336260e-01 -6.39421987e-03 1.24275022e+02] [ 3.67322510e-01 9.30087963e-01 -3.24868358e-03 2.22361766e+01] [ 7.14054621e-03 6.72749987e-04 9.99974280e-01 5.56707750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:22.25, Z:0.56 [[ 9.30214774e-01 -3.66962564e-01 -6.24104359e-03 1.24298933e+02] [ 3.66949449e-01 9.30235476e-01 -3.17207014e-03 2.22516192e+01] [ 6.96967114e-03 6.60559006e-04 9.99975493e-01 5.56766286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:22.27, Z:0.56 [[ 9.30140919e-01 -3.67161005e-01 -5.53777633e-03 1.24322576e+02] [ 3.67150675e-01 9.30157220e-01 -2.81581002e-03 2.22664175e+01] [ 6.18485827e-03 5.85901803e-04 9.99980702e-01 5.56935759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:22.28, Z:0.56 [[ 9.29884904e-01 -3.67819822e-01 -4.75852666e-03 1.24345321e+02] [ 3.67812200e-01 9.29896945e-01 -2.42012081e-03 2.22816954e+01] [ 5.31510781e-03 5.00189643e-04 9.99985750e-01 5.56998270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:22.30, Z:0.56 [[ 9.29183667e-01 -3.69592235e-01 -4.39229310e-03 1.24368676e+02] [ 3.69585757e-01 9.29193938e-01 -2.23467929e-03 2.22975958e+01] [ 4.90721223e-03 4.53098527e-04 9.99987857e-01 5.56774789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:22.32, Z:0.56 [[ 9.26749801e-01 -3.75653942e-01 -4.34992585e-03 1.24391034e+02] [ 3.75647650e-01 9.26759915e-01 -2.21406792e-03 2.23151427e+01] [ 4.86306026e-03 4.17847583e-04 9.99988088e-01 5.56215033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:22.33, Z:0.56 [[ 9.25332710e-01 -3.79135512e-01 -3.95479300e-03 1.24415448e+02] [ 3.79130338e-01 9.25341089e-01 -2.01379978e-03 2.23289419e+01] [ 4.42303548e-03 3.64052800e-04 9.99990152e-01 5.56239532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:22.34, Z:0.56 [[ 9.24098263e-01 -3.82138180e-01 -3.57944227e-03 1.24439658e+02] [ 3.82133961e-01 9.24105141e-01 -1.82340231e-03 2.23428522e+01] [ 4.00457264e-03 3.17176452e-04 9.99991931e-01 5.56782494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:22.36, Z:0.56 [[ 9.23233570e-01 -3.84224531e-01 -3.35946752e-03 1.24462717e+02] [ 3.84220827e-01 9.23239636e-01 -1.71175898e-03 2.23571343e+01] [ 3.75929336e-03 2.89575970e-04 9.99992892e-01 5.56672456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:22.37, Z:0.56 [[ 9.22585579e-01 -3.85773832e-01 -3.79479541e-03 1.24485816e+02] [ 3.85769116e-01 9.22593327e-01 -1.93431231e-03 2.23724831e+01] [ 4.24726000e-03 3.20653769e-04 9.99990929e-01 5.56125488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:22.39, Z:0.56 [[ 9.21823415e-01 -3.87582559e-01 -4.62068919e-03 1.24508221e+02] [ 3.87575586e-01 9.21834917e-01 -2.35590119e-03 2.23885968e+01] [ 5.17261885e-03 3.80858562e-04 9.99986549e-01 5.55392871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.53, Y:22.40, Z:0.56 [[ 9.21575486e-01 -3.88170399e-01 -4.72928781e-03 1.24533152e+02] [ 3.88163097e-01 9.21587539e-01 -2.41222404e-03 2.24011156e+01] [ 5.29480667e-03 3.87311538e-04 9.99985907e-01 5.55108852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:22.41, Z:0.56 [[ 9.21244253e-01 -3.88962166e-01 -4.17846998e-03 1.24558032e+02] [ 3.88956471e-01 9.21253667e-01 -2.13177932e-03 2.24123992e+01] [ 4.67861230e-03 3.38646507e-04 9.99988998e-01 5.56661177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:22.42, Z:0.56 [[ 9.20743429e-01 -3.90150665e-01 -3.74119022e-03 1.24582725e+02] [ 3.90146108e-01 9.20750981e-01 -1.90904396e-03 2.24236553e+01] [ 4.18951933e-03 2.98128875e-04 9.99991179e-01 5.57241643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:22.44, Z:0.56 [[ 9.20078907e-01 -3.91720627e-01 -3.12326135e-03 1.24607989e+02] [ 3.91717458e-01 9.20084176e-01 -1.59429848e-03 2.24360279e+01] [ 3.49818294e-03 2.43444402e-04 9.99993852e-01 5.57671045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:22.45, Z:0.56 [[ 9.18988863e-01 -3.94273802e-01 -2.76388617e-03 1.24632142e+02] [ 3.94271330e-01 9.18992996e-01 -1.41121487e-03 2.24489136e+01] [ 3.09639708e-03 2.07169674e-04 9.99995185e-01 5.56937590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:22.46, Z:0.56 [[ 9.18653829e-01 -3.95052564e-01 -2.93506982e-03 1.24656972e+02] [ 3.95049780e-01 9.18658492e-01 -1.49916125e-03 2.24626462e+01] [ 3.28857431e-03 2.17711538e-04 9.99994569e-01 5.56522761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:22.48, Z:0.56 [[ 9.18576369e-01 -3.95232042e-01 -3.01445563e-03 1.24681612e+02] [ 3.95229103e-01 9.18581288e-01 -1.54039928e-03 2.24760980e+01] [ 3.37783769e-03 2.23573782e-04 9.99994270e-01 5.56558769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:22.49, Z:0.56 [[ 9.18660487e-01 -3.95034696e-01 -3.24006773e-03 1.24705635e+02] [ 3.95031298e-01 9.18666169e-01 -1.65614643e-03 2.24889335e+01] [ 3.63077591e-03 2.41508119e-04 9.99993380e-01 5.56641598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:22.50, Z:0.56 [[ 9.18734286e-01 -3.94847990e-01 -4.73031039e-03 1.24730688e+02] [ 3.94840740e-01 9.18746395e-01 -2.41886602e-03 2.25010413e+01] [ 5.30104000e-03 3.54575892e-04 9.99985887e-01 5.55922119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:22.51, Z:0.56 [[ 9.18403648e-01 -3.95608950e-01 -5.31969675e-03 1.24756266e+02] [ 3.95599786e-01 9.18418969e-01 -2.72147321e-03 2.25126490e+01] [ 5.96234956e-03 3.94940028e-04 9.99982147e-01 5.55762166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:22.52, Z:0.56 [[ 9.17726548e-01 -3.97170441e-01 -5.79872049e-03 1.24781968e+02] [ 3.97159575e-01 9.17744771e-01 -2.96785327e-03 2.25242966e+01] [ 6.50048900e-03 4.20660375e-04 9.99978783e-01 5.56124739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:22.54, Z:0.56 [[ 9.16937540e-01 -3.98989128e-01 -5.76406427e-03 1.24807028e+02] [ 3.98978423e-01 9.16955567e-01 -2.95079347e-03 2.25351902e+01] [ 6.46272533e-03 4.05956031e-04 9.99979034e-01 5.56502432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:22.55, Z:0.56 [[ 9.16163799e-01 -4.00768779e-01 -5.31777029e-03 1.24832609e+02] [ 4.00759690e-01 9.16179160e-01 -2.72340446e-03 2.25462035e+01] [ 5.96348579e-03 3.63936600e-04 9.99982152e-01 5.56559998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:22.56, Z:0.56 [[ 9.15604550e-01 -4.02046656e-01 -5.17641972e-03 1.24857640e+02] [ 4.02038060e-01 9.15619116e-01 -2.65187595e-03 2.25565854e+01] [ 5.80580670e-03 3.46951947e-04 9.99983086e-01 5.56570369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:22.57, Z:0.56 [[ 9.15662703e-01 -4.01914866e-01 -5.12389186e-03 1.24883662e+02] [ 4.01906435e-01 9.15676974e-01 -2.62607130e-03 2.25678849e+01] [ 5.74728689e-03 3.45270431e-04 9.99983425e-01 5.55895619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:22.58, Z:0.56 [[ 9.16307342e-01 -4.00442563e-01 -5.15833077e-03 1.24907415e+02] [ 4.00433991e-01 9.16321792e-01 -2.64435653e-03 2.25812375e+01] [ 5.78560380e-03 3.57472324e-04 9.99983199e-01 5.55221185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:22.59, Z:0.55 [[ 9.17200359e-01 -3.98392361e-01 -5.19884116e-03 1.24931078e+02] [ 3.98383618e-01 9.17215017e-01 -2.66563370e-03 2.25944399e+01] [ 5.83042328e-03 3.73787036e-04 9.99982933e-01 5.54678163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:22.61, Z:0.55 [[ 9.18199390e-01 -3.96081826e-01 -5.39142543e-03 1.24956058e+02] [ 3.96072378e-01 9.18215129e-01 -2.76549439e-03 2.26067528e+01] [ 6.04585047e-03 4.03880575e-04 9.99981642e-01 5.54651114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:22.62, Z:0.56 [[ 9.19357155e-01 -3.93388260e-01 -5.30071872e-03 1.24980776e+02] [ 3.93379078e-01 9.19372343e-01 -2.71960911e-03 2.26174952e+01] [ 5.94319649e-03 4.15100252e-04 9.99982253e-01 5.55144399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:22.63, Z:0.56 [[ 9.20322590e-01 -3.91123666e-01 -5.34875105e-03 1.25006387e+02] [ 3.91114272e-01 9.20338030e-01 -2.74532881e-03 2.26292881e+01] [ 5.99642207e-03 4.34615250e-04 9.99981927e-01 5.55370855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:22.64, Z:0.55 [[ 9.21556254e-01 -3.88195117e-01 -6.21468467e-03 1.25029840e+02] [ 3.88182364e-01 9.21577057e-01 -3.19053202e-03 2.26436802e+01] [ 6.96585976e-03 5.27823749e-04 9.99975599e-01 5.54731648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:22.66, Z:0.55 [[ 9.21699071e-01 -3.87852687e-01 -6.41222536e-03 1.25053441e+02] [ 3.87839092e-01 9.21721212e-01 -3.29327024e-03 2.26581384e+01] [ 7.18758784e-03 5.48492456e-04 9.99974019e-01 5.54254274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:22.67, Z:0.55 [[ 9.21768343e-01 -3.87693625e-01 -6.06425339e-03 1.25077615e+02] [ 3.87681454e-01 9.21788143e-01 -3.11590155e-03 2.26721486e+01] [ 6.79797205e-03 5.21140833e-04 9.99976758e-01 5.53963188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:22.69, Z:0.55 [[ 9.21649507e-01 -3.87980604e-01 -5.76513735e-03 1.25102181e+02] [ 3.87969601e-01 9.21667406e-01 -2.96349124e-03 2.26860337e+01] [ 6.46331630e-03 4.94602207e-04 9.99978990e-01 5.53700732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:22.70, Z:0.55 [[ 9.21489088e-01 -3.88367813e-01 -5.31999799e-03 1.25125363e+02] [ 3.88358446e-01 9.21504333e-01 -2.73529213e-03 2.26992510e+01] [ 5.96470062e-03 4.54475699e-04 9.99982108e-01 5.53207767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:22.71, Z:0.55 [[ 9.21295263e-01 -3.88847997e-01 -3.50338884e-03 1.25149210e+02] [ 3.88843937e-01 9.21301876e-01 -1.80158681e-03 2.27111030e+01] [ 3.92822213e-03 2.97521878e-04 9.99992240e-01 5.53500962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:22.72, Z:0.55 [[ 9.21036579e-01 -3.89459536e-01 -3.59033529e-03 1.25175343e+02] [ 3.89455274e-01 9.21043527e-01 -1.84695796e-03 2.27216890e+01] [ 4.02617047e-03 3.02840824e-04 9.99991849e-01 5.54129241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:22.73, Z:0.55 [[ 9.20534515e-01 -3.90636348e-01 -4.41030957e-03 1.25201436e+02] [ 3.90629926e-01 9.20545007e-01 -2.26977865e-03 2.27319396e+01] [ 4.94654650e-03 3.66610687e-04 9.99987699e-01 5.54881134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:22.74, Z:0.55 [[ 9.19772165e-01 -3.92416081e-01 -5.36512339e-03 1.25225727e+02] [ 3.92406601e-01 9.19787709e-01 -2.76208478e-03 2.27428092e+01] [ 6.01866104e-03 4.35178863e-04 9.99981793e-01 5.54869119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:22.76, Z:0.55 [[ 9.19081703e-01 -3.94023667e-01 -5.84579664e-03 1.25250939e+02] [ 3.94012437e-01 9.19100177e-01 -3.01079714e-03 2.27559675e+01] [ 6.55919806e-03 4.63851987e-04 9.99978381e-01 5.54679956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:22.77, Z:0.55 [[ 9.18638740e-01 -3.95061729e-01 -5.39400763e-03 1.25274558e+02] [ 3.95052181e-01 9.18654479e-01 -2.77873440e-03 2.27691247e+01] [ 6.05300089e-03 4.21738592e-04 9.99981591e-01 5.54086565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:22.78, Z:0.55 [[ 9.18856873e-01 -3.94558156e-01 -5.09007468e-03 1.25299304e+02] [ 3.94549641e-01 9.18870883e-01 -2.62318700e-03 2.27820526e+01] [ 5.71212125e-03 4.02046270e-04 9.99983605e-01 5.54063084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:22.79, Z:0.55 [[ 9.19078247e-01 -3.94040572e-01 -5.21574067e-03 1.25323325e+02] [ 3.94031619e-01 9.19092952e-01 -2.68858416e-03 2.27939221e+01] [ 5.85316173e-03 4.15852475e-04 9.99982784e-01 5.53998358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:22.81, Z:0.55 [[ 9.19023324e-01 -3.94165720e-01 -5.43274926e-03 1.25348078e+02] [ 3.94156002e-01 9.19039280e-01 -2.80156459e-03 2.28066604e+01] [ 6.09719069e-03 4.33352473e-04 9.99981318e-01 5.53825391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:22.82, Z:0.55 [[ 9.18957141e-01 -3.94320000e-01 -5.43227347e-03 1.25373380e+02] [ 3.94310279e-01 9.18973095e-01 -2.80248703e-03 2.28198572e+01] [ 6.09718985e-03 4.33364199e-04 9.99981318e-01 5.53854892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:22.83, Z:0.55 [[ 9.18763893e-01 -3.94770607e-01 -5.39227045e-03 1.25398070e+02] [ 3.94761033e-01 9.18779617e-01 -2.78248466e-03 2.28317629e+01] [ 6.05275134e-03 4.27788184e-04 9.99981590e-01 5.53557535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:22.84, Z:0.55 [[ 9.17502408e-01 -3.97711446e-01 -3.86478598e-03 1.25425921e+02] [ 3.97706551e-01 9.17510501e-01 -1.99503713e-03 2.28392023e+01] [ 4.33943082e-03 2.93400670e-04 9.99990542e-01 5.53650555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:22.85, Z:0.55 [[ 9.16708043e-01 -3.99550054e-01 -2.47349880e-03 1.25452008e+02] [ 3.99548055e-01 9.16711362e-01 -1.27713828e-03 2.28479314e+01] [ 2.77776513e-03 1.82481303e-04 9.99996125e-01 5.54745834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:22.86, Z:0.56 [[ 9.15827096e-01 -4.01570594e-01 -1.33710471e-03 1.25477364e+02] [ 4.01570012e-01 9.15828067e-01 -6.90476309e-04 2.28577143e+01] [ 1.50183301e-03 9.54157574e-05 9.99998868e-01 5.55436528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:22.87, Z:0.56 [[ 9.15165706e-01 -4.03075798e-01 -1.27746095e-03 1.25502898e+02] [ 4.03075268e-01 9.15166593e-01 -6.59841667e-04 2.28690064e+01] [ 1.43505580e-03 8.89515485e-05 9.99998966e-01 5.55723558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:22.88, Z:0.56 [[ 9.15032175e-01 -4.03378447e-01 -1.39521801e-03 1.25527435e+02] [ 4.03377814e-01 9.15033234e-01 -7.20938716e-04 2.28803683e+01] [ 1.56748198e-03 9.68821316e-05 9.99998767e-01 5.55117282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:22.89, Z:0.55 [[ 9.15356184e-01 -4.02640405e-01 -1.93933942e-03 1.25552791e+02] [ 4.02639181e-01 9.15358228e-01 -1.00245392e-03 2.28921347e+01] [ 2.17881875e-03 1.36748364e-04 9.99997617e-01 5.54943672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:22.90, Z:0.55 [[ 9.17422861e-01 -3.97901215e-01 -3.14923563e-03 1.25577846e+02] [ 3.97897955e-01 9.17428234e-01 -1.62853836e-03 2.29028632e+01] [ 3.53719507e-03 2.40983899e-04 9.99993715e-01 5.54889003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:22.92, Z:0.56 [[ 9.18736401e-01 -3.94853030e-01 -3.80915638e-03 1.25603286e+02] [ 3.94848232e-01 9.18744246e-01 -1.97061863e-03 2.29154417e+01] [ 4.27774525e-03 3.06440402e-04 9.99990803e-01 5.55171757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:22.93, Z:0.56 [[ 9.19807305e-01 -3.92344840e-01 -4.47748066e-03 1.25627346e+02] [ 3.92338177e-01 9.19818127e-01 -2.31695750e-03 2.29272511e+01] [ 5.02751420e-03 3.74467832e-04 9.99987292e-01 5.55535423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:22.94, Z:0.56 [[ 9.21255203e-01 -3.88928160e-01 -4.87205411e-03 1.25653248e+02] [ 3.88920218e-01 9.21267986e-01 -2.52211596e-03 2.29375422e+01] [ 5.46938940e-03 4.28672103e-04 9.99984951e-01 5.56617235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:22.95, Z:0.56 [[ 9.21517895e-01 -3.88307157e-01 -4.72449264e-03 1.25677974e+02] [ 3.88299679e-01 9.21529910e-01 -2.44629511e-03 2.29488700e+01] [ 5.30367518e-03 4.19785741e-04 9.99985847e-01 5.56724748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:22.96, Z:0.56 [[ 9.21495505e-01 -3.88368071e-01 -4.03428269e-03 1.25702468e+02] [ 3.88362614e-01 9.21504266e-01 -2.08965815e-03 2.29614852e+01] [ 4.52916522e-03 3.58846022e-04 9.99989679e-01 5.56310363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:22.98, Z:0.56 [[ 9.21436031e-01 -3.88517595e-01 -3.11767718e-03 1.25727041e+02] [ 3.88514335e-01 9.21441263e-01 -1.61552038e-03 2.29753620e+01] [ 3.50041450e-03 2.77336409e-04 9.99993835e-01 5.55654506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:125.75, Y:22.99, Z:0.55 [[ 9.21647216e-01 -3.88017313e-01 -2.99562421e-03 1.25751985e+02] [ 3.88014299e-01 9.21652045e-01 -1.55293619e-03 2.29891147e+01] [ 3.36348931e-03 2.68914284e-04 9.99994307e-01 5.54516570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:23.00, Z:0.56 [[ 9.21761021e-01 -3.87746442e-01 -3.05244344e-03 1.25775614e+02] [ 3.87743309e-01 9.21766034e-01 -1.58280921e-03 2.30017048e+01] [ 3.42736733e-03 2.75407316e-04 9.99994089e-01 5.55043793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:23.01, Z:0.56 [[ 9.22101012e-01 -3.86928087e-01 -4.04723364e-03 1.25800405e+02] [ 3.86922568e-01 9.22109819e-01 -2.09945984e-03 2.30137495e+01] [ 4.54433386e-03 3.69948012e-04 9.99989606e-01 5.55986182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:23.03, Z:0.56 [[ 9.22219079e-01 -3.86647486e-01 -3.96144713e-03 1.25825218e+02] [ 3.86642192e-01 9.22227515e-01 -2.05583589e-03 2.30269800e+01] [ 4.44823932e-03 3.64268479e-04 9.99990040e-01 5.56748988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:23.04, Z:0.56 [[ 9.22320957e-01 -3.86404797e-01 -3.92250006e-03 1.25850284e+02] [ 3.86399600e-01 9.22329226e-01 -2.03649623e-03 2.30402523e+01] [ 4.40474836e-03 3.62650696e-04 9.99990233e-01 5.57660914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:23.05, Z:0.56 [[ 9.22516787e-01 -3.85941922e-01 -3.40736731e-03 1.25874046e+02] [ 3.85937996e-01 9.22523025e-01 -1.76946712e-03 2.30524075e+01] [ 3.82628634e-03 3.17330612e-04 9.99992629e-01 5.58112299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:23.07, Z:0.56 [[ 9.22674529e-01 -3.85563388e-01 -3.54781567e-03 1.25899300e+02] [ 3.85559126e-01 9.22681290e-01 -1.84306190e-03 2.30656601e+01] [ 3.98412033e-03 3.32653557e-04 9.99992008e-01 5.58685932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:23.08, Z:0.56 [[ 9.23016320e-01 -3.84737130e-01 -4.26773888e-03 1.25922034e+02] [ 3.84730949e-01 9.23026098e-01 -2.21803624e-03 2.30831956e+01] [ 4.79259526e-03 4.05352413e-04 9.99988433e-01 5.56531042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:23.10, Z:0.56 [[ 9.23331074e-01 -3.83984914e-01 -3.91329135e-03 1.25944074e+02] [ 3.83979709e-01 9.23339290e-01 -2.03429757e-03 2.30987780e+01] [ 4.39443523e-03 3.75705692e-04 9.99990274e-01 5.55242982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:23.11, Z:0.55 [[ 9.23663825e-01 -3.83190776e-01 -3.15710539e-03 1.25967276e+02] [ 3.83187382e-01 9.23669170e-01 -1.64174616e-03 2.31142473e+01] [ 3.54522290e-03 3.06658587e-04 9.99993669e-01 5.54363342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:23.13, Z:0.55 [[ 9.23944852e-01 -3.82514783e-01 -2.88995237e-03 1.25991125e+02] [ 3.82511933e-01 9.23949328e-01 -1.50344103e-03 2.31290539e+01] [ 3.24525797e-03 2.83655331e-04 9.99994694e-01 5.54703003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:23.15, Z:0.56 [[ 9.24265434e-01 -3.81744202e-01 -2.18436522e-03 1.26013269e+02] [ 3.81742571e-01 9.24267990e-01 -1.13672048e-03 2.31457160e+01] [ 2.45287530e-03 2.16766254e-04 9.99996968e-01 5.56352418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:23.16, Z:0.56 [[ 9.23819217e-01 -3.82824745e-01 -1.80787953e-03 1.26036872e+02] [ 3.82823629e-01 9.23820969e-01 -9.41117833e-04 2.31619057e+01] [ 2.03044021e-03 1.77323737e-04 9.99997923e-01 5.57133669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01140051299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:126.06, Y:23.18, Z:0.56 [[ 9.23123158e-01 -3.84501747e-01 -1.42919192e-03 1.26059550e+02] [ 3.84501051e-01 9.23124254e-01 -7.44200932e-04 2.31774790e+01] [ 1.60546829e-03 1.37463317e-04 9.99998702e-01 5.56304043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:23.19, Z:0.56 [[ 9.21958637e-01 -3.87286112e-01 -1.31887915e-03 1.26082071e+02] [ 3.87285523e-01 9.21959572e-01 -6.86880294e-04 2.31917119e+01] [ 1.48197245e-03 1.22492419e-04 9.99998894e-01 5.56714597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:23.21, Z:0.56 [[ 9.20646514e-01 -3.90393303e-01 -1.75064481e-03 1.26106707e+02] [ 3.90392269e-01 9.20648166e-01 -9.12044820e-04 2.32051859e+01] [ 1.96778413e-03 1.56232685e-04 9.99998052e-01 5.56164555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:23.22, Z:0.56 [[ 9.18048235e-01 -3.96451915e-01 -3.64925869e-03 1.26131559e+02] [ 3.96447464e-01 9.18055439e-01 -1.90220628e-03 2.32176589e+01] [ 4.10435511e-03 2.99577762e-04 9.99991532e-01 5.55479939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:23.23, Z:0.55 [[ 9.16864694e-01 -3.99172766e-01 -4.49832842e-03 1.26156284e+02] [ 3.99166031e-01 9.16875660e-01 -2.34583857e-03 2.32315043e+01] [ 5.06080271e-03 3.55236659e-04 9.99987131e-01 5.54905091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:23.25, Z:0.55 [[ 9.16139653e-01 -4.00822981e-01 -5.39194745e-03 1.26180416e+02] [ 4.00813325e-01 9.16155426e-01 -2.81310394e-03 2.32452389e+01] [ 6.06741862e-03 4.16031681e-04 9.99981507e-01 5.54650687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:23.26, Z:0.55 [[ 9.15870295e-01 -4.01435150e-01 -5.60562317e-03 1.26204927e+02] [ 4.01424717e-01 9.15887349e-01 -2.92586683e-03 2.32582478e+01] [ 6.30866513e-03 4.29478830e-04 9.99980008e-01 5.54310150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:23.27, Z:0.55 [[ 9.15986449e-01 -4.01172772e-01 -5.40668929e-03 1.26229141e+02] [ 4.01163058e-01 9.16002311e-01 -2.82268094e-03 2.32696241e+01] [ 6.08492262e-03 4.16573481e-04 9.99981400e-01 5.54310090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:23.28, Z:0.56 [[ 9.16516077e-01 -3.99979128e-01 -3.87007270e-03 1.26254751e+02] [ 3.99974137e-01 9.16524197e-01 -2.02119514e-03 2.32821978e+01] [ 4.35545115e-03 3.04528849e-04 9.99990469e-01 5.55341413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:23.30, Z:0.56 [[ 9.16909647e-01 -3.99077666e-01 -3.70340138e-03 1.26277779e+02] [ 3.99073086e-01 9.16917079e-01 -1.93462429e-03 2.32955741e+01] [ 4.16777732e-03 2.95947857e-04 9.99991271e-01 5.55028263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:23.31, Z:0.55 [[ 9.17164707e-01 -3.98486847e-01 -4.13927042e-03 1.26301500e+02] [ 3.98481118e-01 9.17173986e-01 -2.16273405e-03 2.33085971e+01] [ 4.65825223e-03 3.34162231e-04 9.99989094e-01 5.54728341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:23.32, Z:0.55 [[ 9.17361979e-01 -3.98028349e-01 -4.52035156e-03 1.26326035e+02] [ 3.98021508e-01 9.17373042e-01 -2.36248717e-03 2.33204711e+01] [ 5.08718553e-03 3.68058755e-04 9.99986992e-01 5.54990409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:23.33, Z:0.56 [[ 9.17448319e-01 -3.97833354e-01 -4.14776278e-03 1.26351885e+02] [ 3.97827589e-01 9.17457632e-01 -2.16860623e-03 2.33323196e+01] [ 4.66814051e-03 3.39489671e-04 9.99989047e-01 5.55473680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:23.34, Z:0.56 [[ 9.17405498e-01 -3.97936354e-01 -3.71618277e-03 1.26376677e+02] [ 3.97931723e-01 9.17412974e-01 -1.94376806e-03 2.33443613e+01] [ 4.18277026e-03 3.04436490e-04 9.99991206e-01 5.55986948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:23.36, Z:0.56 [[ 9.17326665e-01 -3.98118209e-01 -3.69885125e-03 1.26400424e+02] [ 3.98113619e-01 9.17334072e-01 -1.93553432e-03 2.33586958e+01] [ 4.16365374e-03 3.02954181e-04 9.99991286e-01 5.55535175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:23.37, Z:0.55 [[ 9.17286404e-01 -3.98204591e-01 -4.33097129e-03 1.26424270e+02] [ 3.98198297e-01 9.17296559e-01 -2.26688815e-03 2.33717895e+01] [ 4.87547033e-03 3.54800285e-04 9.99988052e-01 5.54976141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:23.38, Z:0.55 [[ 9.17123203e-01 -3.98569837e-01 -5.20721300e-03 1.26449552e+02] [ 3.98560738e-01 9.17137887e-01 -2.72657645e-03 2.33841123e+01] [ 5.86246346e-03 4.25215875e-04 9.99982725e-01 5.54336201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.48, Y:23.40, Z:0.55 [[ 9.16768949e-01 -3.99373582e-01 -5.95289703e-03 1.26475292e+02] [ 3.99361697e-01 9.16788149e-01 -3.11837303e-03 2.33958946e+01] [ 6.70294125e-03 4.81468500e-04 9.99977419e-01 5.53991014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:23.41, Z:0.55 [[ 9.16245438e-01 -4.00575211e-01 -5.81348730e-03 1.26500523e+02] [ 4.00563892e-01 9.16263764e-01 -3.04665488e-03 2.34075985e+01] [ 6.54710218e-03 4.62810531e-04 9.99978460e-01 5.53692449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:23.42, Z:0.55 [[ 9.15731187e-01 -4.01759854e-01 -5.04105941e-03 1.26525353e+02] [ 4.01751358e-01 9.15744978e-01 -2.64243936e-03 2.34191466e+01] [ 5.67795089e-03 3.94511675e-04 9.99983802e-01 5.53569141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:23.43, Z:0.55 [[ 9.14797710e-01 -4.03898206e-01 -3.37468258e-03 1.26551972e+02] [ 4.03894411e-01 9.14803899e-01 -1.76957395e-03 2.34288397e+01] [ 3.80190052e-03 2.55786766e-04 9.99992740e-01 5.54152842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:23.44, Z:0.55 [[ 9.14606608e-01 -4.04334707e-01 -2.86301645e-03 1.26576897e+02] [ 4.04331976e-01 9.14611064e-01 -1.50164341e-03 2.34400852e+01] [ 3.22571307e-03 2.15803881e-04 9.99994774e-01 5.54731238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:23.45, Z:0.55 [[ 9.14375044e-01 -4.04862280e-01 -2.19390766e-03 1.26602504e+02] [ 4.04860677e-01 9.14377661e-01 -1.15105767e-03 2.34517400e+01] [ 2.47207999e-03 1.64271463e-04 9.99996931e-01 5.54268647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:23.46, Z:0.55 [[ 9.14325245e-01 -4.04976962e-01 -1.73391872e-03 1.26626435e+02] [ 4.04975960e-01 9.14326880e-01 -9.09964868e-04 2.34637608e+01] [ 1.95388330e-03 1.29808453e-04 9.99998083e-01 5.54012183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:23.48, Z:0.55 [[ 9.14337275e-01 -4.04951672e-01 -1.22140148e-03 1.26651393e+02] [ 4.04951174e-01 9.14338086e-01 -6.41127098e-04 2.34759500e+01] [ 1.37639938e-03 9.15984401e-05 9.99999049e-01 5.53793700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:23.49, Z:0.55 [[ 9.14427056e-01 -4.04749911e-01 -8.17793445e-04 1.26675863e+02] [ 4.04749688e-01 9.14427420e-01 -4.29397716e-04 2.34876193e+01] [ 9.21611437e-04 6.16512483e-05 9.99999573e-01 5.53799724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:23.50, Z:0.55 [[ 9.14326812e-01 -4.04976783e-01 -5.35225529e-04 1.26701525e+02] [ 4.04976688e-01 9.14326967e-01 -2.81003459e-04 2.34990878e+01] [ 6.03171012e-04 4.01751352e-05 9.99999817e-01 5.54027310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:23.51, Z:0.55 [[ 9.14029725e-01 -4.05646949e-01 -4.62809420e-04 1.26727005e+02] [ 4.05646878e-01 9.14029842e-01 -2.43059877e-04 2.35105170e+01] [ 5.21618118e-04 3.44267563e-05 9.99999863e-01 5.54106770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:23.52, Z:0.55 [[ 9.13250806e-01 -4.07396188e-01 -1.14497682e-03 1.26754129e+02] [ 4.07395752e-01 9.13251520e-01 -6.01883650e-04 2.35197715e+01] [ 1.29085693e-03 8.32120356e-05 9.99999163e-01 5.53871281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:23.53, Z:0.55 [[ 9.12646309e-01 -4.08747188e-01 -1.56559536e-03 1.26779992e+02] [ 4.08746374e-01 9.12647645e-01 -8.23420793e-04 2.35310900e+01] [ 1.76540785e-03 1.11560522e-04 9.99998435e-01 5.53827155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:23.54, Z:0.55 [[ 9.11972852e-01 -4.10246182e-01 -1.89389799e-03 1.26805199e+02] [ 4.10244993e-01 9.11974809e-01 -9.96437334e-04 2.35422766e+01] [ 2.13597187e-03 1.31761632e-04 9.99997710e-01 5.53910831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:23.55, Z:0.55 [[ 9.11463694e-01 -4.11374511e-01 -2.22393525e-03 1.26830324e+02] [ 4.11372874e-01 9.11466394e-01 -1.17048094e-03 2.35537147e+01] [ 2.50854827e-03 1.51984245e-04 9.99996842e-01 5.53804843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:23.57, Z:0.55 [[ 9.11206892e-01 -4.11940702e-01 -2.61868246e-03 1.26856076e+02] [ 4.11938433e-01 9.11210638e-01 -1.37887439e-03 2.35657981e+01] [ 2.95418579e-03 1.77703897e-04 9.99995621e-01 5.53663667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:23.58, Z:0.55 [[ 9.11148480e-01 -4.12061331e-01 -3.72913437e-03 1.26881166e+02] [ 4.12056726e-01 9.11156076e-01 -1.96452879e-03 2.35782735e+01] [ 4.20732979e-03 2.53362519e-04 9.99991117e-01 5.53567546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:23.59, Z:0.55 [[ 9.11498001e-01 -4.11273579e-01 -5.04349268e-03 1.26904731e+02] [ 4.11265140e-01 9.11511888e-01 -2.65763615e-03 2.35906328e+01] [ 5.69021907e-03 3.48217313e-04 9.99983750e-01 5.53299778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:23.60, Z:0.55 [[ 9.11951827e-01 -4.10272216e-01 -4.53584997e-03 1.26929311e+02] [ 4.10265373e-01 9.11963051e-01 -2.39105048e-03 2.36040800e+01] [ 5.11750916e-03 3.19620672e-04 9.99986854e-01 5.53361581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:23.62, Z:0.55 [[ 9.11883027e-01 -4.10425115e-01 -4.53544319e-03 1.26954497e+02] [ 4.10418270e-01 9.11894250e-01 -2.39182196e-03 2.36175091e+01] [ 5.11750837e-03 3.19633100e-04 9.99986854e-01 5.53391081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:23.63, Z:0.55 [[ 9.12487408e-01 -4.09092315e-01 -3.19495092e-03 1.26978547e+02] [ 4.09088909e-01 9.12492972e-01 -1.68526166e-03 2.36304059e+01] [ 3.60479786e-03 2.30761061e-04 9.99993476e-01 5.53473346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:23.64, Z:0.55 [[ 9.12983667e-01 -4.07991173e-01 -2.00649413e-03 1.27002808e+02] [ 4.07989826e-01 9.12985860e-01 -1.05867535e-03 2.36438180e+01] [ 2.26383097e-03 1.47924114e-04 9.99997427e-01 5.54125076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:127.03, Y:23.66, Z:0.55 [[ 9.13797250e-01 -4.06166522e-01 -1.82847258e-03 1.27026421e+02] [ 4.06165399e-01 9.13799068e-01 -9.65140252e-04 2.36587694e+01] [ 2.06286420e-03 1.39280213e-04 9.99997863e-01 5.54101885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:23.67, Z:0.55 [[ 9.14081636e-01 -4.05523412e-01 -2.35071703e-03 1.27049604e+02] [ 4.05521553e-01 9.14084640e-01 -1.24129836e-03 2.36725953e+01] [ 2.65212987e-03 1.81381618e-04 9.99996467e-01 5.54092477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:23.69, Z:0.55 [[ 9.14116422e-01 -4.05442780e-01 -2.70540519e-03 1.27073639e+02] [ 4.05440316e-01 9.14120401e-01 -1.42901204e-03 2.36865552e+01] [ 3.05244869e-03 2.09403039e-04 9.99995319e-01 5.54511524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:23.70, Z:0.55 [[ 9.13868727e-01 -4.06002117e-01 -2.49615437e-03 1.27097682e+02] [ 4.06000020e-01 9.13872116e-01 -1.31896797e-03 2.37000446e+01] [ 2.81666966e-03 1.91924860e-04 9.99996015e-01 5.54658810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:23.71, Z:0.55 [[ 9.12830573e-01 -4.08336834e-01 -1.17293143e-03 1.27120706e+02] [ 4.08336372e-01 9.12831322e-01 -6.19901585e-04 2.37137576e+01] [ 1.32381720e-03 8.69145522e-05 9.99999120e-01 5.54792162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:23.73, Z:0.55 [[ 9.12049690e-01 -4.10078319e-01 -1.06527578e-03 1.27145199e+02] [ 4.10077940e-01 9.12050309e-01 -5.63122296e-04 2.37270467e+01] [ 1.20250935e-03 7.67494181e-05 9.99999274e-01 5.54746385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:23.74, Z:0.55 [[ 9.11112747e-01 -4.12155171e-01 -1.29480788e-03 1.27169343e+02] [ 4.12154612e-01 9.11113663e-01 -6.84751115e-04 2.37402080e+01] [ 1.46194087e-03 9.02244283e-05 9.99998927e-01 5.54796306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:23.75, Z:0.55 [[ 9.10272989e-01 -4.14004621e-01 -1.80553902e-03 1.27194013e+02] [ 4.14003537e-01 9.10274771e-01 -9.55176106e-04 2.37529772e+01] [ 2.03898394e-03 1.21971470e-04 9.99997914e-01 5.54676494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:23.77, Z:0.55 [[ 9.09509429e-01 -4.15678126e-01 -2.07209749e-03 1.27218047e+02] [ 4.15676702e-01 9.09511780e-01 -1.09654185e-03 2.37651713e+01] [ 2.34040553e-03 1.35992498e-04 9.99997252e-01 5.54565838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:23.78, Z:0.55 [[ 9.08176615e-01 -4.18584722e-01 -1.43782460e-03 1.27243620e+02] [ 4.18584040e-01 9.08177748e-01 -7.61073085e-04 2.37772860e+01] [ 1.62437387e-03 8.93383490e-05 9.99998677e-01 5.54597524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:23.79, Z:0.55 [[ 9.07855704e-01 -4.19282458e-01 -4.90416966e-04 1.27268201e+02] [ 4.19282378e-01 9.07855836e-01 -2.59618667e-04 2.37889112e+01] [ 5.54081457e-04 3.00730961e-05 9.99999846e-01 5.54988838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:23.80, Z:0.56 [[ 9.07674988e-01 -4.19673819e-01 -3.66478705e-05 1.27293915e+02] [ 4.19673818e-01 9.07674989e-01 -1.92053317e-05 2.38010250e+01] [ 4.13243304e-05 2.05204753e-06 9.99999999e-01 5.55723138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:23.81, Z:0.56 [[ 9.07692451e-01 -4.19635541e-01 -6.53403311e-04 1.27318454e+02] [ 4.19635400e-01 9.07692685e-01 -3.46149884e-04 2.38123829e+01] [ 7.38346200e-04 4.00064768e-05 9.99999727e-01 5.56107360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:23.82, Z:0.56 [[ 9.07794169e-01 -4.19413169e-01 -1.52960392e-03 1.27343162e+02] [ 4.19412396e-01 9.07795453e-01 -8.10605825e-04 2.38239092e+01] [ 1.72854624e-03 9.43283959e-05 9.99998502e-01 5.55473273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:23.84, Z:0.56 [[ 9.07846436e-01 -4.19296217e-01 -2.35183621e-03 1.27368942e+02] [ 4.19294389e-01 9.07849470e-01 -1.24681589e-03 2.38359744e+01] [ 2.65789844e-03 1.45805639e-04 9.99996457e-01 5.55020453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:23.85, Z:0.55 [[ 9.08246836e-01 -4.18426810e-01 -2.58661736e-03 1.27395246e+02] [ 4.18424593e-01 9.08250504e-01 -1.37168409e-03 2.38450709e+01] [ 2.92324592e-03 1.63523416e-04 9.99995714e-01 5.54176307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:23.86, Z:0.55 [[ 9.08408482e-01 -4.18071646e-01 -3.18241054e-03 1.27421238e+02] [ 4.18068287e-01 9.08414034e-01 -1.68827678e-03 2.38559159e+01] [ 3.59676705e-03 2.03180028e-04 9.99993511e-01 5.54326944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:23.87, Z:0.55 [[ 9.08773983e-01 -4.17266828e-01 -4.27107999e-03 1.27446644e+02] [ 4.17260765e-01 9.08783977e-01 -2.26644739e-03 2.38665152e+01] [ 4.82720237e-03 2.77534321e-04 9.99988310e-01 5.54939371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:23.88, Z:0.56 [[ 9.09299522e-01 -4.16116130e-01 -4.66323951e-03 1.27471121e+02] [ 4.16108885e-01 9.09311426e-01 -2.47502595e-03 2.38784273e+01] [ 5.27023519e-03 3.10124525e-04 9.99986064e-01 5.55193280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:23.89, Z:0.56 [[ 9.10812555e-01 -4.12807504e-01 -3.23350806e-03 1.27495086e+02] [ 4.12803997e-01 9.10818265e-01 -1.71681085e-03 2.38937113e+01] [ 3.65385060e-03 2.28887828e-04 9.99993298e-01 5.55733907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:23.91, Z:0.56 [[ 9.11739949e-01 -4.10760840e-01 -2.40782160e-03 1.27518216e+02] [ 4.10758888e-01 9.11743111e-01 -1.27873547e-03 2.39076866e+01] [ 2.72056921e-03 1.76840093e-04 9.99996284e-01 5.56139693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:23.92, Z:0.56 [[ 9.12805269e-01 -4.08390619e-01 -1.90892231e-03 1.27541602e+02] [ 4.08389386e-01 9.12807253e-01 -1.01395786e-03 2.39210630e+01] [ 2.15656901e-03 1.45962472e-04 9.99997664e-01 5.56086046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:23.94, Z:0.56 [[ 9.13746940e-01 -4.06277629e-01 -2.24016986e-03 1.27566116e+02] [ 4.06275924e-01 9.13749668e-01 -1.19031905e-03 2.39354005e+01] [ 2.53055447e-03 1.77523309e-04 9.99996782e-01 5.55981524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:23.95, Z:0.56 [[ 9.14395016e-01 -4.04813467e-01 -2.79504077e-03 1.27589304e+02] [ 4.04810805e-01 9.14399259e-01 -1.48560098e-03 2.39496435e+01] [ 3.15717449e-03 2.26963425e-04 9.99994990e-01 5.55226708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:23.96, Z:0.55 [[ 9.14463116e-01 -4.04656341e-01 -3.23351573e-03 1.27613060e+02] [ 4.04652774e-01 9.14468795e-01 -1.71926446e-03 2.39649162e+01] [ 3.65266050e-03 2.63752819e-04 9.99993294e-01 5.54482842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:23.98, Z:0.55 [[ 9.13064080e-01 -4.07805282e-01 -2.97285548e-03 1.27636480e+02] [ 4.07802282e-01 9.13068890e-01 -1.58131252e-03 2.39800831e+01] [ 3.35928946e-03 2.31502414e-04 9.99994331e-01 5.54550262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:23.99, Z:0.56 [[ 9.12012784e-01 -4.10156449e-01 -2.09026936e-03 1.27660741e+02] [ 4.10154972e-01 9.12015166e-01 -1.11210780e-03 2.39928943e+01] [ 2.36249555e-03 1.56922158e-04 9.99997197e-01 5.55537339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:24.01, Z:0.56 [[ 9.11194163e-01 -4.11974484e-01 -1.49054029e-03 1.27685096e+02] [ 4.11973735e-01 9.11195376e-01 -7.93220478e-04 2.40062176e+01] [ 1.68496002e-03 1.08714420e-04 9.99998575e-01 5.56437640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:24.02, Z:0.56 [[ 9.10688375e-01 -4.13089849e-01 -1.86025513e-03 1.27708995e+02] [ 4.13088684e-01 9.10690265e-01 -9.90444802e-04 2.40210567e+01] [ 2.10325893e-03 1.33536226e-04 9.99997779e-01 5.56997705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:24.04, Z:0.56 [[ 9.10608379e-01 -4.13260722e-01 -2.82065920e-03 1.27731833e+02] [ 4.13258040e-01 9.10612725e-01 -1.50255146e-03 2.40367964e+01] [ 3.18947366e-03 2.02575851e-04 9.99994893e-01 5.56522107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:24.06, Z:0.56 [[ 9.11238094e-01 -4.11862958e-01 -3.74688496e-03 1.27752737e+02] [ 4.11858211e-01 9.11245756e-01 -1.99668336e-03 2.40553431e+01] [ 4.23669293e-03 2.76268607e-04 9.99990987e-01 5.55609339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:24.07, Z:0.56 [[ 9.11543992e-01 -4.11185311e-01 -3.76721498e-03 1.27776344e+02] [ 4.11180503e-01 9.11551733e-01 -2.00828807e-03 2.40705853e+01] [ 4.25978990e-03 2.81637574e-04 9.99990887e-01 5.55736132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:24.08, Z:0.56 [[ 9.11805880e-01 -4.10602971e-01 -3.90347155e-03 1.27800440e+02] [ 4.10597799e-01 9.11814188e-01 -2.08180147e-03 2.40849356e+01] [ 4.41403461e-03 2.95441995e-04 9.99990214e-01 5.55635405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:24.10, Z:0.56 [[ 9.11303262e-01 -4.11710886e-01 -4.52879962e-03 1.27825276e+02] [ 4.11703934e-01 9.11314453e-01 -2.41635365e-03 2.40985843e+01] [ 5.12199965e-03 3.37506343e-04 9.99986826e-01 5.55354839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:24.11, Z:0.56 [[ 9.10560826e-01 -4.13353165e-01 -4.25938472e-03 1.27849938e+02] [ 4.13347029e-01 9.10570736e-01 -2.27356811e-03 2.41112251e+01] [ 4.81825765e-03 3.09618044e-04 9.99988344e-01 5.55340776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:24.12, Z:0.56 [[ 9.09888029e-01 -4.14840056e-01 -3.39161844e-03 1.27873847e+02] [ 4.14836174e-01 9.09894318e-01 -1.81078768e-03 2.41236834e+01] [ 3.83720161e-03 2.40648020e-04 9.99992609e-01 5.55674168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:24.14, Z:0.56 [[ 9.09501432e-01 -4.15694452e-01 -2.29506327e-03 1.27897229e+02] [ 4.15692676e-01 9.09504314e-01 -1.22553438e-03 2.41371501e+01] [ 2.59681779e-03 1.60584282e-04 9.99996615e-01 5.55983442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:24.15, Z:0.56 [[ 9.09526406e-01 -4.15638930e-01 -2.44900088e-03 1.27921403e+02] [ 4.15636907e-01 9.09529687e-01 -1.30817825e-03 2.41510594e+01] [ 2.77116881e-03 1.71927515e-04 9.99996146e-01 5.56398092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:24.17, Z:0.56 [[ 9.09871941e-01 -4.14874501e-01 -3.49268788e-03 1.27946077e+02] [ 4.14870377e-01 9.09878611e-01 -1.86656730e-03 2.41651727e+01] [ 3.95231318e-03 2.49324472e-04 9.99992159e-01 5.56359644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:24.18, Z:0.56 [[ 9.10393254e-01 -4.13723058e-01 -4.16584409e-03 1.27970795e+02] [ 4.13717174e-01 9.10402734e-01 -2.22731037e-03 2.41787818e+01] [ 4.71408551e-03 3.04247087e-04 9.99988842e-01 5.55798902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:24.19, Z:0.56 [[ 9.11526503e-01 -4.11230618e-01 -2.96867430e-03 1.27995565e+02] [ 4.11227614e-01 9.11531309e-01 -1.58785093e-03 2.41911375e+01] [ 3.35901249e-03 2.26567357e-04 9.99994333e-01 5.56122694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:24.20, Z:0.56 [[ 9.12133301e-01 -4.09889594e-01 -1.83361499e-03 1.28019776e+02] [ 4.09888445e-01 9.12135133e-01 -9.80963999e-04 2.42033989e+01] [ 2.07459159e-03 1.43192331e-04 9.99997838e-01 5.56397121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:24.22, Z:0.56 [[ 9.12861704e-01 -4.08263413e-01 -2.12008950e-03 1.28045267e+02] [ 4.08261872e-01 9.12864150e-01 -1.13460420e-03 2.42155258e+01] [ 2.39857108e-03 1.70185015e-04 9.99997109e-01 5.56942032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:24.23, Z:0.56 [[ 9.13817212e-01 -4.06113369e-01 -3.16783326e-03 1.28070841e+02] [ 4.06109912e-01 9.13822665e-01 -1.69614725e-03 2.42277801e+01] [ 3.58366590e-03 2.63480064e-04 9.99993544e-01 5.57220568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:24.24, Z:0.56 [[ 9.14935152e-01 -4.03580337e-01 -4.07178929e-03 1.28094858e+02] [ 4.03574599e-01 9.14944145e-01 -2.18073117e-03 2.42401745e+01] [ 4.60555999e-03 3.51956878e-04 9.99989332e-01 5.57054775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:24.26, Z:0.56 [[ 9.16789114e-01 -3.99353880e-01 -3.76814911e-03 1.28117462e+02] [ 3.99348928e-01 9.16796793e-01 -2.01847367e-03 2.42558334e+01] [ 4.26071231e-03 3.45708380e-04 9.99990863e-01 5.56423804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:24.27, Z:0.56 [[ 9.17615343e-01 -3.97460362e-01 -2.70972191e-03 1.28140789e+02] [ 3.97457793e-01 9.17619308e-01 -1.45174690e-03 2.42702392e+01] [ 3.06350499e-03 2.55145145e-04 9.99995275e-01 5.55668393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:24.28, Z:0.56 [[ 9.18183819e-01 -3.96148929e-01 -2.12141337e-03 1.28164771e+02] [ 3.96147350e-01 9.18186247e-01 -1.13690079e-03 2.42839272e+01] [ 2.39823461e-03 2.03491626e-04 9.99997104e-01 5.55361597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:24.30, Z:0.55 [[ 9.18527160e-01 -3.95349593e-01 -2.56036281e-03 1.28189854e+02] [ 3.95347288e-01 9.18530695e-01 -1.37276434e-03 2.42969237e+01] [ 2.89449365e-03 2.48688832e-04 9.99995780e-01 5.54955198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:24.31, Z:0.55 [[ 9.18683313e-01 -3.94978849e-01 -3.56086701e-03 1.28213765e+02] [ 3.94974385e-01 9.18690148e-01 -1.90989092e-03 2.43089991e+01] [ 4.02569996e-03 3.48133658e-04 9.99991836e-01 5.54379925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:24.32, Z:0.55 [[ 9.18120132e-01 -3.96269700e-01 -5.07425631e-03 1.28237980e+02] [ 3.96260651e-01 9.18134024e-01 -2.72219616e-03 2.43214162e+01] [ 5.73757122e-03 4.88574991e-04 9.99983421e-01 5.54317817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:24.34, Z:0.55 [[ 9.17254865e-01 -3.98262032e-01 -5.55568475e-03 1.28262614e+02] [ 3.98251214e-01 9.17271542e-01 -2.98156922e-03 2.43353083e+01] [ 6.28351733e-03 5.22300673e-04 9.99980122e-01 5.54390329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:24.35, Z:0.55 [[ 9.16214124e-01 -4.00643049e-01 -6.06842654e-03 1.28286872e+02] [ 4.00630184e-01 9.16234053e-01 -3.25807466e-03 2.43489782e+01] [ 6.86542401e-03 5.53899185e-04 9.99976279e-01 5.54022556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:24.36, Z:0.55 [[ 9.15153927e-01 -4.03057175e-01 -6.18091345e-03 1.28311756e+02] [ 4.03043874e-01 9.15174636e-01 -3.31982021e-03 2.43626466e+01] [ 6.99469257e-03 5.46967199e-04 9.99975387e-01 5.54254703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:24.38, Z:0.55 [[ 9.14201726e-01 -4.05224106e-01 -5.35046967e-03 1.28336173e+02] [ 4.05214169e-01 9.14217267e-01 -2.87496446e-03 2.43756835e+01] [ 6.05649666e-03 4.60211352e-04 9.99981553e-01 5.54572494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:24.39, Z:0.56 [[ 9.12913109e-01 -4.08139226e-01 -3.46818983e-03 1.28360484e+02] [ 4.08135069e-01 9.12919651e-01 -1.86428550e-03 2.43886553e+01] [ 3.92706669e-03 2.86440778e-04 9.99992248e-01 5.55196498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:24.40, Z:0.55 [[ 9.12435716e-01 -4.09207886e-01 -3.15748985e-03 1.28384576e+02] [ 4.09204445e-01 9.12441143e-01 -1.69768996e-03 2.44015310e+01] [ 3.57573176e-03 2.56974069e-04 9.99993574e-01 5.54984479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:24.41, Z:0.55 [[ 9.12050232e-01 -4.10065746e-01 -3.23393258e-03 1.28409293e+02] [ 4.10062139e-01 9.12055928e-01 -1.73941668e-03 2.44145582e+01] [ 3.66280258e-03 2.60322076e-04 9.99993258e-01 5.54712807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:24.43, Z:0.56 [[ 9.11636970e-01 -4.10983442e-01 -3.26279481e-03 1.28434026e+02] [ 4.10979775e-01 9.11642772e-01 -1.75538603e-03 2.44263517e+01] [ 3.69593790e-03 2.59332118e-04 9.99993136e-01 5.55161967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:24.44, Z:0.56 [[ 9.11376990e-01 -4.11556344e-01 -3.65467589e-03 1.28458054e+02] [ 4.11551745e-01 9.11384272e-01 -1.96694749e-03 2.44400762e+01] [ 4.14032384e-03 2.88542440e-04 9.99991387e-01 5.55101224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:24.45, Z:0.56 [[ 9.11331320e-01 -4.11657466e-01 -3.65442502e-03 1.28483115e+02] [ 4.11652866e-01 9.11338602e-01 -1.96741352e-03 2.44537053e+01] [ 4.14031905e-03 2.88611032e-04 9.99991387e-01 5.55130711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:24.47, Z:0.55 [[ 9.11024292e-01 -4.12332316e-01 -4.09886075e-03 1.28506009e+02] [ 4.12326532e-01 9.11033456e-01 -2.20732653e-03 2.44678552e+01] [ 4.64435134e-03 3.20859048e-04 9.99989163e-01 5.54441258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:24.48, Z:0.55 [[ 9.10632105e-01 -4.13190089e-01 -4.80837450e-03 1.28530192e+02] [ 4.13182136e-01 9.10644723e-01 -2.59045884e-03 2.44820030e+01] [ 5.44907278e-03 3.72220541e-04 9.99985084e-01 5.54139198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:24.50, Z:0.55 [[ 9.10305981e-01 -4.13902980e-01 -5.22906727e-03 1.28554315e+02] [ 4.13893580e-01 9.10320912e-01 -2.81829942e-03 2.44953897e+01] [ 5.92663181e-03 4.01237451e-04 9.99982357e-01 5.53973192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:24.51, Z:0.55 [[ 9.10081865e-01 -4.14396161e-01 -5.17882293e-03 1.28579174e+02] [ 4.14386942e-01 9.10096514e-01 -2.79241670e-03 2.45088120e+01] [ 5.87039546e-03 3.95291201e-04 9.99982691e-01 5.54030062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:24.52, Z:0.55 [[ 9.09739680e-01 -4.15162106e-01 -3.76040185e-03 1.28603042e+02] [ 4.15157250e-01 9.09747407e-01 -2.02804877e-03 2.45225286e+01] [ 4.26298483e-03 2.83838349e-04 9.99990873e-01 5.53165644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:24.54, Z:0.55 [[ 9.09490742e-01 -4.15708053e-01 -3.66115174e-03 1.28628073e+02] [ 4.15703451e-01 9.09498070e-01 -1.97524966e-03 2.45360504e+01] [ 4.15093763e-03 2.74517866e-04 9.99991347e-01 5.52742308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:24.55, Z:0.55 [[ 9.09441609e-01 -4.15810939e-01 -4.14996585e-03 1.28652869e+02] [ 4.15805023e-01 9.09451024e-01 -2.23997389e-03 2.45492588e+01] [ 4.70559634e-03 3.11548811e-04 9.99988880e-01 5.52623847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.68, Y:24.56, Z:0.55 [[ 9.09806568e-01 -4.15006193e-01 -4.67636947e-03 1.28677923e+02] [ 4.14998664e-01 9.09818516e-01 -2.52524185e-03 2.45625462e+01] [ 5.30263853e-03 3.56794541e-04 9.99985877e-01 5.52524882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:24.58, Z:0.55 [[ 9.10328134e-01 -4.13852031e-01 -5.40225197e-03 1.28701193e+02] [ 4.13841957e-01 9.10344066e-01 -2.91819794e-03 2.45754427e+01] [ 6.12561017e-03 4.20839160e-04 9.99981150e-01 5.52443259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:24.59, Z:0.55 [[ 9.10860719e-01 -4.12675413e-01 -5.63502151e-03 1.28725902e+02] [ 4.12664421e-01 9.10878039e-01 -3.04516646e-03 2.45892419e+01] [ 6.38948267e-03 4.48349621e-04 9.99979487e-01 5.51923774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:24.60, Z:0.55 [[ 9.11382066e-01 -4.11520425e-01 -5.80262604e-03 1.28750555e+02] [ 4.11508737e-01 9.11400416e-01 -3.13712738e-03 2.46033662e+01] [ 6.57950778e-03 4.71290321e-04 9.99978244e-01 5.52267050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:24.62, Z:0.55 [[ 9.12901490e-01 -4.08155219e-01 -4.49288520e-03 1.28773139e+02] [ 4.08148169e-01 9.12912465e-01 -2.42957216e-03 2.46180561e+01] [ 5.09325346e-03 3.84197178e-04 9.99986955e-01 5.52223688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:24.63, Z:0.55 [[ 9.13663007e-01 -4.06445342e-01 -4.70046158e-03 1.28796506e+02] [ 4.06437600e-01 9.13675005e-01 -2.54229777e-03 2.46319826e+01] [ 5.32799934e-03 4.12359094e-04 9.99985721e-01 5.52554470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:24.65, Z:0.55 [[ 9.14728597e-01 -4.04031751e-01 -5.47151348e-03 1.28819414e+02] [ 4.04021213e-01 9.14744826e-01 -2.96013636e-03 2.46468708e+01] [ 6.20102772e-03 4.97113869e-04 9.99980650e-01 5.53154710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:128.84, Y:24.66, Z:0.55 [[ 9.14445842e-01 -4.04679562e-01 -4.82233616e-03 1.28843445e+02] [ 4.04671379e-01 9.14458453e-01 -2.60989250e-03 2.46617667e+01] [ 5.46599622e-03 4.35143919e-04 9.99984967e-01 5.52533682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:24.68, Z:0.55 [[ 9.13588359e-01 -4.06622051e-01 -3.84942836e-03 1.28867337e+02] [ 4.06616851e-01 9.13596406e-01 -2.08414444e-03 2.46759188e+01] [ 4.36428300e-03 3.38807664e-04 9.99990419e-01 5.52394453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:24.69, Z:0.55 [[ 9.12437895e-01 -4.09202089e-01 -3.27701481e-03 1.28892172e+02] [ 4.09198334e-01 9.12443737e-01 -1.77493930e-03 2.46887987e+01] [ 3.71640051e-03 2.78572875e-04 9.99993055e-01 5.52272406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:24.70, Z:0.55 [[ 9.11064274e-01 -4.12251312e-01 -3.27797856e-03 1.28917822e+02] [ 4.12247572e-01 9.11070131e-01 -1.77621437e-03 2.47012006e+01] [ 3.71871506e-03 2.66906749e-04 9.99993050e-01 5.52263346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:24.71, Z:0.55 [[ 9.09685764e-01 -4.15282051e-01 -3.55384448e-03 1.28941818e+02] [ 4.15277676e-01 9.09692663e-01 -1.92618870e-03 2.47125977e+01] [ 4.03281785e-03 2.76394164e-04 9.99991830e-01 5.52491236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:24.72, Z:0.55 [[ 9.07090713e-01 -4.20909188e-01 -4.67912666e-03 1.28967246e+02] [ 4.20901673e-01 9.07102720e-01 -2.53702414e-03 2.47246923e+01] [ 5.31230529e-03 3.31858803e-04 9.99985835e-01 5.53116205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:24.74, Z:0.55 [[ 9.05724963e-01 -4.23841169e-01 -4.57772290e-03 1.28992834e+02] [ 4.23834007e-01 9.05736478e-01 -2.48308301e-03 2.47372080e+01] [ 5.19864342e-03 3.08795627e-04 9.99986439e-01 5.53115453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:24.75, Z:0.55 [[ 9.04437661e-01 -4.26586982e-01 -4.00807038e-03 1.29018112e+02] [ 4.26581515e-01 9.04446505e-01 -2.17499604e-03 2.47485381e+01] [ 4.55291024e-03 2.57379595e-04 9.99989602e-01 5.53453706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:24.76, Z:0.55 [[ 9.03455756e-01 -4.28667035e-01 -3.50278744e-03 1.29043546e+02] [ 4.28662872e-01 9.03462521e-01 -1.90159168e-03 2.47598607e+01] [ 3.97978684e-03 2.16489025e-04 9.99992057e-01 5.54103168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:24.77, Z:0.55 [[ 9.02860478e-01 -4.29919632e-01 -3.47382804e-03 1.29067714e+02] [ 4.29915545e-01 9.02867137e-01 -1.88634074e-03 2.47715576e+01] [ 3.94738009e-03 2.09649827e-04 9.99992187e-01 5.54640262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:24.78, Z:0.56 [[ 9.02603701e-01 -4.30459751e-01 -3.31086904e-03 1.29091102e+02] [ 4.30456040e-01 9.02609752e-01 -1.79818178e-03 2.47842254e+01] [ 3.76246756e-03 1.97861953e-04 9.99992902e-01 5.55313428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:24.80, Z:0.56 [[ 9.03247534e-01 -4.29112884e-01 -2.45436495e-03 1.29115887e+02] [ 4.29110839e-01 9.03250856e-01 -1.33343160e-03 2.47982915e+01] [ 2.78909992e-03 1.51224198e-04 9.99996099e-01 5.57247321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:24.81, Z:0.56 [[ 9.03725072e-01 -4.28107165e-01 -2.29100856e-03 1.29140111e+02] [ 4.28105379e-01 9.03727965e-01 -1.24520267e-03 2.48117967e+01] [ 2.60352869e-03 1.44527789e-04 9.99996600e-01 5.57240663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:24.83, Z:0.56 [[ 9.04147573e-01 -4.27212574e-01 -2.56562205e-03 1.29164691e+02] [ 4.27210328e-01 9.04151198e-01 -1.39508454e-03 2.48258650e+01] [ 2.91570791e-03 1.65302060e-04 9.99995736e-01 5.56929141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:24.84, Z:0.56 [[ 9.04256533e-01 -4.26980186e-01 -2.83620563e-03 1.29188763e+02] [ 4.26977438e-01 9.04260962e-01 -1.54290109e-03 2.48402723e+01] [ 3.22345822e-03 1.84182580e-04 9.99994788e-01 5.56567112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:24.85, Z:0.56 [[ 9.03008669e-01 -4.29615050e-01 -2.50031426e-03 1.29211869e+02] [ 4.29612924e-01 9.03012118e-01 -1.36052382e-03 2.48536947e+01] [ 2.84231559e-03 1.54397488e-04 9.99995949e-01 5.55928925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:24.87, Z:0.56 [[ 9.01573747e-01 -4.32617376e-01 -2.64284887e-03 1.29237337e+02] [ 4.32615011e-01 9.01577608e-01 -1.43857876e-03 2.48663010e+01] [ 3.00508753e-03 1.53648750e-04 9.99995473e-01 5.56673140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:24.88, Z:0.56 [[ 8.99754143e-01 -4.36388769e-01 -2.70637417e-03 1.29263054e+02] [ 4.36386305e-01 8.99758201e-01 -1.47378991e-03 2.48781832e+01] [ 3.07822772e-03 1.45023957e-04 9.99995252e-01 5.57871905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:24.89, Z:0.56 [[ 8.97820113e-01 -4.40355820e-01 -2.40774819e-03 1.29287019e+02] [ 4.40353882e-01 8.97823333e-01 -1.31150954e-03 2.48899589e+01] [ 2.73926336e-03 1.17238379e-04 9.99996241e-01 5.58657459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.31, Y:24.90, Z:0.56 [[ 8.96175615e-01 -4.43696901e-01 -1.52591899e-03 1.29310933e+02] [ 4.43696127e-01 8.96176911e-01 -8.31294150e-04 2.49031895e+01] [ 1.73633601e-03 6.79411979e-05 9.99998490e-01 5.58983918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:24.92, Z:0.56 [[ 8.95090632e-01 -4.45884234e-01 -9.83840649e-05 1.29335340e+02] [ 4.45884231e-01 8.95090638e-01 -5.34147725e-05 2.49173533e+01] [ 1.11879460e-04 3.94315943e-06 9.99999994e-01 5.58519201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:24.93, Z:0.56 [[ 8.94723676e-01 -4.46616128e-01 1.89134752e-03 1.29359549e+02] [ 4.46614944e-01 8.94725672e-01 1.03121218e-03 2.49288911e+01] [-2.15279317e-03 -7.79458865e-05 9.99997680e-01 5.58102198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:24.94, Z:0.56 [[ 8.94755321e-01 -4.46551880e-01 2.08181467e-03 1.29385068e+02] [ 4.46550444e-01 8.94757739e-01 1.13567253e-03 2.49407488e+01] [-2.36985649e-03 -8.65137758e-05 9.99997188e-01 5.58190167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:24.95, Z:0.56 [[ 8.94768193e-01 -4.46528145e-01 1.58038420e-03 1.29409057e+02] [ 4.46527317e-01 8.94769586e-01 8.62226439e-04 2.49524063e+01] [-1.79908808e-03 -6.58080779e-05 9.99998379e-01 5.58861606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:24.97, Z:0.56 [[ 8.94399192e-01 -4.47268556e-01 9.61607684e-04 1.29433422e+02] [ 4.47268249e-01 8.94399708e-01 5.25005576e-04 2.49659512e+01] [-1.09488012e-03 -3.94679776e-05 9.99999400e-01 5.59423088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:24.98, Z:0.56 [[ 8.93649739e-01 -4.48764478e-01 7.66148271e-04 1.29457943e+02] [ 4.48764284e-01 8.93650067e-01 4.18533178e-04 2.49803679e+01] [-8.72491277e-04 -3.02020856e-05 9.99999619e-01 5.59142742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:24.99, Z:0.56 [[ 8.92203975e-01 -4.51632544e-01 3.35560365e-04 1.29481476e+02] [ 4.51632507e-01 8.92204038e-01 1.83345428e-04 2.49937856e+01] [-3.82193075e-04 -1.20315508e-05 9.99999927e-01 5.58813327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:25.01, Z:0.56 [[ 8.91315867e-01 -4.53382780e-01 -2.82605349e-04 1.29505995e+02] [ 4.53382754e-01 8.91315912e-01 -1.54182058e-04 2.50072077e+01] [ 3.21794135e-04 9.29652392e-06 9.99999948e-01 5.58437143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:25.02, Z:0.56 [[ 8.90383261e-01 -4.55210339e-01 -1.09366773e-03 1.29530071e+02] [ 4.55209948e-01 8.90383932e-01 -5.97554737e-04 2.50207482e+01] [ 1.24579727e-03 3.42043052e-05 9.99999223e-01 5.58162311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:25.04, Z:0.56 [[ 8.89377893e-01 -4.57168315e-01 -2.02351762e-03 1.29553639e+02] [ 4.57166980e-01 8.89380193e-01 -1.10628137e-03 2.50352694e+01] [ 2.30543328e-03 5.88167537e-05 9.99997341e-01 5.58032164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:25.05, Z:0.56 [[ 8.88494900e-01 -4.58878743e-01 -2.66664919e-03 1.29576505e+02] [ 4.58876431e-01 8.88498899e-01 -1.45847266e-03 2.50501514e+01] [ 3.03857697e-03 7.21830626e-05 9.99995381e-01 5.58250589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:25.07, Z:0.56 [[ 8.87901774e-01 -4.60023565e-01 -2.95970362e-03 1.29600139e+02] [ 4.60020721e-01 8.87906703e-01 -1.61941123e-03 2.50653510e+01] [ 3.37290801e-03 7.63531042e-05 9.99994309e-01 5.58415142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:25.08, Z:0.56 [[ 8.86628572e-01 -4.62465304e-01 -3.95196153e-03 1.29621949e+02] [ 4.62460252e-01 8.86637375e-01 -2.16336445e-03 2.50828909e+01] [ 4.50443779e-03 9.04756023e-05 9.99989851e-01 5.59418127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:25.10, Z:0.56 [[ 8.85642056e-01 -4.64348256e-01 -4.34116207e-03 1.29644385e+02] [ 4.64342180e-01 8.85652691e-01 -2.37703044e-03 2.50982834e+01] [ 4.94853180e-03 8.94134663e-05 9.99987752e-01 5.59192397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:25.11, Z:0.56 [[ 8.84220916e-01 -4.67042790e-01 -4.94008360e-03 1.29668139e+02] [ 4.67034959e-01 8.84234711e-01 -2.70604101e-03 2.51140956e+01] [ 5.63203034e-03 8.55463197e-05 9.99984136e-01 5.59474790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:25.13, Z:0.56 [[ 8.80827939e-01 -4.73409566e-01 -5.05212537e-03 1.29691188e+02] [ 4.73401476e-01 8.80842427e-01 -2.76806374e-03 2.51279184e+01] [ 5.76055423e-03 4.65042770e-05 9.99983407e-01 5.60649611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:25.14, Z:0.56 [[ 8.79042398e-01 -4.76721715e-01 -4.56826809e-03 1.29715354e+02] [ 4.76715140e-01 8.79054268e-01 -2.50393498e-03 2.51415066e+01] [ 5.20943573e-03 2.33024473e-05 9.99986431e-01 5.61852714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:25.16, Z:0.56 [[ 8.77515463e-01 -4.79535331e-01 -3.53242974e-03 1.29739725e+02] [ 4.79531419e-01 8.77522573e-01 -1.93700132e-03 2.51561742e+01] [ 4.02864740e-03 5.83756891e-06 9.99991885e-01 5.62253330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:25.17, Z:0.56 [[ 8.76535971e-01 -4.81328827e-01 -2.69305042e-03 1.29762932e+02] [ 4.81326560e-01 8.76540108e-01 -1.47709502e-03 2.51708533e+01] [ 3.07153512e-03 -1.50977609e-06 9.99995283e-01 5.62036164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:25.19, Z:0.56 [[ 8.75926340e-01 -4.82438931e-01 -2.39272455e-03 1.29787151e+02] [ 4.82437144e-01 8.75929608e-01 -1.31281256e-03 2.51858131e+01] [ 2.72921016e-03 -4.41209838e-06 9.99996276e-01 5.61879089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:25.20, Z:0.56 [[ 8.75691839e-01 -4.82862642e-01 -2.73352355e-03 1.29811107e+02] [ 4.82860310e-01 8.75696106e-01 -1.50049917e-03 2.51995393e+01] [ 3.11827092e-03 -5.93515323e-06 9.99995138e-01 5.62056464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:25.21, Z:0.56 [[ 8.75886129e-01 -4.82505241e-01 -3.49023727e-03 1.29834956e+02] [ 4.82501434e-01 8.75893083e-01 -1.91680324e-03 2.52122894e+01] [ 3.98194229e-03 -5.14311646e-06 9.99992072e-01 5.62041212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:25.23, Z:0.56 [[ 8.77299601e-01 -4.79925867e-01 -4.07091120e-03 1.29858569e+02] [ 4.79920655e-01 8.77309046e-01 -2.23673823e-03 2.52267374e+01] [ 4.64491575e-03 8.57518718e-06 9.99989212e-01 5.62288910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:25.24, Z:0.56 [[ 8.78452816e-01 -4.77818128e-01 -3.23838973e-03 1.29881541e+02] [ 4.77814814e-01 8.78458785e-01 -1.77973742e-03 2.52419033e+01] [ 3.69518271e-03 1.60647641e-05 9.99993173e-01 5.62280611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:25.26, Z:0.56 [[ 8.79628206e-01 -4.75659077e-01 -1.63143526e-03 1.29905177e+02] [ 4.75658231e-01 8.79629719e-01 -8.96816793e-04 2.52573421e+01] [ 1.86163799e-03 1.28597353e-05 9.99998267e-01 5.62530769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:25.27, Z:0.56 [[ 8.80570316e-01 -4.73915505e-01 1.10557950e-04 1.29928831e+02] [ 4.73915501e-01 8.80570323e-01 6.10301711e-05 2.52717209e+01] [-1.26277194e-04 -1.34623077e-06 9.99999992e-01 5.62651523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:25.29, Z:0.56 [[ 8.81138793e-01 -4.72856566e-01 1.04658799e-03 1.29952991e+02] [ 4.72856215e-01 8.81139414e-01 5.76174128e-04 2.52850687e+01] [-1.19463765e-03 -1.28037403e-05 9.99999286e-01 5.63005806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:25.30, Z:0.56 [[ 8.81370825e-01 -4.72424406e-01 8.05884163e-04 1.29976730e+02] [ 4.72424198e-01 8.81371193e-01 4.43671617e-04 2.52981777e+01] [-9.19884387e-04 -1.03200398e-05 9.99999577e-01 5.62880769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:25.31, Z:0.56 [[ 8.80937647e-01 -4.73227157e-01 -2.21797525e-03 1.30000546e+02] [ 4.73225582e-01 8.80940439e-01 -1.22114146e-03 2.53128920e+01] [ 2.53178139e-03 2.61468591e-05 9.99996795e-01 5.61985179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:25.33, Z:0.56 [[ 8.80855557e-01 -4.73379942e-01 -2.21775728e-03 1.30025470e+02] [ 4.73378367e-01 8.80858348e-01 -1.22153725e-03 2.53267939e+01] [ 2.53178125e-03 2.61595557e-05 9.99996795e-01 5.62014679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:25.34, Z:0.56 [[ 8.80682964e-01 -4.73693831e-01 -3.41636343e-03 1.30049036e+02] [ 4.73690093e-01 8.80689589e-01 -1.88230671e-03 2.53409783e+01] [ 3.90039279e-03 3.94179405e-05 9.99992393e-01 5.61575076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:25.36, Z:0.56 [[ 8.80583510e-01 -4.73877633e-01 -3.55958467e-03 1.30072557e+02] [ 4.73873574e-01 8.80590703e-01 -1.96196509e-03 2.53561745e+01] [ 4.06426854e-03 4.08809932e-05 9.99991740e-01 5.61377543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:25.37, Z:0.56 [[ 8.81115522e-01 -4.72894714e-01 -2.45480781e-03 1.30094003e+02] [ 4.72892778e-01 8.81118941e-01 -1.35335391e-03 2.53732880e+01] [ 2.80297157e-03 3.16002527e-05 9.99996071e-01 5.61811055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:25.39, Z:0.56 [[ 8.81675127e-01 -4.71845263e-01 -3.31948928e-03 1.30117433e+02] [ 4.71841713e-01 8.81681374e-01 -1.83076088e-03 2.53883147e+01] [ 3.79056772e-03 4.78628264e-05 9.99992815e-01 5.61440891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:25.40, Z:0.56 [[ 8.82380866e-01 -4.70510758e-01 -4.86151497e-03 1.30141088e+02] [ 4.70503118e-01 8.82394254e-01 -2.68247433e-03 2.54025680e+01] [ 5.55190590e-03 7.96060689e-05 9.99984585e-01 5.60915844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:25.42, Z:0.56 [[ 8.83190093e-01 -4.68981090e-01 -5.65653274e-03 1.30164009e+02] [ 4.68970707e-01 8.83208201e-01 -3.12252063e-03 2.54159767e+01] [ 6.46029924e-03 1.05031127e-04 9.99979127e-01 5.60558464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:25.43, Z:0.56 [[ 8.83954645e-01 -4.67539295e-01 -5.58506936e-03 1.30187554e+02] [ 4.67529135e-01 8.83972281e-01 -3.08441919e-03 2.54306571e+01] [ 6.37913368e-03 1.15304026e-04 9.99979646e-01 5.61156251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:25.45, Z:0.56 [[ 8.84769973e-01 -4.66014916e-01 -3.49176261e-03 1.30209065e+02] [ 4.66010931e-01 8.84776860e-01 -1.92877515e-03 2.54482681e+01] [ 3.98826875e-03 7.93227963e-05 9.99992044e-01 5.61531167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:25.46, Z:0.56 [[ 8.84750783e-01 -4.66054238e-01 -3.08190154e-03 1.30231510e+02] [ 4.66051132e-01 8.84756148e-01 -1.70297820e-03 2.54646584e+01] [ 3.52041154e-03 7.03875973e-05 9.99993801e-01 5.61861080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:25.48, Z:0.56 [[ 8.84979499e-01 -4.65619526e-01 -3.12136534e-03 1.30254762e+02] [ 4.65616335e-01 8.84985001e-01 -1.72555125e-03 2.54812590e+01] [ 3.56581186e-03 7.37187877e-05 9.99993640e-01 5.61745143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:25.50, Z:0.56 [[ 8.85668971e-01 -4.64303007e-01 -3.63202683e-03 1.30276674e+02] [ 4.64298672e-01 8.85676413e-01 -2.00857396e-03 2.54965628e+01] [ 4.14938742e-03 9.25863974e-05 9.99991387e-01 5.61615132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:25.51, Z:0.56 [[ 8.86676214e-01 -4.62373990e-01 -3.94779442e-03 1.30298987e+02] [ 4.62368846e-01 8.86684996e-01 -2.18368146e-03 2.55124715e+01] [ 4.51012759e-03 1.10881261e-04 9.99989823e-01 5.61518677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:25.53, Z:0.56 [[ 8.87715131e-01 -4.60377298e-01 -3.81958013e-03 1.30321179e+02] [ 4.60372462e-01 8.87723341e-01 -2.11332316e-03 2.55289305e+01] [ 4.36365644e-03 1.17599440e-04 9.99990472e-01 5.61702322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.34, Y:25.55, Z:0.56 [[ 8.89706594e-01 -4.56516563e-01 -3.84775394e-03 1.30342054e+02] [ 4.56511616e-01 8.89714903e-01 -2.12975553e-03 2.55498975e+01] [ 4.39567270e-03 1.38313167e-04 9.99990329e-01 5.61569915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:25.57, Z:0.56 [[ 8.90385340e-01 -4.55189799e-01 -4.02418859e-03 1.30365520e+02] [ 4.55184369e-01 8.90394420e-01 -2.22840772e-03 2.55658764e+01] [ 4.59746353e-03 1.52393824e-04 9.99989420e-01 5.61578489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:25.58, Z:0.56 [[ 8.90819444e-01 -4.54338056e-01 -4.20101817e-03 1.30388099e+02] [ 4.54332127e-01 8.90829335e-01 -2.32691408e-03 2.55799129e+01] [ 4.79959584e-03 1.64202792e-04 9.99988468e-01 5.61434672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:25.59, Z:0.56 [[ 8.91005740e-01 -4.53972219e-01 -4.24217460e-03 1.30411683e+02] [ 4.53966166e-01 8.91015822e-01 -2.35034896e-03 2.55940824e+01] [ 4.84683782e-03 1.68370677e-04 9.99988240e-01 5.61524475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:25.61, Z:0.56 [[ 8.91120012e-01 -4.53750572e-01 -3.94230933e-03 1.30435603e+02] [ 4.53745339e-01 8.91128719e-01 -2.18506536e-03 2.56096786e+01] [ 4.50457972e-03 1.58350985e-04 9.99989842e-01 5.62127670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:25.63, Z:0.56 [[ 8.91483376e-01 -4.53038991e-01 -3.61422586e-03 1.30457989e+02] [ 4.53034583e-01 8.91490690e-01 -2.00385525e-03 2.56259703e+01] [ 4.12987327e-03 1.49034341e-04 9.99991461e-01 5.62397705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:25.65, Z:0.56 [[ 8.92720308e-01 -4.50590891e-01 -4.27790198e-03 1.30477623e+02] [ 4.50584686e-01 8.92730538e-01 -2.37233771e-03 2.56453360e+01] [ 4.88796750e-03 1.90276937e-04 9.99988036e-01 5.62748169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:25.66, Z:0.56 [[ 8.93116252e-01 -4.49798005e-01 -5.01146928e-03 1.30501106e+02] [ 4.49789471e-01 8.93130283e-01 -2.78022088e-03 2.56615335e+01] [ 5.72643278e-03 2.28954332e-04 9.99983578e-01 5.62609495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:25.68, Z:0.56 [[ 8.93493987e-01 -4.49044500e-01 -5.24714333e-03 1.30524067e+02] [ 4.49035128e-01 8.93509360e-01 -2.91163651e-03 2.56765106e+01] [ 5.99582604e-03 2.45378037e-04 9.99981995e-01 5.62401753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:25.69, Z:0.56 [[ 8.93819000e-01 -4.48395503e-01 -5.39149950e-03 1.30547542e+02] [ 4.48385588e-01 8.93835224e-01 -2.99293710e-03 2.56915102e+01] [ 6.16113169e-03 2.57673375e-04 9.99980987e-01 5.62716722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:25.71, Z:0.56 [[ 8.94085881e-01 -4.47872734e-01 -4.52243519e-03 1.30568887e+02] [ 4.47865747e-01 8.94097291e-01 -2.51129321e-03 2.57078867e+01] [ 5.16823681e-03 2.19867987e-04 9.99986620e-01 5.62400283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:25.72, Z:0.56 [[ 8.93624362e-01 -4.48795499e-01 -4.25430288e-03 1.30591772e+02] [ 4.48789323e-01 8.93634466e-01 -2.36308290e-03 2.57226326e+01] [ 4.86233265e-03 2.02422742e-04 9.99988158e-01 5.62170027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:25.74, Z:0.56 [[ 8.92957091e-01 -4.50115568e-01 -4.85888423e-03 1.30615721e+02] [ 4.50107526e-01 8.92970282e-01 -2.70001725e-03 2.57377203e+01] [ 5.55415902e-03 2.23979187e-04 9.99984550e-01 5.61941069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:25.75, Z:0.56 [[ 8.92283300e-01 -4.51438409e-01 -5.82029382e-03 1.30638898e+02] [ 4.51426890e-01 8.92302245e-01 -3.23532788e-03 2.57517426e+01] [ 6.65401251e-03 2.59391904e-04 9.99977828e-01 5.61885771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:25.77, Z:0.56 [[ 8.91617905e-01 -4.52740192e-01 -6.62036797e-03 1.30661841e+02] [ 4.52725319e-01 8.91642438e-01 -3.68082852e-03 2.57657920e+01] [ 7.56946004e-03 2.84684416e-04 9.99971311e-01 5.61877465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:25.78, Z:0.56 [[ 8.90762110e-01 -4.54443318e-01 -4.91259481e-03 1.30685400e+02] [ 4.54435149e-01 8.90775634e-01 -2.73238339e-03 2.57815439e+01] [ 5.61773313e-03 2.01447841e-04 9.99984200e-01 5.62897317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:25.80, Z:0.56 [[ 8.90966334e-01 -4.54057024e-01 -3.34818200e-03 1.30708899e+02] [ 4.54053225e-01 8.90972614e-01 -1.86266855e-03 2.57953797e+01] [ 3.82889621e-03 1.39322139e-04 9.99992660e-01 5.62865245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:25.81, Z:0.56 [[ 8.91487012e-01 -4.53037871e-01 -2.75592090e-03 1.30733696e+02] [ 4.53035291e-01 8.91491264e-01 -1.53369836e-03 2.58091203e+01] [ 3.15170284e-03 1.18742748e-04 9.99995026e-01 5.62834977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:25.82, Z:0.56 [[ 8.92354795e-01 -4.51324896e-01 -2.95949884e-03 1.30757178e+02] [ 4.51321909e-01 8.92359692e-01 -1.64743381e-03 2.58214458e+01] [ 3.38446537e-03 1.34408794e-04 9.99994264e-01 5.62470882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:25.84, Z:0.56 [[ 8.93317547e-01 -4.49410420e-01 -3.74640036e-03 1.30781760e+02] [ 4.49405613e-01 8.93325384e-01 -2.08625682e-03 2.58350382e+01] [ 4.28434009e-03 1.80036471e-04 9.99990806e-01 5.61609271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92140051299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:130.81, Y:25.85, Z:0.56 [[ 8.94466385e-01 -4.47110311e-01 -4.71765227e-03 1.30806146e+02] [ 4.47102651e-01 8.94478793e-01 -2.62829667e-03 2.58492044e+01] [ 5.39497845e-03 2.41648187e-04 9.99985418e-01 5.61052183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:25.86, Z:0.56 [[ 8.96844742e-01 -4.42308040e-01 -5.75378206e-03 1.30829947e+02] [ 4.42296542e-01 8.96863138e-01 -3.20631255e-03 2.58627901e+01] [ 6.57853286e-03 3.30686650e-04 9.99978307e-01 5.60734435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:25.87, Z:0.56 [[ 8.97657624e-01 -4.40647828e-01 -6.34682349e-03 1.30855902e+02] [ 4.40633786e-01 8.97679981e-01 -3.53816464e-03 2.58746467e+01] [ 7.25650095e-03 3.79435604e-04 9.99973599e-01 5.61406321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:25.89, Z:0.56 [[ 8.98196088e-01 -4.39541805e-01 -6.84022202e-03 1.30881728e+02] [ 4.39525450e-01 8.98222036e-01 -3.81486523e-03 2.58856334e+01] [ 7.82083090e-03 4.20045363e-04 9.99969329e-01 5.61618233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:25.90, Z:0.56 [[ 8.98440183e-01 -4.39042418e-01 -6.85517966e-03 1.30906360e+02] [ 4.39025968e-01 8.98466234e-01 -3.82438903e-03 2.58977128e+01] [ 7.83821646e-03 4.26382889e-04 9.99969190e-01 5.61100417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:25.91, Z:0.56 [[ 8.98517289e-01 -4.38893680e-01 -6.24655780e-03 1.30930795e+02] [ 4.38880013e-01 8.98538917e-01 -3.48553034e-03 2.59096739e+01] [ 7.14255252e-03 3.90319905e-04 9.99974415e-01 5.60832443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:25.92, Z:0.56 [[ 8.98520506e-01 -4.38896295e-01 -5.56256943e-03 1.30956816e+02] [ 4.38885450e-01 8.98537657e-01 -3.10504459e-03 2.59211494e+01] [ 6.36097067e-03 3.48615457e-04 9.99979708e-01 5.61278954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:25.93, Z:0.56 [[ 8.98605663e-01 -4.38731457e-01 -4.75090963e-03 1.30983798e+02] [ 4.38723538e-01 8.98618172e-01 -2.65305834e-03 2.59311070e+01] [ 5.43323388e-03 2.99717363e-04 9.99985195e-01 5.62681726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:25.94, Z:0.56 [[ 8.98833008e-01 -4.38272968e-01 -4.00369277e-03 1.31009851e+02] [ 4.38267337e-01 8.98841888e-01 -2.23628378e-03 2.59406437e+01] [ 4.57878950e-03 2.55357910e-04 9.99989485e-01 5.63968023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:25.95, Z:0.56 [[ 8.99021022e-01 -4.37894539e-01 -3.09439549e-03 1.31035697e+02] [ 4.37891171e-01 8.99026325e-01 -1.72897046e-03 2.59513407e+01] [ 3.53904973e-03 1.99372327e-04 9.99993718e-01 5.64143038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:25.96, Z:0.56 [[ 8.99397127e-01 -4.37123916e-01 -2.73683513e-03 1.31061475e+02] [ 4.37121276e-01 8.99401273e-01 -1.52980907e-03 2.59631263e+01] [ 3.13022914e-03 1.79577015e-04 9.99995085e-01 5.63749988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:25.97, Z:0.56 [[ 9.00754098e-01 -4.34321321e-01 -2.65429881e-03 1.31087436e+02] [ 4.34318825e-01 9.00757990e-01 -1.48406449e-03 2.59720482e+01] [ 3.03544171e-03 1.83965229e-04 9.99995376e-01 5.62758356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:25.98, Z:0.56 [[ 9.01554886e-01 -4.32654800e-01 -2.93450378e-03 1.31113058e+02] [ 4.32651738e-01 9.01559637e-01 -1.64130713e-03 2.59838565e+01] [ 3.35574957e-03 2.10110300e-04 9.99994347e-01 5.63096497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:26.00, Z:0.56 [[ 9.02568925e-01 -4.30534539e-01 -3.05717843e-03 1.31136553e+02] [ 4.30531202e-01 9.02574074e-01 -1.71035660e-03 2.59963920e+01] [ 3.49569758e-03 2.27504010e-04 9.99993864e-01 5.63799256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:26.01, Z:0.56 [[ 9.03894330e-01 -4.27744470e-01 -3.11592908e-03 1.31161131e+02] [ 4.27740984e-01 9.03899668e-01 -1.74384609e-03 2.60099403e+01] [ 3.56240778e-03 2.43442023e-04 9.99993625e-01 5.64257591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:26.02, Z:0.56 [[ 9.06731288e-01 -4.21702736e-01 -2.27448518e-03 1.31186127e+02] [ 4.21700859e-01 9.06734120e-01 -1.27322790e-03 2.60213616e+01] [ 2.59927700e-03 1.95323216e-04 9.99996603e-01 5.63966258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:26.03, Z:0.56 [[ 9.07542572e-01 -4.19955499e-01 -1.96428492e-03 1.31210744e+02] [ 4.19954095e-01 9.07544681e-01 -1.09976968e-03 2.60324727e+01] [ 2.24453066e-03 1.73178309e-04 9.99997466e-01 5.63853663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:26.05, Z:0.56 [[ 9.07642661e-01 -4.19738982e-01 -1.99655792e-03 1.31235581e+02] [ 4.19737530e-01 9.07644840e-01 -1.11818318e-03 2.60450352e+01] [ 2.28151057e-03 1.76880469e-04 9.99997382e-01 5.64104797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:26.06, Z:0.56 [[ 9.07285351e-01 -4.20509476e-01 -2.25224873e-03 1.31259253e+02] [ 4.20507629e-01 9.07288125e-01 -1.26175480e-03 2.60584874e+01] [ 2.57401837e-03 1.97683877e-04 9.99996668e-01 5.63852480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:26.07, Z:0.56 [[ 9.06661119e-01 -4.21849195e-01 -2.97862105e-03 1.31283108e+02] [ 4.21845970e-01 9.06665975e-01 -1.66928270e-03 2.60723534e+01] [ 3.40479993e-03 2.56954436e-04 9.99994171e-01 5.62787222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:26.08, Z:0.56 [[ 9.05918447e-01 -4.23429274e-01 -4.40652853e-03 1.31308529e+02] [ 4.23422232e-01 9.05929087e-01 -2.47017420e-03 2.60820667e+01] [ 5.03794644e-03 3.71954233e-04 9.99987240e-01 5.62024082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:26.09, Z:0.56 [[ 9.05902225e-01 -4.23463431e-01 -4.45880698e-03 1.31332962e+02] [ 4.23456219e-01 9.05913120e-01 -2.49992767e-03 2.60934061e+01] [ 5.09791969e-03 3.76580493e-04 9.99986935e-01 5.62821154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:26.11, Z:0.56 [[ 9.06229387e-01 -4.22760635e-01 -4.66294606e-03 1.31356756e+02] [ 4.22752734e-01 9.06241296e-01 -2.61531867e-03 2.61075241e+01] [ 5.33140807e-03 3.98805442e-04 9.99985708e-01 5.63176592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:26.12, Z:0.56 [[ 9.06887264e-01 -4.21344243e-01 -4.95176032e-03 1.31380182e+02] [ 4.21335304e-01 9.06900679e-01 -2.77845661e-03 2.61234549e+01] [ 5.66144150e-03 4.33395469e-04 9.99983880e-01 5.62843495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:26.14, Z:0.56 [[ 9.07702487e-01 -4.19580720e-01 -5.31180262e-03 1.31403343e+02] [ 4.19570397e-01 9.07717903e-01 -2.98173582e-03 2.61388932e+01] [ 6.07269719e-03 4.77853882e-04 9.99981447e-01 5.62288287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:26.15, Z:0.56 [[ 9.08524601e-01 -4.17792394e-01 -5.70661554e-03 1.31426463e+02] [ 4.17780440e-01 9.08542370e-01 -3.20407804e-03 2.61524972e+01] [ 6.52334144e-03 5.26871370e-04 9.99978584e-01 5.61240829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:26.16, Z:0.56 [[ 9.09308579e-01 -4.16067849e-01 -6.74187409e-03 1.31451422e+02] [ 4.16051112e-01 9.09333348e-01 -3.78602962e-03 2.61634626e+01] [ 7.70585614e-03 6.37705005e-04 9.99970106e-01 5.62034831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:26.18, Z:0.56 [[ 9.09093115e-01 -4.16529822e-01 -7.25361712e-03 1.31475575e+02] [ 4.16510449e-01 9.09121796e-01 -4.07495354e-03 2.61771061e+01] [ 8.29176110e-03 6.83304884e-04 9.99965389e-01 5.62989841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:26.19, Z:0.56 [[ 9.08607539e-01 -4.17586630e-01 -7.33114244e-03 1.31499273e+02] [ 4.17566861e-01 9.08636859e-01 -4.12020569e-03 2.61923384e+01] [ 8.38188904e-03 6.82407821e-04 9.99964639e-01 5.63596586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:26.21, Z:0.56 [[ 9.08538459e-01 -4.17736918e-01 -7.33045526e-03 1.31524079e+02] [ 4.17717144e-01 9.08567775e-01 -4.12142813e-03 2.62064333e+01] [ 8.38188811e-03 6.82419128e-04 9.99964639e-01 5.63626087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:26.22, Z:0.56 [[ 9.07940014e-01 -4.19039490e-01 -7.13000638e-03 1.31546643e+02] [ 4.19020816e-01 9.07967775e-01 -4.00954913e-03 2.62212101e+01] [ 8.15397545e-03 6.52809004e-04 9.99966543e-01 5.63710251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:26.24, Z:0.56 [[ 9.07295727e-01 -4.20441513e-01 -6.58770135e-03 1.31570022e+02] [ 4.20425603e-01 9.07319449e-01 -3.70524027e-03 2.62351607e+01] [ 7.53498639e-03 5.92110350e-04 9.99971436e-01 5.63909312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:26.25, Z:0.56 [[ 9.06526858e-01 -4.22109272e-01 -5.72870207e-03 1.31594609e+02] [ 4.22097266e-01 9.06544819e-01 -3.22329292e-03 2.62485745e+01] [ 6.55390701e-03 5.03932123e-04 9.99978396e-01 5.64074385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:26.26, Z:0.56 [[ 9.05060521e-01 -4.25264981e-01 -3.89231404e-03 1.31617455e+02] [ 4.25259465e-01 9.05068831e-01 -2.19047931e-03 2.62626452e+01] [ 4.45434626e-03 3.27272955e-04 9.99990026e-01 5.64407348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:26.28, Z:0.56 [[ 9.04385520e-01 -4.26702146e-01 -3.48008357e-03 1.31639561e+02] [ 4.26697746e-01 9.04392170e-01 -1.95882675e-03 2.62776248e+01] [ 3.98319591e-03 2.86590738e-04 9.99992026e-01 5.64320242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:26.29, Z:0.56 [[ 9.03806791e-01 -4.27927535e-01 -3.36285446e-03 1.31662121e+02] [ 4.27923433e-01 9.03813007e-01 -1.89317105e-03 2.62925046e+01] [ 3.84953162e-03 2.72016625e-04 9.99992554e-01 5.64384613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:26.31, Z:0.57 [[ 9.02156018e-01 -4.31403276e-01 -2.39428798e-03 1.31686934e+02] [ 4.31401208e-01 9.02159177e-01 -1.34831208e-03 2.63056450e+01] [ 2.74169512e-03 1.83489135e-04 9.99996225e-01 5.65837786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:26.32, Z:0.57 [[ 9.01231205e-01 -4.33336879e-01 -1.20979422e-03 1.31711991e+02] [ 4.33336353e-01 9.01232013e-01 -6.81458400e-04 2.63188269e+01] [ 1.38560633e-03 8.99037611e-05 9.99999036e-01 5.66637634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:26.33, Z:0.57 [[ 9.00392807e-01 -4.35077677e-01 -4.56976712e-04 1.31736976e+02] [ 4.35077602e-01 9.00392922e-01 -2.57381122e-04 2.63325999e+01] [ 5.23439378e-04 3.29237794e-05 9.99999862e-01 5.67176656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:26.35, Z:0.57 [[ 8.99877739e-01 -4.36142067e-01 -3.90735759e-04 1.31761305e+02] [ 4.36142013e-01 8.99877823e-01 -2.20133132e-04 2.63471641e+01] [ 4.47623764e-04 2.76766251e-05 9.99999899e-01 5.67578538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:26.36, Z:0.57 [[ 8.99845099e-01 -4.36208704e-01 -8.74085973e-04 1.31784611e+02] [ 4.36208430e-01 8.99845521e-01 -4.92932885e-04 2.63618467e+01] [ 1.00156396e-03 6.22795702e-05 9.99999496e-01 5.67207328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:26.38, Z:0.57 [[ 9.00284238e-01 -4.35299648e-01 -1.58362214e-03 1.31807747e+02] [ 4.35298747e-01 9.00285623e-01 -8.93312591e-04 2.63763797e+01] [ 1.81457090e-03 1.14886512e-04 9.99998347e-01 5.66859979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:26.39, Z:0.57 [[ 9.02088271e-01 -4.31542559e-01 -2.78767648e-03 1.31830522e+02] [ 4.31539746e-01 9.02092553e-01 -1.57286768e-03 2.63916833e+01] [ 3.19350153e-03 2.15872282e-04 9.99994877e-01 5.65872372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:26.41, Z:0.57 [[ 9.03086133e-01 -4.29448815e-01 -3.02507261e-03 1.31853834e+02] [ 4.29445489e-01 9.03091167e-01 -1.70740543e-03 2.64070591e+01] [ 3.46515960e-03 2.42830381e-04 9.99993967e-01 5.65525978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:26.42, Z:0.57 [[ 9.04118032e-01 -4.27272241e-01 -3.00275750e-03 1.31875843e+02] [ 4.27268951e-01 9.04122984e-01 -1.69523147e-03 2.64220914e+01] [ 3.43918742e-03 2.49704295e-04 9.99994055e-01 5.65175696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:26.44, Z:0.57 [[ 9.05075943e-01 -4.25239267e-01 -3.01712737e-03 1.31898346e+02] [ 4.25235933e-01 9.05080935e-01 -1.70376801e-03 2.64373626e+01] [ 3.45525352e-03 2.59048464e-04 9.99993997e-01 5.65061695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:26.45, Z:0.56 [[ 9.05962893e-01 -4.23344003e-01 -3.33033767e-03 1.31921933e+02] [ 4.23339925e-01 9.05968966e-01 -1.88137677e-03 2.64525361e+01] [ 3.81365215e-03 2.94592639e-04 9.99992685e-01 5.64900217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:26.47, Z:0.56 [[ 9.06468144e-01 -4.22257718e-01 -3.73147832e-03 1.31944744e+02] [ 4.22252587e-01 9.06475762e-01 -2.10852764e-03 2.64668245e+01] [ 4.27283673e-03 3.35686759e-04 9.99990815e-01 5.64602037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:26.48, Z:0.56 [[ 9.05897290e-01 -4.23474403e-01 -4.41932325e-03 1.31967146e+02] [ 4.23467215e-01 9.05907985e-01 -2.49813770e-03 2.64833279e+01] [ 5.06139759e-03 3.91617666e-04 9.99987114e-01 5.64146792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:26.50, Z:0.56 [[ 9.05374629e-01 -4.24593549e-01 -4.13505291e-03 1.31990268e+02] [ 4.24587264e-01 9.05384000e-01 -2.33840570e-03 2.64984629e+01] [ 4.73668271e-03 3.61442394e-04 9.99988717e-01 5.64309930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:26.51, Z:0.56 [[ 9.05023002e-01 -4.25350524e-01 -3.20897611e-03 1.32012777e+02] [ 4.25346741e-01 9.05028649e-01 -1.81523833e-03 2.65135580e+01] [ 3.67632789e-03 2.77904915e-04 9.99993204e-01 5.64638697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:26.53, Z:0.57 [[ 9.04763943e-01 -4.25907901e-01 -2.16041327e-03 1.32036226e+02] [ 4.25906187e-01 9.04766503e-01 -1.22248825e-03 2.65297926e+01] [ 2.47533697e-03 1.85929914e-04 9.99996919e-01 5.65056309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:26.55, Z:0.57 [[ 9.04709621e-01 -4.26026078e-01 -1.51062279e-03 1.32056209e+02] [ 4.26025240e-01 9.04710873e-01 -8.55010750e-04 2.65485163e+01] [ 1.73093374e-03 1.29973018e-04 9.99998493e-01 5.65086584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:26.57, Z:0.57 [[ 9.04804955e-01 -4.25819726e-01 -2.35673819e-03 1.32078911e+02] [ 4.25817684e-01 9.04808001e-01 -1.33440714e-03 2.65653896e+01] [ 2.70061245e-03 2.03837395e-04 9.99996333e-01 5.65081659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:26.58, Z:0.56 [[ 9.04951279e-01 -4.25502371e-01 -3.30378999e-03 1.32101367e+02] [ 4.25498354e-01 9.04957264e-01 -1.87119376e-03 2.65815030e+01] [ 3.78598613e-03 2.87581980e-04 9.99992792e-01 5.64373219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:26.60, Z:0.56 [[ 9.05091182e-01 -4.25193356e-01 -4.53449527e-03 1.32123690e+02] [ 4.25185782e-01 9.05102454e-01 -2.56873718e-03 2.65972132e+01] [ 5.19639277e-03 3.96938455e-04 9.99986420e-01 5.63833672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:26.61, Z:0.56 [[ 9.05007947e-01 -4.25354284e-01 -5.86073875e-03 1.32146660e+02] [ 4.25341627e-01 9.05026779e-01 -3.32127920e-03 2.66133343e+01] [ 6.71684585e-03 5.12967916e-04 9.99977310e-01 5.63670444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:26.63, Z:0.56 [[ 9.04778022e-01 -4.25825857e-01 -7.00504943e-03 1.32169774e+02] [ 4.25807775e-01 9.04804933e-01 -3.97139227e-03 2.66297501e+01] [ 8.02932480e-03 6.10423933e-04 9.99967578e-01 5.63418474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:26.65, Z:0.56 [[ 9.04117559e-01 -4.27223344e-01 -7.18706898e-03 1.32192161e+02] [ 4.27204340e-01 9.04145915e-01 -4.07626892e-03 2.66472058e+01] [ 8.23963630e-03 6.15079246e-04 9.99965864e-01 5.64740828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:26.66, Z:0.57 [[ 9.03877659e-01 -4.27747544e-01 -6.10050096e-03 1.32215718e+02] [ 4.27733854e-01 9.03898097e-01 -3.46144798e-03 2.66629005e+01] [ 6.99485708e-03 5.19334717e-04 9.99975401e-01 5.65877612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:26.68, Z:0.57 [[ 9.03862678e-01 -4.27791472e-01 -5.16865945e-03 1.32237567e+02] [ 4.27781642e-01 9.03877349e-01 -2.93335540e-03 2.66785587e+01] [ 5.92669863e-03 4.40292846e-04 9.99982340e-01 5.66582218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:26.70, Z:0.57 [[ 9.04312260e-01 -4.26847391e-01 -4.54332076e-03 1.32258180e+02] [ 4.26839778e-01 9.04323587e-01 -2.57939517e-03 2.66983607e+01] [ 5.20964022e-03 3.93308646e-04 9.99986352e-01 5.65520146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:26.71, Z:0.56 [[ 9.04538238e-01 -4.26365749e-01 -4.77751866e-03 1.32280246e+02] [ 4.26357322e-01 9.04550758e-01 -2.71297361e-03 2.67142915e+01] [ 5.47822715e-03 4.17058309e-04 9.99984907e-01 5.64896931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:26.73, Z:0.57 [[ 9.04620502e-01 -4.26186560e-01 -5.17331585e-03 1.32303302e+02] [ 4.26176669e-01 9.04635181e-01 -2.93881891e-03 2.67299825e+01] [ 5.93244864e-03 4.53769323e-04 9.99982300e-01 5.65130921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:26.75, Z:0.57 [[ 9.04455050e-01 -4.26534807e-01 -5.39650217e-03 1.32326524e+02] [ 4.26524042e-01 9.04471025e-01 -3.06687168e-03 2.67451770e+01] [ 6.18910737e-03 4.72109656e-04 9.99980736e-01 5.65890506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:26.76, Z:0.57 [[ 9.04121000e-01 -4.27240826e-01 -5.52205663e-03 1.32348484e+02] [ 4.27229564e-01 9.04137737e-01 -3.13890968e-03 2.67605034e+01] [ 6.33377014e-03 4.78768315e-04 9.99979827e-01 5.66742418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:26.78, Z:0.57 [[ 9.03143109e-01 -4.29311424e-01 -4.92199558e-03 1.32369559e+02] [ 4.29302501e-01 9.03156426e-01 -2.79888930e-03 2.67792502e+01] [ 5.64692708e-03 4.14772574e-04 9.99983970e-01 5.67560921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:26.80, Z:0.57 [[ 9.02651378e-01 -4.30352661e-01 -4.13241434e-03 1.32391897e+02] [ 4.30346379e-01 9.02660772e-01 -2.35042753e-03 2.67955704e+01] [ 4.74168106e-03 3.43247100e-04 9.99988699e-01 5.67341171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:26.81, Z:0.57 [[ 9.02222414e-01 -4.31257754e-01 -3.38593134e-03 1.32414303e+02] [ 4.31253542e-01 9.02228725e-01 -1.92617383e-03 2.68118079e+01] [ 3.88556192e-03 2.77642316e-04 9.99992413e-01 5.67222920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:26.83, Z:0.57 [[ 9.01888049e-01 -4.31962134e-01 -2.58092945e-03 1.32437126e+02] [ 4.31959689e-01 9.01891718e-01 -1.46870605e-03 2.68280747e+01] [ 2.96214429e-03 2.09750953e-04 9.99995591e-01 5.67049694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:26.85, Z:0.57 [[ 9.01800296e-01 -4.32151729e-01 -1.05298495e-03 1.32458031e+02] [ 4.32151322e-01 9.01800907e-01 -5.99318105e-04 2.68455021e+01] [ 1.20857914e-03 8.54164081e-05 9.99999266e-01 5.68219241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:26.86, Z:0.57 [[ 9.01933201e-01 -4.31875414e-01 -3.57387248e-04 1.32481703e+02] [ 4.31875367e-01 9.01933271e-01 -2.03316270e-04 2.68615468e+01] [ 4.10146748e-04 2.90309450e-05 9.99999915e-01 5.68683523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:26.88, Z:0.57 [[ 9.01894727e-01 -4.31955886e-01 -1.18424719e-04 1.32504444e+02] [ 4.31955880e-01 9.01894735e-01 -6.72564235e-05 2.68780509e+01] [ 1.35858438e-04 9.50396015e-06 9.99999991e-01 5.68912868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:26.90, Z:0.57 [[ 9.01819694e-01 -4.32112501e-01 -1.58871568e-04 1.32526738e+02] [ 4.32112492e-01 9.01819708e-01 -9.03376966e-05 2.68954789e+01] [ 1.82309559e-04 1.28179248e-05 9.99999983e-01 5.68477770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:26.91, Z:0.57 [[ 9.01692021e-01 -4.32378653e-01 -4.46041759e-04 1.32548107e+02] [ 4.32378580e-01 9.01692131e-01 -2.54178297e-04 2.69124609e+01] [ 5.12093614e-04 3.63316397e-05 9.99999868e-01 5.68238427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:26.93, Z:0.57 [[ 9.00926286e-01 -4.33970333e-01 -1.25626550e-03 1.32569174e+02] [ 4.33969753e-01 9.00927156e-01 -7.16234027e-04 2.69318736e+01] [ 1.44262802e-03 1.00092833e-04 9.99998954e-01 5.68022237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:26.95, Z:0.57 [[ 9.00239321e-01 -4.35390667e-01 -2.03280311e-03 1.32591308e+02] [ 4.35389152e-01 9.00241602e-01 -1.15943687e-03 2.69477187e+01] [ 2.33482192e-03 1.58710242e-04 9.99997262e-01 5.68414020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:26.96, Z:0.57 [[ 8.99291914e-01 -4.37342398e-01 -2.38319203e-03 1.32614289e+02] [ 4.37340321e-01 8.99295054e-01 -1.35974420e-03 2.69646063e+01] [ 2.73786660e-03 1.80540994e-04 9.99996236e-01 5.68393400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:26.98, Z:0.57 [[ 8.98042351e-01 -4.39901397e-01 -2.58790980e-03 1.32636771e+02] [ 4.39898957e-01 8.98046060e-01 -1.47717651e-03 2.69811789e+01] [ 2.97387421e-03 1.88148242e-04 9.99995560e-01 5.68484289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:27.00, Z:0.57 [[ 8.96709032e-01 -4.42614697e-01 -2.26739361e-03 1.32658900e+02] [ 4.42612832e-01 8.96711885e-01 -1.29463490e-03 2.69971076e+01] [ 2.60622323e-03 1.57333300e-04 9.99996591e-01 5.68176918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:27.01, Z:0.57 [[ 8.93647357e-01 -4.48768763e-01 -9.99633482e-04 1.32679982e+02] [ 4.48768404e-01 8.93647914e-01 -5.70857392e-04 2.70145951e+01] [ 1.14950334e-03 6.15412762e-05 9.99999337e-01 5.69033559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:27.03, Z:0.57 [[ 8.91607122e-01 -4.52808845e-01 -9.43041896e-04 1.32702572e+02] [ 4.52808528e-01 8.91607619e-01 -5.38746818e-04 2.70319141e+01] [ 1.08477266e-03 5.33330875e-05 9.99999410e-01 5.68880037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:27.05, Z:0.57 [[ 8.89216611e-01 -4.57484342e-01 -1.37674116e-03 1.32725157e+02] [ 4.57483671e-01 8.89217674e-01 -7.86950940e-04 2.70497554e+01] [ 1.58424030e-03 6.99332495e-05 9.99998743e-01 5.68159685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:27.07, Z:0.57 [[ 8.86771273e-01 -4.62205247e-01 -1.73755874e-03 1.32748189e+02] [ 4.62204185e-01 8.86772972e-01 -9.93683527e-04 2.70666494e+01] [ 2.00010587e-03 7.80630845e-05 9.99997997e-01 5.67167683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:27.08, Z:0.57 [[ 8.84482789e-01 -4.66569173e-01 -1.84441544e-03 1.32770944e+02] [ 4.66567986e-01 8.84484710e-01 -1.05513291e-03 2.70809306e+01] [ 2.12364975e-03 7.27017002e-05 9.99997742e-01 5.66402143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:27.09, Z:0.57 [[ 8.82266674e-01 -4.70745687e-01 -2.00321783e-03 1.32795868e+02] [ 4.70744297e-01 8.82268946e-01 -1.14634898e-03 2.70945668e+01] [ 2.30701572e-03 6.83821323e-05 9.99997337e-01 5.66079516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:27.11, Z:0.57 [[ 8.77703010e-01 -4.79191586e-01 -3.58473785e-03 1.32820503e+02] [ 4.79187198e-01 8.77710326e-01 -2.05242785e-03 2.71072966e+01] [ 4.12986759e-03 8.36616172e-05 9.99991469e-01 5.66109458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:27.12, Z:0.57 [[ 8.75792267e-01 -4.82666851e-01 -4.54034041e-03 1.32844208e+02] [ 4.82659855e-01 8.75804032e-01 -2.60022807e-03 2.71210854e+01] [ 5.23149233e-03 8.58195917e-05 9.99986312e-01 5.65834584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:27.13, Z:0.57 [[ 8.74202096e-01 -4.85539740e-01 -4.67494067e-03 1.32868535e+02] [ 4.85532358e-01 8.74214593e-01 -2.67835782e-03 2.71344352e+01] [ 5.38735052e-03 7.15910482e-05 9.99985486e-01 5.65561709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:27.15, Z:0.57 [[ 8.73002501e-01 -4.87705830e-01 -3.10753121e-03 1.32893163e+02] [ 4.87702579e-01 8.73008031e-01 -1.78106736e-03 2.71468463e+01] [ 3.58153664e-03 3.93252738e-05 9.99993586e-01 5.66482747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:27.16, Z:0.57 [[ 8.72532414e-01 -4.88556180e-01 2.15616680e-04 1.32916511e+02] [ 4.88556164e-01 8.72532440e-01 1.23717501e-04 2.71601106e+01] [-2.48575497e-04 -2.60667178e-06 9.99999969e-01 5.68084100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:27.18, Z:0.57 [[ 8.73370304e-01 -4.87056781e-01 -6.76091727e-05 1.32940532e+02] [ 4.87056779e-01 8.73370307e-01 -3.85549928e-05 2.71752964e+01] [ 7.78263146e-05 7.43279915e-07 9.99999997e-01 5.67828787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:27.19, Z:0.57 [[ 8.74835947e-01 -4.84418152e-01 -1.05822523e-03 1.32963572e+02] [ 4.84417772e-01 8.74836587e-01 -6.06991290e-04 2.71890115e+01] [ 1.21981175e-03 1.83946907e-05 9.99999256e-01 5.67268198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:27.20, Z:0.57 [[ 8.74751854e-01 -4.84569989e-01 -1.05816731e-03 1.32988217e+02] [ 4.84569609e-01 8.74752494e-01 -6.07092246e-04 2.72033436e+01] [ 1.21981318e-03 1.82993477e-05 9.99999256e-01 5.67297716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:27.22, Z:0.57 [[ 8.76160235e-01 -4.82016083e-01 -1.93321411e-03 1.33012780e+02] [ 4.82014807e-01 8.76162367e-01 -1.10976041e-03 2.72177491e+01] [ 2.22873182e-03 4.04901138e-05 9.99997516e-01 5.66712201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:27.23, Z:0.57 [[ 8.77193961e-01 -4.80129303e-01 -2.57054456e-03 1.33036208e+02] [ 4.80127038e-01 8.77197725e-01 -1.47609691e-03 2.72319553e+01] [ 2.96359322e-03 6.06353525e-05 9.99995607e-01 5.66523065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:27.25, Z:0.57 [[ 8.77208957e-01 -4.80103166e-01 -2.32265262e-03 1.33058282e+02] [ 4.80101316e-01 8.77212031e-01 -1.33417929e-03 2.72495553e+01] [ 2.67800253e-03 5.52454442e-05 9.99996413e-01 5.67224982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:27.27, Z:0.57 [[ 8.76304002e-01 -4.81754047e-01 -2.08165003e-03 1.33081327e+02] [ 4.81752564e-01 8.76306474e-01 -1.19622658e-03 2.72654288e+01] [ 2.40045039e-03 4.54179017e-05 9.99997118e-01 5.67640228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:27.28, Z:0.57 [[ 8.75099958e-01 -4.83935410e-01 -2.56552539e-03 1.33103876e+02] [ 4.83933165e-01 8.75103718e-01 -1.47473690e-03 2.72797241e+01] [ 2.95877821e-03 4.89993803e-05 9.99995622e-01 5.67266353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:27.29, Z:0.57 [[ 8.73579756e-01 -4.86668747e-01 -3.45560865e-03 1.33128109e+02] [ 4.86664693e-01 8.73586589e-01 -1.98714247e-03 2.72939874e+01] [ 3.98585351e-03 5.42047128e-05 9.99992055e-01 5.66511371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:27.31, Z:0.57 [[ 8.69774775e-01 -4.93441660e-01 -2.67747677e-03 1.33151973e+02] [ 4.93439257e-01 8.69778896e-01 -1.54004110e-03 2.73075301e+01] [ 3.08873322e-03 1.83167546e-05 9.99995230e-01 5.65397206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:27.32, Z:0.57 [[ 8.67838900e-01 -4.96844984e-01 -8.40300050e-04 1.33176070e+02] [ 4.96844749e-01 8.67839307e-01 -4.83342818e-04 2.73216738e+01] [ 9.69391867e-04 1.96503191e-06 9.99999530e-01 5.65903974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:27.34, Z:0.57 [[ 8.66502815e-01 -4.99172003e-01 4.27295781e-04 1.33200250e+02] [ 4.99171943e-01 8.66502920e-01 2.46224704e-04 2.73357949e+01] [-4.93161521e-04 -6.03345357e-08 9.99999878e-01 5.66829528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:27.35, Z:0.57 [[ 8.66013503e-01 -5.00019716e-01 9.47117708e-04 1.33223692e+02] [ 5.00019418e-01 8.66014021e-01 5.45471480e-04 2.73494027e+01] [-1.09296371e-03 1.19157789e-06 9.99999403e-01 5.68068101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:27.36, Z:0.57 [[ 8.66525630e-01 -4.99131875e-01 8.38424974e-04 1.33248024e+02] [ 4.99131641e-01 8.66526036e-01 4.83216104e-04 2.73632877e+01] [-9.67705629e-04 -2.34705236e-07 9.99999532e-01 5.69002081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:27.38, Z:0.57 [[ 8.69445323e-01 -4.94029172e-01 8.29506785e-05 1.33272080e+02] [ 4.94029170e-01 8.69445327e-01 4.80290148e-05 2.73784522e+01] [-9.58488142e-05 -7.78547390e-07 9.99999995e-01 5.69632919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:27.39, Z:0.57 [[ 8.71267445e-01 -4.90808011e-01 -7.32533989e-04 1.33294331e+02] [ 4.90807829e-01 8.71267752e-01 -4.22156904e-04 2.73933017e+01] [ 8.45431233e-04 8.27814983e-06 9.99999643e-01 5.68897318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:27.41, Z:0.57 [[ 8.72949989e-01 -4.87805709e-01 -1.97668959e-03 1.33318044e+02] [ 4.87804379e-01 8.72952226e-01 -1.13969560e-03 2.74087107e+01] [ 2.28150560e-03 3.06594255e-05 9.99997397e-01 5.68036856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:133.34, Y:27.42, Z:0.57 [[ 8.74613038e-01 -4.84818318e-01 -1.79784570e-03 1.33340873e+02] [ 4.84814345e-01 8.74614202e-01 -2.24693376e-03 2.74239925e+01] [ 2.66177603e-03 1.09357618e-03 9.99995860e-01 5.66117889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:27.44, Z:0.57 [[ 8.76967789e-01 -4.80526687e-01 -4.64768171e-03 1.33366149e+02] [ 4.80525360e-01 8.76979597e-01 -1.47124955e-03 2.74373932e+01] [ 4.78289671e-03 -9.43090457e-04 9.99988117e-01 5.67824805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:27.45, Z:0.57 [[ 8.77774764e-01 -4.79058741e-01 -3.76640759e-03 1.33388887e+02] [ 4.79053821e-01 8.77782839e-01 -2.17357724e-03 2.74528248e+01] [ 4.34735913e-03 1.03599300e-04 9.99990545e-01 5.68192562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:27.47, Z:0.57 [[ 8.78361280e-01 -4.77990183e-01 -2.61652988e-03 1.33412556e+02] [ 4.77987802e-01 8.78365174e-01 -1.51047614e-03 2.74685651e+01] [ 3.02026149e-03 7.60743908e-05 9.99995436e-01 5.68999560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:27.48, Z:0.57 [[ 8.78786768e-01 -4.77211507e-01 -1.73004455e-03 1.33436246e+02] [ 4.77210464e-01 8.78788470e-01 -9.99074886e-04 2.74840500e+01] [ 1.99711324e-03 5.23784256e-05 9.99998004e-01 5.69454974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:27.50, Z:0.57 [[ 8.79081493e-01 -4.76669350e-01 -1.43505938e-03 1.33458863e+02] [ 4.76668632e-01 8.79082663e-01 -8.28965925e-04 2.74986649e+01] [ 1.65667847e-03 4.46808110e-05 9.99998627e-01 5.69105696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:27.51, Z:0.57 [[ 8.79307791e-01 -4.76250635e-01 -1.77204680e-03 1.33482917e+02] [ 4.76249538e-01 8.79309575e-01 -1.02396631e-03 2.75133466e+01] [ 2.04584233e-03 5.64450876e-05 9.99997906e-01 5.68054210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:27.52, Z:0.57 [[ 8.79676660e-01 -4.75565201e-01 -2.59110575e-03 1.33508472e+02] [ 4.75569702e-01 8.79676742e-01 1.51291291e-03 2.75247823e+01] [ 1.55984673e-03 -2.56312556e-03 9.99995499e-01 5.65964877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:27.54, Z:0.57 [[ 8.79645446e-01 -4.75629901e-01 -2.94715977e-04 1.33530874e+02] [ 4.75626709e-01 8.79641507e-01 -3.17063528e-03 2.75426618e+01] [ 1.76729335e-03 2.64886009e-03 9.99994930e-01 5.65855895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:27.55, Z:0.57 [[ 8.79695148e-01 -4.75536998e-01 -1.00505226e-03 1.33556307e+02] [ 4.75536644e-01 8.79695722e-01 -5.81236189e-04 2.75549910e+01] [ 1.16053949e-03 3.33714759e-05 9.99999326e-01 5.66565722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:27.57, Z:0.57 [[ 8.80103149e-01 -4.74781579e-01 -9.48440534e-04 1.33580006e+02] [ 4.74781263e-01 8.80103659e-01 -5.48716259e-04 2.75691161e+01] [ 1.09524636e-03 3.26251126e-05 9.99999400e-01 5.67496138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:27.58, Z:0.57 [[ 8.82150823e-01 -4.70963520e-01 -1.81318530e-03 1.33603151e+02] [ 4.70962356e-01 8.82152684e-01 -1.04955933e-03 2.75837251e+01] [ 2.09381043e-03 7.19276071e-05 9.99997805e-01 5.68623447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:27.60, Z:0.57 [[ 8.83272648e-01 -4.68856213e-01 -1.81130934e-03 1.33627201e+02] [ 4.68855046e-01 8.83274502e-01 -1.04879381e-03 2.75982381e+01] [ 2.09161685e-03 7.71293608e-05 9.99997810e-01 5.68407600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:27.61, Z:0.57 [[ 8.84445820e-01 -4.66640144e-01 -1.60201878e-03 1.33651313e+02] [ 4.66639227e-01 8.84447268e-01 -9.27969014e-04 2.76132952e+01] [ 1.84992873e-03 7.31735099e-05 9.99998286e-01 5.68373508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:27.63, Z:0.57 [[ 8.85722763e-01 -4.64213092e-01 -1.17944418e-03 1.33674725e+02] [ 4.64212593e-01 8.85723547e-01 -6.83423423e-04 2.76288776e+01] [ 1.36191559e-03 5.78108400e-05 9.99999071e-01 5.68334272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:27.65, Z:0.57 [[ 8.88173210e-01 -4.59506539e-01 -1.44532974e-03 1.33696289e+02] [ 4.59505782e-01 8.88174383e-01 -8.37823850e-04 2.76460246e+01] [ 1.66869038e-03 7.99953279e-05 9.99998605e-01 5.67681076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:27.66, Z:0.57 [[ 8.88930478e-01 -4.58037160e-01 -2.13670326e-03 1.33719964e+02] [ 4.58035500e-01 8.88933038e-01 -1.23905317e-03 2.76606215e+01] [ 2.46691851e-03 1.22746180e-04 9.99996950e-01 5.67236783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:27.67, Z:0.57 [[ 8.89371079e-01 -4.57175292e-01 -3.13624106e-03 1.33742966e+02] [ 4.57171709e-01 8.89376590e-01 -1.81924893e-03 2.76743829e+01] [ 3.62101504e-03 1.84186703e-04 9.99993427e-01 5.67281786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:27.69, Z:0.57 [[ 8.89438204e-01 -4.57040959e-01 -3.63925608e-03 1.33766483e+02] [ 4.57036130e-01 8.89445623e-01 -2.11180177e-03 2.76888967e+01] [ 4.20210030e-03 2.15045661e-04 9.99991148e-01 5.67337868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:27.71, Z:0.57 [[ 8.89352377e-01 -4.57218301e-01 -1.94272799e-03 1.33787330e+02] [ 4.57216925e-01 8.89354492e-01 -1.12770436e-03 2.77079411e+01] [ 2.24338094e-03 1.14678434e-04 9.99997477e-01 5.68982526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:27.72, Z:0.57 [[ 8.89323597e-01 -4.57278269e-01 -3.54037434e-04 1.33810258e+02] [ 4.57278223e-01 8.89323667e-01 -2.05416691e-04 2.77248304e+01] [ 4.08786458e-04 2.07883019e-05 9.99999916e-01 5.69174173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:27.74, Z:0.57 [[ 8.89455197e-01 -4.57022374e-01 -4.62921629e-05 1.33833166e+02] [ 4.57022374e-01 8.89455198e-01 -2.67973096e-05 2.77398689e+01] [ 5.34217750e-05 2.67845211e-06 9.99999999e-01 5.69024668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:27.75, Z:0.57 [[ 8.89690740e-01 -4.56563259e-01 -6.14963706e-04 1.33857927e+02] [ 4.56563121e-01 8.89690951e-01 -3.57189385e-04 2.77536117e+01] [ 7.10207195e-04 3.70183395e-05 9.99999747e-01 5.68045458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:27.77, Z:0.57 [[ 8.91110272e-01 -4.53771235e-01 -3.76154375e-03 1.33881921e+02] [ 4.53766030e-01 8.91118178e-01 -2.18688311e-03 2.77671021e+01] [ 4.34432466e-03 2.41893228e-04 9.99990534e-01 5.66924038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:27.78, Z:0.57 [[ 8.92204552e-01 -4.51607307e-01 -4.67737693e-03 1.33904000e+02] [ 4.51599225e-01 8.92216757e-01 -2.72001459e-03 2.77819913e+01] [ 5.40161254e-03 3.14509605e-04 9.99985362e-01 5.66980670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:27.80, Z:0.57 [[ 8.93255789e-01 -4.49521407e-01 -4.95987578e-03 1.33926659e+02] [ 4.49512284e-01 8.93269491e-01 -2.88482393e-03 2.77969941e+01] [ 5.72729583e-03 3.47360585e-04 9.99983539e-01 5.67451118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:27.81, Z:0.57 [[ 8.94279535e-01 -4.47483673e-01 -4.74081312e-03 1.33950866e+02] [ 4.47475304e-01 8.94292034e-01 -2.75845391e-03 2.78118957e+01] [ 5.47403450e-03 3.45432088e-04 9.99984958e-01 5.68460439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:27.83, Z:0.57 [[ 8.95263244e-01 -4.45516699e-01 -4.31208077e-03 1.33974329e+02] [ 4.45509749e-01 8.95273570e-01 -2.50977331e-03 2.78251852e+01] [ 4.97863786e-03 3.25833777e-04 9.99987553e-01 5.68721807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:27.84, Z:0.57 [[ 8.96228974e-01 -4.43572229e-01 -4.15984531e-03 1.33997248e+02] [ 4.43565736e-01 8.96238569e-01 -2.42184753e-03 2.78389192e+01] [ 4.80247812e-03 3.25365080e-04 9.99988415e-01 5.68655136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:27.86, Z:0.57 [[ 8.98114525e-01 -4.39742858e-01 -4.06427866e-03 1.34019999e+02] [ 4.39736617e-01 8.98123658e-01 -2.36712328e-03 2.78556336e+01] [ 4.69115038e-03 3.38735653e-04 9.99988939e-01 5.66568508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:27.87, Z:0.57 [[ 8.98567220e-01 -4.38816293e-01 -4.14870003e-03 1.34042306e+02] [ 4.38809777e-01 8.98576729e-01 -2.41685789e-03 2.78704451e+01] [ 4.78848192e-03 3.51219142e-04 9.99988473e-01 5.65871272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:27.89, Z:0.57 [[ 8.98516582e-01 -4.38918668e-01 -4.28417606e-03 1.34065750e+02] [ 4.38911717e-01 8.98526723e-01 -2.49670831e-03 2.78854779e+01] [ 4.94529856e-03 3.62958752e-04 9.99987706e-01 5.66056092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:27.90, Z:0.57 [[ 8.98266798e-01 -4.39429626e-01 -4.28514783e-03 1.34088230e+02] [ 4.39422675e-01 8.98276947e-01 -2.49785510e-03 2.78998333e+01] [ 4.94688104e-03 3.60749181e-04 9.99987699e-01 5.66745751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:27.92, Z:0.57 [[ 8.97236967e-01 -4.41530512e-01 -4.07829609e-03 1.34111894e+02] [ 4.41524233e-01 8.97246173e-01 -2.37814857e-03 2.79153404e+01] [ 4.70926072e-03 3.33096251e-04 9.99988856e-01 5.67756234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:27.93, Z:0.57 [[ 8.96684685e-01 -4.42651853e-01 -3.98915409e-03 1.34135127e+02] [ 4.42645854e-01 8.96693501e-01 -2.32671054e-03 2.79288515e+01] [ 4.60697128e-03 3.20543186e-04 9.99989336e-01 5.67506182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:27.94, Z:0.57 [[ 8.96266011e-01 -4.43498761e-01 -4.01076683e-03 1.34158040e+02] [ 4.43492703e-01 8.96274929e-01 -2.33973577e-03 2.79424064e+01] [ 4.63241967e-03 3.18279818e-04 9.99989220e-01 5.67477426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:27.96, Z:0.57 [[ 8.96002054e-01 -4.44031728e-01 -4.01787718e-03 1.34182305e+02] [ 4.44025650e-01 8.96011007e-01 -2.34476768e-03 2.79566886e+01] [ 4.64121343e-03 3.16876130e-04 9.99989179e-01 5.67320817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:27.97, Z:0.57 [[ 8.95957867e-01 -4.44120804e-01 -4.02640912e-03 1.34204755e+02] [ 4.44114697e-01 8.95966858e-01 -2.35051432e-03 2.79708693e+01] [ 4.65144144e-03 3.17774332e-04 9.99989132e-01 5.67030750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:27.99, Z:0.57 [[ 8.96354160e-01 -4.43331676e-01 -2.49903854e-03 1.34227250e+02] [ 4.43329319e-01 8.96357621e-01 -1.45933667e-03 2.79887097e+01] [ 2.88700242e-03 2.00185444e-04 9.99995813e-01 5.68284365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:28.00, Z:0.57 [[ 8.96459319e-01 -4.43121271e-01 -2.05637182e-03 1.34250059e+02] [ 4.43119673e-01 8.96461662e-01 -1.20129710e-03 2.80044798e+01] [ 2.37577880e-03 1.65695173e-04 9.99997164e-01 5.68995700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:28.02, Z:0.57 [[ 8.96591385e-01 -4.42852461e-01 -2.36343526e-03 1.34273199e+02] [ 4.42850349e-01 8.96594479e-01 -1.38109592e-03 2.80190618e+01] [ 2.73066474e-03 1.91630574e-04 9.99996253e-01 5.68915595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:28.03, Z:0.57 [[ 8.96740787e-01 -4.42544338e-01 -3.23564297e-03 1.34297444e+02] [ 4.42540374e-01 8.96746586e-01 -1.89149179e-03 2.80336743e+01] [ 3.73862077e-03 2.64275193e-04 9.99992976e-01 5.68457182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:28.05, Z:0.57 [[ 8.97667557e-01 -4.40653535e-01 -4.17378217e-03 1.34320851e+02] [ 4.40646915e-01 8.97677191e-01 -2.44074725e-03 2.80471162e+01] [ 4.82223296e-03 3.51815379e-04 9.99988311e-01 5.66911523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:28.06, Z:0.57 [[ 8.98314128e-01 -4.39340233e-01 -3.44789094e-03 1.34344716e+02] [ 4.39335703e-01 8.98320695e-01 -2.01700986e-03 2.80614031e+01] [ 3.98346537e-03 2.97126866e-04 9.99992022e-01 5.66965197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:28.08, Z:0.57 [[ 8.98970329e-01 -4.38001581e-01 -2.63857148e-03 1.34368803e+02] [ 4.37998920e-01 8.98974172e-01 -1.54415797e-03 2.80758346e+01] [ 3.04835124e-03 2.32460737e-04 9.99995327e-01 5.67234044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:28.09, Z:0.57 [[ 8.99412508e-01 -4.37095315e-01 -2.19687783e-03 1.34393073e+02] [ 4.37093467e-01 8.99415169e-01 -1.28617319e-03 2.80907192e+01] [ 2.53808552e-03 1.96559307e-04 9.99996760e-01 5.67730525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:28.11, Z:0.57 [[ 8.99955629e-01 -4.35975735e-01 -2.24132686e-03 1.34415957e+02] [ 4.35973807e-01 8.99958397e-01 -1.31256488e-03 2.81054069e+01] [ 2.58934736e-03 2.04090349e-04 9.99996627e-01 5.68378142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:28.12, Z:0.57 [[ 9.01240375e-01 -4.33317632e-01 -1.27133955e-03 1.34438220e+02] [ 4.33317009e-01 9.01241264e-01 -7.44615074e-04 2.81213270e+01] [ 1.46843850e-03 1.20184119e-04 9.99998915e-01 5.68328620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:28.14, Z:0.57 [[ 9.01169348e-01 -4.33465328e-01 -1.27126260e-03 1.34462734e+02] [ 4.33464705e-01 9.01170236e-01 -7.44746428e-04 2.81358609e+01] [ 1.46844577e-03 1.20095187e-04 9.99998915e-01 5.68357989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:28.15, Z:0.57 [[ 9.01566565e-01 -4.32639958e-01 -6.29374366e-04 1.34486870e+02] [ 4.32639805e-01 9.01566782e-01 -3.68741689e-04 2.81498248e+01] [ 7.26955411e-04 6.01527749e-05 9.99999734e-01 5.68557726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:28.16, Z:0.57 [[ 9.01956654e-01 -4.31825717e-01 -8.62457241e-04 1.34510563e+02] [ 4.31825429e-01 9.01957063e-01 -5.05593986e-04 2.81625691e+01] [ 9.96227885e-04 8.35928917e-05 9.99999500e-01 5.68207836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:28.18, Z:0.57 [[ 9.02092423e-01 -4.31538530e-01 -1.93853576e-03 1.34533726e+02] [ 4.31537074e-01 9.02094486e-01 -1.13673809e-03 2.81757085e+01] [ 2.23928870e-03 1.88892766e-04 9.99997475e-01 5.67620518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:28.19, Z:0.57 [[ 9.02049600e-01 -4.31622455e-01 -2.92832646e-03 1.34556995e+02] [ 4.31619132e-01 9.02054308e-01 -1.71761048e-03 2.81903029e+01] [ 3.38286875e-03 2.85448122e-04 9.99994237e-01 5.65556987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:28.20, Z:0.57 [[ 9.02302603e-01 -4.31097394e-01 -2.24699761e-03 1.34581595e+02] [ 4.31095434e-01 9.02305374e-01 -1.31841783e-03 2.82044593e+01] [ 2.59584451e-03 2.20941437e-04 9.99996606e-01 5.65989100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:28.22, Z:0.57 [[ 9.02908873e-01 -4.29827336e-01 -2.00701253e-03 1.34605700e+02] [ 4.29825769e-01 9.02911081e-01 -1.17791916e-03 2.82173025e+01] [ 2.31845571e-03 2.00887959e-04 9.99997292e-01 5.66598839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:28.23, Z:0.57 [[ 9.03670645e-01 -4.28217826e-01 -2.97635705e-03 1.34630136e+02] [ 4.28214369e-01 9.03675495e-01 -1.74746589e-03 2.82303611e+01] [ 3.43795698e-03 3.04614771e-04 9.99994044e-01 5.67275578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:28.24, Z:0.57 [[ 9.05106874e-01 -4.25158090e-01 -4.70586740e-03 1.34653479e+02] [ 4.25149402e-01 9.05118969e-01 -2.76361803e-03 2.82432704e+01] [ 5.43434441e-03 5.00672964e-04 9.99985109e-01 5.66571168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:28.26, Z:0.57 [[ 9.05406135e-01 -4.24519555e-01 -4.78303788e-03 1.34677202e+02] [ 4.24510565e-01 9.05418623e-01 -2.81000481e-03 2.82576315e+01] [ 5.52355357e-03 5.13745476e-04 9.99984613e-01 5.66408435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:28.27, Z:0.57 [[ 9.05320785e-01 -4.24702537e-01 -4.69369110e-03 1.34700730e+02] [ 4.24693879e-01 9.05332812e-01 -2.75838115e-03 2.82717795e+01] [ 5.42084404e-03 5.03837909e-04 9.99985180e-01 5.66932111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:28.29, Z:0.57 [[ 9.04897131e-01 -4.25596803e-01 -5.34259707e-03 1.34723786e+02] [ 4.25585596e-01 9.04912724e-01 -3.14036224e-03 2.82850427e+01] [ 6.17111220e-03 5.67972420e-04 9.99980797e-01 5.67123745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:28.30, Z:0.57 [[ 9.04256559e-01 -4.26937187e-01 -6.68687633e-03 1.34748086e+02] [ 4.26919654e-01 9.04281011e-01 -3.93208407e-03 2.82988579e+01] [ 7.72556820e-03 7.00853874e-04 9.99969912e-01 5.67471354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:28.31, Z:0.57 [[ 9.03599897e-01 -4.28306130e-01 -7.81570979e-03 1.34772282e+02] [ 4.28282212e-01 9.03633337e-01 -4.59785385e-03 2.83127156e+01] [ 9.03182490e-03 8.07290786e-04 9.99958886e-01 5.67031469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:28.33, Z:0.57 [[ 9.02381487e-01 -4.30866669e-01 -7.84643165e-03 1.34796507e+02] [ 4.30842645e-01 9.02415257e-01 -4.61733084e-03 2.83251821e+01] [ 9.07019359e-03 7.86016501e-04 9.99958556e-01 5.65939512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:28.34, Z:0.57 [[ 9.01831385e-01 -4.32024122e-01 -7.43708827e-03 1.34820819e+02] [ 4.32002563e-01 9.01861751e-01 -4.37817853e-03 2.83385614e+01] [ 8.59870418e-03 7.35537618e-04 9.99962760e-01 5.66040481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:28.35, Z:0.57 [[ 9.01378845e-01 -4.32977435e-01 -6.83505901e-03 1.34844420e+02] [ 4.32959246e-01 9.01404512e-01 -4.02459188e-03 2.83521459e+01] [ 7.90371049e-03 6.68379987e-04 9.99968542e-01 5.66048276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:28.37, Z:0.57 [[ 9.00538380e-01 -4.34738817e-01 -5.72606565e-03 1.34868237e+02] [ 4.34726078e-01 9.00556417e-01 -3.37286010e-03 2.83666104e+01] [ 6.62295838e-03 5.48119909e-04 9.99977918e-01 5.66674690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:28.38, Z:0.57 [[ 9.00076782e-01 -4.35690988e-01 -5.92872955e-03 1.34892008e+02] [ 4.35677347e-01 9.00096133e-01 -3.49299932e-03 2.83803514e+01] [ 6.85829487e-03 5.60954430e-04 9.99976324e-01 5.66187049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:28.39, Z:0.57 [[ 8.99650041e-01 -4.36567810e-01 -6.19276799e-03 1.34915343e+02] [ 4.36552943e-01 8.99671168e-01 -3.64922191e-03 2.83935996e+01] [ 7.16458764e-03 5.79551551e-04 9.99974166e-01 5.65634957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:28.41, Z:0.57 [[ 8.99258753e-01 -4.37383674e-01 -5.40532778e-03 1.34939794e+02] [ 4.37372355e-01 8.99274858e-01 -3.18637366e-03 2.84071546e+01] [ 6.25454319e-03 5.01233465e-04 9.99980315e-01 5.65286597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:28.42, Z:0.57 [[ 8.98945613e-01 -4.38048473e-01 -3.21251755e-03 1.34964681e+02] [ 4.38044476e-01 8.98951304e-01 -1.89443565e-03 2.84208043e+01] [ 3.71775149e-03 2.95769047e-04 9.99993045e-01 5.67233792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:28.44, Z:0.57 [[ 8.98893523e-01 -4.38158215e-01 -2.79502113e-03 1.34987720e+02] [ 4.38155189e-01 8.98897832e-01 -1.64862845e-03 2.84353291e+01] [ 3.23479853e-03 2.57288424e-04 9.99994735e-01 5.68371825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:28.45, Z:0.57 [[ 8.99031242e-01 -4.37873722e-01 -3.07083379e-03 1.35010891e+02] [ 4.37870065e-01 8.99036441e-01 -1.81196603e-03 2.84504046e+01] [ 3.55420379e-03 2.84387881e-04 9.99993643e-01 5.68784660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:28.47, Z:0.57 [[ 8.99266918e-01 -4.37389475e-01 -3.07522997e-03 1.35033549e+02] [ 4.37385803e-01 8.99272131e-01 -1.81502102e-03 2.84651030e+01] [ 3.55933970e-03 2.87126430e-04 9.99993624e-01 5.68272516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:28.48, Z:0.57 [[ 8.99465595e-01 -4.36984264e-01 -2.52906138e-03 1.35057831e+02] [ 4.36981778e-01 8.99469119e-01 -1.49314957e-03 2.84795215e+01] [ 2.92729548e-03 2.37882926e-04 9.99995687e-01 5.67859512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:28.49, Z:0.57 [[ 8.99613832e-01 -4.36683705e-01 -1.51468247e-03 1.35081728e+02] [ 4.36682813e-01 8.99615096e-01 -8.94460267e-04 2.84930673e+01] [ 1.75322744e-03 1.43233029e-04 9.99998453e-01 5.68111465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:28.51, Z:0.57 [[ 8.99736687e-01 -4.36428479e-01 -2.01914311e-03 1.35104535e+02] [ 4.36426892e-01 8.99738932e-01 -1.19260114e-03 2.85081937e+01] [ 2.33718676e-03 1.91818649e-04 9.99997250e-01 5.67779773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:28.52, Z:0.57 [[ 8.99836559e-01 -4.36214208e-01 -3.36625697e-03 1.35127618e+02] [ 4.36209791e-01 8.99842798e-01 -1.98901098e-03 2.85238317e+01] [ 3.89673694e-03 3.21390540e-04 9.99992356e-01 5.67731561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:28.54, Z:0.57 [[ 9.00154120e-01 -4.35547687e-01 -4.55767853e-03 1.35151045e+02] [ 4.35539577e-01 9.00165551e-01 -2.69414120e-03 2.85394290e+01] [ 5.27609217e-03 4.40092926e-04 9.99985984e-01 5.67923693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:28.56, Z:0.57 [[ 9.00793601e-01 -4.34218640e-01 -5.00614010e-03 1.35174366e+02] [ 4.34208828e-01 9.00807377e-01 -2.96048315e-03 2.85553944e+01] [ 5.79506490e-03 4.93074051e-04 9.99983087e-01 5.68465419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:28.57, Z:0.57 [[ 9.02567954e-01 -4.30525959e-01 -4.29960700e-03 1.35194678e+02] [ 4.30518677e-01 9.02578086e-01 -2.54321195e-03 2.85732780e+01] [ 4.97564982e-03 4.44360485e-04 9.99987523e-01 5.69400156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:28.59, Z:0.57 [[ 9.03563342e-01 -4.28438285e-01 -3.73144093e-03 1.35215495e+02] [ 4.28432781e-01 9.03570960e-01 -2.20752610e-03 2.85904131e+01] [ 4.31741036e-03 3.95968042e-04 9.99990602e-01 5.69415044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:28.61, Z:0.57 [[ 9.05258334e-01 -4.24843220e-01 -3.94807587e-03 1.35233719e+02] [ 4.24837022e-01 9.05266837e-01 -2.33628371e-03 2.86122086e+01] [ 4.56661645e-03 4.37651499e-04 9.99989477e-01 5.68664881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:28.63, Z:0.57 [[ 9.05681139e-01 -4.23941500e-01 -3.90891502e-03 1.35254775e+02] [ 4.23935414e-01 9.05689468e-01 -2.31356145e-03 2.86295644e+01] [ 4.52107787e-03 4.38221466e-04 9.99989684e-01 5.68720833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:28.65, Z:0.57 [[ 9.05614669e-01 -4.24086810e-01 -3.52827460e-03 1.35277018e+02] [ 4.24081850e-01 9.05621456e-01 -2.08900769e-03 2.86471271e+01] [ 4.08120179e-03 3.95558789e-04 9.99991594e-01 5.68913727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:28.66, Z:0.57 [[ 9.05175968e-01 -4.25024006e-01 -3.32603215e-03 1.35299371e+02] [ 4.25019600e-01 9.05182003e-01 -1.97007400e-03 2.86640428e+01] [ 3.84799318e-03 3.69634780e-04 9.99992528e-01 5.69569524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:28.68, Z:0.57 [[ 9.03262514e-01 -4.29063665e-01 -4.60456298e-03 1.35319192e+02] [ 4.29055270e-01 9.03274118e-01 -2.72807524e-03 2.86826437e+01] [ 5.32970053e-03 4.88556084e-04 9.99985678e-01 5.69369135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:28.70, Z:0.57 [[ 9.02006805e-01 -4.31685040e-01 -5.63473972e-03 1.35341855e+02] [ 4.31672511e-01 9.02024218e-01 -3.33971028e-03 2.86993679e+01] [ 6.52437466e-03 5.80079155e-04 9.99978548e-01 5.68688567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:28.72, Z:0.57 [[ 9.01010856e-01 -4.33750449e-01 -6.32346363e-03 1.35364396e+02] [ 4.33734713e-01 9.01032821e-01 -3.74874569e-03 2.87150060e+01] [ 7.32366840e-03 6.34954875e-04 9.99972980e-01 5.68137746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:28.73, Z:0.57 [[ 9.00187194e-01 -4.35447326e-01 -6.97437569e-03 1.35388319e+02] [ 4.35428221e-01 9.00213950e-01 -4.13625692e-03 2.87304673e+01] [ 8.07955230e-03 6.86565512e-04 9.99967124e-01 5.68403185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:28.74, Z:0.57 [[ 9.00074522e-01 -4.35699184e-01 -5.66356264e-03 1.35411708e+02] [ 4.35686587e-01 9.00092168e-01 -3.35956134e-03 2.87448078e+01] [ 6.56148651e-03 5.56317292e-04 9.99978318e-01 5.69097383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86140051299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:135.44, Y:28.76, Z:0.57 [[ 9.00562197e-01 -4.34697757e-01 -5.05863799e-03 1.35435520e+02] [ 4.34687685e-01 9.00576263e-01 -3.00182860e-03 2.87594579e+01] [ 5.86057745e-03 5.04405726e-04 9.99982699e-01 5.69539246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:28.77, Z:0.57 [[ 9.01026392e-01 -4.33735474e-01 -4.99800580e-03 1.35459049e+02] [ 4.33725620e-01 9.01040112e-01 -2.96708105e-03 2.87744629e+01] [ 5.79033201e-03 5.05655168e-04 9.99983108e-01 5.69977730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:28.79, Z:0.57 [[ 9.01707320e-01 -4.32316013e-01 -5.17431476e-03 1.35481904e+02] [ 4.32305424e-01 9.01722009e-01 -3.07243524e-03 2.87895218e+01] [ 5.99405645e-03 5.33553009e-04 9.99981893e-01 5.69966616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:28.81, Z:0.57 [[ 9.02313244e-01 -4.31050086e-01 -5.16083572e-03 1.35505102e+02] [ 4.31039525e-01 9.02327840e-01 -3.06557958e-03 2.88051546e+01] [ 5.97818409e-03 5.41588880e-04 9.99981984e-01 5.70390943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:28.82, Z:0.57 [[ 9.03345403e-01 -4.28886352e-01 -4.85589298e-03 1.35527578e+02] [ 4.28876967e-01 9.03358302e-01 -2.88531149e-03 2.88202891e+01] [ 5.62408196e-03 5.23852217e-04 9.99984048e-01 5.70452157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:28.83, Z:0.57 [[ 9.03580431e-01 -4.28386442e-01 -5.24028165e-03 1.35551981e+02] [ 4.28375495e-01 9.03595447e-01 -3.11494546e-03 2.88338028e+01] [ 6.06949504e-03 5.69795516e-04 9.99981418e-01 5.70021454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:28.85, Z:0.57 [[ 9.03490943e-01 -4.28571307e-01 -5.54534639e-03 1.35576240e+02] [ 4.28559043e-01 9.03507760e-01 -3.29767433e-03 2.88468798e+01] [ 6.42355209e-03 6.02910548e-04 9.99979187e-01 5.69351274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:28.86, Z:0.57 [[ 9.03161635e-01 -4.29262795e-01 -5.70208290e-03 1.35601142e+02] [ 4.29249833e-01 9.03179425e-01 -3.39231269e-03 2.88603733e+01] [ 6.60619758e-03 6.16188538e-04 9.99977989e-01 5.69359361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:28.87, Z:0.57 [[ 9.02206948e-01 -4.31279638e-01 -4.52721856e-03 1.35625016e+02] [ 4.31271490e-01 9.02218180e-01 -2.69392780e-03 2.88721653e+01] [ 5.24637510e-03 4.78020092e-04 9.99986123e-01 5.69267777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:28.88, Z:0.57 [[ 9.01673826e-01 -4.32395146e-01 -4.33001218e-03 1.35649222e+02] [ 4.32387702e-01 9.01684110e-01 -2.57702803e-03 2.88843786e+01] [ 5.01859759e-03 4.51394715e-04 9.99987305e-01 5.69286938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:28.90, Z:0.57 [[ 9.01259942e-01 -4.33257127e-01 -4.33335340e-03 1.35674682e+02] [ 4.33249677e-01 9.01270249e-01 -2.57994871e-03 2.88969706e+01] [ 5.02330366e-03 4.47780468e-04 9.99987283e-01 5.69439469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:28.91, Z:0.57 [[ 9.01216551e-01 -4.33343777e-01 -4.67977314e-03 1.35699307e+02] [ 4.33335085e-01 9.01228571e-01 -2.78683092e-03 2.89086930e+01] [ 5.42520110e-03 4.83628258e-04 9.99985167e-01 5.70303108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:28.92, Z:0.57 [[ 9.01392638e-01 -4.32976209e-01 -4.78687175e-03 1.35722994e+02] [ 4.32967104e-01 9.01405211e-01 -2.85163678e-03 2.89229140e+01] [ 5.54960202e-03 4.97886403e-04 9.99984477e-01 5.70554923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:28.94, Z:0.57 [[ 9.01619085e-01 -4.32496751e-01 -5.43934176e-03 1.35747157e+02] [ 4.32484979e-01 9.01635311e-01 -3.24168895e-03 2.89369475e+01] [ 6.30632254e-03 5.70335018e-04 9.99979952e-01 5.70403760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:28.95, Z:0.57 [[ 9.01848092e-01 -4.32006571e-01 -6.35156638e-03 1.35770848e+02] [ 4.31990500e-01 9.01870208e-01 -3.78618946e-03 2.89498395e+01] [ 7.36394722e-03 6.70751405e-04 9.99972661e-01 5.70044849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:28.96, Z:0.57 [[ 9.01682716e-01 -4.32340716e-01 -7.05582219e-03 1.35795755e+02] [ 4.32320880e-01 9.01710016e-01 -4.20763811e-03 2.89636656e+01] [ 8.18143882e-03 7.43575300e-04 9.99966255e-01 5.69322330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:28.98, Z:0.57 [[ 9.01334409e-01 -4.33063274e-01 -7.24460826e-03 1.35819332e+02] [ 4.33042378e-01 9.01363205e-01 -4.32113201e-03 2.89774301e+01] [ 8.40134690e-03 7.57562580e-04 9.99964421e-01 5.68830075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:28.99, Z:0.57 [[ 8.99825513e-01 -4.36214045e-01 -5.59941338e-03 1.35842557e+02] [ 4.36201618e-01 8.99842758e-01 -3.34041114e-03 2.89921415e+01] [ 6.49572583e-03 5.63313989e-04 9.99978744e-01 5.68313619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:29.01, Z:0.57 [[ 8.98559808e-01 -4.38820217e-01 -5.20467111e-03 1.35867118e+02] [ 4.38809517e-01 8.98574738e-01 -3.10611257e-03 2.90062846e+01] [ 6.03981097e-03 5.07168701e-04 9.99981632e-01 5.68304129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:29.02, Z:0.57 [[ 8.97277104e-01 -4.41442483e-01 -4.72579327e-03 1.35890528e+02] [ 4.41433694e-01 8.97289438e-01 -2.82095356e-03 2.90190195e+01] [ 5.48569313e-03 4.45052653e-04 9.99984854e-01 5.68459548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:29.03, Z:0.57 [[ 8.96002520e-01 -4.44020512e-01 -5.02676492e-03 1.35915423e+02] [ 4.44010602e-01 8.96016504e-01 -3.00173734e-03 2.90326929e+01] [ 5.83689728e-03 4.57627309e-04 9.99982860e-01 5.68341730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:29.05, Z:0.57 [[ 8.94499308e-01 -4.47025145e-01 -6.28552332e-03 1.35940791e+02] [ 4.47009711e-01 8.94521223e-01 -3.75502918e-03 2.90455617e+01] [ 7.30112648e-03 5.49181044e-04 9.99973196e-01 5.68017013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:29.06, Z:0.57 [[ 8.94422173e-01 -4.47179468e-01 -6.28486916e-03 1.35965178e+02] [ 4.47164030e-01 8.94444085e-01 -3.75612394e-03 2.90603016e+01] [ 7.30112555e-03 5.49193116e-04 9.99973196e-01 5.68046373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:29.07, Z:0.57 [[ 8.94220062e-01 -4.47585051e-01 -6.17272999e-03 1.35988978e+02] [ 4.47570163e-01 8.94241206e-01 -3.68988225e-03 2.90725765e+01] [ 7.17144564e-03 5.36836970e-04 9.99974141e-01 5.67454707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:29.09, Z:0.57 [[ 8.94383905e-01 -4.47257914e-01 -6.14725042e-03 1.36014097e+02] [ 4.47243131e-01 8.94404868e-01 -3.67604822e-03 2.90856528e+01] [ 7.14227236e-03 5.38482839e-04 9.99974349e-01 5.67695268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:29.10, Z:0.57 [[ 8.94955793e-01 -4.46111849e-01 -6.19247581e-03 1.36038451e+02] [ 4.46096815e-01 8.94977046e-01 -3.70388417e-03 2.90982483e+01] [ 7.19447032e-03 5.52368858e-04 9.99973967e-01 5.67657936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:29.11, Z:0.57 [[ 8.96579917e-01 -4.42841759e-01 -5.96898586e-03 1.36062803e+02] [ 4.42827708e-01 8.96599612e-01 -3.57158159e-03 2.91129070e+01] [ 6.93343588e-03 5.58975997e-04 9.99975807e-01 5.67682330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.09, Y:29.13, Z:0.57 [[ 8.97825231e-01 -4.40310466e-01 -6.04544421e-03 1.36085027e+02] [ 4.40295991e-01 8.97845393e-01 -3.61812102e-03 2.91276289e+01] [ 7.02097078e-03 5.86655485e-04 9.99975181e-01 5.68066799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:29.14, Z:0.57 [[ 8.98946528e-01 -4.38012606e-01 -6.33222573e-03 1.36108326e+02] [ 4.37996658e-01 8.98968606e-01 -3.79118709e-03 2.91431803e+01] [ 7.35305988e-03 6.34580759e-04 9.99972765e-01 5.68649148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:29.16, Z:0.57 [[ 9.01866653e-01 -4.31948654e-01 -7.54329187e-03 1.36130560e+02] [ 4.31925804e-01 9.01897829e-01 -4.51723014e-03 2.91594169e+01] [ 8.75449004e-03 8.15796824e-04 9.99961346e-01 5.69438761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:29.18, Z:0.57 [[ 9.03003473e-01 -4.29559324e-01 -7.96962792e-03 1.36153675e+02] [ 4.29533709e-01 9.03038204e-01 -4.77434539e-03 2.91759404e+01] [ 9.24774306e-03 8.88026628e-04 9.99956844e-01 5.69129090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:29.19, Z:0.57 [[ 9.03729030e-01 -4.28026129e-01 -8.21417127e-03 1.36176299e+02] [ 4.27998837e-01 9.03765878e-01 -4.92282386e-03 2.91930409e+01] [ 9.53078495e-03 9.33243082e-04 9.99954146e-01 5.68450582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:29.21, Z:0.57 [[ 9.03715760e-01 -4.28045880e-01 -8.63419739e-03 1.36199053e+02] [ 4.28015704e-01 9.03756471e-01 -5.17662186e-03 2.92097484e+01] [ 1.00190434e-02 9.82622677e-04 9.99949325e-01 5.67908295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:29.23, Z:0.57 [[ 9.03269147e-01 -4.28986905e-01 -8.66502115e-03 1.36221030e+02] [ 4.28956547e-01 9.03310180e-01 -5.19612369e-03 2.92251462e+01] [ 1.00562708e-02 9.76580662e-04 9.99948958e-01 5.67754054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:29.24, Z:0.57 [[ 9.01633459e-01 -4.32422503e-01 -8.23922505e-03 1.36243210e+02] [ 4.32395178e-01 9.01670660e-01 -4.94267724e-03 2.92432726e+01] [ 9.56639236e-03 8.93881991e-04 9.99953841e-01 5.69035422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:29.26, Z:0.57 [[ 9.00757147e-01 -4.34251782e-01 -7.87097954e-03 1.36265615e+02] [ 4.34226896e-01 9.00791146e-01 -4.72371126e-03 2.92603091e+01] [ 9.14138872e-03 8.37125661e-04 9.99957866e-01 5.70202223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:29.28, Z:0.57 [[ 9.00001362e-01 -4.35830367e-01 -7.03129347e-03 1.36287543e+02] [ 4.35810548e-01 9.00028529e-01 -4.22063932e-03 2.92768109e+01] [ 8.16784750e-03 7.34269279e-04 9.99966373e-01 5.70463982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:29.29, Z:0.57 [[ 8.99272457e-01 -4.37348084e-01 -5.97500442e-03 1.36309682e+02] [ 4.37333802e-01 8.99292098e-01 -3.58721345e-03 2.92922828e+01] [ 6.94213519e-03 6.12810858e-04 9.99975715e-01 5.69913805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:29.31, Z:0.57 [[ 8.98409866e-01 -4.39128047e-01 -5.12554709e-03 1.36332828e+02] [ 4.39117561e-01 8.98424339e-01 -3.07800377e-03 2.93071186e+01] [ 5.95655404e-03 5.14591215e-04 9.99982127e-01 5.69640132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:29.32, Z:0.57 [[ 8.96620205e-01 -4.42788514e-01 -3.24641079e-03 1.36356936e+02] [ 4.42784328e-01 8.96626029e-01 -1.95021225e-03 2.93216906e+01] [ 3.77434800e-03 3.11139884e-04 9.99992829e-01 5.70128584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:29.34, Z:0.57 [[ 8.95805617e-01 -4.44434738e-01 -3.17172630e-03 1.36380018e+02] [ 4.44430752e-01 8.95811183e-01 -1.90580322e-03 2.93354565e+01] [ 3.68827304e-03 2.97616526e-04 9.99993154e-01 5.70352617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.40, Y:29.35, Z:0.57 [[ 8.94957248e-01 -4.46132606e-01 -4.14989093e-03 1.36404135e+02] [ 4.46125795e-01 8.94966789e-01 -2.49446562e-03 2.93487468e+01] [ 4.82687700e-03 3.81066700e-04 9.99988278e-01 5.70143315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:29.36, Z:0.57 [[ 8.93165888e-01 -4.49689798e-01 -5.81223006e-03 1.36430683e+02] [ 4.49676501e-01 8.93184655e-01 -3.49523834e-03 2.93584523e+01] [ 6.76316772e-03 5.08204378e-04 9.99977000e-01 5.69474175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:29.37, Z:0.57 [[ 8.92535590e-01 -4.50948195e-01 -5.09378989e-03 1.36456193e+02] [ 4.50937995e-01 8.92550017e-01 -3.06446386e-03 2.93708354e+01] [ 5.92837670e-03 4.38159661e-04 9.99982331e-01 5.69629856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:29.38, Z:0.57 [[ 8.92413908e-01 -4.51204457e-01 -3.45748659e-03 1.36480648e+02] [ 4.51199758e-01 8.92420557e-01 -2.08048740e-03 2.93833855e+01] [ 4.02425730e-03 2.96638781e-04 9.99991859e-01 5.70121395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:29.40, Z:0.57 [[ 8.92603359e-01 -4.50837104e-01 -2.26934156e-03 1.36505195e+02] [ 4.50835077e-01 8.92606222e-01 -1.36594804e-03 2.93966101e+01] [ 2.64144845e-03 1.96151029e-04 9.99996492e-01 5.70642690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:29.41, Z:0.57 [[ 8.94116479e-01 -4.47816239e-01 -4.04202822e-03 1.36529648e+02] [ 4.47809775e-01 8.94125541e-01 -2.43368272e-03 2.94077261e+01] [ 4.70392331e-03 3.65936079e-04 9.99988870e-01 5.70015031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:29.42, Z:0.57 [[ 8.95111444e-01 -4.45806452e-01 -5.66653915e-03 1.36553760e+02] [ 4.45793704e-01 8.95129224e-01 -3.41243255e-03 2.94200259e+01] [ 6.59356924e-03 5.28399952e-04 9.99978123e-01 5.69814316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:29.43, Z:0.57 [[ 8.95835883e-01 -4.44331177e-01 -6.91932761e-03 1.36578496e+02] [ 4.44312113e-01 8.95862361e-01 -4.16851095e-03 2.94326943e+01] [ 8.05096455e-03 6.59960619e-04 9.99967373e-01 5.69575093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:29.45, Z:0.57 [[ 8.96292528e-01 -4.43400360e-01 -7.47157536e-03 1.36601947e+02] [ 4.43378091e-01 8.96323378e-01 -4.50217525e-03 2.94451214e+01] [ 8.69321379e-03 7.22533213e-04 9.99961952e-01 5.69816735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:29.46, Z:0.57 [[ 8.96117445e-01 -4.43771467e-01 -6.35690011e-03 1.36627767e+02] [ 4.43755346e-01 8.96139782e-01 -3.83194623e-03 2.94574197e+01] [ 7.39717948e-03 6.12965455e-04 9.99972453e-01 5.70208838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:29.47, Z:0.57 [[ 8.95495944e-01 -4.45034011e-01 -5.63415538e-03 1.36652811e+02] [ 4.45021363e-01 8.95513508e-01 -3.39764958e-03 2.94703203e+01] [ 6.55753187e-03 5.35261917e-04 9.99978356e-01 5.70644503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:29.48, Z:0.57 [[ 8.94816490e-01 -4.46408824e-01 -4.75510474e-03 1.36676689e+02] [ 4.46399830e-01 8.94829014e-01 -2.86814626e-03 2.94820941e+01] [ 5.53537149e-03 4.43786619e-04 9.99984581e-01 5.70817107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:29.50, Z:0.57 [[ 8.93949155e-01 -4.48152813e-01 -3.73690350e-03 1.36701850e+02] [ 4.48147270e-01 8.93956901e-01 -2.25479489e-03 2.94951319e+01] [ 4.35112334e-03 3.40988888e-04 9.99990476e-01 5.71064409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:29.51, Z:0.57 [[ 8.92334621e-01 -4.51366753e-01 -2.64147137e-03 1.36726035e+02] [ 4.51363997e-01 8.92338501e-01 -1.59417847e-03 2.95065638e+01] [ 3.07664576e-03 2.30275562e-04 9.99995241e-01 5.71425911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:29.52, Z:0.57 [[ 8.91696848e-01 -4.52621837e-01 -3.19439893e-03 1.36749566e+02] [ 4.52617813e-01 8.91702527e-01 -1.92824995e-03 2.95194094e+01] [ 3.72122164e-03 2.73572546e-04 9.99993039e-01 5.71665329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:29.53, Z:0.57 [[ 8.91346444e-01 -4.53305938e-01 -3.90424900e-03 1.36774268e+02] [ 4.53299928e-01 8.91354933e-01 -2.35761544e-03 2.95327492e+01] [ 4.54879268e-03 3.31656348e-04 9.99989599e-01 5.72032135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:29.55, Z:0.57 [[ 8.91271786e-01 -4.53445346e-01 -4.68202551e-03 1.36797972e+02] [ 4.53436701e-01 8.91283995e-01 -2.82796347e-03 2.95457335e+01] [ 5.45534128e-03 3.97481849e-04 9.99985041e-01 5.72276879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:29.56, Z:0.57 [[ 8.91370293e-01 -4.53237020e-01 -5.93333243e-03 1.36823197e+02] [ 4.53223124e-01 8.91389896e-01 -3.58514136e-03 2.95589158e+01] [ 6.91383137e-03 5.06565043e-04 9.99975971e-01 5.72006339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:29.57, Z:0.57 [[ 8.91483024e-01 -4.53019165e-01 -5.62617350e-03 1.36846840e+02] [ 4.53006661e-01 8.91500647e-01 -3.40026855e-03 2.95718421e+01] [ 6.55612414e-03 4.82587619e-04 9.99978392e-01 5.72045827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:29.59, Z:0.57 [[ 8.91456495e-01 -4.53080314e-01 -4.85244565e-03 1.36871027e+02] [ 4.53071008e-01 8.91469604e-01 -2.93373617e-03 2.95850898e+01] [ 5.65502591e-03 4.16795716e-04 9.99983923e-01 5.72298892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:29.60, Z:0.57 [[ 8.91372403e-01 -4.53250147e-01 -4.42076379e-03 1.36894816e+02] [ 4.53242421e-01 8.91383285e-01 -2.67333408e-03 2.95981027e+01] [ 5.15228402e-03 3.79258539e-04 9.99986655e-01 5.72533757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:29.61, Z:0.57 [[ 8.90683878e-01 -4.54596295e-01 -4.94349672e-03 1.36919005e+02] [ 4.54586652e-01 8.90697499e-01 -2.98998755e-03 2.96105001e+01] [ 5.76239743e-03 4.15886083e-04 9.99983311e-01 5.73227497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:29.62, Z:0.57 [[ 8.90128958e-01 -4.55674356e-01 -5.59637180e-03 1.36943538e+02] [ 4.55662011e-01 8.90146430e-01 -3.38613115e-03 2.96248738e+01] [ 6.52456351e-03 4.64039372e-04 9.99978607e-01 5.73278597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:29.64, Z:0.57 [[ 8.89557126e-01 -4.56779651e-01 -6.36162063e-03 1.36967727e+02] [ 4.56763715e-01 8.89579721e-01 -3.85076517e-03 2.96392006e+01] [ 7.41811987e-03 5.19718131e-04 9.99972350e-01 5.72990593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:29.65, Z:0.57 [[ 8.88997312e-01 -4.57864571e-01 -6.61920463e-03 1.36992332e+02] [ 4.57847335e-01 8.89021794e-01 -4.00834110e-03 2.96534682e+01] [ 7.71989456e-03 5.32819265e-04 9.99970059e-01 5.72029885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:29.66, Z:0.57 [[ 8.87755843e-01 -4.60236954e-01 -8.45634819e-03 1.37018111e+02] [ 4.60208919e-01 8.87795875e-01 -5.12194589e-03 2.96632617e+01] [ 9.86481982e-03 6.55350525e-04 9.99951127e-01 5.70889202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:29.68, Z:0.57 [[ 8.87088972e-01 -4.61513854e-01 -8.83840932e-03 1.37043901e+02] [ 4.61483270e-01 8.87132747e-01 -5.35544952e-03 2.96753189e+01] [ 1.03124565e-02 6.71982177e-04 9.99946599e-01 5.70742633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:29.69, Z:0.57 [[ 8.86539167e-01 -4.62581233e-01 -8.17975984e-03 1.37068531e+02] [ 4.62555062e-01 8.86576691e-01 -4.95840033e-03 2.96881246e+01] [ 9.54564734e-03 6.12226779e-04 9.99954252e-01 5.71060133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:29.70, Z:0.57 [[ 8.85797664e-01 -4.64034559e-01 -5.86734378e-03 1.37093358e+02] [ 4.64021121e-01 8.85816993e-01 -3.55736936e-03 2.96998209e+01] [ 6.84813515e-03 4.28538034e-04 9.99976459e-01 5.71906041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:29.71, Z:0.57 [[ 8.85413080e-01 -4.64771056e-01 -5.61626766e-03 1.37118193e+02] [ 4.64758750e-01 8.85430799e-01 -3.40643356e-03 2.97125513e+01] [ 6.55602809e-03 4.05891298e-04 9.99978427e-01 5.72130299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:29.73, Z:0.57 [[ 8.85316451e-01 -4.64949572e-01 -6.05609687e-03 1.37143702e+02] [ 4.64935256e-01 8.85337057e-01 -3.67476286e-03 2.97254235e+01] [ 7.07026640e-03 4.37635071e-04 9.99974910e-01 5.71845358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:29.74, Z:0.57 [[ 8.85528681e-01 -4.64531732e-01 -7.01600199e-03 1.37168001e+02] [ 4.64512497e-01 8.85556327e-01 -4.25815964e-03 2.97382462e+01] [ 8.19111522e-03 5.11701885e-04 9.99966321e-01 5.71215289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.19, Y:29.75, Z:0.57 [[ 8.86257916e-01 -4.63128649e-01 -7.66559870e-03 1.37192062e+02] [ 4.63105619e-01 8.86290880e-01 -4.65420720e-03 2.97523977e+01] [ 8.94944691e-03 5.74846141e-04 9.99959788e-01 5.71001980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:29.77, Z:0.57 [[ 8.86543474e-01 -4.62599156e-01 -6.53380872e-03 1.37214495e+02] [ 4.62582404e-01 8.86567412e-01 -3.96783429e-03 2.97667990e+01] [ 7.62817868e-03 4.95232649e-04 9.99970782e-01 5.71930672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:29.78, Z:0.57 [[ 8.86660499e-01 -4.62393420e-01 -5.04822081e-03 1.37238200e+02] [ 4.62383410e-01 8.86674787e-01 -3.06676526e-03 2.97816534e+01] [ 5.89418218e-03 3.84966063e-04 9.99982555e-01 5.72962344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:29.79, Z:0.57 [[ 8.86660739e-01 -4.62403469e-01 -3.97048915e-03 1.37261236e+02] [ 4.62397275e-01 8.86669578e-01 -2.41254911e-03 2.97947796e+01] [ 4.63608302e-03 3.03169210e-04 9.99989207e-01 5.73592200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:29.81, Z:0.57 [[ 8.86354950e-01 -4.62989050e-01 -4.00515820e-03 1.37285929e+02] [ 4.62982749e-01 8.86363947e-01 -2.43447377e-03 2.98078356e+01] [ 4.67716253e-03 3.03488719e-04 9.99989016e-01 5.73558229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:29.82, Z:0.57 [[ 8.85322483e-01 -4.64946717e-01 -5.35273566e-03 1.37310735e+02] [ 4.64935494e-01 8.85338577e-01 -3.25434031e-03 2.98188355e+01] [ 6.25207821e-03 3.92463843e-04 9.99980379e-01 5.73142987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:29.83, Z:0.57 [[ 8.84583774e-01 -4.66346128e-01 -5.73026213e-03 1.37335468e+02] [ 4.66333285e-01 8.84602239e-01 -3.48518816e-03 2.98326407e+01] [ 6.69430671e-03 4.10728932e-04 9.99977509e-01 5.73131701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:29.85, Z:0.57 [[ 8.83813074e-01 -4.67812758e-01 -5.06691576e-03 1.37359199e+02] [ 4.67802737e-01 8.83827527e-01 -3.08238862e-03 2.98450721e+01] [ 5.92026035e-03 3.53938302e-04 9.99982412e-01 5.72835314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:29.86, Z:0.57 [[ 8.82850857e-01 -4.69638283e-01 -3.77455161e-03 1.37384102e+02] [ 4.69632735e-01 8.82858889e-01 -2.29699671e-03 2.98574835e+01] [ 4.41115403e-03 2.55252521e-04 9.99990238e-01 5.73549034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:29.87, Z:0.58 [[ 8.81525552e-01 -4.72135734e-01 -7.41025771e-04 1.37410378e+02] [ 4.72135522e-01 8.81525862e-01 -4.50969495e-04 2.98671504e+01] [ 8.66152196e-04 4.76765445e-05 9.99999624e-01 5.75169704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:29.88, Z:0.58 [[ 8.81155923e-01 -4.72825470e-01 -5.60230067e-04 1.37434688e+02] [ 4.72825348e-01 8.81156101e-01 -3.40975440e-04 2.98801895e+01] [ 6.54872014e-04 3.55615523e-05 9.99999785e-01 5.75361837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:137.46, Y:29.89, Z:0.57 [[ 8.81305509e-01 -4.72543658e-01 -1.75801478e-03 1.37459668e+02] [ 4.72542458e-01 8.81307255e-01 -1.07090654e-03 2.98938540e+01] [ 2.05540128e-03 1.13059201e-04 9.99997881e-01 5.74519271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:137.48, Y:29.91, Z:0.57 [[ 8.81251088e-01 -4.72645142e-01 -1.75785437e-03 1.37483941e+02] [ 4.72643941e-01 8.81252834e-01 -1.07116981e-03 2.99087994e+01] [ 2.05539735e-03 1.13130338e-04 9.99997881e-01 5.74548628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:29.92, Z:0.57 [[ 8.81479065e-01 -4.72208750e-01 -3.68149344e-03 1.37508643e+02] [ 4.72203479e-01 8.81486721e-01 -2.24413689e-03 2.99209237e+01] [ 4.30488865e-03 2.39745680e-04 9.99990705e-01 5.74119576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:29.93, Z:0.57 [[ 8.82397850e-01 -4.70461434e-01 -6.33037522e-03 1.37537080e+02] [ 4.70445790e-01 8.82420453e-01 -3.86047471e-03 2.99283668e+01] [ 7.40225703e-03 4.28376213e-04 9.99972511e-01 5.73006011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:29.94, Z:0.57 [[ 8.83093833e-01 -4.69154540e-01 -6.26899527e-03 1.37562509e+02] [ 4.69139159e-01 8.83115976e-01 -3.82386254e-03 2.99384824e+01] [ 7.33023235e-03 4.35798261e-04 9.99973039e-01 5.73297786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:29.95, Z:0.57 [[ 8.83882841e-01 -4.67677481e-01 -5.37552921e-03 1.37587758e+02] [ 4.67666141e-01 8.83899104e-01 -3.27944322e-03 2.99490866e+01] [ 6.28514720e-03 3.84690585e-04 9.99980174e-01 5.73673846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:29.96, Z:0.57 [[ 8.85654996e-01 -4.64328043e-01 -3.83352585e-03 1.37616590e+02] [ 4.64322241e-01 8.85663245e-01 -2.33952326e-03 2.99559597e+01] [ 4.48151920e-03 2.92019148e-04 9.99989915e-01 5.74662526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:29.97, Z:0.57 [[ 8.86271742e-01 -4.63143628e-01 -4.51444588e-03 1.37642495e+02] [ 4.63135562e-01 8.86283170e-01 -2.75573014e-03 2.99650555e+01] [ 5.27737626e-03 3.51525316e-04 9.99986013e-01 5.74469209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:29.97, Z:0.57 [[ 8.86640252e-01 -4.62426331e-01 -5.56344188e-03 1.37669162e+02] [ 4.62414064e-01 8.86657598e-01 -3.39667990e-03 2.99740728e+01] [ 6.50358224e-03 4.39019350e-04 9.99978755e-01 5.73963361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:29.98, Z:0.57 [[ 8.86684922e-01 -4.62327561e-01 -6.56317419e-03 1.37695985e+02] [ 4.62310476e-01 8.86709059e-01 -4.00856806e-03 2.99839832e+01] [ 7.67289750e-03 5.20112676e-04 9.99970428e-01 5.73201993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:29.99, Z:0.57 [[ 8.87008785e-01 -4.61705076e-01 -6.62110488e-03 1.37725898e+02] [ 4.61687657e-01 8.87033337e-01 -4.04562510e-03 2.99886961e+01] [ 7.74102640e-03 5.31622603e-04 9.99969896e-01 5.72969457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:30.00, Z:0.57 [[ 8.87468244e-01 -4.60832994e-01 -5.75035889e-03 1.37752483e+02] [ 4.60819830e-01 8.87486750e-01 -3.51461867e-03 2.99975501e+01] [ 6.72301957e-03 4.69233049e-04 9.99977290e-01 5.73517682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:30.01, Z:0.57 [[ 8.88091003e-01 -4.59645143e-01 -4.55106096e-03 1.37779546e+02] [ 4.59636877e-01 8.88102583e-01 -2.78264679e-03 3.00071717e+01] [ 5.32083908e-03 3.79408135e-04 9.99985772e-01 5.73844800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:30.01, Z:0.57 [[ 8.89634949e-01 -4.56649866e-01 -4.53390443e-03 1.37807847e+02] [ 4.56641617e-01 8.89646414e-01 -2.77330503e-03 3.00147525e+01] [ 5.30000119e-03 3.96859628e-04 9.99985876e-01 5.74288231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.83, Y:30.03, Z:0.57 [[ 8.90474286e-01 -4.54999231e-01 -5.58979727e-03 1.37831959e+02] [ 4.54986655e-01 8.90491688e-01 -3.41996974e-03 3.00269077e+01] [ 6.53375161e-03 5.02111950e-04 9.99978529e-01 5.72816892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:30.04, Z:0.57 [[ 8.90980351e-01 -4.53993097e-01 -6.65442231e-03 1.37856770e+02] [ 4.53975235e-01 8.91004993e-01 -4.07285571e-03 3.00392081e+01] [ 7.77817189e-03 6.07891481e-04 9.99969565e-01 5.72366932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:30.05, Z:0.57 [[ 8.91655102e-01 -4.52666047e-01 -6.68048446e-03 1.37882568e+02] [ 4.52647994e-01 8.91679910e-01 -4.09043429e-03 3.00509096e+01] [ 7.80845450e-03 6.23348718e-04 9.99969319e-01 5.71502528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:30.06, Z:0.57 [[ 8.92371566e-01 -4.51256404e-01 -6.37541355e-03 1.37908698e+02] [ 4.51239916e-01 8.92394132e-01 -3.90521842e-03 3.00615333e+01] [ 7.45163647e-03 6.08064798e-04 9.99972051e-01 5.71622870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:30.07, Z:0.57 [[ 8.93620287e-01 -4.48793831e-01 -5.18464213e-03 1.37935470e+02] [ 4.48782881e-01 8.93635180e-01 -3.17646463e-03 3.00688542e+01] [ 6.05875633e-03 5.11774598e-04 9.99981515e-01 5.73001685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:30.08, Z:0.57 [[ 8.94015421e-01 -4.48011348e-01 -4.71789702e-03 1.37960225e+02] [ 4.48002265e-01 8.94027745e-01 -2.89155294e-03 3.00827981e+01] [ 5.51337937e-03 4.71464369e-04 9.99984690e-01 5.73153596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98140051299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:137.98, Y:30.10, Z:0.57 [[ 8.94397569e-01 -4.47252143e-01 -4.30224476e-03 1.37982966e+02] [ 4.47244578e-01 8.94407811e-01 -2.63737677e-03 3.00965219e+01] [ 5.02753373e-03 4.34707723e-04 9.99987267e-01 5.72050998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:30.11, Z:0.57 [[ 8.94185747e-01 -4.47681072e-01 -3.67517209e-03 1.38006583e+02] [ 4.47675554e-01 8.94193223e-01 -2.25334334e-03 3.01094091e+01] [ 4.29509314e-03 3.69622797e-04 9.99990708e-01 5.72259403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:30.12, Z:0.57 [[ 8.93996552e-01 -4.48064415e-01 -2.90596551e-03 1.38031580e+02] [ 4.48060965e-01 8.94001228e-01 -1.78228640e-03 3.01214447e+01] [ 3.39651585e-03 2.91308185e-04 9.99994189e-01 5.71869338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:30.13, Z:0.57 [[ 8.93093254e-01 -4.49861996e-01 -2.93673747e-03 1.38057537e+02] [ 4.49858480e-01 8.93098036e-01 -1.80187018e-03 3.01325803e+01] [ 3.43338738e-03 2.88121846e-04 9.99994064e-01 5.71371524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:30.15, Z:0.57 [[ 8.92920493e-01 -4.50197998e-01 -3.84132640e-03 1.38081051e+02] [ 4.50191980e-01 8.92928676e-01 -2.35788487e-03 3.01473129e+01] [ 4.49154554e-03 3.76069379e-04 9.99989842e-01 5.71529970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:30.16, Z:0.57 [[ 8.93094503e-01 -4.49842564e-01 -4.88625576e-03 1.38103960e+02] [ 4.49832818e-01 8.93107740e-01 -2.99997619e-03 3.01623546e+01] [ 5.71346982e-03 4.81264042e-04 9.99983562e-01 5.71243359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:30.18, Z:0.57 [[ 8.94078705e-01 -4.47863979e-01 -6.41288345e-03 1.38127124e+02] [ 4.47847130e-01 8.94101468e-01 -3.93873339e-03 3.01781189e+01] [ 7.49778532e-03 6.49546202e-04 9.99971680e-01 5.71638057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:30.19, Z:0.57 [[ 8.94661135e-01 -4.46705220e-01 -5.99161517e-03 1.38149473e+02] [ 4.46690479e-01 8.94680986e-01 -3.68104179e-03 3.01937208e+01] [ 7.00492475e-03 6.16887578e-04 9.99975275e-01 5.72039354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:30.21, Z:0.57 [[ 8.95160379e-01 -4.45713220e-01 -5.25557669e-03 1.38172191e+02] [ 4.45701854e-01 8.95175639e-01 -3.23004727e-03 3.02106899e+01] [ 6.14433899e-03 5.48990064e-04 9.99980973e-01 5.72294471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:138.19, Y:30.23, Z:0.57 [[ 8.95475738e-01 -4.45081068e-01 -5.10340562e-03 1.38192730e+02] [ 4.45070337e-01 8.95490119e-01 -3.13718273e-03 3.02283517e+01] [ 5.96634995e-03 5.37896569e-04 9.99982057e-01 5.71655458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:30.24, Z:0.57 [[ 8.94531067e-01 -4.46973028e-01 -5.41136226e-03 1.38216087e+02] [ 4.46960989e-01 8.94547260e-01 -3.32769611e-03 3.02436323e+01] [ 6.32810969e-03 5.58059723e-04 9.99979822e-01 5.72028146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:30.26, Z:0.57 [[ 8.93473515e-01 -4.49077347e-01 -5.88338727e-03 1.38238597e+02] [ 4.49063155e-01 8.93492690e-01 -3.61872898e-03 3.02581343e+01] [ 6.88185273e-03 5.91226052e-04 9.99976145e-01 5.71906229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:30.27, Z:0.57 [[ 8.92119521e-01 -4.51757212e-01 -6.17905697e-03 1.38261587e+02] [ 4.51741613e-01 8.92140718e-01 -3.80196145e-03 3.02739288e+01] [ 7.23015183e-03 6.00466875e-04 9.99973682e-01 5.71653748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:30.29, Z:0.57 [[ 8.89194782e-01 -4.57473827e-01 -7.09495469e-03 1.38283688e+02] [ 4.57453424e-01 8.89222858e-01 -4.36729859e-03 3.02914536e+01] [ 8.30692069e-03 6.37767797e-04 9.99965294e-01 5.70311516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:30.31, Z:0.57 [[ 8.87889528e-01 -4.60002753e-01 -7.04646823e-03 1.38307106e+02] [ 4.59982693e-01 8.87917278e-01 -4.33920399e-03 3.03059848e+01] [ 8.25272668e-03 6.11480350e-04 9.99965759e-01 5.69972158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:30.32, Z:0.57 [[ 8.86659889e-01 -4.62376865e-01 -6.47111183e-03 1.38331160e+02] [ 4.62359998e-01 8.86683337e-01 -3.98649597e-03 3.03194818e+01] [ 7.58109054e-03 5.42682822e-04 9.99971116e-01 5.70488618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:30.33, Z:0.57 [[ 8.85577524e-01 -4.64460760e-01 -5.35259636e-03 1.38354717e+02] [ 4.64449254e-01 8.85593594e-01 -3.29810838e-03 3.03324678e+01] [ 6.27206697e-03 4.34721274e-04 9.99980236e-01 5.70696842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:30.35, Z:0.57 [[ 8.84627422e-01 -4.66276647e-01 -4.51801284e-03 1.38378967e+02] [ 4.66268467e-01 8.84638887e-01 -2.78483955e-03 3.03469889e+01] [ 5.29531550e-03 3.56938514e-04 9.99985916e-01 5.71119350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:30.36, Z:0.57 [[ 8.83685430e-01 -4.68059160e-01 -4.54798329e-03 1.38402688e+02] [ 4.68050888e-01 8.83697064e-01 -2.80446273e-03 3.03617703e+01] [ 5.33169394e-03 3.49575233e-04 9.99985725e-01 5.71297009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:30.37, Z:0.57 [[ 8.83597312e-01 -4.68225200e-01 -4.57725782e-03 1.38426151e+02] [ 4.68216821e-01 8.83609098e-01 -2.82314865e-03 3.03749274e+01] [ 5.36637600e-03 3.51377452e-04 9.99985539e-01 5.71012077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:138.45, Y:30.39, Z:0.57 [[ 8.83838200e-01 -4.67770566e-01 -4.55348850e-03 1.38451194e+02] [ 4.67762262e-01 8.83849859e-01 -2.80953016e-03 3.03878896e+01] [ 5.33881568e-03 3.53220003e-04 9.99985686e-01 5.70485096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:30.40, Z:0.57 [[ 8.83662907e-01 -4.68111137e-01 -3.43938798e-03 1.38474881e+02] [ 4.68106400e-01 8.83669561e-01 -2.12258035e-03 3.04002623e+01] [ 4.03288596e-03 2.65646000e-04 9.99991833e-01 5.71283466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:30.41, Z:0.57 [[ 8.83510385e-01 -4.68403688e-01 -2.71749546e-03 1.38499597e+02] [ 4.68400730e-01 8.83514540e-01 -1.67761235e-03 3.04131756e+01] [ 3.18674656e-03 2.09311075e-04 9.99994900e-01 5.71578179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:30.42, Z:0.57 [[ 8.82789792e-01 -4.69760592e-01 -2.67751424e-03 1.38525321e+02] [ 4.69757726e-01 8.82793829e-01 -1.65345554e-03 3.04236009e+01] [ 3.14042131e-03 2.01870674e-04 9.99995048e-01 5.71611122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:30.44, Z:0.57 [[ 8.82482911e-01 -4.70327479e-01 -3.99676722e-03 1.38551091e+02] [ 4.70321093e-01 8.82491911e-01 -2.46916432e-03 3.04361275e+01] [ 4.68843057e-03 2.99231391e-04 9.99988964e-01 5.71616189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:30.45, Z:0.57 [[ 8.82729202e-01 -4.69857112e-01 -4.84251607e-03 1.38575705e+02] [ 4.69847726e-01 8.82742409e-01 -2.99237766e-03 3.04477901e+01] [ 5.68068422e-03 3.66213984e-04 9.99983798e-01 5.71060458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:30.46, Z:0.57 [[ 8.83531160e-01 -4.68343518e-01 -5.19986093e-03 1.38599891e+02] [ 4.68332666e-01 8.83546369e-01 -3.21377030e-03 3.04599122e+01] [ 6.09946673e-03 4.04201471e-04 9.99981316e-01 5.70638049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:30.47, Z:0.57 [[ 8.86008666e-01 -4.63644554e-01 -4.72988634e-03 1.38626648e+02] [ 4.63635502e-01 8.86021201e-01 -2.92434677e-03 3.04691203e+01] [ 5.54663703e-03 3.98053354e-04 9.99984538e-01 5.71472624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:30.48, Z:0.57 [[ 8.87279563e-01 -4.61209917e-01 -4.51552516e-03 1.38652244e+02] [ 4.61201630e-01 8.87290964e-01 -2.79293040e-03 3.04805723e+01] [ 5.29471188e-03 3.95542499e-04 9.99985905e-01 5.72058103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:30.49, Z:0.57 [[ 8.89774218e-01 -4.56385698e-01 -3.73307051e-03 1.38678832e+02] [ 4.56379988e-01 8.89781980e-01 -2.30987509e-03 3.04915811e+01] [ 4.37581282e-03 3.51568633e-04 9.99990364e-01 5.73005412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:30.51, Z:0.57 [[ 8.90935457e-01 -4.54121780e-01 -2.72411438e-03 1.38702134e+02] [ 4.54118727e-01 8.90939582e-01 -1.68605538e-03 3.05056185e+01] [ 3.19269580e-03 2.65095165e-04 9.99994868e-01 5.73285154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:30.52, Z:0.57 [[ 8.91980658e-01 -4.52070094e-01 -1.77088431e-03 1.38726485e+02] [ 4.52068799e-01 8.91982398e-01 -1.09638134e-03 3.05198845e+01] [ 2.07523885e-03 1.77389402e-04 9.99997831e-01 5.72937449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:30.53, Z:0.57 [[ 8.92944461e-01 -4.50163176e-01 -1.81797686e-03 1.38751253e+02] [ 4.50161806e-01 8.92946292e-01 -1.12598909e-03 3.05328946e+01] [ 2.13023452e-03 1.87061973e-04 9.99997714e-01 5.72394934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:30.54, Z:0.57 [[ 8.93719885e-01 -4.48618624e-01 -2.46940972e-03 1.38775506e+02] [ 4.48616090e-01 8.93723259e-01 -1.52993044e-03 3.05448445e+01] [ 2.89332419e-03 2.59512325e-04 9.99995781e-01 5.71888049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:30.56, Z:0.57 [[ 8.94033280e-01 -4.47989743e-01 -3.11211924e-03 1.38799523e+02] [ 4.47985714e-01 8.94038635e-01 -1.92847713e-03 3.05573128e+01] [ 3.64629281e-03 3.29937778e-04 9.99993298e-01 5.71582610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:30.57, Z:0.57 [[ 8.93465557e-01 -4.49116462e-01 -3.70168879e-03 1.38822955e+02] [ 4.49110769e-01 8.93473141e-01 -2.29421878e-03 3.05701381e+01] [ 4.33773093e-03 3.87337156e-04 9.99990517e-01 5.70970884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:30.58, Z:0.57 [[ 8.92782902e-01 -4.50470478e-01 -3.87807400e-03 1.38847112e+02] [ 4.50464238e-01 8.92791235e-01 -2.40435469e-03 3.05842014e+01] [ 4.54540128e-03 3.99633100e-04 9.99989590e-01 5.71025070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:30.60, Z:0.57 [[ 8.92013424e-01 -4.51990631e-01 -4.06458509e-03 1.38871366e+02] [ 4.51983788e-01 8.92022590e-01 -2.52097546e-03 3.05980717e+01] [ 4.76515901e-03 4.11617385e-04 9.99988562e-01 5.71121039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:30.61, Z:0.57 [[ 8.91372291e-01 -4.53250531e-01 -4.40394323e-03 1.38895180e+02] [ 4.53242509e-01 8.91383062e-01 -2.73221204e-03 3.06123515e+01] [ 5.16397696e-03 4.39363828e-04 9.99986570e-01 5.70887708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:30.63, Z:0.57 [[ 8.91207953e-01 -4.53571491e-01 -4.61383997e-03 1.38919362e+02] [ 4.53562685e-01 8.91219777e-01 -2.86348607e-03 3.06274442e+01] [ 5.41074108e-03 4.59295916e-04 9.99985256e-01 5.70416915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:30.64, Z:0.57 [[ 8.91584374e-01 -4.52830836e-01 -4.64090848e-03 1.38943462e+02] [ 4.52821910e-01 8.91596330e-01 -2.88144674e-03 3.06412301e+01] [ 5.44262490e-03 4.67547850e-04 9.99985080e-01 5.70798684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:30.65, Z:0.57 [[ 8.92097590e-01 -4.51818614e-01 -4.67228427e-03 1.38967471e+02] [ 4.51809549e-01 8.92109698e-01 -2.90156360e-03 3.06534666e+01] [ 5.47917055e-03 4.77495247e-04 9.99984875e-01 5.71619807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:30.67, Z:0.57 [[ 8.92424643e-01 -4.51170476e-01 -4.84333289e-03 1.38992156e+02] [ 4.51160720e-01 8.92437646e-01 -3.00888957e-03 3.06668609e+01] [ 5.67989474e-03 5.00085646e-04 9.99983744e-01 5.72424709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:30.68, Z:0.57 [[ 8.92329266e-01 -4.51357902e-01 -4.95233621e-03 1.39015254e+02] [ 4.51347701e-01 8.92342862e-01 -3.07728043e-03 3.06817475e+01] [ 5.80813670e-03 5.10721832e-04 9.99983002e-01 5.71741750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:30.70, Z:0.57 [[ 8.91829570e-01 -4.52347030e-01 -4.70987934e-03 1.39037969e+02] [ 4.52337814e-01 8.91841877e-01 -2.92712776e-03 3.06964721e+01] [ 5.52454518e-03 4.80042568e-04 9.99984624e-01 5.71318787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:30.71, Z:0.57 [[ 8.91780538e-01 -4.52443689e-01 -4.70957867e-03 1.39062128e+02] [ 4.52434471e-01 8.91792845e-01 -2.92761149e-03 3.07116311e+01] [ 5.52454790e-03 4.80011209e-04 9.99984624e-01 5.71348162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:30.73, Z:0.57 [[ 8.91098498e-01 -4.53789165e-01 -4.34296316e-03 1.39086547e+02] [ 4.53781337e-01 8.91108974e-01 -2.70070323e-03 3.07259451e+01] [ 5.09560331e-03 4.35836957e-04 9.99986922e-01 5.71833003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:30.74, Z:0.57 [[ 8.89570752e-01 -4.56774469e-01 -4.57829725e-03 1.39111133e+02] [ 4.56765807e-01 8.89582424e-01 -2.84768336e-03 3.07378365e+01] [ 5.37352182e-03 4.42006195e-04 9.99985465e-01 5.73080892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:30.75, Z:0.57 [[ 8.88928055e-01 -4.58015041e-01 -5.39773653e-03 1.39135341e+02] [ 4.58003015e-01 8.88944294e-01 -3.35856924e-03 3.07528534e+01] [ 6.33656232e-03 5.13346813e-04 9.99979792e-01 5.72883185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:30.77, Z:0.57 [[ 8.88253527e-01 -4.59317229e-01 -5.77543526e-03 1.39159335e+02] [ 4.59303478e-01 8.88272138e-01 -3.59500405e-03 3.07678987e+01] [ 6.78140552e-03 5.40597525e-04 9.99976860e-01 5.72124387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.18, Y:30.78, Z:0.57 [[ 8.87802943e-01 -4.60187708e-01 -5.76269257e-03 1.39183334e+02] [ 4.60174026e-01 8.87821485e-01 -3.58849853e-03 3.07816389e+01] [ 6.76762519e-03 5.34038114e-04 9.99976957e-01 5.71102496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:30.79, Z:0.57 [[ 8.87108224e-01 -4.61528929e-01 -5.48155299e-03 1.39208672e+02] [ 4.61516569e-01 8.87125019e-01 -3.41441485e-03 3.07921406e+01] [ 6.43867403e-03 4.99127960e-04 9.99979147e-01 5.72840932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:30.81, Z:0.57 [[ 8.86768610e-01 -4.62183682e-01 -5.26076414e-03 1.39231163e+02] [ 4.62172305e-01 8.86784088e-01 -3.27749692e-03 3.08064843e+01] [ 6.17996752e-03 4.75001904e-04 9.99980791e-01 5.73853796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:30.82, Z:0.57 [[ 8.86425778e-01 -4.62848673e-01 -4.52174433e-03 1.39252528e+02] [ 4.62840273e-01 8.86437218e-01 -2.81776621e-03 3.08224774e+01] [ 5.31244181e-03 4.04895224e-04 9.99985807e-01 5.74090737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:30.84, Z:0.57 [[ 8.86085112e-01 -4.63506711e-01 -3.83434846e-03 1.39275170e+02] [ 4.63500673e-01 8.86093343e-01 -2.39026036e-03 3.08393075e+01] [ 4.50549236e-03 3.40751025e-04 9.99989792e-01 5.74113269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:30.85, Z:0.57 [[ 8.85823391e-01 -4.64010870e-01 -3.29117913e-03 1.39298081e+02] [ 4.64006422e-01 8.85829457e-01 -2.05243920e-03 3.08548372e+01] [ 3.86777752e-03 2.90970398e-04 9.99992478e-01 5.74091850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:30.87, Z:0.57 [[ 8.84934916e-01 -4.65703416e-01 -3.24380779e-03 1.39320817e+02] [ 4.65699105e-01 8.84940817e-01 -2.02336479e-03 3.08687726e+01] [ 3.81286581e-03 2.79907764e-04 9.99992692e-01 5.73976665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:30.88, Z:0.57 [[ 8.83806719e-01 -4.67836606e-01 -3.82010315e-03 1.39344529e+02] [ 4.67830643e-01 8.83814917e-01 -2.38368236e-03 3.08845238e+01] [ 4.49143802e-03 3.19553172e-04 9.99989862e-01 5.73564583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:30.90, Z:0.57 [[ 8.82577013e-01 -4.70147629e-01 -4.36144212e-03 1.39367213e+02] [ 4.70139881e-01 8.82587720e-01 -2.72209667e-03 3.09000516e+01] [ 5.12914255e-03 3.51972067e-04 9.99986784e-01 5.73127428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:30.91, Z:0.57 [[ 8.81197841e-01 -4.72725701e-01 -4.55813502e-03 1.39390621e+02] [ 4.72717266e-01 8.81209559e-01 -2.84585709e-03 3.09146994e+01] [ 5.36198194e-03 3.53053995e-04 9.99985562e-01 5.72995454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:30.93, Z:0.57 [[ 8.79048447e-01 -4.76712193e-01 -4.39456440e-03 1.39416237e+02] [ 4.76704400e-01 8.79059375e-01 -2.74431398e-03 3.09252611e+01] [ 5.17133097e-03 3.17476761e-04 9.99986578e-01 5.74832066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:30.94, Z:0.58 [[ 8.77905053e-01 -4.78811638e-01 -4.70455525e-03 1.39440979e+02] [ 4.78802731e-01 8.77917597e-01 -2.93893514e-03 3.09385975e+01] [ 5.53740819e-03 3.27552108e-04 9.99984615e-01 5.75542294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:30.95, Z:0.58 [[ 8.77055311e-01 -4.80363550e-01 -4.98407543e-03 1.39464927e+02] [ 4.80353570e-01 8.77069407e-01 -3.11479586e-03 3.09523549e+01] [ 5.86761448e-03 3.37729823e-04 9.99982728e-01 5.75280660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:30.97, Z:0.57 [[ 8.76334074e-01 -4.81674074e-01 -5.35512958e-03 1.39489420e+02] [ 4.81662568e-01 8.76350364e-01 -3.34804746e-03 3.09665439e+01] [ 6.30563742e-03 3.54642605e-04 9.99980056e-01 5.74572341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.51, Y:30.98, Z:0.57 [[ 8.75838986e-01 -4.82577134e-01 -5.03778689e-03 1.39514144e+02] [ 4.82566960e-01 8.75853413e-01 -3.15089760e-03 3.09797069e+01] [ 5.93291398e-03 3.28609458e-04 9.99982346e-01 5.73988805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:30.99, Z:0.57 [[ 8.75693588e-01 -4.82843884e-01 -4.74596058e-03 1.39539634e+02] [ 4.82834851e-01 8.75706394e-01 -2.96957662e-03 3.09924569e+01] [ 5.58990993e-03 3.08924040e-04 9.99984329e-01 5.74859528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:31.00, Z:0.58 [[ 8.76680750e-01 -4.81051379e-01 -4.52037804e-03 1.39564311e+02] [ 4.81043157e-01 8.76692351e-01 -2.82905036e-03 3.10035351e+01] [ 5.32389943e-03 3.05677064e-04 9.99985781e-01 5.76722386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:31.02, Z:0.58 [[ 8.77447243e-01 -4.79647717e-01 -4.93999368e-03 1.39586628e+02] [ 4.79637873e-01 8.77461081e-01 -3.09221236e-03 3.10180605e+01] [ 5.81782480e-03 3.43845145e-04 9.99983017e-01 5.76296132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:31.03, Z:0.58 [[ 8.78286231e-01 -4.78100567e-01 -5.75707158e-03 1.39610122e+02] [ 4.78087154e-01 8.78305002e-01 -3.60498846e-03 3.10337452e+01] [ 6.78001179e-03 4.13829758e-04 9.99976930e-01 5.75887444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:31.05, Z:0.58 [[ 8.80199514e-01 -4.74570953e-01 -5.58805467e-03 1.39634187e+02] [ 4.74558241e-01 8.80217147e-01 -3.49987380e-03 3.10467530e+01] [ 6.57963999e-03 4.28729821e-04 9.99978262e-01 5.75101673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:31.06, Z:0.58 [[ 8.80974816e-01 -4.73134044e-01 -5.24883640e-03 1.39657809e+02] [ 4.73122798e-01 8.80990355e-01 -3.28823991e-03 3.10600873e+01] [ 6.17995248e-03 4.13512389e-04 9.99980818e-01 5.75598270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:31.08, Z:0.58 [[ 8.81498055e-01 -4.72161570e-01 -4.96299524e-03 1.39681950e+02] [ 4.72151493e-01 8.81511936e-01 -3.11036840e-03 3.10750285e+01] [ 5.84353596e-03 3.98498080e-04 9.99982847e-01 5.75953314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:139.71, Y:31.09, Z:0.58 [[ 8.81935560e-01 -4.71345784e-01 -4.77698302e-03 1.39705224e+02] [ 4.71336430e-01 8.81948411e-01 -2.99502003e-03 3.10912619e+01] [ 5.62474265e-03 3.89848547e-04 9.99984105e-01 5.75893346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:31.11, Z:0.58 [[ 8.82197982e-01 -4.70853825e-01 -4.83697402e-03 1.39727433e+02] [ 4.70844223e-01 8.82211152e-01 -3.03330730e-03 3.11074221e+01] [ 5.69547677e-03 3.98516302e-04 9.99983701e-01 5.76249595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:31.12, Z:0.58 [[ 8.82431747e-01 -4.70410704e-01 -5.28973640e-03 1.39750405e+02] [ 4.70399205e-01 8.82447492e-01 -3.31848770e-03 3.11242392e+01] [ 6.22896675e-03 4.40051106e-04 9.99980503e-01 5.76200517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.77, Y:31.14, Z:0.58 [[ 8.82724714e-01 -4.69856917e-01 -5.61754578e-03 1.39772340e+02] [ 4.69843932e-01 8.82742462e-01 -3.52491020e-03 3.11410259e+01] [ 6.61504963e-03 4.72155548e-04 9.99978009e-01 5.75754231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.80, Y:31.16, Z:0.58 [[ 8.82749985e-01 -4.69810435e-01 -5.53343523e-03 1.39795839e+02] [ 4.69797827e-01 8.82767205e-01 -3.47339427e-03 3.11569834e+01] [ 6.51657202e-03 4.66542894e-04 9.99978658e-01 5.75691695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:31.17, Z:0.58 [[ 8.82824601e-01 -4.69672679e-01 -5.31971876e-03 1.39818785e+02] [ 4.69661019e-01 8.82840513e-01 -3.33993677e-03 3.11720552e+01] [ 6.26514029e-03 4.50113814e-04 9.99980273e-01 5.75889746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:31.19, Z:0.58 [[ 8.82620520e-01 -4.70052336e-01 -5.64088345e-03 1.39842290e+02] [ 4.70039230e-01 8.82638417e-01 -3.54218727e-03 3.11858283e+01] [ 6.64387384e-03 4.74970656e-04 9.99977816e-01 5.75662486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:31.20, Z:0.58 [[ 8.82270324e-01 -4.70702393e-01 -6.19131827e-03 1.39865557e+02] [ 4.70686615e-01 8.82291896e-01 -3.88849849e-03 3.12000655e+01] [ 7.29287548e-03 5.16536180e-04 9.99973273e-01 5.75588787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:31.22, Z:0.58 [[ 8.81643938e-01 -4.71869347e-01 -6.57927987e-03 1.39889724e+02] [ 4.71851549e-01 8.81668321e-01 -4.13373822e-03 3.12150493e+01] [ 7.75132699e-03 5.40041846e-04 9.99969812e-01 5.75490268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:31.23, Z:0.58 [[ 8.81266145e-01 -4.72578640e-01 -6.27782914e-03 1.39912635e+02] [ 4.72562447e-01 8.81288357e-01 -3.94516341e-03 3.12287814e+01] [ 7.39697769e-03 5.10072645e-04 9.99972512e-01 5.75364616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:31.24, Z:0.58 [[ 8.80691521e-01 -4.73651325e-01 -6.07186985e-03 1.39936604e+02] [ 4.73636193e-01 8.80712317e-01 -3.81710891e-03 3.12428056e+01] [ 7.15554925e-03 4.85838126e-04 9.99974281e-01 5.75354868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:31.26, Z:0.57 [[ 8.80259945e-01 -4.74461325e-01 -5.37400961e-03 1.39960614e+02] [ 4.74449479e-01 8.80276246e-01 -3.37969087e-03 3.12565724e+01] [ 6.33414562e-03 4.25310441e-04 9.99979849e-01 5.74864094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:31.27, Z:0.57 [[ 8.79516202e-01 -4.75840455e-01 -5.20694578e-03 1.39985154e+02] [ 4.75829349e-01 8.79531522e-01 -3.27591022e-03 3.12705251e+01] [ 6.13848356e-03 4.03598493e-04 9.99981078e-01 5.74115318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:31.28, Z:0.57 [[ 8.79198626e-01 -4.76420666e-01 -5.75540004e-03 1.40009464e+02] [ 4.76407100e-01 8.79217352e-01 -3.62246367e-03 3.12848564e+01] [ 6.78606414e-03 4.42951636e-04 9.99976876e-01 5.74133059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:140.03, Y:31.30, Z:0.57 [[ 8.79210810e-01 -4.76394910e-01 -6.02005983e-03 1.40032910e+02] [ 4.76380061e-01 8.79231297e-01 -3.78985263e-03 3.12978402e+01] [ 7.09849152e-03 4.64242931e-04 9.99974698e-01 5.74726583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.06, Y:31.31, Z:0.58 [[ 8.79282346e-01 -4.76263591e-01 -5.96218318e-03 1.40057637e+02] [ 4.76249013e-01 8.79302439e-01 -3.75485797e-03 3.13119707e+01] [ 7.03086435e-03 4.62096470e-04 9.99975176e-01 5.75308904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:31.33, Z:0.58 [[ 8.79448253e-01 -4.75966955e-01 -5.12132772e-03 1.40080761e+02] [ 4.75956189e-01 8.79463073e-01 -3.22626619e-03 3.13261349e+01] [ 6.03961472e-03 3.99806542e-04 9.99981681e-01 5.75700546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:31.34, Z:0.58 [[ 8.79536241e-01 -4.75809650e-01 -4.60191957e-03 1.40103620e+02] [ 4.75800948e-01 8.79548206e-01 -2.90015735e-03 3.13416115e+01] [ 5.42753296e-03 3.61195801e-04 9.99985206e-01 5.75367093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:31.36, Z:0.57 [[ 8.79412539e-01 -4.76039112e-01 -4.51118994e-03 1.40125565e+02] [ 4.76030747e-01 8.79424038e-01 -2.84416612e-03 3.13585812e+01] [ 5.32118319e-03 3.53730231e-04 9.99985780e-01 5.74639033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:31.37, Z:0.57 [[ 8.79047434e-01 -4.76712130e-01 -4.59926879e-03 1.40148165e+02] [ 4.76703439e-01 8.79059394e-01 -2.90060516e-03 3.13738233e+01] [ 5.42578410e-03 3.57282278e-04 9.99985217e-01 5.74463936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:31.39, Z:0.58 [[ 8.78238043e-01 -4.78195018e-01 -5.24060736e-03 1.40172201e+02] [ 4.78183753e-01 8.78253589e-01 -3.30635752e-03 3.13891117e+01] [ 6.18366591e-03 3.97795665e-04 9.99980802e-01 5.75506327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:31.40, Z:0.58 [[ 8.77309613e-01 -4.79891253e-01 -5.67695212e-03 1.40194884e+02] [ 4.79878064e-01 8.77327881e-01 -3.58242007e-03 3.14030061e+01] [ 6.69972043e-03 4.18646779e-04 9.99977469e-01 5.76005300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:31.42, Z:0.58 [[ 8.74678044e-01 -4.84674224e-01 -5.40517587e-03 1.40218265e+02] [ 4.84662350e-01 8.74694669e-01 -3.41219446e-03 3.14184915e+01] [ 6.38168122e-03 3.64886339e-04 9.99979570e-01 5.77897573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:31.43, Z:0.58 [[ 8.73545306e-01 -4.86713232e-01 -5.36922935e-03 1.40240491e+02] [ 4.86701549e-01 8.73561737e-01 -3.39024295e-03 3.14330317e+01] [ 6.34042942e-03 3.48318573e-04 9.99979839e-01 5.78502471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:31.45, Z:0.58 [[ 8.72773620e-01 -4.88095538e-01 -5.38092388e-03 1.40263264e+02] [ 4.88083826e-01 8.72790141e-01 -3.39823216e-03 3.14473296e+01] [ 6.35507927e-03 3.39545469e-04 9.99979749e-01 5.78528706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:31.46, Z:0.58 [[ 8.72442087e-01 -4.88692559e-01 -4.93834743e-03 1.40287427e+02] [ 4.88682698e-01 8.72456009e-01 -3.11986273e-03 3.14617214e+01] [ 5.83314459e-03 3.08614609e-04 9.99982939e-01 5.78423428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:31.48, Z:0.58 [[ 8.72301358e-01 -4.88947312e-01 -4.56797710e-03 1.40310334e+02] [ 4.88938875e-01 8.72313272e-01 -2.88649484e-03 3.14754259e+01] [ 5.39605095e-03 2.84431781e-04 9.99985401e-01 5.78606090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:31.49, Z:0.58 [[ 8.72057584e-01 -4.89384434e-01 -4.29499702e-03 1.40334180e+02] [ 4.89376975e-01 8.72068120e-01 -2.71495817e-03 3.14900813e+01] [ 5.07418824e-03 2.65727210e-04 9.99987091e-01 5.78553486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:31.50, Z:0.58 [[ 8.71751680e-01 -4.89933464e-01 -3.76950407e-03 1.40358328e+02] [ 4.89927720e-01 8.71759799e-01 -2.38373274e-03 3.15044576e+01] [ 4.45397255e-03 2.31238491e-04 9.99990054e-01 5.78419907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:31.52, Z:0.58 [[ 8.71696824e-01 -4.90030270e-01 -3.87068817e-03 1.40382773e+02] [ 4.90024210e-01 8.71705385e-01 -2.44873474e-03 3.15183540e+01] [ 4.57405387e-03 2.37823380e-04 9.99989511e-01 5.78252386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.41, Y:31.53, Z:0.58 [[ 8.71509038e-01 -4.90360127e-01 -4.35220292e-03 1.40406414e+02] [ 4.90352466e-01 8.71519865e-01 -2.75400784e-03 3.15313226e+01] [ 5.14348694e-03 2.66029292e-04 9.99986737e-01 5.78673343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:31.54, Z:0.58 [[ 8.71107307e-01 -4.91074382e-01 -4.24381926e-03 1.40430671e+02] [ 4.91067101e-01 8.71117607e-01 -2.68637575e-03 3.15449848e+01] [ 5.01607599e-03 2.56121524e-04 9.99987387e-01 5.78797040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:31.56, Z:0.58 [[ 8.70814566e-01 -4.91596986e-01 -3.79403191e-03 1.40454135e+02] [ 4.91591168e-01 8.70822802e-01 -2.40235841e-03 3.15587028e+01] [ 4.48492165e-03 2.26896117e-04 9.99989917e-01 5.78826701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:31.57, Z:0.58 [[ 8.70726143e-01 -4.91756301e-01 -3.42410653e-03 1.40478554e+02] [ 4.91751560e-01 8.70732852e-01 -2.16889974e-03 3.15725263e+01] [ 4.04805216e-03 2.04707978e-04 9.99991786e-01 5.78814937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:31.58, Z:0.58 [[ 8.71005862e-01 -4.91252645e-01 -4.43017048e-03 1.40505589e+02] [ 4.91244697e-01 8.71017087e-01 -2.80735318e-03 3.15823836e+01] [ 5.23787386e-03 2.68923327e-04 9.99986246e-01 5.78453745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.53, Y:31.59, Z:0.58 [[ 8.71053278e-01 -4.91154865e-01 -5.75198185e-03 1.40531508e+02] [ 4.91141454e-01 8.71072199e-01 -3.64653702e-03 3.15940784e+01] [ 6.80140587e-03 3.51291301e-04 9.99976808e-01 5.77719656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.56, Y:31.61, Z:0.58 [[ 8.70967438e-01 -4.91307078e-01 -5.75133797e-03 1.40555542e+02] [ 4.91293663e-01 8.70986356e-01 -3.64755244e-03 3.16094710e+01] [ 6.80140523e-03 3.51303500e-04 9.99976808e-01 5.77749012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:31.62, Z:0.58 [[ 8.71316955e-01 -4.90679404e-01 -6.36289358e-03 1.40580411e+02] [ 4.90662962e-01 8.71340098e-01 -4.03626670e-03 3.16202784e+01] [ 7.52475725e-03 3.94831403e-04 9.99971611e-01 5.77447584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:31.63, Z:0.58 [[ 8.72539414e-01 -4.88510023e-01 -5.73829933e-03 1.40607334e+02] [ 4.88496595e-01 8.72558203e-01 -3.64142905e-03 3.16294919e+01] [ 6.78587475e-03 3.74150687e-04 9.99976906e-01 5.78348840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:31.64, Z:0.58 [[ 8.73722753e-01 -4.86399859e-01 -4.87116528e-03 1.40631102e+02] [ 4.86390146e-01 8.73736269e-01 -3.09181259e-03 3.16423040e+01] [ 5.75997098e-03 3.32100215e-04 9.99983356e-01 5.78493725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:31.66, Z:0.58 [[ 8.75136129e-01 -4.83857513e-01 -4.32009728e-03 1.40654518e+02] [ 4.83849840e-01 8.75146737e-01 -2.74250910e-03 3.16562469e+01] [ 5.10770267e-03 3.09790417e-04 9.99986908e-01 5.78600988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:31.67, Z:0.58 [[ 8.76775656e-01 -4.80882950e-01 -4.00473095e-03 1.40677386e+02] [ 4.80876323e-01 8.76784749e-01 -2.54273864e-03 3.16712401e+01] [ 4.73404668e-03 3.03631041e-04 9.99988748e-01 5.77763677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:31.69, Z:0.58 [[ 8.78562313e-01 -4.77610140e-01 -4.10067508e-03 1.40700558e+02] [ 4.77603152e-01 8.78571821e-01 -2.60458664e-03 3.16868853e+01] [ 4.84671456e-03 3.29796325e-04 9.99988200e-01 5.77315485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:31.70, Z:0.58 [[ 8.80335715e-01 -4.74330296e-01 -4.44958467e-03 1.40722742e+02] [ 4.74322024e-01 8.80346879e-01 -2.82684377e-03 3.17026353e+01] [ 5.25803562e-03 3.78035524e-04 9.99986105e-01 5.76595128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:31.72, Z:0.58 [[ 8.82726791e-01 -4.69848048e-01 -6.01862890e-03 1.40744519e+02] [ 4.69832803e-01 8.82747139e-01 -3.82436552e-03 3.17186097e+01] [ 7.10979812e-03 5.48120617e-04 9.99974575e-01 5.76288240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:31.73, Z:0.58 [[ 8.83307324e-01 -4.68751654e-01 -6.32917736e-03 1.40768292e+02] [ 4.68734757e-01 8.83329804e-01 -4.02313717e-03 3.17340155e+01] [ 7.47660320e-03 5.86961121e-04 9.99971878e-01 5.76802329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:31.75, Z:0.58 [[ 8.83413296e-01 -4.68554029e-01 -6.17013306e-03 1.40791844e+02] [ 4.68537954e-01 8.83434656e-01 -3.92357429e-03 3.17494507e+01] [ 7.28931592e-03 5.75196174e-04 9.99973267e-01 5.77286476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:31.77, Z:0.58 [[ 8.82816379e-01 -4.69685650e-01 -5.53456219e-03 1.40814779e+02] [ 4.69672730e-01 8.82833581e-01 -3.52079030e-03 3.17652821e+01] [ 6.53976204e-03 5.08778407e-04 9.99978486e-01 5.77561923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:31.78, Z:0.58 [[ 8.81792552e-01 -4.71613238e-01 -4.78006115e-03 1.40836420e+02] [ 4.71603625e-01 8.81805404e-01 -3.04143658e-03 3.17812948e+01] [ 5.64946551e-03 4.27621955e-04 9.99983950e-01 5.77542142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:31.80, Z:0.58 [[ 8.79025700e-01 -4.76765105e-01 -2.97557963e-03 1.40859118e+02] [ 4.76761407e-01 8.79030702e-01 -1.89389368e-03 3.17987888e+01] [ 3.51856827e-03 2.46139686e-04 9.99993780e-01 5.76532367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:31.81, Z:0.58 [[ 8.77407834e-01 -4.79737497e-01 -2.72542092e-03 1.40882680e+02] [ 4.79734407e-01 8.77412040e-01 -1.73520724e-03 3.18129419e+01] [ 3.22376111e-03 2.15006241e-04 9.99994781e-01 5.76692988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:31.83, Z:0.58 [[ 8.75729455e-01 -4.82795795e-01 -2.47827755e-03 1.40906806e+02] [ 4.82793250e-01 8.75732942e-01 -1.57842087e-03 3.18268994e+01] [ 2.93236425e-03 1.85773977e-04 9.99995683e-01 5.76721731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:31.84, Z:0.58 [[ 8.73301353e-01 -4.87173227e-01 -2.64451059e-03 1.40931199e+02] [ 4.87170348e-01 8.73305338e-01 -1.68474296e-03 3.18395333e+01] [ 3.13022688e-03 1.82961161e-04 9.99995084e-01 5.76707988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:31.85, Z:0.58 [[ 8.72462010e-01 -4.88668584e-01 -3.61331722e-03 1.40956320e+02] [ 4.88663219e-01 8.72469458e-01 -2.30276437e-03 3.18525224e+01] [ 4.27779752e-03 2.43379202e-04 9.99990821e-01 5.76973923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:31.86, Z:0.58 [[ 8.71834160e-01 -4.89780081e-01 -4.54632330e-03 1.40982289e+02] [ 4.89771596e-01 8.71845962e-01 -2.89859798e-03 3.18647666e+01] [ 5.38336917e-03 3.00436714e-04 9.99985464e-01 5.76889341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:31.88, Z:0.58 [[ 8.71569272e-01 -4.90250221e-01 -4.66100698e-03 1.41008121e+02] [ 4.90241302e-01 8.71581681e-01 -2.97294389e-03 3.18769554e+01] [ 5.51993470e-03 3.06108411e-04 9.99984718e-01 5.77266779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:31.89, Z:0.58 [[ 8.71919521e-01 -4.89636215e-01 -3.56742988e-03 1.41032290e+02] [ 4.89630983e-01 8.71926786e-01 -2.27590719e-03 3.18893173e+01] [ 4.22490425e-03 2.37683704e-04 9.99991047e-01 5.77988221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.06, Y:31.90, Z:0.58 [[ 8.72499412e-01 -4.88610889e-01 -2.04342435e-03 1.41055757e+02] [ 4.88609169e-01 8.72501794e-01 -1.30382735e-03 3.19029262e+01] [ 2.41995565e-03 1.39152717e-04 9.99997062e-01 5.78241932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:31.92, Z:0.58 [[ 8.74932751e-01 -4.84242640e-01 -1.32157333e-03 1.41080191e+02] [ 4.84241915e-01 8.74933744e-01 -8.43425481e-04 3.19173321e+01] [ 1.56471168e-03 9.79793757e-05 9.99998771e-01 5.78222316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:31.93, Z:0.58 [[ 8.76846800e-01 -4.80767085e-01 -1.64311363e-03 1.41103657e+02] [ 4.80765958e-01 8.76848329e-01 -1.04900699e-03 3.19307007e+01] [ 1.94508947e-03 1.29865327e-04 9.99998100e-01 5.77904471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:31.94, Z:0.58 [[ 8.78688599e-01 -4.77392708e-01 -1.59650110e-03 1.41128659e+02] [ 4.77391638e-01 8.78690039e-01 -1.01953109e-03 3.19442874e+01] [ 1.88954632e-03 1.33694074e-04 9.99998206e-01 5.78023167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:31.96, Z:0.58 [[ 8.80627832e-01 -4.73805871e-01 -1.61794896e-03 1.41152308e+02] [ 4.73804765e-01 8.80629307e-01 -1.03353549e-03 3.19579131e+01] [ 1.91450845e-03 1.43568192e-04 9.99998157e-01 5.78082465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:31.97, Z:0.58 [[ 8.82299006e-01 -4.70685695e-01 -1.85480454e-03 1.41175546e+02] [ 4.70684234e-01 8.82300939e-01 -1.18519075e-03 3.19735191e+01] [ 2.19434812e-03 1.72665366e-04 9.99997578e-01 5.77696454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:31.99, Z:0.58 [[ 8.84968933e-01 -4.65641216e-01 -2.87140453e-03 1.41196636e+02] [ 4.65637687e-01 8.84973545e-01 -1.83561680e-03 3.19920495e+01] [ 3.39585588e-03 2.87429682e-04 9.99994193e-01 5.75127719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:32.01, Z:0.57 [[ 8.85802625e-01 -4.64051618e-01 -3.13129041e-03 1.41219160e+02] [ 4.64047410e-01 8.85808102e-01 -2.00223910e-03 3.20077531e+01] [ 3.70286471e-03 3.20521448e-04 9.99993093e-01 5.74593199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:32.02, Z:0.57 [[ 8.86006477e-01 -4.63663037e-01 -3.01839464e-03 1.41242171e+02] [ 4.63659122e-01 8.86011564e-01 -1.93064817e-03 3.20237107e+01] [ 3.56950275e-03 3.11060572e-04 9.99993581e-01 5.74504911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:141.26, Y:32.04, Z:0.57 [[ 8.86021415e-01 -4.63636987e-01 -2.60679270e-03 1.41263440e+02] [ 4.63634065e-01 8.86025209e-01 -1.66797981e-03 3.20431663e+01] [ 3.08302118e-03 2.69267939e-04 9.99995211e-01 5.74848516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:32.06, Z:0.57 [[ 8.86332313e-01 -4.63042593e-01 -2.56663944e-03 1.41285280e+02] [ 4.63039756e-01 8.86335989e-01 -1.64291650e-03 3.20611570e+01] [ 3.03564523e-03 2.67713882e-04 9.99995357e-01 5.74836133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:32.08, Z:0.58 [[ 8.86493221e-01 -4.62732057e-01 -2.96854566e-03 1.41306033e+02] [ 4.62728258e-01 8.86498137e-01 -1.90065226e-03 3.20783314e+01] [ 3.51110292e-03 3.11285378e-04 9.99993788e-01 5.75081783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:32.10, Z:0.57 [[ 8.86335358e-01 -4.63031498e-01 -3.38603588e-03 1.41327776e+02] [ 4.63026555e-01 8.86341755e-01 -2.16868352e-03 3.20960388e+01] [ 4.00535377e-03 3.54356349e-04 9.99991916e-01 5.74824686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:32.11, Z:0.57 [[ 8.85783912e-01 -4.64080847e-01 -3.97857085e-03 1.41349561e+02] [ 4.64074028e-01 8.85792751e-01 -2.54921704e-03 3.21145401e+01] [ 4.70723202e-03 4.11704041e-04 9.99988836e-01 5.74783629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:32.13, Z:0.57 [[ 8.85102191e-01 -4.65379135e-01 -4.04626572e-03 1.41369762e+02] [ 4.65372093e-01 8.85111344e-01 -2.59315710e-03 3.21332307e+01] [ 4.78819690e-03 4.12189884e-04 9.99988452e-01 5.74765854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:32.16, Z:0.58 [[ 8.82990794e-01 -4.69379692e-01 -3.15619301e-03 1.41387794e+02] [ 4.69375432e-01 8.82996382e-01 -2.02304144e-03 3.21559250e+01] [ 3.73648158e-03 3.04887510e-04 9.99992973e-01 5.75164922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:32.17, Z:0.58 [[ 8.81616120e-01 -4.71961351e-01 -2.34529155e-03 1.41409459e+02] [ 4.71959006e-01 8.81619212e-01 -1.50368969e-03 3.21741295e+01] [ 2.77733750e-03 2.18795607e-04 9.99996119e-01 5.75777084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:32.19, Z:0.58 [[ 8.79967757e-01 -4.75030390e-01 -1.69540482e-03 1.41430953e+02] [ 4.75029170e-01 8.79969378e-01 -1.08735695e-03 3.21919840e+01] [ 2.00843192e-03 1.51472315e-04 9.99997972e-01 5.76010458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:32.21, Z:0.58 [[ 8.78371828e-01 -4.77976024e-01 -1.36118061e-03 1.41452030e+02] [ 4.77975241e-01 8.78372875e-01 -8.73219479e-04 3.22096953e+01] [ 1.61300210e-03 1.16400758e-04 9.99998692e-01 5.76386899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:32.23, Z:0.58 [[ 8.76683045e-01 -4.81067663e-01 -8.60951347e-04 1.41472400e+02] [ 4.81067351e-01 8.76683465e-01 -5.52374031e-04 3.22277324e+01] [ 1.02051110e-03 7.00813634e-05 9.99999477e-01 5.76140086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:32.25, Z:0.58 [[ 8.74064303e-01 -4.85809640e-01 7.66267022e-04 1.41492248e+02] [ 4.85809394e-01 8.74064637e-01 4.91969859e-04 3.22482809e+01] [-9.08770607e-04 -5.77535738e-05 9.99999585e-01 5.76081392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:32.26, Z:0.58 [[ 8.73232670e-01 -4.87301652e-01 1.34298955e-03 1.41513766e+02] [ 4.87300899e-01 8.73233697e-01 8.62391047e-04 3.22646788e+01] [-1.59298831e-03 -9.86280232e-05 9.99998726e-01 5.77288969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:32.28, Z:0.58 [[ 8.72590681e-01 -4.88448411e-01 1.91126607e-03 1.41536169e+02] [ 4.88446887e-01 8.72592763e-01 1.22779997e-03 3.22814032e+01] [-2.26747389e-03 -1.37814853e-04 9.99997420e-01 5.78209558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:32.30, Z:0.58 [[ 8.72293284e-01 -4.88978426e-01 2.12740390e-03 1.41557495e+02] [ 4.88976539e-01 8.72295865e-01 1.36673332e-03 3.22978615e+01] [-2.52402873e-03 -1.51941701e-04 9.99996803e-01 5.79004588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:32.32, Z:0.58 [[ 8.71589434e-01 -4.90233755e-01 1.65051607e-03 1.41578722e+02] [ 4.90232621e-01 8.71590989e-01 1.06091643e-03 3.23158926e+01] [-1.95867198e-03 -1.15546735e-04 9.99998075e-01 5.78691186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:32.33, Z:0.58 [[ 8.71110197e-01 -4.91086767e-01 9.01513725e-04 1.41602424e+02] [ 4.91086429e-01 8.71110661e-01 5.79822230e-04 3.23316135e+01] [-1.07006124e-03 -6.23679012e-05 9.99999426e-01 5.78144933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:32.35, Z:0.58 [[ 8.70783316e-01 -4.91666893e-01 2.87994372e-04 1.41624541e+02] [ 4.91666859e-01 8.70783363e-01 1.85363106e-04 3.23464346e+01] [-3.41917610e-04 -1.98138116e-05 9.99999941e-01 5.78127705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:32.36, Z:0.58 [[ 8.70345937e-01 -4.92440794e-01 1.20630870e-04 1.41647331e+02] [ 4.92440788e-01 8.70345945e-01 7.78376401e-05 3.23633347e+01] [-1.43321018e-04 -8.34211304e-06 9.99999990e-01 5.78070292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:32.38, Z:0.58 [[ 8.70265043e-01 -4.92583666e-01 -2.96469361e-04 1.41668815e+02] [ 4.92583629e-01 8.70265093e-01 -1.90632588e-04 3.23806938e+01] [ 3.51909435e-04 1.98649233e-05 9.99999938e-01 5.78271735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:32.40, Z:0.58 [[ 8.70314267e-01 -4.92496256e-01 -7.16859105e-04 1.41690678e+02] [ 4.92496043e-01 8.70314561e-01 -4.61286699e-04 3.23990463e+01] [ 8.51074890e-04 4.84141227e-05 9.99999637e-01 5.77987289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:32.42, Z:0.58 [[ 8.70936883e-01 -4.91390730e-01 -2.02396100e-03 1.41711975e+02] [ 4.91389021e-01 8.70939224e-01 -1.30329635e-03 3.24172755e+01] [ 2.40317476e-03 1.40536651e-04 9.99997103e-01 5.76829051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:32.43, Z:0.58 [[ 8.70810130e-01 -4.91615783e-01 -1.90792300e-03 1.41734055e+02] [ 4.91614265e-01 8.70812210e-01 -1.22896539e-03 3.24326229e+01] [ 2.26562142e-03 1.32233347e-04 9.99997425e-01 5.76669391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:32.45, Z:0.58 [[ 8.70141120e-01 -4.92800277e-01 -1.52278495e-03 1.41756955e+02] [ 4.92799311e-01 8.70142446e-01 -9.81170390e-04 3.24486683e+01] [ 1.80856086e-03 1.03329329e-04 9.99998359e-01 5.76414018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:32.47, Z:0.58 [[ 8.69131969e-01 -4.94577321e-01 -1.70115954e-03 1.41780179e+02] [ 4.94576118e-01 8.69133627e-01 -1.09656219e-03 3.24650216e+01] [ 2.02086975e-03 1.11704376e-04 9.99997952e-01 5.76522284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:32.48, Z:0.58 [[ 8.66883002e-01 -4.98505922e-01 -2.38886444e-03 1.41804093e+02] [ 4.98503563e-01 8.66886281e-01 -1.54055659e-03 3.24780092e+01] [ 2.83885039e-03 1.44624885e-04 9.99995960e-01 5.76606569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.83, Y:32.49, Z:0.58 [[ 8.65621630e-01 -5.00693506e-01 -2.28181252e-03 1.41828608e+02] [ 5.00691359e-01 8.65624628e-01 -1.47210363e-03 3.24911001e+01] [ 2.71226585e-03 1.31800935e-04 9.99996313e-01 5.76940106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:32.50, Z:0.58 [[ 8.64757534e-01 -5.02186034e-01 -1.89563101e-03 1.41851834e+02] [ 5.02184556e-01 8.64759606e-01 -1.22326684e-03 3.25046842e+01] [ 2.25357265e-03 1.05872601e-04 9.99997455e-01 5.78527876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:32.52, Z:0.58 [[ 8.64283741e-01 -5.03002897e-01 -1.30410870e-03 1.41874721e+02] [ 5.03002198e-01 8.64284722e-01 -8.41732497e-04 3.25208065e+01] [ 1.55051511e-03 7.15261672e-05 9.99998795e-01 5.78616487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:32.54, Z:0.58 [[ 8.64733434e-01 -5.02229947e-01 -1.08120235e-03 1.41897355e+02] [ 5.02229465e-01 8.64734108e-01 -6.98097364e-04 3.25373855e+01] [ 1.28555795e-03 6.06564551e-05 9.99999172e-01 5.78383289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:32.55, Z:0.58 [[ 8.66056856e-01 -4.99943711e-01 -1.34447209e-03 1.41920674e+02] [ 4.99942963e-01 8.66057896e-01 -8.68484691e-04 3.25536529e+01] [ 1.59858413e-03 7.99977595e-05 9.99998719e-01 5.77645453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:32.57, Z:0.58 [[ 8.69918473e-01 -4.93189663e-01 -2.40958157e-03 1.41943310e+02] [ 4.93187233e-01 8.69921794e-01 -1.55708831e-03 3.25680483e+01] [ 2.86408738e-03 1.66165020e-04 9.99995885e-01 5.77315040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:32.58, Z:0.58 [[ 8.71397679e-01 -4.90570016e-01 -2.67297585e-03 1.41965590e+02] [ 4.90567012e-01 8.71401757e-01 -1.72787580e-03 3.25845752e+01] [ 3.17687991e-03 1.94393187e-04 9.99994935e-01 5.76973444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:32.60, Z:0.58 [[ 8.72510559e-01 -4.88586173e-01 -2.97934480e-03 1.41987116e+02] [ 4.88582427e-01 8.72515616e-01 -1.92641152e-03 3.26013716e+01] [ 3.54074290e-03 2.25158875e-04 9.99993706e-01 5.76861094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:32.62, Z:0.58 [[ 8.72429139e-01 -4.88731545e-01 -2.97907232e-03 1.42010996e+02] [ 4.88727798e-01 8.72434196e-01 -1.92683285e-03 3.26169812e+01] [ 3.54074856e-03 2.25069672e-04 9.99993706e-01 5.76890478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.03, Y:32.63, Z:0.58 [[ 8.73012097e-01 -4.87689047e-01 -3.04492803e-03 1.42033659e+02] [ 4.87685124e-01 8.73017375e-01 -1.97021006e-03 3.26331242e+01] [ 3.61912494e-03 2.35051110e-04 9.99993423e-01 5.76639962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:32.65, Z:0.58 [[ 8.73572713e-01 -4.86685082e-01 -2.88891116e-03 1.42057997e+02] [ 4.86681544e-01 8.73577460e-01 -1.86970720e-03 3.26452767e+01] [ 3.43364628e-03 2.27345442e-04 9.99994079e-01 5.77786003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:32.66, Z:0.58 [[ 8.73566850e-01 -4.86697578e-01 -2.53497479e-03 1.42080241e+02] [ 4.86694853e-01 8.73570505e-01 -1.64090996e-03 3.26597962e+01] [ 3.01310611e-03 1.99685358e-04 9.99995441e-01 5.78102964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:32.68, Z:0.58 [[ 8.73545528e-01 -4.86738762e-01 -1.89448262e-03 1.42102334e+02] [ 4.86737239e-01 8.73547569e-01 -1.22664577e-03 3.26765037e+01] [ 2.25197674e-03 1.49415685e-04 9.99997453e-01 5.77580826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:32.69, Z:0.58 [[ 8.73491308e-01 -4.86838014e-01 -1.29719266e-03 1.42124784e+02] [ 4.86837300e-01 8.73492265e-01 -8.40171428e-04 3.26929851e+01] [ 1.54211515e-03 1.02360667e-04 9.99998806e-01 5.77242222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:32.71, Z:0.58 [[ 8.73548701e-01 -4.86736134e-01 -7.75640341e-04 1.42147351e+02] [ 4.86735879e-01 8.73549044e-01 -5.02487415e-04 3.27072863e+01] [ 9.22138660e-04 6.14152458e-05 9.99999573e-01 5.77342195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:32.72, Z:0.58 [[ 8.74007808e-01 -4.85911158e-01 -8.35320633e-04 1.42171986e+02] [ 4.85910862e-01 8.74008205e-01 -5.41310413e-04 3.27189726e+01] [ 9.93105856e-04 6.72181588e-05 9.99999505e-01 5.78288022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:32.73, Z:0.58 [[ 8.74043238e-01 -4.85845512e-01 -1.59858823e-03 1.42195774e+02] [ 4.85844424e-01 8.74044691e-01 -1.03629582e-03 3.27335008e+01] [ 1.90071723e-03 1.29102179e-04 9.99998185e-01 5.77948011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:32.75, Z:0.58 [[ 8.74071863e-01 -4.85791145e-01 -2.31139784e-03 1.42218326e+02] [ 4.85788868e-01 8.74074899e-01 -1.49885147e-03 3.27475193e+01] [ 2.74846360e-03 1.87252554e-04 9.99996205e-01 5.76873137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:32.76, Z:0.58 [[ 8.74200474e-01 -4.85558625e-01 -2.52036563e-03 1.42243149e+02] [ 4.85555916e-01 8.74204083e-01 -1.63487481e-03 3.27612087e+01] [ 2.99714149e-03 2.05429896e-04 9.99995487e-01 5.76110211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:32.78, Z:0.58 [[ 8.74027047e-01 -4.85873002e-01 -2.03645714e-03 1.42267924e+02] [ 4.85871233e-01 8.74029404e-01 -1.32145112e-03 3.27751339e+01] [ 2.42198084e-03 1.65528077e-04 9.99997053e-01 5.76549515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:32.79, Z:0.58 [[ 8.73897084e-01 -4.86108057e-01 -1.68659363e-03 1.42291359e+02] [ 4.86106843e-01 8.73898700e-01 -1.09469784e-03 3.27882729e+01] [ 2.00605342e-03 1.36788538e-04 9.99997979e-01 5.76921198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:32.80, Z:0.58 [[ 8.73629704e-01 -4.86588720e-01 -1.59956612e-03 1.42315407e+02] [ 4.86587629e-01 8.73631159e-01 -1.03848882e-03 3.28018621e+01] [ 1.90274775e-03 1.28925597e-04 9.99998181e-01 5.77326857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:32.82, Z:0.58 [[ 8.73498889e-01 -4.86822916e-01 -1.77215674e-03 1.42338837e+02] [ 4.86821576e-01 8.73500675e-01 -1.15088345e-03 3.28161278e+01] [ 2.10825654e-03 1.42571282e-04 9.99997767e-01 5.77614800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:32.83, Z:0.58 [[ 8.73535087e-01 -4.86756911e-01 -2.03992740e-03 1.42362459e+02] [ 4.86755135e-01 8.73537453e-01 -1.32518446e-03 3.28315035e+01] [ 2.42699568e-03 1.64649988e-04 9.99997041e-01 5.77195438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:32.85, Z:0.58 [[ 8.73808025e-01 -4.86264182e-01 -2.58473759e-03 1.42386354e+02] [ 4.86261327e-01 8.73811822e-01 -1.67980817e-03 3.28457811e+01] [ 3.07540481e-03 2.10971929e-04 9.99995249e-01 5.75290227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:32.86, Z:0.57 [[ 8.73896995e-01 -4.86102850e-01 -2.83940780e-03 1.42409950e+02] [ 4.86099401e-01 8.73901576e-01 -1.84588830e-03 3.28583958e+01] [ 3.37865452e-03 2.32881809e-04 9.99994265e-01 5.74937972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:32.87, Z:0.58 [[ 8.74126226e-01 -4.85690461e-01 -2.84907818e-03 1.42434715e+02] [ 4.85686985e-01 8.74130837e-01 -1.85258392e-03 3.28704579e+01] [ 3.39024943e-03 2.35631997e-04 9.99994225e-01 5.75584910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:32.88, Z:0.58 [[ 8.74046687e-01 -4.85832649e-01 -3.00433706e-03 1.42459671e+02] [ 4.85828783e-01 8.74051815e-01 -1.95418336e-03 3.28835267e+01] [ 3.57535234e-03 2.48454075e-04 9.99993578e-01 5.76514821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:32.90, Z:0.58 [[ 8.73713018e-01 -4.86425245e-01 -4.00533062e-03 1.42484359e+02] [ 4.86418374e-01 8.73722137e-01 -2.60639418e-03 3.28977945e+01] [ 4.76736196e-03 3.28974119e-04 9.99988582e-01 5.76753413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:32.91, Z:0.58 [[ 8.73734827e-01 -4.86387684e-01 -3.80424441e-03 1.42507275e+02] [ 4.86381482e-01 8.73743053e-01 -2.47609386e-03 3.29113465e+01] [ 4.52827368e-03 3.13135400e-04 9.99989698e-01 5.76234349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:32.92, Z:0.58 [[ 8.73973924e-01 -4.85964258e-01 -2.88434932e-03 1.42532473e+02] [ 4.85960688e-01 8.73978651e-01 -1.87794526e-03 3.29249179e+01] [ 3.43347400e-03 2.39594813e-04 9.99994077e-01 5.76035216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83140051299998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:142.56, Y:32.94, Z:0.58 [[ 8.74226155e-01 -4.85516699e-01 -1.47164689e-03 1.42557815e+02] [ 4.85515768e-01 8.74227385e-01 -9.58429874e-04 3.29379748e+01] [ 1.75188772e-03 1.23376693e-04 9.99998458e-01 5.75872177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:32.95, Z:0.58 [[ 8.74660778e-01 -4.84735490e-01 -1.66442094e-04 1.42582156e+02] [ 4.84735478e-01 8.74660794e-01 -1.08345042e-04 3.29505602e+01] [ 1.98099061e-04 1.40847709e-05 9.99999980e-01 5.77059428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:32.96, Z:0.58 [[ 8.75085753e-01 -4.83967888e-01 8.61314148e-05 1.42606724e+02] [ 4.83967885e-01 8.75085758e-01 5.63631338e-05 3.29643409e+01] [-1.02650321e-04 -7.63773677e-06 9.99999995e-01 5.77583251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:32.98, Z:0.58 [[ 8.75889847e-01 -4.82510621e-01 -6.90084170e-04 1.42631665e+02] [ 4.82510415e-01 8.75890117e-01 -4.49766998e-04 3.29751119e+01] [ 8.21455258e-04 6.09735475e-05 9.99999661e-01 5.77506316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:32.99, Z:0.58 [[ 8.75971450e-01 -4.82362450e-01 -6.97445419e-04 1.42656861e+02] [ 4.82362240e-01 8.75971725e-01 -4.54621732e-04 3.29878064e+01] [ 8.30234919e-04 6.18143231e-05 9.99999653e-01 5.77423036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:33.00, Z:0.58 [[ 8.75941438e-01 -4.82416923e-01 -7.13305269e-04 1.42681838e+02] [ 4.82416703e-01 8.75941727e-01 -4.65141650e-04 3.30012670e+01] [ 8.49206052e-04 6.33264700e-05 9.99999637e-01 5.77839406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:33.02, Z:0.58 [[ 8.75820095e-01 -4.82637065e-01 -7.90360733e-04 1.42705436e+02] [ 4.82636795e-01 8.75820449e-01 -5.15622487e-04 3.30150037e+01] [ 9.41072616e-04 7.01353652e-05 9.99999555e-01 5.77646256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:33.03, Z:0.58 [[ 8.75551015e-01 -4.83125070e-01 -7.65713306e-04 1.42728771e+02] [ 4.83124816e-01 8.75551348e-01 -4.99617776e-04 3.30295249e+01] [ 9.11799190e-04 6.75057502e-05 9.99999582e-01 5.77811572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:33.04, Z:0.58 [[ 8.75065732e-01 -4.84002689e-01 -1.16667775e-03 1.42753790e+02] [ 4.84002100e-01 8.75066504e-01 -7.61540119e-04 3.30432291e+01] [ 1.38950809e-03 1.01723178e-04 9.99999029e-01 5.78687407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:33.06, Z:0.58 [[ 8.74934797e-01 -4.84240236e-01 -7.03712286e-04 1.42777193e+02] [ 4.84240022e-01 8.74935078e-01 -4.59454962e-04 3.30564878e+01] [ 8.38189142e-04 6.12274806e-05 9.99999647e-01 5.79055956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:33.07, Z:0.58 [[ 8.74690334e-01 -4.84682174e-01 -9.94629026e-05 1.42801793e+02] [ 4.84682169e-01 8.74690340e-01 -6.47618049e-05 3.30707154e+01] [ 1.18388132e-04 8.43862932e-06 9.99999993e-01 5.79780030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:33.09, Z:0.58 [[ 8.74403098e-01 -4.85200187e-01 5.32875588e-06 1.42824192e+02] [ 4.85200187e-01 8.74403098e-01 3.57554735e-06 3.30852542e+01] [-6.39433686e-06 -5.40956319e-07 1.00000000e+00 5.79534824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:33.10, Z:0.58 [[ 8.73558259e-01 -4.86716457e-01 -1.74900794e-03 1.42845625e+02] [ 4.86715137e-01 8.73559997e-01 -1.14301498e-03 3.31030992e+01] [ 2.08418757e-03 1.47221535e-04 9.99997817e-01 5.78119552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:33.12, Z:0.58 [[ 8.73130323e-01 -4.87483178e-01 -1.89480863e-03 1.42867563e+02] [ 4.87481630e-01 8.73132364e-01 -1.23865013e-03 3.31194329e+01] [ 2.25823984e-03 1.57818587e-04 9.99997438e-01 5.77611372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:33.14, Z:0.58 [[ 8.72773541e-01 -4.88123106e-01 -1.47657473e-03 1.42889145e+02] [ 4.88122166e-01 8.72774781e-01 -9.65388962e-04 3.31352387e+01] [ 1.75994584e-03 1.21817088e-04 9.99998444e-01 5.77553518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:33.15, Z:0.58 [[ 8.72298440e-01 -4.88972706e-01 -1.06041217e-03 1.42912027e+02] [ 4.88972222e-01 8.72299080e-01 -6.93417743e-04 3.31506202e+01] [ 1.26405891e-03 8.63551190e-05 9.99999197e-01 5.78151473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.94, Y:33.17, Z:0.58 [[ 8.71311931e-01 -4.90728768e-01 -8.91601659e-04 1.42935924e+02] [ 4.90728427e-01 8.71312384e-01 -5.83218795e-04 3.31658852e+01] [ 1.06306581e-03 7.06312152e-05 9.99999432e-01 5.78336533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:33.18, Z:0.58 [[ 8.68659437e-01 -4.95404707e-01 -2.22670405e-03 1.42959371e+02] [ 4.95402591e-01 8.68662276e-01 -1.45724348e-03 3.31792617e+01] [ 2.65617909e-03 1.62733347e-04 9.99996459e-01 5.79194534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.98, Y:33.19, Z:0.58 [[ 8.67267275e-01 -4.97833407e-01 -3.06159507e-03 1.42983151e+02] [ 4.97829418e-01 8.67272652e-01 -2.00432426e-03 3.31947536e+01] [ 3.65305725e-03 2.14132749e-04 9.99993305e-01 5.78848819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:33.21, Z:0.58 [[ 8.66382842e-01 -4.99368655e-01 -3.42316326e-03 1.43005505e+02] [ 4.99363678e-01 8.66389573e-01 -2.24156410e-03 3.32100971e+01] [ 4.08515981e-03 2.32649284e-04 9.99991629e-01 5.78702628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:33.23, Z:0.58 [[ 8.66037418e-01 -4.99968425e-01 -3.28093029e-03 1.43028535e+02] [ 4.99963854e-01 8.66043605e-01 -2.14913834e-03 3.32264058e+01] [ 3.91593001e-03 2.20887667e-04 9.99992308e-01 5.78523763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:33.24, Z:0.58 [[ 8.67010726e-01 -4.98281035e-01 -2.90031140e-03 1.43050313e+02] [ 4.98277452e-01 8.67015553e-01 -1.90053641e-03 3.32444267e+01] [ 3.46161634e-03 2.02625680e-04 9.99993988e-01 5.78452408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:33.26, Z:0.58 [[ 8.68136686e-01 -4.96315389e-01 -3.11924575e-03 1.43071726e+02] [ 4.96311229e-01 8.68142260e-01 -2.04463421e-03 3.32607871e+01] [ 3.72273248e-03 2.26905276e-04 9.99993045e-01 5.78128949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:33.28, Z:0.58 [[ 8.69370859e-01 -4.94146257e-01 -3.71310846e-03 1.43094167e+02] [ 4.94140339e-01 8.69378742e-01 -2.43482583e-03 3.32772541e+01] [ 4.43125763e-03 2.81969953e-04 9.99990142e-01 5.77961036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:33.29, Z:0.58 [[ 8.70401675e-01 -4.92323087e-01 -4.34767558e-03 1.43116296e+02] [ 4.92314947e-01 8.70412466e-01 -2.85159062e-03 3.32929942e+01] [ 5.18817493e-03 3.41603580e-04 9.99986483e-01 5.77687416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:33.31, Z:0.58 [[ 8.71134094e-01 -4.91021763e-01 -4.79777439e-03 1.43138095e+02] [ 4.91011828e-01 8.71147220e-01 -3.14734795e-03 3.33081630e+01] [ 5.72498416e-03 3.85998131e-04 9.99983538e-01 5.77725465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:33.32, Z:0.58 [[ 8.71352912e-01 -4.90632060e-01 -4.92792514e-03 1.43160910e+02] [ 4.90621566e-01 8.71366755e-01 -3.23384997e-03 3.33242304e+01] [ 5.88066061e-03 4.00078238e-04 9.99982629e-01 5.77317876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:33.34, Z:0.58 [[ 8.70762674e-01 -4.91683073e-01 -4.48559233e-03 1.43182789e+02] [ 4.91674386e-01 8.70774154e-01 -2.94469575e-03 3.33421454e+01] [ 5.35379492e-03 3.58680295e-04 9.99985604e-01 5.76565831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:33.36, Z:0.58 [[ 8.70073061e-01 -4.92903971e-01 -4.30632224e-03 1.43205827e+02] [ 4.92895973e-01 8.70083652e-01 -2.82810051e-03 3.33590053e+01] [ 5.14084255e-03 3.38085175e-04 9.99986729e-01 5.76520754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:33.38, Z:0.58 [[ 8.69086531e-01 -4.94642779e-01 -4.13807050e-03 1.43228156e+02] [ 4.94635409e-01 8.69096325e-01 -2.71865501e-03 3.33752944e+01] [ 4.94114493e-03 3.15910258e-04 9.99987743e-01 5.76814637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:33.39, Z:0.58 [[ 8.66872184e-01 -4.98503213e-01 -5.21182018e-03 1.43249962e+02] [ 4.98491586e-01 8.66887772e-01 -3.42485557e-03 3.33913111e+01] [ 6.22536469e-03 3.70863515e-04 9.99980553e-01 5.77486583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:33.41, Z:0.58 [[ 8.65861292e-01 -5.00255139e-01 -5.38682860e-03 1.43273057e+02] [ 5.00242744e-01 8.65877969e-01 -3.54109887e-03 3.34070081e+01] [ 6.43578912e-03 3.71378523e-04 9.99979221e-01 5.77761171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:33.42, Z:0.58 [[ 8.65317041e-01 -5.01203335e-01 -4.65131384e-03 1.43296985e+02] [ 5.01194101e-01 8.65329485e-01 -3.05875980e-03 3.34224152e+01] [ 5.55797962e-03 3.15585917e-04 9.99984505e-01 5.78207966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:33.44, Z:0.58 [[ 8.65100017e-01 -5.01587795e-01 -3.41241696e-03 1.43320742e+02] [ 5.01582825e-01 8.65106716e-01 -2.24486482e-03 3.34377600e+01] [ 4.07810162e-03 2.30422857e-04 9.99991658e-01 5.78812861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:33.45, Z:0.58 [[ 8.65244167e-01 -5.01343971e-01 -2.59893932e-03 1.43343655e+02] [ 5.01341084e-01 8.65248052e-01 -1.71033200e-03 3.34534395e+01] [ 3.10619182e-03 1.76899726e-04 9.99995160e-01 5.78724260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:33.47, Z:0.58 [[ 8.65467278e-01 -5.00958843e-01 -2.57444965e-03 1.43366020e+02] [ 5.00956007e-01 8.65471089e-01 -1.69487228e-03 3.34698538e+01] [ 3.07717299e-03 1.77170482e-04 9.99995250e-01 5.78512346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:33.49, Z:0.58 [[ 8.65737640e-01 -5.00490220e-01 -2.80683429e-03 1.43388582e+02] [ 5.00486844e-01 8.65742168e-01 -1.84859717e-03 3.34865729e+01] [ 3.35519961e-03 1.95616510e-04 9.99994352e-01 5.78081652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:33.50, Z:0.58 [[ 8.67061765e-01 -4.98191936e-01 -2.94800173e-03 1.43410735e+02] [ 4.98188196e-01 8.67066750e-01 -1.94233466e-03 3.35032041e+01] [ 3.52376974e-03 2.15464458e-04 9.99993768e-01 5.78348246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:33.52, Z:0.58 [[ 8.68084267e-01 -4.96412103e-01 -2.17471516e-03 1.43433657e+02] [ 4.96410061e-01 8.68086976e-01 -1.43315080e-03 3.35173622e+01] [ 2.59927531e-03 1.64545176e-04 9.99996608e-01 5.79153669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:33.53, Z:0.58 [[ 8.69031110e-01 -4.94755853e-01 -1.25528787e-03 1.43458063e+02] [ 4.94755171e-01 8.69032011e-01 -8.27397857e-04 3.35321621e+01] [ 1.50024528e-03 9.79743137e-05 9.99998870e-01 5.79953860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:33.55, Z:0.58 [[ 8.68948871e-01 -4.94900276e-01 -1.25514395e-03 1.43481810e+02] [ 4.94899594e-01 8.68949772e-01 -8.27616131e-04 3.35479830e+01] [ 1.50024450e-03 9.79858696e-05 9.99998870e-01 5.79983217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:33.56, Z:0.58 [[ 8.69635381e-01 -4.93693752e-01 -8.84721898e-04 1.43505645e+02] [ 4.93693413e-01 8.69635828e-01 -5.83518282e-04 3.35631465e+01] [ 1.05746519e-03 7.06667709e-05 9.99999438e-01 5.80314841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:33.58, Z:0.58 [[ 8.70694959e-01 -4.91820212e-01 -1.77980236e-03 1.43528333e+02] [ 4.91818832e-01 8.70696766e-01 -1.17441222e-03 3.35782133e+01] [ 2.12726782e-03 1.47214486e-04 9.99997727e-01 5.79289357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.55, Y:33.59, Z:0.58 [[ 8.71222143e-01 -4.90881257e-01 -2.75133628e-03 1.43551020e+02] [ 4.90877953e-01 8.71226456e-01 -1.81583936e-03 3.35929831e+01] [ 3.28839846e-03 2.31429137e-04 9.99994566e-01 5.78786885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:33.61, Z:0.58 [[ 8.71751566e-01 -4.89935838e-01 -3.47596050e-03 1.43574969e+02] [ 4.89930553e-01 8.71758445e-01 -2.29484793e-03 3.36082918e+01] [ 4.15452616e-03 2.97558028e-04 9.99991326e-01 5.78070197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:33.62, Z:0.58 [[ 8.72851513e-01 -4.87969854e-01 -3.95699459e-03 1.43598136e+02] [ 4.87962982e-01 8.72860412e-01 -2.61344493e-03 3.36243758e+01] [ 4.72918627e-03 3.50282480e-04 9.99988756e-01 5.76939269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:33.64, Z:0.58 [[ 8.73477766e-01 -4.86851090e-01 -3.55072724e-03 1.43620797e+02] [ 4.86845543e-01 8.73484925e-01 -2.34599104e-03 3.36411621e+01] [ 4.24365501e-03 3.20515277e-04 9.99990944e-01 5.76393167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:33.66, Z:0.58 [[ 8.74118235e-01 -4.85704337e-01 -2.93407850e-03 1.43643064e+02] [ 4.85700540e-01 8.74123118e-01 -1.93927254e-03 3.36576593e+01] [ 3.50665893e-03 2.70069972e-04 9.99993815e-01 5.76472303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:33.67, Z:0.58 [[ 8.74977046e-01 -4.84159546e-01 -2.16877918e-03 1.43666081e+02] [ 4.84157465e-01 8.74979710e-01 -1.43394315e-03 3.36732898e+01] [ 2.59189504e-03 2.04636707e-04 9.99996620e-01 5.77021671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:33.69, Z:0.58 [[ 8.75817720e-01 -4.82637014e-01 -2.19854395e-03 1.43688604e+02] [ 4.82634870e-01 8.75820454e-01 -1.45399152e-03 3.36879928e+01] [ 2.62727989e-03 2.12337566e-04 9.99996526e-01 5.77770617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:33.70, Z:0.58 [[ 8.76259859e-01 -4.81824107e-01 -3.76696988e-03 1.43711724e+02] [ 4.81817803e-01 8.76267878e-01 -2.49214939e-03 3.37032084e+01] [ 4.50165236e-03 3.68777322e-04 9.99989800e-01 5.76057529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:33.72, Z:0.57 [[ 8.75866367e-01 -4.82531618e-01 -4.62004876e-03 1.43733993e+02] [ 4.82522141e-01 8.75878437e-01 -3.05720290e-03 3.37182845e+01] [ 5.52179815e-03 4.48425377e-04 9.99984654e-01 5.74884942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:33.73, Z:0.57 [[ 8.75090476e-01 -4.83933683e-01 -4.98488755e-03 1.43757136e+02] [ 4.83922667e-01 8.75104545e-01 -3.29977438e-03 3.37339838e+01] [ 5.95916972e-03 4.75301056e-04 9.99982131e-01 5.73747297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:33.75, Z:0.57 [[ 8.74131044e-01 -4.85666335e-01 -4.80922473e-03 1.43780163e+02] [ 4.85656100e-01 8.74144159e-01 -3.18472424e-03 3.37491222e+01] [ 5.75066906e-03 4.48237003e-04 9.99983364e-01 5.73896345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:33.76, Z:0.58 [[ 8.72578962e-01 -4.88454789e-01 -4.22769916e-03 1.43803168e+02] [ 4.88446909e-01 8.72589122e-01 -2.80020560e-03 3.37633095e+01] [ 5.05681813e-03 3.78393913e-04 9.99987143e-01 5.75794114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48140051299998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:143.83, Y:33.78, Z:0.58 [[ 8.71992971e-01 -4.89501776e-01 -4.03351556e-03 1.43826609e+02] [ 4.89494610e-01 8.72002228e-01 -2.67249085e-03 3.37791692e+01] [ 4.82542357e-03 3.56009114e-04 9.99988294e-01 5.75624822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:33.79, Z:0.58 [[ 8.71978271e-01 -4.89530563e-01 -3.70444292e-03 1.43849163e+02] [ 4.89524517e-01 8.71986078e-01 -2.45497446e-03 3.37931882e+01] [ 4.43200769e-03 3.27268749e-04 9.99990125e-01 5.75661377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:33.81, Z:0.58 [[ 8.71765046e-01 -4.89911698e-01 -3.49759795e-03 1.43872719e+02] [ 4.89906307e-01 8.71772008e-01 -2.31865980e-03 3.38089236e+01] [ 4.18504655e-03 3.07831269e-04 9.99991195e-01 5.75218616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:33.82, Z:0.57 [[ 8.71610770e-01 -4.90188002e-01 -3.22296899e-03 1.43895804e+02] [ 4.90183424e-01 8.71616683e-01 -2.13740642e-03 3.38246089e+01] [ 3.85692453e-03 2.83140481e-04 9.99992522e-01 5.74899553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.92, Y:33.84, Z:0.57 [[ 8.71615201e-01 -4.90190713e-01 7.59410458e-05 1.43916540e+02] [ 4.90183621e-01 8.71601736e-01 -5.51647003e-03 3.38445903e+01] [ 2.63793203e-03 4.84546419e-03 9.99984781e-01 5.71493803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:33.85, Z:0.58 [[ 8.72231456e-01 -4.89052138e-01 -6.34779957e-03 1.43943591e+02] [ 4.89068900e-01 8.72244148e-01 1.32546110e-03 3.38549840e+01] [ 4.88861144e-03 -4.26062022e-03 9.99978974e-01 5.77029003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:33.87, Z:0.58 [[ 8.73115470e-01 -4.87485687e-01 -5.20391831e-03 1.43962570e+02] [ 4.87473687e-01 8.73130847e-01 -3.45387235e-03 3.38744867e+01] [ 6.22741493e-03 4.78856138e-04 9.99980495e-01 5.75151596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:33.89, Z:0.57 [[ 8.74290613e-01 -4.85360921e-01 -6.37970427e-03 1.43985233e+02] [ 4.85342817e-01 8.74313678e-01 -4.23579663e-03 3.38915264e+01] [ 7.63375286e-03 6.06973591e-04 9.99970678e-01 5.74741029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:33.91, Z:0.57 [[ 8.76659327e-01 -4.81065348e-01 -6.67497416e-03 1.44004460e+02] [ 4.81045398e-01 8.76684479e-01 -4.43271492e-03 3.39107030e+01] [ 7.98427179e-03 6.75015275e-04 9.99967897e-01 5.74669580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:33.93, Z:0.57 [[ 8.77682866e-01 -4.79210969e-01 -5.44367179e-03 1.44025851e+02] [ 4.79197658e-01 8.77699565e-01 -3.61626814e-03 3.39287186e+01] [ 6.51086373e-03 5.65341813e-04 9.99978644e-01 5.74809171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:144.05, Y:33.95, Z:0.57 [[ 8.78464768e-01 -4.77790629e-01 -3.97077234e-03 1.44047842e+02] [ 4.77783527e-01 8.78473641e-01 -2.63878473e-03 3.39458689e+01] [ 4.74900545e-03 4.20909802e-04 9.99988635e-01 5.74997848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:33.96, Z:0.58 [[ 8.79229799e-01 -4.76390346e-01 -2.68296264e-03 1.44070689e+02] [ 4.76387096e-01 8.79233845e-01 -1.78332786e-03 3.39611712e+01] [ 3.20851173e-03 2.89826216e-04 9.99994811e-01 5.76561558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:33.98, Z:0.58 [[ 8.79174237e-01 -4.76493728e-01 -2.52735529e-03 1.44093761e+02] [ 4.76490843e-01 8.79177828e-01 -1.68041118e-03 3.39769047e+01] [ 3.02270012e-03 2.73112558e-04 9.99995394e-01 5.77318455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:33.99, Z:0.58 [[ 8.78666677e-01 -4.77423538e-01 -3.41102233e-03 1.44116516e+02] [ 4.77418286e-01 8.78673222e-01 -2.26889081e-03 3.39932226e+01] [ 4.08039586e-03 3.65114318e-04 9.99991609e-01 5.76983812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:34.01, Z:0.58 [[ 8.77273848e-01 -4.79967948e-01 -4.62224886e-03 1.44138079e+02] [ 4.79958332e-01 8.77285893e-01 -3.07579880e-03 3.40113276e+01] [ 5.53131856e-03 4.79830991e-04 9.99984587e-01 5.75886180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:34.03, Z:0.58 [[ 8.76670401e-01 -4.81072673e-01 -4.25341030e-03 1.44160759e+02] [ 4.81064541e-01 8.76680611e-01 -2.83093266e-03 3.40267176e+01] [ 5.09076669e-03 4.35629995e-04 9.99986947e-01 5.76070240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:34.04, Z:0.58 [[ 8.76159324e-01 -4.82007038e-01 -3.74890605e-03 1.44184835e+02] [ 4.82000726e-01 8.76167262e-01 -2.49597098e-03 3.40413240e+01] [ 4.48774433e-03 3.79892809e-04 9.99989858e-01 5.76795519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:34.06, Z:0.58 [[ 8.75770949e-01 -4.82715182e-01 -3.36129376e-03 1.44208359e+02] [ 4.82710110e-01 8.75777334e-01 -2.23837658e-03 3.40554973e+01] [ 4.02424324e-03 3.37774707e-04 9.99991846e-01 5.77385460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:34.07, Z:0.58 [[ 8.75324014e-01 -4.83519670e-01 -4.07411514e-03 1.44231074e+02] [ 4.83512226e-01 8.75333402e-01 -2.71352869e-03 3.40703889e+01] [ 4.87825356e-03 4.05332346e-04 9.99988019e-01 5.77705342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:34.09, Z:0.58 [[ 8.75081469e-01 -4.83952469e-01 -4.73616259e-03 1.44253885e+02] [ 4.83942409e-01 8.75094159e-01 -3.15554409e-03 3.40863874e+01] [ 5.67172158e-03 4.69328227e-04 9.99983806e-01 5.77373499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.28, Y:34.10, Z:0.58 [[ 8.74791266e-01 -4.84474931e-01 -4.92781055e-03 1.44277033e+02] [ 4.84464041e-01 8.74805010e-01 -3.28447872e-03 3.41020292e+01] [ 5.90212096e-03 4.85886282e-04 9.99982464e-01 5.77124796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:34.12, Z:0.58 [[ 8.74128651e-01 -4.85675838e-01 -4.25233338e-03 1.44299884e+02] [ 4.85667738e-01 8.74138896e-01 -2.83532423e-03 3.41180360e+01] [ 5.09417847e-03 4.13217011e-04 9.99986939e-01 5.77553567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:34.13, Z:0.58 [[ 8.73452807e-01 -4.86898950e-01 -3.09940027e-03 1.44321552e+02] [ 4.86894652e-01 8.73458256e-01 -2.06714043e-03 3.41335998e+01] [ 3.71368526e-03 2.96468196e-04 9.99993060e-01 5.77756571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:34.15, Z:0.58 [[ 8.72799498e-01 -4.88072206e-01 -2.56088276e-03 1.44344035e+02] [ 4.88069275e-01 8.72803221e-01 -1.70853485e-03 3.41499612e+01] [ 3.06903509e-03 2.41320165e-04 9.99995261e-01 5.78116075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:34.17, Z:0.58 [[ 8.72278637e-01 -4.89001711e-01 -2.70286929e-03 1.44364645e+02] [ 4.88987369e-01 8.72278610e-01 -4.62372931e-03 3.41687386e+01] [ 4.61866662e-03 2.71151136e-03 9.99985658e-01 5.77250392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:34.18, Z:0.58 [[ 8.71839259e-01 -4.89751764e-01 -6.28619552e-03 1.44389650e+02] [ 4.89753098e-01 8.71859998e-01 -1.43082866e-03 3.41827570e+01] [ 6.18143327e-03 -1.83123113e-03 9.99979218e-01 5.79142769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:34.20, Z:0.58 [[ 8.70979655e-01 -4.91293009e-01 -5.06168246e-03 1.44408047e+02] [ 4.91281599e-01 8.70994243e-01 -3.37930944e-03 3.42029950e+01] [ 6.06892739e-03 4.56598316e-04 9.99981480e-01 5.78927723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:34.22, Z:0.58 [[ 8.70104507e-01 -4.92851029e-01 -4.00129674e-03 1.44430601e+02] [ 4.92843911e-01 8.70113636e-01 -2.67223999e-03 3.42203837e+01] [ 4.79859908e-03 3.53113323e-04 9.99988424e-01 5.79468707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:34.24, Z:0.58 [[ 8.69033607e-01 -4.94744608e-01 -2.89180270e-03 1.44453280e+02] [ 4.94740898e-01 8.69038383e-01 -1.93194572e-03 3.42369196e+01] [ 3.46890727e-03 2.48232696e-04 9.99993953e-01 5.79991529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:34.25, Z:0.58 [[ 8.67908074e-01 -4.96720447e-01 -2.09098428e-03 1.44475518e+02] [ 4.96718512e-01 8.67910576e-01 -1.39723391e-03 3.42517616e+01] [ 2.50882203e-03 1.74039995e-04 9.99996838e-01 5.80247789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:34.27, Z:0.58 [[ 8.66541401e-01 -4.99101860e-01 -1.82592257e-03 1.44499230e+02] [ 4.99100390e-01 8.66543312e-01 -1.22044275e-03 3.42667655e+01] [ 2.19136624e-03 1.46245505e-04 9.99997588e-01 5.80327195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:34.28, Z:0.58 [[ 8.65048061e-01 -5.01685566e-01 -1.85617984e-03 1.44522422e+02] [ 5.01684051e-01 8.65050040e-01 -1.24100512e-03 3.42805962e+01] [ 2.22828280e-03 1.42313253e-04 9.99997507e-01 5.80219577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:144.55, Y:34.29, Z:0.58 [[ 8.61991554e-01 -5.06915102e-01 -2.76407688e-03 1.44547233e+02] [ 5.06911767e-01 8.61995964e-01 -1.84865141e-03 3.42946261e+01] [ 3.31973243e-03 1.92378806e-04 9.99994471e-01 5.80362153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:34.31, Z:0.58 [[ 8.61109370e-01 -5.08410841e-01 -3.01156215e-03 1.44570358e+02] [ 5.08406890e-01 8.61114612e-01 -2.01467176e-03 3.43091638e+01] [ 3.61758114e-03 2.03753786e-04 9.99993436e-01 5.81681793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:34.32, Z:0.58 [[ 8.60410247e-01 -5.09591273e-01 -3.30769504e-03 1.44592930e+02] [ 5.09586514e-01 8.60416577e-01 -2.21316838e-03 3.43234498e+01] [ 3.97380694e-03 2.18675968e-04 9.99992080e-01 5.81945261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:34.34, Z:0.58 [[ 8.59768641e-01 -5.10669534e-01 -3.80942204e-03 1.44617004e+02] [ 5.10663228e-01 8.59777044e-01 -2.54977882e-03 3.43380296e+01] [ 4.57734798e-03 2.46888118e-04 9.99989493e-01 5.82018698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:34.35, Z:0.58 [[ 8.59281234e-01 -5.11488382e-01 -3.92387274e-03 1.44640966e+02] [ 5.11481697e-01 8.59290156e-01 -2.62698641e-03 3.43516874e+01] [ 4.71541824e-03 2.50331033e-04 9.99988851e-01 5.81760842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:34.36, Z:0.58 [[ 8.58340571e-01 -5.13076205e-01 -2.06665212e-03 1.44665791e+02] [ 5.13065095e-01 8.58339138e-01 -4.25826002e-03 3.43643196e+01] [ 3.95870029e-03 2.59471027e-03 9.99988798e-01 5.79327508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:34.37, Z:0.58 [[ 8.57715399e-01 -5.14103456e-01 -4.68304635e-03 1.44693223e+02] [ 5.14107270e-01 8.57725784e-01 -4.41342186e-04 3.43745786e+01] [ 4.24366514e-03 -2.02904218e-03 9.99988937e-01 5.82125061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:34.39, Z:0.58 [[ 8.56982962e-01 -5.15336567e-01 -2.90278964e-03 1.44717149e+02] [ 5.15332927e-01 8.56987861e-01 -1.94445880e-03 3.43882904e+01] [ 3.48970620e-03 1.70464982e-04 9.99993896e-01 5.81743038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:34.40, Z:0.58 [[ 8.56050075e-01 -5.16886200e-01 -2.63151955e-03 1.44743212e+02] [ 5.16883214e-01 8.56054107e-01 -1.76328334e-03 3.44005920e+01] [ 3.16413995e-03 1.49270550e-04 9.99994983e-01 5.82100856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:34.41, Z:0.58 [[ 8.54857376e-01 -5.18856433e-01 -2.62086727e-03 1.44768537e+02] [ 5.18853478e-01 8.54861382e-01 -1.75685373e-03 3.44127974e+01] [ 3.15203307e-03 1.42013274e-04 9.99995022e-01 5.81750442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:34.42, Z:0.58 [[ 8.53682255e-01 -5.20786474e-01 -2.83840729e-03 1.44793794e+02] [ 5.20783017e-01 8.53686961e-01 -1.90319586e-03 3.44244717e+01] [ 3.41426995e-03 1.46530224e-04 9.99994161e-01 5.81042756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:34.43, Z:0.58 [[ 8.51898943e-01 -5.23694809e-01 -3.45522147e-03 1.44823068e+02] [ 5.23689707e-01 8.51905934e-01 -2.31757277e-03 3.44316304e+01] [ 4.15722450e-03 1.64873878e-04 9.99991345e-01 5.79911072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:34.44, Z:0.58 [[ 8.51479179e-01 -5.24379355e-01 -3.08219593e-03 1.44848409e+02] [ 5.24375298e-01 8.51484745e-01 -2.06790086e-03 3.44419891e+01] [ 3.70880733e-03 1.44547123e-04 9.99993112e-01 5.80281005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:34.45, Z:0.58 [[ 8.51265098e-01 -5.24730399e-01 -2.39598392e-03 1.44876681e+02] [ 5.24727947e-01 8.51268463e-01 -1.60798875e-03 3.44509140e+01] [ 2.88338613e-03 1.11584977e-04 9.99995837e-01 5.81842404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:34.46, Z:0.58 [[ 8.51382573e-01 -5.24537823e-01 -2.79059024e-03 1.44901153e+02] [ 5.24534493e-01 8.51387136e-01 -1.87360644e-03 3.44645603e+01] [ 3.35865008e-03 1.31395033e-04 9.99994351e-01 5.82040556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:34.48, Z:0.58 [[ 8.51466470e-01 -5.24397029e-01 -3.55045402e-03 1.44924861e+02] [ 5.24391635e-01 8.51473856e-01 -2.38449895e-03 3.44776007e+01] [ 4.27354294e-03 1.68492518e-04 9.99990854e-01 5.81890785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:34.49, Z:0.58 [[ 8.51292019e-01 -5.24676410e-01 -4.06974483e-03 1.44950271e+02] [ 5.24669320e-01 8.51301726e-01 -2.73425578e-03 3.44907733e+01] [ 4.89918030e-03 1.92379873e-04 9.99987980e-01 5.82068671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:34.51, Z:0.58 [[ 8.51231275e-01 -5.24774957e-01 -4.06938136e-03 1.44973882e+02] [ 5.24767867e-01 8.51240981e-01 -2.73479667e-03 3.45067878e+01] [ 4.89917699e-03 1.92463883e-04 9.99987980e-01 5.82102697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:34.52, Z:0.58 [[ 8.50716499e-01 -5.25610707e-01 -3.85005673e-03 1.44999103e+02] [ 5.25604364e-01 8.50725192e-01 -2.58833145e-03 3.45191951e+01] [ 4.63579498e-03 1.78329653e-04 9.99989239e-01 5.82617811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:34.53, Z:0.58 [[ 8.49333344e-01 -5.27851866e-01 -2.29757003e-03 1.45025749e+02] [ 5.27849614e-01 8.49336446e-01 -1.54513627e-03 3.45299920e+01] [ 2.76701303e-03 9.95643040e-05 9.99996167e-01 5.83086755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:34.54, Z:0.58 [[ 8.48401967e-01 -5.29348133e-01 -2.15793306e-03 1.45048496e+02] [ 5.29346150e-01 8.48404706e-01 -1.45165826e-03 3.45437321e+01] [ 2.59923315e-03 8.92961665e-05 9.99996618e-01 5.82844050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:34.56, Z:0.58 [[ 8.47246998e-01 -5.31192925e-01 -2.56919035e-03 1.45071620e+02] [ 5.31190122e-01 8.47250887e-01 -1.72871699e-03 3.45582337e+01] [ 3.09503104e-03 9.99217482e-05 9.99995205e-01 5.82342258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:34.57, Z:0.58 [[ 8.46068811e-01 -5.33064884e-01 -3.06536518e-03 1.45095881e+02] [ 5.33060902e-01 8.46074357e-01 -2.06331126e-03 3.45730898e+01] [ 3.69340564e-03 1.11676975e-04 9.99993173e-01 5.82235579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:145.12, Y:34.59, Z:0.58 [[ 8.44562864e-01 -5.35447236e-01 -3.13463682e-03 1.45119734e+02] [ 5.35443086e-01 8.44568675e-01 -2.11081562e-03 3.45876080e+01] [ 3.77764646e-03 1.04296870e-04 9.99992859e-01 5.82792268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:145.14, Y:34.60, Z:0.58 [[ 8.42951484e-01 -5.37978167e-01 -3.50523979e-03 1.45142749e+02] [ 5.37972996e-01 8.42958766e-01 -2.36106951e-03 3.46012847e+01] [ 4.22497646e-03 1.04542698e-04 9.99991069e-01 5.84109572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:34.62, Z:0.58 [[ 8.42981933e-01 -5.37921982e-01 -4.62621853e-03 1.45165842e+02] [ 5.37912967e-01 8.42994616e-01 -3.11733560e-03 3.46177877e+01] [ 5.57676066e-03 1.39354655e-04 9.99984440e-01 5.84595460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:34.63, Z:0.58 [[ 8.43349845e-01 -5.37325803e-01 -6.48231319e-03 1.45188198e+02] [ 5.37325633e-01 8.43372690e-01 -1.91567536e-03 3.46325805e+01] [ 6.49634771e-03 -1.86752852e-03 9.99977155e-01 5.84589207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:145.21, Y:34.65, Z:0.58 [[ 8.43482676e-01 -5.37131251e-01 -5.19566524e-03 1.45208051e+02] [ 5.37102626e-01 8.43495649e-01 -5.98829204e-03 3.46529672e+01] [ 7.59901982e-03 2.26041515e-03 9.99968572e-01 5.82728468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:34.67, Z:0.59 [[ 8.43443174e-01 -5.37192433e-01 -5.28226027e-03 1.45229401e+02] [ 5.37180644e-01 8.43459698e-01 -3.56281242e-03 3.46713265e+01] [ 6.36928952e-03 1.67501839e-04 9.99979702e-01 5.85017585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:34.69, Z:0.59 [[ 8.43087308e-01 -5.37755000e-01 -4.83224166e-03 1.45250775e+02] [ 5.37745136e-01 8.43101143e-01 -3.26056154e-03 3.46891488e+01] [ 5.82745174e-03 1.50423602e-04 9.99983009e-01 5.85814227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:34.71, Z:0.59 [[ 8.42351038e-01 -5.38909016e-01 -4.66921503e-03 1.45271407e+02] [ 5.38899820e-01 8.42363967e-01 -3.15135969e-03 3.47067271e+01] [ 5.63147464e-03 1.38311972e-04 9.99984134e-01 5.86099314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.29, Y:34.73, Z:0.59 [[ 8.41016166e-01 -5.40991200e-01 -4.50889866e-03 1.45292797e+02] [ 5.40982648e-01 8.41028244e-01 -3.04427279e-03 3.47253288e+01] [ 5.43903591e-03 1.21046699e-04 9.99985201e-01 5.85994645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:34.74, Z:0.59 [[ 8.39857778e-01 -5.42791342e-01 -4.05853871e-03 1.45313574e+02] [ 5.42784431e-01 8.39867578e-01 -2.74091967e-03 3.47431149e+01] [ 4.89638254e-03 9.90710835e-05 9.99988008e-01 5.85707691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:34.76, Z:0.59 [[ 8.38457279e-01 -5.44953672e-01 -3.85837609e-03 1.45335116e+02] [ 5.44947444e-01 8.38466153e-01 -2.60667271e-03 3.47608734e+01] [ 4.65563362e-03 8.29715148e-05 9.99989159e-01 5.85553075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:34.78, Z:0.59 [[ 8.36089996e-01 -5.48582588e-01 -3.26551830e-03 1.45355097e+02] [ 5.48578152e-01 8.36096371e-01 -2.20672184e-03 3.47800262e+01] [ 3.94085718e-03 5.36260573e-05 9.99992233e-01 5.86216485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:34.80, Z:0.59 [[ 8.35260100e-01 -5.49844622e-01 -3.38491928e-03 1.45377126e+02] [ 5.49839863e-01 8.35266957e-01 -2.28822299e-03 3.47981289e+01] [ 4.08547833e-03 5.00978106e-05 9.99991653e-01 5.86501768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:34.82, Z:0.59 [[ 8.34781783e-01 -5.50569288e-01 -3.58249335e-03 1.45398246e+02] [ 5.50563961e-01 8.34789469e-01 -2.42246869e-03 3.48158332e+01] [ 4.32436458e-03 4.98410074e-05 9.99990649e-01 5.86466188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:34.84, Z:0.59 [[ 8.34982329e-01 -5.50261751e-01 -4.06387000e-03 1.45419522e+02] [ 5.50254888e-01 8.34992216e-01 -2.74900962e-03 3.48351386e+01] [ 4.90597467e-03 5.92101201e-05 9.99987964e-01 5.86832201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:34.85, Z:0.59 [[ 8.35461057e-01 -5.49532690e-01 -4.31804680e-03 1.45441115e+02] [ 5.49524927e-01 8.35472213e-01 -2.92176244e-03 3.48522645e+01] [ 5.21321209e-03 6.81443832e-05 9.99986409e-01 5.87070551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:34.87, Z:0.59 [[ 8.35977256e-01 -5.48740686e-01 -5.06824758e-03 1.45462113e+02] [ 5.48729972e-01 8.35992615e-01 -3.43018271e-03 3.48688663e+01] [ 6.11929836e-03 8.64553840e-05 9.99981273e-01 5.87520910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:34.89, Z:0.59 [[ 8.36393741e-01 -5.48101461e-01 -5.50430813e-03 1.45484045e+02] [ 5.48088801e-01 8.36411847e-01 -3.72672593e-03 3.48856923e+01] [ 6.64649246e-03 1.00160601e-04 9.99977907e-01 5.86913911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.51, Y:34.90, Z:0.59 [[ 8.36914372e-01 -5.47305780e-01 -5.54225569e-03 1.45506038e+02] [ 5.47292921e-01 8.36932716e-01 -3.75339234e-03 3.49019024e+01] [ 6.69274843e-03 1.08030690e-04 9.99977597e-01 5.86424726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:34.92, Z:0.59 [[ 8.37427166e-01 -5.46526393e-01 -4.96414342e-03 1.45528421e+02] [ 5.46516058e-01 8.37441873e-01 -3.36259658e-03 3.49178858e+01] [ 5.99492934e-03 1.02945629e-04 9.99982025e-01 5.86302254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:34.93, Z:0.59 [[ 8.38960789e-01 -5.44177804e-01 -3.91305686e-03 1.45552133e+02] [ 5.44171352e-01 8.38969909e-01 -2.65151375e-03 3.49332893e+01] [ 4.72583189e-03 9.51426257e-05 9.99988829e-01 5.87435973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:34.95, Z:0.59 [[ 8.39757841e-01 -5.42944250e-01 -4.27902874e-03 1.45575858e+02] [ 5.42936513e-01 8.39768735e-01 -2.90071139e-03 3.49486986e+01] [ 5.16831912e-03 1.12654186e-04 9.99986638e-01 5.88028911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:34.96, Z:0.59 [[ 8.40539916e-01 -5.41732944e-01 -4.25042861e-03 1.45599614e+02] [ 5.41725289e-01 8.40550654e-01 -2.88250356e-03 3.49639886e+01] [ 5.13424769e-03 1.20294637e-04 9.99986812e-01 5.88435375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:34.98, Z:0.59 [[ 8.42196845e-01 -5.39162302e-01 -2.91321332e-03 1.45622276e+02] [ 5.39158688e-01 8.42201878e-01 -1.97612755e-03 3.49795222e+01] [ 3.51896721e-03 9.36041148e-05 9.99993804e-01 5.88731729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:34.99, Z:0.59 [[ 8.43295143e-01 -5.37444089e-01 -2.67468934e-03 1.45645373e+02] [ 5.37441032e-01 8.43299379e-01 -1.81491423e-03 3.49949870e+01] [ 3.23097878e-03 9.30205514e-05 9.99994776e-01 5.88221898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:35.01, Z:0.59 [[ 8.44802574e-01 -5.35069094e-01 -3.11046046e-03 1.45668453e+02] [ 5.35064942e-01 8.44808292e-01 -2.11130304e-03 3.50099367e+01] [ 3.75743579e-03 1.19335896e-04 9.99992934e-01 5.88412740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:35.03, Z:0.59 [[ 8.46327684e-01 -5.32648589e-01 -3.86413744e-03 1.45692027e+02] [ 5.32642151e-01 8.46336490e-01 -2.62385769e-03 3.50258087e+01] [ 4.66795461e-03 1.62440922e-04 9.99989092e-01 5.87867956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:35.04, Z:0.59 [[ 8.47751219e-01 -5.30376406e-01 -4.32877231e-03 1.45715316e+02] [ 5.30368291e-01 8.47762248e-01 -2.94053886e-03 3.50419098e+01] [ 5.22936218e-03 1.97001832e-04 9.99986307e-01 5.87449099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:35.06, Z:0.59 [[ 8.49686282e-01 -5.27266417e-01 -4.83190536e-03 1.45737081e+02] [ 5.27256249e-01 8.49699987e-01 -3.28331162e-03 3.50580813e+01] [ 5.83684987e-03 2.42132551e-04 9.99982936e-01 5.87136168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:35.07, Z:0.59 [[ 8.50100245e-01 -5.26595851e-01 -5.13644315e-03 1.45760277e+02] [ 5.26584342e-01 8.50115722e-01 -3.49154906e-03 3.50732951e+01] [ 6.20520632e-03 2.63396178e-04 9.99980713e-01 5.87516033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:35.09, Z:0.59 [[ 8.50306972e-01 -5.26265297e-01 -4.78445288e-03 1.45783725e+02] [ 5.26255301e-01 8.50320396e-01 -3.25308356e-03 3.50873129e+01] [ 5.78030285e-03 2.48275941e-04 9.99983263e-01 5.87630858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:35.10, Z:0.59 [[ 8.50108814e-01 -5.26591744e-01 -4.01747316e-03 1.45807423e+02] [ 5.26584695e-01 8.50118281e-01 -2.73251063e-03 3.51019758e+01] [ 4.85424492e-03 2.07391491e-04 9.99988197e-01 5.87380547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:35.12, Z:0.59 [[ 8.49806878e-01 -5.27084011e-01 -3.27351696e-03 1.45829866e+02] [ 5.27079333e-01 8.49813166e-01 -2.22704633e-03 3.51166798e+01] [ 3.95571833e-03 1.67156153e-04 9.99992162e-01 5.87326721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:35.13, Z:0.59 [[ 8.49936307e-01 -5.26876799e-01 -3.01887782e-03 1.45852307e+02] [ 5.26872816e-01 8.49941654e-01 -2.05447273e-03 3.51342963e+01] [ 3.64832402e-03 1.55606310e-04 9.99993333e-01 5.87362285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:35.15, Z:0.59 [[ 8.50648498e-01 -5.25719394e-01 -4.03126413e-03 1.45874722e+02] [ 5.25712274e-01 8.50658023e-01 -2.74460795e-03 3.51518844e+01] [ 4.87212081e-03 2.15411601e-04 9.99988108e-01 5.87544275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:35.17, Z:0.59 [[ 8.51623477e-01 -5.24130891e-01 -4.92572994e-03 1.45896376e+02] [ 5.24120226e-01 8.51637677e-01 -3.35499061e-03 3.51692475e+01] [ 5.95339143e-03 2.75514078e-04 9.99982240e-01 5.87655188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:35.19, Z:0.59 [[ 8.52675861e-01 -5.22414172e-01 -5.22574559e-03 1.45917272e+02] [ 5.22402129e-01 8.52691820e-01 -3.56041559e-03 3.51872901e+01] [ 6.31596208e-03 3.05939811e-04 9.99980007e-01 5.87716205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:35.21, Z:0.59 [[ 8.53679731e-01 -5.20779766e-01 -4.39915218e-03 1.45937177e+02] [ 5.20771206e-01 8.53691023e-01 -2.99801004e-03 3.52054542e+01] [ 5.31681969e-03 2.68388615e-04 9.99985830e-01 5.87243373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:35.22, Z:0.59 [[ 8.54257245e-01 -5.19838227e-01 -3.57433958e-03 1.45958239e+02] [ 5.19832564e-01 8.54264694e-01 -2.43673720e-03 3.52240452e+01] [ 4.32014125e-03 2.23542303e-04 9.99990643e-01 5.87728583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:35.24, Z:0.59 [[ 8.54000498e-01 -5.20261008e-01 -3.41087132e-03 1.45978266e+02] [ 5.20255852e-01 8.54007283e-01 -2.32590378e-03 3.52424001e+01] [ 4.12298600e-03 2.11797220e-04 9.99991478e-01 5.88756375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:35.26, Z:0.59 [[ 8.53633295e-01 -5.20858325e-01 -4.09914419e-03 1.46000786e+02] [ 5.20857792e-01 8.53642501e-01 -1.28085075e-03 3.52581895e+01] [ 4.16634548e-03 -1.04169435e-03 9.99990778e-01 5.90237458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:35.28, Z:0.59 [[ 8.52922061e-01 -5.22031774e-01 -2.60481245e-03 1.46021021e+02] [ 5.22023401e-01 8.52924809e-01 -3.29221102e-03 3.52785989e+01] [ 3.94034792e-03 1.44822635e-03 9.99991188e-01 5.90012295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:35.30, Z:0.59 [[ 8.51938035e-01 -5.23640424e-01 -1.51398580e-03 1.46039269e+02] [ 5.23639412e-01 8.51939375e-01 -1.03304953e-03 3.53006822e+01] [ 1.83077061e-03 8.73115484e-05 9.99998320e-01 5.89552785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:35.32, Z:0.59 [[ 8.51693172e-01 -5.24039530e-01 -1.14515461e-03 1.46060549e+02] [ 5.24038951e-01 8.51693940e-01 -7.81529714e-04 3.53194931e+01] [ 1.38487370e-03 6.55179030e-05 9.99999039e-01 5.89473601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:35.34, Z:0.59 [[ 8.51751538e-01 -5.23943920e-01 -1.44449680e-03 1.46081539e+02] [ 5.23942998e-01 8.51752759e-01 -9.86230716e-04 3.53375056e+01] [ 1.74708372e-03 8.31895455e-05 9.99998470e-01 5.89604273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:35.36, Z:0.59 [[ 8.51820415e-01 -5.23830412e-01 -1.91840474e-03 1.46102169e+02] [ 5.23823684e-01 8.51820949e-01 -3.13342047e-03 3.53567494e+01] [ 3.27551829e-03 1.66420568e-03 9.99993251e-01 5.88740355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:35.37, Z:0.59 [[ 8.51614343e-01 -5.24149261e-01 -4.53474580e-03 1.46125499e+02] [ 5.24149254e-01 8.51625451e-01 -1.28511442e-03 3.53727484e+01] [ 4.53549670e-03 -1.28246175e-03 9.99988892e-01 5.90228378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:35.39, Z:0.59 [[ 8.51224657e-01 -5.24781915e-01 -4.53034618e-03 1.46146403e+02] [ 5.24772845e-01 8.51236674e-01 -3.09619006e-03 3.53917636e+01] [ 5.48122137e-03 2.58150669e-04 9.99984945e-01 5.89965951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:35.41, Z:0.59 [[ 8.50405231e-01 -5.26109421e-01 -4.45204631e-03 1.46168020e+02] [ 5.26100675e-01 8.50416849e-01 -3.04359908e-03 3.54077137e+01] [ 5.38736134e-03 2.46068012e-04 9.99985458e-01 5.89979926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:35.42, Z:0.59 [[ 8.49771302e-01 -5.27138521e-01 -3.70326041e-03 1.46191426e+02] [ 5.27132475e-01 8.49779348e-01 -2.53258827e-03 3.54233531e+01] [ 4.48197905e-03 2.00012006e-04 9.99989936e-01 5.90288337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:35.44, Z:0.59 [[ 8.49407875e-01 -5.27730417e-01 -2.62094584e-03 1.46213470e+02] [ 5.27727390e-01 8.49411907e-01 -1.79284678e-03 3.54391852e+01] [ 3.17240238e-03 1.39713262e-04 9.99994958e-01 5.90500295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:35.46, Z:0.59 [[ 8.49330652e-01 -5.27856617e-01 -2.19912861e-03 1.46235730e+02] [ 5.27854485e-01 8.49333491e-01 -1.50475767e-03 3.54561346e+01] [ 2.66208988e-03 1.17216913e-04 9.99996450e-01 5.90310299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:35.47, Z:0.59 [[ 8.50384982e-01 -5.26148371e-01 -3.64337687e-03 1.46259460e+02] [ 5.26142498e-01 8.50392762e-01 -2.49417652e-03 3.54710901e+01] [ 4.41060823e-03 2.04074853e-04 9.99990252e-01 5.89419028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:35.49, Z:0.59 [[ 8.51112804e-01 -5.24960361e-01 -4.85944199e-03 1.46283092e+02] [ 5.24949890e-01 8.51126630e-01 -3.32750211e-03 3.54850854e+01] [ 5.88280720e-03 2.81116111e-04 9.99982657e-01 5.89072676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:35.50, Z:0.59 [[ 8.51918654e-01 -5.23645730e-01 -5.45496026e-03 1.46306027e+02] [ 5.23632504e-01 8.51936056e-01 -3.73606523e-03 3.54997213e+01] [ 6.60365193e-03 3.26429169e-04 9.99978142e-01 5.88373046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:35.52, Z:0.59 [[ 8.52472881e-01 -5.22745008e-01 -5.25768842e-03 1.46329140e+02] [ 5.22732696e-01 8.52489034e-01 -3.60226195e-03 3.55154490e+01] [ 6.36518617e-03 3.22464982e-04 9.99979690e-01 5.88141908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:35.53, Z:0.59 [[ 8.53396448e-01 -5.21252707e-01 -3.18078965e-03 1.46352358e+02] [ 5.21248189e-01 8.53402352e-01 -2.17971745e-03 3.55287278e+01] [ 3.85067699e-03 2.02182284e-04 9.99992566e-01 5.88912664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:35.54, Z:0.59 [[ 8.53341094e-01 -5.21343323e-01 -3.18057558e-03 1.46375804e+02] [ 5.21338804e-01 8.53346998e-01 -2.18002980e-03 3.55449646e+01] [ 3.85067860e-03 2.02151545e-04 9.99992566e-01 5.88947410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:35.56, Z:0.59 [[ 8.53224793e-01 -5.21535732e-01 -2.81645243e-03 1.46400513e+02] [ 5.21532187e-01 8.53229423e-01 -1.93106781e-03 3.55587405e+01] [ 3.41020095e-03 1.78764338e-04 9.99994169e-01 5.89366455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.43, Y:35.57, Z:0.59 [[ 8.52881129e-01 -5.22098049e-01 -2.72150111e-03 1.46425252e+02] [ 5.22094740e-01 8.52885454e-01 -1.86667953e-03 3.55721666e+01] [ 3.29571845e-03 1.71174330e-04 9.99994554e-01 5.89949321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.45, Y:35.59, Z:0.59 [[ 8.52371667e-01 -5.22931319e-01 -2.31860971e-03 1.46448724e+02] [ 5.22928919e-01 8.52374809e-01 -1.59075660e-03 3.55853175e+01] [ 2.80818095e-03 1.43447786e-04 9.99996047e-01 5.90071981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:35.60, Z:0.59 [[ 8.51879177e-01 -5.23738325e-01 -1.85634261e-04 1.46474710e+02] [ 5.23738309e-01 8.51879198e-01 -1.27151525e-04 3.55965845e+01] [ 2.24732092e-04 1.10939628e-05 9.99999975e-01 5.90248599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:35.61, Z:0.59 [[ 8.51995922e-01 -5.23548285e-01 -3.77310204e-04 1.46498282e+02] [ 5.23548222e-01 8.51996005e-01 -2.58899475e-04 3.56091991e+01] [ 4.57013163e-04 2.30412104e-05 9.99999895e-01 5.90026963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:35.62, Z:0.59 [[ 8.52421551e-01 -5.22853247e-01 -1.40721383e-03 1.46523204e+02] [ 5.22852362e-01 8.52422708e-01 -9.66247506e-04 3.56232932e+01] [ 1.70474667e-03 8.78851239e-05 9.99998543e-01 5.89353071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:35.64, Z:0.59 [[ 8.53319181e-01 -5.21381732e-01 -2.73204789e-03 1.46546852e+02] [ 5.21378385e-01 8.53323537e-01 -1.87666955e-03 3.56372863e+01] [ 3.30978199e-03 1.76967412e-04 9.99994507e-01 5.88555762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:35.65, Z:0.59 [[ 8.54602029e-01 -5.19270994e-01 -3.60647383e-03 1.46570795e+02] [ 5.19265139e-01 8.54609604e-01 -2.47819053e-03 3.56524243e+01] [ 4.36897963e-03 2.45150517e-04 9.99990426e-01 5.87847315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:35.67, Z:0.59 [[ 8.58847730e-01 -5.12202659e-01 -5.38630407e-03 1.46594260e+02] [ 5.12189452e-01 8.58864517e-01 -3.70213440e-03 3.56660700e+01] [ 6.52234853e-03 4.20761601e-04 9.99978641e-01 5.88699451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:35.68, Z:0.59 [[ 8.61268255e-01 -5.08110959e-01 -6.34393803e-03 1.46617465e+02] [ 5.08092517e-01 8.61291454e-01 -4.36181844e-03 3.56813087e+01] [ 7.68026736e-03 5.33388319e-04 9.99970364e-01 5.88907057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:35.70, Z:0.59 [[ 8.63388227e-01 -5.04497658e-01 -6.54848249e-03 1.46640042e+02] [ 5.04477891e-01 8.63412862e-01 -4.50413865e-03 3.56977053e+01] [ 7.92637141e-03 5.85255646e-04 9.99968415e-01 5.88511969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:35.72, Z:0.59 [[ 8.66596697e-01 -4.98983256e-01 -5.08679877e-03 1.46659969e+02] [ 4.98971229e-01 8.66611485e-01 -3.49954435e-03 3.57162560e+01] [ 6.15449227e-03 4.94527333e-04 9.99980939e-01 5.87783425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:35.73, Z:0.59 [[ 8.67526309e-01 -4.97374394e-01 -4.10068891e-03 1.46682403e+02] [ 4.97366556e-01 8.67535904e-01 -2.82204085e-03 3.57330588e+01] [ 4.96110572e-03 4.08649161e-04 9.99987610e-01 5.88165286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:35.75, Z:0.59 [[ 8.67912355e-01 -4.96702384e-01 -3.85813758e-03 1.46705471e+02] [ 4.96695434e-01 8.67920843e-01 -2.65612855e-03 3.57497699e+01] [ 4.66786341e-03 3.88967468e-04 9.99989030e-01 5.88666304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:35.77, Z:0.59 [[ 8.67644734e-01 -4.97167596e-01 -4.12270852e-03 1.46726991e+02] [ 4.97159663e-01 8.67654430e-01 -2.83892359e-03 3.57657288e+01] [ 4.98850713e-03 4.13532725e-04 9.99987472e-01 5.88904553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:35.79, Z:0.59 [[ 8.65457581e-01 -5.00959099e-01 -4.81217191e-03 1.46747584e+02] [ 5.00948341e-01 8.65470838e-01 -3.31483155e-03 3.57850499e+01] [ 5.82538948e-03 4.58196560e-04 9.99982927e-01 5.88116360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:35.80, Z:0.59 [[ 8.63885275e-01 -5.03671803e-01 -4.11667952e-03 1.46768938e+02] [ 5.03663958e-01 8.63895001e-01 -2.83633048e-03 3.58023162e+01] [ 4.98495854e-03 3.76841034e-04 9.99987504e-01 5.88042664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:35.82, Z:0.59 [[ 8.62179936e-01 -5.06590802e-01 -3.39362699e-03 1.46791462e+02] [ 5.06585490e-01 8.62186564e-01 -2.33888282e-03 3.58190319e+01] [ 4.11079612e-03 2.97375654e-04 9.99991506e-01 5.88442851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:35.84, Z:0.59 [[ 8.60624203e-01 -5.09232880e-01 -2.80256060e-03 1.46813442e+02] [ 5.09229270e-01 8.60628734e-01 -1.93194570e-03 3.58352941e+01] [ 3.39577446e-03 2.35533342e-04 9.99994207e-01 5.88696994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:35.85, Z:0.59 [[ 8.59240855e-01 -5.11565723e-01 -2.37983146e-03 1.46834439e+02] [ 5.11563128e-01 8.59244130e-01 -1.64079183e-03 3.58522596e+01] [ 2.88422907e-03 1.92401348e-04 9.99995822e-01 5.89042575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:35.87, Z:0.59 [[ 8.57657642e-01 -5.14213713e-01 -2.76161064e-03 1.46854166e+02] [ 5.14210231e-01 8.57662061e-01 -1.90457122e-03 3.58724359e+01] [ 3.34788532e-03 2.13421616e-04 9.99994373e-01 5.89438115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:35.89, Z:0.59 [[ 8.57457338e-01 -5.14545967e-01 -3.05964073e-03 1.46876438e+02] [ 5.14541691e-01 8.57462764e-01 -2.11094171e-03 3.58898625e+01] [ 3.70970454e-03 2.35729746e-04 9.99993091e-01 5.89245055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:35.91, Z:0.59 [[ 8.57463122e-01 -5.14535070e-01 -3.26434367e-03 1.46898200e+02] [ 5.14530199e-01 8.57469299e-01 -2.25288520e-03 3.59062866e+01] [ 3.95826292e-03 2.52162581e-04 9.99992134e-01 5.89780235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:35.92, Z:0.59 [[ 8.57355111e-01 -5.14716556e-01 -3.01359093e-03 1.46920401e+02] [ 5.14712403e-01 8.57360375e-01 -2.08053361e-03 3.59236135e+01] [ 3.65461854e-03 2.32623492e-04 9.99993295e-01 5.90369876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:35.94, Z:0.59 [[ 8.56930411e-01 -5.15428002e-01 -2.06071680e-03 1.46939921e+02] [ 5.15426061e-01 8.56932874e-01 -1.42298919e-03 3.59421450e+01] [ 2.49934444e-03 1.57255568e-04 9.99996864e-01 5.89809962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:35.96, Z:0.59 [[ 8.56477985e-01 -5.16179707e-01 -1.99303396e-03 1.46962687e+02] [ 5.16177893e-01 8.56480290e-01 -1.37662710e-03 3.59584891e+01] [ 2.41758128e-03 1.50290733e-04 9.99997066e-01 5.89194434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:35.97, Z:0.59 [[ 8.55820303e-01 -5.17267415e-01 -2.45549121e-03 1.46984980e+02] [ 5.17264665e-01 8.55823807e-01 -1.69655120e-03 3.59734618e+01] [ 2.97903848e-03 1.81804123e-04 9.99995546e-01 5.89410397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:35.99, Z:0.59 [[ 8.54993877e-01 -5.18631036e-01 -2.70526241e-03 1.47008054e+02] [ 5.18627703e-01 8.54998134e-01 -1.86971293e-03 3.59897064e+01] [ 3.28268547e-03 1.95569082e-04 9.99994593e-01 5.89536804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:36.01, Z:0.59 [[ 8.54267944e-01 -5.19826948e-01 -2.49496674e-03 1.47030027e+02] [ 5.19824116e-01 8.54271569e-01 -1.72503330e-03 3.60066173e+01] [ 3.02809795e-03 1.76696772e-04 9.99995400e-01 5.89335389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:36.02, Z:0.59 [[ 8.53830074e-01 -5.20548486e-01 -1.86516303e-03 1.47052012e+02] [ 5.20546903e-01 8.53832101e-01 -1.29002925e-03 3.60240277e+01] [ 2.26405884e-03 1.30560935e-04 9.99997428e-01 5.89354331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77140051299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:147.07, Y:36.04, Z:0.59 [[ 8.53639644e-01 -5.20863096e-01 -9.96332386e-04 1.47074232e+02] [ 5.20862645e-01 8.53640223e-01 -6.89254701e-04 3.60397798e+01] [ 1.20951674e-03 6.94228164e-05 9.99999266e-01 5.89468244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:36.05, Z:0.59 [[ 8.53948261e-01 -5.20354693e-01 -1.83314761e-03 1.47096939e+02] [ 5.20353163e-01 8.53950219e-01 -1.26849792e-03 3.60539534e+01] [ 2.22548564e-03 1.29347434e-04 9.99997515e-01 5.90232097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:36.07, Z:0.59 [[ 8.54190647e-01 -5.19952419e-01 -2.79653328e-03 1.47120055e+02] [ 5.19948854e-01 8.54195201e-01 -1.93583547e-03 3.60695967e+01] [ 3.39532764e-03 1.99518275e-04 9.99994216e-01 5.89948724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:36.09, Z:0.59 [[ 8.54933486e-01 -5.18721021e-01 -4.15164179e-03 1.47141813e+02] [ 5.18713143e-01 8.54943512e-01 -2.87513682e-03 3.60873201e+01] [ 5.04081312e-03 3.04539591e-04 9.99987249e-01 5.88806941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:36.10, Z:0.59 [[ 8.55303197e-01 -5.18110558e-01 -4.22973504e-03 1.47163778e+02] [ 5.18102368e-01 8.55313598e-01 -2.93010190e-03 3.61037786e+01] [ 5.13586663e-03 3.14689783e-04 9.99986762e-01 5.88575892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:36.12, Z:0.59 [[ 8.55693531e-01 -5.17468447e-01 -3.87131444e-03 1.47187099e+02] [ 5.17461575e-01 8.55702239e-01 -2.68274047e-03 3.61199238e+01] [ 4.70092598e-03 2.92347198e-04 9.99988908e-01 5.88646969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:36.14, Z:0.59 [[ 8.56003717e-01 -5.16958586e-01 -3.38473089e-03 1.47210167e+02] [ 5.16953326e-01 8.56010370e-01 -2.34642752e-03 3.61353559e+01] [ 4.11037059e-03 2.58802792e-04 9.99991519e-01 5.89188646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:36.15, Z:0.59 [[ 8.56046602e-01 -5.16888064e-01 -3.30820851e-03 1.47232689e+02] [ 5.16883037e-01 8.56052957e-01 -2.29391733e-03 3.61509230e+01] [ 4.01770016e-03 2.53743271e-04 9.99991897e-01 5.89926375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:36.17, Z:0.59 [[ 8.55634266e-01 -5.17569734e-01 -3.40209544e-03 1.47254529e+02] [ 5.17564420e-01 8.55640990e-01 -2.35957856e-03 3.61675743e+01] [ 4.13221876e-03 2.58132723e-04 9.99991429e-01 5.89230987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:36.18, Z:0.59 [[ 8.55094353e-01 -5.18457624e-01 -3.91641871e-03 1.47277316e+02] [ 5.18450586e-01 8.55103272e-01 -2.71731109e-03 3.61844068e+01] [ 4.75775311e-03 2.93087790e-04 9.99988639e-01 5.88812869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:36.20, Z:0.59 [[ 8.54528958e-01 -5.19381494e-01 -4.80861236e-03 1.47299396e+02] [ 5.19370892e-01 8.54542414e-01 -3.33739248e-03 3.62005179e+01] [ 5.84254311e-03 3.54445224e-04 9.99982869e-01 5.88374619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:36.22, Z:0.59 [[ 8.53997849e-01 -5.20241967e-01 -5.99751465e-03 1.47322197e+02] [ 5.20225484e-01 8.54018797e-01 -4.16410280e-03 3.62170836e+01] [ 7.28833128e-03 4.36074862e-04 9.99973345e-01 5.87893562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:36.23, Z:0.59 [[ 8.53181838e-01 -5.21575627e-01 -6.29413287e-03 1.47344163e+02] [ 5.21557501e-01 8.53204938e-01 -4.37109061e-03 3.62330014e+01] [ 7.65003957e-03 4.46582914e-04 9.99970638e-01 5.88127423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.37, Y:36.25, Z:0.59 [[ 8.52936039e-01 -5.21990285e-01 -5.12402320e-03 1.47366931e+02] [ 5.21978272e-01 8.52951354e-01 -3.55968449e-03 3.62487812e+01] [ 6.22866324e-03 3.61554419e-04 9.99980536e-01 5.89143607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:36.26, Z:0.59 [[ 8.53136936e-01 -5.21669978e-01 -4.21932619e-03 1.47390422e+02] [ 5.21661824e-01 8.53147316e-01 -2.93230488e-03 3.62649667e+01] [ 5.12940224e-03 3.00596206e-04 9.99986799e-01 5.90755961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:36.28, Z:0.59 [[ 8.53498098e-01 -5.21081423e-01 -3.89192855e-03 1.47412811e+02] [ 5.21074474e-01 8.53506925e-01 -2.70584108e-03 3.62814677e+01] [ 4.73175149e-03 2.81445591e-04 9.99988766e-01 5.90856097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:36.30, Z:0.59 [[ 8.54738274e-01 -5.19054626e-01 -2.18593777e-03 1.47434995e+02] [ 5.19052427e-01 8.54741053e-01 -1.52014351e-03 3.62973252e+01] [ 2.65744827e-03 1.64708540e-04 9.99996455e-01 5.89917205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:36.31, Z:0.59 [[ 8.55564082e-01 -5.17695995e-01 -9.78963001e-04 1.47458495e+02] [ 5.17695553e-01 8.55564639e-01 -6.80869260e-04 3.63129885e+01] [ 1.19004942e-03 7.57224905e-05 9.99999289e-01 5.90210236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:36.33, Z:0.59 [[ 8.56501306e-01 -5.16144518e-01 -5.91000250e-04 1.47481517e+02] [ 5.16144356e-01 8.56501509e-01 -4.11092193e-04 3.63289963e+01] [ 7.18375588e-04 4.70595570e-05 9.99999741e-01 5.91073139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:36.35, Z:0.59 [[ 8.57573673e-01 -5.14360342e-01 -9.13138154e-04 1.47503710e+02] [ 5.14359954e-01 8.57574156e-01 -6.35566387e-04 3.63451735e+01] [ 1.10999383e-03 7.53633022e-05 9.99999381e-01 5.91842062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:36.36, Z:0.59 [[ 8.59609405e-01 -5.10947845e-01 -1.99289538e-03 1.47526112e+02] [ 5.10945990e-01 8.59611697e-01 -1.38777276e-03 3.63614741e+01] [ 2.42219568e-03 1.74680612e-04 9.99997051e-01 5.92481383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:36.38, Z:0.59 [[ 8.60398808e-01 -5.09616940e-01 -2.11323819e-03 1.47548891e+02] [ 5.09614849e-01 8.60401382e-01 -1.47199453e-03 3.63764897e+01] [ 2.56838641e-03 1.89564778e-04 9.99996684e-01 5.92104076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:36.39, Z:0.59 [[ 8.60871598e-01 -5.08817797e-01 -2.13084235e-03 1.47572818e+02] [ 5.08815668e-01 8.60874214e-01 -1.48467153e-03 3.63918457e+01] [ 2.58981452e-03 1.93905578e-04 9.99996628e-01 5.91789613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:36.41, Z:0.59 [[ 8.61227011e-01 -5.08217286e-01 -1.79611338e-03 1.47596084e+02] [ 5.08215771e-01 8.61228868e-01 -1.25187593e-03 3.64069143e+01] [ 2.18308968e-03 1.65336216e-04 9.99997603e-01 5.91409694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:36.42, Z:0.59 [[ 8.61800221e-01 -5.07244670e-01 -1.79528639e-03 1.47619599e+02] [ 5.07243154e-01 8.61802075e-01 -1.25177641e-03 3.64224632e+01] [ 2.18213845e-03 1.68134451e-04 9.99997605e-01 5.91421543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:36.44, Z:0.59 [[ 8.62451534e-01 -5.06135134e-01 -2.13961786e-03 1.47641527e+02] [ 5.06132975e-01 8.62454164e-01 -1.49239974e-03 3.64374347e+01] [ 2.60067828e-03 2.04191287e-04 9.99996597e-01 5.91747538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:36.45, Z:0.59 [[ 8.64114104e-01 -5.03285820e-01 -3.19358584e-03 1.47664727e+02] [ 5.03280987e-01 8.64119947e-01 -2.22843021e-03 3.64528962e+01] [ 3.88117855e-03 3.18346938e-04 9.99992418e-01 5.91854754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:36.47, Z:0.59 [[ 8.64724590e-01 -5.02235285e-01 -3.33199033e-03 1.47686616e+02] [ 5.02230014e-01 8.64730943e-01 -2.32572937e-03 3.64691204e+01] [ 4.04933849e-03 3.37689827e-04 9.99991744e-01 5.91421358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:36.49, Z:0.59 [[ 8.65196573e-01 -5.01421903e-01 -3.31125227e-03 1.47709302e+02] [ 5.01416688e-01 8.65202843e-01 -2.31203781e-03 3.64864444e+01] [ 4.02421127e-03 3.40050047e-04 9.99991845e-01 5.90742510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:36.50, Z:0.59 [[ 8.65179343e-01 -5.01450455e-01 -3.48493838e-03 1.47730877e+02] [ 5.01444675e-01 8.65186288e-01 -2.43425870e-03 3.65049430e+01] [ 4.23578103e-03 3.58566550e-04 9.99990965e-01 5.88633993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:36.52, Z:0.59 [[ 8.64721046e-01 -5.02234800e-01 -4.20938288e-03 1.47752759e+02] [ 5.02226370e-01 8.64731184e-01 -2.94149007e-03 3.65220687e+01] [ 5.11730332e-03 4.29505284e-04 9.99986814e-01 5.88497907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:36.54, Z:0.59 [[ 8.64275164e-01 -5.02998529e-01 -4.57397404e-03 1.47774078e+02] [ 5.02988581e-01 8.64287144e-01 -3.19698226e-03 3.65389827e+01] [ 5.56130433e-03 4.62415648e-04 9.99984429e-01 5.88920464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:36.56, Z:0.59 [[ 8.63841028e-01 -5.03742999e-01 -4.65497602e-03 1.47795818e+02] [ 5.03732701e-01 8.63853444e-01 -3.25470892e-03 3.65561689e+01] [ 5.66075390e-03 4.66687451e-04 9.99983869e-01 5.90104259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:36.57, Z:0.59 [[ 8.63755028e-01 -5.03890453e-01 -4.65441253e-03 1.47819125e+02] [ 5.03880152e-01 8.63767442e-01 -3.25551466e-03 3.65726206e+01] [ 5.66075276e-03 4.66701060e-04 9.99983869e-01 5.90138987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:36.59, Z:0.59 [[ 8.63548085e-01 -5.04254410e-01 -3.49204486e-03 1.47839708e+02] [ 5.04248613e-01 8.63555075e-01 -2.44298464e-03 3.65904301e+01] [ 4.24745884e-03 3.48775934e-04 9.99990919e-01 5.92020740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:36.61, Z:0.59 [[ 8.63395665e-01 -5.04520524e-01 -2.63948290e-03 1.47861513e+02] [ 5.04517211e-01 8.63399659e-01 -1.84706066e-03 3.66075046e+01] [ 3.21080865e-03 2.63079620e-04 9.99994811e-01 5.92411508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:36.63, Z:0.59 [[ 8.63262817e-01 -5.04749378e-01 -2.31823220e-03 1.47883570e+02] [ 5.04746822e-01 8.63265899e-01 -1.62283247e-03 3.66256775e+01] [ 2.82037448e-03 2.30810596e-04 9.99995996e-01 5.92999842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:36.65, Z:0.59 [[ 8.63225959e-01 -5.04811354e-01 -2.53772993e-03 1.47902498e+02] [ 5.04808289e-01 8.63229653e-01 -1.77719418e-03 3.66473631e+01] [ 3.08779153e-03 2.53053047e-04 9.99995201e-01 5.91746093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:36.67, Z:0.59 [[ 8.63060059e-01 -5.05090334e-01 -3.33010025e-03 1.47922417e+02] [ 5.05085056e-01 8.63066420e-01 -2.33272938e-03 3.66657534e+01] [ 4.05233677e-03 3.31301683e-04 9.99991734e-01 5.90917277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:36.68, Z:0.59 [[ 8.62691687e-01 -5.05715376e-01 -3.87455996e-03 1.47943113e+02] [ 5.05708235e-01 8.62700303e-01 -2.71458837e-03 3.66839382e+01] [ 4.71539313e-03 3.82455937e-04 9.99988809e-01 5.90347493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:36.70, Z:0.59 [[ 8.61763459e-01 -5.07304734e-01 -2.37643444e-03 1.47962596e+02] [ 5.07302052e-01 8.61766705e-01 -1.66540705e-03 3.67041160e+01] [ 2.89280096e-03 2.29616878e-04 9.99995789e-01 5.92028016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:36.72, Z:0.59 [[ 8.61117860e-01 -5.08403047e-01 -1.54063019e-03 1.47983962e+02] [ 5.08401921e-01 8.61119225e-01 -1.07994266e-03 3.67215511e+01] [ 1.87571241e-03 1.46698565e-04 9.99998230e-01 5.93387839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:36.74, Z:0.59 [[ 8.60195549e-01 -5.09963563e-01 -8.84177886e-04 1.48005479e+02] [ 5.09963193e-01 8.60195999e-01 -6.19858442e-04 3.67389890e+01] [ 1.07667150e-03 8.23012949e-05 9.99999417e-01 5.93809254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:36.76, Z:0.59 [[ 8.59638341e-01 -5.10902940e-01 -3.30126282e-04 1.48026275e+02] [ 5.10902889e-01 8.59638403e-01 -2.31459356e-04 3.67557959e+01] [ 4.02042496e-04 3.03088652e-05 9.99999919e-01 5.94019689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:36.77, Z:0.59 [[ 8.59207663e-01 -5.11626895e-01 3.34914635e-04 1.48048110e+02] [ 5.11626842e-01 8.59207728e-01 2.35285301e-04 3.67738314e+01] [-4.08139530e-04 -3.08076171e-05 9.99999916e-01 5.93477826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:36.79, Z:0.59 [[ 8.59015507e-01 -5.11949359e-01 -4.61100071e-04 1.48068660e+02] [ 5.11949258e-01 8.59015630e-01 -3.23424663e-04 3.67939378e+01] [ 5.61669217e-04 4.17669613e-05 9.99999841e-01 5.91756547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.09, Y:36.81, Z:0.59 [[ 8.59353242e-01 -5.11380571e-01 -1.38441080e-03 1.48090157e+02] [ 5.11379663e-01 8.59354348e-01 -9.71918080e-04 3.68096337e+01] [ 1.68671946e-03 1.27261425e-04 9.99998569e-01 5.91841057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:36.83, Z:0.59 [[ 8.59714589e-01 -5.10770919e-01 -1.97343466e-03 1.48113056e+02] [ 5.10769072e-01 8.59716834e-01 -1.38586402e-03 3.68258013e+01] [ 2.40445404e-03 1.83478125e-04 9.99997092e-01 5.92133832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:36.84, Z:0.59 [[ 8.60185394e-01 -5.09976123e-01 -2.33278091e-03 1.48135626e+02] [ 5.09973537e-01 8.60188529e-01 -1.63888019e-03 3.68420786e+01] [ 2.84242115e-03 2.20084266e-04 9.99995936e-01 5.92192378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:36.86, Z:0.59 [[ 8.60781136e-01 -5.08971060e-01 -2.07262944e-03 1.48157052e+02] [ 5.08969014e-01 8.60783608e-01 -1.45662889e-03 3.68609760e+01] [ 2.52546740e-03 1.98934512e-04 9.99996791e-01 5.91853659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:36.88, Z:0.59 [[ 8.60731389e-01 -5.09055802e-01 -1.91495059e-03 1.48179110e+02] [ 5.09054055e-01 8.60733499e-01 -1.34630323e-03 3.68780015e+01] [ 2.33360559e-03 1.83992086e-04 9.99997260e-01 5.91377838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.20, Y:36.89, Z:0.59 [[ 8.60513672e-01 -5.09423494e-01 -1.98086143e-03 1.48202297e+02] [ 5.09421624e-01 8.60515931e-01 -1.39318725e-03 3.68943433e+01] [ 2.41428514e-03 1.89763030e-04 9.99997068e-01 5.91354294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:36.91, Z:0.59 [[ 8.60210513e-01 -5.09934078e-01 -2.26023498e-03 1.48224583e+02] [ 5.09931644e-01 8.60213456e-01 -1.59022066e-03 3.69091950e+01] [ 2.75519225e-03 2.15359194e-04 9.99996181e-01 5.91188795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:36.92, Z:0.59 [[ 8.59516786e-01 -5.11100112e-01 -2.75153717e-03 1.48246847e+02] [ 5.11096509e-01 8.59521151e-01 -1.93631079e-03 3.69246128e+01] [ 3.35465305e-03 2.57990583e-04 9.99994340e-01 5.90252485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:36.94, Z:0.59 [[ 8.59004398e-01 -5.11959569e-01 -2.97389749e-03 1.48269725e+02] [ 5.11955363e-01 8.59009501e-01 -2.09344706e-03 3.69411084e+01] [ 3.62636645e-03 2.75777463e-04 9.99993387e-01 5.90022181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:36.96, Z:0.59 [[ 8.58522827e-01 -5.12763394e-01 -3.50105184e-03 1.48291490e+02] [ 5.12757569e-01 8.58529905e-01 -2.46514332e-03 3.69563006e+01] [ 4.26979296e-03 3.21190980e-04 9.99990833e-01 5.89729557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:36.97, Z:0.59 [[ 8.58139183e-01 -5.13397415e-01 -4.49854357e-03 1.48314778e+02] [ 5.13387800e-01 8.58150876e-01 -3.16858485e-03 3.69718767e+01] [ 5.48717238e-03 4.09589428e-04 9.99984861e-01 5.89909187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:36.99, Z:0.59 [[ 8.57548601e-01 -5.14360687e-01 -6.59403425e-03 1.48337070e+02] [ 5.14340048e-01 8.57573748e-01 -4.64560834e-03 3.69877829e+01] [ 8.04438897e-03 5.92259035e-04 9.99967468e-01 5.89830416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:148.36, Y:37.00, Z:0.59 [[ 8.56956909e-01 -5.15350714e-01 -6.20464501e-03 1.48359102e+02] [ 5.15332455e-01 8.56979194e-01 -4.37283286e-03 3.70043545e+01] [ 7.57079422e-03 5.49874381e-04 9.99971190e-01 5.89364786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:37.02, Z:0.59 [[ 8.56880571e-01 -5.15489663e-01 -5.10828265e-03 1.48381165e+02] [ 5.15477285e-01 8.56895678e-01 -3.60087597e-03 3.70200539e+01] [ 6.23347966e-03 4.52316982e-04 9.99980469e-01 5.90001539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:37.04, Z:0.59 [[ 8.56939658e-01 -5.15404049e-01 -3.61798610e-03 1.48404278e+02] [ 5.15397835e-01 8.56947235e-01 -2.55113285e-03 3.70358057e+01] [ 4.41528738e-03 3.21464705e-04 9.99990201e-01 5.90390659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:37.05, Z:0.59 [[ 8.57415186e-01 -5.14617575e-01 -2.81967273e-03 1.48428232e+02] [ 5.14613795e-01 8.57419784e-01 -1.98892075e-03 3.70510149e+01] [ 3.44117676e-03 2.54288371e-04 9.99994047e-01 5.91821906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:37.07, Z:0.59 [[ 8.57480974e-01 -5.14503255e-01 -3.57502724e-03 1.48449371e+02] [ 5.14497173e-01 8.57488365e-01 -2.52237185e-03 3.70670559e+01] [ 4.36331279e-03 3.23544457e-04 9.99990428e-01 5.91653703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:37.08, Z:0.59 [[ 8.57081274e-01 -5.15164188e-01 -4.18916997e-03 1.48472011e+02] [ 5.15155842e-01 8.57091429e-01 -2.95634657e-03 3.70842887e+01] [ 5.11350556e-03 3.75753896e-04 9.99986855e-01 5.90966203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:37.10, Z:0.59 [[ 8.55144338e-01 -5.18384837e-01 -2.30676051e-03 1.48495384e+02] [ 5.18382317e-01 8.55147427e-01 -1.62834885e-03 3.70996933e+01] [ 2.81673167e-03 1.96689445e-04 9.99996014e-01 5.90707984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:37.11, Z:0.59 [[ 8.53863330e-01 -5.20495671e-01 -1.29262269e-03 1.48517760e+02] [ 5.20494882e-01 8.53864301e-01 -9.12649656e-04 3.71140222e+01] [ 1.57875457e-03 1.06474577e-04 9.99998748e-01 5.91513242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:37.13, Z:0.59 [[ 8.52670050e-01 -5.22446722e-01 -1.79134368e-03 1.48541172e+02] [ 5.22445210e-01 8.52671919e-01 -1.26513952e-03 3.71301052e+01] [ 2.18839645e-03 1.42867649e-04 9.99997595e-01 5.92405838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:37.15, Z:0.59 [[ 8.51179888e-01 -5.24855745e-01 -4.38700436e-03 1.48562931e+02] [ 5.24846698e-01 8.51191127e-01 -3.09985173e-03 3.71480778e+01] [ 5.36115418e-03 3.36026694e-04 9.99985572e-01 5.92140188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.58, Y:37.16, Z:0.59 [[ 8.50950109e-01 -5.25224770e-01 -4.78049873e-03 1.48584376e+02] [ 5.25214029e-01 8.50963459e-01 -3.37863168e-03 3.71649443e+01] [ 5.84257079e-03 3.64261998e-04 9.99982866e-01 5.91867360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:37.18, Z:0.59 [[ 8.50874134e-01 -5.25353374e-01 -4.12804930e-03 1.48606451e+02] [ 5.25345363e-01 8.50884089e-01 -2.91819013e-03 3.71808814e+01] [ 5.04557250e-03 3.14360945e-04 9.99987222e-01 5.91800570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:37.20, Z:0.59 [[ 8.50830893e-01 -5.25430578e-01 -3.08217450e-03 1.48629346e+02] [ 5.25426110e-01 8.50836443e-01 -2.17956583e-03 3.71970706e+01] [ 3.76763692e-03 2.34986986e-04 9.99992875e-01 5.92075388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:37.21, Z:0.59 [[ 8.51393938e-01 -5.24522181e-01 -2.20094943e-03 1.48651354e+02] [ 5.24519899e-01 8.51396765e-01 -1.55675244e-03 3.72119000e+01] [ 2.69043241e-03 1.70967818e-04 9.99996366e-01 5.92824983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:37.23, Z:0.59 [[ 8.51736217e-01 -5.23964030e-01 -2.66687980e-03 1.48674110e+02] [ 5.23960676e-01 8.51740366e-01 -1.88665103e-03 3.72273060e+01] [ 3.26002646e-03 2.09588869e-04 9.99994664e-01 5.93087783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:37.24, Z:0.59 [[ 8.51852627e-01 -5.23769623e-01 -3.53323431e-03 1.48697309e+02] [ 5.23763729e-01 8.51859909e-01 -2.50038425e-03 3.72431919e+01] [ 4.31944598e-03 2.79378913e-04 9.99990632e-01 5.93001195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:37.26, Z:0.59 [[ 8.51951767e-01 -5.23602428e-01 -4.32249561e-03 1.48719517e+02] [ 5.23593601e-01 8.51962663e-01 -3.05964783e-03 3.72588922e+01] [ 5.28464390e-03 3.43441334e-04 9.99985977e-01 5.92525992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.74, Y:37.28, Z:0.59 [[ 8.51829145e-01 -5.23800524e-01 -4.48544497e-03 1.48742253e+02] [ 5.23791016e-01 8.51840880e-01 -3.17605416e-03 3.72758450e+01] [ 5.48450422e-03 3.56019724e-04 9.99984897e-01 5.92161283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:37.29, Z:0.59 [[ 8.51739954e-01 -5.23951038e-01 -3.78961444e-03 1.48764052e+02] [ 5.23944249e-01 8.51748331e-01 -2.68409249e-03 3.72918372e+01] [ 4.63413082e-03 3.00602119e-04 9.99989217e-01 5.91204501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:37.31, Z:0.59 [[ 8.51949883e-01 -5.23621930e-01 -1.21321742e-03 1.48787154e+02] [ 5.23621234e-01 8.51950741e-01 -8.59409582e-04 3.73076701e+01] [ 1.48360718e-03 9.69074905e-05 9.99998895e-01 5.91584079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:37.32, Z:0.59 [[ 8.52279538e-01 -5.23086037e-01 -7.66601445e-04 1.48808900e+02] [ 5.23085758e-01 8.52279880e-01 -5.43180507e-04 3.73238307e+01] [ 9.37489126e-04 6.19433326e-05 9.99999559e-01 5.91985392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:37.34, Z:0.59 [[ 8.52558242e-01 -5.22629671e-01 -1.63414283e-03 1.48830481e+02] [ 5.22628405e-01 8.52559798e-01 -1.15829869e-03 3.73411444e+01] [ 1.99856574e-03 1.33467632e-04 9.99997994e-01 5.91802836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:37.36, Z:0.59 [[ 8.53034236e-01 -5.21845739e-01 -3.10127444e-03 1.48851998e+02] [ 5.21841169e-01 8.53039834e-01 -2.19896475e-03 3.73581392e+01] [ 3.79303102e-03 2.57419535e-04 9.99992773e-01 5.91475788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:37.37, Z:0.59 [[ 8.54066225e-01 -5.20149010e-01 -3.98618354e-03 1.48875050e+02] [ 5.20141438e-01 8.54075460e-01 -2.82735797e-03 3.73733714e+01] [ 4.87514899e-03 3.41371713e-04 9.99988058e-01 5.90711179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:37.39, Z:0.59 [[ 8.54498910e-01 -5.19438270e-01 -3.93659364e-03 1.48898740e+02] [ 5.19430872e-01 8.54507909e-01 -2.79326242e-03 3.73878161e+01] [ 4.81477780e-03 3.42051423e-04 9.99988350e-01 5.91066796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:37.40, Z:0.59 [[ 8.55124113e-01 -5.18409790e-01 -3.74704184e-03 1.48920451e+02] [ 5.18403075e-01 8.55132259e-01 -2.65935791e-03 3.74037577e+01] [ 4.58285352e-03 3.31603064e-04 9.99989444e-01 5.91012812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:37.42, Z:0.59 [[ 8.55689313e-01 -5.17477997e-01 -3.51037857e-03 1.48941847e+02] [ 5.17472094e-01 8.55696455e-01 -2.49179842e-03 3.74207433e+01] [ 4.29326935e-03 3.15682333e-04 9.99990734e-01 5.90410291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:37.44, Z:0.59 [[ 8.56477675e-01 -5.16173539e-01 -3.29690654e-03 1.48964197e+02] [ 5.16168319e-01 8.56483967e-01 -2.34098161e-03 3.74378331e+01] [ 4.03210035e-03 3.03239781e-04 9.99991825e-01 5.90822286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:37.45, Z:0.59 [[ 8.57502130e-01 -5.14472522e-01 -2.84991289e-03 1.48986921e+02] [ 5.14468610e-01 8.57506823e-01 -2.02431503e-03 3.74537552e+01] [ 3.48527421e-03 2.69663729e-04 9.99993890e-01 5.91575274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.01, Y:37.47, Z:0.59 [[ 8.58659977e-01 -5.12539476e-01 -2.51597731e-03 1.49008756e+02] [ 5.12536417e-01 8.58663628e-01 -1.78753079e-03 3.74690512e+01] [ 3.07655829e-03 2.45351149e-04 9.99995237e-01 5.92486362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:37.49, Z:0.59 [[ 8.60632850e-01 -5.09220439e-01 -2.37539472e-03 1.49029566e+02] [ 5.09217699e-01 8.60636094e-01 -1.68813879e-03 3.74875051e+01] [ 2.90398521e-03 2.43274664e-04 9.99995754e-01 5.93122997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:37.51, Z:0.59 [[ 8.61341948e-01 -5.08018488e-01 -2.69525322e-03 1.49050613e+02] [ 5.08014953e-01 8.61346119e-01 -1.91596725e-03 3.75051839e+01] [ 3.29489269e-03 2.81074024e-04 9.99994532e-01 5.92468647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:37.52, Z:0.59 [[ 8.61785919e-01 -5.07261555e-01 -3.27784010e-03 1.49071665e+02] [ 5.07256318e-01 8.61792084e-01 -2.33067446e-03 3.75214554e+01] [ 4.00707820e-03 3.45837333e-04 9.99991912e-01 5.91944605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:37.54, Z:0.59 [[ 8.61704777e-01 -5.07392304e-01 -4.23416899e-03 1.49094274e+02] [ 5.07383562e-01 8.61715063e-01 -3.01178488e-03 3.75384373e+01] [ 5.17680367e-03 4.46921672e-04 9.99986500e-01 5.92109502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:37.56, Z:0.59 [[ 8.61186345e-01 -5.08275337e-01 -3.77622107e-03 1.49114963e+02] [ 5.08268389e-01 8.61194534e-01 -2.68680515e-03 3.75560727e+01] [ 4.61769774e-03 3.94506111e-04 9.99989261e-01 5.92990734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.14, Y:37.57, Z:0.59 [[ 8.60608796e-01 -5.09257276e-01 -3.08654824e-03 1.49136476e+02] [ 5.09252638e-01 8.60614272e-01 -2.19681553e-03 3.75749786e+01] [ 3.77507175e-03 3.18765935e-04 9.99992824e-01 5.93262863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.16, Y:37.59, Z:0.59 [[ 8.60120686e-01 -5.10079979e-01 -3.28952180e-03 1.49157590e+02] [ 5.10074714e-01 8.60126910e-01 -2.34183525e-03 3.75926443e+01] [ 4.02392950e-03 3.36359053e-04 9.99991847e-01 5.93679332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:37.61, Z:0.59 [[ 8.59928648e-01 -5.10404089e-01 -3.22266206e-03 1.49180616e+02] [ 5.10399036e-01 8.59934624e-01 -2.29493498e-03 3.76084467e+01] [ 3.94262289e-03 3.28636724e-04 9.99992174e-01 5.93979236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:37.63, Z:0.59 [[ 8.59845304e-01 -5.10544484e-01 -3.22227996e-03 1.49203762e+02] [ 5.10539430e-01 8.59851279e-01 -2.29547142e-03 3.76251061e+01] [ 3.94262182e-03 3.28649349e-04 9.99992174e-01 5.94013965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:37.64, Z:0.59 [[ 8.59609864e-01 -5.10945036e-01 -2.46021176e-03 1.49226744e+02] [ 5.10942089e-01 8.59613348e-01 -1.75317036e-03 3.76419416e+01] [ 3.01060456e-03 2.50016796e-04 9.99995437e-01 5.94577577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:37.66, Z:0.59 [[ 8.59571299e-01 -5.11013155e-01 -1.65482291e-03 1.49248067e+02] [ 5.11011821e-01 8.59572875e-01 -1.17960027e-03 3.76598319e+01] [ 2.02523214e-03 1.68316466e-04 9.99997935e-01 5.94865689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:37.68, Z:0.59 [[ 8.59691993e-01 -5.10811263e-01 -1.23704685e-03 1.49269322e+02] [ 5.10810517e-01 8.59692874e-01 -8.82066966e-04 3.76783024e+01] [ 1.51405010e-03 1.26409368e-04 9.99998846e-01 5.94442816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:37.70, Z:0.59 [[ 8.60033589e-01 -5.10235669e-01 -1.33711773e-03 1.49290019e+02] [ 5.10234796e-01 8.60034618e-01 -9.53754794e-04 3.76951883e+01] [ 1.63660725e-03 1.38017168e-04 9.99998651e-01 5.93933346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:37.71, Z:0.59 [[ 8.60291476e-01 -5.09797182e-01 -2.32575302e-03 1.49311789e+02] [ 5.09794539e-01 8.60294586e-01 -1.65938741e-03 3.77114884e+01] [ 2.84678376e-03 2.41900659e-04 9.99995919e-01 5.93662983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:37.73, Z:0.59 [[ 8.59595458e-01 -5.10968623e-01 -2.59133839e-03 1.49334433e+02] [ 5.10965345e-01 8.59599323e-01 -1.84949924e-03 3.77287145e+01] [ 3.17254880e-03 2.65737029e-04 9.99994932e-01 5.93997890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:37.75, Z:0.59 [[ 8.58419558e-01 -5.12941285e-01 -2.66468286e-03 1.49356823e+02] [ 5.12937826e-01 8.58423652e-01 -1.90255721e-03 3.77459382e+01] [ 3.26332693e-03 2.66375683e-04 9.99994640e-01 5.94039430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:37.76, Z:0.59 [[ 8.57068816e-01 -5.15194561e-01 -2.75849427e-03 1.49379507e+02] [ 5.15190862e-01 8.57073213e-01 -1.97028394e-03 3.77622963e+01] [ 3.37931111e-03 2.67517882e-04 9.99994254e-01 5.93955164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:37.78, Z:0.59 [[ 8.55474344e-01 -5.17836741e-01 -2.95908082e-03 1.49401843e+02] [ 5.17832498e-01 8.55479417e-01 -2.11420262e-03 3.77770905e+01] [ 3.62624453e-03 2.76337889e-04 9.99993387e-01 5.93677017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:37.79, Z:0.59 [[ 8.52039342e-01 -5.23465720e-01 -3.54948983e-03 1.49426465e+02] [ 5.23459661e-01 8.52046681e-01 -2.53696837e-03 3.77914138e+01] [ 4.35234701e-03 3.03582123e-04 9.99990482e-01 5.93394917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:37.81, Z:0.59 [[ 8.50776073e-01 -5.25517198e-01 -3.42763972e-03 1.49448964e+02] [ 5.25511561e-01 8.50782930e-01 -2.45043870e-03 3.78070623e+01] [ 4.20392505e-03 2.83510314e-04 9.99991123e-01 5.93445494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:37.82, Z:0.59 [[ 8.49770679e-01 -5.27134415e-01 -4.37054118e-03 1.49472627e+02] [ 5.27125266e-01 8.49781845e-01 -3.12560303e-03 3.78221241e+01] [ 5.36161948e-03 3.52223130e-04 9.99985564e-01 5.93117520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:37.84, Z:0.59 [[ 8.49916528e-01 -5.26890412e-01 -5.32817370e-03 1.49496233e+02] [ 5.26876800e-01 8.49933119e-01 -3.81201248e-03 3.78373432e+01] [ 6.53710412e-03 4.32601302e-04 9.99978539e-01 5.92988821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.52, Y:37.85, Z:0.59 [[ 8.50272079e-01 -5.26313601e-01 -5.60230746e-03 1.49518870e+02] [ 5.26298533e-01 8.50290410e-01 -4.00899878e-03 3.78519455e+01] [ 6.87357889e-03 4.60253524e-04 9.99976271e-01 5.92424104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:37.87, Z:0.59 [[ 8.50913556e-01 -5.25274562e-01 -5.72317502e-03 1.49542179e+02] [ 5.25258804e-01 8.50932667e-01 -4.09694273e-03 3.78672154e+01] [ 7.02205639e-03 4.79996037e-04 9.99975230e-01 5.93395611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:37.88, Z:0.59 [[ 8.51675261e-01 -5.24035750e-01 -5.98193940e-03 1.49564457e+02] [ 5.24018495e-01 8.51696113e-01 -4.28342360e-03 3.78828922e+01] [ 7.33946163e-03 5.13439029e-04 9.99972934e-01 5.93724624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:37.90, Z:0.59 [[ 8.53447894e-01 -5.21122570e-01 -7.61317192e-03 1.49586951e+02] [ 5.21094486e-01 8.53481573e-01 -5.45353904e-03 3.78998012e+01] [ 9.33966422e-03 6.87129494e-04 9.99956148e-01 5.92510000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:149.61, Y:37.91, Z:0.59 [[ 8.54038870e-01 -5.20142281e-01 -8.34369522e-03 1.49608864e+02] [ 5.20123550e-01 8.54079455e-01 -4.44725177e-03 3.79148905e+01] [ 9.43938234e-03 -5.41626505e-04 9.99955301e-01 5.91444313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:37.93, Z:0.59 [[ 8.54496131e-01 -5.19412701e-01 -6.84168056e-03 1.49631318e+02] [ 5.19376207e-01 8.54521247e-01 -6.46478394e-03 3.79338339e+01] [ 9.20425230e-03 1.97072677e-03 9.99955698e-01 5.90858240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:37.95, Z:0.59 [[ 8.54910156e-01 -5.18737212e-01 -6.35054229e-03 1.49654631e+02] [ 5.18717574e-01 8.54933533e-01 -4.55316143e-03 3.79489532e+01] [ 7.79118583e-03 5.98406054e-04 9.99969469e-01 5.91286379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:37.96, Z:0.59 [[ 8.55237701e-01 -5.18211460e-01 -5.03564681e-03 1.49678058e+02] [ 5.18199096e-01 8.55252391e-01 -3.61171221e-03 3.79642440e+01] [ 6.17837964e-03 4.79404824e-04 9.99980799e-01 5.92443117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:37.98, Z:0.59 [[ 8.55813751e-01 -5.17261395e-01 -4.84494728e-03 1.49700995e+02] [ 5.17249930e-01 8.55827336e-01 -3.47564284e-03 3.79784498e+01] [ 5.94425419e-03 4.68454291e-04 9.99982223e-01 5.93568508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:38.00, Z:0.59 [[ 8.56077971e-01 -5.16817906e-01 -5.45519005e-03 1.49723894e+02] [ 5.16803353e-01 8.56095187e-01 -3.91477328e-03 3.79954217e+01] [ 6.69338687e-03 5.32090661e-04 9.99977457e-01 5.93104858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:38.01, Z:0.59 [[ 8.56415114e-01 -5.16255830e-01 -5.75074360e-03 1.49745968e+02] [ 5.16239634e-01 8.56434234e-01 -4.12847670e-03 3.80125342e+01] [ 7.05648385e-03 5.66928073e-04 9.99974942e-01 5.92368346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:38.03, Z:0.59 [[ 8.56892609e-01 -5.15468060e-01 -5.26653317e-03 1.49767253e+02] [ 5.15454457e-01 8.56908631e-01 -3.78163052e-03 3.80285502e+01] [ 6.46224748e-03 5.25793253e-04 9.99978981e-01 5.92015150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:38.04, Z:0.59 [[ 8.58215252e-01 -5.13270911e-01 -4.42179720e-03 1.49790151e+02] [ 5.13261290e-01 8.58226523e-01 -3.17556900e-03 3.80427139e+01] [ 5.42483083e-03 4.55784414e-04 9.99985182e-01 5.93244653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:38.06, Z:0.59 [[ 8.58698551e-01 -5.12465049e-01 -4.04618917e-03 1.49813261e+02] [ 5.12456979e-01 8.58707980e-01 -2.90673214e-03 3.80580817e+01] [ 4.96409355e-03 4.22508797e-04 9.99987590e-01 5.93956654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:38.07, Z:0.59 [[ 8.58916661e-01 -5.12101230e-01 -3.80795528e-03 1.49836108e+02] [ 5.12094074e-01 8.58925009e-01 -2.73659438e-03 3.80749091e+01] [ 4.67216137e-03 4.00475169e-04 9.99989005e-01 5.94568536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:38.09, Z:0.59 [[ 8.58701738e-01 -5.12462725e-01 -3.64427489e-03 1.49856569e+02] [ 5.12456172e-01 8.58709386e-01 -2.61953459e-03 3.80925651e+01] [ 4.47178689e-03 3.81867747e-04 9.99989929e-01 5.94682730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:38.11, Z:0.59 [[ 8.58550437e-01 -5.12714898e-01 -3.81853157e-03 1.49877654e+02] [ 5.12707703e-01 8.58558835e-01 -2.74542710e-03 3.81087207e+01] [ 4.68605539e-03 3.99297088e-04 9.99988941e-01 5.94770949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:38.13, Z:0.59 [[ 8.58358015e-01 -5.13033954e-01 -4.20474679e-03 1.49900082e+02] [ 5.13025228e-01 8.58368202e-01 -3.02416561e-03 3.81251352e+01] [ 5.16072058e-03 4.38675603e-04 9.99986587e-01 5.94973690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:38.14, Z:0.60 [[ 8.56866508e-01 -5.15526414e-01 -3.50757062e-03 1.49922303e+02] [ 5.15520359e-01 8.56873614e-01 -2.52365841e-03 3.81429723e+01] [ 4.30655729e-03 3.54214308e-04 9.99990664e-01 5.96043903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:38.16, Z:0.60 [[ 8.55602351e-01 -5.17627402e-01 -2.54769746e-03 1.49943812e+02] [ 5.17624215e-01 8.55606107e-01 -1.83353616e-03 3.81591604e+01] [ 3.12891406e-03 2.50027951e-04 9.99995074e-01 5.96512560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:38.17, Z:0.60 [[ 8.54192260e-01 -5.19953550e-01 -1.97168235e-03 1.49966548e+02] [ 5.19951647e-01 8.54194515e-01 -1.41939541e-03 3.81749464e+01] [ 2.42221993e-03 1.87257091e-04 9.99997049e-01 5.96733126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:38.19, Z:0.60 [[ 8.53015315e-01 -5.21882548e-01 -1.86504909e-03 1.49989254e+02] [ 5.21880848e-01 8.53017337e-01 -1.34304355e-03 3.81893340e+01] [ 2.29183019e-03 1.72303315e-04 9.99997359e-01 5.96933988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:38.20, Z:0.60 [[ 8.52321576e-01 -5.23014733e-01 -1.87643042e-03 1.50012737e+02] [ 5.23013014e-01 8.52323624e-01 -1.35166286e-03 3.82040854e+01] [ 2.30626556e-03 1.70653888e-04 9.99997326e-01 5.97040145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:38.22, Z:0.60 [[ 8.52206893e-01 -5.23201309e-01 -1.94965163e-03 1.50034756e+02] [ 5.23199453e-01 8.52209105e-01 -1.40480320e-03 3.82193039e+01] [ 2.39650574e-03 1.77126310e-04 9.99997113e-01 5.97235278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:38.24, Z:0.60 [[ 8.53482300e-01 -5.21118489e-01 -1.86651879e-03 1.50054926e+02] [ 5.21116783e-01 8.53484323e-01 -1.34511737e-03 3.82375827e+01] [ 2.29401006e-03 1.75359604e-04 9.99997353e-01 5.96831983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:38.26, Z:0.60 [[ 8.54663696e-01 -5.19177068e-01 -2.26662945e-03 1.50076440e+02] [ 5.19174544e-01 8.54666674e-01 -1.63394642e-03 3.82552807e+01] [ 2.78552016e-03 2.19698379e-04 9.99996096e-01 5.96729972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:38.27, Z:0.60 [[ 8.56346589e-01 -5.16392343e-01 -3.07700054e-03 1.50098286e+02] [ 5.16387670e-01 8.56352061e-01 -2.21873604e-03 3.82719508e+01] [ 3.78073405e-03 3.11081900e-04 9.99992805e-01 5.96707139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:150.12, Y:38.29, Z:0.60 [[ 8.58471272e-01 -5.12828786e-01 -5.80609742e-03 1.50122305e+02] [ 5.12835455e-01 8.58486835e-01 -3.88540011e-04 3.82854555e+01] [ 5.18371270e-03 -2.64402217e-03 9.99983069e-01 5.97830724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:38.31, Z:0.59 [[ 8.61866120e-01 -5.07122065e-01 -3.74197836e-03 1.50140613e+02] [ 5.07094018e-01 8.61866326e-01 -6.48790634e-03 3.83073531e+01] [ 6.51524560e-03 3.69417182e-03 9.99971952e-01 5.94903518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:38.32, Z:0.59 [[ 8.63103939e-01 -5.04997914e-01 -5.35703518e-03 1.50163047e+02] [ 5.04983510e-01 8.63120332e-01 -3.86610112e-03 3.83237877e+01] [ 6.57613898e-03 6.31632676e-04 9.99978177e-01 5.94306869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:38.34, Z:0.59 [[ 8.63995569e-01 -5.03474322e-01 -5.02629338e-03 1.50183212e+02] [ 5.03461610e-01 8.64009978e-01 -3.62839772e-03 3.83413695e+01] [ 6.16957271e-03 6.04373800e-04 9.99980785e-01 5.93803043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:38.36, Z:0.59 [[ 8.64181411e-01 -5.03158083e-01 -4.73620904e-03 1.50205362e+02] [ 5.03146785e-01 8.64194200e-01 -3.42017451e-03 3.83588741e+01] [ 5.81389284e-03 5.72642885e-04 9.99982935e-01 5.93735740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:150.23, Y:38.38, Z:0.60 [[ 8.63020706e-01 -5.05153145e-01 -3.94485680e-03 1.50226593e+02] [ 5.05145322e-01 8.63029595e-01 -2.84974898e-03 3.83772895e+01] [ 4.84408783e-03 4.66666415e-04 9.99988158e-01 5.95066786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:38.40, Z:0.60 [[ 8.62293689e-01 -5.06395602e-01 -3.61789957e-03 1.50246309e+02] [ 5.06389030e-01 8.62301175e-01 -2.61412282e-03 3.83958596e+01] [ 4.44349935e-03 4.22076955e-04 9.99990039e-01 5.95913268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:38.42, Z:0.60 [[ 8.61564964e-01 -5.07636191e-01 -3.36303949e-03 1.50266901e+02] [ 5.07630519e-01 8.61571441e-01 -2.43071279e-03 3.84159314e+01] [ 4.13141656e-03 3.87035497e-04 9.99991391e-01 5.95218051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:38.44, Z:0.59 [[ 8.60790023e-01 -5.08947379e-01 -3.61959112e-03 1.50288010e+02] [ 5.08940816e-01 8.60797535e-01 -2.61712633e-03 3.84351743e+01] [ 4.44771470e-03 4.10638582e-04 9.99990025e-01 5.94346371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:38.45, Z:0.59 [[ 8.59896075e-01 -5.10452966e-01 -4.06324097e-03 1.50308728e+02] [ 5.10444709e-01 8.59905556e-01 -2.93856059e-03 3.84519307e+01] [ 4.99400046e-03 4.52796866e-04 9.99987427e-01 5.94342908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:38.47, Z:0.59 [[ 8.58846705e-01 -5.12213043e-01 -4.48726830e-03 1.50331044e+02] [ 5.12202990e-01 8.58858288e-01 -3.24628768e-03 3.84696028e+01] [ 5.51671846e-03 4.89671238e-04 9.99984663e-01 5.94892970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:38.49, Z:0.60 [[ 8.57095658e-01 -5.15133106e-01 -4.99160722e-03 1.50351425e+02] [ 5.15120707e-01 8.57110032e-01 -3.61246455e-03 3.84895127e+01] [ 6.13925671e-03 5.24947438e-04 9.99981017e-01 5.96333438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.37, Y:38.51, Z:0.60 [[ 8.56321542e-01 -5.16419442e-01 -4.93729457e-03 1.50372679e+02] [ 5.16407324e-01 8.56335623e-01 -3.57448844e-03 3.85086751e+01] [ 6.07391654e-03 5.11256378e-04 9.99981423e-01 5.96767097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:38.53, Z:0.60 [[ 8.55622652e-01 -5.17579469e-01 -4.62273564e-03 1.50393973e+02] [ 5.17568856e-01 8.55635010e-01 -3.34801550e-03 3.85273597e+01] [ 5.68823854e-03 4.72053908e-04 9.99983710e-01 5.96618485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:38.55, Z:0.60 [[ 8.54552271e-01 -5.19348893e-01 -4.14037963e-03 1.50415461e+02] [ 5.19340394e-01 8.54562202e-01 -2.99979738e-03 3.85455088e+01] [ 5.09615338e-03 4.13217277e-04 9.99986929e-01 5.96632256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:38.56, Z:0.60 [[ 8.54105404e-01 -5.20082127e-01 -4.30579660e-03 1.50437484e+02] [ 5.20072941e-01 8.54116151e-01 -3.12033964e-03 3.85611583e+01] [ 5.30048330e-03 4.25770647e-04 9.99985862e-01 5.97015942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:38.58, Z:0.60 [[ 8.53671557e-01 -5.20794680e-01 -4.21586977e-03 1.50458769e+02] [ 5.20785878e-01 8.53681867e-01 -3.05588385e-03 3.85770040e+01] [ 5.19049964e-03 4.13155685e-04 9.99986444e-01 5.97240044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:38.59, Z:0.60 [[ 8.53274682e-01 -5.21444791e-01 -4.20089517e-03 1.50480335e+02] [ 5.21436054e-01 8.53284925e-01 -3.04611505e-03 3.85946240e+01] [ 5.17294134e-03 4.08674649e-04 9.99986537e-01 5.97377741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:38.61, Z:0.60 [[ 8.53101030e-01 -5.21729026e-01 -4.17794236e-03 1.50500908e+02] [ 5.21720384e-01 8.53111164e-01 -3.03014292e-03 3.86120629e+01] [ 5.14516279e-03 4.05300351e-04 9.99986681e-01 5.97164220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:38.63, Z:0.60 [[ 8.53093488e-01 -5.21739420e-01 -4.41344924e-03 1.50523090e+02] [ 5.21729771e-01 8.53104796e-01 -3.20199547e-03 3.86298018e+01] [ 5.43574197e-03 4.28973622e-04 9.99985134e-01 5.97470209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:38.65, Z:0.60 [[ 8.54528972e-01 -5.19386482e-01 -4.23292185e-03 1.50545637e+02] [ 5.19377571e-01 8.54539350e-01 -3.07217213e-03 3.86456843e+01] [ 5.21284296e-03 4.26775419e-04 9.99986322e-01 5.98384376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:38.66, Z:0.60 [[ 8.55542766e-01 -5.17713026e-01 -4.44952832e-03 1.50567760e+02] [ 5.17703150e-01 8.55554213e-01 -3.23064983e-03 3.86627764e+01] [ 5.47936220e-03 4.60424267e-04 9.99984882e-01 5.98910574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:38.68, Z:0.60 [[ 8.56943093e-01 -5.15390511e-01 -4.59961057e-03 1.50588072e+02] [ 5.15379920e-01 8.56955296e-01 -3.34035694e-03 3.86800727e+01] [ 5.66324890e-03 4.91948880e-04 9.99983843e-01 5.99302705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:38.70, Z:0.60 [[ 8.56856386e-01 -5.15534656e-01 -4.59911199e-03 1.50611061e+02] [ 5.15524064e-01 8.56868588e-01 -3.34104334e-03 3.86969396e+01] [ 5.66325822e-03 4.91841417e-04 9.99983843e-01 5.99337888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:38.72, Z:0.60 [[ 8.58449194e-01 -5.12875263e-01 -4.89341153e-03 1.50630933e+02] [ 5.12863225e-01 8.58462970e-01 -3.55557580e-03 3.87150900e+01] [ 6.02437946e-03 5.42630366e-04 9.99981706e-01 5.99475391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:38.74, Z:0.60 [[ 8.62489541e-01 -5.06044539e-01 -5.54213723e-03 1.50649898e+02] [ 5.06028949e-01 8.62507087e-01 -4.02830023e-03 3.87359071e+01] [ 6.81863198e-03 6.69884939e-04 9.99976528e-01 5.98741195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:38.76, Z:0.60 [[ 8.64580617e-01 -5.02459927e-01 -5.86329293e-03 1.50670771e+02] [ 5.02442385e-01 8.64600182e-01 -4.26337044e-03 3.87553001e+01] [ 7.21157693e-03 7.40060564e-04 9.99973722e-01 5.98372877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:38.78, Z:0.60 [[ 8.66258402e-01 -4.99559863e-01 -6.02696453e-03 1.50691333e+02] [ 4.99541245e-01 8.66279011e-01 -4.38406453e-03 3.87754055e+01] [ 7.41113555e-03 7.87015366e-04 9.99972227e-01 5.98073315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:38.80, Z:0.60 [[ 8.67972891e-01 -4.96575148e-01 -6.01512648e-03 1.50706715e+02] [ 4.96556524e-01 8.67993354e-01 -4.37667892e-03 3.87996476e+01] [ 7.39443979e-03 8.11988364e-04 9.99972331e-01 5.98112691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:38.82, Z:0.60 [[ 8.67944695e-01 -4.96628492e-01 -5.66987415e-03 1.50725825e+02] [ 4.96611941e-01 8.67962876e-01 -4.12619429e-03 3.88193551e+01] [ 6.97042592e-03 7.65581242e-04 9.99975413e-01 5.98194198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:38.84, Z:0.60 [[ 8.67143511e-01 -4.98031990e-01 -5.12519238e-03 1.50746316e+02] [ 4.98018483e-01 8.67158388e-01 -3.73101946e-03 3.88383389e+01] [ 6.30252062e-03 6.82888784e-04 9.99979906e-01 5.98868224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:38.86, Z:0.60 [[ 8.65589488e-01 -5.00734946e-01 -4.39924114e-03 1.50767355e+02] [ 5.00725022e-01 8.65600479e-01 -3.20369872e-03 3.88572695e+01] [ 5.41218914e-03 5.70277819e-04 9.99985191e-01 5.99739326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:38.88, Z:0.60 [[ 8.63428019e-01 -5.04456864e-01 -3.91517254e-03 1.50786884e+02] [ 5.04449039e-01 8.63436758e-01 -2.85176918e-03 3.88757008e+01] [ 4.81909842e-03 4.87292388e-04 9.99988269e-01 6.00217395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:38.90, Z:0.60 [[ 8.57880667e-01 -5.13834033e-01 -3.91757521e-03 1.50804926e+02] [ 5.13826291e-01 8.57889502e-01 -2.85397927e-03 3.88972748e+01] [ 4.82731833e-03 4.35420502e-04 9.99988254e-01 6.00045425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:38.92, Z:0.60 [[ 8.55068996e-01 -5.18500807e-01 -3.73164004e-03 1.50825198e+02] [ 5.18493824e-01 8.55077049e-01 -2.71913600e-03 3.89159367e+01] [ 4.60071396e-03 3.90216575e-04 9.99989341e-01 6.00135848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:38.94, Z:0.60 [[ 8.52735988e-01 -5.22328502e-01 -3.77764895e-03 1.50845904e+02] [ 5.22321378e-01 8.52744273e-01 -2.75361052e-03 3.89350576e+01] [ 4.65965777e-03 3.74955980e-04 9.99989073e-01 6.00937518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:38.95, Z:0.60 [[ 8.51312200e-01 -5.24648253e-01 -3.42757020e-03 1.50866192e+02] [ 5.24642404e-01 8.51319036e-01 -2.49913694e-03 3.89536496e+01] [ 4.22912359e-03 3.29297094e-04 9.99991003e-01 6.01845473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:38.97, Z:0.60 [[ 8.50466726e-01 -5.26019222e-01 -3.18226711e-03 1.50886507e+02] [ 5.26014186e-01 8.50472627e-01 -2.32107720e-03 3.89738156e+01] [ 3.92736229e-03 3.00081282e-04 9.99992243e-01 6.02376182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:38.99, Z:0.60 [[ 8.50845515e-01 -5.25403404e-01 -3.62942559e-03 1.50907986e+02] [ 5.25396846e-01 8.50853185e-01 -2.64787551e-03 3.89908041e+01] [ 4.47931113e-03 3.46044248e-04 9.99989908e-01 6.02443816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:39.01, Z:0.60 [[ 8.51631658e-01 -5.24122811e-01 -4.33559182e-03 1.50929074e+02] [ 5.24113433e-01 8.51642590e-01 -3.16361711e-03 3.90080074e+01] [ 5.35049854e-03 4.21894572e-04 9.99985597e-01 6.02180471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:39.03, Z:0.60 [[ 8.52732995e-01 -5.22327825e-01 -4.48133798e-03 1.50950385e+02] [ 5.22317775e-01 8.52744653e-01 -3.27107761e-03 3.90266155e+01] [ 5.53001185e-03 4.48673324e-04 9.99984609e-01 6.02495740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:39.05, Z:0.60 [[ 8.54079375e-01 -5.20126605e-01 -4.09099059e-03 1.50970183e+02] [ 5.20118200e-01 8.54089068e-01 -2.98700492e-03 3.90457885e+01] [ 5.04769106e-03 4.23340631e-04 9.99987171e-01 6.02650148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:39.07, Z:0.60 [[ 8.57001688e-01 -5.15295208e-01 -4.35373601e-03 1.50986994e+02] [ 5.15285621e-01 8.57012612e-01 -3.17999352e-03 3.90694231e+01] [ 5.36984209e-03 4.81842253e-04 9.99985466e-01 6.02300455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17140051299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:151.01, Y:39.09, Z:0.60 [[ 8.58341050e-01 -5.13061750e-01 -4.27586244e-03 1.51006226e+02] [ 5.13052469e-01 8.58351561e-01 -3.12431505e-03 3.90899523e+01] [ 5.27315974e-03 4.87986079e-04 9.99985978e-01 6.01051519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:39.11, Z:0.60 [[ 8.59647767e-01 -5.10868278e-01 -4.39538067e-03 1.51024626e+02] [ 5.10858439e-01 8.59658848e-01 -3.21235067e-03 3.91097406e+01] [ 5.41961594e-03 5.16072770e-04 9.99985181e-01 6.01320599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:39.13, Z:0.60 [[ 8.60398995e-01 -5.09597431e-01 -4.90188104e-03 1.51044169e+02] [ 5.09585165e-01 8.60412759e-01 -3.58375855e-03 3.91304283e+01] [ 6.04391514e-03 5.85536395e-04 9.99981564e-01 6.01443684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:39.15, Z:0.60 [[ 8.60883474e-01 -5.08772112e-01 -5.53018215e-03 1.51063353e+02] [ 5.08756476e-01 8.60900977e-01 -4.04429226e-03 3.91501748e+01] [ 6.81856233e-03 6.68148387e-04 9.99976530e-01 6.01266948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:39.17, Z:0.60 [[ 8.60474095e-01 -5.09460588e-01 -5.85161120e-03 1.51082032e+02] [ 5.09443086e-01 8.60493705e-01 -4.28090460e-03 3.91725718e+01] [ 7.21622677e-03 7.02544640e-04 9.99973716e-01 6.02123136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:39.19, Z:0.60 [[ 8.59258226e-01 -5.11517784e-01 -4.98577310e-03 1.51101868e+02] [ 5.11505108e-01 8.59272492e-01 -3.64819237e-03 3.91911053e+01] [ 6.15025295e-03 5.84490900e-04 9.99980916e-01 6.02607033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:39.21, Z:0.60 [[ 8.57208317e-01 -5.14953271e-01 -4.12678833e-03 1.51123044e+02] [ 5.14944620e-01 8.57218125e-01 -3.02063413e-03 3.92103777e+01] [ 5.09304318e-03 4.64245249e-04 9.99986923e-01 6.02870511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:39.23, Z:0.60 [[ 8.55017264e-01 -5.18587507e-01 -3.53211938e-03 1.51144238e+02] [ 5.18581198e-01 8.55024475e-01 -2.58604544e-03 3.92282976e+01] [ 4.36113938e-03 3.79422798e-04 9.99990418e-01 6.02982825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:151.16, Y:39.25, Z:0.60 [[ 8.51074012e-01 -5.25034849e-01 -3.38149583e-03 1.51164941e+02] [ 5.25029113e-01 8.51080664e-01 -2.47660448e-03 3.92481416e+01] [ 4.17822937e-03 3.32389954e-04 9.99991216e-01 6.02899159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:39.27, Z:0.60 [[ 8.49697860e-01 -5.27256047e-01 -3.82208622e-03 1.51186858e+02] [ 5.27248736e-01 8.49706378e-01 -2.80040436e-03 3.92661581e+01] [ 4.72418117e-03 3.64307465e-04 9.99988775e-01 6.03765041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:39.28, Z:0.60 [[ 8.48607491e-01 -5.29005306e-01 -4.32589973e-03 1.51208760e+02] [ 5.28995956e-01 8.48618421e-01 -3.17079692e-03 3.92829555e+01] [ 5.34840660e-03 4.02378556e-04 9.99985616e-01 6.03911182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:39.30, Z:0.60 [[ 8.48234182e-01 -5.29595322e-01 -5.25055287e-03 1.51231742e+02] [ 5.29581549e-01 8.48250293e-01 -3.85011544e-03 3.92984058e+01] [ 6.49278614e-03 4.85203593e-04 9.99978804e-01 6.03566466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:39.31, Z:0.60 [[ 8.48477174e-01 -5.29204666e-01 -5.37650739e-03 1.51253150e+02] [ 5.29190211e-01 8.48494060e-01 -3.94331759e-03 3.93142005e+01] [ 6.64875666e-03 5.00619884e-04 9.99977771e-01 6.03049798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:39.33, Z:0.60 [[ 8.48953453e-01 -5.28444924e-01 -4.89860566e-03 1.51274490e+02] [ 5.28432909e-01 8.48967460e-01 -3.59339847e-03 3.93302322e+01] [ 6.05766999e-03 4.62043598e-04 9.99981545e-01 6.02708092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:39.35, Z:0.60 [[ 8.49370244e-01 -5.27779032e-01 -4.41394959e-03 1.51296708e+02] [ 5.27769261e-01 8.49381608e-01 -3.23895033e-03 3.93464508e+01] [ 5.45857767e-03 4.21521116e-04 9.99985013e-01 6.02621479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:39.36, Z:0.60 [[ 8.49694407e-01 -5.27258603e-01 -4.21658058e-03 1.51318900e+02] [ 5.27249676e-01 8.49704772e-01 -3.09500797e-03 3.93617695e+01] [ 5.21471822e-03 4.06620218e-04 9.99986321e-01 6.03231029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:39.38, Z:0.60 [[ 8.49764205e-01 -5.27145398e-01 -4.30405682e-03 1.51343227e+02] [ 5.27136089e-01 8.49775003e-01 -3.16034696e-03 3.93756152e+01] [ 5.32344225e-03 4.16726043e-04 9.99985744e-01 6.03756489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:39.39, Z:0.60 [[ 8.49720511e-01 -5.27214807e-01 -4.42719588e-03 1.51365588e+02] [ 5.27204955e-01 8.49731936e-01 -3.25147534e-03 3.93899635e+01] [ 5.47615567e-03 4.28805680e-04 9.99984914e-01 6.03295280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:39.40, Z:0.60 [[ 8.49604278e-01 -5.27400481e-01 -4.61555766e-03 1.51389080e+02] [ 5.27389769e-01 8.49616698e-01 -3.39095775e-03 3.94046679e+01] [ 5.70984761e-03 4.46774322e-04 9.99983599e-01 6.02855067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:39.42, Z:0.60 [[ 8.49636750e-01 -5.27350228e-01 -4.37379389e-03 1.51412569e+02] [ 5.27340605e-01 8.49647902e-01 -3.21401433e-03 3.94189709e+01] [ 5.41109599e-03 4.24265578e-04 9.99985270e-01 6.02094026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:39.43, Z:0.60 [[ 8.50154564e-01 -5.26508718e-01 -5.07801873e-03 1.51437627e+02] [ 5.26495723e-01 8.50169583e-01 -3.73275500e-03 3.94329810e+01] [ 6.28250512e-03 4.99863556e-04 9.99980140e-01 6.01803021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:39.45, Z:0.60 [[ 8.50539738e-01 -5.25878871e-01 -5.79371503e-03 1.51460925e+02] [ 5.25861929e-01 8.50559275e-01 -4.26052234e-03 3.94489057e+01] [ 7.16841673e-03 5.77049397e-04 9.99974140e-01 6.01822877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:39.46, Z:0.60 [[ 8.50986329e-01 -5.25149645e-01 -6.33386569e-03 1.51482742e+02] [ 5.25129369e-01 8.51009661e-01 -4.65869894e-03 3.94641901e+01] [ 7.83669499e-03 6.38390223e-04 9.99969089e-01 6.02124697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:39.48, Z:0.60 [[ 8.51630328e-01 -5.24104831e-01 -6.31740066e-03 1.51506053e+02] [ 5.24084620e-01 8.51653513e-01 -4.64815283e-03 3.94797723e+01] [ 7.81635582e-03 6.47655396e-04 9.99969242e-01 6.02309271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:39.50, Z:0.60 [[ 8.53468880e-01 -5.21117943e-01 -5.19230024e-03 1.51529970e+02] [ 5.21104226e-01 8.53484493e-01 -3.82170374e-03 3.94952093e+01] [ 6.42310614e-03 5.55975612e-04 9.99979217e-01 6.03444980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:39.51, Z:0.60 [[ 8.54393634e-01 -5.19601500e-01 -5.07932660e-03 1.51551750e+02] [ 5.19588338e-01 8.54408551e-01 -3.73995197e-03 3.95130041e+01] [ 6.28310473e-03 5.56232284e-04 9.99980106e-01 6.03777000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:39.53, Z:0.60 [[ 8.55347905e-01 -5.18023578e-01 -5.61555605e-03 1.51571995e+02] [ 5.18007451e-01 8.55366107e-01 -4.13564599e-03 3.95309576e+01] [ 6.94571845e-03 6.28516261e-04 9.99975681e-01 6.03317376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:39.55, Z:0.60 [[ 8.55820643e-01 -5.17237253e-01 -6.05395755e-03 1.51592859e+02] [ 5.17218478e-01 8.55841781e-01 -4.46006940e-03 3.95493230e+01] [ 7.48814386e-03 6.85800746e-04 9.99971728e-01 6.02477591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:39.57, Z:0.60 [[ 8.55625672e-01 -5.17569060e-01 -5.19393183e-03 1.51613871e+02] [ 5.17555237e-01 8.55641235e-01 -3.82791171e-03 3.95680544e+01] [ 6.42535092e-03 5.87112913e-04 9.99979185e-01 6.02104498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:39.58, Z:0.60 [[ 8.54955836e-01 -5.18683305e-01 -4.25987263e-03 1.51635231e+02] [ 5.18674016e-01 8.54966317e-01 -3.14038032e-03 3.95846241e+01] [ 5.27091045e-03 4.75401235e-04 9.99985996e-01 6.02656870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:39.60, Z:0.60 [[ 8.53898210e-01 -5.20426183e-01 -3.79937185e-03 1.51656812e+02] [ 5.20418808e-01 8.53906562e-01 -2.80141495e-03 3.96013090e+01] [ 4.70223824e-03 4.14858642e-04 9.99988858e-01 6.02637764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:39.62, Z:0.60 [[ 8.52783086e-01 -5.22249788e-01 -4.02076953e-03 1.51678604e+02] [ 5.22241544e-01 8.52792457e-01 -2.96565740e-03 3.96184034e+01] [ 4.97769587e-03 4.29249587e-04 9.99987519e-01 6.02562040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:39.64, Z:0.60 [[ 8.51851433e-01 -5.23763364e-01 -4.59062670e-03 1.51699853e+02] [ 5.23752635e-01 8.51863667e-01 -3.38674958e-03 3.96352533e+01] [ 5.68444345e-03 4.80654653e-04 9.99983728e-01 6.01994425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:39.65, Z:0.60 [[ 8.50629736e-01 -5.25742052e-01 -4.93430599e-03 1.51721428e+02] [ 5.25729681e-01 8.50643898e-01 -3.64155509e-03 3.96527301e+01] [ 6.11185592e-03 5.03503930e-04 9.99981196e-01 6.01591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:39.67, Z:0.60 [[ 8.50518492e-01 -5.25923401e-01 -4.78230656e-03 1.51742791e+02] [ 5.25911776e-01 8.50531797e-01 -3.53073549e-03 3.96709586e+01] [ 5.92440021e-03 4.87884491e-04 9.99982332e-01 6.01890902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:39.69, Z:0.60 [[ 8.50925531e-01 -5.25261416e-01 -5.11723629e-03 1.51762931e+02] [ 5.25248086e-01 8.50940754e-01 -3.77911724e-03 3.96887769e+01] [ 6.33948938e-03 5.27928773e-04 9.99979766e-01 6.02333709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:39.71, Z:0.60 [[ 8.51417741e-01 -5.24458781e-01 -5.55131022e-03 1.51783932e+02] [ 5.24443067e-01 8.51435640e-01 -4.10118514e-03 3.97069020e+01] [ 6.87748593e-03 5.80475628e-04 9.99976181e-01 6.02135222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:39.72, Z:0.60 [[ 8.51726283e-01 -5.23962664e-01 -5.04641657e-03 1.51805825e+02] [ 5.23949660e-01 8.51741066e-01 -3.72959353e-03 3.97246945e+01] [ 6.25240799e-03 5.32524590e-04 9.99980312e-01 6.02814303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:39.74, Z:0.60 [[ 8.51012597e-01 -5.25126681e-01 -4.41913201e-03 1.51828469e+02] [ 5.25116719e-01 8.51023946e-01 -3.26722424e-03 3.97411694e+01] [ 5.47649378e-03 4.59888886e-04 9.99984898e-01 6.03528512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:39.76, Z:0.60 [[ 8.50024413e-01 -5.26725351e-01 -4.34768432e-03 1.51850618e+02] [ 5.26715725e-01 8.50035416e-01 -3.21509818e-03 3.97572810e+01] [ 5.38915937e-03 4.42918246e-04 9.99985380e-01 6.03660733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:39.77, Z:0.60 [[ 8.48978896e-01 -5.28406369e-01 -4.64147292e-03 1.51873662e+02] [ 5.28395416e-01 8.48991458e-01 -3.43351591e-03 3.97735627e+01] [ 5.75486253e-03 4.62449530e-04 9.99983334e-01 6.03284205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:39.79, Z:0.60 [[ 8.47534727e-01 -5.30725572e-01 -3.90570135e-03 1.51896892e+02] [ 5.30717838e-01 8.47543642e-01 -2.88982415e-03 3.97871937e+01] [ 4.84395592e-03 3.76400944e-04 9.99988197e-01 6.02992564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:39.80, Z:0.60 [[ 8.47318494e-01 -5.31075153e-01 -3.24832136e-03 1.51919498e+02] [ 5.31069803e-01 8.47324663e-01 -2.40415322e-03 3.98030865e+01] [ 4.02916885e-03 3.11998104e-04 9.99991834e-01 6.03872644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:39.82, Z:0.60 [[ 8.47229783e-01 -5.31216666e-01 -3.24791147e-03 1.51942308e+02] [ 5.31211314e-01 8.47235951e-01 -2.40470692e-03 3.98201639e+01] [ 4.02916775e-03 3.12012001e-04 9.99991834e-01 6.03907808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:39.84, Z:0.60 [[ 8.47563653e-01 -5.30684419e-01 -3.14674274e-03 1.51964234e+02] [ 5.30679389e-01 8.47569439e-01 -2.33065357e-03 3.98370612e+01] [ 3.90392452e-03 3.05465744e-04 9.99992333e-01 6.04721885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:39.85, Z:0.60 [[ 8.48206130e-01 -5.29650882e-01 -4.03796677e-03 1.51985650e+02] [ 5.29642581e-01 8.48215647e-01 -2.99196560e-03 3.98547161e+01] [ 5.00976382e-03 3.99124420e-04 9.99987371e-01 6.04875722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:39.87, Z:0.60 [[ 8.49231594e-01 -5.27995316e-01 -5.16197313e-03 1.52006256e+02] [ 5.27981715e-01 8.49247121e-01 -3.82568348e-03 3.98720531e+01] [ 6.40373377e-03 5.23463851e-04 9.99979359e-01 6.04395544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:39.89, Z:0.60 [[ 8.51334638e-01 -5.24588754e-01 -5.99780769e-03 1.52027671e+02] [ 5.24570297e-01 8.51355526e-01 -4.44670230e-03 3.98900314e+01] [ 7.43895674e-03 6.39359938e-04 9.99972126e-01 6.04176045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:39.91, Z:0.60 [[ 8.52038891e-01 -5.23446111e-01 -5.82218760e-03 1.52049165e+02] [ 5.23428686e-01 8.52058549e-01 -4.31736585e-03 3.99059408e+01] [ 7.22075308e-03 6.31063607e-04 9.99973731e-01 6.04816856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:39.92, Z:0.61 [[ 8.52322816e-01 -5.22988225e-01 -5.39760707e-03 1.52071617e+02] [ 5.22973231e-01 8.52339702e-01 -4.00389821e-03 3.99227261e+01] [ 6.69458642e-03 5.89809787e-04 9.99977417e-01 6.05150298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:39.94, Z:0.61 [[ 8.52212549e-01 -5.23170239e-01 -5.16446659e-03 1.52093897e+02] [ 5.23156506e-01 8.52228011e-01 -3.83242345e-03 3.99402373e+01] [ 6.40631298e-03 5.64215057e-04 9.99979320e-01 6.05634310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:39.96, Z:0.61 [[ 8.51318042e-01 -5.24625094e-01 -5.10915074e-03 1.52115220e+02] [ 5.24611674e-01 8.51333196e-01 -3.79216864e-03 3.99571861e+01] [ 6.33905646e-03 5.48021457e-04 9.99979758e-01 6.05141842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:39.97, Z:0.61 [[ 8.50518971e-01 -5.25920026e-01 -5.06021946e-03 1.52137739e+02] [ 5.25906877e-01 8.50533856e-01 -3.75713195e-03 3.99734617e+01] [ 6.27983891e-03 5.34307787e-04 9.99980139e-01 6.05139690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:39.99, Z:0.61 [[ 8.49760838e-01 -5.27146207e-01 -4.83683346e-03 1.52159788e+02] [ 5.27134207e-01 8.49774454e-01 -3.59228832e-03 3.99889947e+01] [ 6.00387868e-03 5.02925558e-04 9.99981850e-01 6.05065973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:40.01, Z:0.61 [[ 8.49251823e-01 -5.27966492e-01 -4.76701865e-03 1.52181042e+02] [ 5.27954843e-01 8.49265060e-01 -3.54135475e-03 4.00052135e+01] [ 5.91817902e-03 4.90731390e-04 9.99982367e-01 6.05203516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:40.02, Z:0.60 [[ 8.49343773e-01 -5.27815020e-01 -5.14393757e-03 1.52203336e+02] [ 5.27801445e-01 8.49359183e-01 -3.82270878e-03 4.00228183e+01] [ 6.38673372e-03 5.31816217e-04 9.99979463e-01 6.04791913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.23, Y:40.04, Z:0.60 [[ 8.49570674e-01 -5.27441750e-01 -5.90518169e-03 1.52225821e+02] [ 5.27423837e-01 8.49590973e-01 -4.39017796e-03 4.00401843e+01] [ 7.33255221e-03 6.15232861e-04 9.99972927e-01 6.04358179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:40.06, Z:0.60 [[ 8.49727839e-01 -5.27185211e-01 -6.19302665e-03 1.52247085e+02] [ 5.27165496e-01 8.49750159e-01 -4.60514428e-03 4.00564710e+01] [ 7.69028934e-03 6.48369334e-04 9.99970219e-01 6.03908905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:40.07, Z:0.60 [[ 8.49960203e-01 -5.26812515e-01 -6.01887738e-03 1.52269144e+02] [ 5.26793878e-01 8.49981277e-01 -4.47639477e-03 4.00724281e+01] [ 7.47415388e-03 6.34049652e-04 9.99971867e-01 6.03821709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:40.09, Z:0.60 [[ 8.49554167e-01 -5.27472907e-01 -5.48180820e-03 1.52292604e+02] [ 5.27457452e-01 8.49571659e-01 -4.07836111e-03 4.00881444e+01] [ 6.80841388e-03 5.73368094e-04 9.99976658e-01 6.04392932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:40.10, Z:0.60 [[ 8.48740684e-01 -5.28784040e-01 -5.16620089e-03 1.52314755e+02] [ 5.28770333e-01 8.48756241e-01 -3.84434303e-03 4.01031122e+01] [ 6.41767248e-03 5.31116570e-04 9.99979265e-01 6.04499150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:40.12, Z:0.60 [[ 8.47844842e-01 -5.30223090e-01 -4.75386317e-03 1.52337343e+02] [ 5.30211502e-01 8.47858034e-01 -3.53808904e-03 4.01184854e+01] [ 5.90657758e-03 4.79197612e-04 9.99982441e-01 6.04783650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:40.13, Z:0.60 [[ 8.47285078e-01 -5.31122848e-01 -4.06413634e-03 1.52360871e+02] [ 5.31114383e-01 8.47294728e-01 -3.02573001e-03 4.01342167e+01] [ 5.05055564e-03 4.05134620e-04 9.99987164e-01 6.04534555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:40.15, Z:0.60 [[ 8.47178751e-01 -5.31293968e-01 -3.85786637e-03 1.52384249e+02] [ 5.31286338e-01 8.47187448e-01 -2.87325857e-03 4.01498762e+01] [ 4.79488091e-03 3.84531912e-04 9.99988431e-01 6.04662669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:40.16, Z:0.60 [[ 8.47910863e-01 -5.30115283e-01 -4.99561525e-03 1.52407689e+02] [ 5.30102462e-01 8.47925427e-01 -3.72150510e-03 4.01635817e+01] [ 6.20873592e-03 5.07316654e-04 9.99980597e-01 6.03916253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:40.18, Z:0.60 [[ 8.48399073e-01 -5.29325418e-01 -5.79788688e-03 1.52430667e+02] [ 5.29308120e-01 8.48418674e-01 -4.32070186e-03 4.01787883e+01] [ 7.20609282e-03 5.96810845e-04 9.99973858e-01 6.03385925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:40.19, Z:0.60 [[ 8.48881156e-01 -5.28551011e-01 -5.88314488e-03 1.52452978e+02] [ 5.28533176e-01 8.48901321e-01 -4.38514697e-03 4.01940429e+01] [ 7.31198332e-03 6.13031387e-04 9.99973079e-01 6.03386753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:40.21, Z:0.60 [[ 8.49688288e-01 -5.27269577e-01 -4.07519345e-03 1.52475541e+02] [ 5.27261002e-01 8.49697950e-01 -3.03801279e-03 4.02086652e+01] [ 5.06453524e-03 4.32673302e-04 9.99987082e-01 6.04055345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:40.22, Z:0.60 [[ 8.49865347e-01 -5.26987653e-01 -3.59253330e-03 1.52498436e+02] [ 5.26980983e-01 8.49872853e-01 -2.67902915e-03 4.02247100e+01] [ 4.46501181e-03 3.83617312e-04 9.99989958e-01 6.04339563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:40.24, Z:0.60 [[ 8.49943549e-01 -5.26858783e-01 -3.97329536e-03 1.52521182e+02] [ 5.26850617e-01 8.49952729e-01 -2.96412813e-03 4.02405396e+01] [ 4.93879017e-03 4.26008476e-04 9.99987713e-01 6.04526281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:40.26, Z:0.60 [[ 8.49981078e-01 -5.26791807e-01 -4.74974765e-03 1.52543299e+02] [ 5.26780132e-01 8.49994195e-01 -3.54417503e-03 4.02558412e+01] [ 5.90430030e-03 5.10409015e-04 9.99982439e-01 6.04666127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:40.27, Z:0.60 [[ 8.49755738e-01 -5.27152012e-01 -5.09337436e-03 1.52565333e+02] [ 5.27138585e-01 8.49770827e-01 -3.80188342e-03 4.02724589e+01] [ 6.33237144e-03 5.45758102e-04 9.99979801e-01 6.04524274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:40.29, Z:0.60 [[ 8.49792017e-01 -5.27094643e-01 -4.97651749e-03 1.52586690e+02] [ 5.27081819e-01 8.49806420e-01 -3.71542732e-03 4.02888265e+01] [ 6.18745836e-03 5.34308584e-04 9.99980715e-01 6.04507173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:40.31, Z:0.60 [[ 8.49845709e-01 -5.27005919e-01 -5.19936213e-03 1.52609519e+02] [ 5.26991910e-01 8.49861429e-01 -3.88313017e-03 4.03054290e+01] [ 6.46516991e-03 5.60039732e-04 9.99978944e-01 6.04505449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:40.32, Z:0.60 [[ 8.50099470e-01 -5.26591814e-01 -5.65266563e-03 1.52631970e+02] [ 5.26575235e-01 8.50118042e-01 -4.22331756e-03 4.03214802e+01] [ 7.02939749e-03 6.13686282e-04 9.99975105e-01 6.04357530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:40.34, Z:0.60 [[ 8.50390542e-01 -5.26116463e-01 -6.11510337e-03 1.52653847e+02] [ 5.26097035e-01 8.50412264e-01 -4.57059438e-03 4.03381842e+01] [ 7.60502385e-03 6.69652481e-04 9.99970857e-01 6.04201866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:40.36, Z:0.60 [[ 8.50325402e-01 -5.26228043e-01 -5.54599463e-03 1.52674630e+02] [ 5.26212058e-01 8.50343270e-01 -4.14637228e-03 4.03552798e+01] [ 6.89793659e-03 6.07396422e-04 9.99976024e-01 6.04348201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:40.37, Z:0.60 [[ 8.50037780e-01 -5.26700620e-01 -4.71488734e-03 1.52696814e+02] [ 5.26689070e-01 8.50050701e-01 -3.52562849e-03 4.03709924e+01] [ 5.86484400e-03 5.13637791e-04 9.99982670e-01 6.04363607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:40.39, Z:0.60 [[ 8.49725007e-01 -5.27206638e-01 -4.53576846e-03 1.52719945e+02] [ 5.27195950e-01 8.49736970e-01 -3.39281485e-03 4.03863271e+01] [ 5.64292466e-03 4.91720863e-04 9.99983958e-01 6.04791559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54140051299999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:152.74, Y:40.40, Z:0.60 [[ 8.49554021e-01 -5.27481968e-01 -4.55402392e-03 1.52743376e+02] [ 5.27471191e-01 8.49566083e-01 -3.40777083e-03 4.04024772e+01] [ 5.66648193e-03 4.92968989e-04 9.99983824e-01 6.04615292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:40.42, Z:0.60 [[ 8.49325618e-01 -5.27838458e-01 -5.70596005e-03 1.52764219e+02] [ 5.27821539e-01 8.49344561e-01 -4.27070362e-03 4.04201811e+01] [ 7.10056775e-03 6.15489373e-04 9.99974601e-01 6.04565764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:40.44, Z:0.61 [[ 8.49622595e-01 -5.27358351e-01 -5.88347042e-03 1.52784989e+02] [ 5.27340347e-01 8.49642725e-01 -4.40429107e-03 4.04376187e+01] [ 7.32148751e-03 6.39393880e-04 9.99972993e-01 6.05067641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:40.45, Z:0.61 [[ 8.50053358e-01 -5.26658871e-01 -6.30252601e-03 1.52806935e+02] [ 5.26638178e-01 8.50076440e-01 -4.71962715e-03 4.04548573e+01] [ 7.84326237e-03 6.92784090e-04 9.99969001e-01 6.05661029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:40.47, Z:0.61 [[ 8.50534733e-01 -5.25874162e-01 -6.85818521e-03 1.52829950e+02] [ 5.25849618e-01 8.50562040e-01 -5.13769650e-03 4.04716356e+01] [ 8.53509384e-03 7.63415243e-04 9.99963284e-01 6.06324494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:40.49, Z:0.61 [[ 8.50974178e-01 -5.25159362e-01 -7.11281461e-03 1.52851656e+02] [ 5.25132925e-01 8.51003527e-01 -5.32991825e-03 4.04869430e+01] [ 8.85208679e-03 8.00449662e-04 9.99960499e-01 6.06600580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:40.50, Z:0.61 [[ 8.51186818e-01 -5.24825661e-01 -6.24712385e-03 1.52874551e+02] [ 5.24805245e-01 8.51209449e-01 -4.68288110e-03 4.05032187e+01] [ 7.77530701e-03 7.07483299e-04 9.99969522e-01 6.06463055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:40.52, Z:0.61 [[ 8.50600028e-01 -5.25774979e-01 -6.34542464e-03 1.52895542e+02] [ 5.25753934e-01 8.50623399e-01 -4.75751625e-03 4.05200396e+01] [ 7.89894968e-03 7.10611480e-04 9.99968550e-01 6.06266362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:40.54, Z:0.61 [[ 8.49853010e-01 -5.26982190e-01 -6.29537674e-03 1.52916724e+02] [ 5.26961496e-01 8.49876043e-01 -4.72160470e-03 4.05377683e+01] [ 7.83849145e-03 6.95248824e-04 9.99969037e-01 6.05868631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:40.56, Z:0.61 [[ 8.48806844e-01 -5.28666592e-01 -6.21105622e-03 1.52938041e+02] [ 5.28646479e-01 8.48829302e-01 -4.66012173e-03 4.05553747e+01] [ 7.73577718e-03 6.72090208e-04 9.99969853e-01 6.05832560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:152.96, Y:40.57, Z:0.61 [[ 8.46949119e-01 -5.31645932e-01 -5.45820927e-03 1.52960917e+02] [ 5.31630451e-01 8.46966517e-01 -4.09681020e-03 4.05714650e+01] [ 6.80097297e-03 5.68039533e-04 9.99976712e-01 6.06289736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:40.59, Z:0.61 [[ 8.46067959e-01 -5.33050905e-01 -5.07357473e-03 1.52983089e+02] [ 5.33037547e-01 8.46083012e-01 -3.80918621e-03 4.05874417e+01] [ 6.32315555e-03 5.18424574e-04 9.99979874e-01 6.07539319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:40.60, Z:0.61 [[ 8.45557586e-01 -5.33864254e-01 -4.61817505e-03 1.53004053e+02] [ 5.33853193e-01 8.45570068e-01 -3.46815870e-03 4.06036869e+01] [ 5.75651655e-03 4.67100404e-04 9.99983322e-01 6.07695137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:40.62, Z:0.61 [[ 8.45445907e-01 -5.34043363e-01 -4.34804130e-03 1.53025511e+02] [ 5.34033554e-01 8.45456973e-01 -3.26645342e-03 4.06216366e+01] [ 5.42050960e-03 4.39609726e-04 9.99985212e-01 6.07074963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:40.64, Z:0.61 [[ 8.45608024e-01 -5.33786093e-01 -4.41315977e-03 1.53048055e+02] [ 5.33775978e-01 8.45619421e-01 -3.31666749e-03 4.06385666e+01] [ 5.50224459e-03 4.48961972e-04 9.99984762e-01 6.07355099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:40.65, Z:0.61 [[ 8.45745838e-01 -5.33569521e-01 -4.18848204e-03 1.53070298e+02] [ 5.33560404e-01 8.45756101e-01 -3.14849429e-03 4.06545595e+01] [ 5.22237484e-03 4.28017776e-04 9.99986272e-01 6.07681522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:40.67, Z:0.61 [[ 8.45499474e-01 -5.33960858e-01 -4.05474144e-03 1.53093052e+02] [ 5.33952313e-01 8.45509096e-01 -3.04895753e-03 4.06706955e+01] [ 5.05634475e-03 4.12853420e-04 9.99987131e-01 6.08075300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:40.69, Z:0.61 [[ 8.45198357e-01 -5.34439676e-01 -3.73776360e-03 1.53115577e+02] [ 5.34432416e-01 8.45206537e-01 -2.81120784e-03 4.06862391e+01] [ 4.66160323e-03 3.78446214e-04 9.99989063e-01 6.08067279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:40.70, Z:0.61 [[ 8.44572323e-01 -5.35428470e-01 -3.73431526e-03 1.53138479e+02] [ 5.35421230e-01 8.44580496e-01 -2.80947787e-03 4.07022036e+01] [ 4.65820427e-03 3.73375582e-04 9.99989081e-01 6.07671554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:40.72, Z:0.61 [[ 8.43066761e-01 -5.37792322e-01 -4.22557787e-03 1.53162320e+02] [ 5.37783073e-01 8.43077251e-01 -3.18031674e-03 4.07169367e+01] [ 5.27283849e-03 4.08775081e-04 9.99986015e-01 6.06767761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:40.73, Z:0.61 [[ 8.42408970e-01 -5.38815752e-01 -4.97114652e-03 1.53185257e+02] [ 5.38802960e-01 8.42423504e-01 -3.74296974e-03 4.07335359e+01] [ 6.20458173e-03 4.74642821e-04 9.99980639e-01 6.07016949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:40.75, Z:0.61 [[ 8.42265994e-01 -5.39035575e-01 -5.35211978e-03 1.53206703e+02] [ 5.39020746e-01 8.42282844e-01 -4.03069286e-03 4.07498010e+01] [ 6.68068551e-03 5.10011926e-04 9.99977554e-01 6.07164083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:40.77, Z:0.61 [[ 8.42339958e-01 -5.38924563e-01 -4.86931447e-03 1.53228023e+02] [ 5.38912283e-01 8.42353904e-01 -3.66769603e-03 4.07659655e+01] [ 6.07829753e-03 4.65313539e-04 9.99981419e-01 6.07560338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:40.78, Z:0.61 [[ 8.41756410e-01 -5.39837400e-01 -4.66127077e-03 1.53252388e+02] [ 5.39826155e-01 8.41769201e-01 -3.51216230e-03 4.07807198e+01] [ 5.81971074e-03 4.40109253e-04 9.99982968e-01 6.08229392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:40.80, Z:0.61 [[ 8.41168566e-01 -5.40751611e-01 -4.81035504e-03 1.53275382e+02] [ 5.40739645e-01 8.41182200e-01 -3.62526123e-03 4.07950603e+01] [ 6.00675089e-03 4.48306115e-04 9.99981859e-01 6.08219118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:40.81, Z:0.61 [[ 8.40394563e-01 -5.41952090e-01 -4.99104734e-03 1.53298797e+02] [ 5.41939220e-01 8.40409259e-01 -3.76272114e-03 4.08102606e+01] [ 6.23373698e-03 4.57326084e-04 9.99980466e-01 6.08108877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:40.83, Z:0.61 [[ 8.39742092e-01 -5.42967720e-01 -4.39009377e-03 1.53320878e+02] [ 5.42957774e-01 8.39753474e-01 -3.31034339e-03 4.08261041e+01] [ 5.48400609e-03 3.96199144e-04 9.99984884e-01 6.08023631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:40.84, Z:0.61 [[ 8.39112201e-01 -5.43948845e-01 -3.21996551e-03 1.53343127e+02] [ 5.43943498e-01 8.39118330e-01 -2.42872076e-03 4.08437531e+01] [ 4.02303194e-03 2.86489923e-04 9.99991867e-01 6.09279989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:40.86, Z:0.61 [[ 8.39022182e-01 -5.44087688e-01 -3.21955508e-03 1.53365784e+02] [ 5.44082340e-01 8.39028310e-01 -2.42926479e-03 4.08610395e+01] [ 4.02303092e-03 2.86503980e-04 9.99991867e-01 6.09315153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:40.88, Z:0.61 [[ 8.38982710e-01 -5.44150524e-01 -2.86689396e-03 1.53388536e+02] [ 5.44146281e-01 8.38987570e-01 -2.16392767e-03 4.08779727e+01] [ 3.58279077e-03 2.55488218e-04 9.99993549e-01 6.09712675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:40.89, Z:0.61 [[ 8.38981316e-01 -5.44153040e-01 -2.79639624e-03 1.53411663e+02] [ 5.44149001e-01 8.38985939e-01 -2.11151517e-03 4.08945724e+01] [ 3.49512452e-03 2.49865554e-04 9.99993861e-01 6.10367748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:40.91, Z:0.61 [[ 8.39119090e-01 -5.43939324e-01 -3.02727525e-03 1.53434130e+02] [ 5.43934585e-01 8.39124507e-01 -2.28675549e-03 4.09110802e+01] [ 3.78411709e-03 2.72220480e-04 9.99992803e-01 6.11115928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:40.93, Z:0.61 [[ 8.39374378e-01 -5.43542375e-01 -3.51292403e-03 1.53455973e+02] [ 5.43535986e-01 8.39381668e-01 -2.65468675e-03 4.09279755e+01] [ 4.39161878e-03 3.18875406e-04 9.99990306e-01 6.10932000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:40.95, Z:0.61 [[ 8.40575495e-01 -5.41678178e-01 -4.19395224e-03 1.53476852e+02] [ 5.41669044e-01 8.40585865e-01 -3.17009263e-03 4.09450076e+01] [ 5.24254697e-03 3.92968084e-04 9.99986181e-01 6.10345401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:40.96, Z:0.61 [[ 8.41406637e-01 -5.40388636e-01 -3.87210515e-03 1.53498168e+02] [ 5.40380835e-01 8.41415465e-01 -2.92729271e-03 4.09622426e+01] [ 4.83992487e-03 3.70632102e-04 9.99988219e-01 6.10525234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:40.98, Z:0.61 [[ 8.42226520e-01 -5.39112301e-01 -3.52375314e-03 1.53520091e+02] [ 5.39105825e-01 8.42233820e-01 -2.66476226e-03 4.09804869e+01] [ 4.40443019e-03 3.44657601e-04 9.99990241e-01 6.10506211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:41.00, Z:0.61 [[ 8.43981476e-01 -5.36356008e-01 -4.18335327e-03 1.53540545e+02] [ 5.36346841e-01 8.43991736e-01 -3.16479576e-03 4.09993962e+01] [ 5.22817281e-03 4.27300681e-04 9.99986242e-01 6.09398786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:41.02, Z:0.61 [[ 8.44296880e-01 -5.35849709e-01 -5.27902959e-03 1.53562813e+02] [ 5.35835091e-01 8.44313208e-01 -3.99529966e-03 4.10170804e+01] [ 6.59803457e-03 5.44529739e-04 9.99978084e-01 6.08357541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:41.03, Z:0.61 [[ 8.44393250e-01 -5.35688417e-01 -6.16117833e-03 1.53584972e+02] [ 5.35668486e-01 8.44415486e-01 -4.66479177e-03 4.10333982e+01] [ 7.70146931e-03 6.38569610e-04 9.99970139e-01 6.07147045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:41.05, Z:0.61 [[ 8.44551143e-01 -5.35434448e-01 -6.58176260e-03 1.53607471e+02] [ 5.35411684e-01 8.44576510e-01 -4.98466367e-03 4.10485442e+01] [ 8.22776272e-03 6.85850801e-04 9.99965916e-01 6.06797895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:41.06, Z:0.61 [[ 8.44763311e-01 -5.35103442e-01 -6.26533812e-03 1.53631310e+02] [ 5.35082792e-01 8.44786289e-01 -4.74671828e-03 4.10641034e+01] [ 7.83285703e-03 6.57378832e-04 9.99969107e-01 6.07370850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:41.08, Z:0.61 [[ 8.45508320e-01 -5.33942444e-01 -4.59857162e-03 1.53656159e+02] [ 5.33931295e-01 8.45520683e-01 -3.48519686e-03 4.10777209e+01] [ 5.74908195e-03 4.91441641e-04 9.99983353e-01 6.08936377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:41.09, Z:0.61 [[ 8.46026464e-01 -5.33122333e-01 -4.44969251e-03 1.53677849e+02] [ 5.33111880e-01 8.46038029e-01 -3.37307213e-03 4.10932240e+01] [ 5.56286916e-03 4.81524350e-04 9.99984411e-01 6.08774047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:41.11, Z:0.61 [[ 8.46789116e-01 -5.31906020e-01 -4.91711509e-03 1.53699822e+02] [ 5.31893227e-01 8.46803219e-01 -3.72867339e-03 4.11100373e+01] [ 6.14713271e-03 5.42019835e-04 9.99980959e-01 6.07950939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:41.13, Z:0.61 [[ 8.47705509e-01 -5.30434793e-01 -5.85668077e-03 1.53722015e+02] [ 5.30416596e-01 8.47725483e-01 -4.44290940e-03 4.11268143e+01] [ 7.32153126e-03 6.59798092e-04 9.99972980e-01 6.06993880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:41.14, Z:0.61 [[ 8.49542193e-01 -5.27471906e-01 -7.17294091e-03 1.53743668e+02] [ 5.27444496e-01 8.49572058e-01 -5.44256619e-03 4.11429710e+01] [ 8.96473094e-03 8.40361412e-04 9.99959463e-01 6.05884329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:41.16, Z:0.61 [[ 8.50143900e-01 -5.26498069e-01 -7.42515720e-03 1.53765771e+02] [ 5.26468642e-01 8.50175867e-01 -5.63592649e-03 4.11599497e+01] [ 9.27999388e-03 8.82236096e-04 9.99956551e-01 6.06526990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:41.18, Z:0.61 [[ 8.50554298e-01 -5.25838095e-01 -7.18911830e-03 1.53787221e+02] [ 5.25810473e-01 8.50584243e-01 -5.45825726e-03 4.11761525e+01] [ 8.98511035e-03 8.62430474e-04 9.99959261e-01 6.07537643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:41.19, Z:0.61 [[ 8.50796967e-01 -5.25450793e-01 -6.78120144e-03 1.53809438e+02] [ 5.25426197e-01 8.50823598e-01 -5.14945463e-03 4.11920845e+01] [ 8.47539123e-03 8.18119494e-04 9.99963749e-01 6.07861623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:41.21, Z:0.61 [[ 8.50562660e-01 -5.25831196e-01 -6.68691822e-03 1.53832345e+02] [ 5.25807277e-01 8.50588564e-01 -5.07958058e-03 4.12082525e+01] [ 8.35881810e-03 8.04471306e-04 9.99964741e-01 6.08087767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:41.22, Z:0.61 [[ 8.49509599e-01 -5.27534816e-01 -6.36074644e-03 1.53855351e+02] [ 5.27513206e-01 8.49533080e-01 -4.83361018e-03 4.12242238e+01] [ 7.95356218e-03 7.50820504e-04 9.99968088e-01 6.07905347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:41.24, Z:0.61 [[ 8.48737038e-01 -5.28778798e-01 -6.19860954e-03 1.53876901e+02] [ 5.28758301e-01 8.48759367e-01 -4.71132310e-03 4.12405979e+01] [ 7.75237568e-03 7.21108162e-04 9.99969690e-01 6.08303769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:41.26, Z:0.61 [[ 8.47783544e-01 -5.30310355e-01 -5.83015713e-03 1.53899663e+02] [ 5.30292247e-01 8.47803328e-01 -4.43274449e-03 4.12574504e+01] [ 7.29355692e-03 6.66320704e-04 9.99973180e-01 6.07863916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:41.27, Z:0.61 [[ 8.47000437e-01 -5.31559118e-01 -5.92989053e-03 1.53922234e+02] [ 5.31540403e-01 8.47020931e-01 -4.51023584e-03 4.12735293e+01] [ 7.42019838e-03 6.68195323e-04 9.99972247e-01 6.07883722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:41.29, Z:0.61 [[ 8.46114125e-01 -5.32960546e-01 -6.62902445e-03 1.53945763e+02] [ 5.32937185e-01 8.46139773e-01 -5.04389282e-03 4.12895733e+01] [ 8.29727712e-03 7.34855330e-04 9.99965307e-01 6.08301757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:41.31, Z:0.61 [[ 8.45780968e-01 -5.33495096e-01 -6.12671726e-03 1.53967025e+02] [ 5.33475146e-01 8.45802888e-01 -4.66294152e-03 4.13060535e+01] [ 7.66965159e-03 6.75375811e-04 9.99970360e-01 6.08540982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:41.32, Z:0.61 [[ 8.45550649e-01 -5.33869260e-01 -5.26438397e-03 1.53988381e+02] [ 5.33854533e-01 8.45566839e-01 -4.00731610e-03 4.13232090e+01] [ 6.59077140e-03 5.77973487e-04 9.99978114e-01 6.08772915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:41.34, Z:0.61 [[ 8.45254400e-01 -5.34348078e-01 -4.13897180e-03 1.54010907e+02] [ 5.34338975e-01 8.45264412e-01 -3.15161535e-03 4.13406511e+01] [ 5.18258518e-03 4.52302788e-04 9.99986468e-01 6.09014480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:41.36, Z:0.61 [[ 8.44890070e-01 -5.34929829e-01 -3.29357968e-03 1.54033626e+02] [ 5.34924066e-01 8.44896413e-01 -2.50877037e-03 4.13572006e+01] [ 4.12474977e-03 3.57820143e-04 9.99991429e-01 6.09050327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:41.37, Z:0.61 [[ 8.43567500e-01 -5.37013387e-01 -3.23971417e-03 1.54056148e+02] [ 5.37007822e-01 8.43573651e-01 -2.46866668e-03 4.13732073e+01] [ 4.05864456e-03 3.42735127e-04 9.99991705e-01 6.09113547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:41.39, Z:0.61 [[ 8.42578969e-01 -5.38561642e-01 -3.46975687e-03 1.54077349e+02] [ 5.38555268e-01 8.42586036e-01 -2.64475208e-03 4.13897032e+01] [ 4.34793071e-03 3.59756642e-04 9.99990483e-01 6.09270555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:41.41, Z:0.61 [[ 8.41555913e-01 -5.40159953e-01 -3.29688785e-03 1.54100025e+02] [ 5.40154207e-01 8.41562305e-01 -2.51382307e-03 4.14066266e+01] [ 4.13240309e-03 3.34694826e-04 9.99991406e-01 6.09248848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.12, Y:41.42, Z:0.61 [[ 8.40585645e-01 -5.41670704e-01 -2.93643058e-03 1.54123372e+02] [ 5.41666152e-01 8.40590723e-01 -2.23979316e-03 4.14220489e+01] [ 3.68156664e-03 2.92172921e-04 9.99993180e-01 6.09871442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:41.43, Z:0.61 [[ 8.39448751e-01 -5.43433963e-01 -2.30701253e-03 1.54148286e+02] [ 5.43431158e-01 8.39451891e-01 -1.76008874e-03 4.14338156e+01] [ 2.89311803e-03 2.23801804e-04 9.99995790e-01 6.11402703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:41.45, Z:0.61 [[ 8.39258189e-01 -5.43726446e-01 -2.69146039e-03 1.54170536e+02] [ 5.43722629e-01 8.39262464e-01 -2.05403259e-03 4.14503813e+01] [ 3.37567352e-03 2.60455751e-04 9.99994268e-01 6.11347445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:41.47, Z:0.61 [[ 8.39371756e-01 -5.43548370e-01 -3.19756021e-03 1.54191197e+02] [ 5.43542978e-01 8.39377789e-01 -2.44088484e-03 4.14670341e+01] [ 4.01069999e-03 3.10798390e-04 9.99991909e-01 6.11077757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:41.48, Z:0.61 [[ 8.39566335e-01 -5.43244721e-01 -3.68002064e-03 1.54213307e+02] [ 5.43237572e-01 8.39574323e-01 -2.81012009e-03 4.14842525e+01] [ 4.61623374e-03 3.60156745e-04 9.99989280e-01 6.10225821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:41.50, Z:0.61 [[ 8.39920788e-01 -5.42695047e-01 -3.89298413e-03 1.54235426e+02] [ 5.42687038e-01 8.39929722e-01 -2.97342643e-03 4.14998332e+01] [ 4.88349688e-03 3.84770641e-04 9.99988002e-01 6.09536888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:41.52, Z:0.61 [[ 8.40086882e-01 -5.42435018e-01 -4.27578204e-03 1.54259280e+02] [ 5.42425347e-01 8.40097655e-01 -3.26688951e-03 4.15152437e+01] [ 5.36414973e-03 4.25178466e-04 9.99985522e-01 6.09401813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:41.53, Z:0.61 [[ 8.39910731e-01 -5.42706212e-01 -4.46446125e-03 1.54282766e+02] [ 5.42695667e-01 8.39922479e-01 -3.41202535e-03 4.15292380e+01] [ 5.60152871e-03 4.42952934e-04 9.99984213e-01 6.09779941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:41.55, Z:0.61 [[ 8.39571019e-01 -5.43229064e-01 -4.76318486e-03 1.54304900e+02] [ 5.43217064e-01 8.39584400e-01 -3.64099345e-03 4.15455306e+01] [ 5.97698916e-03 4.69429283e-04 9.99982027e-01 6.10043157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:41.56, Z:0.61 [[ 8.39151215e-01 -5.43877105e-01 -4.78897202e-03 1.54327173e+02] [ 5.43864978e-01 8.39164749e-01 -3.66192961e-03 4.15619011e+01] [ 6.01037618e-03 4.68358511e-04 9.99981828e-01 6.10021921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:41.58, Z:0.61 [[ 8.38865974e-01 -5.44320108e-01 -4.41558832e-03 1.54349189e+02] [ 5.44309801e-01 8.38877485e-01 -3.37711527e-03 4.15772240e+01] [ 5.54236937e-03 4.29499090e-04 9.99984549e-01 6.10215817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:41.59, Z:0.61 [[ 8.38375897e-01 -5.45077648e-01 -4.02644539e-03 1.54372652e+02] [ 5.45069082e-01 8.38385476e-01 -3.08048703e-03 4.15931871e+01] [ 5.05481796e-03 3.87915190e-04 9.99987149e-01 6.10295394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:41.61, Z:0.61 [[ 8.37811830e-01 -5.45944515e-01 -3.99050033e-03 1.54395758e+02] [ 5.45936105e-01 8.37821247e-01 -3.05414943e-03 4.16088030e+01] [ 5.01072209e-03 3.80244314e-04 9.99987374e-01 6.10268868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:41.62, Z:0.61 [[ 8.36628144e-01 -5.47738504e-01 -5.98997642e-03 1.54419429e+02] [ 5.47719591e-01 8.36649402e-01 -4.58552593e-03 4.16229012e+01] [ 7.52317931e-03 5.55552609e-04 9.99971546e-01 6.09300802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:41.64, Z:0.61 [[ 8.36019612e-01 -5.48657663e-01 -6.78066168e-03 1.54442575e+02] [ 5.48633442e-01 8.36046879e-01 -5.19258845e-03 4.16389201e+01] [ 8.51790448e-03 6.21008025e-04 9.99963529e-01 6.08462236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:41.66, Z:0.61 [[ 8.35384535e-01 -5.49618968e-01 -7.18807948e-03 1.54465158e+02] [ 5.49591765e-01 8.35415207e-01 -5.50671061e-03 4.16550525e+01] [ 9.03162350e-03 6.49711595e-04 9.99959003e-01 6.08171994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:41.67, Z:0.61 [[ 8.34745239e-01 -5.50591208e-01 -7.05032614e-03 1.54487160e+02] [ 5.50565063e-01 8.34774776e-01 -5.40224559e-03 4.16702429e+01] [ 8.85986335e-03 6.27835526e-04 9.99960554e-01 6.08327126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:41.68, Z:0.61 [[ 8.32983948e-01 -5.53274136e-01 -5.04715735e-03 1.54511912e+02] [ 5.53260778e-01 8.32999127e-01 -3.86861978e-03 4.16845576e+01] [ 6.34468493e-03 4.30103972e-04 9.99979780e-01 6.08671698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:41.70, Z:0.61 [[ 8.32029677e-01 -5.54716911e-01 -3.97046341e-03 1.54534881e+02] [ 5.54708655e-01 8.32039085e-01 -3.04445212e-03 4.16999881e+01] [ 4.99238982e-03 3.30624101e-04 9.99987483e-01 6.09141027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:41.72, Z:0.61 [[ 8.31213774e-01 -5.55945031e-01 -2.96381317e-03 1.54557396e+02] [ 5.55940437e-01 8.31219023e-01 -2.27304914e-03 4.17153986e+01] [ 3.72726826e-03 2.41686164e-04 9.99993025e-01 6.08698600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:41.73, Z:0.61 [[ 8.30188064e-01 -5.57476958e-01 -2.68686409e-03 1.54580581e+02] [ 5.57473188e-01 8.30192385e-01 -2.06127039e-03 4.17318396e+01] [ 3.37972485e-03 2.13387387e-04 9.99994266e-01 6.08473234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:41.75, Z:0.61 [[ 8.29167462e-01 -5.58992606e-01 -2.93018138e-03 1.54603773e+02] [ 5.58988129e-01 8.29172609e-01 -2.24883986e-03 4.17481994e+01] [ 3.68671099e-03 2.26728230e-04 9.99993178e-01 6.08259493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:154.63, Y:41.76, Z:0.61 [[ 8.27459654e-01 -5.61510334e-01 -4.08248271e-03 1.54628430e+02] [ 5.61501665e-01 8.27469670e-01 -3.13455832e-03 4.17617159e+01] [ 5.13821751e-03 3.01399707e-04 9.99986754e-01 6.08540165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.65, Y:41.78, Z:0.61 [[ 8.26987269e-01 -5.62203169e-01 -4.43323251e-03 1.54651381e+02] [ 5.62192952e-01 8.26999089e-01 -3.40465019e-03 4.17756793e+01] [ 5.58038437e-03 3.23270290e-04 9.99984377e-01 6.09029147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:41.79, Z:0.61 [[ 8.26713025e-01 -5.62608040e-01 -4.21520784e-03 1.54675040e+02] [ 5.62598806e-01 8.26723715e-01 -3.23775693e-03 4.17897561e+01] [ 5.30640036e-03 3.05224926e-04 9.99985874e-01 6.08787050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:41.80, Z:0.61 [[ 8.26567774e-01 -5.62825324e-01 -3.65632016e-03 1.54700510e+02] [ 5.62818375e-01 8.26575819e-01 -2.80937663e-03 4.18034033e+01] [ 4.60341414e-03 2.64296021e-04 9.99989369e-01 6.08229551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:41.82, Z:0.61 [[ 8.26847852e-01 -5.62415457e-01 -3.38876098e-03 1.54723700e+02] [ 5.62409480e-01 8.26854759e-01 -2.60480250e-03 4.18185161e+01] [ 4.26699433e-03 2.47904049e-04 9.99990866e-01 6.07960041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:41.83, Z:0.61 [[ 8.27616918e-01 -5.61284028e-01 -3.23684252e-03 1.54746432e+02] [ 5.61278564e-01 8.27623212e-01 -2.48861525e-03 4.18332965e+01] [ 4.07570600e-03 2.42849760e-04 9.99991665e-01 6.08197471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:41.85, Z:0.61 [[ 8.28767526e-01 -5.59583602e-01 -3.25266293e-03 1.54769746e+02] [ 5.59578067e-01 8.28773871e-01 -2.50158750e-03 4.18486784e+01] [ 4.09556939e-03 2.53115651e-04 9.99991581e-01 6.08825797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:41.87, Z:0.61 [[ 8.28669625e-01 -5.59728574e-01 -3.25221586e-03 1.54792261e+02] [ 5.59723038e-01 8.28675968e-01 -2.50216866e-03 4.18661717e+01] [ 4.09556842e-03 2.53131019e-04 9.99991581e-01 6.08860960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:41.88, Z:0.61 [[ 8.30297298e-01 -5.57310654e-01 -3.35140773e-03 1.54815585e+02] [ 5.57304752e-01 8.30304017e-01 -2.57946712e-03 4.18824516e+01] [ 4.22025181e-03 2.73969127e-04 9.99991057e-01 6.09260270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:41.90, Z:0.61 [[ 8.32274662e-01 -5.54351974e-01 -3.57447615e-03 1.54838457e+02] [ 5.54345228e-01 8.32282280e-01 -2.75222821e-03 4.18992953e+01] [ 4.50067630e-03 3.09116003e-04 9.99989824e-01 6.09716409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:41.92, Z:0.61 [[ 8.36831058e-01 -5.47448793e-01 -3.68768370e-03 1.54862127e+02] [ 5.47441541e-01 8.36839107e-01 -2.84048982e-03 4.19151055e+01] [ 4.64102065e-03 3.58218857e-04 9.99989166e-01 6.09603032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:41.93, Z:0.61 [[ 8.38726901e-01 -5.44543338e-01 -3.12074529e-03 1.54884278e+02] [ 5.44538122e-01 8.38732647e-01 -2.40446800e-03 4.19311602e+01] [ 3.92680798e-03 3.17327216e-04 9.99992240e-01 6.09774618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:41.95, Z:0.61 [[ 8.40228282e-01 -5.42227552e-01 -2.39096670e-03 1.54906446e+02] [ 5.42224479e-01 8.40231646e-01 -1.84274092e-03 4.19481340e+01] [ 3.00815078e-03 2.51882366e-04 9.99995444e-01 6.09740275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:41.96, Z:0.61 [[ 8.41348020e-01 -5.40490707e-01 -1.81812753e-03 1.54927846e+02] [ 5.40488925e-01 8.41349961e-01 -1.40162280e-03 4.19647614e+01] [ 2.28724562e-03 1.96574769e-04 9.99997365e-01 6.09493846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:41.98, Z:0.61 [[ 8.42779228e-01 -5.38247771e-01 -3.53682061e-03 1.54950063e+02] [ 5.38241005e-01 8.42786557e-01 -2.72769843e-03 4.19814828e+01] [ 4.44896247e-03 3.95185703e-04 9.99990025e-01 6.08335021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:42.00, Z:0.61 [[ 8.43182864e-01 -5.37607062e-01 -4.61567662e-03 1.54971030e+02] [ 5.37595523e-01 8.43195336e-01 -3.56056947e-03 4.19977966e+01] [ 5.80610429e-03 5.20844077e-04 9.99983009e-01 6.07438865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:42.02, Z:0.61 [[ 8.43331490e-01 -5.37371882e-01 -4.84331056e-03 1.54992270e+02] [ 5.37359170e-01 8.43345219e-01 -3.73676999e-03 4.20151601e+01] [ 6.09261793e-03 5.48738466e-04 9.99981289e-01 6.07273746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:42.03, Z:0.61 [[ 8.43203851e-01 -5.37578003e-01 -4.14204120e-03 1.55013897e+02] [ 5.37568702e-01 8.43213894e-01 -3.19672861e-03 4.20333001e+01] [ 5.21111767e-03 4.68862166e-04 9.99986312e-01 6.07837787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:42.05, Z:0.61 [[ 8.41975445e-01 -5.39510788e-01 -2.33651412e-03 1.55034675e+02] [ 5.39507835e-01 8.41978648e-01 -1.80359368e-03 4.20501638e+01] [ 2.94035324e-03 2.58013915e-04 9.99995644e-01 6.08762613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.06, Y:42.07, Z:0.61 [[ 8.40833085e-01 -5.41289770e-01 -2.26019881e-03 1.55056468e+02] [ 5.41287011e-01 8.40836087e-01 -1.74517534e-03 4.20671557e+01] [ 2.84510228e-03 2.43984903e-04 9.99995923e-01 6.08422054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:42.08, Z:0.61 [[ 8.39718839e-01 -5.43014902e-01 -2.66227992e-03 1.55078256e+02] [ 5.43011081e-01 8.39723012e-01 -2.05630531e-03 4.20839188e+01] [ 3.35218214e-03 2.81070812e-04 9.99994342e-01 6.07624148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:42.10, Z:0.61 [[ 8.38577261e-01 -5.44772551e-01 -3.32332303e-03 1.55099414e+02] [ 5.44766609e-01 8.38583777e-01 -2.56742209e-03 4.21004615e+01] [ 4.18554586e-03 3.42546366e-04 9.99991182e-01 6.06396881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:42.12, Z:0.61 [[ 8.37435212e-01 -5.46522827e-01 -3.88153055e-03 1.55121563e+02] [ 5.46514734e-01 8.37444116e-01 -2.99962980e-03 4.21171231e+01] [ 4.88993108e-03 3.90681981e-04 9.99987968e-01 6.06102447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:42.13, Z:0.61 [[ 8.36061651e-01 -5.48626914e-01 -3.07002358e-03 1.55145062e+02] [ 5.48621862e-01 8.36067234e-01 -2.37333791e-03 4.21329594e+01] [ 3.86882318e-03 2.99974762e-04 9.99992471e-01 6.07527066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:42.15, Z:0.61 [[ 8.35880915e-01 -5.48904122e-01 -2.71317152e-03 1.55166705e+02] [ 5.48900176e-01 8.35885276e-01 -2.09794569e-03 4.21483404e+01] [ 3.41947116e-03 2.64372437e-04 9.99994119e-01 6.07981372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:42.16, Z:0.61 [[ 8.35744711e-01 -5.49111889e-01 -2.62894632e-03 1.55189456e+02] [ 5.49108183e-01 8.35748807e-01 -2.03340554e-03 4.21649913e+01] [ 3.31370591e-03 2.55831989e-04 9.99994477e-01 6.08054162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:42.18, Z:0.61 [[ 8.35699823e-01 -5.49180958e-01 -2.46596754e-03 1.55211519e+02] [ 5.49177696e-01 8.35703427e-01 -1.90803707e-03 4.21815478e+01] [ 3.10867515e-03 2.40291870e-04 9.99995139e-01 6.07465038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:42.20, Z:0.61 [[ 8.35713727e-01 -5.49163601e-01 -1.38094118e-03 1.55233188e+02] [ 5.49162577e-01 8.35714857e-01 -1.06871044e-03 4.21971031e+01] [ 1.74096993e-03 1.34774765e-04 9.99998475e-01 6.07801073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:42.21, Z:0.61 [[ 8.35521592e-01 -5.49457383e-01 -5.03163125e-04 1.55255800e+02] [ 5.49457247e-01 8.35521742e-01 -3.89307370e-04 4.22136287e+01] [ 6.34311540e-04 4.88080875e-05 9.99999798e-01 6.08295113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:42.23, Z:0.61 [[ 8.35305215e-01 -5.49786501e-01 1.80498361e-05 1.55278609e+02] [ 5.49786501e-01 8.35305216e-01 1.42602149e-05 4.22302635e+01] [-2.29171959e-05 -1.98807567e-06 1.00000000e+00 6.08871550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:42.25, Z:0.61 [[ 8.34948452e-01 -5.50328044e-01 -3.56183190e-04 1.55301805e+02] [ 5.50327976e-01 8.34948527e-01 -2.75709312e-04 4.22466426e+01] [ 4.49125196e-04 3.41854891e-05 9.99999899e-01 6.09058219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:42.26, Z:0.61 [[ 8.34415129e-01 -5.51134833e-01 -1.33693422e-03 1.55325009e+02] [ 5.51133874e-01 8.34416191e-01 -1.03602615e-03 4.22621155e+01] [ 1.68654966e-03 1.27646160e-04 9.99998570e-01 6.08418497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:42.27, Z:0.61 [[ 8.32858356e-01 -5.53473662e-01 -3.72348309e-03 1.55349435e+02] [ 5.53466241e-01 8.32866609e-01 -2.88656766e-03 4.22746351e+01] [ 4.69880390e-03 3.43279807e-04 9.99988902e-01 6.06668066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:42.29, Z:0.61 [[ 8.32144926e-01 -5.54540875e-01 -4.38631621e-03 1.55372807e+02] [ 5.54530586e-01 8.32156391e-01 -3.40155875e-03 4.22900119e+01] [ 5.53640443e-03 3.98243361e-04 9.99984595e-01 6.06244891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:42.31, Z:0.61 [[ 8.31465481e-01 -5.55557354e-01 -4.60220984e-03 1.55396271e+02] [ 5.55546034e-01 8.31478116e-01 -3.57036037e-03 4.23059048e+01] [ 5.81017672e-03 4.11891977e-04 9.99983036e-01 6.06042265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:42.32, Z:0.61 [[ 8.31078417e-01 -5.56136463e-01 -4.57159596e-03 1.55418400e+02] [ 5.56125298e-01 8.31090891e-01 -3.54736208e-03 4.23212802e+01] [ 5.77222916e-03 4.05755898e-04 9.99983258e-01 6.06385133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:155.44, Y:42.34, Z:0.61 [[ 8.30879265e-01 -5.56431286e-01 -4.88573774e-03 1.55441672e+02] [ 5.56418530e-01 8.30893517e-01 -3.79240626e-03 4.23377592e+01] [ 6.16974131e-03 4.32516719e-04 9.99980873e-01 6.06384845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.47, Y:42.35, Z:0.61 [[ 8.30758102e-01 -5.56601928e-01 -5.93883969e-03 1.55465197e+02] [ 5.56583075e-01 8.30779163e-01 -4.61118761e-03 4.23510721e+01] [ 7.50046018e-03 5.25323815e-04 9.99971733e-01 6.05883351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:42.37, Z:0.61 [[ 8.30821836e-01 -5.56509501e-01 -5.67916066e-03 1.55488953e+02] [ 5.56492247e-01 8.30841093e-01 -4.41113827e-03 4.23667605e+01] [ 7.17332041e-03 5.04461121e-04 9.99974144e-01 6.05810971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:42.38, Z:0.61 [[ 8.30776906e-01 -5.56585216e-01 -4.75704756e-03 1.55511409e+02] [ 5.56573107e-01 8.30790418e-01 -3.69576282e-03 4.23817396e+01] [ 6.00911648e-03 4.22709658e-04 9.99981856e-01 6.06251942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:42.40, Z:0.61 [[ 8.30595993e-01 -5.56864713e-01 -3.46237173e-03 1.55534458e+02] [ 5.56858297e-01 8.30603152e-01 -2.69078019e-03 4.23971428e+01] [ 4.37425741e-03 3.06900818e-04 9.99990386e-01 6.07739725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:42.41, Z:0.61 [[ 8.29993192e-01 -5.57770269e-01 -1.90490306e-03 1.55559487e+02] [ 5.57768329e-01 8.29995361e-01 -1.48070447e-03 4.24089082e+01] [ 2.40695364e-03 1.66480034e-04 9.99997089e-01 6.08757343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:42.42, Z:0.61 [[ 8.29405372e-01 -5.58644386e-01 -1.78293607e-03 1.55581979e+02] [ 5.58642688e-01 8.29407274e-01 -1.38617411e-03 4.24235721e+01] [ 2.25315853e-03 1.53676055e-04 9.99997450e-01 6.09032709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:42.44, Z:0.61 [[ 8.28833286e-01 -5.59493205e-01 -1.65446012e-03 1.55604555e+02] [ 5.59491744e-01 8.28834925e-01 -1.28662575e-03 4.24394676e+01] [ 2.09113269e-03 1.40741475e-04 9.99997804e-01 6.08576195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:42.46, Z:0.61 [[ 8.28591732e-01 -5.59850295e-01 -1.84113391e-03 1.55626340e+02] [ 5.59848484e-01 8.28593762e-01 -1.43227486e-03 4.24555521e+01] [ 2.32741158e-03 1.56015081e-04 9.99997279e-01 6.08472816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.65, Y:42.47, Z:0.61 [[ 8.28637901e-01 -5.59780384e-01 -2.26967233e-03 1.55648864e+02] [ 5.59777630e-01 8.28640987e-01 -1.76625385e-03 4.24726011e+01] [ 2.86945777e-03 1.93073083e-04 9.99995864e-01 6.08292119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:42.49, Z:0.61 [[ 8.28987636e-01 -5.59264591e-01 -1.61775005e-03 1.55672755e+02] [ 5.59263191e-01 8.28989202e-01 -1.25932026e-03 4.24869040e+01] [ 2.04539056e-03 1.39212866e-04 9.99997899e-01 6.08837529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:42.50, Z:0.61 [[ 8.28890944e-01 -5.59410101e-01 -3.75834574e-04 1.55694677e+02] [ 5.59410025e-01 8.28891029e-01 -2.92510383e-04 4.25025806e+01] [ 4.75159169e-04 3.22135787e-05 9.99999887e-01 6.09444525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:42.52, Z:0.61 [[ 8.28599010e-01 -5.59842380e-01 4.36480775e-04 1.55717145e+02] [ 5.59842277e-01 8.28599124e-01 3.40361383e-04 4.25191525e+01] [-5.52216314e-04 -3.76627141e-05 9.99999847e-01 6.09981168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:42.53, Z:0.61 [[ 8.28359031e-01 -5.60197527e-01 2.14950359e-04 1.55738896e+02] [ 5.60197502e-01 8.28359059e-01 1.67714561e-04 4.25348068e+01] [-2.72009359e-04 -1.85132171e-05 9.99999963e-01 6.09560819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:42.55, Z:0.61 [[ 8.27942126e-01 -5.60813218e-01 -6.08754779e-04 1.55761554e+02] [ 5.60813020e-01 8.27942348e-01 -4.74309100e-04 4.25507383e+01] [ 7.70012674e-04 5.13028779e-05 9.99999702e-01 6.09212849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:42.57, Z:0.61 [[ 8.27611105e-01 -5.61300720e-01 -1.16661516e-03 1.55785064e+02] [ 5.61299991e-01 8.27611922e-01 -9.09574465e-04 4.25666743e+01] [ 1.47604942e-03 9.79528472e-05 9.99998906e-01 6.08319324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:42.58, Z:0.61 [[ 8.26721244e-01 -5.62610879e-01 -9.92366820e-04 1.55808116e+02] [ 5.62610352e-01 8.26721835e-01 -7.73970874e-04 4.25808411e+01] [ 1.25585575e-03 8.15423172e-05 9.99999208e-01 6.07645007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:42.60, Z:0.61 [[ 8.26248314e-01 -5.63305337e-01 -9.05794446e-04 1.55830545e+02] [ 5.63304899e-01 8.26248807e-01 -7.06621790e-04 4.25962846e+01] [ 1.14645541e-03 7.36066137e-05 9.99999340e-01 6.07234165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.85, Y:42.61, Z:0.61 [[ 8.25742766e-01 -5.64044618e-01 -1.59792266e-03 1.55854225e+02] [ 5.64043255e-01 8.25744302e-01 -1.24702584e-03 4.26122509e+01] [ 2.02285375e-03 1.28425065e-04 9.99997946e-01 6.06926783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:42.62, Z:0.61 [[ 8.25424239e-01 -5.64502746e-01 -3.38753676e-03 1.55880100e+02] [ 5.64496615e-01 8.25431146e-01 -2.64465994e-03 4.26229295e+01] [ 4.28909614e-03 2.70713383e-04 9.99990765e-01 6.06219678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:42.64, Z:0.61 [[ 8.25252797e-01 -5.64752458e-01 -3.53308619e-03 1.55904222e+02] [ 5.64745788e-01 8.25260311e-01 -2.75920252e-03 4.26374358e+01] [ 4.47398221e-03 2.81744051e-04 9.99989952e-01 6.05927717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:42.65, Z:0.61 [[ 8.25117604e-01 -5.64953186e-01 -2.97276512e-03 1.55927831e+02] [ 5.64948462e-01 8.25122925e-01 -2.32245296e-03 4.26521473e+01] [ 3.76497385e-03 2.36837736e-04 9.99992884e-01 6.06316621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:42.67, Z:0.61 [[ 8.25508634e-01 -5.64384424e-01 -2.39096447e-03 1.55951988e+02] [ 5.64381364e-01 8.25512074e-01 -1.86859228e-03 4.26667735e+01] [ 3.02837442e-03 1.93123274e-04 9.99995396e-01 6.06862818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:42.68, Z:0.61 [[ 8.26338096e-01 -5.63170638e-01 -2.04526920e-03 1.55976005e+02] [ 5.63168394e-01 8.26340610e-01 -1.59889994e-03 4.26804240e+01] [ 2.59054250e-03 1.69400964e-04 9.99996630e-01 6.06962329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:42.69, Z:0.61 [[ 8.29151642e-01 -5.59016323e-01 -2.88182405e-03 1.56002614e+02] [ 5.59011840e-01 8.29156610e-01 -2.25347927e-03 4.26909908e+01] [ 3.64921516e-03 2.57502272e-04 9.99993308e-01 6.06175092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:42.71, Z:0.61 [[ 8.30641677e-01 -5.56798574e-01 -3.12307762e-03 1.56025815e+02] [ 5.56793290e-01 8.30647497e-01 -2.44293372e-03 4.27064363e+01] [ 3.95439862e-03 2.90293904e-04 9.99992139e-01 6.05334910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:42.72, Z:0.61 [[ 8.32204223e-01 -5.54458861e-01 -3.39148809e-03 1.56047990e+02] [ 5.54452608e-01 8.32211069e-01 -2.65358332e-03 4.27227299e+01] [ 4.29373672e-03 3.27903829e-04 9.99990728e-01 6.05227391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:156.07, Y:42.74, Z:0.60 [[ 8.33688391e-01 -5.52225525e-01 -3.26135751e-03 1.56069713e+02] [ 5.52219722e-01 8.33694706e-01 -2.55260757e-03 4.27398859e+01] [ 4.12859155e-03 3.27093358e-04 9.99991424e-01 6.04556801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:42.76, Z:0.61 [[ 8.37218945e-01 -5.46864121e-01 -2.01753156e-03 1.56091677e+02] [ 5.46861885e-01 8.37221348e-01 -1.57940647e-03 4.27551638e+01] [ 2.55284122e-03 2.18997911e-04 9.99996718e-01 6.06211890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:42.77, Z:0.61 [[ 8.38668309e-01 -5.44640005e-01 -1.65319130e-03 1.56113536e+02] [ 5.44638498e-01 8.38669918e-01 -1.29439666e-03 4.27707223e+01] [ 2.09146202e-03 1.85177832e-04 9.99997796e-01 6.06762561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:42.79, Z:0.61 [[ 8.39614897e-01 -5.43179028e-01 -1.83521887e-03 1.56135515e+02] [ 5.43177168e-01 8.39616876e-01 -1.43725060e-03 4.27863176e+01] [ 2.32156512e-03 2.09888026e-04 9.99997283e-01 6.06833098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:42.80, Z:0.61 [[ 8.39899129e-01 -5.42737770e-01 -2.27279573e-03 1.56157573e+02] [ 5.42734913e-01 8.39902163e-01 -1.78053076e-03 4.28033692e+01] [ 2.87528735e-03 2.61940636e-04 9.99995832e-01 6.06766749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:42.82, Z:0.61 [[ 8.39639780e-01 -5.43136477e-01 -2.79411156e-03 1.56179037e+02] [ 5.43132158e-01 8.39644368e-01 -2.18978311e-03 4.28213076e+01] [ 3.53541112e-03 3.21057167e-04 9.99993699e-01 6.06442370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:42.84, Z:0.61 [[ 8.38750071e-01 -5.44508488e-01 -2.97056839e-03 1.56200212e+02] [ 5.44503611e-01 8.38755264e-01 -2.32895508e-03 4.28395198e+01] [ 3.75971569e-03 3.35926024e-04 9.99992876e-01 6.06669147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:42.86, Z:0.61 [[ 8.35728526e-01 -5.49139847e-01 -1.80522680e-03 1.56222051e+02] [ 5.49138056e-01 8.35730454e-01 -1.41559629e-03 4.28561971e+01] [ 2.28604334e-03 1.91735469e-04 9.99997369e-01 6.06996541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:42.87, Z:0.61 [[ 8.35667331e-01 -5.49232968e-01 -1.80509350e-03 1.56244419e+02] [ 5.49231177e-01 8.35669259e-01 -1.41576625e-03 4.28738893e+01] [ 2.28604665e-03 1.91695972e-04 9.99997369e-01 6.07031724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:42.89, Z:0.61 [[ 8.33781936e-01 -5.52092368e-01 -1.30388965e-03 1.56267177e+02] [ 5.52091437e-01 8.33782945e-01 -1.02285502e-03 4.28893284e+01] [ 1.65187140e-03 1.32971730e-04 9.99998627e-01 6.07780550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:42.90, Z:0.61 [[ 8.31891043e-01 -5.54937943e-01 -1.08219644e-03 1.56290077e+02] [ 5.54937304e-01 8.31891741e-01 -8.49135772e-04 4.29048686e+01] [ 1.37148794e-03 1.05837269e-04 9.99999054e-01 6.08716987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:42.92, Z:0.61 [[ 8.30327216e-01 -5.57275215e-01 -1.02447240e-03 1.56311923e+02] [ 5.57274643e-01 8.30327842e-01 -8.04122364e-04 4.29209109e+01] [ 1.29876542e-03 9.67721941e-05 9.99999152e-01 6.09252596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:42.94, Z:0.61 [[ 8.28024457e-01 -5.60691462e-01 -7.63249621e-04 1.56333792e+02] [ 5.60691146e-01 8.28024806e-01 -5.99168309e-04 4.29375436e+01] [ 9.67938175e-04 6.81787094e-05 9.99999529e-01 6.08491874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:42.95, Z:0.61 [[ 8.27259346e-01 -5.61819823e-01 -6.79591161e-04 1.56355420e+02] [ 5.61819572e-01 8.27259623e-01 -5.33585985e-04 4.29535512e+01] [ 8.61977511e-04 5.96063768e-05 9.99999627e-01 6.08039827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:42.97, Z:0.61 [[ 8.26680029e-01 -5.62672134e-01 -4.45945528e-04 1.56378203e+02] [ 5.62672027e-01 8.26680148e-01 -3.50093075e-04 4.29697331e+01] [ 5.65641933e-04 3.84938793e-05 9.99999839e-01 6.07698398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:42.99, Z:0.61 [[ 8.26365309e-01 -5.63134071e-01 -6.28095566e-04 1.56401606e+02] [ 5.63133857e-01 8.26365546e-01 -4.93364121e-04 4.29860919e+01] [ 7.96866682e-04 5.39971159e-05 9.99999681e-01 6.07440155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:43.00, Z:0.61 [[ 8.26259724e-01 -5.63288400e-01 -1.02317811e-03 1.56424712e+02] [ 5.63287833e-01 8.26260353e-01 -8.04184657e-04 4.30017843e+01] [ 1.29839940e-03 8.81216105e-05 9.99999153e-01 6.07656452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:43.02, Z:0.61 [[ 8.27176940e-01 -5.61936099e-01 -2.47607137e-03 1.56447089e+02] [ 5.61932768e-01 8.27180617e-01 -1.94705946e-03 4.30173693e+01] [ 3.14228124e-03 2.19177046e-04 9.99995039e-01 6.07556303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:43.04, Z:0.61 [[ 8.28083487e-01 -5.60594800e-01 -3.34797870e-03 1.56468744e+02] [ 5.60588696e-01 8.28090199e-01 -2.63362991e-03 4.30351534e+01] [ 4.24882758e-03 3.04026422e-04 9.99990927e-01 6.07584182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:43.05, Z:0.61 [[ 8.29183832e-01 -5.58965723e-01 -3.39025661e-03 1.56488761e+02] [ 5.58959447e-01 8.29190702e-01 -2.66769674e-03 4.30528156e+01] [ 4.30232030e-03 3.16995040e-04 9.99990695e-01 6.07431318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:43.07, Z:0.61 [[ 8.30230632e-01 -5.57412854e-01 -2.82987878e-03 1.56508469e+02] [ 5.57408471e-01 8.30235410e-01 -2.22722326e-03 4.30709922e+01] [ 3.59094844e-03 2.71710572e-04 9.99993516e-01 6.07538253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:43.09, Z:0.61 [[ 8.31169774e-01 -5.56017068e-01 -1.35160800e-03 1.56528265e+02] [ 5.56016066e-01 8.31170863e-01 -1.06395142e-03 4.30908783e+01] [ 1.71499233e-03 1.32808499e-04 9.99998521e-01 6.07586624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:43.11, Z:0.61 [[ 8.30962483e-01 -5.56326738e-01 -1.38288531e-03 1.56548996e+02] [ 5.56325688e-01 8.30963623e-01 -1.08893503e-03 4.31083892e+01] [ 1.75493106e-03 1.35529540e-04 9.99998451e-01 6.07750322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:43.13, Z:0.61 [[ 8.30156871e-01 -5.57526735e-01 -1.87344883e-03 1.56570665e+02] [ 5.57524811e-01 8.30158965e-01 -1.47574716e-03 4.31267977e+01] [ 2.37802884e-03 1.80607435e-04 9.99997156e-01 6.07326007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:43.14, Z:0.61 [[ 8.29011592e-01 -5.59223781e-01 -2.92272418e-03 1.56591305e+02] [ 5.59219106e-01 8.29016699e-01 -2.30304916e-03 4.31440390e+01] [ 3.71090702e-03 2.74811249e-04 9.99993077e-01 6.06942963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:43.16, Z:0.61 [[ 8.27642308e-01 -5.61242752e-01 -3.84496927e-03 1.56613047e+02] [ 5.61234678e-01 8.27651165e-01 -3.03077546e-03 4.31621360e+01] [ 4.88329405e-03 3.50467900e-04 9.99988015e-01 6.06568281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:43.18, Z:0.61 [[ 8.25994869e-01 -5.63661057e-01 -4.32305781e-03 1.56634347e+02] [ 5.63650876e-01 8.26006095e-01 -3.40889423e-03 4.31797091e+01] [ 5.49233303e-03 3.79033823e-04 9.99984845e-01 6.06164609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76140051299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:156.66, Y:43.20, Z:0.61 [[ 8.22615445e-01 -5.68587146e-01 -3.53367894e-03 1.56655964e+02] [ 5.68580386e-01 8.22622986e-01 -2.78706879e-03 4.31956722e+01] [ 4.49157701e-03 2.83505294e-04 9.99989873e-01 6.06291946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:43.21, Z:0.61 [[ 8.21110820e-01 -5.70758981e-01 -3.34757725e-03 1.56679362e+02] [ 5.70752928e-01 8.21117604e-01 -2.64114660e-03 4.32119413e+01] [ 4.25621276e-03 2.58034535e-04 9.99990909e-01 6.07987773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:43.23, Z:0.61 [[ 8.19762948e-01 -5.72692465e-01 -3.47140899e-03 1.56702127e+02] [ 5.72685969e-01 8.19770257e-01 -2.73990767e-03 4.32277984e+01] [ 4.41488231e-03 2.58047569e-04 9.99990221e-01 6.08507349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:43.24, Z:0.61 [[ 8.18365107e-01 -5.74684995e-01 -3.96325436e-03 1.56726035e+02] [ 5.74676545e-01 8.18374655e-01 -3.12935915e-03 4.32432830e+01] [ 5.04182267e-03 2.83369015e-04 9.99987250e-01 6.08088591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:43.26, Z:0.61 [[ 8.18501342e-01 -5.74492027e-01 -3.80328555e-03 1.56747958e+02] [ 5.74484238e-01 8.18510132e-01 -3.00392205e-03 4.32595107e+01] [ 4.83875702e-03 2.73786624e-04 9.99988256e-01 6.07867508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:43.28, Z:0.61 [[ 8.19131147e-01 -5.73593982e-01 -3.75610192e-03 1.56769917e+02] [ 5.73586373e-01 8.19139712e-01 -2.96731422e-03 4.32758366e+01] [ 4.77880582e-03 2.76170620e-04 9.99988543e-01 6.07892434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:43.29, Z:0.61 [[ 8.19946701e-01 -5.72426802e-01 -3.86832064e-03 1.56791821e+02] [ 5.72418716e-01 8.19955774e-01 -3.05659548e-03 4.32919495e+01] [ 4.92152902e-03 2.91946246e-04 9.99987847e-01 6.08123986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:43.31, Z:0.61 [[ 8.20888142e-01 -5.71072520e-01 -4.33994430e-03 1.56813766e+02] [ 5.71062319e-01 8.20899545e-01 -3.42996098e-03 4.33078959e+01] [ 5.52141476e-03 3.37235636e-04 9.99984700e-01 6.08488562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.84, Y:43.32, Z:0.61 [[ 8.21894522e-01 -5.69618518e-01 -4.91320800e-03 1.56836634e+02] [ 5.69605409e-01 8.21909112e-01 -3.88439773e-03 4.33242063e+01] [ 6.25083530e-03 3.93975357e-04 9.99980386e-01 6.09036614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:43.34, Z:0.61 [[ 8.23882382e-01 -5.66747357e-01 -3.90562517e-03 1.56859078e+02] [ 5.66739038e-01 8.23891573e-01 -3.08852087e-03 4.33399752e+01] [ 4.96822270e-03 3.31107684e-04 9.99987603e-01 6.10257518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:43.36, Z:0.61 [[ 8.24773464e-01 -5.65456745e-01 -2.72087085e-03 1.56880992e+02] [ 5.65452698e-01 8.24777918e-01 -2.15225461e-03 4.33566620e+01] [ 3.46112108e-03 2.36598724e-04 9.99993982e-01 6.10888365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:43.37, Z:0.61 [[ 8.25414099e-01 -5.64524857e-01 -1.80321627e-03 1.56903266e+02] [ 5.64523076e-01 8.25416053e-01 -1.42680389e-03 4.33735277e+01] [ 2.29386991e-03 1.59746852e-04 9.99997356e-01 6.10600694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:43.39, Z:0.61 [[ 8.25625019e-01 -5.64217850e-01 -1.24311556e-03 1.56925919e+02] [ 5.64217003e-01 8.25625948e-01 -9.83895668e-04 4.33901911e+01] [ 1.58147996e-03 1.10941944e-04 9.99998743e-01 6.10529076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:43.40, Z:0.61 [[ 8.24966661e-01 -5.65180910e-01 -7.40120889e-04 1.56948900e+02] [ 5.65180610e-01 8.24966990e-01 -5.85919948e-04 4.34047991e+01] [ 9.41726072e-04 6.50624479e-05 9.99999554e-01 6.10184497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:43.42, Z:0.61 [[ 8.24135608e-01 -5.66391450e-01 -1.10660915e-03 1.56970748e+02] [ 5.66390780e-01 8.24136346e-01 -8.76305761e-04 4.34205025e+01] [ 1.40832891e-03 9.54215632e-05 9.99999004e-01 6.10067282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:43.44, Z:0.61 [[ 8.23070466e-01 -5.67937043e-01 -1.58842189e-03 1.56994132e+02] [ 5.67935665e-01 8.23071988e-01 -1.25825175e-03 4.34368490e+01] [ 2.02199334e-03 1.33508409e-04 9.99997947e-01 6.09848129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:43.45, Z:0.61 [[ 8.22082666e-01 -5.69366041e-01 -1.54978734e-03 1.57016498e+02] [ 5.69364731e-01 8.22084117e-01 -1.22803130e-03 4.34520254e+01] [ 1.97325488e-03 1.27148994e-04 9.99998045e-01 6.09227835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:43.47, Z:0.61 [[ 8.21327967e-01 -5.70451703e-01 -2.28586116e-03 1.57039719e+02] [ 5.70448855e-01 8.21331127e-01 -1.81190325e-03 4.34684215e+01] [ 2.91105221e-03 1.84199929e-04 9.99995746e-01 6.09370223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.06, Y:43.48, Z:0.61 [[ 8.21229442e-01 -5.70586503e-01 -3.63955123e-03 1.57062386e+02] [ 5.70579279e-01 8.21237455e-01 -2.88614361e-03 4.34845690e+01] [ 4.63573038e-03 2.93533586e-04 9.99989212e-01 6.09079484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:43.50, Z:0.61 [[ 8.21565156e-01 -5.70102068e-01 -3.78492656e-03 1.57083937e+02] [ 5.70094247e-01 8.21573817e-01 -3.00217186e-03 4.35007926e+01] [ 4.82114095e-03 3.08714939e-04 9.99988331e-01 6.08424043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:43.52, Z:0.61 [[ 8.21898989e-01 -5.69622627e-01 -3.48058353e-03 1.57106124e+02] [ 5.69616005e-01 8.21906309e-01 -2.76164037e-03 4.35172633e+01] [ 4.43380641e-03 2.87193341e-04 9.99990129e-01 6.08416985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:43.53, Z:0.61 [[ 8.22050280e-01 -5.69407642e-01 -2.87673994e-03 1.57128405e+02] [ 5.69403114e-01 8.22055278e-01 -2.28325355e-03 4.35334168e+01] [ 3.66494127e-03 2.38924537e-04 9.99993256e-01 6.08638366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:43.55, Z:0.61 [[ 8.21916343e-01 -5.69602183e-01 -2.62258052e-03 1.57152328e+02] [ 5.69598419e-01 8.21920498e-01 -2.08223114e-03 4.35486452e+01] [ 3.34159609e-03 2.17602090e-04 9.99994393e-01 6.08487281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:43.56, Z:0.61 [[ 8.21652023e-01 -5.69983113e-01 -2.68408078e-03 1.57175555e+02] [ 5.69979169e-01 8.21656377e-01 -2.13184312e-03 4.35644810e+01] [ 3.42050667e-03 2.21763080e-04 9.99994125e-01 6.08471831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:43.58, Z:0.61 [[ 8.21357403e-01 -5.70409297e-01 -2.29136648e-03 1.57198445e+02] [ 5.70406424e-01 8.21360577e-01 -1.82037933e-03 4.35787368e+01] [ 2.92039939e-03 1.88171877e-04 9.99995718e-01 6.08784107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:43.59, Z:0.61 [[ 8.20958008e-01 -5.70983630e-01 -2.37575604e-03 1.57222628e+02] [ 5.70980541e-01 8.20961422e-01 -1.88801181e-03 4.35930626e+01] [ 3.02842789e-03 1.93467947e-04 9.99995396e-01 6.09273818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:43.60, Z:0.61 [[ 8.20254522e-01 -5.71988674e-01 -3.38760150e-03 1.57249079e+02] [ 5.71982399e-01 8.20261472e-01 -2.69294935e-03 4.36036613e+01] [ 4.31905552e-03 2.71255445e-04 9.99990636e-01 6.07970327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:157.27, Y:43.62, Z:0.61 [[ 8.19814320e-01 -5.72619545e-01 -3.36726982e-03 1.57273218e+02] [ 5.72613346e-01 8.19821191e-01 -2.67767302e-03 4.36187092e+01] [ 4.29384706e-03 2.67051049e-04 9.99990746e-01 6.06795638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:43.63, Z:0.61 [[ 8.19889100e-01 -5.72515804e-01 -2.74192345e-03 1.57297230e+02] [ 5.72511690e-01 8.19893656e-01 -2.18116953e-03 4.36332589e+01] [ 3.49683966e-03 2.18533897e-04 9.99993862e-01 6.07720137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:157.32, Y:43.65, Z:0.61 [[ 8.20257189e-01 -5.71990587e-01 -2.21652076e-03 1.57321183e+02] [ 5.71987895e-01 8.20260164e-01 -1.76383704e-03 4.36476504e+01] [ 2.82702186e-03 1.78976969e-04 9.99995988e-01 6.08071460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:43.66, Z:0.61 [[ 8.21467363e-01 -5.70252170e-01 -1.95786772e-03 1.57344928e+02] [ 5.70250064e-01 8.21469680e-01 -1.55843582e-03 4.36604842e+01] [ 2.49703038e-03 1.63729966e-04 9.99996869e-01 6.09107946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:157.37, Y:43.67, Z:0.61 [[ 8.24669844e-01 -5.65606211e-01 -3.04356828e-03 1.57371457e+02] [ 5.65601087e-01 8.24675413e-01 -2.42343113e-03 4.36712637e+01] [ 3.88066363e-03 2.77085043e-04 9.99992432e-01 6.07811177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:43.69, Z:0.61 [[ 8.26583931e-01 -5.62804585e-01 -3.16307444e-03 1.57394161e+02] [ 5.62799027e-01 8.26589927e-01 -2.51941464e-03 4.36860119e+01] [ 4.03250358e-03 3.02332440e-04 9.99991824e-01 6.07792974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:43.70, Z:0.61 [[ 8.28205529e-01 -5.60416164e-01 -3.05360034e-03 1.57416421e+02] [ 5.60410965e-01 8.28211103e-01 -2.43298842e-03 4.37017371e+01] [ 3.89251174e-03 3.03743355e-04 9.99992378e-01 6.07359136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:43.72, Z:0.61 [[ 8.29619292e-01 -5.58321070e-01 -3.06799809e-03 1.57439208e+02] [ 5.58315804e-01 8.29624905e-01 -2.44531962e-03 4.37187100e+01] [ 3.91056109e-03 3.15772508e-04 9.99992304e-01 6.07567569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:43.73, Z:0.61 [[ 8.31983958e-01 -5.54789084e-01 -3.43000456e-03 1.57461839e+02] [ 5.54782469e-01 8.31990945e-01 -2.73465661e-03 4.37343201e+01] [ 4.37089038e-03 3.72284033e-04 9.99990378e-01 6.07915757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:43.75, Z:0.61 [[ 8.32607509e-01 -5.53854134e-01 -3.21482988e-03 1.57484324e+02] [ 5.53848312e-01 8.32613640e-01 -2.56392777e-03 4.37513350e+01] [ 4.09675320e-03 3.54217411e-04 9.99991546e-01 6.08501521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:43.77, Z:0.61 [[ 8.32926194e-01 -5.53378001e-01 -2.59670825e-03 1.57505470e+02] [ 5.53374199e-01 8.32930192e-01 -2.07149812e-03 4.37681807e+01] [ 3.30919819e-03 2.88453698e-04 9.99994483e-01 6.09285169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:43.79, Z:0.61 [[ 8.32958381e-01 -5.53330991e-01 -2.26910474e-03 1.57526015e+02] [ 5.53328087e-01 8.32961434e-01 -1.81056737e-03 4.37858222e+01] [ 2.89191978e-03 2.52567883e-04 9.99995787e-01 6.09639683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:43.81, Z:0.61 [[ 8.32638510e-01 -5.53810540e-01 -2.64509899e-03 1.57546528e+02] [ 5.53806594e-01 8.32642660e-01 -2.11127806e-03 4.38050550e+01] [ 3.37167030e-03 2.93058153e-04 9.99994273e-01 6.09170377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:43.82, Z:0.61 [[ 8.32124519e-01 -5.54581970e-01 -2.76103945e-03 1.57566464e+02] [ 5.54577672e-01 8.32129044e-01 -2.20439322e-03 4.38240261e+01] [ 3.52005786e-03 3.03118817e-04 9.99993759e-01 6.08730753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:43.84, Z:0.61 [[ 8.31217979e-01 -5.55940461e-01 -2.62220657e-03 1.57585808e+02] [ 5.55936588e-01 8.31222067e-01 -2.09415255e-03 4.38440006e+01] [ 3.34386010e-03 2.82916671e-04 9.99994369e-01 6.08183766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:43.86, Z:0.61 [[ 8.30183735e-01 -5.57483017e-01 -2.76612943e-03 1.57605870e+02] [ 5.57478714e-01 8.30188292e-01 -2.20987969e-03 4.38644423e+01] [ 3.52837866e-03 2.92547897e-04 9.99993732e-01 6.07898653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:43.88, Z:0.61 [[ 8.29039310e-01 -5.59179438e-01 -3.48981067e-03 1.57625445e+02] [ 5.59172599e-01 8.29046576e-01 -2.78901351e-03 4.38832774e+01] [ 4.45277459e-03 3.60795336e-04 9.99990021e-01 6.07753846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:43.90, Z:0.61 [[ 8.28951155e-01 -5.59310117e-01 -3.48937361e-03 1.57647648e+02] [ 5.59303276e-01 8.28958421e-01 -2.78956028e-03 4.39012043e+01] [ 4.45277492e-03 3.60791123e-04 9.99990021e-01 6.07789012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:43.92, Z:0.61 [[ 8.26000586e-01 -5.63650452e-01 -4.60442073e-03 1.57666986e+02] [ 5.63638600e-01 8.26013298e-01 -3.68235864e-03 4.39213819e+01] [ 5.87887587e-03 4.46401138e-04 9.99982620e-01 6.07797252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:43.94, Z:0.61 [[ 8.23994432e-01 -5.66578652e-01 -4.66971585e-03 1.57686443e+02] [ 5.66566500e-01 8.24007551e-01 -3.73593632e-03 4.39418998e+01] [ 5.96458288e-03 4.32686159e-04 9.99982118e-01 6.07670561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:43.96, Z:0.61 [[ 8.22030799e-01 -5.69429198e-01 -3.96917618e-03 1.57705935e+02] [ 5.69420446e-01 8.22040306e-01 -3.17659277e-03 4.39629442e+01] [ 5.07166748e-03 3.51127025e-04 9.99987077e-01 6.07116237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.72, Y:43.98, Z:0.61 [[ 8.19681641e-01 -5.72810248e-01 -3.22910628e-03 1.57724544e+02] [ 5.72804479e-01 8.19687957e-01 -2.58498138e-03 4.39828788e+01] [ 4.12756336e-03 2.69215242e-04 9.99991445e-01 6.06775865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:44.00, Z:0.61 [[ 8.19002709e-01 -5.73781000e-01 -3.15056556e-03 1.57745848e+02] [ 5.73775511e-01 8.19008728e-01 -2.52295345e-03 4.40011152e+01] [ 4.02796344e-03 2.58588348e-04 9.99991854e-01 6.06921651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:44.02, Z:0.61 [[ 8.18534143e-01 -5.74447826e-01 -3.39877174e-03 1.57766058e+02] [ 5.74441440e-01 8.18541153e-01 -2.72277033e-03 4.40204742e+01] [ 4.34612403e-03 2.76285149e-04 9.99990517e-01 6.06492917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:44.04, Z:0.61 [[ 8.18144563e-01 -5.75001372e-01 -3.59114555e-03 1.57784780e+02] [ 5.74994244e-01 8.18152393e-01 -2.87773713e-03 4.40404204e+01] [ 4.59280712e-03 2.89516967e-04 9.99989411e-01 6.06712158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:44.06, Z:0.61 [[ 8.17376111e-01 -5.76098332e-01 -2.64656357e-03 1.57803749e+02] [ 5.76094464e-01 8.17380369e-01 -2.12146351e-03 4.40623243e+01] [ 3.38542070e-03 2.09362976e-04 9.99994248e-01 6.07252777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:44.08, Z:0.61 [[ 8.17173707e-01 -5.76383832e-01 -2.96823590e-03 1.57824893e+02] [ 5.76378966e-01 8.17179064e-01 -2.37997604e-03 4.40796964e+01] [ 3.79735994e-03 2.34025104e-04 9.99992763e-01 6.07688069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:44.10, Z:0.61 [[ 8.16995945e-01 -5.76632801e-01 -3.49824745e-03 1.57845502e+02] [ 5.76626042e-01 8.17003389e-01 -2.80554649e-03 4.40971934e+01] [ 4.47585015e-03 2.74939522e-04 9.99989946e-01 6.07683486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:44.12, Z:0.61 [[ 8.16893690e-01 -5.76776938e-01 -3.61427827e-03 1.57866259e+02] [ 5.76769719e-01 8.16901636e-01 -2.89955610e-03 4.41161068e+01] [ 4.62490692e-03 2.84022816e-04 9.99989265e-01 6.07266901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:44.13, Z:0.61 [[ 8.17024581e-01 -5.76591712e-01 -3.58215515e-03 1.57886847e+02] [ 5.76584615e-01 8.17032384e-01 -2.87487603e-03 4.41348991e+01] [ 4.58436646e-03 2.83428834e-04 9.99989452e-01 6.06923551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:44.15, Z:0.61 [[ 8.17349272e-01 -5.76132233e-01 -3.43753712e-03 1.57907868e+02] [ 5.76125690e-01 8.17356455e-01 -2.75951135e-03 4.41518644e+01] [ 4.39953659e-03 2.75031152e-04 9.99990284e-01 6.07720895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.93, Y:44.17, Z:0.61 [[ 8.17117790e-01 -5.76462092e-01 -3.15826363e-03 1.57929766e+02] [ 5.76456569e-01 8.17123854e-01 -2.53583415e-03 4.41683399e+01] [ 4.04250480e-03 2.51473378e-04 9.99991797e-01 6.08477133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:44.19, Z:0.61 [[ 8.16659720e-01 -5.77111744e-01 -2.98947059e-03 1.57951800e+02] [ 5.77106798e-01 8.16665157e-01 -2.40107082e-03 4.41861058e+01] [ 3.82708264e-03 2.35614027e-04 9.99992649e-01 6.09411730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.97, Y:44.20, Z:0.61 [[ 8.16456479e-01 -5.77399383e-01 -2.96134620e-03 1.57972214e+02] [ 5.77394527e-01 8.16461817e-01 -2.37937955e-03 4.42047868e+01] [ 3.79167839e-03 2.32794756e-04 9.99992784e-01 6.09298538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:44.22, Z:0.61 [[ 8.16698972e-01 -5.77054359e-01 -3.32489693e-03 1.57991505e+02] [ 5.77048232e-01 8.16705698e-01 -2.67230565e-03 4.42237915e+01] [ 4.25752790e-03 2.63843385e-04 9.99990902e-01 6.08965748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:44.24, Z:0.61 [[ 8.18168546e-01 -5.74963203e-01 -4.18871081e-03 1.58010872e+02] [ 5.74953444e-01 8.18179195e-01 -3.36777271e-03 4.42439476e+01] [ 5.36346142e-03 3.47092000e-04 9.99985556e-01 6.08916011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:44.26, Z:0.61 [[ 8.19053595e-01 -5.73703873e-01 -3.88255812e-03 1.58031685e+02] [ 5.73695470e-01 8.19062731e-01 -3.12274578e-03 4.42621400e+01] [ 4.97159000e-03 3.30290152e-04 9.99987587e-01 6.09787893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:44.28, Z:0.61 [[ 8.20587532e-01 -5.71519249e-01 -1.36032253e-03 1.58051201e+02] [ 5.71518214e-01 8.20588650e-01 -1.09433088e-03 4.42823240e+01] [ 1.74169639e-03 1.20545177e-04 9.99998476e-01 6.11306071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:44.30, Z:0.61 [[ 8.21219661e-01 -5.70611980e-01 -4.87641390e-04 1.58069563e+02] [ 5.70611846e-01 8.21219804e-01 -3.92316724e-04 4.43018285e+01] [ 6.24321390e-04 4.39242531e-05 9.99999804e-01 6.11232796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:44.32, Z:0.61 [[ 8.21856339e-01 -5.69694645e-01 -4.11304009e-04 1.58088323e+02] [ 5.69694550e-01 8.21856441e-01 -3.30927915e-04 4.43213744e+01] [ 5.26560711e-04 3.76575524e-05 9.99999861e-01 6.10231931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:44.34, Z:0.61 [[ 8.22509712e-01 -5.68749451e-01 -1.35507831e-03 1.58108612e+02] [ 5.68748419e-01 8.22510818e-01 -1.09102073e-03 4.43406921e+01] [ 1.73508401e-03 1.26676494e-04 9.99998487e-01 6.09209967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:44.36, Z:0.61 [[ 8.23067623e-01 -5.67937754e-01 -2.52901285e-03 1.58129079e+02] [ 5.67934151e-01 8.23071473e-01 -2.03720209e-03 4.43591841e+01] [ 3.23856231e-03 2.40442318e-04 9.99994727e-01 6.08798793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:44.38, Z:0.61 [[ 8.23014597e-01 -5.68005954e-01 -4.02608865e-03 1.58147408e+02] [ 5.67996819e-01 8.23024355e-01 -3.24410942e-03 4.43793913e+01] [ 5.15624248e-03 3.83143858e-04 9.99986633e-01 6.09078085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:44.40, Z:0.61 [[ 8.22232666e-01 -5.69136623e-01 -4.11661684e-03 1.58166664e+02] [ 5.69127083e-01 8.22242881e-01 -3.31785238e-03 4.43985075e+01] [ 5.27317019e-03 3.85168478e-04 9.99986023e-01 6.09429696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:44.42, Z:0.61 [[ 8.20999276e-01 -5.70918248e-01 -3.54163488e-03 1.58187400e+02] [ 5.70911198e-01 8.21006852e-01 -2.85540631e-03 4.44177941e+01] [ 4.53791006e-03 3.22327503e-04 9.99989652e-01 6.09699822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:44.43, Z:0.61 [[ 8.19507053e-01 -5.73062447e-01 -2.76090279e-03 1.58208166e+02] [ 5.73058173e-01 8.19511668e-01 -2.22648982e-03 4.44346589e+01] [ 3.53850976e-03 2.42466203e-04 9.99993710e-01 6.09936671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:44.45, Z:0.61 [[ 8.17594672e-01 -5.75790961e-01 -1.92921839e-03 1.58230260e+02] [ 5.75788881e-01 8.17596932e-01 -1.55620175e-03 4.44516217e+01] [ 2.47336994e-03 1.61519763e-04 9.99996928e-01 6.09862897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.25, Y:44.47, Z:0.61 [[ 8.15464917e-01 -5.78804536e-01 -1.50968210e-03 1.58251909e+02] [ 5.78803266e-01 8.15466305e-01 -1.21810573e-03 4.44679190e+01] [ 1.93614000e-03 1.19513559e-04 9.99998119e-01 6.09648113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:44.49, Z:0.61 [[ 8.11229390e-01 -5.84723685e-01 -2.25609262e-03 1.58274244e+02] [ 5.84720870e-01 8.11232512e-01 -1.82097102e-03 4.44852513e+01] [ 2.89498057e-03 1.58040768e-04 9.99995797e-01 6.08912412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:44.50, Z:0.61 [[ 8.09797169e-01 -5.86700968e-01 -3.24316158e-03 1.58295738e+02] [ 5.86695166e-01 8.09803634e-01 -2.61845410e-03 4.45021405e+01] [ 4.16257359e-03 2.17669502e-04 9.99991313e-01 6.08518424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:44.52, Z:0.61 [[ 8.09215639e-01 -5.87499447e-01 -3.80127194e-03 1.58318013e+02] [ 5.87491479e-01 8.09224528e-01 -3.07010635e-03 4.45188401e+01] [ 4.87976828e-03 2.51163200e-04 9.99988062e-01 6.08892384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:44.53, Z:0.61 [[ 8.10930342e-01 -5.85130669e-01 -3.75237908e-03 1.58342413e+02] [ 5.85135675e-01 8.10935356e-01 3.00061080e-04 4.45319578e+01] [ 2.86736193e-03 -2.43897950e-03 9.99992915e-01 6.09935157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:44.55, Z:0.61 [[ 8.11969886e-01 -5.83698768e-01 -8.07567535e-04 1.58362737e+02] [ 5.83691637e-01 8.11965514e-01 -4.00960894e-03 4.45537705e+01] [ 2.99612079e-03 2.78431130e-03 9.99991635e-01 6.08679485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:44.57, Z:0.61 [[ 8.13261286e-01 -5.81892925e-01 -2.58931054e-03 1.58386106e+02] [ 5.81889194e-01 8.13265384e-01 -2.09301767e-03 4.45693044e+01] [ 3.32370881e-03 1.95478417e-04 9.99994457e-01 6.09239990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:44.59, Z:0.61 [[ 8.14344982e-01 -5.80374614e-01 -2.74913837e-03 1.58407446e+02] [ 5.80370397e-01 8.14349594e-01 -2.22299775e-03 4.45863755e+01] [ 3.52893118e-03 2.14768541e-04 9.99993750e-01 6.09062326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.43, Y:44.60, Z:0.61 [[ 8.15784014e-01 -5.78351187e-01 -2.51927206e-03 1.58430706e+02] [ 5.78347634e-01 8.15787878e-01 -2.03781886e-03 4.46024778e+01] [ 3.23376656e-03 2.05405019e-04 9.99994750e-01 6.08773860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:44.62, Z:0.61 [[ 8.15927086e-01 -5.78151522e-01 -1.95125432e-03 1.58453204e+02] [ 5.78149388e-01 8.15929404e-01 -1.57886896e-03 4.46191234e+01] [ 2.50491127e-03 1.60125462e-04 9.99996850e-01 6.08867765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:44.64, Z:0.61 [[ 8.16142772e-01 -5.77848114e-01 -1.59138047e-03 1.58475539e+02] [ 5.77846693e-01 8.16144313e-01 -1.28810341e-03 4.46358969e+01] [ 2.04312424e-03 1.31702345e-04 9.99997904e-01 6.09110107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:44.65, Z:0.61 [[ 8.16389892e-01 -5.77499572e-01 -1.33735643e-03 1.58497269e+02] [ 5.77498567e-01 8.16390980e-01 -1.08285575e-03 4.46528290e+01] [ 1.71715446e-03 1.11711061e-04 9.99998519e-01 6.09329018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.52, Y:44.67, Z:0.61 [[ 8.16765942e-01 -5.76967496e-01 -1.37999236e-03 1.58518491e+02] [ 5.76966425e-01 8.16767100e-01 -1.11775916e-03 4.46688006e+01] [ 1.77204307e-03 1.16738355e-04 9.99998423e-01 6.09406404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:44.68, Z:0.61 [[ 8.18057110e-01 -5.75136403e-01 -8.26659473e-04 1.58542139e+02] [ 5.75136018e-01 8.18057524e-01 -6.69627933e-04 4.46846788e+01] [ 1.06138240e-03 7.23522545e-05 9.99999434e-01 6.10263643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:44.70, Z:0.61 [[ 8.18703124e-01 -5.74216597e-01 -7.02709372e-04 1.58564047e+02] [ 5.74216319e-01 8.18703423e-01 -5.69394458e-04 4.47014659e+01] [ 9.02266317e-04 6.26578327e-05 9.99999591e-01 6.10063121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:44.72, Z:0.61 [[ 8.19390896e-01 -5.73233899e-01 -1.20707302e-03 1.58584882e+02] [ 5.73233074e-01 8.19391778e-01 -9.78622584e-04 4.47181645e+01] [ 1.55004535e-03 1.09940259e-04 9.99998793e-01 6.09467406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:44.74, Z:0.61 [[ 8.19831343e-01 -5.72600252e-01 -2.34964266e-03 1.58606755e+02] [ 5.72597122e-01 8.19834681e-01 -1.90567307e-03 4.47360764e+01] [ 3.01750742e-03 2.16931885e-04 9.99995424e-01 6.08073925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:44.75, Z:0.61 [[ 8.20124654e-01 -5.72173646e-01 -3.58746483e-03 1.58628176e+02] [ 5.72166340e-01 8.20132432e-01 -2.91085691e-03 4.47543215e+01] [ 4.60771187e-03 3.34638897e-04 9.99989328e-01 6.06983085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.65, Y:44.77, Z:0.61 [[ 8.20813313e-01 -5.71182833e-01 -3.95952375e-03 1.58649079e+02] [ 5.71173916e-01 8.20822776e-01 -3.21370768e-03 4.47711357e+01] [ 5.08568193e-03 3.76277364e-04 9.99986997e-01 6.07416941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:44.79, Z:0.61 [[ 8.20948567e-01 -5.70993340e-01 -3.17127025e-03 1.58671805e+02] [ 5.70987615e-01 8.20954636e-01 -2.57474318e-03 4.47880853e+01] [ 4.07363022e-03 3.02975690e-04 9.99991657e-01 6.08770203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.70, Y:44.80, Z:0.61 [[ 8.20883893e-01 -5.71085179e-01 -3.36936417e-03 1.58695110e+02] [ 5.71078713e-01 8.20890745e-01 -2.73658482e-03 4.48037966e+01] [ 4.32870290e-03 3.22246249e-04 9.99990579e-01 6.09505801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:44.82, Z:0.61 [[ 8.20938482e-01 -5.71007144e-01 -3.29384497e-03 1.58717588e+02] [ 5.71000960e-01 8.20945029e-01 -2.67621677e-03 4.48209129e+01] [ 4.23220455e-03 3.16220693e-04 9.99990994e-01 6.09279088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:44.84, Z:0.61 [[ 8.20948648e-01 -5.70994892e-01 -2.85492141e-03 1.58739890e+02] [ 5.70990244e-01 8.20953566e-01 -2.32040912e-03 4.48383338e+01] [ 3.66869966e-03 2.74804460e-04 9.99993233e-01 6.09038873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:44.86, Z:0.61 [[ 8.20982888e-01 -5.70948266e-01 -2.27491110e-03 1.58760929e+02] [ 5.70945313e-01 8.20986010e-01 -1.84943618e-03 4.48550298e+01] [ 2.92360257e-03 2.19505623e-04 9.99995702e-01 6.08467989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:44.87, Z:0.61 [[ 8.21069678e-01 -5.70824704e-01 -1.93423033e-03 1.58783142e+02] [ 5.70822568e-01 8.21071935e-01 -1.57289754e-03 4.48714530e+01] [ 2.48599102e-03 1.87356148e-04 9.99996892e-01 6.08201837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:44.89, Z:0.61 [[ 8.21474174e-01 -5.70242570e-01 -1.89532364e-03 1.58804921e+02] [ 5.70240516e-01 8.21476340e-01 -1.54169571e-03 4.48873213e+01] [ 2.43610405e-03 1.85672884e-04 9.99997015e-01 6.08574823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:44.90, Z:0.61 [[ 8.22171378e-01 -5.69234878e-01 -2.42472733e-03 1.58828037e+02] [ 5.69231510e-01 8.22174918e-01 -1.97295312e-03 4.49038944e+01] [ 3.11662372e-03 2.41874381e-04 9.99995114e-01 6.09582970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79140051299999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:158.85, Y:44.92, Z:0.61 [[ 8.22938495e-01 -5.68122883e-01 -2.93659246e-03 1.58850967e+02] [ 5.68117933e-01 8.22943680e-01 -2.39036743e-03 4.49203789e+01] [ 3.77467265e-03 2.98794534e-04 9.99992831e-01 6.09925058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:44.94, Z:0.61 [[ 8.24681257e-01 -5.65591334e-01 -2.69569548e-03 1.58873637e+02] [ 5.65587146e-01 8.24685614e-01 -2.19505047e-03 4.49364864e+01] [ 3.46460280e-03 2.85566273e-04 9.99993957e-01 6.11648165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:44.95, Z:0.61 [[ 8.25507458e-01 -5.64390003e-01 -1.16689191e-03 1.58894481e+02] [ 5.64389217e-01 8.25508273e-01 -9.50332728e-04 4.49540110e+01] [ 1.49963721e-03 1.25925544e-04 9.99998868e-01 6.11383166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:44.97, Z:0.61 [[ 8.26234776e-01 -5.63325682e-01 5.20022863e-04 1.58916630e+02] [ 5.63325525e-01 8.26234938e-01 4.24020766e-04 4.49719693e+01] [-6.68522845e-04 -5.73985506e-05 9.99999775e-01 6.11102479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.94, Y:44.99, Z:0.61 [[ 8.26578330e-01 -5.62818814e-01 1.80200217e-03 1.58938608e+02] [ 5.62816932e-01 8.26580270e-01 1.46916339e-03 4.49897822e+01] [-2.31637224e-03 -2.00181289e-04 9.99997297e-01 6.11269305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:45.01, Z:0.61 [[ 8.25852097e-01 -5.63886669e-01 3.71028842e-04 1.58958387e+02] [ 5.63886589e-01 8.25852180e-01 3.02654119e-04 4.50086923e+01] [-4.77077601e-04 -4.07293503e-05 9.99999885e-01 6.10697191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:45.03, Z:0.61 [[ 8.24655868e-01 -5.65632287e-01 -1.67806643e-03 1.58979118e+02] [ 5.65630660e-01 8.24657556e-01 -1.36832933e-03 4.50268629e+01] [ 2.15780141e-03 1.79234987e-04 9.99997656e-01 6.10149286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.00, Y:45.04, Z:0.61 [[ 8.24593994e-01 -5.65722485e-01 -1.67786521e-03 1.59001146e+02] [ 5.65720858e-01 8.24595681e-01 -1.36857603e-03 4.50449842e+01] [ 2.15779464e-03 1.79316225e-04 9.99997656e-01 6.10184830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:45.06, Z:0.61 [[ 8.23246298e-01 -5.67675935e-01 -3.09286512e-03 1.59023017e+02] [ 5.67670416e-01 8.23252045e-01 -2.52371042e-03 4.50622153e+01] [ 3.97885721e-03 3.21907235e-04 9.99992033e-01 6.09512278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:45.08, Z:0.61 [[ 8.22007710e-01 -5.69464625e-01 -3.65587906e-03 1.59045303e+02] [ 5.69456927e-01 8.22015756e-01 -2.98401968e-03 4.50781462e+01] [ 4.70448384e-03 3.71021535e-04 9.99988865e-01 6.09230110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:45.09, Z:0.61 [[ 8.20968420e-01 -5.70961508e-01 -3.71617574e-03 1.59067867e+02] [ 5.70953564e-01 8.20976748e-01 -3.03425247e-03 4.50941732e+01] [ 4.78333524e-03 3.69261677e-04 9.99988492e-01 6.09239089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:45.11, Z:0.61 [[ 8.20050695e-01 -5.72280573e-01 -3.43550628e-03 1.59089240e+02] [ 5.72273791e-01 8.20057823e-01 -2.80611204e-03 4.51121858e+01] [ 4.42319721e-03 3.35103926e-04 9.99990161e-01 6.09158103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:45.13, Z:0.61 [[ 8.20297138e-01 -5.71925410e-01 -3.73237950e-03 1.59109038e+02] [ 5.71917398e-01 8.20305547e-01 -3.04938659e-03 4.51301542e+01] [ 4.80571328e-03 3.66790316e-04 9.99988385e-01 6.08848696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:45.15, Z:0.61 [[ 8.20783821e-01 -5.71222640e-01 -4.31449048e-03 1.59129105e+02] [ 5.71211920e-01 8.20795048e-01 -3.52572260e-03 4.51477070e+01] [ 5.55528499e-03 4.29367676e-04 9.99984477e-01 6.08352565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:45.16, Z:0.61 [[ 8.21943016e-01 -5.69552655e-01 -4.41045132e-03 1.59150582e+02] [ 5.69541424e-01 8.21954724e-01 -3.60521099e-03 4.51648896e+01] [ 5.67854879e-03 4.51343264e-04 9.99983775e-01 6.08384428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24140051299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:159.17, Y:45.18, Z:0.61 [[ 8.22025577e-01 -5.69437618e-01 -3.84057995e-03 1.59171822e+02] [ 5.69429095e-01 8.22034454e-01 -3.14047085e-03 4.51824558e+01] [ 4.94539128e-03 3.94609395e-04 9.99987694e-01 6.08013119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:45.20, Z:0.61 [[ 8.21907168e-01 -5.69614962e-01 -2.72066164e-03 1.59193709e+02] [ 5.69610683e-01 8.21911624e-01 -2.22544195e-03 4.51999394e+01] [ 3.50378845e-03 2.79388756e-04 9.99993823e-01 6.08810544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:45.22, Z:0.61 [[ 8.21516325e-01 -5.70182051e-01 -1.83201009e-03 1.59214661e+02] [ 5.70180111e-01 8.21518347e-01 -1.49888368e-03 4.52169252e+01] [ 2.35966647e-03 1.86781699e-04 9.99997199e-01 6.08949603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:45.23, Z:0.61 [[ 8.20293447e-01 -5.71941994e-01 -1.00840425e-03 1.59236642e+02] [ 5.71941408e-01 8.20294060e-01 -8.25139813e-04 4.52349307e+01] [ 1.29912012e-03 1.00108637e-04 9.99999151e-01 6.07628004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:45.25, Z:0.61 [[ 8.19490346e-01 -5.73090482e-01 -1.69456801e-03 1.59257454e+02] [ 5.73088827e-01 8.19492082e-01 -1.38721402e-03 4.52524950e+01] [ 2.18368422e-03 1.65670510e-04 9.99997602e-01 6.06742446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.28, Y:45.27, Z:0.61 [[ 8.18720116e-01 -5.74184474e-01 -3.09215413e-03 1.59279426e+02] [ 5.74178967e-01 8.18725901e-01 -2.53224858e-03 4.52706062e+01] [ 3.98560449e-03 2.97752989e-04 9.99992013e-01 6.06004986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:45.29, Z:0.61 [[ 8.18140549e-01 -5.75001862e-01 -4.34761037e-03 1.59300739e+02] [ 5.74990982e-01 8.18151996e-01 -3.56134656e-03 4.52869603e+01] [ 5.60478701e-03 4.13845274e-04 9.99984207e-01 6.06039796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.32, Y:45.30, Z:0.61 [[ 8.17044771e-01 -5.76556486e-01 -4.52337578e-03 1.59324864e+02] [ 5.76544725e-01 8.17057184e-01 -3.70654452e-03 4.53024758e+01] [ 5.83288897e-03 4.20484373e-04 9.99982900e-01 6.08273809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:45.32, Z:0.61 [[ 8.16580920e-01 -5.77220176e-01 -3.53119419e-03 1.59347557e+02] [ 5.77213011e-01 8.16588490e-01 -2.89451205e-03 4.53197253e+01] [ 4.55430329e-03 3.25352088e-04 9.99989576e-01 6.09526354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:45.34, Z:0.61 [[ 8.16423238e-01 -5.77448757e-01 -2.45564184e-03 1.59368872e+02] [ 5.77445291e-01 8.16426899e-01 -2.01352743e-03 4.53372732e+01] [ 3.16756096e-03 2.25891764e-04 9.99994958e-01 6.10015711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:45.36, Z:0.61 [[ 8.16372058e-01 -5.77524533e-01 -1.44105772e-03 1.59390199e+02] [ 5.77523339e-01 8.16373319e-01 -1.18192242e-03 4.53560364e+01] [ 1.85903027e-03 1.32643968e-04 9.99998263e-01 6.09818507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:45.37, Z:0.61 [[ 8.16573485e-01 -5.77240889e-01 -8.36312205e-04 1.59410314e+02] [ 5.77240486e-01 8.16573910e-01 -6.86067048e-04 4.53748773e+01] [ 1.07893668e-03 7.74708965e-05 9.99999415e-01 6.09460186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:45.39, Z:0.61 [[ 8.16632315e-01 -5.77157595e-01 -8.78541115e-04 1.59431292e+02] [ 5.77157151e-01 8.16632784e-01 -7.20903936e-04 4.53925670e+01] [ 1.13352066e-03 8.16571637e-05 9.99999354e-01 6.10010332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:45.41, Z:0.61 [[ 8.16565238e-01 -5.77251638e-01 -1.32629919e-03 1.59453020e+02] [ 5.77250625e-01 8.16566305e-01 -1.08866520e-03 4.54106739e+01] [ 1.71144501e-03 1.23359123e-04 9.99998528e-01 6.10392168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:159.47, Y:45.43, Z:0.61 [[ 8.16373767e-01 -5.77521306e-01 -1.73587757e-03 1.59473960e+02] [ 5.77519569e-01 8.16375597e-01 -1.42546317e-03 4.54286666e+01] [ 2.24036344e-03 1.61207471e-04 9.99997477e-01 6.10153986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:45.45, Z:0.61 [[ 8.16120523e-01 -5.77879395e-01 -1.64229736e-03 1.59494457e+02] [ 5.77877841e-01 8.16122161e-01 -1.34909338e-03 4.54472782e+01] [ 2.11992853e-03 1.51975548e-04 9.99997741e-01 6.10342907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:45.47, Z:0.61 [[ 8.16881494e-01 -5.76805014e-01 -7.75330771e-04 1.59514016e+02] [ 5.76804667e-01 8.16881858e-01 -6.36988631e-04 4.54677148e+01] [ 1.00077188e-03 7.31298176e-05 9.99999497e-01 6.10386683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:45.49, Z:0.61 [[ 8.17728661e-01 -5.75603879e-01 -1.01677212e-04 1.59534218e+02] [ 5.75603873e-01 8.17728668e-01 -8.33069433e-05 4.54874278e+01] [ 1.31096171e-04 9.59667839e-06 9.99999991e-01 6.10544213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:45.51, Z:0.61 [[ 8.18782205e-01 -5.74103750e-01 7.65463836e-04 1.59553910e+02] [ 5.74103409e-01 8.18782559e-01 6.29702531e-04 4.55062586e+01] [-9.88263023e-04 -7.61338280e-05 9.99999509e-01 6.10815176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.57, Y:45.52, Z:0.61 [[ 8.19858578e-01 -5.72564322e-01 1.41743154e-03 1.59574569e+02] [ 5.72563152e-01 8.19859791e-01 1.16644668e-03 4.55248200e+01] [-1.82996088e-03 -1.44752250e-04 9.99998315e-01 6.11314499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:45.54, Z:0.61 [[ 8.21463026e-01 -5.70259919e-01 1.45655428e-03 1.59594958e+02] [ 5.70258679e-01 8.21464303e-01 1.19906765e-03 4.55439814e+01] [-1.88028757e-03 -1.54377020e-04 9.99998220e-01 6.11786378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:45.56, Z:0.61 [[ 8.21544995e-01 -5.70143349e-01 6.19306711e-04 1.59614655e+02] [ 5.70143125e-01 8.21545225e-01 5.09961649e-04 4.55626930e+01] [-7.99539714e-04 -6.58629768e-05 9.99999678e-01 6.11062915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:45.58, Z:0.61 [[ 8.21068814e-01 -5.70829208e-01 -1.34249760e-04 1.59634959e+02] [ 5.70829197e-01 8.21068825e-01 -1.10252277e-04 4.55826469e+01] [ 1.73163512e-04 1.38910234e-05 9.99999985e-01 6.10413138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:45.60, Z:0.61 [[ 8.19473543e-01 -5.73115958e-01 -1.10073214e-03 1.59652282e+02] [ 5.73115252e-01 8.19474274e-01 -9.06483530e-04 4.56036162e+01] [ 1.42154185e-03 1.11992892e-04 9.99998983e-01 6.09194319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:45.62, Z:0.61 [[ 8.18447632e-01 -5.74580424e-01 -9.00177025e-04 1.59671276e+02] [ 5.74579953e-01 8.18448122e-01 -7.41478997e-04 4.56226971e+01] [ 1.16278751e-03 8.96380564e-05 9.99999320e-01 6.09083807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.69, Y:45.64, Z:0.61 [[ 8.17090857e-01 -5.76508787e-01 -3.87372392e-04 1.59690679e+02] [ 5.76508700e-01 8.17090948e-01 -3.18970204e-04 4.56428490e+01] [ 5.00407601e-04 3.73040834e-05 9.99999874e-01 6.09067505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:45.66, Z:0.61 [[ 8.15555240e-01 -5.78678999e-01 -5.16691152e-04 1.59709856e+02] [ 5.78678844e-01 8.15555402e-01 -4.25777685e-04 4.56626815e+01] [ 6.67778864e-04 4.82469832e-05 9.99999776e-01 6.09266003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.73, Y:45.68, Z:0.61 [[ 8.11934045e-01 -5.83745688e-01 -2.01954088e-03 1.59729216e+02] [ 5.83743339e-01 8.11936538e-01 -1.66514803e-03 4.56829780e+01] [ 2.61176201e-03 1.73096844e-04 9.99996574e-01 6.09075090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:159.75, Y:45.70, Z:0.61 [[ 8.09869253e-01 -5.86602050e-01 -3.13490752e-03 1.59750889e+02] [ 5.86596406e-01 8.09875280e-01 -2.58591227e-03 4.57012154e+01] [ 4.05578554e-03 2.55325352e-04 9.99991743e-01 6.08693607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.77, Y:45.72, Z:0.61 [[ 8.08128002e-01 -5.88994023e-01 -3.89541594e-03 1.59771688e+02] [ 5.88985331e-01 8.08137333e-01 -3.21411515e-03 4.57188998e+01] [ 5.04112567e-03 3.03073608e-04 9.99987248e-01 6.08193768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.79, Y:45.74, Z:0.61 [[ 8.06714949e-01 -5.90926316e-01 -4.13273742e-03 1.59792851e+02] [ 5.90916552e-01 8.06725476e-01 -3.41110728e-03 4.57372894e+01] [ 5.34969762e-03 3.09688291e-04 9.99985642e-01 6.07665550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:45.75, Z:0.61 [[ 8.05937013e-01 -5.91993999e-01 -2.93889459e-03 1.59814030e+02] [ 5.91989066e-01 8.05942342e-01 -2.42628405e-03 4.57541027e+01] [ 3.80492518e-03 2.15638658e-04 9.99992738e-01 6.07671360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.84, Y:45.77, Z:0.61 [[ 8.06260055e-01 -5.91554770e-01 -2.77081431e-03 1.59836262e+02] [ 5.91550380e-01 8.06264790e-01 -2.28825222e-03 4.57704808e+01] [ 3.58763653e-03 2.05850101e-04 9.99993543e-01 6.08521690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.86, Y:45.79, Z:0.61 [[ 8.07039557e-01 -5.90488915e-01 -3.16144476e-03 1.59857759e+02] [ 5.90483189e-01 8.07045713e-01 -2.61157954e-03 4.57864814e+01] [ 4.09353921e-03 2.40868014e-04 9.99991592e-01 6.09327712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:45.80, Z:0.61 [[ 8.08139511e-01 -5.88982094e-01 -3.25940267e-03 1.59878766e+02] [ 5.88975992e-01 8.08146043e-01 -2.69314604e-03 4.58036364e+01] [ 4.22028817e-03 2.56727805e-04 9.99991062e-01 6.10117721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.90, Y:45.82, Z:0.61 [[ 8.09427543e-01 -5.87210831e-01 -3.23925448e-03 1.59898585e+02] [ 5.87204787e-01 8.09433981e-01 -2.67730816e-03 4.58219414e+01] [ 4.19410700e-03 2.64981223e-04 9.99991170e-01 6.10313947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:45.84, Z:0.61 [[ 8.12460386e-01 -5.83010823e-01 -2.54988621e-03 1.59918581e+02] [ 5.83007055e-01 8.12464356e-01 -2.10821474e-03 4.58415774e+01] [ 3.30080367e-03 2.26239308e-04 9.99994527e-01 6.09935918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:45.86, Z:0.61 [[ 8.13502399e-01 -5.81556792e-01 -2.35475790e-03 1.59939694e+02] [ 5.81553571e-01 8.13505778e-01 -1.94752959e-03 4.58587917e+01] [ 3.04820822e-03 2.14902128e-04 9.99995331e-01 6.09325080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.96, Y:45.88, Z:0.61 [[ 8.13899268e-01 -5.81000572e-01 -2.51312349e-03 1.59961852e+02] [ 5.80996898e-01 8.13903115e-01 -2.07927226e-03 4.58754985e+01] [ 3.25349742e-03 2.32201220e-04 9.99994680e-01 6.09273135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:159.98, Y:45.89, Z:0.61 [[ 8.14053521e-01 -5.80784623e-01 -2.46723655e-03 1.59983308e+02] [ 5.80781911e-01 8.14057259e-01 -1.77489071e-03 4.58910754e+01] [ 3.03930106e-03 1.19296707e-05 9.99995381e-01 6.09295483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:45.91, Z:0.61 [[ 8.13370872e-01 -5.81742688e-01 -1.80801662e-03 1.60006726e+02] [ 5.81740130e-01 8.13372790e-01 -1.76797417e-03 4.59081923e+01] [ 2.49909757e-03 3.86222869e-04 9.99996803e-01 6.10098749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:45.93, Z:0.61 [[ 8.12945260e-01 -5.82336919e-01 -1.92783529e-03 1.60028750e+02] [ 5.82334758e-01 8.12947527e-01 -1.59632031e-03 4.59253450e+01] [ 2.49682518e-03 1.75075537e-04 9.99996868e-01 6.10444201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:45.94, Z:0.61 [[ 8.12675958e-01 -5.82712295e-01 -2.04177105e-03 1.60049200e+02] [ 5.82709870e-01 8.12678502e-01 -1.69116340e-03 4.59422953e+01] [ 2.64476514e-03 1.84607693e-04 9.99996486e-01 6.10431981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:45.96, Z:0.61 [[ 8.12945581e-01 -5.82334248e-01 -2.51121482e-03 1.60070281e+02] [ 5.82330576e-01 8.12949427e-01 -2.08067123e-03 4.59613714e+01] [ 3.25313677e-03 2.29115303e-04 9.99994682e-01 6.08432110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:45.98, Z:0.61 [[ 8.13159236e-01 -5.82036666e-01 -2.31881957e-03 1.60090321e+02] [ 5.82033532e-01 8.13162514e-01 -1.92181772e-03 4.59791834e+01] [ 3.00414553e-03 2.13113083e-04 9.99995465e-01 6.07773693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:46.00, Z:0.61 [[ 8.13443327e-01 -5.81640860e-01 -1.96567946e-03 1.60111367e+02] [ 5.81638605e-01 8.13445682e-01 -1.62961906e-03 4.59972947e+01] [ 2.54682650e-03 1.82287695e-04 9.99996740e-01 6.08391767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:46.01, Z:0.61 [[ 8.13978737e-01 -5.80891151e-01 -2.02124521e-03 1.60132309e+02] [ 5.80888764e-01 8.13981225e-01 -1.67616955e-03 4.60147041e+01] [ 2.61892771e-03 1.90247744e-04 9.99996553e-01 6.10933227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:46.03, Z:0.61 [[ 8.13964537e-01 -5.80906718e-01 -3.01954665e-03 1.60154135e+02] [ 5.80901387e-01 8.13970088e-01 -2.50491356e-03 4.60329060e+01] [ 3.91294177e-03 2.84851963e-04 9.99992304e-01 6.10749138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:46.05, Z:0.61 [[ 8.13447953e-01 -5.81621051e-01 -4.40228377e-03 1.60175993e+02] [ 5.81609722e-01 8.13459761e-01 -3.65349623e-03 4.60511218e+01] [ 5.70603102e-03 4.11517992e-04 9.99983636e-01 6.09103281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:46.07, Z:0.61 [[ 8.12488362e-01 -5.82956614e-01 -4.92411303e-03 1.60197274e+02] [ 5.82942457e-01 8.12503159e-01 -4.08775019e-03 4.60684568e+01] [ 6.38383840e-03 4.50774908e-04 9.99979522e-01 6.07180787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:46.09, Z:0.61 [[ 8.11043511e-01 -5.84966366e-01 -4.77217566e-03 1.60218727e+02] [ 5.84953095e-01 8.11057440e-01 -3.96296644e-03 4.60862950e+01] [ 6.18871065e-03 4.22639293e-04 9.99980760e-01 6.06618878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:46.10, Z:0.61 [[ 8.07774982e-01 -5.89482733e-01 -3.11207375e-03 1.60241019e+02] [ 5.89477119e-01 8.07780937e-01 -2.58520110e-03 4.61025600e+01] [ 4.03780526e-03 2.53764505e-04 9.99991816e-01 6.08592278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:46.12, Z:0.61 [[ 8.06631590e-01 -5.91050083e-01 -2.29732516e-03 1.60263814e+02] [ 5.91047028e-01 8.06634841e-01 -1.90900748e-03 4.61192405e+01] [ 2.98142155e-03 1.82038529e-04 9.99995539e-01 6.09742336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:46.14, Z:0.61 [[ 8.06835385e-01 -5.90775982e-01 -6.32508321e-04 1.60286906e+02] [ 5.90775751e-01 8.06835631e-01 -5.25574976e-04 4.61350172e+01] [ 8.20827323e-04 5.03819100e-05 9.99999662e-01 6.10010450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:46.15, Z:0.61 [[ 8.07860671e-01 -5.89373490e-01 -1.57440801e-04 1.60308125e+02] [ 5.89373476e-01 8.07860686e-01 -1.30647622e-04 4.61529501e+01] [ 2.04190478e-04 1.27536436e-05 9.99999979e-01 6.08710241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:46.17, Z:0.61 [[ 8.07759629e-01 -5.89511966e-01 -1.57408770e-04 1.60329979e+02] [ 5.89511951e-01 8.07759644e-01 -1.30686157e-04 4.61712956e+01] [ 2.04189506e-04 1.27686508e-05 9.99999979e-01 6.08745798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:46.19, Z:0.61 [[ 8.09297814e-01 -5.87398274e-01 -5.62116060e-04 1.60350956e+02] [ 5.87398090e-01 8.09298008e-01 -4.67615138e-04 4.61888378e+01] [ 7.29595733e-04 4.82540085e-05 9.99999733e-01 6.08031626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:46.21, Z:0.61 [[ 8.10845542e-01 -5.85257968e-01 -1.61809316e-03 1.60372652e+02] [ 5.85256436e-01 8.10847143e-01 -1.34672889e-03 4.62062642e+01] [ 2.10021003e-03 1.44989676e-04 9.99997784e-01 6.07510484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:46.22, Z:0.61 [[ 8.13224067e-01 -5.81940473e-01 -3.45020886e-03 1.60395712e+02] [ 5.81933474e-01 8.13231319e-01 -2.87294994e-03 4.62216441e+01] [ 4.47770375e-03 3.28560009e-04 9.99989921e-01 6.08411739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.42, Y:46.24, Z:0.61 [[ 8.14085363e-01 -5.80735601e-01 -3.34412205e-03 1.60417801e+02] [ 5.80729011e-01 8.14092167e-01 -2.78560171e-03 4.62395136e+01] [ 4.34012165e-03 3.25688891e-04 9.99990529e-01 6.09069731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:46.26, Z:0.61 [[ 8.14732977e-01 -5.79830768e-01 -2.54076198e-03 1.60438781e+02] [ 5.79826958e-01 8.14736900e-01 -2.11711479e-03 4.62577538e+01] [ 3.29762084e-03 2.51680943e-04 9.99994531e-01 6.09392292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:46.27, Z:0.61 [[ 8.15616162e-01 -5.78590918e-01 -1.68121082e-03 1.60459238e+02] [ 5.78589246e-01 8.15617877e-01 -1.40119891e-03 4.62749567e+01] [ 2.18194656e-03 1.70109978e-04 9.99997605e-01 6.09337641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.48, Y:46.29, Z:0.61 [[ 8.17382674e-01 -5.76092662e-01 -1.67593798e-03 1.60480910e+02] [ 5.76090995e-01 8.17384373e-01 -1.39717943e-03 4.62930425e+01] [ 2.17479033e-03 1.76537480e-04 9.99997620e-01 6.09156901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.50, Y:46.31, Z:0.61 [[ 8.17984082e-01 -5.75236692e-01 -2.18848567e-03 1.60501223e+02] [ 5.75233844e-01 8.17986976e-01 -1.82522358e-03 4.63119594e+01] [ 2.84008835e-03 2.34112809e-04 9.99995940e-01 6.08712054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:46.33, Z:0.61 [[ 8.18492926e-01 -5.74511280e-01 -2.47377683e-03 1.60521889e+02] [ 5.74507635e-01 8.18496620e-01 -2.06394726e-03 4.63316992e+01] [ 3.21053896e-03 2.68122552e-04 9.99994810e-01 6.08316654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:46.35, Z:0.61 [[ 8.19071664e-01 -5.73686890e-01 -2.22746171e-03 1.60541630e+02] [ 5.73683931e-01 8.19074656e-01 -1.85891205e-03 4.63495879e+01] [ 2.89089091e-03 2.44723193e-04 9.99995791e-01 6.08199440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:46.37, Z:0.61 [[ 8.19781208e-01 -5.72673798e-01 -1.86898636e-03 1.60563357e+02] [ 5.72671710e-01 8.19783312e-01 -1.56015251e-03 4.63679017e+01] [ 2.42562229e-03 2.08668088e-04 9.99997036e-01 6.09423688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:46.39, Z:0.61 [[ 8.19787233e-01 -5.72664267e-01 -2.12815572e-03 1.60583634e+02] [ 5.72661559e-01 8.19789961e-01 -1.77718071e-03 4.63872789e+01] [ 2.76236858e-03 2.38197092e-04 9.99996156e-01 6.09815003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:46.41, Z:0.61 [[ 8.19917041e-01 -5.72474270e-01 -3.04249746e-03 1.60602245e+02] [ 5.72468731e-01 8.19922614e-01 -2.54150411e-03 4.64066438e+01] [ 3.94955819e-03 3.42087868e-04 9.99992142e-01 6.09837448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:46.43, Z:0.61 [[ 8.19798646e-01 -5.72636497e-01 -4.19790330e-03 1.60621958e+02] [ 5.72625947e-01 8.19809258e-01 -3.50788912e-03 4.64268868e+01] [ 5.45022533e-03 4.71934400e-04 9.99985036e-01 6.09284856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:46.45, Z:0.61 [[ 8.18910694e-01 -5.73905601e-01 -4.19953594e-03 1.60641198e+02] [ 5.73895054e-01 8.18921331e-01 -3.51010474e-03 4.64465388e+01] [ 5.45355833e-03 4.64369403e-04 9.99985021e-01 6.08789683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.66, Y:46.47, Z:0.61 [[ 8.18123465e-01 -5.75037052e-01 -2.52666677e-03 1.60661646e+02] [ 5.75033238e-01 8.18127321e-01 -2.11244539e-03 4.64656803e+01] [ 3.28186949e-03 2.75323770e-04 9.99994577e-01 6.09608946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:46.48, Z:0.61 [[ 8.17426292e-01 -5.76032738e-01 -7.35869161e-04 1.60680890e+02] [ 5.76032415e-01 8.17426620e-01 -6.15279077e-04 4.64849082e+01] [ 9.55939932e-04 7.90608045e-05 9.99999540e-01 6.10800302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:46.51, Z:0.61 [[ 8.16585635e-01 -5.77224291e-01 1.35748464e-04 1.60700775e+02] [ 5.77224280e-01 8.16585646e-01 1.13863485e-04 4.65053008e+01] [-1.76575017e-04 -1.46219769e-05 9.99999984e-01 6.11479330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:46.52, Z:0.61 [[ 8.15787849e-01 -5.78351244e-01 1.53196963e-04 1.60720178e+02] [ 5.78351230e-01 8.15787864e-01 1.28356000e-04 4.65249120e+01] [-1.99211076e-04 -1.61096131e-05 9.99999980e-01 6.11018417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:46.55, Z:0.61 [[ 8.14072648e-01 -5.80761408e-01 -1.38224353e-03 1.60739804e+02] [ 5.80760273e-01 8.14073810e-01 -1.15680543e-03 4.65451615e+01] [ 1.79707621e-03 1.38971523e-04 9.99998376e-01 6.09751450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:46.56, Z:0.61 [[ 8.13471345e-01 -5.81603958e-01 -1.09823413e-03 1.60760211e+02] [ 5.81603242e-01 8.13472079e-01 -9.19389398e-04 4.65641870e+01] [ 1.42810332e-03 1.09160399e-04 9.99998974e-01 6.09894630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:46.58, Z:0.61 [[ 8.13440753e-01 -5.81647683e-01 -3.37775544e-04 1.60779640e+02] [ 5.81647615e-01 8.13440823e-01 -2.82755948e-04 4.65837749e+01] [ 4.39224758e-04 3.35388718e-05 9.99999903e-01 6.10439375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:46.61, Z:0.61 [[ 8.14637017e-01 -5.79971126e-01 1.50023457e-04 1.60794992e+02] [ 5.79971113e-01 8.14637031e-01 1.25840682e-04 4.66079517e+01] [-1.95198626e-04 -1.55052064e-05 9.99999981e-01 6.10687706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61140051299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:160.81, Y:46.63, Z:0.61 [[ 8.15521992e-01 -5.78726033e-01 -2.43266511e-04 1.60813237e+02] [ 5.78725997e-01 8.15522028e-01 -2.03576097e-04 4.66292880e+01] [ 3.16203985e-04 2.52361298e-05 9.99999950e-01 6.09754571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:46.65, Z:0.61 [[ 8.16617288e-01 -5.77179177e-01 -6.34789645e-04 1.60832599e+02] [ 5.77178936e-01 8.16617532e-01 -5.31899173e-04 4.66505000e+01] [ 8.25381481e-04 6.79708482e-05 9.99999657e-01 6.09393906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:46.67, Z:0.61 [[ 8.17550219e-01 -5.75856461e-01 -9.87834184e-04 1.60850727e+02] [ 5.75855876e-01 8.17550808e-01 -8.28188121e-04 4.66707820e+01] [ 1.28452212e-03 1.08235260e-04 9.99999169e-01 6.09228834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:160.87, Y:46.69, Z:0.61 [[ 8.18445572e-01 -5.74580485e-01 -2.02800308e-03 1.60867520e+02] [ 5.74578012e-01 8.18448053e-01 -1.70091326e-03 4.66944142e+01] [ 2.63712674e-03 2.26858950e-04 9.99996497e-01 6.09250442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:46.72, Z:0.61 [[ 8.18344932e-01 -5.74719231e-01 -3.06221173e-03 1.60885756e+02] [ 5.74713591e-01 8.18350590e-01 -2.56911288e-03 4.67151595e+01] [ 3.98248135e-03 3.42525807e-04 9.99992011e-01 6.08936334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:46.74, Z:0.61 [[ 8.17372724e-01 -5.76098405e-01 -3.52954585e-03 1.60904382e+02] [ 5.76090920e-01 8.17380252e-01 -2.96218299e-03 4.67363451e+01] [ 4.59148998e-03 3.87868256e-04 9.99989384e-01 6.08180065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:46.76, Z:0.61 [[ 8.13301976e-01 -5.81834795e-01 -2.85793075e-03 1.60922032e+02] [ 5.81829920e-01 8.13306946e-01 -2.39909528e-03 4.67571599e+01] [ 3.72025204e-03 2.88359314e-04 9.99993038e-01 6.08405147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.94, Y:46.78, Z:0.61 [[ 8.10668788e-01 -5.85498231e-01 -2.81754521e-03 1.60941861e+02] [ 5.85493513e-01 8.10673640e-01 -2.36566271e-03 4.67762896e+01] [ 3.66920096e-03 2.68114481e-04 9.99993233e-01 6.08418772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:46.80, Z:0.61 [[ 8.08032783e-01 -5.89128956e-01 -3.17723192e-03 1.60961930e+02] [ 5.89122981e-01 8.08038979e-01 -2.66852774e-03 4.67956163e+01] [ 4.13943420e-03 2.84477556e-04 9.99991392e-01 6.08088941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:46.81, Z:0.61 [[ 8.05556061e-01 -5.92509781e-01 -3.40478490e-03 1.60982594e+02] [ 5.92502945e-01 8.05563205e-01 -2.86068280e-03 4.68145474e+01] [ 4.43775197e-03 2.87095290e-04 9.99990112e-01 6.07409138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:46.83, Z:0.61 [[ 8.02480105e-01 -5.96672802e-01 -2.69224492e-03 1.61004706e+02] [ 5.96668548e-01 8.02484594e-01 -2.26279303e-03 4.68313513e+01] [ 3.51063213e-03 2.09468520e-04 9.99993816e-01 6.07397365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:46.85, Z:0.61 [[ 8.01782369e-01 -5.97611948e-01 -2.23439873e-03 1.61026298e+02] [ 5.97609020e-01 8.01785464e-01 -1.87846249e-03 4.68479390e+01] [ 2.91410006e-03 1.70821272e-04 9.99995739e-01 6.07771586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:46.86, Z:0.61 [[ 8.01650430e-01 -5.97788567e-01 -2.32767721e-03 1.61048243e+02] [ 5.97785388e-01 8.01653789e-01 -1.95749932e-03 4.68647902e+01] [ 3.03616196e-03 1.77778748e-04 9.99995375e-01 6.08118561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:46.88, Z:0.61 [[ 8.01953401e-01 -5.97380522e-01 -2.69328804e-03 1.61069626e+02] [ 5.97376262e-01 8.01957897e-01 -2.26570230e-03 4.68816121e+01] [ 3.51339003e-03 2.08081326e-04 9.99993806e-01 6.07862329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:46.90, Z:0.61 [[ 8.02379274e-01 -5.96802226e-01 -3.82144533e-03 1.61092663e+02] [ 5.96793637e-01 8.02388318e-01 -3.21596355e-03 4.68974464e+01] [ 4.98557730e-03 2.99808247e-04 9.99987527e-01 6.07236381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:46.91, Z:0.61 [[ 8.02166435e-01 -5.97089173e-01 -3.67839290e-03 1.61115411e+02] [ 5.97081212e-01 8.02174817e-01 -3.09673408e-03 4.69141978e+01] [ 4.79974054e-03 2.87796847e-04 9.99988440e-01 6.07021454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:46.93, Z:0.61 [[ 8.01446111e-01 -5.98059075e-01 -3.07804565e-03 1.61137257e+02] [ 5.98053505e-01 8.01451987e-01 -2.59194128e-03 4.69306662e+01] [ 4.01703981e-03 2.36465264e-04 9.99991904e-01 6.06647569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:46.95, Z:0.61 [[ 7.99970718e-01 -6.00034630e-01 -2.30061816e-03 1.61159359e+02] [ 6.00031525e-01 7.99974008e-01 -1.93782812e-03 4.69482221e+01] [ 3.00319871e-03 1.69762334e-04 9.99995476e-01 6.06385617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:46.96, Z:0.61 [[ 7.95972806e-01 -6.05326328e-01 -2.70695736e-03 1.61183186e+02] [ 6.05322057e-01 7.95977390e-01 -2.28098094e-03 4.69636612e+01] [ 3.53541467e-03 1.77017802e-04 9.99993735e-01 6.05539622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:161.21, Y:46.98, Z:0.61 [[ 7.94078696e-01 -6.07797425e-01 -4.61679572e-03 1.61206636e+02] [ 6.07804344e-01 7.94086812e-01 1.21688675e-04 4.69761753e+01] [ 3.59217453e-03 -2.90273888e-03 9.99989335e-01 6.05435387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.23, Y:47.00, Z:0.60 [[ 7.91803749e-01 -6.10772462e-01 -1.95508833e-03 1.61227190e+02] [ 6.10755144e-01 7.91799377e-01 -5.64816109e-03 4.69968806e+01] [ 4.99777898e-03 3.27815487e-03 9.99982138e-01 6.04756559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:47.01, Z:0.61 [[ 7.89685907e-01 -6.13501881e-01 -3.40734991e-03 1.61251996e+02] [ 6.13495177e-01 7.89693238e-01 -2.87377422e-03 4.70107764e+01] [ 4.45382707e-03 1.78986267e-04 9.99990066e-01 6.05890684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:47.03, Z:0.61 [[ 7.85696524e-01 -6.18608341e-01 -2.16633153e-03 1.61275996e+02] [ 6.18605648e-01 7.85699505e-01 -1.82767862e-03 4.70258755e+01] [ 2.83270284e-03 9.58958175e-05 9.99995983e-01 6.06874668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:47.04, Z:0.61 [[ 7.83810515e-01 -6.20996770e-01 -2.02182562e-03 1.61299154e+02] [ 6.20994431e-01 7.83813118e-01 -1.70639833e-03 4.70417144e+01] [ 2.64440130e-03 8.19504997e-05 9.99996500e-01 6.06716411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.32, Y:47.06, Z:0.61 [[ 7.81999315e-01 -6.23275150e-01 -2.27120917e-03 1.61322778e+02] [ 6.23272206e-01 7.82002609e-01 -1.91766560e-03 4.70567612e+01] [ 2.97132481e-03 8.40316348e-05 9.99995582e-01 6.06550644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:47.07, Z:0.61 [[ 7.80567178e-01 -6.25068365e-01 -2.10223590e-03 1.61345944e+02] [ 6.25065847e-01 7.80570006e-01 -1.77563533e-03 4.70710676e+01] [ 2.75083576e-03 7.19667933e-05 9.99996214e-01 6.06561965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:47.09, Z:0.61 [[ 7.79394886e-01 -6.26531297e-01 -1.46484802e-03 1.61368038e+02] [ 6.26530076e-01 7.79396261e-01 -1.23762119e-03 4.70863378e+01] [ 1.91710548e-03 4.68242805e-05 9.99998161e-01 6.06679823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.39, Y:47.10, Z:0.61 [[ 7.78240291e-01 -6.27966334e-01 -5.76280371e-04 1.61390797e+02] [ 6.27966146e-01 7.78240505e-01 -4.86876330e-04 4.71029156e+01] [ 7.54226671e-04 1.70222133e-05 9.99999715e-01 6.07092510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:161.41, Y:47.12, Z:0.61 [[ 7.78358228e-01 -6.27818417e-01 -1.58234671e-03 1.61413028e+02] [ 6.27816993e-01 7.78359835e-01 -1.33791307e-03 4.71203336e+01] [ 2.07160159e-03 4.79514920e-05 9.99997853e-01 6.06408179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:47.14, Z:0.61 [[ 7.79219002e-01 -6.26745387e-01 -2.82235977e-03 1.61436322e+02] [ 6.26740846e-01 7.79224108e-01 -2.38753473e-03 4.71366404e+01] [ 3.69562715e-03 9.15242780e-05 9.99993167e-01 6.06066044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:47.15, Z:0.61 [[ 7.82107622e-01 -6.23129524e-01 -4.15491985e-03 1.61460007e+02] [ 6.23119624e-01 7.82118642e-01 -3.51630250e-03 4.71515981e+01] [ 5.44075217e-03 1.61114890e-04 9.99985186e-01 6.06298763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.48, Y:47.17, Z:0.61 [[ 7.83720069e-01 -6.21100897e-01 -4.06573768e-03 1.61480705e+02] [ 6.21091383e-01 7.83730595e-01 -3.44205107e-03 4.71687236e+01] [ 5.32430402e-03 1.72409857e-04 9.99985811e-01 6.06763704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.50, Y:47.19, Z:0.61 [[ 7.84949421e-01 -6.19547601e-01 -3.89572193e-03 1.61502377e+02] [ 6.19538841e-01 7.84959068e-01 -3.29935553e-03 4.71863981e+01] [ 5.10209006e-03 1.76276167e-04 9.99986969e-01 6.06724538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:47.20, Z:0.61 [[ 7.86024266e-01 -6.18180892e-01 -4.27067592e-03 1.61524120e+02] [ 6.18170337e-01 7.86035841e-01 -3.61824103e-03 4.72031058e+01] [ 5.59363181e-03 2.04020075e-04 9.99984335e-01 6.06256319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:47.22, Z:0.61 [[ 7.88901801e-01 -6.14503171e-01 -4.44988035e-03 1.61546749e+02] [ 6.14491645e-01 7.88914314e-01 -3.77135591e-03 4.72174745e+01] [ 5.82808447e-03 2.40815170e-04 9.99982988e-01 6.05697713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:47.23, Z:0.61 [[ 7.90313877e-01 -6.12690319e-01 -3.81436621e-03 1.61568876e+02] [ 6.12681824e-01 7.90323051e-01 -3.23387120e-03 4.72340766e+01] [ 4.99594312e-03 2.18780445e-04 9.99987496e-01 6.06012165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:47.25, Z:0.61 [[ 7.91838520e-01 -6.10722735e-01 -3.08208635e-03 1.61592038e+02] [ 6.10717170e-01 7.91844496e-01 -2.61395729e-03 4.72508633e+01] [ 4.03693626e-03 1.87549022e-04 9.99991834e-01 6.06462957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:161.62, Y:47.27, Z:0.61 [[ 7.93530496e-01 -6.08529424e-01 -1.13658081e-03 1.61615232e+02] [ 6.08525386e-01 7.93530109e-01 -2.61175955e-03 4.72681364e+01] [ 2.49124363e-03 1.38087258e-03 9.99995943e-01 6.05508879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:47.28, Z:0.61 [[ 7.95725310e-01 -6.05646348e-01 -3.70579526e-03 1.61638859e+02] [ 6.05645420e-01 7.95733240e-01 -1.49536913e-03 4.72812295e+01] [ 3.85448932e-03 -1.05449486e-03 9.99992015e-01 6.06620018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:47.30, Z:0.61 [[ 7.96943578e-01 -6.04046642e-01 -2.93054844e-03 1.61660189e+02] [ 6.04041558e-01 7.96948937e-01 -2.48730501e-03 4.72999074e+01] [ 3.83794570e-03 2.12068711e-04 9.99992613e-01 6.05953419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:47.32, Z:0.61 [[ 7.96840902e-01 -6.04182085e-01 -2.93011625e-03 1.61681852e+02] [ 6.04177000e-01 7.96846261e-01 -2.48781410e-03 4.73184776e+01] [ 3.83794488e-03 2.12083184e-04 9.99992613e-01 6.05989026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:47.33, Z:0.61 [[ 7.99470013e-01 -6.00704369e-01 -1.40009792e-03 1.61703742e+02] [ 6.00703202e-01 7.99471231e-01 -1.18901106e-03 4.73340935e+01] [ 1.83358215e-03 1.09535382e-04 9.99998313e-01 6.06149760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:47.35, Z:0.61 [[ 8.00307440e-01 -5.99589003e-01 -1.01426965e-03 1.61726095e+02] [ 5.99588390e-01 8.00308079e-01 -8.61564831e-04 4.73513825e+01] [ 1.32831299e-03 8.13724405e-05 9.99999114e-01 6.07415202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:47.37, Z:0.61 [[ 8.01211993e-01 -5.98379748e-01 -1.00913975e-03 1.61747082e+02] [ 5.98379140e-01 8.01212625e-01 -8.57515549e-04 4.73683594e+01] [ 1.32165544e-03 8.32035675e-05 9.99999123e-01 6.07673945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:47.39, Z:0.61 [[ 8.02024594e-01 -5.97289818e-01 -1.19281097e-03 1.61767729e+02] [ 5.97288966e-01 8.02025475e-01 -1.01395154e-03 4.73861939e+01] [ 1.56228772e-03 1.00761245e-04 9.99998775e-01 6.07022863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.79, Y:47.40, Z:0.61 [[ 8.02424340e-01 -5.96751781e-01 -1.57837137e-03 1.61788382e+02] [ 5.96750287e-01 8.02425881e-01 -1.34212739e-03 4.74041123e+01] [ 2.06744294e-03 1.35062114e-04 9.99997854e-01 6.06264656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:47.42, Z:0.61 [[ 8.02014938e-01 -5.97298295e-01 -2.60483638e-03 1.61810762e+02] [ 5.97294226e-01 8.02019138e-01 -2.21589642e-03 4.74203745e+01] [ 3.41267978e-03 2.21328299e-04 9.99994152e-01 6.05001007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:47.44, Z:0.61 [[ 8.01473020e-01 -5.98024934e-01 -2.67872530e-03 1.61832802e+02] [ 5.98020632e-01 8.01477465e-01 -2.27959817e-03 4.74373368e+01] [ 3.51019451e-03 2.25103437e-04 9.99993814e-01 6.05500597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.85, Y:47.46, Z:0.61 [[ 8.01285770e-01 -5.98278035e-01 -2.12307955e-03 1.61854516e+02] [ 5.98275332e-01 8.01288563e-01 -1.80734494e-03 4.74551389e+01] [ 2.78249414e-03 1.78013666e-04 9.99996113e-01 6.05874586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:161.88, Y:47.47, Z:0.61 [[ 8.01400821e-01 -5.98124709e-01 -1.88585758e-03 1.61875351e+02] [ 5.98122575e-01 8.01403024e-01 -1.60596533e-03 4.74744399e+01] [ 2.47189951e-03 1.59047946e-04 9.99996932e-01 6.06383687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:47.49, Z:0.61 [[ 8.02637707e-01 -5.96464142e-01 -1.79987341e-03 1.61893499e+02] [ 5.96462192e-01 8.02639709e-01 -1.53318218e-03 4.74946067e+01] [ 2.35913806e-03 1.57033388e-04 9.99997205e-01 6.06148768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:47.51, Z:0.61 [[ 8.03283165e-01 -5.95593505e-01 -2.12930269e-03 1.61913869e+02] [ 5.95590771e-01 8.03285965e-01 -1.81435688e-03 4.75138332e+01] [ 2.79105814e-03 1.89249308e-04 9.99996087e-01 6.05929356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:47.53, Z:0.61 [[ 8.03741378e-01 -5.94975500e-01 -1.98785806e-03 1.61934622e+02] [ 5.94973114e-01 8.03743816e-01 -1.69443160e-03 4.75333261e+01] [ 2.60587391e-03 1.79162688e-04 9.99996589e-01 6.06265113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.95, Y:47.55, Z:0.61 [[ 8.03980935e-01 -5.94653030e-01 -1.55876076e-03 1.61953837e+02] [ 5.94651562e-01 8.03982434e-01 -1.32903844e-03 4.75516709e+01] [ 2.04353300e-03 1.41602052e-04 9.99997902e-01 6.06715214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:47.57, Z:0.61 [[ 8.03694986e-01 -5.95039548e-01 -1.51840283e-03 1.61974247e+02] [ 5.95038155e-01 8.03696409e-01 -1.29500238e-03 4.75708170e+01] [ 1.99091253e-03 1.37279304e-04 9.99998009e-01 6.06853550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:47.59, Z:0.61 [[ 8.02889086e-01 -5.96125226e-01 -1.95694258e-03 1.61995113e+02] [ 5.96122913e-01 8.02891452e-01 -1.66970770e-03 4.75892284e+01] [ 2.56656735e-03 1.74011774e-04 9.99996691e-01 6.06873886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:47.61, Z:0.61 [[ 8.02301365e-01 -5.96915258e-01 -2.16682587e-03 1.62016347e+02] [ 5.96912423e-01 8.02304268e-01 -1.84948366e-03 4.76072328e+01] [ 2.84243866e-03 1.90437981e-04 9.99995942e-01 6.06747204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:47.63, Z:0.61 [[ 8.01489895e-01 -5.98004580e-01 -2.11432090e-03 1.62037567e+02] [ 5.98001883e-01 8.01492663e-01 -1.80531197e-03 4.76258102e+01] [ 2.77419751e-03 1.82571422e-04 9.99996135e-01 6.06544547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:47.65, Z:0.61 [[ 8.00394198e-01 -5.99470493e-01 -2.06283262e-03 1.62057993e+02] [ 5.99467929e-01 8.00396838e-01 -1.76199586e-03 4.76451401e+01] [ 2.70734923e-03 1.73689269e-04 9.99996320e-01 6.06512079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:47.67, Z:0.61 [[ 7.99541299e-01 -6.00606670e-01 -2.31070038e-03 1.62075568e+02] [ 6.00603455e-01 7.99544615e-01 -1.97430299e-03 4.76660526e+01] [ 3.03328759e-03 1.90722146e-04 9.99995381e-01 6.05950125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:47.69, Z:0.61 [[ 7.99753053e-01 -6.00323706e-01 -2.54978968e-03 1.62096247e+02] [ 6.00319788e-01 7.99757090e-01 -2.17926480e-03 4.76851151e+01] [ 3.34747670e-03 2.12184479e-04 9.99994375e-01 6.05992963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:47.70, Z:0.61 [[ 8.00307362e-01 -5.99584668e-01 -2.52021912e-03 1.62117651e+02] [ 5.99580834e-01 8.00311302e-01 -2.15478565e-03 4.77030851e+01] [ 3.30893629e-03 2.13415743e-04 9.99994503e-01 6.06514924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:47.72, Z:0.61 [[ 8.00766566e-01 -5.98971971e-01 -2.34187752e-03 1.62137709e+02] [ 5.98968657e-01 8.00769965e-01 -2.00283132e-03 4.77210015e+01] [ 3.07494500e-03 2.01089120e-04 9.99995252e-01 6.06712193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:47.74, Z:0.61 [[ 8.01107520e-01 -5.98516865e-01 -2.07445978e-03 1.62158219e+02] [ 5.98514261e-01 8.01110186e-01 -1.77463856e-03 4.77404242e+01] [ 2.72402197e-03 1.80082533e-04 9.99996274e-01 6.06314189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:47.76, Z:0.61 [[ 8.01502691e-01 -5.97986971e-01 -2.24036429e-03 1.62179452e+02] [ 5.97983930e-01 8.01505797e-01 -1.91731361e-03 4.77593317e+01] [ 2.94219353e-03 1.97030169e-04 9.99995652e-01 6.05990027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:47.77, Z:0.61 [[ 8.02860297e-01 -5.96153252e-01 -4.07964554e-03 1.62201686e+02] [ 5.96143138e-01 8.02870576e-01 -3.49249300e-03 4.77746672e+01] [ 5.35748842e-03 3.71931271e-04 9.99985579e-01 6.05576187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:47.79, Z:0.61 [[ 8.03284872e-01 -5.95569279e-01 -5.53609766e-03 1.62222542e+02] [ 5.95550632e-01 8.03303786e-01 -4.74051560e-03 4.77920470e+01] [ 7.27047367e-03 5.10958015e-04 9.99973439e-01 6.05464512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:47.81, Z:0.60 [[ 8.03578093e-01 -5.95165752e-01 -6.32263796e-03 1.62242608e+02] [ 5.95141402e-01 8.03602750e-01 -5.41590337e-03 4.78111809e+01] [ 8.30424946e-03 5.89237684e-04 9.99965346e-01 6.04863231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:47.83, Z:0.60 [[ 8.03790720e-01 -5.94880943e-01 -6.09446956e-03 1.62261812e+02] [ 5.94858296e-01 8.03813620e-01 -5.22215919e-03 4.78297832e+01] [ 8.00538062e-03 5.72177319e-04 9.99967793e-01 6.04367835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:47.85, Z:0.61 [[ 8.03240353e-01 -5.95642912e-01 -3.80225412e-03 1.62282708e+02] [ 5.95634101e-01 8.03249274e-01 -3.25906656e-03 4.78487616e+01] [ 4.99539776e-03 3.53061558e-04 9.99987461e-01 6.06280457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:47.87, Z:0.61 [[ 8.02520491e-01 -5.96616992e-01 -3.00433559e-03 1.62303384e+02] [ 5.96611495e-01 8.02526067e-01 -2.57593048e-03 4.78669301e+01] [ 3.94790153e-03 2.74815846e-04 9.99992169e-01 6.07117754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.32, Y:47.89, Z:0.61 [[ 8.01421343e-01 -5.98093070e-01 -2.91741749e-03 1.62323887e+02] [ 5.98087892e-01 8.01426610e-01 -2.50226081e-03 4.78862675e+01] [ 3.83468086e-03 2.60493141e-04 9.99992614e-01 6.07124343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:47.90, Z:0.61 [[ 7.98827618e-01 -6.01551934e-01 -3.11567092e-03 1.62344321e+02] [ 6.01546051e-01 7.98833651e-01 -2.67329167e-03 4.79049305e+01] [ 4.09702655e-03 2.61279677e-04 9.99991573e-01 6.05843065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:47.92, Z:0.61 [[ 7.97235383e-01 -6.03660779e-01 -3.06737344e-03 1.62365448e+02] [ 6.03655088e-01 7.97241245e-01 -2.63274207e-03 4.79213072e+01] [ 4.03471975e-03 2.47279548e-04 9.99991830e-01 6.06356756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:47.94, Z:0.61 [[ 7.95630789e-01 -6.05774264e-01 -3.03132878e-03 1.62387817e+02] [ 6.05768718e-01 7.95636529e-01 -2.60272664e-03 4.79385188e+01] [ 3.98850073e-03 2.34525301e-04 9.99992018e-01 6.07063552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.41, Y:47.96, Z:0.61 [[ 7.94191965e-01 -6.07659518e-01 -3.00550172e-03 1.62409270e+02] [ 6.07654076e-01 7.94197620e-01 -2.58149919e-03 4.79561656e+01] [ 3.95563487e-03 2.23900543e-04 9.99992151e-01 6.07934587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.43, Y:47.97, Z:0.61 [[ 7.92482150e-01 -6.09893125e-01 -1.55518205e-03 1.62431030e+02] [ 6.09891671e-01 7.92483668e-01 -1.33611244e-03 4.79721749e+01] [ 2.04734217e-03 1.10352682e-04 9.99997898e-01 6.08067086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:47.99, Z:0.61 [[ 7.92161983e-01 -6.10309332e-01 -1.38269015e-03 1.62453284e+02] [ 6.10308183e-01 7.92163184e-01 -1.18829365e-03 4.79891707e+01] [ 1.82054293e-03 9.74539407e-05 9.99998338e-01 6.07604212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:48.01, Z:0.61 [[ 7.92317688e-01 -6.10106843e-01 -1.52376302e-03 1.62475740e+02] [ 6.10105446e-01 7.92319145e-01 -1.31003841e-03 4.80061447e+01] [ 2.00657001e-03 1.08310485e-04 9.99997981e-01 6.07026695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:48.02, Z:0.61 [[ 7.92633457e-01 -6.09695640e-01 -1.85183322e-03 1.62496840e+02] [ 6.09693574e-01 7.92635609e-01 -1.59271306e-03 4.80225558e+01] [ 2.43889916e-03 1.33386847e-04 9.99997017e-01 6.06696773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:48.04, Z:0.61 [[ 7.93614739e-01 -6.08419109e-01 -1.35422236e-03 1.62519530e+02] [ 6.08418001e-01 7.93615888e-01 -1.16505550e-03 4.80394004e+01] [ 1.78357441e-03 1.00671960e-04 9.99998404e-01 6.06726746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:48.06, Z:0.61 [[ 7.93868047e-01 -6.08088772e-01 -1.25276102e-03 1.62540943e+02] [ 6.08087823e-01 7.93869030e-01 -1.07812993e-03 4.80555605e+01] [ 1.65012688e-03 9.41041783e-05 9.99998634e-01 6.07230053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:48.07, Z:0.61 [[ 7.93992269e-01 -6.07927023e-01 -1.00535501e-03 1.62563512e+02] [ 6.07926412e-01 7.93992902e-01 -8.65445219e-04 4.80718020e+01] [ 1.32437228e-03 7.59749514e-05 9.99999120e-01 6.07444428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:48.09, Z:0.61 [[ 7.94158627e-01 -6.07710104e-01 -7.10351338e-04 1.62585187e+02] [ 6.07709799e-01 7.94158943e-01 -6.11641327e-04 4.80874921e+01] [ 9.35832482e-04 5.40527675e-05 9.99999561e-01 6.07955496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:48.10, Z:0.61 [[ 7.94986590e-01 -6.06626933e-01 -2.94761272e-04 1.62608559e+02] [ 6.06626880e-01 7.94986644e-01 -2.53711516e-04 4.81031455e+01] [ 3.88239513e-04 2.28871414e-05 9.99999924e-01 6.07524700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.63, Y:48.12, Z:0.61 [[ 7.94926342e-01 -6.06705881e-01 -2.91186297e-04 1.62629788e+02] [ 6.06705829e-01 7.94926395e-01 -2.50743112e-04 4.81199064e+01] [ 3.83598994e-04 2.26578812e-05 9.99999926e-01 6.06834146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:48.14, Z:0.61 [[ 7.94544951e-01 -6.07205082e-01 -5.56210615e-04 1.62652877e+02] [ 6.07204895e-01 7.94545144e-01 -4.79336211e-04 4.81366908e+01] [ 7.32989826e-04 4.31203579e-05 9.99999730e-01 6.06579967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:48.15, Z:0.61 [[ 7.94007672e-01 -6.07905379e-01 -1.69313419e-03 1.62675554e+02] [ 6.07903639e-01 7.94009466e-01 -1.46028424e-03 4.81527535e+01] [ 2.23207922e-03 1.30214453e-04 9.99997500e-01 6.06572702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:48.17, Z:0.61 [[ 7.92809594e-01 -6.09455948e-01 -4.04912714e-03 1.62700718e+02] [ 6.09446007e-01 7.92819876e-01 -3.49399094e-03 4.81665593e+01] [ 5.33966204e-03 3.02345167e-04 9.99985698e-01 6.06154643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:48.18, Z:0.61 [[ 7.92355458e-01 -6.10041883e-01 -4.66133562e-03 1.62722526e+02] [ 6.10028711e-01 7.92369094e-01 -4.02369791e-03 4.81825812e+01] [ 6.14812254e-03 3.44650443e-04 9.99981041e-01 6.05824374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:48.20, Z:0.61 [[ 7.92551808e-01 -6.09784278e-01 -4.97660391e-03 1.62744565e+02] [ 6.09769249e-01 7.92567345e-01 -4.29727858e-03 4.81990377e+01] [ 6.56470666e-03 3.71235882e-04 9.99978383e-01 6.05570034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.77, Y:48.22, Z:0.61 [[ 7.93276203e-01 -6.08842506e-01 -4.86513180e-03 1.62766144e+02] [ 6.08828116e-01 7.93291034e-01 -4.20239174e-03 4.82152978e+01] [ 6.41806015e-03 3.71628335e-04 9.99979335e-01 6.05317413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:48.23, Z:0.61 [[ 7.94183270e-01 -6.07659865e-01 -4.73512177e-03 1.62788333e+02] [ 6.07646205e-01 7.94197299e-01 -4.09151603e-03 4.82319771e+01] [ 6.24687100e-03 3.72134813e-04 9.99980419e-01 6.05608100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:48.25, Z:0.61 [[ 7.96141396e-01 -6.05097963e-01 -3.91582929e-03 1.62810932e+02] [ 6.05088583e-01 7.96150959e-01 -3.38475468e-03 4.82490335e+01] [ 5.16569940e-03 3.25319720e-04 9.99986605e-01 6.06344146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:48.27, Z:0.61 [[ 7.97018011e-01 -6.03945737e-01 -3.44064535e-03 1.62831026e+02] [ 6.03938481e-01 7.97025383e-01 -2.97480845e-03 4.82667027e+01] [ 4.53890456e-03 2.93037782e-04 9.99989656e-01 6.06553810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:48.29, Z:0.61 [[ 7.98722636e-01 -6.01695617e-01 -2.12985666e-03 1.62852352e+02] [ 6.01692827e-01 7.98725453e-01 -1.84199800e-03 4.82852109e+01] [ 2.80949285e-03 1.89726025e-04 9.99996035e-01 6.06503396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:48.30, Z:0.61 [[ 7.98914296e-01 -6.01442810e-01 -1.57944548e-03 1.62873670e+02] [ 6.01441274e-01 7.98915845e-01 -1.36638667e-03 4.83019380e+01] [ 2.08364746e-03 1.41682140e-04 9.99997819e-01 6.06744418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:48.32, Z:0.61 [[ 7.98451215e-01 -6.02057838e-01 -1.42030155e-03 1.62896662e+02] [ 6.02056596e-01 7.98452468e-01 -1.22910056e-03 4.83189759e+01] [ 1.87403291e-03 1.26274919e-04 9.99998236e-01 6.07227802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.92, Y:48.34, Z:0.61 [[ 7.97545938e-01 -6.03255804e-01 -1.70667402e-03 1.62919033e+02] [ 6.03254012e-01 7.97547750e-01 -1.47750314e-03 4.83364540e+01] [ 2.25246637e-03 1.48818678e-04 9.99997452e-01 6.07410062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:48.35, Z:0.61 [[ 7.95440926e-01 -6.06026406e-01 -2.39348110e-03 1.62940258e+02] [ 6.06022893e-01 7.95444502e-01 -2.07289692e-03 4.83532574e+01] [ 3.16011165e-03 1.98362702e-04 9.99994987e-01 6.06196921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:48.37, Z:0.61 [[ 7.94356459e-01 -6.07446785e-01 -2.49360937e-03 1.62962622e+02] [ 6.07442977e-01 7.94360348e-01 -2.16038761e-03 4.83698593e+01] [ 3.29314492e-03 2.01392349e-04 9.99994557e-01 6.06219960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:48.38, Z:0.61 [[ 7.93391800e-01 -6.08705587e-01 -2.63833120e-03 1.62984975e+02] [ 6.08701328e-01 7.93396159e-01 -2.28658601e-03 4.83846941e+01] [ 3.48509952e-03 2.08202885e-04 9.99993905e-01 6.07147322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:48.40, Z:0.61 [[ 7.92609004e-01 -6.09722919e-01 -2.98812743e-03 1.63008946e+02] [ 6.09717459e-01 7.92614603e-01 -2.59069333e-03 4.84004175e+01] [ 3.94803853e-03 2.31493401e-04 9.99992180e-01 6.07675924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:48.42, Z:0.61 [[ 7.92507660e-01 -6.09854640e-01 -2.98768760e-03 1.63030419e+02] [ 6.09849179e-01 7.92513258e-01 -2.59120051e-03 4.84192187e+01] [ 3.94803769e-03 2.31507424e-04 9.99992180e-01 6.07711530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.05, Y:48.43, Z:0.61 [[ 7.91972908e-01 -6.10536862e-01 -4.86334335e-03 1.63054414e+02] [ 6.10522395e-01 7.91987753e-01 -4.21948418e-03 4.84331822e+01] [ 6.42785901e-03 3.72537122e-04 9.99979272e-01 6.07180909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:48.45, Z:0.61 [[ 7.92292660e-01 -6.10119435e-01 -5.15899658e-03 1.63075928e+02] [ 6.10103136e-01 7.92309356e-01 -4.47762384e-03 4.84492082e+01] [ 6.81940658e-03 4.00068509e-04 9.99976668e-01 6.06737913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:48.47, Z:0.61 [[ 7.92819118e-01 -6.09439306e-01 -4.64523749e-03 1.63098498e+02] [ 6.09426071e-01 7.92832642e-01 -4.03319540e-03 4.84652980e+01] [ 6.14088371e-03 3.66665594e-04 9.99981077e-01 6.07114546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:48.48, Z:0.61 [[ 7.93791142e-01 -6.08178609e-01 -3.79502370e-03 1.63121249e+02] [ 6.08169755e-01 7.93800154e-01 -3.29618865e-03 4.84811504e+01] [ 5.01716183e-03 3.08466714e-04 9.99987366e-01 6.08001005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:48.50, Z:0.61 [[ 7.97255458e-01 -6.03636691e-01 -2.54559982e-03 1.63143391e+02] [ 6.03632682e-01 7.97259490e-01 -2.21167380e-03 4.84966800e+01] [ 3.36455106e-03 2.26661761e-04 9.99994314e-01 6.08763827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:48.51, Z:0.61 [[ 7.99214879e-01 -6.01039926e-01 -2.56608615e-03 1.63163524e+02] [ 6.01035837e-01 7.99218962e-01 -2.23009764e-03 4.85147439e+01] [ 3.39124243e-03 2.40017478e-04 9.99994221e-01 6.08876968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:48.53, Z:0.61 [[ 8.00930093e-01 -5.98751547e-01 -2.75175402e-03 1.63183891e+02] [ 5.98746828e-01 8.00934775e-01 -2.39223739e-03 4.85340111e+01] [ 3.63633133e-03 2.68410925e-04 9.99993353e-01 6.08253057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:48.55, Z:0.61 [[ 8.04000070e-01 -5.94624947e-01 -2.24919255e-03 1.63203492e+02] [ 5.94621777e-01 8.04003182e-01 -1.95594541e-03 4.85526400e+01] [ 2.97141190e-03 2.35161377e-04 9.99995558e-01 6.08225309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:48.57, Z:0.61 [[ 8.04986047e-01 -5.93291930e-01 -1.46591595e-03 1.63224455e+02] [ 5.93290581e-01 8.04987367e-01 -1.27512487e-03 4.85714726e+01] [ 1.93656512e-03 1.56743608e-04 9.99998113e-01 6.08515899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:48.59, Z:0.61 [[ 8.05641880e-01 -5.92401758e-01 -1.14874904e-03 1.63245168e+02] [ 5.92400927e-01 8.05642689e-01 -9.99527735e-04 4.85908257e+01] [ 1.51760325e-03 1.24741408e-04 9.99998841e-01 6.09015645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:48.61, Z:0.61 [[ 8.06053367e-01 -5.91841158e-01 -1.41858426e-03 1.63265508e+02] [ 5.91839891e-01 8.06054601e-01 -1.23482148e-03 4.86108098e+01] [ 1.87427454e-03 1.55757257e-04 9.99998231e-01 6.08893825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:48.63, Z:0.61 [[ 8.06099126e-01 -5.91776662e-01 -2.14046298e-03 1.63284006e+02] [ 5.91773773e-01 8.06101933e-01 -1.86397259e-03 4.86303764e+01] [ 2.82848682e-03 2.35876820e-04 9.99995972e-01 6.07984316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:48.65, Z:0.61 [[ 8.05489143e-01 -5.92606315e-01 -2.23512396e-03 1.63301555e+02] [ 5.92603167e-01 8.05492207e-01 -1.94707952e-03 4.86533668e+01] [ 2.95422655e-03 2.43809879e-04 9.99995607e-01 6.06557686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:48.67, Z:0.61 [[ 8.04693569e-01 -5.93688727e-01 -1.39845702e-03 1.63320709e+02] [ 5.93687495e-01 8.04694770e-01 -1.21854173e-03 4.86721804e+01] [ 1.84876554e-03 1.50306247e-04 9.99998280e-01 6.07222315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:48.69, Z:0.61 [[ 8.03323750e-01 -5.95541991e-01 -8.30822955e-04 1.63340949e+02] [ 5.95541557e-01 8.03324175e-01 -7.24054898e-04 4.86921862e+01] [ 1.09862526e-03 8.68608992e-05 9.99999393e-01 6.08307264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:48.71, Z:0.61 [[ 8.01710043e-01 -5.97712438e-01 -9.21277138e-04 1.63361142e+02] [ 5.97711906e-01 8.01710567e-01 -8.03199777e-04 4.87124084e+01] [ 1.21868011e-03 9.32750137e-05 9.99999253e-01 6.09289558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:48.73, Z:0.61 [[ 7.97601661e-01 -6.03182138e-01 -1.70248265e-03 1.63377590e+02] [ 6.03180330e-01 7.97603463e-01 -1.48503186e-03 4.87349568e+01] [ 2.25365075e-03 1.57559832e-04 9.99997448e-01 6.07775647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:48.75, Z:0.61 [[ 7.95529247e-01 -6.05912566e-01 -1.78301544e-03 1.63397352e+02] [ 6.05910589e-01 7.95531230e-01 -1.55581370e-03 4.87549956e+01] [ 2.36113154e-03 1.57347367e-04 9.99997200e-01 6.07356598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:48.77, Z:0.61 [[ 7.93669566e-01 -6.08346010e-01 -1.93698395e-03 1.63417262e+02] [ 6.08343683e-01 7.93671913e-01 -1.69079204e-03 4.87742575e+01] [ 2.56591635e-03 1.63578234e-04 9.99996695e-01 6.07403638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:48.80, Z:0.61 [[ 7.91383111e-01 -6.11315700e-01 -2.42610717e-03 1.63434837e+02] [ 6.11312060e-01 7.91386806e-01 -2.11853708e-03 4.87955176e+01] [ 3.21508419e-03 1.93465898e-04 9.99994813e-01 6.08067264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:48.82, Z:0.61 [[ 7.90523337e-01 -6.12426790e-01 -2.50628863e-03 1.63453877e+02] [ 6.12422908e-01 7.90527285e-01 -2.18932773e-03 4.88168776e+01] [ 3.32209250e-03 1.95806088e-04 9.99994463e-01 6.08513882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:48.84, Z:0.61 [[ 7.89912784e-01 -6.13215792e-01 -2.04575040e-03 1.63472334e+02] [ 6.13213207e-01 7.89915418e-01 -1.78751786e-03 4.88363519e+01] [ 2.71210396e-03 1.57502047e-04 9.99996310e-01 6.08897218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:48.85, Z:0.61 [[ 7.89416241e-01 -6.13855978e-01 -1.68425742e-03 1.63491746e+02] [ 6.13854226e-01 7.89418028e-01 -1.47198464e-03 4.88547147e+01] [ 2.23316974e-03 1.28120048e-04 9.99997498e-01 6.09549239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:48.87, Z:0.61 [[ 7.88511214e-01 -6.15018900e-01 -1.34840686e-03 1.63511774e+02] [ 6.15017779e-01 7.88512360e-01 -1.17871194e-03 4.88727949e+01] [ 1.78816560e-03 1.00133393e-04 9.99998396e-01 6.08686532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:48.89, Z:0.61 [[ 7.87945475e-01 -6.15743174e-01 -1.50732348e-03 1.63531601e+02] [ 6.15741774e-01 7.87946909e-01 -1.31797383e-03 4.88905919e+01] [ 1.99922427e-03 1.10369479e-04 9.99997995e-01 6.08072145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.55, Y:48.91, Z:0.61 [[ 7.87275430e-01 -6.16598257e-01 -1.99652969e-03 1.63552453e+02] [ 6.16595801e-01 7.87277949e-01 -1.74633215e-03 4.89089946e+01] [ 2.64860916e-03 1.43792568e-04 9.99996482e-01 6.07990971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.57, Y:48.93, Z:0.61 [[ 7.86794415e-01 -6.17211219e-01 -2.20446785e-03 1.63573187e+02] [ 6.17208225e-01 7.86797487e-01 -1.92891760e-03 4.89266161e+01] [ 2.92501935e-03 1.57045904e-04 9.99995710e-01 6.08336325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:48.94, Z:0.61 [[ 7.86840311e-01 -6.17151769e-01 -2.45339856e-03 1.63595039e+02] [ 6.17148057e-01 7.86844117e-01 -2.14753541e-03 4.89447833e+01] [ 3.25579750e-03 1.75657279e-04 9.99994684e-01 6.10034254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:48.96, Z:0.61 [[ 7.87399329e-01 -6.16438838e-01 -2.33574330e-03 1.63615469e+02] [ 6.16435469e-01 7.87402775e-01 -2.04525467e-03 4.89629572e+01] [ 3.09994517e-03 1.70597141e-04 9.99995181e-01 6.10558410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:48.98, Z:0.61 [[ 7.88613051e-01 -6.14887090e-01 -1.82266510e-03 1.63635528e+02] [ 6.14885034e-01 7.88615145e-01 -1.59639520e-03 4.89810712e+01] [ 2.41898410e-03 1.38208602e-04 9.99997065e-01 6.10663168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:49.00, Z:0.61 [[ 7.91935430e-01 -6.10600662e-01 -2.25961560e-03 1.63655833e+02] [ 6.10597482e-01 7.91938631e-01 -1.97977108e-03 4.90010337e+01] [ 2.99832642e-03 1.88135262e-04 9.99995487e-01 6.08709929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:49.02, Z:0.61 [[ 7.93405516e-01 -6.08685811e-01 -3.04472853e-03 1.63675861e+02] [ 6.08680018e-01 7.93411315e-01 -2.66864212e-03 4.90194408e+01] [ 4.04008666e-03 2.64049966e-04 9.99991804e-01 6.07340307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:49.04, Z:0.61 [[ 7.94570008e-01 -6.07162660e-01 -3.46508955e-03 1.63696143e+02] [ 6.07155139e-01 7.94577503e-01 -3.03808549e-03 4.90372668e+01] [ 4.59789427e-03 3.10124685e-04 9.99989382e-01 6.06725263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:49.06, Z:0.61 [[ 7.95324832e-01 -6.06173797e-01 -3.42624618e-03 1.63717654e+02] [ 6.06166429e-01 7.95332150e-01 -3.00506476e-03 4.90558627e+01] [ 4.54659525e-03 3.13127213e-04 9.99989615e-01 6.07441771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:49.07, Z:0.61 [[ 7.95539949e-01 -6.05894027e-01 -2.93563075e-03 1.63738927e+02] [ 6.05888612e-01 7.95545320e-01 -2.57564113e-03 4.90738914e+01] [ 3.89599288e-03 2.70360172e-04 9.99992374e-01 6.09813988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:49.09, Z:0.61 [[ 7.95007239e-01 -6.06592689e-01 -2.96640308e-03 1.63759779e+02] [ 6.06587162e-01 7.95012727e-01 -2.60360030e-03 4.90925217e+01] [ 3.93765311e-03 2.70499065e-04 9.99992211e-01 6.10107863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:49.11, Z:0.61 [[ 7.94295929e-01 -6.07524099e-01 -2.90624185e-03 1.63779966e+02] [ 6.07518797e-01 7.94301203e-01 -2.55167295e-03 4.91101453e+01] [ 3.85863420e-03 2.61186881e-04 9.99992521e-01 6.09448940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:49.13, Z:0.61 [[ 7.93580616e-01 -6.08458307e-01 -2.88010605e-03 1.63801542e+02] [ 6.08453102e-01 7.93585801e-01 -2.52961383e-03 4.91277089e+01] [ 3.82477582e-03 2.55043042e-04 9.99992653e-01 6.09277818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:49.14, Z:0.61 [[ 7.93126848e-01 -6.09051538e-01 -2.45503421e-03 1.63824611e+02] [ 6.09047756e-01 7.93130618e-01 -2.15695479e-03 4.91430442e+01] [ 3.26085944e-03 2.15505678e-04 9.99994660e-01 6.10314205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:49.16, Z:0.61 [[ 7.93275291e-01 -6.08857218e-01 -2.68346780e-03 1.63846754e+02] [ 6.08852696e-01 7.93279794e-01 -2.35850295e-03 4.91605190e+01] [ 3.56473233e-03 2.37105510e-04 9.99993618e-01 6.10989659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:49.18, Z:0.61 [[ 7.93791541e-01 -6.08181970e-01 -3.11137234e-03 1.63867608e+02] [ 6.08175882e-01 7.93797590e-01 -2.73555985e-03 4.91777275e+01] [ 4.13351804e-03 2.79202655e-04 9.99991418e-01 6.11302066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:49.20, Z:0.61 [[ 7.95348528e-01 -6.06143606e-01 -3.26316644e-03 1.63889406e+02] [ 6.06136888e-01 7.95355163e-01 -2.87002917e-03 4.91957425e+01] [ 4.33502610e-03 3.04747925e-04 9.99990557e-01 6.11355752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:49.21, Z:0.61 [[ 7.95952997e-01 -6.05352717e-01 -2.62963996e-03 1.63909399e+02] [ 6.05348347e-01 7.95957302e-01 -2.31359503e-03 4.92147252e+01] [ 3.49362216e-03 2.49664695e-04 9.99993866e-01 6.11379636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:49.23, Z:0.61 [[ 7.96649886e-01 -6.04437420e-01 -2.08912357e-03 1.63928876e+02] [ 6.04434658e-01 7.96652599e-01 -1.83852070e-03 4.92335968e+01] [ 2.77557643e-03 2.01918617e-04 9.99996128e-01 6.11832322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.95, Y:49.25, Z:0.61 [[ 7.97334201e-01 -6.03536321e-01 -1.44275919e-03 1.63948367e+02] [ 6.03535001e-01 7.97335494e-01 -1.26996883e-03 4.92528786e+01] [ 1.91683542e-03 1.41833910e-04 9.99998153e-01 6.11824428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:49.27, Z:0.61 [[ 7.98476327e-01 -6.02021205e-01 -2.45433167e-03 1.63968451e+02] [ 6.02017377e-01 7.98480060e-01 -2.16130589e-03 4.92722291e+01] [ 3.26088688e-03 2.48201278e-04 9.99994652e-01 6.11913976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:49.29, Z:0.61 [[ 7.98491285e-01 -6.01996159e-01 -3.50620387e-03 1.63988357e+02] [ 6.01988339e-01 7.98498903e-01 -3.08881825e-03 4.92916973e+01] [ 4.65915667e-03 3.55700606e-04 9.99989083e-01 6.11257546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:49.31, Z:0.61 [[ 7.98143198e-01 -6.02453036e-01 -4.21596851e-03 1.64007733e+02] [ 6.02441729e-01 7.98154219e-01 -3.71547417e-03 4.93118994e+01] [ 5.60339175e-03 4.25605079e-04 9.99984210e-01 6.10406918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:49.33, Z:0.61 [[ 7.96072066e-01 -6.05188387e-01 -4.03516985e-03 1.64025865e+02] [ 6.05178057e-01 7.96082197e-01 -3.55740267e-03 4.93335043e+01] [ 5.36522566e-03 3.89952644e-04 9.99985531e-01 6.10285613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:49.35, Z:0.61 [[ 7.94758034e-01 -6.06916186e-01 -3.52279114e-03 1.64045096e+02] [ 6.06908326e-01 7.94765773e-01 -3.10650883e-03 4.93523020e+01] [ 4.68518432e-03 3.30911578e-04 9.99988970e-01 6.10560865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:49.37, Z:0.61 [[ 7.93425456e-01 -6.08659234e-01 -3.15965966e-03 1.64065107e+02] [ 6.08652921e-01 7.93431695e-01 -2.78717405e-03 4.93721999e+01] [ 4.20341333e-03 2.88278760e-04 9.99991124e-01 6.11401561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:49.39, Z:0.61 [[ 7.92404170e-01 -6.09989268e-01 -2.95376256e-03 1.64083786e+02] [ 6.09983756e-01 7.92409631e-01 -2.60640122e-03 4.93918646e+01] [ 3.93046667e-03 2.63576010e-04 9.99992241e-01 6.11833834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:49.41, Z:0.61 [[ 7.90429240e-01 -6.12542859e-01 -3.58643891e-03 1.64100956e+02] [ 6.12534755e-01 7.90437317e-01 -3.16574740e-03 4.94132936e+01] [ 4.77401111e-03 3.05480827e-04 9.99988558e-01 6.11550110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:49.43, Z:0.61 [[ 7.88919360e-01 -6.14483102e-01 -4.09398918e-03 1.64120945e+02] [ 6.14472560e-01 7.88929911e-01 -3.61506943e-03 4.94330989e+01] [ 5.45126960e-03 3.36354249e-04 9.99985085e-01 6.11275031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:49.45, Z:0.61 [[ 7.87029459e-01 -6.16902135e-01 -4.04809669e-03 1.64140036e+02] [ 6.16891853e-01 7.87039806e-01 -3.57573094e-03 4.94528058e+01] [ 5.39188928e-03 3.16967723e-04 9.99985413e-01 6.11229425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.16, Y:49.48, Z:0.61 [[ 7.82675570e-01 -6.22420094e-01 -3.48985850e-03 1.64157156e+02] [ 6.22412502e-01 7.82683313e-01 -3.08366047e-03 4.94754039e+01] [ 4.65078625e-03 2.41374153e-04 9.99989156e-01 6.10455589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:49.49, Z:0.61 [[ 7.80213096e-01 -6.25505992e-01 -3.12715694e-03 1.64176430e+02] [ 6.25499917e-01 7.80219337e-01 -2.76409494e-03 4.94944432e+01] [ 4.16882627e-03 2.00546662e-04 9.99991290e-01 6.10856788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:49.51, Z:0.61 [[ 7.77737566e-01 -6.28581631e-01 -3.06771163e-03 1.64197631e+02] [ 6.28575804e-01 7.77743595e-01 -2.71253071e-03 4.95133395e+01] [ 4.09094005e-03 1.81347731e-04 9.99991616e-01 6.12027261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:49.53, Z:0.61 [[ 7.75360404e-01 -6.31510279e-01 -3.31841157e-03 1.64217955e+02] [ 6.31503483e-01 7.75367484e-01 -2.93524493e-03 4.95310409e+01] [ 4.42662578e-03 1.80284228e-04 9.99990186e-01 6.12796172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:164.24, Y:49.55, Z:0.61 [[ 7.71308794e-01 -6.36450334e-01 -3.70354753e-03 1.64237927e+02] [ 6.36446295e-01 7.71317485e-01 -2.33477420e-03 4.95488373e+01] [ 4.34257879e-03 -5.56277234e-04 9.99990416e-01 6.12385849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:49.57, Z:0.61 [[ 7.69746473e-01 -6.38342466e-01 -3.04374682e-03 1.64259181e+02] [ 6.38332688e-01 7.69752016e-01 -3.63504621e-03 4.95692296e+01] [ 4.66333461e-03 8.55140911e-04 9.99988761e-01 6.12443675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:49.59, Z:0.61 [[ 7.68851633e-01 -6.39418897e-01 -3.26186585e-03 1.64280397e+02] [ 6.39412393e-01 7.68858541e-01 -2.88730965e-03 4.95876183e+01] [ 4.35411377e-03 1.34235288e-04 9.99990512e-01 6.13048289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:49.61, Z:0.61 [[ 7.68366759e-01 -6.40001460e-01 -3.26404714e-03 1.64301377e+02] [ 6.39994947e-01 7.68373681e-01 -2.89030177e-03 4.96064979e+01] [ 4.35780526e-03 1.31838127e-04 9.99990496e-01 6.13563036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:49.63, Z:0.61 [[ 7.68255895e-01 -6.40134540e-01 -3.26353626e-03 1.64322642e+02] [ 6.40128026e-01 7.68262816e-01 -2.89087857e-03 4.96255256e+01] [ 4.35780478e-03 1.31853487e-04 9.99990496e-01 6.13598414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:49.65, Z:0.61 [[ 7.67765605e-01 -6.40718361e-01 -3.99476890e-03 1.64341689e+02] [ 6.40708602e-01 7.67775981e-01 -3.53987174e-03 4.96454690e+01] [ 5.33514843e-03 1.58308974e-04 9.99985755e-01 6.14370569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:49.66, Z:0.61 [[ 7.67549846e-01 -6.40975869e-01 -4.14357103e-03 1.64361676e+02] [ 6.40965365e-01 7.67561013e-01 -3.67311598e-03 4.96645217e+01] [ 5.53482228e-03 1.63414084e-04 9.99984669e-01 6.13647114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:49.68, Z:0.61 [[ 7.67291179e-01 -6.41287092e-01 -3.88729311e-03 1.64382093e+02] [ 6.41277845e-01 7.67301011e-01 -3.44724344e-03 4.96830831e+01] [ 5.19339666e-03 1.52204539e-04 9.99986503e-01 6.13319266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:49.70, Z:0.61 [[ 7.66941182e-01 -6.41708725e-01 -3.33705307e-03 1.64402205e+02] [ 6.41701910e-01 7.66948431e-01 -2.96030136e-03 4.97009927e+01] [ 4.45899883e-03 1.28983696e-04 9.99990050e-01 6.13446767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:49.72, Z:0.61 [[ 7.66302790e-01 -6.42470956e-01 -3.33253533e-03 1.64422314e+02] [ 6.42464161e-01 7.66310026e-01 -2.95736938e-03 4.97198500e+01] [ 4.45377917e-03 1.25205891e-04 9.99990074e-01 6.13900133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:49.74, Z:0.61 [[ 7.66359336e-01 -6.42400326e-01 -3.89735551e-03 1.64441716e+02] [ 6.42391025e-01 7.66369232e-01 -3.45999354e-03 4.97398134e+01] [ 5.20951433e-03 1.47972151e-04 9.99986419e-01 6.13958538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:49.76, Z:0.61 [[ 7.66942752e-01 -6.41705570e-01 -3.57461871e-03 1.64460540e+02] [ 6.41697733e-01 7.66951069e-01 -3.17439599e-03 4.97597360e+01] [ 4.77858523e-03 1.40755266e-04 9.99988573e-01 6.14026426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.48, Y:49.78, Z:0.62 [[ 7.67304909e-01 -6.41274479e-01 -3.19673619e-03 1.64479582e+02] [ 6.41268204e-01 7.67311557e-01 -2.83979130e-03 4.97800915e+01] [ 4.27397831e-03 1.29020531e-04 9.99990858e-01 6.15127822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.50, Y:49.80, Z:0.62 [[ 7.67542624e-01 -6.40990952e-01 -2.98645956e-03 1.64496613e+02] [ 6.40985470e-01 7.67548424e-01 -2.65399728e-03 4.98024538e+01] [ 3.99344058e-03 1.22778854e-04 9.99992019e-01 6.15340375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.51, Y:49.82, Z:0.62 [[ 7.67223383e-01 -6.41371278e-01 -3.34149379e-03 1.64514887e+02] [ 6.41364412e-01 7.67230647e-01 -2.97060568e-03 4.98219780e+01] [ 4.46895760e-03 1.36002938e-04 9.99990005e-01 6.15857394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:49.84, Z:0.62 [[ 7.66517339e-01 -6.42215613e-01 -3.20565339e-03 1.64534094e+02] [ 6.42209298e-01 7.66524031e-01 -2.85089181e-03 4.98425889e+01] [ 4.28809759e-03 1.26557590e-04 9.99990798e-01 6.16114427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:164.55, Y:49.86, Z:0.62 [[ 7.65251928e-01 -6.43724454e-01 -2.88339140e-03 1.64552295e+02] [ 6.43719352e-01 7.65257353e-01 -2.56517384e-03 4.98633437e+01] [ 3.85780160e-03 1.06909390e-04 9.99992553e-01 6.15962715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:49.89, Z:0.62 [[ 7.62122447e-01 -6.47430505e-01 -1.76525427e-03 1.64568144e+02] [ 6.47428602e-01 7.62124490e-01 -1.57090798e-03 4.98880739e+01] [ 2.36239726e-03 5.43481318e-05 9.99997208e-01 6.16927483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:49.91, Z:0.62 [[ 7.60022043e-01 -6.49894014e-01 -2.06512395e-03 1.64584991e+02] [ 6.49891416e-01 7.60024847e-01 -1.83851309e-03 4.99097964e+01] [ 2.76438416e-03 5.52041508e-05 9.99996178e-01 6.16669816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.60, Y:49.93, Z:0.62 [[ 7.57839243e-01 -6.52435633e-01 -2.72524011e-03 1.64601934e+02] [ 6.52431121e-01 7.57844141e-01 -2.42713906e-03 4.99310231e+01] [ 3.64885926e-03 6.13497626e-05 9.99993341e-01 6.16410866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.62, Y:49.95, Z:0.62 [[ 7.53504060e-01 -6.57436787e-01 -2.91599686e-03 1.64618399e+02] [ 6.57431655e-01 7.53509701e-01 -2.59794566e-03 4.99535218e+01] [ 3.90521697e-03 4.04939599e-05 9.99992374e-01 6.16573076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.64, Y:49.97, Z:0.62 [[ 7.51275759e-01 -6.59974501e-01 -4.28851141e-03 1.64638071e+02] [ 6.59981583e-01 7.51281707e-01 3.25281424e-04 4.99720758e+01] [ 3.00720273e-03 -3.07471460e-03 9.99990751e-01 6.17069662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.65, Y:50.00, Z:0.62 [[ 7.48180884e-01 -6.63494210e-01 -8.93430568e-04 1.64653478e+02] [ 6.63483089e-01 7.48174992e-01 -4.93678650e-03 4.99988215e+01] [ 3.94397167e-03 3.10083322e-03 9.99987415e-01 6.15075632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.67, Y:50.02, Z:0.62 [[ 7.45652790e-01 -6.66328074e-01 -2.96881803e-03 1.64674517e+02] [ 6.66322815e-01 7.45658700e-01 -2.64730238e-03 5.00177920e+01] [ 3.97769690e-03 -4.22278145e-06 9.99992089e-01 6.15188635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.69, Y:50.04, Z:0.62 [[ 7.40798413e-01 -6.71717311e-01 -3.68313505e-03 1.64692570e+02] [ 6.71709276e-01 7.40807568e-01 -3.28568117e-03 5.00387590e+01] [ 4.93554323e-03 -3.99685814e-05 9.99987819e-01 6.15127954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.71, Y:50.06, Z:0.62 [[ 7.38509119e-01 -6.74228834e-01 -4.44517777e-03 1.64712598e+02] [ 6.74217166e-01 7.38522494e-01 -3.96713959e-03 5.00584500e+01] [ 5.95762368e-03 -6.72464025e-05 9.99982251e-01 6.15751364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.73, Y:50.08, Z:0.62 [[ 7.36696186e-01 -6.76203577e-01 -5.23942965e-03 1.64731971e+02] [ 6.76187403e-01 7.36714811e-01 -4.67787668e-03 5.00781282e+01] [ 7.02316237e-03 -9.66624213e-05 9.99975333e-01 6.16045802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:164.75, Y:50.09, Z:0.62 [[ 7.36092862e-01 -6.76843528e-01 -7.08078270e-03 1.64752827e+02] [ 6.76848061e-01 7.36119755e-01 -2.09942797e-03 5.00944811e+01] [ 6.63328827e-03 -3.24724010e-03 9.99972727e-01 6.16259071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:164.77, Y:50.12, Z:0.61 [[ 7.34491120e-01 -6.78609859e-01 -3.38448906e-03 1.64769292e+02] [ 6.78577891e-01 7.34492676e-01 -7.24954467e-03 5.01203038e+01] [ 7.40549491e-03 3.02808674e-03 9.99967994e-01 6.14680116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:50.14, Z:0.61 [[ 7.34317929e-01 -6.78791065e-01 -4.45752524e-03 1.64791947e+02] [ 6.78779379e-01 7.34331451e-01 -3.98421458e-03 5.01371532e+01] [ 5.97775024e-03 -9.99960217e-05 9.99982128e-01 6.14598296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.81, Y:50.16, Z:0.61 [[ 7.34083495e-01 -6.79048174e-01 -3.87300245e-03 1.64810983e+02] [ 6.79039349e-01 7.34093706e-01 -3.46313580e-03 5.01565001e+01] [ 5.19478277e-03 -8.76902331e-05 9.99986503e-01 6.14482157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:50.18, Z:0.61 [[ 7.34776130e-01 -6.78300888e-01 -3.45598465e-03 1.64831483e+02] [ 6.78293847e-01 7.34784254e-01 -3.09146963e-03 5.01758550e+01] [ 4.63634970e-03 -7.26350365e-05 9.99989249e-01 6.14292611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:164.85, Y:50.20, Z:0.61 [[ 7.36465756e-01 -6.76458503e-01 -4.69933404e-03 1.64850103e+02] [ 6.76445435e-01 7.36480744e-01 -4.20557245e-03 5.01961774e+01] [ 6.30586428e-03 -8.15829678e-05 9.99980115e-01 6.14973943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:50.22, Z:0.62 [[ 7.37263891e-01 -6.75585237e-01 -5.15197223e-03 1.64869442e+02] [ 6.75569496e-01 7.37281887e-01 -4.61252340e-03 5.02160588e+01] [ 6.91460852e-03 -7.98683399e-05 9.99976091e-01 6.15196635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:50.24, Z:0.62 [[ 7.37417276e-01 -6.75417351e-01 -5.21178714e-03 1.64887314e+02] [ 6.75401225e-01 7.37435689e-01 -4.66799677e-03 5.02370909e+01] [ 6.99620385e-03 -7.77859556e-05 9.99975523e-01 6.15541371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:50.26, Z:0.62 [[ 7.37983986e-01 -6.74809604e-01 -3.41104908e-03 1.64900908e+02] [ 6.74802686e-01 7.37991867e-01 -3.05600037e-03 5.02620230e+01] [ 4.57954488e-03 -4.65057457e-05 9.99989513e-01 6.16735992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:50.28, Z:0.62 [[ 7.38424860e-01 -6.74330063e-01 -2.77356866e-03 1.64918850e+02] [ 6.74325483e-01 7.38430068e-01 -2.48571059e-03 5.02841597e+01] [ 3.72427587e-03 -3.47775347e-05 9.99993064e-01 6.16582477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.94, Y:50.31, Z:0.62 [[ 7.38462262e-01 -6.74287379e-01 -3.16518062e-03 1.64936409e+02] [ 6.74281408e-01 7.38469044e-01 -2.83783946e-03 5.03068822e+01] [ 4.25090724e-03 -3.85850992e-05 9.99990964e-01 6.16541898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.95, Y:50.33, Z:0.62 [[ 7.37783117e-01 -6.75021906e-01 -4.63668394e-03 1.64951573e+02] [ 6.75009097e-01 7.37797684e-01 -4.15894504e-03 5.03325812e+01] [ 6.22831368e-03 -6.14044057e-05 9.99980602e-01 6.15655346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:164.97, Y:50.35, Z:0.62 [[ 7.36350659e-01 -6.76582095e-01 -4.93722642e-03 1.64969039e+02] [ 6.76567594e-01 7.36367206e-01 -4.43035956e-03 5.03538242e+01] [ 6.63311358e-03 -7.80692170e-05 9.99977998e-01 6.15957957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.99, Y:50.38, Z:0.62 [[ 7.34289475e-01 -6.78817931e-01 -5.01834583e-03 1.64987939e+02] [ 6.78802990e-01 7.34306616e-01 -4.50494818e-03 5.03752171e+01] [ 6.74304415e-03 -9.85321196e-05 9.99977261e-01 6.16668696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:165.01, Y:50.39, Z:0.62 [[ 7.32355596e-01 -6.80908635e-01 -4.32582924e-03 1.65006230e+02] [ 6.80893260e-01 7.32368251e-01 -4.59483600e-03 5.03949692e+01] [ 6.29676350e-03 4.19625881e-04 9.99980087e-01 6.15791842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76140051299998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:165.03, Y:50.42, Z:0.62 [[ 7.26697057e-01 -6.86923654e-01 -6.87609437e-03 1.65025639e+02] [ 6.86902157e-01 7.26729213e-01 -5.48428857e-03 5.04163663e+01] [ 8.76434620e-03 -7.37787700e-04 9.99961320e-01 6.15935497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:165.04, Y:50.44, Z:0.62 [[ 7.24029878e-01 -6.89728782e-01 -7.41228750e-03 1.65044783e+02] [ 6.89696686e-01 7.24067761e-01 -6.66018227e-03 5.04360499e+01] [ 9.96071782e-03 -2.90059163e-04 9.99950349e-01 6.15381391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:165.06, Y:50.46, Z:0.61 [[ 7.21911592e-01 -6.91940036e-01 -7.91459230e-03 1.65064859e+02] [ 6.91903544e-01 7.21954895e-01 -7.11438960e-03 5.04562167e+01] [ 1.06367096e-02 -3.40174140e-04 9.99943371e-01 6.14476132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:50.48, Z:0.61 [[ 7.20244777e-01 -6.93680614e-01 -7.39373657e-03 1.65084255e+02] [ 6.93648832e-01 7.20282646e-01 -6.64893506e-03 5.04756067e+01] [ 9.93781750e-03 -3.39795989e-04 9.99950561e-01 6.13644087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:165.10, Y:50.49, Z:0.62 [[ 7.17341732e-01 -6.96696764e-01 -5.87010835e-03 1.65104567e+02] [ 6.96676815e-01 7.17365687e-01 -5.28079769e-03 5.04948656e+01] [ 7.89012897e-03 -3.01431827e-04 9.99968827e-01 6.15060171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.13, Y:50.51, Z:0.62 [[ 7.16460079e-01 -6.97607365e-01 -5.37764063e-03 1.65126026e+02] [ 6.97590636e-01 7.16480204e-01 -4.83963461e-03 5.05124011e+01] [ 7.22913781e-03 -2.83986753e-04 9.99973829e-01 6.15832586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.15, Y:50.53, Z:0.62 [[ 7.16118655e-01 -6.97959588e-01 -5.14651476e-03 1.65148362e+02] [ 6.97944262e-01 7.16137095e-01 -4.63343439e-03 5.05299577e+01] [ 6.91956009e-03 -2.73891642e-04 9.99976022e-01 6.16178351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:165.17, Y:50.55, Z:0.62 [[ 7.16058700e-01 -6.98019820e-01 -5.31688438e-03 1.65169379e+02] [ 6.98003450e-01 7.16078384e-01 -4.78879459e-03 5.05476812e+01] [ 7.14997951e-03 -2.82145609e-04 9.99974399e-01 6.16452641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.19, Y:50.57, Z:0.61 [[ 7.16400251e-01 -6.97663341e-01 -6.04509190e-03 1.65189276e+02] [ 6.97642149e-01 7.16425686e-01 -5.44687447e-03 5.05677318e+01] [ 8.13094375e-03 -3.15168674e-04 9.99966894e-01 6.14856714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.21, Y:50.59, Z:0.61 [[ 7.16211651e-01 -6.97849797e-01 -6.82142127e-03 1.65208231e+02] [ 6.97822797e-01 7.16244046e-01 -6.14894259e-03 5.05871722e+01] [ 9.17684071e-03 -3.56198950e-04 9.99957828e-01 6.14414816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:165.23, Y:50.61, Z:0.61 [[ 7.16010728e-01 -6.98049760e-01 -7.42766596e-03 1.65228014e+02] [ 6.98017732e-01 7.16049148e-01 -6.69810538e-03 5.06063933e+01] [ 9.99418473e-03 -3.88727236e-04 9.99949981e-01 6.14111476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.25, Y:50.62, Z:0.62 [[ 7.16300687e-01 -6.97755829e-01 -7.08021893e-03 1.65248409e+02] [ 6.97726688e-01 7.16335585e-01 -6.38740833e-03 5.06241611e+01] [ 9.52866416e-03 -3.64752727e-04 9.99954535e-01 6.15333798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.27, Y:50.64, Z:0.62 [[ 7.16799300e-01 -6.97249565e-01 -6.46587982e-03 1.65269978e+02] [ 6.97225221e-01 7.16828388e-01 -5.83545753e-03 5.06426230e+01] [ 8.70369643e-03 -3.25322610e-04 9.99962069e-01 6.16210621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:165.29, Y:50.66, Z:0.62 [[ 7.17421194e-01 -6.96615241e-01 -5.83406141e-03 1.65290680e+02] [ 6.96595385e-01 7.17444858e-01 -5.26730753e-03 5.06612671e+01] [ 7.85490407e-03 -2.85102200e-04 9.99969109e-01 6.16412984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:165.31, Y:50.68, Z:0.62 [[ 7.18099674e-01 -6.95920709e-01 -5.21781346e-03 1.65310370e+02] [ 6.95904798e-01 7.18118587e-01 -4.71235881e-03 5.06801341e+01] [ 7.02643692e-03 -2.47158105e-04 9.99975284e-01 6.16192257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21140051299997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:165.33, Y:50.70, Z:0.62 [[ 7.18831082e-01 -6.95166757e-01 -5.00554387e-03 1.65329190e+02] [ 6.95152084e-01 7.18848474e-01 -4.52241347e-03 5.06998434e+01] [ 6.74205907e-03 -2.28762878e-04 9.99977246e-01 6.15468879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.35, Y:50.72, Z:0.62 [[ 7.18545770e-01 -6.95459669e-01 -5.27500791e-03 1.65349981e+02] [ 6.95443368e-01 7.18565091e-01 -4.76778191e-03 5.07182875e+01] [ 7.10623656e-03 -2.42599745e-04 9.99974721e-01 6.15746715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27140051299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.37, Y:50.74, Z:0.62 [[ 7.17952725e-01 -6.96071598e-01 -5.31186324e-03 1.65370433e+02] [ 6.96055071e-01 7.17972332e-01 -4.80307740e-03 5.07360017e+01] [ 7.15705659e-03 -2.48966836e-04 9.99974357e-01 6.16036874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:165.39, Y:50.76, Z:0.62 [[ 7.16246445e-01 -6.97826726e-01 -5.37499226e-03 1.65390665e+02] [ 6.97809840e-01 7.16266562e-01 -4.86206674e-03 5.07553665e+01] [ 7.24280734e-03 -2.68284473e-04 9.99973735e-01 6.17050532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33140051299998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:165.41, Y:50.77, Z:0.62 [[ 7.15350504e-01 -6.98746722e-01 -5.16478153e-03 1.65410425e+02] [ 6.98731142e-01 7.15369099e-01 -4.67374830e-03 5.07746836e+01] [ 6.96049141e-03 -2.65425488e-04 9.99975740e-01 6.17433290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.43, Y:50.79, Z:0.62 [[ 7.14865861e-01 -6.99245612e-01 -4.73021266e-03 1.65429747e+02] [ 6.99232542e-01 7.14881468e-01 -4.28223629e-03 5.07942326e+01] [ 6.37587630e-03 -2.46294093e-04 9.99979644e-01 6.18120408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.45, Y:50.81, Z:0.62 [[ 7.14722803e-01 -6.99393755e-01 -4.43735741e-03 1.65449530e+02] [ 6.99382248e-01 7.14736540e-01 -4.01867571e-03 5.08146824e+01] [ 5.98217818e-03 -2.31169831e-04 9.99982080e-01 6.18291933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.47, Y:50.84, Z:0.62 [[ 7.15074826e-01 -6.99036835e-01 -3.93657200e-03 1.65466446e+02] [ 6.99027766e-01 7.15085633e-01 -3.56649073e-03 5.08373384e+01] [ 5.30809447e-03 -2.01465393e-04 9.99985892e-01 6.17679116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.48, Y:50.86, Z:0.62 [[ 7.15439886e-01 -6.98663202e-01 -3.93682316e-03 1.65483702e+02] [ 6.98654119e-01 7.15450690e-01 -3.56809465e-03 5.08578707e+01] [ 5.30949928e-03 -1.97720488e-04 9.99985885e-01 6.17999030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.50, Y:50.88, Z:0.62 [[ 7.16141920e-01 -6.97944898e-01 -3.69724052e-03 1.65502400e+02] [ 6.97936871e-01 7.16151441e-01 -3.35222963e-03 5.08792182e+01] [ 4.98745569e-03 -1.79768313e-04 9.99987546e-01 6.17965865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.52, Y:50.90, Z:0.62 [[ 7.16016022e-01 -6.98074059e-01 -3.69662515e-03 1.65523409e+02] [ 6.98066030e-01 7.16025542e-01 -3.35290817e-03 5.08984948e+01] [ 4.98745624e-03 -1.79752472e-04 9.99987546e-01 6.18001477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.54, Y:50.92, Z:0.62 [[ 7.16941780e-01 -6.97124078e-01 -3.53614263e-03 1.65541877e+02] [ 6.97116713e-01 7.16950482e-01 -3.20855740e-03 5.09194115e+01] [ 4.77200177e-03 -1.64755273e-04 9.99988600e-01 6.18391485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:165.56, Y:50.94, Z:0.62 [[ 7.18996284e-01 -6.95003711e-01 -3.76638971e-03 1.65557486e+02] [ 6.94995320e-01 7.19006131e-01 -3.41887106e-03 5.09445220e+01] [ 5.08418537e-03 -1.59467640e-04 9.99987063e-01 6.18207981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:165.57, Y:50.97, Z:0.62 [[ 7.19665898e-01 -6.94308238e-01 -4.13104489e-03 1.65573288e+02] [ 6.94298124e-01 7.19677735e-01 -3.75132136e-03 5.09665772e+01] [ 5.57759435e-03 -1.68478657e-04 9.99984431e-01 6.17309097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:165.59, Y:50.99, Z:0.62 [[ 7.19708350e-01 -6.94261142e-01 -4.62154349e-03 1.65589763e+02] [ 6.94248472e-01 7.19723164e-01 -4.19843054e-03 5.09899833e+01] [ 6.24103908e-03 -1.86853991e-04 9.99980507e-01 6.16696944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:165.60, Y:51.02, Z:0.62 [[ 7.19086691e-01 -6.94903315e-01 -4.86952160e-03 1.65604401e+02] [ 6.94889253e-01 7.19103151e-01 -4.42551384e-03 5.10161267e+01] [ 6.57699257e-03 -2.01450119e-04 9.99978351e-01 6.16899807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:165.62, Y:51.04, Z:0.62 [[ 7.18513533e-01 -6.95491145e-01 -5.51087932e-03 1.65622316e+02] [ 6.95473135e-01 7.18534629e-01 -5.01048726e-03 5.10369267e+01] [ 7.44450715e-03 -2.32565618e-04 9.99972262e-01 6.18917932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.64, Y:51.06, Z:0.62 [[ 7.17231998e-01 -6.96807756e-01 -6.10019699e-03 1.65639165e+02] [ 6.96785721e-01 7.17257888e-01 -5.54807095e-03 5.10585907e+01] [ 8.24135327e-03 -2.71276145e-04 9.99966003e-01 6.17018094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:165.66, Y:51.08, Z:0.62 [[ 7.15490839e-01 -6.98586284e-01 -7.07556110e-03 1.65656671e+02] [ 6.98556702e-01 7.15525744e-01 -6.43767978e-03 5.10810482e+01] [ 9.56002092e-03 -3.36579716e-04 9.99954245e-01 6.15973313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.67, Y:51.11, Z:0.61 [[ 7.11413289e-01 -7.02728565e-01 -7.98091985e-03 1.65670861e+02] [ 7.02691158e-01 7.11457918e-01 -7.26409307e-03 5.11058990e+01] [ 1.07827743e-02 -4.40349468e-04 9.99941767e-01 6.14622298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.69, Y:51.13, Z:0.61 [[ 7.09640901e-01 -7.04525939e-01 -7.27956879e-03 1.65689263e+02] [ 7.04494887e-01 7.09678111e-01 -6.62827361e-03 5.11273316e+01] [ 9.83594131e-03 -4.24724930e-04 9.99951536e-01 6.14719690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:51.15, Z:0.62 [[ 7.08510263e-01 -7.05672548e-01 -6.28181337e-03 1.65707585e+02] [ 7.05649451e-01 7.08538010e-01 -5.72198290e-03 5.11482560e+01] [ 8.48874979e-03 -3.78674548e-04 9.99963898e-01 6.15222922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.72, Y:51.17, Z:0.62 [[ 7.07766160e-01 -7.06415854e-01 -6.61099221e-03 1.65722627e+02] [ 7.06390285e-01 7.07796918e-01 -6.02399136e-03 5.11722645e+01] [ 8.93468291e-03 -4.06363438e-04 9.99960002e-01 6.16163311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:165.74, Y:51.19, Z:0.62 [[ 7.08231282e-01 -7.05948688e-01 -6.70088857e-03 1.65740111e+02] [ 7.05922377e-01 7.08262866e-01 -6.10825731e-03 5.11941096e+01] [ 9.05810677e-03 -4.04248282e-04 9.99958893e-01 6.16441862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.76, Y:51.22, Z:0.62 [[ 7.08811657e-01 -7.05367404e-01 -6.54684036e-03 1.65758178e+02] [ 7.05342243e-01 7.08841786e-01 -5.97021114e-03 5.12164815e+01] [ 8.85186634e-03 -3.86007814e-04 9.99960747e-01 6.16350274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.77, Y:51.24, Z:0.62 [[ 7.09171306e-01 -7.05010744e-01 -5.99241326e-03 1.65771114e+02] [ 7.04989636e-01 7.09196538e-01 -5.46658456e-03 5.12422729e+01] [ 8.10379959e-03 -3.47844336e-04 9.99967103e-01 6.17097036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99140051299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.79, Y:51.26, Z:0.62 [[ 7.08979787e-01 -7.05208428e-01 -5.36047489e-03 1.65787177e+02] [ 7.05191531e-01 7.08999983e-01 -4.89176148e-03 5.12646258e+01] [ 7.25028803e-03 -3.12001482e-04 9.99973668e-01 6.17497688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:51.29, Z:0.62 [[ 7.08836244e-01 -7.05358182e-01 -4.58410453e-03 1.65804327e+02] [ 7.05345819e-01 7.08851016e-01 -4.18479335e-03 5.12873313e+01] [ 6.20122539e-03 -2.67045766e-04 9.99980737e-01 6.17308650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:165.82, Y:51.31, Z:0.62 [[ 7.08613756e-01 -7.05572158e-01 -5.87151701e-03 1.65823501e+02] [ 7.05578136e-01 7.08630871e-01 -1.33537201e-03 5.13081299e+01] [ 5.10293952e-03 -3.19655105e-03 9.99981871e-01 6.17522956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:51.34, Z:0.62 [[ 7.06917881e-01 -7.07291000e-01 -2.55952880e-03 1.65835726e+02] [ 7.07267548e-01 7.06917431e-01 -6.35305960e-03 5.13373347e+01] [ 6.30283740e-03 2.68081977e-03 9.99976543e-01 6.16919520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.86, Y:51.36, Z:0.62 [[ 7.04998330e-01 -7.09183432e-01 -6.01786737e-03 1.65855483e+02] [ 7.09162224e-01 7.05023906e-01 -5.49842589e-03 5.13565809e+01] [ 8.14213290e-03 -3.91263140e-04 9.99966776e-01 6.16370684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:51.38, Z:0.62 [[ 7.02797573e-01 -7.11353672e-01 -7.17805257e-03 1.65873657e+02] [ 7.11323593e-01 7.02834054e-01 -6.56037539e-03 5.13771163e+01] [ 9.71172691e-03 -4.95302239e-04 9.99952717e-01 6.15563930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.89, Y:51.40, Z:0.62 [[ 7.00031721e-01 -7.14063367e-01 -8.31245663e-03 1.65891796e+02] [ 7.14023190e-01 7.00080802e-01 -7.59972815e-03 5.13971538e+01] [ 1.12460788e-02 -6.15236019e-04 9.99936572e-01 6.15186266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.91, Y:51.42, Z:0.62 [[ 6.95729866e-01 -7.18264564e-01 -7.48128870e-03 1.65909173e+02] [ 7.18232233e-01 6.95769819e-01 -6.84237149e-03 5.14203431e+01] [ 1.01198879e-02 -6.12860487e-04 9.99948605e-01 6.16569643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.93, Y:51.44, Z:0.62 [[ 6.94211621e-01 -7.19739581e-01 -6.72021480e-03 1.65927189e+02] [ 7.19713544e-01 6.94243914e-01 -6.14839040e-03 5.14408202e+01] [ 9.09070816e-03 -5.68345545e-04 9.99958517e-01 6.17809824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.94, Y:51.46, Z:0.62 [[ 6.92915554e-01 -7.20989142e-01 -6.53399721e-03 1.65944294e+02] [ 7.20964562e-01 6.92946128e-01 -5.98026406e-03 5.14641943e+01] [ 8.83941352e-03 -5.66962456e-04 9.99960771e-01 6.18617754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.96, Y:51.48, Z:0.62 [[ 6.92874599e-01 -7.21026479e-01 -6.75324920e-03 1.65962044e+02] [ 7.21000205e-01 6.92907262e-01 -6.18309946e-03 5.14844035e+01] [ 9.13755385e-03 -5.84981492e-04 9.99958081e-01 6.17877306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.98, Y:51.51, Z:0.62 [[ 6.92909339e-01 -7.20992111e-01 -6.85742410e-03 1.65980983e+02] [ 7.20964996e-01 6.92943018e-01 -6.28089141e-03 5.15050357e+01] [ 9.28027730e-03 -5.91874421e-04 9.99956762e-01 6.17090546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351400513 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:166.00, Y:51.52, Z:0.62 [[ 6.92688496e-01 -7.21203295e-01 -6.96102815e-03 1.65999662e+02] [ 7.21175343e-01 6.92723210e-01 -6.37805589e-03 5.15243546e+01] [ 9.42194068e-03 -6.02115930e-04 9.99955431e-01 6.16515423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:166.02, Y:51.55, Z:0.62 [[ 6.92230404e-01 -7.21639211e-01 -7.34281483e-03 1.66018604e+02] [ 7.21608107e-01 6.92269052e-01 -6.73046484e-03 5.15452084e+01] [ 9.94017079e-03 -6.39602316e-04 9.99950391e-01 6.17352315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:166.04, Y:51.56, Z:0.62 [[ 6.92303634e-01 -7.21570990e-01 -7.14043679e-03 1.66038047e+02] [ 7.21541551e-01 6.92340179e-01 -6.54726863e-03 5.15643852e+01] [ 9.66793039e-03 -6.19423978e-04 9.99953073e-01 6.18089977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.06, Y:51.58, Z:0.62 [[ 6.92532424e-01 -7.21357991e-01 -6.44126320e-03 1.66057927e+02] [ 7.21334008e-01 6.92562157e-01 -5.90834914e-03 5.15835862e+01] [ 8.72301000e-03 -5.54578848e-04 9.99961800e-01 6.18572336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:51.60, Z:0.62 [[ 6.93159001e-01 -7.20763846e-01 -5.48431880e-03 1.66077918e+02] [ 7.20746427e-01 6.93180541e-01 -5.03248612e-03 5.16030791e+01] [ 7.42885712e-03 -4.64490131e-04 9.99972298e-01 6.19651314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.10, Y:51.63, Z:0.62 [[ 6.94932936e-01 -7.19057576e-01 -4.94138459e-03 1.66095914e+02] [ 7.19043380e-01 6.94950388e-01 -4.53601381e-03 5.16251324e+01] [ 6.69567223e-03 -4.00844476e-04 9.99977503e-01 6.20690511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:51.65, Z:0.62 [[ 6.96210014e-01 -7.17818869e-01 -5.26186357e-03 1.66113587e+02] [ 7.17802727e-01 6.96229775e-01 -4.83160563e-03 5.16452625e+01] [ 7.13168378e-03 -4.13167804e-04 9.99974484e-01 6.20204370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:51.67, Z:0.62 [[ 6.97519944e-01 -7.16543725e-01 -5.56949033e-03 1.66131912e+02] [ 7.16525586e-01 6.97542051e-01 -5.11591856e-03 5.16668618e+01] [ 7.55073305e-03 -4.22227094e-04 9.99971404e-01 6.19979797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.15, Y:51.69, Z:0.62 [[ 6.99013318e-01 -7.15085217e-01 -5.78919791e-03 1.66150006e+02] [ 7.15065553e-01 6.99037163e-01 -5.31976287e-03 5.16887129e+01] [ 7.85094827e-03 -4.21070911e-04 9.99969092e-01 6.19638315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.16, Y:51.71, Z:0.62 [[ 7.01683782e-01 -7.12472586e-01 -4.76288080e-03 1.66164224e+02] [ 7.12459206e-01 7.01699873e-01 -4.37813869e-03 5.17131997e+01] [ 6.46141664e-03 -3.21289363e-04 9.99979073e-01 6.20432189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:166.18, Y:51.74, Z:0.62 [[ 7.02140886e-01 -7.12025802e-01 -4.17548127e-03 1.66181029e+02] [ 7.12015503e-01 7.02153246e-01 -3.83961321e-03 5.17357173e+01] [ 5.66573140e-03 -2.77057973e-04 9.99983911e-01 6.20724542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:51.76, Z:0.62 [[ 7.02042860e-01 -7.12122745e-01 -4.12535729e-03 1.66197278e+02] [ 7.12112688e-01 7.02054927e-01 -3.79463313e-03 5.17576687e+01] [ 5.59847198e-03 -2.73724172e-04 9.99984291e-01 6.21618864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71140051299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.21, Y:51.78, Z:0.62 [[ 6.99462547e-01 -7.14650200e-01 -5.21893348e-03 1.66211195e+02] [ 7.14634161e-01 6.99481919e-01 -4.80229335e-03 5.17832522e+01] [ 7.08250951e-03 -3.70603805e-04 9.99974850e-01 6.20921413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74140051299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:166.23, Y:51.81, Z:0.62 [[ 6.97281903e-01 -7.16773591e-01 -5.79367769e-03 1.66228910e+02] [ 7.16753881e-01 6.97305837e-01 -5.33325273e-03 5.18052793e+01] [ 7.86269999e-03 -4.33860358e-04 9.99968994e-01 6.20564312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:51.83, Z:0.62 [[ 6.94522184e-01 -7.19445948e-01 -6.03852531e-03 1.66246307e+02] [ 7.19424619e-01 6.94548267e-01 -5.56082421e-03 5.18280523e+01] [ 8.19475974e-03 -4.82147999e-04 9.99966306e-01 6.20613709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:51.85, Z:0.62 [[ 6.91590404e-01 -7.22262384e-01 -6.30563502e-03 1.66261816e+02] [ 7.22239230e-01 6.91618941e-01 -5.80820134e-03 5.18503380e+01] [ 8.55614196e-03 -5.37280667e-04 9.99963251e-01 6.20270772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.27, Y:51.88, Z:0.62 [[ 6.86957451e-01 -7.26658975e-01 -7.49624754e-03 1.66274346e+02] [ 7.26626484e-01 6.86997992e-01 -6.90739989e-03 5.18784787e+01] [ 1.01692311e-02 -7.01882168e-04 9.99948046e-01 6.18775298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.29, Y:51.90, Z:0.62 [[ 6.85508541e-01 -7.28025060e-01 -7.58633178e-03 1.66291212e+02] [ 7.27991841e-01 6.85550130e-01 -6.99281048e-03 5.18996227e+01] [ 1.02917520e-02 -7.29156330e-04 9.99946773e-01 6.18766637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.31, Y:51.92, Z:0.62 [[ 6.84253278e-01 -7.29208926e-01 -7.19688554e-03 1.66309659e+02] [ 7.29179071e-01 6.84290759e-01 -6.63622811e-03 5.19205747e+01] [ 9.76395904e-03 -7.06957476e-04 9.99952082e-01 6.19477518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.33, Y:51.94, Z:0.62 [[ 6.80929735e-01 -7.32326181e-01 -5.74984274e-03 1.66326114e+02] [ 7.32307220e-01 6.80953747e-01 -5.30381268e-03 5.19439532e+01] [ 7.79949784e-03 -5.99127592e-04 9.99969404e-01 6.20525617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.34, Y:51.97, Z:0.62 [[ 6.79263824e-01 -7.33874789e-01 -5.33401861e-03 1.66343986e+02] [ 7.33858505e-01 6.79284527e-01 -4.92206095e-03 5.19654629e+01] [ 7.23549275e-03 -5.71036979e-04 9.99973660e-01 6.21062730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.36, Y:51.99, Z:0.62 [[ 6.78358276e-01 -7.34712197e-01 -5.29495293e-03 1.66362067e+02] [ 7.34696163e-01 6.78378698e-01 -4.88784177e-03 5.19866543e+01] [ 7.18314024e-03 -5.74473682e-04 9.99974036e-01 6.21098281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:52.01, Z:0.62 [[ 6.78351183e-01 -7.34717360e-01 -5.48395011e-03 1.66380239e+02] [ 7.34700152e-01 6.78373089e-01 -5.06349768e-03 5.20063507e+01] [ 7.44040382e-03 -5.94229335e-04 9.99972143e-01 6.21809733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.40, Y:52.03, Z:0.62 [[ 6.80812169e-01 -7.32432910e-01 -6.06820948e-03 1.66398208e+02] [ 7.32411735e-01 6.80838922e-01 -5.60471479e-03 5.20263860e+01] [ 8.23655076e-03 -6.28669802e-04 9.99965881e-01 6.21898433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.42, Y:52.05, Z:0.62 [[ 6.83102014e-01 -7.30295698e-01 -6.31124047e-03 1.66417423e+02] [ 7.30272684e-01 6.83130882e-01 -5.83137371e-03 5.20462060e+01] [ 8.57003040e-03 -6.25503383e-04 9.99963081e-01 6.22291687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:52.07, Z:0.62 [[ 6.85831355e-01 -7.27731813e-01 -6.46222447e-03 1.66436377e+02] [ 7.27707559e-01 6.85861531e-01 -5.97227286e-03 5.20660471e+01] [ 8.77840413e-03 -6.06637603e-04 9.99961285e-01 6.23156839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:52.09, Z:0.62 [[ 6.88332435e-01 -7.25363951e-01 -6.75255723e-03 1.66455248e+02] [ 7.25337335e-01 6.88365294e-01 -6.24275800e-03 5.20861229e+01] [ 9.17649765e-03 -6.00789049e-04 9.99957715e-01 6.23391983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.47, Y:52.11, Z:0.62 [[ 6.92831851e-01 -7.21072355e-01 -6.21966337e-03 1.66474188e+02] [ 7.21049584e-01 6.92859588e-01 -5.75222356e-03 5.21072455e+01] [ 8.45712279e-03 -4.99361983e-04 9.99964113e-01 6.22420392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:52.13, Z:0.62 [[ 6.94491801e-01 -7.19479638e-01 -5.49434532e-03 1.66494523e+02] [ 7.19461805e-01 6.94513406e-01 -5.08329735e-03 5.21270015e+01] [ 7.47322543e-03 -4.22663266e-04 9.99971986e-01 6.23260172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:52.15, Z:0.62 [[ 6.95670211e-01 -7.18345794e-01 -4.71985641e-03 1.66514086e+02] [ 7.18332598e-01 6.95686133e-01 -4.36835827e-03 5.21463785e+01] [ 6.42153045e-03 -3.51490000e-04 9.99979320e-01 6.23841497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:52.17, Z:0.62 [[ 6.97598134e-01 -7.16470307e-01 -5.20988509e-03 1.66533075e+02] [ 7.16454166e-01 6.97617491e-01 -4.82327333e-03 5.21658326e+01] [ 7.09023909e-03 -3.67937405e-04 9.99974796e-01 6.24593354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:52.19, Z:0.62 [[ 6.98421586e-01 -7.15658212e-01 -6.37282279e-03 1.66553333e+02] [ 7.15634008e-01 6.98450522e-01 -5.90209554e-03 5.21854008e+01] [ 8.67498455e-03 -4.38457790e-04 9.99962275e-01 6.24385256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:52.20, Z:0.62 [[ 6.99116946e-01 -7.14969040e-01 -7.40051385e-03 1.66572908e+02] [ 7.14936335e-01 6.99155937e-01 -6.85657233e-03 5.22047930e+01] [ 1.00763501e-02 -4.97350339e-04 9.99949109e-01 6.24119276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:52.22, Z:0.62 [[ 6.99922360e-01 -7.14178267e-01 -7.62191741e-03 1.66591621e+02] [ 7.14143511e-01 6.99963681e-01 -7.06335588e-03 5.22237539e+01] [ 1.03795606e-02 -4.99342140e-04 9.99946006e-01 6.24109237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:166.61, Y:52.24, Z:0.62 [[ 7.01241927e-01 -7.12895100e-01 -6.35112899e-03 1.66610240e+02] [ 7.12870897e-01 7.01270574e-01 -5.88778969e-03 5.22445362e+01] [ 8.65123629e-03 -3.98770033e-04 9.99962498e-01 6.24697429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:166.63, Y:52.26, Z:0.63 [[ 7.01330961e-01 -7.12815323e-01 -5.40352295e-03 1.66628908e+02] [ 7.12797791e-01 7.01351696e-01 -5.01068692e-03 5.22641727e+01] [ 7.36146440e-03 -3.37469354e-04 9.99972847e-01 6.25372650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:166.65, Y:52.28, Z:0.63 [[ 7.01208227e-01 -7.12936066e-01 -5.40269458e-03 1.66649680e+02] [ 7.12918531e-01 7.01228959e-01 -5.01158006e-03 5.22836394e+01] [ 7.36146206e-03 -3.37519910e-04 9.99972847e-01 6.25407736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46140051299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.67, Y:52.30, Z:0.63 [[ 7.00703586e-01 -7.13431787e-01 -5.43782886e-03 1.66668364e+02] [ 7.13414024e-01 7.00724602e-01 -5.04605062e-03 5.23042117e+01] [ 7.41043338e-03 -3.43637606e-04 9.99972483e-01 6.26596320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:166.68, Y:52.33, Z:0.63 [[ 6.99179256e-01 -7.14930535e-01 -4.76427222e-03 1.66684715e+02] [ 7.14916927e-01 6.99195418e-01 -4.42222039e-03 5.23255926e+01] [ 6.49273770e-03 -3.14134093e-04 9.99978873e-01 6.26507699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:52.35, Z:0.63 [[ 6.97649800e-01 -7.16426706e-01 -4.18709888e-03 1.66703659e+02] [ 7.16416214e-01 6.97662306e-01 -3.88782873e-03 5.23456210e+01] [ 5.70652539e-03 -2.87362591e-04 9.99983676e-01 6.27288440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.72, Y:52.36, Z:0.63 [[ 6.95818560e-01 -7.18207532e-01 -3.80425592e-03 1.66722717e+02] [ 7.18198894e-01 6.95828905e-01 -3.53319236e-03 5.23649646e+01] [ 5.18467660e-03 -2.73751567e-04 9.99986522e-01 6.26170555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.74, Y:52.39, Z:0.63 [[ 6.90598497e-01 -7.23231494e-01 -3.14977590e-03 1.66740868e+02] [ 7.23225620e-01 6.90605633e-01 -2.92626926e-03 5.23869379e+01] [ 4.29162307e-03 -2.57121477e-04 9.99990758e-01 6.25918999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:52.41, Z:0.63 [[ 6.88109949e-01 -7.25600777e-01 -2.86531916e-03 1.66759100e+02] [ 7.25595934e-01 6.88115870e-01 -2.66265346e-03 5.24068089e+01] [ 3.90369501e-03 -2.46865597e-04 9.99992350e-01 6.26402964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:52.43, Z:0.63 [[ 6.86051605e-01 -7.27547218e-01 -2.87073093e-03 1.66778332e+02] [ 7.27542370e-01 6.86057563e-01 -2.66853028e-03 5.24272033e+01] [ 3.91096844e-03 -2.57828901e-04 9.99992319e-01 6.26368724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:166.80, Y:52.45, Z:0.63 [[ 6.84837958e-01 -7.28689187e-01 -3.00668585e-03 1.66797219e+02] [ 7.28683877e-01 6.84844502e-01 -2.79562788e-03 5.24461020e+01] [ 4.09625608e-03 -2.76371414e-04 9.99991572e-01 6.26394669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.81, Y:52.47, Z:0.63 [[ 6.84021222e-01 -7.29456855e-01 -2.76869690e-03 1.66814712e+02] [ 7.29452355e-01 6.84026776e-01 -2.57517947e-03 5.24676670e+01] [ 3.77234513e-03 -2.58155061e-04 9.99992851e-01 6.27935067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.83, Y:52.49, Z:0.63 [[ 6.84820781e-01 -7.28705109e-01 -3.05977745e-03 1.66832538e+02] [ 7.28699603e-01 6.84827559e-01 -2.84661867e-03 5.24887622e+01] [ 4.16976549e-03 -2.80234992e-04 9.99991267e-01 6.27527425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.85, Y:52.51, Z:0.63 [[ 6.85680770e-01 -7.27893384e-01 -3.61985306e-03 1.66850436e+02] [ 7.27885661e-01 6.85690248e-01 -3.36874651e-03 5.25104797e+01] [ 4.93418624e-03 -3.24954432e-04 9.99987774e-01 6.27443568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.87, Y:52.53, Z:0.63 [[ 6.86687083e-01 -7.26942427e-01 -3.94430794e-03 1.66868957e+02] [ 7.26933235e-01 6.86698324e-01 -3.67204243e-03 5.25319788e+01] [ 5.37791309e-03 -3.45704421e-04 9.99985479e-01 6.26860048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:52.56, Z:0.63 [[ 6.87810127e-01 -7.25875901e-01 -4.62672331e-03 1.66886025e+02] [ 7.25863219e-01 6.87825575e-01 -4.30890574e-03 5.25551316e+01] [ 6.31010946e-03 -3.94659269e-04 9.99980013e-01 6.27300753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.90, Y:52.58, Z:0.63 [[ 6.87807255e-01 -7.25875170e-01 -5.13970937e-03 1.66903902e+02] [ 7.25859512e-01 6.87826319e-01 -4.78777527e-03 5.25761847e+01] [ 7.01055457e-03 -4.37640364e-04 9.99975330e-01 6.27615412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.92, Y:52.60, Z:0.63 [[ 6.87412485e-01 -7.26240993e-01 -6.17217412e-03 1.66922161e+02] [ 7.26218410e-01 6.87439991e-01 -5.75155951e-03 5.25980561e+01] [ 8.42001761e-03 -5.28652653e-04 9.99964411e-01 6.27458244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:52.62, Z:0.63 [[ 6.86511318e-01 -7.27071241e-01 -8.34396209e-03 1.66938709e+02] [ 7.27029995e-01 6.86561638e-01 -7.77836662e-03 5.26211922e+01] [ 1.13840710e-02 -7.26374002e-04 9.99934936e-01 6.27558209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.96, Y:52.64, Z:0.63 [[ 6.86503666e-01 -7.27066199e-01 -9.35196368e-03 1.66957539e+02] [ 7.27014360e-01 6.86566881e-01 -8.71999854e-03 5.26407852e+01] [ 1.27607647e-02 -8.12700925e-04 9.99918248e-01 6.27135238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.98, Y:52.66, Z:0.63 [[ 6.86546467e-01 -7.27021855e-01 -9.65256111e-03 1.66976918e+02] [ 7.26966583e-01 6.86613810e-01 -9.00351348e-03 5.26613529e+01] [ 1.31733328e-02 -8.35759000e-04 9.99912879e-01 6.27793514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:52.68, Z:0.63 [[ 6.87204126e-01 -7.26410300e-01 -8.86371868e-03 1.66995896e+02] [ 7.26363621e-01 6.87260871e-01 -8.26952191e-03 5.26808823e+01] [ 1.20987529e-02 -7.55433217e-04 9.99926522e-01 6.28430005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.01, Y:52.70, Z:0.63 [[ 6.89877642e-01 -7.23894255e-01 -6.77839285e-03 1.67014774e+02] [ 7.23866816e-01 6.89910728e-01 -6.32612225e-03 5.27020370e+01] [ 9.25592950e-03 -5.42403350e-04 9.99957016e-01 6.28340395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:52.72, Z:0.63 [[ 6.91608088e-01 -7.22248268e-01 -5.97426083e-03 1.67034583e+02] [ 7.22226875e-01 6.91633740e-01 -5.57766488e-03 5.27223105e+01] [ 8.16045916e-03 -4.57213586e-04 9.99966598e-01 6.28537309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.05, Y:52.74, Z:0.63 [[ 6.94074780e-01 -7.19878001e-01 -5.98859638e-03 1.67054249e+02] [ 7.19856400e-01 6.94100483e-01 -5.59313173e-03 5.27424070e+01] [ 8.18306013e-03 -4.28877761e-04 9.99966426e-01 6.28308109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:52.76, Z:0.63 [[ 6.96798778e-01 -7.17243851e-01 -5.72024673e-03 1.67072894e+02] [ 7.17224043e-01 6.96822155e-01 -5.34394944e-03 5.27617647e+01] [ 7.81890953e-03 -3.79041040e-04 9.99969360e-01 6.29404878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:52.78, Z:0.63 [[ 7.02964512e-01 -7.11210408e-01 -4.54435521e-03 1.67091023e+02] [ 7.11197770e-01 7.02979157e-01 -4.24689850e-03 5.27837430e+01] [ 6.21502541e-03 -2.46516367e-04 9.99980656e-01 6.30891457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:52.80, Z:0.63 [[ 7.06264254e-01 -7.07936252e-01 -4.13126588e-03 1.67108862e+02] [ 7.07925747e-01 7.06276309e-01 -3.86165203e-03 5.28040674e+01] [ 5.65161867e-03 -1.97282696e-04 9.99984010e-01 6.31787017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.12, Y:52.83, Z:0.63 [[ 7.12026402e-01 -7.02140226e-01 -4.18396143e-03 1.67124417e+02] [ 7.02129344e-01 7.12038679e-01 -3.91213705e-03 5.28288651e+01] [ 5.72601116e-03 -1.52137223e-04 9.99983595e-01 6.32447877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:52.85, Z:0.63 [[ 7.14115264e-01 -7.00017470e-01 -3.86417437e-03 1.67141708e+02] [ 7.00008152e-01 7.14125708e-01 -3.61397311e-03 5.28497926e+01] [ 5.28935057e-03 -1.24160195e-04 9.99986004e-01 6.32250574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:52.87, Z:0.63 [[ 7.15171418e-01 -6.98941514e-01 -3.25619248e-03 1.67160580e+02] [ 6.98934882e-01 7.15178824e-01 -3.04637953e-03 5.28708736e+01] [ 4.45800103e-03 -9.71829364e-05 9.99990058e-01 6.32199708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:52.89, Z:0.63 [[ 7.15513944e-01 -6.98594883e-01 -2.23280391e-03 1.67179145e+02] [ 6.98591761e-01 7.15517425e-01 -2.08937726e-03 5.28907605e+01] [ 3.05723837e-03 -6.48398482e-05 9.99995325e-01 6.32329903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.20, Y:52.91, Z:0.63 [[ 7.14799617e-01 -6.99327869e-01 -1.42795441e-03 1.67195922e+02] [ 6.99326593e-01 7.14801042e-01 -1.33640428e-03 5.29120744e+01] [ 1.95528806e-03 -4.33452297e-05 9.99998087e-01 6.32509412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:52.93, Z:0.63 [[ 7.14229912e-01 -6.99908544e-01 -1.91381892e-03 1.67214528e+02] [ 6.99906253e-01 7.14232474e-01 -1.79146638e-03 5.29321668e+01] [ 2.62077425e-03 -5.99749504e-05 9.99996564e-01 6.32342982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.23, Y:52.95, Z:0.63 [[ 7.14005605e-01 -7.00132331e-01 -3.27331851e-03 1.67234259e+02] [ 7.00125629e-01 7.14013101e-01 -3.06514341e-03 5.29523169e+01] [ 4.48319830e-03 -1.03204603e-04 9.99989945e-01 6.31550244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:52.97, Z:0.63 [[ 7.14588710e-01 -6.99534127e-01 -3.87050763e-03 1.67253322e+02] [ 6.99524742e-01 7.14599182e-01 -3.62546416e-03 5.29718964e+01] [ 5.30199749e-03 -1.16800098e-04 9.99985937e-01 6.31039177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.27, Y:52.99, Z:0.63 [[ 7.18697898e-01 -6.95313688e-01 -3.49375463e-03 1.67271210e+02] [ 6.95305986e-01 7.18706386e-01 -3.27368415e-03 5.29932224e+01] [ 4.78722116e-03 -7.64385880e-05 9.99988538e-01 6.31670563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:53.01, Z:0.63 [[ 7.21677869e-01 -6.92224868e-01 -2.40530325e-03 1.67289525e+02] [ 6.92221199e-01 7.21681876e-01 -2.25424634e-03 5.30129101e+01] [ 3.29630914e-03 -3.81622028e-05 9.99994566e-01 6.32499988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:53.03, Z:0.63 [[ 7.24602124e-01 -6.89164540e-01 -1.99956895e-03 1.67308238e+02] [ 6.89161992e-01 7.24604883e-01 -1.87431853e-03 5.30327108e+01] [ 2.74061129e-03 -1.98917287e-05 9.99996244e-01 6.32967736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:53.05, Z:0.63 [[ 7.29587025e-01 -6.83881550e-01 -2.96625366e-03 1.67326591e+02] [ 6.83875893e-01 7.29593055e-01 -2.78145643e-03 5.30541428e+01] [ 4.06634480e-03 7.65152192e-07 9.99991732e-01 6.32576229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.35, Y:53.07, Z:0.63 [[ 7.31347282e-01 -6.81995221e-01 -3.69765527e-03 1.67345907e+02] [ 6.81986399e-01 7.31356629e-01 -3.46871277e-03 5.30741907e+01] [ 5.06995022e-03 1.50830493e-05 9.99987148e-01 6.32143198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:53.09, Z:0.63 [[ 7.32871501e-01 -6.80353807e-01 -4.24984562e-03 1.67366148e+02] [ 6.80342117e-01 7.32883822e-01 -3.98832203e-03 5.30939898e+01] [ 5.82811318e-03 3.15785799e-05 9.99983016e-01 6.31593505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.39, Y:53.11, Z:0.63 [[ 7.35309335e-01 -6.77720002e-01 -3.97256903e-03 1.67385599e+02] [ 6.77709742e-01 7.35320064e-01 -3.72954466e-03 5.31122281e+01] [ 5.44869673e-03 5.01202650e-05 9.99985154e-01 6.30817886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:53.13, Z:0.63 [[ 7.36308060e-01 -6.76640004e-01 -2.95726300e-03 1.67406049e+02] [ 6.76634306e-01 7.36313997e-01 -2.77734479e-03 5.31311318e+01] [ 4.05673674e-03 4.39957556e-05 9.99991770e-01 6.31132386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:53.15, Z:0.63 [[ 7.37361061e-01 -6.75494426e-01 -2.43843235e-03 1.67426295e+02] [ 6.75490544e-01 7.37365092e-01 -2.29059187e-03 5.31494647e+01] [ 3.34529693e-03 4.18552594e-05 9.99994404e-01 6.31721296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:53.17, Z:0.63 [[ 7.38852615e-01 -6.73859518e-01 -3.18816698e-03 1.67447192e+02] [ 6.73852863e-01 7.38859490e-01 -2.99549524e-03 5.31661612e+01] [ 4.37415040e-03 6.48740402e-05 9.99990431e-01 6.32102403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.47, Y:53.18, Z:0.63 [[ 7.39659931e-01 -6.72967241e-01 -4.27539475e-03 1.67467514e+02] [ 6.72955250e-01 7.39672281e-01 -4.01842452e-03 5.31846698e+01] [ 5.86665905e-03 9.51182645e-05 9.99982786e-01 6.31668370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:53.20, Z:0.63 [[ 7.40824457e-01 -6.71677663e-01 -5.31421635e-03 1.67487563e+02] [ 6.71659096e-01 7.40843506e-01 -4.99591308e-03 5.32031123e+01] [ 7.29264589e-03 1.31752850e-04 9.99973400e-01 6.30647733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:53.22, Z:0.63 [[ 7.42956064e-01 -6.69320063e-01 -5.19037608e-03 1.67509953e+02] [ 6.69302282e-01 7.42974178e-01 -4.88118848e-03 5.32206086e+01] [ 7.12339279e-03 1.52578024e-04 9.99974617e-01 6.29169714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.53, Y:53.24, Z:0.63 [[ 7.43640902e-01 -6.68562595e-01 -4.71868749e-03 1.67531244e+02] [ 6.68547872e-01 7.43655858e-01 -4.43929083e-03 5.32389209e+01] [ 6.47702339e-03 1.46569757e-04 9.99979013e-01 6.28800167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:53.26, Z:0.63 [[ 7.44579319e-01 -6.67517750e-01 -4.65732072e-03 1.67551174e+02] [ 6.67503381e-01 7.44593869e-01 -4.38247895e-03 5.32573773e+01] [ 6.39319495e-03 1.54325863e-04 9.99979551e-01 6.29875767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:53.28, Z:0.63 [[ 7.46256800e-01 -6.65643468e-01 -4.42287721e-03 1.67570177e+02] [ 6.65630472e-01 7.46269889e-01 -4.16270574e-03 5.32765724e+01] [ 6.07153797e-03 1.62445619e-04 9.99981555e-01 6.30290794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:53.30, Z:0.63 [[ 7.46774207e-01 -6.65068221e-01 -3.54186325e-03 1.67591196e+02] [ 6.65059875e-01 7.46782594e-01 -3.33463124e-03 5.32952954e+01] [ 4.86275909e-03 1.34665474e-04 9.99988168e-01 6.30209706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96140051299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.61, Y:53.31, Z:0.63 [[ 7.47021059e-01 -6.64794012e-01 -2.90856259e-03 1.67611882e+02] [ 6.64788379e-01 7.47026713e-01 -2.73897743e-03 5.33123528e+01] [ 3.99362974e-03 1.12495208e-04 9.99992019e-01 6.29545548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.63, Y:53.33, Z:0.63 [[ 7.47220401e-01 -6.64570038e-01 -2.88727092e-03 1.67633594e+02] [ 6.64564483e-01 7.47225971e-01 -2.71979163e-03 5.33304033e+01] [ 3.96493585e-03 1.13506083e-04 9.99992133e-01 6.29248035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:53.35, Z:0.63 [[ 7.46922797e-01 -6.64897766e-01 -4.15889787e-03 1.67655886e+02] [ 6.64886234e-01 7.46934358e-01 -3.91932782e-03 5.33479269e+01] [ 5.71237602e-03 1.62241356e-04 9.99983671e-01 6.28805656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:53.37, Z:0.63 [[ 7.47082563e-01 -6.64718003e-01 -4.19760790e-03 1.67676439e+02] [ 6.64706248e-01 7.47094337e-01 -3.95667070e-03 5.33661492e+01] [ 5.76607934e-03 1.65783491e-04 9.99983362e-01 6.29362161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:53.38, Z:0.63 [[ 7.47462418e-01 -6.64293853e-01 -3.68927790e-03 1.67696383e+02] [ 6.64284764e-01 7.47471508e-01 -3.47818991e-03 5.33845451e+01] [ 5.06817029e-03 1.49085140e-04 9.99987146e-01 6.30114869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:53.40, Z:0.63 [[ 7.47433342e-01 -6.64331102e-01 -2.75426270e-03 1.67717304e+02] [ 6.64326033e-01 7.47438409e-01 -2.59747641e-03 5.34026187e+01] [ 3.78422610e-03 1.11712062e-04 9.99992834e-01 6.30116680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:53.42, Z:0.63 [[ 7.47284430e-01 -6.64497891e-01 -2.92134045e-03 1.67738227e+02] [ 6.64492187e-01 7.47290131e-01 -2.75578604e-03 5.34199584e+01] [ 4.01430290e-03 1.18148095e-04 9.99991936e-01 6.29897742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:53.44, Z:0.63 [[ 7.47114133e-01 -6.64688290e-01 -3.15420999e-03 1.67760039e+02] [ 6.64681638e-01 7.47120781e-01 -2.97648658e-03 5.34378479e+01] [ 4.33501161e-03 1.27229728e-04 9.99990596e-01 6.29965584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:53.46, Z:0.63 [[ 7.47580305e-01 -6.64163019e-01 -3.34237208e-03 1.67781240e+02] [ 6.64155541e-01 7.47587764e-01 -3.15479299e-03 5.34554057e+01] [ 4.59401330e-03 1.38606167e-04 9.99989438e-01 6.29889830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:53.47, Z:0.63 [[ 7.48757630e-01 -6.62836085e-01 -3.21496140e-03 1.67804422e+02] [ 6.62829149e-01 7.48764519e-01 -3.03552573e-03 5.34714319e+01] [ 4.41930501e-03 1.41902924e-04 9.99990225e-01 6.30097203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:53.49, Z:0.63 [[ 7.49515386e-01 -6.61978954e-01 -3.24820421e-03 1.67825978e+02] [ 6.61971860e-01 7.49522410e-01 -3.06813945e-03 5.34891916e+01] [ 4.46564559e-03 1.49397938e-04 9.99990018e-01 6.30134378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:53.51, Z:0.63 [[ 7.50573139e-01 -6.60779789e-01 -3.16742694e-03 1.67846509e+02] [ 6.60773031e-01 7.50579807e-01 -2.99254677e-03 5.35066753e+01] [ 4.35482112e-03 1.53174928e-04 9.99990506e-01 6.29888230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.87, Y:53.53, Z:0.63 [[ 7.50454105e-01 -6.60914977e-01 -3.16696642e-03 1.67867071e+02] [ 6.60908217e-01 7.50460772e-01 -2.99303410e-03 5.35263449e+01] [ 4.35482513e-03 1.53060591e-04 9.99990506e-01 6.29923302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.89, Y:53.55, Z:0.63 [[ 7.53647130e-01 -6.57269810e-01 -3.52147309e-03 1.67887627e+02] [ 6.57261406e-01 7.53655332e-01 -3.32938136e-03 5.35453886e+01] [ 4.84227882e-03 1.94650352e-04 9.99988257e-01 6.29893490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:53.56, Z:0.63 [[ 7.55582950e-01 -6.55040881e-01 -3.98126425e-03 1.67907978e+02] [ 6.55030100e-01 7.55593401e-01 -3.76564021e-03 5.35647644e+01] [ 5.47486528e-03 2.37405612e-04 9.99984985e-01 6.29744010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:53.58, Z:0.63 [[ 7.57818196e-01 -6.52449188e-01 -4.65167346e-03 1.67927441e+02] [ 6.52434415e-01 7.57832413e-01 -4.40075943e-03 5.35829299e+01] [ 6.39646084e-03 3.00063720e-04 9.99979497e-01 6.29483923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:53.60, Z:0.63 [[ 7.60795865e-01 -6.48975252e-01 -4.55783363e-03 1.67947811e+02] [ 6.48961003e-01 7.60809449e-01 -4.31271063e-03 5.36003162e+01] [ 6.26648536e-03 3.23236133e-04 9.99980313e-01 6.29294280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:53.62, Z:0.63 [[ 7.61306858e-01 -6.48377849e-01 -4.24646291e-03 1.67967893e+02] [ 6.48365465e-01 7.61318639e-01 -4.01903925e-03 5.36184955e+01] [ 5.83876739e-03 3.06462242e-04 9.99982907e-01 6.29611916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:53.64, Z:0.63 [[ 7.61715847e-01 -6.47899814e-01 -3.84708677e-03 1.67988338e+02] [ 6.47889639e-01 7.61725510e-01 -3.64182560e-03 5.36363240e+01] [ 5.28996226e-03 2.81548612e-04 9.99985968e-01 6.29592321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:53.65, Z:0.63 [[ 7.61888450e-01 -6.47699481e-01 -3.37216962e-03 1.68012249e+02] [ 6.47691657e-01 7.61895872e-01 -3.19329978e-03 5.36510853e+01] [ 4.63754072e-03 2.48812092e-04 9.99989216e-01 6.29887971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.03, Y:53.67, Z:0.63 [[ 7.61523458e-01 -6.48129545e-01 -3.18056667e-03 1.68034633e+02] [ 6.48122583e-01 7.61530064e-01 -3.01302074e-03 5.36675583e+01] [ 4.37492490e-03 2.33088891e-04 9.99990403e-01 6.29944149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.06, Y:53.68, Z:0.63 [[ 7.61157934e-01 -6.48557941e-01 -3.34614457e-03 1.68056734e+02] [ 6.48550234e-01 7.61165250e-01 -3.17113820e-03 5.36848051e+01] [ 4.60363583e-03 2.43594159e-04 9.99989374e-01 6.29814549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:53.70, Z:0.63 [[ 7.60820762e-01 -6.48953696e-01 -3.29682705e-03 1.68079394e+02] [ 6.48946215e-01 7.60827867e-01 -3.12511408e-03 5.36994284e+01] [ 4.53637222e-03 2.38188236e-04 9.99989682e-01 6.29934000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:53.72, Z:0.63 [[ 7.60182289e-01 -6.49700804e-01 -3.42809405e-03 1.68101925e+02] [ 6.49692718e-01 7.60189980e-01 -3.25066073e-03 5.37158379e+01] [ 4.71795964e-03 2.43886978e-04 9.99988841e-01 6.30002674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.12, Y:53.73, Z:0.63 [[ 7.59766800e-01 -6.50181508e-01 -4.29133991e-03 1.68124434e+02] [ 6.50168838e-01 7.59778859e-01 -4.07021585e-03 5.37316603e+01] [ 5.90684842e-03 3.02319388e-04 9.99982509e-01 6.29761505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.15, Y:53.75, Z:0.63 [[ 7.58986549e-01 -6.51085535e-01 -5.20034828e-03 1.68146877e+02] [ 6.51066938e-01 7.59004280e-01 -4.93414197e-03 5.37485786e+01] [ 7.15963506e-03 3.59172563e-04 9.99974305e-01 6.29962700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:53.76, Z:0.63 [[ 7.57567273e-01 -6.52734687e-01 -5.40871801e-03 1.68170441e+02] [ 6.52714596e-01 7.57586496e-01 -5.13385566e-03 5.37646854e+01] [ 7.44861740e-03 3.58891836e-04 9.99972194e-01 6.29884843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.19, Y:53.78, Z:0.63 [[ 7.56995026e-01 -6.53407858e-01 -4.08678993e-03 1.68191938e+02] [ 6.53396393e-01 7.57006010e-01 -3.88000144e-03 5.37818118e+01] [ 5.62894798e-03 2.66847993e-04 9.99984122e-01 6.30576290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:53.80, Z:0.63 [[ 7.57147824e-01 -6.53242884e-01 -9.52501016e-04 1.68217007e+02] [ 6.53242261e-01 7.57148420e-01 -9.04368787e-04 5.37962415e+01] [ 1.31195711e-03 6.25269420e-05 9.99999137e-01 6.32078125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:53.81, Z:0.63 [[ 7.57233535e-01 -6.53143203e-01 -1.15331717e-03 1.68239199e+02] [ 6.53142289e-01 7.57234409e-01 -1.09552495e-03 5.38128715e+01] [ 1.58886612e-03 7.62880144e-05 9.99998735e-01 6.32678085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:53.83, Z:0.63 [[ 7.57045797e-01 -6.53358513e-01 -2.07738892e-03 1.68261634e+02] [ 6.53355544e-01 7.57048634e-01 -1.97431052e-03 5.38304303e+01] [ 2.86261703e-03 1.37369913e-04 9.99995893e-01 6.32732977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:53.85, Z:0.63 [[ 7.56880826e-01 -6.53544689e-01 -3.27934141e-03 1.68283058e+02] [ 6.53537289e-01 7.56887900e-01 -3.11761901e-03 5.38471615e+01] [ 4.51959718e-03 2.16494164e-04 9.99989763e-01 6.32450712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:53.86, Z:0.63 [[ 7.57446141e-01 -6.52889784e-01 -3.20514982e-03 1.68306702e+02] [ 6.52882706e-01 7.57452892e-01 -3.04771726e-03 5.38620215e+01] [ 4.41757347e-03 2.15894791e-04 9.99990219e-01 6.31098199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:53.88, Z:0.63 [[ 7.57828344e-01 -6.52449496e-01 -2.42000865e-03 1.68328800e+02] [ 6.52445456e-01 7.57832190e-01 -2.30182117e-03 5.38798555e+01] [ 3.33578252e-03 1.65461680e-04 9.99994423e-01 6.31091972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:53.90, Z:0.63 [[ 7.58227221e-01 -6.51987731e-01 -1.86528012e-03 1.68350022e+02] [ 6.51985329e-01 7.58229504e-01 -1.77478717e-03 5.38985227e+01] [ 2.57144988e-03 1.29556670e-04 9.99996685e-01 6.31150907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:53.92, Z:0.63 [[ 7.59010122e-01 -6.51075668e-01 -2.02702880e-03 1.68369959e+02] [ 6.51072825e-01 7.59012815e-01 -1.92932708e-03 5.39162309e+01] [ 2.79467875e-03 1.44635414e-04 9.99996084e-01 6.31691841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:53.93, Z:0.63 [[ 7.60988530e-01 -6.48760730e-01 -2.44365556e-03 1.68392654e+02] [ 6.48756584e-01 7.60992431e-01 -2.32671118e-03 5.39324480e+01] [ 3.36908223e-03 1.85262891e-04 9.99994307e-01 6.31658002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:53.95, Z:0.63 [[ 7.61876620e-01 -6.47715898e-01 -2.85160678e-03 1.68413746e+02] [ 6.47710242e-01 7.61881924e-01 -2.71591388e-03 5.39492749e+01] [ 3.93172826e-03 2.22176369e-04 9.99992246e-01 6.31766591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:53.97, Z:0.63 [[ 7.62648309e-01 -6.46804817e-01 -3.32938862e-03 1.68434322e+02] [ 6.46797096e-01 7.62655530e-01 -3.17164185e-03 5.39670760e+01] [ 4.59060987e-03 2.65408405e-04 9.99989428e-01 6.31653468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:53.99, Z:0.63 [[ 7.64032450e-01 -6.45167749e-01 -3.60434002e-03 1.68454660e+02] [ 6.45158675e-01 7.64040893e-01 -3.43474184e-03 5.39863858e+01] [ 4.96984783e-03 2.98882987e-04 9.99987606e-01 6.31316068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:54.00, Z:0.63 [[ 7.64716621e-01 -6.44357774e-01 -3.39832509e-03 1.68474233e+02] [ 6.44349695e-01 7.64724118e-01 -3.23934962e-03 5.40043166e+01] [ 4.68608126e-03 2.87474766e-04 9.99988979e-01 6.31324498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:54.02, Z:0.63 [[ 7.65474506e-01 -6.43458663e-01 -3.11934320e-03 1.68495018e+02] [ 6.43451844e-01 7.65480814e-01 -2.97443732e-03 5.40223531e+01] [ 4.30172483e-03 2.69708807e-04 9.99990711e-01 6.31751385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:54.04, Z:0.63 [[ 7.66258136e-01 -6.42525694e-01 -3.03354242e-03 1.68514978e+02] [ 6.42519234e-01 7.66264094e-01 -2.89347288e-03 5.40401706e+01] [ 4.18362531e-03 2.68037782e-04 9.99991213e-01 6.31963258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:54.06, Z:0.63 [[ 7.67714425e-01 -6.40782381e-01 -3.53570189e-03 1.68534583e+02] [ 6.40773584e-01 7.67722499e-01 -3.37335742e-03 5.40588284e+01] [ 4.87602589e-03 3.24190783e-04 9.99988060e-01 6.31427321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:54.08, Z:0.63 [[ 7.68433394e-01 -6.39916165e-01 -4.17378851e-03 1.68554939e+02] [ 6.39903884e-01 7.68444630e-01 -3.98359745e-03 5.40777995e+01] [ 5.75649377e-03 3.90305825e-04 9.99983355e-01 6.31511261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:168.58, Y:54.10, Z:0.63 [[ 7.68701884e-01 -6.39590560e-01 -4.61839930e-03 1.68575838e+02] [ 6.39575507e-01 7.68715634e-01 -4.40969304e-03 5.40962083e+01] [ 6.37063378e-03 4.35924273e-04 9.99979612e-01 6.31128464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:54.11, Z:0.63 [[ 7.68425910e-01 -6.39907761e-01 -6.29912584e-03 1.68598340e+02] [ 6.39879757e-01 7.68451500e-01 -6.01579720e-03 5.41113957e+01] [ 8.69012801e-03 5.92011329e-04 9.99962065e-01 6.31140570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:54.13, Z:0.63 [[ 7.67703290e-01 -6.40769854e-01 -6.75666742e-03 1.68619852e+02] [ 6.40737646e-01 7.67732767e-01 -6.45500066e-03 5.41292076e+01] [ 9.32348480e-03 6.26274066e-04 9.99956339e-01 6.30742918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:54.15, Z:0.63 [[ 7.66923460e-01 -6.41708233e-01 -6.24094858e-03 1.68641483e+02] [ 6.41680766e-01 7.66948642e-01 -5.96450627e-03 5.41476589e+01] [ 8.61395982e-03 5.69623117e-04 9.99962737e-01 6.30269840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:54.16, Z:0.63 [[ 7.65639190e-01 -6.43255249e-01 -4.39498542e-03 1.68664668e+02] [ 6.43241644e-01 7.65651704e-01 -4.20178530e-03 5.41645976e+01] [ 6.06784852e-03 3.90013846e-04 9.99981514e-01 6.30395850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:54.18, Z:0.63 [[ 7.64782089e-01 -6.44277990e-01 -3.77194486e-03 1.68685944e+02] [ 6.44267975e-01 7.64791320e-01 -3.60745030e-03 5.41823895e+01] [ 5.20895151e-03 3.28770102e-04 9.99986379e-01 6.31414229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:54.20, Z:0.63 [[ 7.62545687e-01 -6.46925672e-01 -3.35405938e-03 1.68708136e+02] [ 6.46917774e-01 7.62553013e-01 -3.20868367e-03 5.41981112e+01] [ 4.63342793e-03 2.76967272e-04 9.99989227e-01 6.31926401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:54.21, Z:0.63 [[ 7.61184687e-01 -6.48525806e-01 -3.48592277e-03 1.68730609e+02] [ 6.48517286e-01 7.61192618e-01 -3.33600834e-03 5.42145949e+01] [ 4.81694618e-03 2.78637292e-04 9.99988360e-01 6.31918004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:54.23, Z:0.63 [[ 7.59911508e-01 -6.50018214e-01 -3.28945408e-03 1.68754592e+02] [ 6.50010636e-01 7.59918585e-01 -3.14917741e-03 5.42304739e+01] [ 4.54673997e-03 2.54916019e-04 9.99989631e-01 6.31618433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:54.25, Z:0.63 [[ 7.58839678e-01 -6.51270810e-01 -2.94525494e-03 1.68777788e+02] [ 6.51264741e-01 7.58845361e-01 -2.82036252e-03 5.42450458e+01] [ 4.07181283e-03 2.22062286e-04 9.99991685e-01 6.31642950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.80, Y:54.26, Z:0.63 [[ 7.57917686e-01 -6.52344969e-01 -2.61205888e-03 1.68803709e+02] [ 6.52340199e-01 7.57922163e-01 -2.50207823e-03 5.42580446e+01] [ 3.61195546e-03 1.92418331e-04 9.99993458e-01 6.32770584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:54.27, Z:0.63 [[ 7.58099311e-01 -6.52134907e-01 -2.34473578e-03 1.68825749e+02] [ 6.52131061e-01 7.58102917e-01 -2.24658873e-03 5.42736141e+01] [ 3.24262997e-03 1.74062340e-04 9.99994728e-01 6.32665364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:54.29, Z:0.63 [[ 7.58178926e-01 -6.52042059e-01 -2.42269854e-03 1.68849329e+02] [ 6.52037950e-01 7.58182775e-01 -2.32199803e-03 5.42897162e+01] [ 3.35088868e-03 1.80798584e-04 9.99994369e-01 6.32390426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:54.30, Z:0.63 [[ 7.58722508e-01 -6.51404148e-01 -3.57657044e-03 1.68876983e+02] [ 6.51395179e-01 7.58730889e-01 -3.42928512e-03 5.43019475e+01] [ 4.94750502e-03 2.72115066e-04 9.99987724e-01 6.31077886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:54.32, Z:0.63 [[ 7.59122960e-01 -6.50932999e-01 -4.30833432e-03 1.68899820e+02] [ 6.50919967e-01 7.59135113e-01 -4.13248318e-03 5.43187367e+01] [ 5.96057753e-03 3.32682032e-04 9.99982180e-01 6.30706000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:54.34, Z:0.63 [[ 7.59909693e-01 -6.50011992e-01 -4.65505124e-03 1.68921762e+02] [ 6.49996749e-01 7.59923861e-01 -4.46672703e-03 5.43366305e+01] [ 6.44091065e-03 3.68540994e-04 9.99979189e-01 6.30890061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:54.35, Z:0.63 [[ 7.61040319e-01 -6.48687105e-01 -4.76157850e-03 1.68942989e+02] [ 6.48671119e-01 7.61055115e-01 -4.57065178e-03 5.43548178e+01] [ 6.58874655e-03 3.89751834e-04 9.99978218e-01 6.31013030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:54.37, Z:0.63 [[ 7.63830198e-01 -6.45396635e-01 -5.15871089e-03 1.68966904e+02] [ 6.45377783e-01 7.63847483e-01 -4.95375345e-03 5.43704027e+01] [ 7.13760413e-03 4.54509086e-04 9.99974424e-01 6.30519572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:54.39, Z:0.63 [[ 7.65098931e-01 -6.43892676e-01 -5.08398261e-03 1.68988328e+02] [ 6.43874326e-01 7.65115682e-01 -4.88314051e-03 5.43870491e+01] [ 7.03405323e-03 4.62639707e-04 9.99975154e-01 6.30251173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:54.41, Z:0.63 [[ 7.65835688e-01 -6.43018571e-01 -4.77661804e-03 1.69009269e+02] [ 6.43002346e-01 7.65850456e-01 -4.58943854e-03 5.44050631e+01] [ 6.60926931e-03 4.43379217e-04 9.99978060e-01 6.30761835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:169.03, Y:54.42, Z:0.63 [[ 7.66129370e-01 -6.42673914e-01 -4.00358996e-03 1.69029032e+02] [ 6.42662505e-01 7.66139739e-01 -3.84770258e-03 5.44236450e+01] [ 5.54012744e-03 3.74880802e-04 9.99984583e-01 6.30290004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:54.44, Z:0.63 [[ 7.66204956e-01 -6.42588721e-01 -3.11467876e-03 1.69051494e+02] [ 6.42581811e-01 7.66211231e-01 -2.99436500e-03 5.44407349e+01] [ 4.31064702e-03 2.92861385e-04 9.99990666e-01 6.30534525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:54.46, Z:0.63 [[ 7.66007262e-01 -6.42824027e-01 -3.18510163e-03 1.69073055e+02] [ 6.42816799e-01 7.66013825e-01 -3.06295454e-03 5.44571256e+01] [ 4.40877266e-03 2.98808582e-04 9.99990237e-01 6.30827729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.09, Y:54.47, Z:0.63 [[ 7.65627673e-01 -6.43273501e-01 -3.67006915e-03 1.69094216e+02] [ 6.43263906e-01 7.65636393e-01 -3.53011068e-03 5.44737093e+01] [ 5.08076516e-03 3.41927404e-04 9.99987034e-01 6.30448993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.12, Y:54.49, Z:0.63 [[ 7.65083411e-01 -6.43914344e-01 -4.65754591e-03 1.69116055e+02] [ 6.43898893e-01 7.65097467e-01 -4.48131802e-03 5.44904530e+01] [ 6.44906153e-03 4.29593418e-04 9.99979112e-01 6.29896673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:54.51, Z:0.63 [[ 7.64790643e-01 -6.44261941e-01 -4.67157700e-03 1.69137119e+02] [ 6.44246393e-01 7.64804790e-01 -4.49644325e-03 5.45082586e+01] [ 6.46973173e-03 4.29191099e-04 9.99978979e-01 6.29921501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:54.53, Z:0.63 [[ 7.64349554e-01 -6.44786188e-01 -4.53111743e-03 1.69159241e+02] [ 6.44771560e-01 7.64362872e-01 -4.36290526e-03 5.45258162e+01] [ 6.27655899e-03 4.13249037e-04 9.99980217e-01 6.30572049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:54.54, Z:0.63 [[ 7.63633501e-01 -6.45635805e-01 -4.27590570e-03 1.69180183e+02] [ 6.45622785e-01 7.63645375e-01 -4.11833284e-03 5.45425189e+01] [ 5.92421876e-03 3.84274777e-04 9.99982378e-01 6.30693400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:54.56, Z:0.63 [[ 7.62715747e-01 -6.46721166e-01 -4.05252541e-03 1.69202138e+02] [ 6.46709478e-01 7.62726429e-01 -3.90452415e-03 5.45594331e+01] [ 5.61610665e-03 3.57235460e-04 9.99984166e-01 6.30524358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:54.58, Z:0.63 [[ 7.62460037e-01 -6.47023852e-01 -3.85072653e-03 1.69223388e+02] [ 6.47013295e-01 7.62469685e-01 -3.71144989e-03 5.45780435e+01] [ 5.33745885e-03 3.38360961e-04 9.99985698e-01 6.30455306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:54.60, Z:0.63 [[ 7.62390853e-01 -6.47107798e-01 -3.41840504e-03 1.69243807e+02] [ 6.47099475e-01 7.62398457e-01 -3.29566197e-03 5.45954995e+01] [ 4.73883529e-03 3.00534431e-04 9.99988727e-01 6.30655437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:54.62, Z:0.63 [[ 7.62280285e-01 -6.47238044e-01 -3.41788003e-03 1.69264205e+02] [ 6.47229720e-01 7.62287888e-01 -3.29620642e-03 5.46153873e+01] [ 4.73883875e-03 3.00479635e-04 9.99988727e-01 6.30690528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27140051299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:169.29, Y:54.63, Z:0.63 [[ 7.62231201e-01 -6.47296219e-01 -3.34682208e-03 1.69287581e+02] [ 6.47288233e-01 7.62238492e-01 -3.22886364e-03 5.46315949e+01] [ 4.64110784e-03 2.94782063e-04 9.99989187e-01 6.31120523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:54.65, Z:0.63 [[ 7.62055603e-01 -6.47503984e-01 -3.13814524e-03 1.69308735e+02] [ 6.47496961e-01 7.62062015e-01 -3.02840532e-03 5.46485475e+01] [ 4.35236579e-03 2.75873735e-04 9.99990490e-01 6.31743863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:54.67, Z:0.63 [[ 7.61955703e-01 -6.47620864e-01 -3.27462839e-03 1.69330626e+02] [ 6.47613212e-01 7.61962686e-01 -3.16118915e-03 5.46665397e+01] [ 4.54239669e-03 2.87993496e-04 9.99989642e-01 6.32315374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:54.68, Z:0.63 [[ 7.61960050e-01 -6.47615077e-01 -3.40516093e-03 1.69352458e+02] [ 6.47606797e-01 7.61967599e-01 -3.28842010e-03 5.46846497e+01] [ 4.72425274e-03 3.00439382e-04 9.99988796e-01 6.32467659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:54.70, Z:0.63 [[ 7.62389683e-01 -6.47105533e-01 -4.04966343e-03 1.69374645e+02] [ 6.47093807e-01 7.62400353e-01 -3.91232851e-03 5.47020155e+01] [ 5.61915425e-03 3.62206767e-04 9.99984147e-01 6.32812910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:54.72, Z:0.63 [[ 7.62813317e-01 -6.46605002e-01 -4.22075229e-03 1.69395959e+02] [ 6.46592248e-01 7.62824898e-01 -4.07913945e-03 5.47202189e+01] [ 5.85728691e-03 3.82516180e-04 9.99982773e-01 6.32603774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:54.74, Z:0.63 [[ 7.63464951e-01 -6.45834704e-01 -4.33632719e-03 1.69417583e+02] [ 6.45821221e-01 7.63477160e-01 -4.19238981e-03 5.47381959e+01] [ 6.01827760e-03 4.00250562e-04 9.99981810e-01 6.32852910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:54.76, Z:0.63 [[ 7.64057322e-01 -6.45134214e-01 -4.27261932e-03 1.69438950e+02] [ 6.45121104e-01 7.64069163e-01 -4.13232121e-03 5.47563950e+01] [ 5.93047846e-03 4.00973388e-04 9.99982334e-01 6.33026999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:54.77, Z:0.63 [[ 7.65771129e-01 -6.43100961e-01 -3.96629657e-03 1.69460881e+02] [ 6.43089629e-01 7.65781302e-01 -3.83747088e-03 5.47737509e+01] [ 5.50519696e-03 3.87940215e-04 9.99984771e-01 6.33195251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:54.79, Z:0.63 [[ 7.66384329e-01 -6.42371016e-01 -3.81276344e-03 1.69481498e+02] [ 6.42360528e-01 7.66393720e-01 -3.69029878e-03 5.47928888e+01] [ 5.29261893e-03 3.79018421e-04 9.99985922e-01 6.32899402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:169.50, Y:54.81, Z:0.63 [[ 7.67501271e-01 -6.41036296e-01 -3.77706551e-03 1.69502669e+02] [ 6.41025980e-01 7.67510468e-01 -3.65713581e-03 5.48110136e+01] [ 5.24329411e-03 3.85659258e-04 9.99986179e-01 6.32898291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:54.83, Z:0.63 [[ 7.67855379e-01 -6.40614237e-01 -3.39339194e-03 1.69522662e+02] [ 6.40605903e-01 7.67862798e-01 -3.28644338e-03 5.48293000e+01] [ 4.71100185e-03 3.49686323e-04 9.99988842e-01 6.33640217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:54.85, Z:0.63 [[ 7.68108042e-01 -6.40312141e-01 -3.22474104e-03 1.69542976e+02] [ 6.40304608e-01 7.68114738e-01 -3.12373480e-03 5.48477119e+01] [ 4.47713644e-03 3.34549270e-04 9.99989922e-01 6.34031409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:54.87, Z:0.63 [[ 7.68267070e-01 -6.40122735e-01 -2.93142500e-03 1.69563685e+02] [ 6.40116505e-01 7.68272602e-01 -2.84049878e-03 5.48667350e+01] [ 4.07040136e-03 3.05808145e-04 9.99991669e-01 6.34145072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:54.88, Z:0.63 [[ 7.68507384e-01 -6.39836902e-01 -2.26688020e-03 1.69584190e+02] [ 6.39833174e-01 7.68510691e-01 -2.19715101e-03 5.48849393e+01] [ 3.14793997e-03 2.38101621e-04 9.99995017e-01 6.34491018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:54.90, Z:0.63 [[ 7.68665734e-01 -6.39647638e-01 -1.97199899e-03 1.69604379e+02] [ 6.39644814e-01 7.68668235e-01 -1.91191322e-03 5.49042019e+01] [ 2.73876376e-03 2.08243252e-04 9.99996228e-01 6.34637733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:54.92, Z:0.63 [[ 7.68941040e-01 -6.39317716e-01 -1.59213742e-03 1.69624260e+02] [ 6.39315873e-01 7.68942670e-01 -1.54413031e-03 5.49234870e+01] [ 2.21145226e-03 1.69466443e-04 9.99997540e-01 6.34588702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:54.94, Z:0.63 [[ 7.69215614e-01 -6.38987189e-01 -1.64649780e-03 1.69644263e+02] [ 6.38985217e-01 7.69217356e-01 -1.59745198e-03 5.49426436e+01] [ 2.28726604e-03 1.76697254e-04 9.99997369e-01 6.34622670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:54.96, Z:0.63 [[ 7.70019252e-01 -6.38015166e-01 -2.64565779e-03 1.69662865e+02] [ 6.38010064e-01 7.70023743e-01 -2.56770870e-03 5.49616734e+01] [ 3.67545640e-03 2.89228842e-04 9.99993204e-01 6.34177080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:54.98, Z:0.63 [[ 7.70309458e-01 -6.37662281e-01 -3.18656850e-03 1.69682166e+02] [ 6.37654873e-01 7.70315969e-01 -3.09368638e-03 5.49812707e+01] [ 4.42739171e-03 3.51164947e-04 9.99990137e-01 6.34006771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:55.00, Z:0.63 [[ 7.70411621e-01 -6.37536395e-01 -3.64400530e-03 1.69701821e+02] [ 6.37526700e-01 7.70420133e-01 -3.53912083e-03 5.50009696e+01] [ 5.06373339e-03 4.03429144e-04 9.99987098e-01 6.33965356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:55.02, Z:0.63 [[ 7.70573415e-01 -6.37337826e-01 -4.13617034e-03 1.69721754e+02] [ 6.37325323e-01 7.70584378e-01 -4.01865248e-03 5.50201124e+01] [ 5.74850748e-03 4.60580665e-04 9.99983371e-01 6.34096847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:55.04, Z:0.63 [[ 7.71385651e-01 -6.36338627e-01 -6.10984974e-03 1.69740207e+02] [ 6.36311300e-01 7.71409536e-01 -5.93775625e-03 5.50394552e+01] [ 8.49162001e-03 6.92533536e-04 9.99963706e-01 6.33763268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:55.06, Z:0.63 [[ 7.71874877e-01 -6.35739277e-01 -6.68930982e-03 1.69758710e+02] [ 6.35706477e-01 7.71903481e-01 -6.50316469e-03 5.50602044e+01] [ 9.29781875e-03 7.67191867e-04 9.99956480e-01 6.33566649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:55.08, Z:0.63 [[ 7.72227749e-01 -6.35312822e-01 -6.47471604e-03 1.69776844e+02] [ 6.35282064e-01 7.72254529e-01 -6.29621259e-03 5.50799016e+01] [ 9.00019337e-03 7.48839098e-04 9.99959217e-01 6.33592704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:55.10, Z:0.64 [[ 7.71372613e-01 -6.36368426e-01 -4.41797761e-03 1.69795666e+02] [ 6.36354114e-01 7.71385100e-01 -4.29759132e-03 5.51003169e+01] [ 6.14281353e-03 5.03646018e-04 9.99981006e-01 6.35065915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:55.12, Z:0.64 [[ 7.70037611e-01 -6.37986496e-01 -3.91276371e-03 1.69815401e+02] [ 6.37975283e-01 7.70047428e-01 -3.80752077e-03 5.51208485e+01] [ 5.44216046e-03 4.35687661e-04 9.99985096e-01 6.35692489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:55.14, Z:0.64 [[ 7.68533231e-01 -6.39796871e-01 -4.07893400e-03 1.69834652e+02] [ 6.39784702e-01 7.68543928e-01 -3.97070884e-03 5.51412759e+01] [ 5.67528705e-03 4.41982119e-04 9.99983798e-01 6.35703999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.85, Y:55.16, Z:0.63 [[ 7.67166640e-01 -6.41434003e-01 -4.21503090e-03 1.69853566e+02] [ 6.41421027e-01 7.67178090e-01 -4.10418381e-03 5.51610367e+01] [ 5.86624240e-03 4.44983461e-04 9.99982694e-01 6.34820932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:55.18, Z:0.63 [[ 7.64674744e-01 -6.44404120e-01 -3.98327578e-03 1.69875008e+02] [ 6.44392566e-01 7.64685014e-01 -3.87938852e-03 5.51792147e+01] [ 5.54584524e-03 3.99677121e-04 9.99984542e-01 6.33843351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:55.20, Z:0.63 [[ 7.63515706e-01 -6.45778513e-01 -3.72527561e-03 1.69896207e+02] [ 6.45768420e-01 7.63524707e-01 -3.62900824e-03 5.51966519e+01] [ 5.18787551e-03 3.65139443e-04 9.99986476e-01 6.34294292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:55.21, Z:0.64 [[ 7.62448084e-01 -6.47039152e-01 -3.64076764e-03 1.69918408e+02] [ 6.47029519e-01 7.62456696e-01 -3.54788681e-03 5.52141246e+01] [ 5.07154934e-03 3.49395367e-04 9.99987079e-01 6.35396814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:55.23, Z:0.64 [[ 7.61279709e-01 -6.48415182e-01 -3.31010785e-03 1.69940207e+02] [ 6.48407228e-01 7.61286842e-01 -3.22673242e-03 5.52310927e+01] [ 4.61220384e-03 3.10148063e-04 9.99989316e-01 6.36130345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:55.24, Z:0.64 [[ 7.58999743e-01 -6.51085040e-01 -2.76778743e-03 1.69965568e+02] [ 6.51079492e-01 7.59004750e-01 -2.69896325e-03 5.52449901e+01] [ 3.85801840e-03 2.46462786e-04 9.99992527e-01 6.36829622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:55.26, Z:0.64 [[ 7.58018812e-01 -6.52228689e-01 -2.28441588e-03 1.69988237e+02] [ 6.52224913e-01 7.58022228e-01 -2.22830010e-03 5.52609589e+01] [ 3.18499927e-03 1.99140443e-04 9.99994908e-01 6.36474629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:55.27, Z:0.64 [[ 7.56755598e-01 -6.53696922e-01 -1.13949618e-03 1.70014142e+02] [ 6.53695984e-01 7.56756450e-01 -1.11173429e-03 5.52740668e+01] [ 1.58905837e-03 9.64270740e-05 9.99998733e-01 6.36184851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:55.29, Z:0.64 [[ 7.56706967e-01 -6.53753499e-01 -9.63313523e-04 1.70036360e+02] [ 6.53752829e-01 7.56707576e-01 -9.40137895e-04 5.52899335e+01] [ 1.34356508e-03 8.16399544e-05 9.99999094e-01 6.36778581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:55.31, Z:0.64 [[ 7.57146681e-01 -6.53243514e-01 -1.34726672e-03 1.70059284e+02] [ 6.53242200e-01 7.57147870e-01 -1.31542120e-03 5.53068162e+01] [ 1.87937049e-03 1.15875321e-04 9.99998227e-01 6.37420751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:55.32, Z:0.64 [[ 7.58116259e-01 -6.52116486e-01 -1.95606780e-03 1.70081940e+02] [ 6.52113710e-01 7.58118763e-01 -1.91056509e-03 5.53227440e+01] [ 2.72884269e-03 1.72851828e-04 9.99996262e-01 6.37226568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:55.34, Z:0.64 [[ 7.60419766e-01 -6.49424031e-01 -3.19499426e-03 1.70108728e+02] [ 6.49416596e-01 7.60426419e-01 -3.12187158e-03 5.53356022e+01] [ 4.45697647e-03 2.99050563e-04 9.99990023e-01 6.36054815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:55.35, Z:0.64 [[ 7.61012974e-01 -6.48727175e-01 -3.50791387e-03 1.70131479e+02] [ 6.48718199e-01 7.61020986e-01 -3.42883857e-03 5.53511214e+01] [ 4.89397683e-03 3.33743067e-04 9.99987969e-01 6.35375485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:55.37, Z:0.64 [[ 7.61222089e-01 -6.48480049e-01 -3.81526870e-03 1.70155142e+02] [ 6.48469421e-01 7.61231563e-01 -3.73063187e-03 5.53671576e+01] [ 5.32354329e-03 3.65754296e-04 9.99985763e-01 6.35066065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:55.38, Z:0.63 [[ 7.61112167e-01 -6.48608160e-01 -3.96534353e-03 1.70178591e+02] [ 6.48596673e-01 7.61122402e-01 -3.87881625e-03 5.53825657e+01] [ 5.53394366e-03 3.80305621e-04 9.99984615e-01 6.34963966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:55.39, Z:0.64 [[ 7.61149038e-01 -6.48569149e-01 -3.19374488e-03 1.70206591e+02] [ 6.48561693e-01 7.61155677e-01 -3.12515076e-03 5.53939412e+01] [ 4.45781341e-03 3.07364910e-04 9.99990017e-01 6.35945214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:55.41, Z:0.64 [[ 7.61559795e-01 -6.48088076e-01 -2.91967196e-03 1.70229627e+02] [ 6.48081837e-01 7.61565339e-01 -2.85792041e-03 5.54093256e+01] [ 4.07570510e-03 2.84290913e-04 9.99991654e-01 6.36386874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:55.43, Z:0.64 [[ 7.62305139e-01 -6.47208541e-01 -3.46117633e-03 1.70252341e+02] [ 6.47199758e-01 7.62312919e-01 -3.38924477e-03 5.54263549e+01] [ 4.83204759e-03 3.43566219e-04 9.99988267e-01 6.36674400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:55.44, Z:0.63 [[ 7.65368753e-01 -6.43573075e-01 -4.93653883e-03 1.70275421e+02] [ 6.43555121e-01 7.65384493e-01 -4.83571550e-03 5.54412630e+01] [ 6.89048657e-03 5.24170698e-04 9.99976123e-01 6.34941271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:55.46, Z:0.63 [[ 7.67022686e-01 -6.41600585e-01 -4.98891222e-03 1.70296941e+02] [ 6.41582194e-01 7.67038714e-01 -4.88878660e-03 5.54589430e+01] [ 6.96333716e-03 5.49012984e-04 9.99975605e-01 6.34777515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:55.48, Z:0.64 [[ 7.68653311e-01 -6.39648709e-01 -4.64931240e-03 1.70318558e+02] [ 6.39632691e-01 7.68667190e-01 -4.55766722e-03 5.54766441e+01] [ 6.48907985e-03 5.29413799e-04 9.99978806e-01 6.35109193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:55.49, Z:0.64 [[ 7.70101425e-01 -6.37904755e-01 -4.61718823e-03 1.70339212e+02] [ 6.37888920e-01 7.70115076e-01 -4.52723356e-03 5.54942109e+01] [ 6.44371008e-03 5.41175804e-04 9.99979093e-01 6.35853191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:55.51, Z:0.64 [[ 7.71874315e-01 -6.35749724e-01 -5.68599397e-03 1.70360470e+02] [ 6.35725636e-01 7.71894949e-01 -5.57708715e-03 5.55129241e+01] [ 7.93462164e-03 6.90078189e-04 9.99968282e-01 6.35161035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:55.53, Z:0.63 [[ 7.71836467e-01 -6.35792561e-01 -6.02393914e-03 1.70380888e+02] [ 6.35765508e-01 7.71859627e-01 -5.91065996e-03 5.55322505e+01] [ 8.40758905e-03 7.32250173e-04 9.99964388e-01 6.34261815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:55.55, Z:0.63 [[ 7.71029803e-01 -6.36769380e-01 -6.14824701e-03 1.70401540e+02] [ 6.36741210e-01 7.71053962e-01 -6.03484712e-03 5.55506709e+01] [ 8.58343607e-03 7.38204745e-04 9.99962889e-01 6.33783932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:55.57, Z:0.63 [[ 7.68421326e-01 -6.39916346e-01 -5.97790043e-03 1.70424779e+02] [ 6.39889796e-01 7.68444273e-01 -5.86920922e-03 5.55656398e+01] [ 8.34948627e-03 6.84828044e-04 9.99964908e-01 6.34057191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:55.58, Z:0.63 [[ 7.66721562e-01 -6.41953119e-01 -5.85141351e-03 1.70446716e+02] [ 6.41927723e-01 7.66743614e-01 -5.74700801e-03 5.55836393e+01] [ 8.17584367e-03 6.50170408e-04 9.99966366e-01 6.34629498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:55.60, Z:0.63 [[ 7.65086577e-01 -6.43900989e-01 -5.83478399e-03 1.70468426e+02] [ 6.43875776e-01 7.65108567e-01 -5.73276739e-03 5.56020882e+01] [ 8.15557781e-03 6.29187314e-04 9.99966545e-01 6.34843734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:55.62, Z:0.63 [[ 7.63739838e-01 -6.45498391e-01 -5.76948370e-03 1.70490492e+02] [ 6.45473767e-01 7.63761389e-01 -5.67069524e-03 5.56203035e+01] [ 8.06693353e-03 6.06885488e-04 9.99967278e-01 6.34673129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:55.63, Z:0.63 [[ 7.61820390e-01 -6.47768545e-01 -5.06017474e-03 1.70514295e+02] [ 6.47749642e-01 7.61837023e-01 -4.97517313e-03 5.56343900e+01] [ 7.07778911e-03 5.12461956e-04 9.99974821e-01 6.34741320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:55.65, Z:0.64 [[ 7.61416080e-01 -6.48248490e-01 -4.40998811e-03 1.70536112e+02] [ 6.48234132e-01 7.61428721e-01 -4.33738631e-03 5.56524352e+01] [ 6.16959573e-03 4.43850869e-04 9.99980869e-01 6.35520904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:55.67, Z:0.64 [[ 7.61606577e-01 -6.48027087e-01 -4.03928092e-03 1.70556321e+02] [ 6.48015030e-01 7.61617178e-01 -3.97416659e-03 5.56716147e+01] [ 5.65175334e-03 4.09236665e-04 9.99983945e-01 6.36142460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:55.69, Z:0.64 [[ 7.62027569e-01 -6.47531197e-01 -4.16333663e-03 1.70576045e+02] [ 6.47518372e-01 7.62038822e-01 -4.09769726e-03 5.56918533e+01] [ 5.82601096e-03 4.26721327e-04 9.99982938e-01 6.35851550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:55.71, Z:0.63 [[ 7.62626760e-01 -6.46821421e-01 -4.74075474e-03 1.70596648e+02] [ 6.46804766e-01 7.62641335e-01 -4.66772906e-03 5.57112584e+01] [ 6.63468267e-03 4.93392326e-04 9.99977869e-01 6.34874388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:55.73, Z:0.63 [[ 7.62518302e-01 -6.46949280e-01 -4.73996190e-03 1.70616866e+02] [ 6.46932624e-01 7.62532875e-01 -4.66853415e-03 5.57313662e+01] [ 6.63468158e-03 4.93406751e-04 9.99977869e-01 6.34909476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:55.75, Z:0.64 [[ 7.62362200e-01 -6.47134870e-01 -4.50963845e-03 1.70636420e+02] [ 6.47119787e-01 7.62375394e-01 -4.44310648e-03 5.57495835e+01] [ 6.31332652e-03 4.68980163e-04 9.99979961e-01 6.35249067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:55.77, Z:0.64 [[ 7.61964175e-01 -6.47606880e-01 -3.99049930e-03 1.70656331e+02] [ 6.47595069e-01 7.61974513e-01 -3.93295807e-03 5.57686711e+01] [ 5.58766947e-03 4.12545483e-04 9.99984304e-01 6.36011752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:55.79, Z:0.64 [[ 7.60739856e-01 -6.49043321e-01 -4.19997878e-03 1.70677842e+02] [ 6.49030250e-01 7.60751331e-01 -4.14090840e-03 5.57862995e+01] [ 5.88276838e-03 4.24240784e-04 9.99982606e-01 6.36475487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:55.80, Z:0.64 [[ 7.59666988e-01 -6.50296239e-01 -4.56819089e-03 1.70699546e+02] [ 6.50280788e-01 7.59680589e-01 -4.50557607e-03 5.58041987e+01] [ 6.40032512e-03 4.52130630e-04 9.99979416e-01 6.36006427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:55.82, Z:0.64 [[ 7.58549393e-01 -6.51598158e-01 -4.76014838e-03 1.70721448e+02] [ 6.51581395e-01 7.58564188e-01 -4.69663972e-03 5.58218748e+01] [ 6.67119988e-03 4.61009083e-04 9.99977641e-01 6.35970346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:55.84, Z:0.64 [[ 7.57461752e-01 -6.52863903e-01 -4.51863124e-03 1.70743207e+02] [ 6.52848809e-01 7.57475109e-01 -4.45997042e-03 5.58399214e+01] [ 6.33450439e-03 4.28273992e-04 9.99979845e-01 6.35901592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:55.86, Z:0.64 [[ 7.57140768e-01 -6.53240377e-01 -3.85583231e-03 1.70765517e+02] [ 6.53229385e-01 7.57150499e-01 -3.80701999e-03 5.58553475e+01] [ 5.40634453e-03 3.63707077e-04 9.99985319e-01 6.36972077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:55.87, Z:0.64 [[ 7.57820055e-01 -6.52452738e-01 -3.76680980e-03 1.70787039e+02] [ 6.52442231e-01 7.57829330e-01 -3.72046825e-03 5.58731980e+01] [ 5.28202865e-03 3.61819662e-04 9.99985985e-01 6.37753175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:55.89, Z:0.64 [[ 7.58968463e-01 -6.51115730e-01 -3.89586810e-03 1.70807636e+02] [ 6.51104465e-01 7.58978365e-01 -3.84926956e-03 5.58906425e+01] [ 5.46319956e-03 3.84857085e-04 9.99985003e-01 6.38016352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:55.91, Z:0.64 [[ 7.62969700e-01 -6.46419404e-01 -4.38077154e-03 1.70829418e+02] [ 6.46405074e-01 7.62982131e-01 -4.32994468e-03 5.59081317e+01] [ 6.14141066e-03 4.71863643e-04 9.99981030e-01 6.36231673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:55.93, Z:0.64 [[ 7.65367437e-01 -6.43578597e-01 -4.39036850e-03 1.70850049e+02] [ 6.43564149e-01 7.65379868e-01 -4.34085633e-03 5.59262901e+01] [ 6.15398189e-03 4.96866320e-04 9.99980941e-01 6.35327923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:55.94, Z:0.64 [[ 7.67727973e-01 -6.40760554e-01 -4.43524733e-03 1.70870833e+02] [ 6.40745754e-01 7.67740604e-01 -4.38675280e-03 5.59444691e+01] [ 6.21597762e-03 5.25966949e-04 9.99980542e-01 6.35509861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:55.96, Z:0.64 [[ 7.69583091e-01 -6.38531673e-01 -4.37810508e-03 1.70891428e+02] [ 6.38517207e-01 7.69595357e-01 -4.33163075e-03 5.59627359e+01] [ 6.13525277e-03 5.38054356e-04 9.99981034e-01 6.35711783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:55.98, Z:0.64 [[ 7.72533338e-01 -6.34955062e-01 -4.93049139e-03 1.70911984e+02] [ 6.34936633e-01 7.72548808e-01 -4.87971920e-03 5.59800579e+01] [ 6.90744765e-03 6.39196158e-04 9.99975939e-01 6.36688277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:56.00, Z:0.64 [[ 7.73561738e-01 -6.33698659e-01 -5.31476790e-03 1.70932360e+02] [ 6.33677202e-01 7.73579676e-01 -5.26190503e-03 5.59989997e+01] [ 7.44585860e-03 7.02561144e-04 9.99972032e-01 6.36604926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:56.02, Z:0.64 [[ 7.74191333e-01 -6.32928978e-01 -5.35620090e-03 1.70952927e+02] [ 6.32907153e-01 7.74209529e-01 -5.30482984e-03 5.60178117e+01] [ 7.50440231e-03 7.16975427e-04 9.99971585e-01 6.36555386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:56.04, Z:0.64 [[ 7.74925980e-01 -6.32034952e-01 -4.64178690e-03 1.70973640e+02] [ 6.32018534e-01 7.74939625e-01 -4.59887305e-03 5.60367810e+01] [ 6.50375310e-03 6.30090851e-04 9.99978652e-01 6.37231203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:56.06, Z:0.64 [[ 7.74803946e-01 -6.32183019e-01 -4.84516628e-03 1.70992397e+02] [ 6.32165124e-01 7.74818816e-01 -4.80196305e-03 5.60567096e+01] [ 6.78984550e-03 6.57634782e-04 9.99976732e-01 6.37242604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:56.08, Z:0.64 [[ 7.74206408e-01 -6.32909739e-01 -5.44985758e-03 1.71010962e+02] [ 6.32887100e-01 7.74225241e-01 -5.40317004e-03 5.60772345e+01] [ 7.63913623e-03 7.34024305e-04 9.99970552e-01 6.36448377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:56.10, Z:0.64 [[ 7.73307376e-01 -6.34001691e-01 -6.12845438e-03 1.71028970e+02] [ 6.33973081e-01 7.73331230e-01 -6.07793904e-03 5.60969261e+01] [ 8.59274880e-03 8.14839988e-04 9.99962750e-01 6.36208493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:56.12, Z:0.64 [[ 7.71149427e-01 -6.36619425e-01 -6.65348921e-03 1.71047972e+02] [ 6.36585776e-01 7.71177656e-01 -6.60098059e-03 5.61179438e+01] [ 9.33333468e-03 8.54825804e-04 9.99956078e-01 6.37449247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:56.14, Z:0.64 [[ 7.70227906e-01 -6.37733448e-01 -6.70985554e-03 1.71066506e+02] [ 6.37699247e-01 7.70256663e-01 -6.65906377e-03 5.61381569e+01] [ 9.41501863e-03 8.50126918e-04 9.99955316e-01 6.38223417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:56.16, Z:0.64 [[ 7.69053746e-01 -6.39152713e-01 -6.33605268e-03 1.71084697e+02] [ 6.39122247e-01 7.69079443e-01 -6.29004482e-03 5.61576270e+01] [ 8.89322707e-03 7.87870312e-04 9.99960144e-01 6.38272057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:56.18, Z:0.64 [[ 7.67705773e-01 -6.40772803e-01 -6.16934490e-03 1.71104459e+02] [ 6.40743952e-01 7.67730195e-01 -6.12667308e-03 5.61780952e+01] [ 8.66219785e-03 7.50511863e-04 9.99962201e-01 6.38756626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:56.20, Z:0.64 [[ 7.65367318e-01 -6.43571280e-01 -5.37357937e-03 1.71121760e+02] [ 6.43549447e-01 7.65385925e-01 -5.33809817e-03 5.61987720e+01] [ 7.54830869e-03 6.27441845e-04 9.99971314e-01 6.38149006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:56.22, Z:0.64 [[ 7.63983081e-01 -6.45217144e-01 -4.96888091e-03 1.71140410e+02] [ 6.45198498e-01 7.63999029e-01 -4.93783662e-03 5.62202757e+01] [ 6.98219703e-03 5.66509134e-04 9.99975464e-01 6.37777479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.16, Y:56.24, Z:0.64 [[ 7.62372929e-01 -6.47119452e-01 -4.89204448e-03 1.71158606e+02] [ 6.47101405e-01 7.62388432e-01 -4.86328048e-03 5.62415028e+01] [ 6.87676151e-03 5.41984527e-04 9.99976208e-01 6.38034840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:56.26, Z:0.64 [[ 7.60659897e-01 -6.49133368e-01 -4.73204248e-03 1.71176543e+02] [ 6.49116509e-01 7.60674446e-01 -4.70581236e-03 5.62613089e+01] [ 6.65424362e-03 5.07875853e-04 9.99977731e-01 6.37863969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:56.28, Z:0.64 [[ 7.58218044e-01 -6.51982863e-01 -4.87280515e-03 1.71195622e+02] [ 6.51965033e-01 7.58233538e-01 -4.84751794e-03 5.62812057e+01] [ 6.85522292e-03 4.98576998e-04 9.99976378e-01 6.37699928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:56.30, Z:0.64 [[ 7.55413843e-01 -6.55231148e-01 -4.69765103e-03 1.71214390e+02] [ 6.55214630e-01 7.55428314e-01 -4.67450190e-03 5.63000286e+01] [ 6.61161784e-03 4.53213763e-04 9.99978040e-01 6.37665052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:56.32, Z:0.64 [[ 7.49234246e-01 -6.62295819e-01 -3.50616506e-03 1.71234725e+02] [ 6.62286688e-01 7.49242393e-01 -3.48994795e-03 5.63188423e+01] [ 4.93834543e-03 2.92702081e-04 9.99987763e-01 6.38075513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:56.34, Z:0.64 [[ 7.46267215e-01 -6.65640212e-01 -2.89012662e-03 1.71254788e+02] [ 6.65634029e-01 7.46272778e-01 -2.87767083e-03 5.63367446e+01] [ 4.07231624e-03 2.23744765e-04 9.99991683e-01 6.38424068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:56.35, Z:0.64 [[ 7.43647087e-01 -6.68566770e-01 -2.73572503e-03 1.71276158e+02] [ 6.68561246e-01 7.43652093e-01 -2.72489388e-03 5.63543705e+01] [ 3.85620115e-03 1.97359663e-04 9.99992545e-01 6.39014550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:56.37, Z:0.64 [[ 7.40299911e-01 -6.72270151e-01 -2.98111299e-03 1.71299910e+02] [ 6.72263616e-01 7.40305887e-01 -2.97045508e-03 5.63704559e+01] [ 4.20388379e-03 1.94933830e-04 9.99991145e-01 6.39477237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:56.39, Z:0.64 [[ 7.39345787e-01 -6.73319323e-01 -2.98276467e-03 1.71321181e+02] [ 6.73312785e-01 7.39351779e-01 -2.97322536e-03 5.63884208e+01] [ 4.20724245e-03 1.89908053e-04 9.99991131e-01 6.39165126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:56.41, Z:0.64 [[ 7.38639808e-01 -6.74095045e-01 -2.66522216e-03 1.71341457e+02] [ 6.74089827e-01 7.38644598e-01 -2.65760091e-03 5.64058895e+01] [ 3.76012756e-03 1.66410682e-04 9.99992917e-01 6.38980506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:56.42, Z:0.64 [[ 7.38442950e-01 -6.74312247e-01 -2.23696371e-03 1.71362286e+02] [ 6.74308569e-01 7.38446325e-01 -2.23127235e-03 5.64236152e+01] [ 3.15645190e-03 1.39263536e-04 9.99995009e-01 6.39154925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:56.44, Z:0.64 [[ 7.38375280e-01 -6.74387624e-01 -1.81074476e-03 1.71383097e+02] [ 6.74385214e-01 7.38377491e-01 -1.80662414e-03 5.64412660e+01] [ 2.55537814e-03 1.12827111e-04 9.99996729e-01 6.39417119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:56.46, Z:0.64 [[ 7.38308757e-01 -6.74459165e-01 -2.23931413e-03 1.71405337e+02] [ 6.74455476e-01 7.38312139e-01 -2.23499781e-03 5.64584139e+01] [ 3.16072756e-03 1.39800772e-04 9.99994995e-01 6.40044151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:56.48, Z:0.64 [[ 7.38010009e-01 -6.74784202e-01 -2.73987086e-03 1.71425810e+02] [ 6.74778678e-01 7.38015075e-01 -2.73566217e-03 5.64770101e+01] [ 3.86804762e-03 1.70139625e-04 9.99992505e-01 6.39606815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:56.50, Z:0.64 [[ 7.37362338e-01 -6.75492026e-01 -2.70297452e-03 1.71446178e+02] [ 6.75486651e-01 7.37367273e-01 -2.69985328e-03 5.64952418e+01] [ 3.81681431e-03 1.64946924e-04 9.99992702e-01 6.39509964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:56.51, Z:0.64 [[ 7.36381143e-01 -6.76563495e-01 -2.15623061e-03 1.71467056e+02] [ 6.76560077e-01 7.36384289e-01 -2.15450497e-03 5.65132183e+01] [ 3.04547376e-03 1.27717284e-04 9.99995354e-01 6.40203919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:56.53, Z:0.64 [[ 7.34160009e-01 -6.78973473e-01 -2.02594532e-03 1.71489243e+02] [ 6.78970462e-01 7.34162796e-01 -2.02506619e-03 5.65304042e+01] [ 2.86233990e-03 1.11165587e-04 9.99995897e-01 6.41166379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:56.55, Z:0.64 [[ 7.32846044e-01 -6.80388621e-01 -2.82844950e-03 1.71509545e+02] [ 6.80382758e-01 7.32851488e-01 -2.82839579e-03 5.65495680e+01] [ 3.99724173e-03 1.48350391e-04 9.99992000e-01 6.40859513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:56.57, Z:0.64 [[ 7.31653704e-01 -6.81668448e-01 -3.31410549e-03 1.71529444e+02] [ 6.81660406e-01 7.31661191e-01 -3.31533907e-03 5.65689157e+01] [ 4.68476441e-03 1.66585619e-04 9.99989013e-01 6.40063495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:56.59, Z:0.64 [[ 7.30682096e-01 -6.82710425e-01 -3.18589134e-03 1.71549338e+02] [ 6.82702998e-01 7.30689025e-01 -3.18831328e-03 5.65878326e+01] [ 4.50459055e-03 1.54625863e-04 9.99989842e-01 6.39983377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:56.61, Z:0.64 [[ 7.29594937e-01 -6.83874789e-01 -2.54961694e-03 1.71569579e+02] [ 6.83870036e-01 7.29599382e-01 -2.55245239e-03 5.66066187e+01] [ 3.60575678e-03 1.18649712e-04 9.99993492e-01 6.40267394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:56.63, Z:0.64 [[ 7.29175402e-01 -6.84318592e-01 -3.36133619e-03 1.71588813e+02] [ 6.84310329e-01 7.29183133e-01 -3.36642094e-03 5.66274947e+01] [ 4.75473409e-03 1.54514262e-04 9.99988684e-01 6.40196114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:56.65, Z:0.64 [[ 7.29046579e-01 -6.84449805e-01 -4.42167949e-03 1.71606089e+02] [ 6.84435500e-01 7.29059959e-01 -4.42975537e-03 5.66478096e+01] [ 6.25561466e-03 2.03143583e-04 9.99980413e-01 6.39812188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:56.67, Z:0.64 [[ 7.29116000e-01 -6.84370001e-01 -5.24980350e-03 1.71624294e+02] [ 6.84349820e-01 7.29134859e-01 -5.26133187e-03 5.66693737e+01] [ 7.42851243e-03 2.43419167e-04 9.99972379e-01 6.39647661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:56.69, Z:0.64 [[ 7.29045163e-01 -6.84443587e-01 -5.48870294e-03 1.71642218e+02] [ 6.84421513e-01 7.29065779e-01 -5.50295291e-03 5.66891461e+01] [ 7.76808632e-03 2.55314833e-04 9.99969795e-01 6.39622167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:56.71, Z:0.64 [[ 7.28015520e-01 -6.85547303e-01 -4.27764893e-03 1.71661298e+02] [ 6.85533904e-01 7.28028062e-01 -4.29036182e-03 5.67077577e+01] [ 6.05549444e-03 1.90976616e-04 9.99981647e-01 6.40098338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:56.73, Z:0.64 [[ 7.26984138e-01 -6.86642790e-01 -3.96772955e-03 1.71680629e+02] [ 6.86631270e-01 7.26994945e-01 -3.98104122e-03 5.67268300e+01] [ 5.61807258e-03 1.69786644e-04 9.99984204e-01 6.40196346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:56.75, Z:0.64 [[ 7.26168005e-01 -6.87502906e-01 -4.44770063e-03 1.71700631e+02] [ 6.87488436e-01 7.26181603e-01 -4.46430133e-03 5.67466786e+01] [ 6.29905851e-03 1.84090038e-04 9.99980144e-01 6.39575284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:56.77, Z:0.64 [[ 7.25753257e-01 -6.87935544e-01 -5.18638506e-03 1.71720595e+02] [ 6.87915864e-01 7.25771757e-01 -5.20777166e-03 5.67654891e+01] [ 7.34674303e-03 2.11760676e-04 9.99972990e-01 6.38915278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:56.78, Z:0.64 [[ 7.26708993e-01 -6.86924309e-01 -5.38815588e-03 1.71741184e+02] [ 6.86903025e-01 7.26728931e-01 -5.41244100e-03 5.67842154e+01] [ 7.63366606e-03 2.32128978e-04 9.99970836e-01 6.39721696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:56.81, Z:0.64 [[ 7.28440302e-01 -6.85093191e-01 -4.69543977e-03 1.71760086e+02] [ 6.85076978e-01 7.28455401e-01 -4.71834649e-03 5.68051917e+01] [ 6.65292551e-03 2.20296053e-04 9.99977845e-01 6.40542483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:56.83, Z:0.64 [[ 7.31179147e-01 -6.82174220e-01 -3.92283931e-03 1.71777075e+02] [ 6.82162853e-01 7.31189641e-01 -3.94347648e-03 5.68260700e+01] [ 5.55847745e-03 2.07372515e-04 9.99984530e-01 6.41220974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:56.85, Z:0.64 [[ 7.34623318e-01 -6.78468210e-01 -3.07703574e-03 1.71794080e+02] [ 6.78461179e-01 7.34629739e-01 -3.09436134e-03 5.68475071e+01] [ 4.35990776e-03 1.85540697e-04 9.99990478e-01 6.41265179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:56.87, Z:0.64 [[ 7.38507434e-01 -6.74240871e-01 -2.45316671e-03 1.71811041e+02] [ 6.74236376e-01 7.38511489e-01 -2.46784913e-03 5.68684281e+01] [ 3.47561654e-03 1.68510698e-04 9.99993946e-01 6.41521964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:56.89, Z:0.64 [[ 7.45507487e-01 -6.66494496e-01 -1.91646551e-03 1.71827803e+02] [ 6.66491725e-01 7.45509934e-01 -1.92857469e-03 5.68906031e+01] [ 2.71412849e-03 1.60458469e-04 9.99996304e-01 6.40706906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:56.91, Z:0.64 [[ 7.47936607e-01 -6.63766680e-01 -2.15075811e-03 1.71845943e+02] [ 6.63763176e-01 7.47939675e-01 -2.16518304e-03 5.69120025e+01] [ 3.04581368e-03 1.91825619e-04 9.99995343e-01 6.40008708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:56.93, Z:0.64 [[ 7.49493400e-01 -6.62008114e-01 -2.21365503e-03 1.71862817e+02] [ 6.62004392e-01 7.49496641e-01 -2.22928560e-03 5.69335256e+01] [ 3.13493216e-03 2.05385492e-04 9.99995065e-01 6.39890125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:56.95, Z:0.64 [[ 7.49383241e-01 -6.62132811e-01 -2.21328444e-03 1.71882807e+02] [ 6.62129089e-01 7.49386481e-01 -2.22965350e-03 5.69538680e+01] [ 3.13493218e-03 2.05384951e-04 9.99995065e-01 6.39925215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:56.98, Z:0.64 [[ 7.50085197e-01 -6.61335880e-01 -2.65554078e-03 1.71898251e+02] [ 6.61330513e-01 7.50089855e-01 -2.67618484e-03 5.69783710e+01] [ 3.76175125e-03 2.51176492e-04 9.99992893e-01 6.39669657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.92, Y:57.00, Z:0.64 [[ 7.49362204e-01 -6.62151171e-01 -3.48050144e-03 1.71916875e+02] [ 6.62141953e-01 7.49370217e-01 -3.50894945e-03 5.69995898e+01] [ 4.93163910e-03 3.24888079e-04 9.99987787e-01 6.39922824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:57.02, Z:0.64 [[ 7.47945084e-01 -6.63749700e-01 -3.80608615e-03 1.71935282e+02] [ 6.63738691e-01 7.47954689e-01 -3.83853189e-03 5.70196771e+01] [ 5.39460437e-03 3.44764416e-04 9.99985390e-01 6.39326677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:57.04, Z:0.64 [[ 7.46195687e-01 -6.65714123e-01 -4.08705769e-03 1.71954118e+02] [ 6.65701448e-01 7.46206794e-01 -4.12340785e-03 5.70406652e+01] [ 5.79480106e-03 3.56108932e-04 9.99983147e-01 6.39300021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.97, Y:57.06, Z:0.64 [[ 7.44670204e-01 -6.67419896e-01 -4.11947843e-03 1.71972457e+02] [ 6.67407036e-01 7.44681517e-01 -4.15767317e-03 5.70612843e+01] [ 5.84261324e-03 3.46726437e-04 9.99982872e-01 6.40016200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:171.99, Y:57.08, Z:0.64 [[ 7.43502844e-01 -6.68726961e-01 -2.78783286e-03 1.71992012e+02] [ 6.68720947e-01 7.43508028e-01 -2.84731783e-03 5.70827497e+01] [ 3.97685431e-03 2.52706673e-04 9.99992060e-01 6.38390483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:57.10, Z:0.64 [[ 7.42587613e-01 -6.69741022e-01 -3.25582832e-03 1.72012574e+02] [ 6.69733168e-01 7.42594713e-01 -3.25211276e-03 5.71018166e+01] [ 4.59583422e-03 2.34442438e-04 9.99989412e-01 6.39917526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:57.12, Z:0.64 [[ 7.42484486e-01 -6.69853558e-01 -3.60546615e-03 1.72032321e+02] [ 6.69843722e-01 7.42493183e-01 -3.64157769e-03 5.71208043e+01] [ 5.11635781e-03 2.88716073e-04 9.99986870e-01 6.39780055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:57.14, Z:0.64 [[ 7.42237881e-01 -6.70123954e-01 -4.10042834e-03 1.72051678e+02] [ 6.70111227e-01 7.42249135e-01 -4.14298809e-03 5.71407553e+01] [ 5.81985495e-03 3.27339636e-04 9.99983011e-01 6.39658785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:57.16, Z:0.64 [[ 7.41891700e-01 -6.70506068e-01 -4.28003200e-03 1.72070204e+02] [ 6.70492198e-01 7.41903968e-01 -4.32596878e-03 5.71601168e+01] [ 6.07596104e-03 3.39672268e-04 9.99981483e-01 6.39615340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:57.18, Z:0.64 [[ 7.41524634e-01 -6.70913121e-01 -4.09881584e-03 1.72089554e+02] [ 6.70900399e-01 7.41535892e-01 -4.14429917e-03 5.71802669e+01] [ 5.81988376e-03 3.23202745e-04 9.99983012e-01 6.40066100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:57.20, Z:0.64 [[ 7.40818016e-01 -6.71693324e-01 -4.09209727e-03 1.72109173e+02] [ 6.71680646e-01 7.40829250e-01 -4.13906876e-03 5.71998244e+01] [ 5.81173020e-03 3.17714171e-04 9.99983061e-01 6.40813162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.13, Y:57.22, Z:0.64 [[ 7.40369506e-01 -6.72179418e-01 -5.27484741e-03 1.72128449e+02] [ 6.72158353e-01 7.40388185e-01 -5.33698036e-03 5.72188976e+01] [ 7.49284306e-03 4.05804768e-04 9.99971846e-01 6.40775058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:57.24, Z:0.64 [[ 7.39732047e-01 -6.72876747e-01 -5.77771774e-03 1.72147839e+02] [ 6.72851480e-01 7.39754480e-01 -5.84770648e-03 5.72374451e+01] [ 8.20887830e-03 4.38189952e-04 9.99966211e-01 6.39872007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:57.26, Z:0.64 [[ 7.38996831e-01 -6.73681896e-01 -6.03213429e-03 1.72168244e+02] [ 6.73654361e-01 7.39021312e-01 -6.10748332e-03 5.72562077e+01] [ 8.57237674e-03 4.49837245e-04 9.99963155e-01 6.39722802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:57.27, Z:0.64 [[ 7.37893183e-01 -6.74896307e-01 -5.35031835e-03 1.72189501e+02] [ 6.74874665e-01 7.37912478e-01 -5.41860988e-03 5.72726913e+01] [ 7.60506647e-03 3.87560989e-04 9.99971006e-01 6.40417260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:57.29, Z:0.64 [[ 7.37653840e-01 -6.75163720e-01 -4.55682075e-03 1.72210626e+02] [ 6.75148016e-01 7.37667841e-01 -4.61654563e-03 5.72917692e+01] [ 6.47834425e-03 3.28884122e-04 9.99978961e-01 6.40644449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:57.31, Z:0.64 [[ 7.37794977e-01 -6.75013795e-01 -3.86641718e-03 1.72231573e+02] [ 6.75002480e-01 7.37805054e-01 -3.91850582e-03 5.73104015e+01] [ 5.49770762e-03 2.81212730e-04 9.99984848e-01 6.40731523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:57.33, Z:0.64 [[ 7.38364716e-01 -6.74394580e-01 -3.08160446e-03 1.72252191e+02] [ 6.74387382e-01 7.38371112e-01 -3.12413872e-03 5.73281449e+01] [ 4.38226993e-03 2.28558638e-04 9.99990372e-01 6.41021526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:57.35, Z:0.64 [[ 7.39402470e-01 -6.73258454e-01 -2.65359653e-03 1.72273074e+02] [ 6.73253106e-01 7.39407204e-01 -2.69115456e-03 5.73462354e+01] [ 3.77393095e-03 2.03304224e-04 9.99992858e-01 6.41816355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:57.36, Z:0.64 [[ 7.42616392e-01 -6.69706657e-01 -3.72655144e-03 1.72295060e+02] [ 6.69696058e-01 7.42625677e-01 -3.78072431e-03 5.73630396e+01] [ 5.29940903e-03 3.11971041e-04 9.99985909e-01 6.42003520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71140051299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.32, Y:57.38, Z:0.64 [[ 7.44311681e-01 -6.67815229e-01 -4.78964936e-03 1.72315175e+02] [ 6.67797669e-01 7.44326974e-01 -4.86096615e-03 5.73815390e+01] [ 6.81129244e-03 4.19557208e-04 9.99976715e-01 6.41765764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:57.40, Z:0.64 [[ 7.45856272e-01 -6.66088750e-01 -4.91917145e-03 1.72334466e+02] [ 6.66070177e-01 7.45872359e-01 -4.99427535e-03 5.73999122e+01] [ 6.99570464e-03 4.48498195e-04 9.99975429e-01 6.41487359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:57.42, Z:0.64 [[ 7.47202605e-01 -6.64582262e-01 -4.32242148e-03 1.72353721e+02] [ 6.64567890e-01 7.47214996e-01 -4.38962070e-03 5.74189925e+01] [ 6.14704220e-03 4.07393499e-04 9.99981024e-01 6.40908290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:57.44, Z:0.64 [[ 7.49790375e-01 -6.61669296e-01 -2.85233394e-03 1.72373996e+02] [ 6.61663013e-01 7.49795746e-01 -2.89756788e-03 5.74379255e+01] [ 4.05589955e-03 2.85284635e-04 9.99991734e-01 6.41838705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:57.46, Z:0.64 [[ 7.50398934e-01 -6.60979096e-01 -2.84157099e-03 1.72392934e+02] [ 6.60972852e-01 7.50404258e-01 -2.88761160e-03 5.74570466e+01] [ 4.04097788e-03 2.88659388e-04 9.99991794e-01 6.42107174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:57.48, Z:0.64 [[ 7.50438830e-01 -6.60929919e-01 -3.63374572e-03 1.72412707e+02] [ 6.60919699e-01 7.50447537e-01 -3.69403173e-03 5.74769856e+01] [ 5.16843161e-03 3.70530728e-04 9.99986575e-01 6.41633366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:57.50, Z:0.64 [[ 7.49855001e-01 -6.61586410e-01 -4.57163556e-03 1.72431805e+02] [ 6.61570236e-01 7.49868794e-01 -4.64914298e-03 5.74958391e+01] [ 6.50393666e-03 4.61725097e-04 9.99978743e-01 6.40999631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:57.51, Z:0.64 [[ 7.48155344e-01 -6.63509690e-01 -4.29796759e-03 1.72451487e+02] [ 6.63495416e-01 7.48167572e-01 -4.37241818e-03 5.75140049e+01] [ 6.11674180e-03 4.19566235e-04 9.99981205e-01 6.41495881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:57.53, Z:0.64 [[ 7.47207911e-01 -6.64579736e-01 -3.75650802e-03 1.72470901e+02] [ 6.64568838e-01 7.47217267e-01 -3.82292598e-03 5.75339546e+01] [ 5.34756680e-03 3.60062367e-04 9.99985637e-01 6.42202914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:57.55, Z:0.64 [[ 7.46418242e-01 -6.65467189e-01 -3.63720874e-03 1.72489009e+02] [ 6.65456976e-01 7.46427025e-01 -3.70273948e-03 5.75541109e+01] [ 5.17896253e-03 3.43386362e-04 9.99986530e-01 6.42968194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:57.58, Z:0.64 [[ 7.45739369e-01 -6.66227276e-01 -3.74316356e-03 1.72507548e+02] [ 6.66216462e-01 7.45748681e-01 -3.81194075e-03 5.75756801e+01] [ 5.33107819e-03 3.48957100e-04 9.99985729e-01 6.43195381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:57.60, Z:0.64 [[ 7.45221457e-01 -6.66805681e-01 -3.89406514e-03 1.72525785e+02] [ 6.66793977e-01 7.45231544e-01 -3.96705738e-03 5.75967505e+01] [ 5.54723658e-03 3.59797103e-04 9.99984549e-01 6.42543468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:57.62, Z:0.64 [[ 7.44702104e-01 -6.67382424e-01 -4.41321700e-03 1.72544332e+02] [ 6.67367391e-01 7.44715071e-01 -4.49764480e-03 5.76172966e+01] [ 6.28823830e-03 4.04168430e-04 9.99980147e-01 6.42453284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:57.64, Z:0.64 [[ 7.44162414e-01 -6.67985801e-01 -4.15579121e-03 1.72562700e+02] [ 6.67972472e-01 7.44173923e-01 -4.23672274e-03 5.76367934e+01] [ 5.92270208e-03 3.76855698e-04 9.99982390e-01 6.42594879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:57.66, Z:0.64 [[ 7.43119444e-01 -6.69148217e-01 -3.76250042e-03 1.72582260e+02] [ 6.69137298e-01 7.43128894e-01 -3.83714667e-03 5.76575223e+01] [ 5.36364263e-03 3.33828933e-04 9.99985560e-01 6.42799086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:57.68, Z:0.64 [[ 7.40419570e-01 -6.72135916e-01 -3.48873603e-03 1.72601174e+02] [ 6.72126555e-01 7.40427732e-01 -3.55915881e-03 5.76771892e+01] [ 4.97539537e-03 2.90398709e-04 9.99987580e-01 6.43545445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:57.70, Z:0.64 [[ 7.38787845e-01 -6.73927358e-01 -3.79960706e-03 1.72621701e+02] [ 6.73916270e-01 7.38797553e-01 -3.87774841e-03 5.76969957e+01] [ 5.42046114e-03 3.04216376e-04 9.99985263e-01 6.43594077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:57.72, Z:0.64 [[ 7.37169921e-01 -6.75696340e-01 -3.86828034e-03 1.72641036e+02] [ 6.75684865e-01 7.37180010e-01 -3.94919942e-03 5.77156203e+01] [ 5.52007853e-03 2.97492538e-04 9.99984720e-01 6.43772933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:57.74, Z:0.64 [[ 7.35957467e-01 -6.77017816e-01 -3.67201747e-03 1.72660793e+02] [ 6.77007485e-01 7.35966577e-01 -3.75017044e-03 5.77352571e+01] [ 5.24141433e-03 2.73982626e-04 9.99986226e-01 6.44028695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:57.75, Z:0.64 [[ 7.35948276e-01 -6.77033183e-01 -2.49077416e-03 1.72679234e+02] [ 6.77028426e-01 7.35952468e-01 -2.54465802e-03 5.77545086e+01] [ 3.55590931e-03 1.86411775e-04 9.99993660e-01 6.43999646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:57.77, Z:0.64 [[ 7.37003488e-01 -6.75885763e-01 -2.07234355e-03 1.72698525e+02] [ 6.75882464e-01 7.37006384e-01 -2.11792660e-03 5.77744428e+01] [ 2.95880686e-03 1.60258623e-04 9.99995610e-01 6.44040988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:57.79, Z:0.64 [[ 7.38721396e-01 -6.74007892e-01 -2.01514554e-03 1.72717509e+02] [ 6.74004763e-01 7.38724126e-01 -2.06018888e-03 5.77933102e+01] [ 2.87722019e-03 1.63687911e-04 9.99995847e-01 6.43994214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:57.81, Z:0.64 [[ 7.40452674e-01 -6.72104433e-01 -2.33855711e-03 1.72736388e+02] [ 6.72100207e-01 7.40456340e-01 -2.39174869e-03 5.78124446e+01] [ 3.33910434e-03 1.99231997e-04 9.99994405e-01 6.44132446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:57.83, Z:0.64 [[ 7.42017569e-01 -6.70372183e-01 -3.32611784e-03 1.72754732e+02] [ 6.70363610e-01 7.42024965e-01 -3.40319664e-03 5.78330054e+01] [ 4.74947083e-03 2.95523337e-04 9.99988678e-01 6.43978654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:57.85, Z:0.64 [[ 7.45650044e-01 -6.66314527e-01 -5.56442784e-03 1.72771262e+02] [ 6.66290402e-01 7.45670611e-01 -5.69555899e-03 5.78547457e+01] [ 7.94426400e-03 5.39368951e-04 9.99968298e-01 6.43336594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:57.87, Z:0.64 [[ 7.47357240e-01 -6.64394123e-01 -6.13231452e-03 1.72789651e+02] [ 6.64364740e-01 7.47382142e-01 -6.27892931e-03 5.78749187e+01] [ 8.75486610e-03 6.18509738e-04 9.99961484e-01 6.42743003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:57.90, Z:0.64 [[ 7.48411801e-01 -6.63209775e-01 -5.70705230e-03 1.72808820e+02] [ 6.63184275e-01 7.48433328e-01 -5.84558717e-03 5.78953151e+01] [ 8.14819870e-03 5.90079076e-04 9.99966629e-01 6.42848088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52140051299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.83, Y:57.92, Z:0.64 [[ 7.48868225e-01 -6.62701714e-01 -4.77696030e-03 1.72826576e+02] [ 6.62683830e-01 7.48883294e-01 -4.89419131e-03 5.79155103e+01] [ 6.82077474e-03 4.99490017e-04 9.99976614e-01 6.43269702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:57.94, Z:0.64 [[ 7.47897662e-01 -6.63808766e-01 -2.64732629e-03 1.72842690e+02] [ 6.63803279e-01 7.47902298e-01 -2.71286285e-03 5.79381129e+01] [ 3.78076356e-03 2.71639908e-04 9.99992816e-01 6.44003429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:57.96, Z:0.64 [[ 7.46683004e-01 -6.65173687e-01 -2.90812531e-03 1.72861794e+02] [ 6.65167071e-01 7.46688610e-01 -2.98103283e-03 5.79588131e+01] [ 4.15436865e-03 2.91497355e-04 9.99991328e-01 6.43901641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:57.98, Z:0.64 [[ 7.45169013e-01 -6.66866626e-01 -3.47058742e-03 1.72881616e+02] [ 6.66857215e-01 7.45177019e-01 -3.55890819e-03 5.79780223e+01] [ 4.95951908e-03 3.37601847e-04 9.99987645e-01 6.43674096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:58.00, Z:0.64 [[ 7.43358659e-01 -6.68881057e-01 -4.00445906e-03 1.72901485e+02] [ 6.68868549e-01 7.43369350e-01 -4.10778826e-03 5.79965188e+01] [ 5.72441388e-03 3.75103256e-04 9.99983545e-01 6.43412789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:58.01, Z:0.64 [[ 7.41508078e-01 -6.70930786e-01 -4.20129213e-03 1.72920949e+02] [ 6.70917040e-01 7.41519883e-01 -4.31129843e-03 5.80148615e+01] [ 6.00792449e-03 3.78144132e-04 9.99981881e-01 6.42604965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:58.03, Z:0.64 [[ 7.39656643e-01 -6.72969833e-01 -4.43343511e-03 1.72941483e+02] [ 6.72954552e-01 7.39669830e-01 -4.55116718e-03 5.80346009e+01] [ 6.34207641e-03 3.82800699e-04 9.99979816e-01 6.42643528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:58.05, Z:0.64 [[ 7.38060468e-01 -6.74715410e-01 -5.08536416e-03 1.72961732e+02] [ 6.74695332e-01 7.38077866e-01 -5.22232702e-03 5.80533574e+01] [ 7.27697924e-03 4.23321661e-04 9.99973433e-01 6.42745671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:58.07, Z:0.64 [[ 7.38337716e-01 -6.74407333e-01 -5.67162187e-03 1.72980412e+02] [ 6.74382331e-01 7.38359345e-01 -5.82661170e-03 5.80726056e+01] [ 8.11720466e-03 4.77165597e-04 9.99966941e-01 6.42925513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:58.09, Z:0.64 [[ 7.39189357e-01 -6.73470473e-01 -6.05121554e-03 1.73000082e+02] [ 6.73441961e-01 7.39213941e-01 -6.21889025e-03 5.80930060e+01] [ 8.66138184e-03 5.21795026e-04 9.99962353e-01 6.43491735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:58.11, Z:0.64 [[ 7.40496583e-01 -6.72036386e-01 -5.64866293e-03 1.73019035e+02] [ 6.72011482e-01 7.40517955e-01 -5.80739646e-03 5.81117367e+01] [ 8.08571805e-03 5.04390882e-04 9.99967183e-01 6.43640724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:58.13, Z:0.65 [[ 7.43320153e-01 -6.68924281e-01 -3.93142064e-03 1.73040514e+02] [ 6.68912167e-01 7.43330455e-01 -4.04326019e-03 5.81293527e+01] [ 5.62697961e-03 3.75661684e-04 9.99984098e-01 6.45476704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:58.15, Z:0.65 [[ 7.44616768e-01 -6.67483196e-01 -3.47147654e-03 1.73061284e+02] [ 6.67473729e-01 7.44624782e-01 -3.57146822e-03 5.81486118e+01] [ 4.96884249e-03 3.42255731e-04 9.99987597e-01 6.46173725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:58.17, Z:0.65 [[ 7.45589483e-01 -6.66395430e-01 -3.66786083e-03 1.73081366e+02] [ 6.66384841e-01 7.45598413e-01 -3.77491658e-03 5.81683256e+01] [ 5.25033837e-03 3.70331246e-04 9.99986148e-01 6.46271217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:58.19, Z:0.65 [[ 7.45473398e-01 -6.66525292e-01 -3.66719301e-03 1.73101150e+02] [ 6.66514701e-01 7.45482326e-01 -3.77556532e-03 5.81888738e+01] [ 5.25033735e-03 3.70345451e-04 9.99986148e-01 6.46306307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:58.21, Z:0.65 [[ 7.46369779e-01 -6.65519377e-01 -4.01397754e-03 1.73119856e+02] [ 6.65506666e-01 7.46380457e-01 -4.13401929e-03 5.82084851e+01] [ 5.74722434e-03 4.14178257e-04 9.99983399e-01 6.46074720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:58.23, Z:0.65 [[ 7.47259709e-01 -6.64518684e-01 -4.22443000e-03 1.73138410e+02] [ 6.64504581e-01 7.47271517e-01 -4.35221974e-03 5.82285432e+01] [ 6.04892755e-03 4.45085368e-04 9.99981606e-01 6.46284342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:58.25, Z:0.65 [[ 7.49744296e-01 -6.61720334e-01 -3.11288593e-03 1.73155543e+02] [ 6.61712648e-01 7.49750679e-01 -3.20810230e-03 5.82514524e+01] [ 4.45675486e-03 3.45420410e-04 9.99990009e-01 6.46284840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:58.27, Z:0.65 [[ 7.51045031e-01 -6.60245848e-01 -2.60415243e-03 1.73172067e+02] [ 6.60240456e-01 7.51049487e-01 -2.68465445e-03 5.82727529e+01] [ 3.72837930e-03 2.96929598e-04 9.99993005e-01 6.46133073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:58.29, Z:0.65 [[ 7.52453501e-01 -6.58634956e-01 -3.70466079e-03 1.73190449e+02] [ 6.58639186e-01 7.52458911e-01 -1.02650616e-04 5.82931252e+01] [ 2.85521431e-03 -2.36279495e-03 9.99993132e-01 6.46881371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:58.32, Z:0.65 [[ 7.53368849e-01 -6.57598093e-01 -3.52926376e-04 1.73205157e+02] [ 6.57591570e-01 7.53363566e-01 -4.08227575e-03 5.83189450e+01] [ 2.95037863e-03 2.84337798e-03 9.99991605e-01 6.46263112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:58.34, Z:0.65 [[ 7.53684680e-01 -6.57232253e-01 -2.27362340e-03 1.73222535e+02] [ 6.57228122e-01 7.53688059e-01 -2.34621538e-03 5.83408784e+01] [ 3.25561123e-03 2.74017350e-04 9.99994663e-01 6.47731870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:58.36, Z:0.65 [[ 7.52896375e-01 -6.58134518e-01 -2.45050039e-03 1.73239607e+02] [ 6.58129722e-01 7.52900306e-01 -2.52963617e-03 5.83622850e+01] [ 3.50982338e-03 2.91806758e-04 9.99993798e-01 6.47520043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:58.38, Z:0.65 [[ 7.51936833e-01 -6.59229091e-01 -2.82921229e-03 1.73256626e+02] [ 6.59222700e-01 7.51942082e-01 -2.92165699e-03 5.83841487e+01] [ 4.05344506e-03 3.31820537e-04 9.99991730e-01 6.47155922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:58.41, Z:0.65 [[ 7.50918589e-01 -6.60389154e-01 -2.72712455e-03 1.73274520e+02] [ 6.60383220e-01 7.50923475e-01 -2.81725385e-03 5.84063910e+01] [ 3.90834574e-03 3.14580991e-04 9.99992313e-01 6.46391324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:58.43, Z:0.65 [[ 7.49719735e-01 -6.61751082e-01 -2.41350462e-03 1.73292103e+02] [ 6.61746438e-01 7.49723570e-01 -2.49408976e-03 5.84274757e+01] [ 3.45992790e-03 2.72740232e-04 9.99993977e-01 6.46140402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:58.45, Z:0.65 [[ 7.47128091e-01 -6.64678967e-01 -1.21939688e-03 1.73310463e+02] [ 6.64677784e-01 7.47129075e-01 -1.26040175e-03 5.84492625e+01] [ 1.74880939e-03 1.31175539e-04 9.99998462e-01 6.45990229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:58.47, Z:0.65 [[ 7.45840748e-01 -6.66124066e-01 -5.54057068e-04 1.73329210e+02] [ 6.66123823e-01 7.45840951e-01 -5.72723975e-04 5.84704328e+01] [ 7.94743674e-04 5.80902651e-05 9.99999683e-01 6.46037580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:58.49, Z:0.65 [[ 7.44903181e-01 -6.67172519e-01 -2.83772975e-04 1.73347448e+02] [ 6.67172456e-01 7.44903234e-01 -2.93306534e-04 5.84908508e+01] [ 4.07069466e-04 2.91594573e-05 9.99999917e-01 6.46059744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:58.51, Z:0.65 [[ 7.43974914e-01 -6.68207348e-01 -5.17408377e-04 1.73366095e+02] [ 6.68207135e-01 7.43975092e-01 -5.35212573e-04 5.85109438e+01] [ 7.42571919e-04 5.24487582e-05 9.99999723e-01 6.45729126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:58.53, Z:0.65 [[ 7.43154575e-01 -6.69118494e-01 -1.31091436e-03 1.73386266e+02] [ 6.69117131e-01 7.43155720e-01 -1.35692956e-03 5.85309097e+01] [ 1.88216016e-03 1.31253155e-04 9.99998220e-01 6.45243285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:58.55, Z:0.64 [[ 7.42036172e-01 -6.70350642e-01 -3.51231231e-03 1.73407790e+02] [ 6.70340862e-01 7.42044405e-01 -3.63738550e-03 5.85480854e+01] [ 5.04461541e-03 3.44625152e-04 9.99987216e-01 6.44345358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:58.57, Z:0.64 [[ 7.41530634e-01 -6.70904992e-01 -4.33725015e-03 1.73427616e+02] [ 6.70890078e-01 7.41543198e-01 -4.49322807e-03 5.85667417e+01] [ 6.23078748e-03 4.22048161e-04 9.99980499e-01 6.43841248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:58.59, Z:0.64 [[ 7.40964235e-01 -6.71527036e-01 -4.84167110e-03 1.73446794e+02] [ 6.71508452e-01 7.40979907e-01 -5.01764417e-03 5.85855333e+01] [ 6.95706471e-03 4.66671813e-04 9.99975690e-01 6.43504897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:58.60, Z:0.64 [[ 7.41204184e-01 -6.71261670e-01 -4.91204705e-03 1.73467976e+02] [ 6.71242523e-01 7.41220307e-01 -5.09241924e-03 5.86046028e+01] [ 7.05925486e-03 4.77347596e-04 9.99974969e-01 6.43730818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:58.62, Z:0.64 [[ 7.41883649e-01 -6.70513411e-01 -4.51852215e-03 1.73488271e+02] [ 6.70497184e-01 7.41897274e-01 -4.68614302e-03 5.86240535e+01] [ 6.49440101e-03 4.46916505e-04 9.99978811e-01 6.44176592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:58.64, Z:0.64 [[ 7.42784818e-01 -6.69516951e-01 -4.21506222e-03 1.73507903e+02] [ 6.69502805e-01 7.42796655e-01 -4.37302095e-03 5.86435272e+01] [ 6.05874577e-03 4.26217587e-04 9.99981555e-01 6.44514519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:58.66, Z:0.64 [[ 7.43736973e-01 -6.68459995e-01 -4.06827078e-03 1.73527307e+02] [ 6.68446792e-01 7.43747980e-01 -4.22227997e-03 5.86633604e+01] [ 5.84819343e-03 4.20843171e-04 9.99982811e-01 6.44548164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:58.68, Z:0.64 [[ 7.44540624e-01 -6.67562597e-01 -4.40894146e-03 1.73546815e+02] [ 6.67547065e-01 7.44553533e-01 -4.57742804e-03 5.86826352e+01] [ 6.33841269e-03 4.64905198e-04 9.99979804e-01 6.44138916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:58.70, Z:0.64 [[ 7.44466266e-01 -6.67640135e-01 -5.16030883e-03 1.73567374e+02] [ 6.67618846e-01 7.44483951e-01 -5.35944471e-03 5.87010969e+01] [ 7.41994750e-03 5.44806373e-04 9.99972323e-01 6.43569681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:58.72, Z:0.64 [[ 7.43434449e-01 -6.68791527e-01 -4.80762205e-03 1.73588310e+02] [ 6.68773060e-01 7.43449827e-01 -4.99490352e-03 5.87202660e+01] [ 6.91477493e-03 4.98175232e-04 9.99975969e-01 6.43808128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:58.74, Z:0.64 [[ 7.41715387e-01 -6.70703022e-01 -3.96755624e-03 1.73609388e+02] [ 6.70690464e-01 7.41725892e-01 -4.12353100e-03 5.87386422e+01] [ 5.70850389e-03 3.97484258e-04 9.99983627e-01 6.44225134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:58.76, Z:0.64 [[ 7.39742428e-01 -6.72882323e-01 -3.24341697e-03 1.73631517e+02] [ 6.72873945e-01 7.39749473e-01 -3.37207478e-03 5.87567160e+01] [ 4.66832550e-03 3.12056013e-04 9.99989055e-01 6.44769609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.66, Y:58.77, Z:0.65 [[ 7.35529695e-01 -6.77486231e-01 -2.91131269e-03 1.73656214e+02] [ 6.77479512e-01 7.35535412e-01 -3.02786745e-03 5.87724732e+01] [ 4.19271208e-03 2.54731720e-04 9.99991178e-01 6.45321377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:58.79, Z:0.64 [[ 7.33976914e-01 -6.79168618e-01 -2.80673556e-03 1.73677865e+02] [ 6.79162382e-01 7.33982242e-01 -2.92020929e-03 5.87898069e+01] [ 4.04340857e-03 2.37136993e-04 9.99991797e-01 6.44883084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:58.81, Z:0.64 [[ 7.32849312e-01 -6.80384015e-01 -3.07865051e-03 1.73699396e+02] [ 6.80376517e-01 7.32855735e-01 -3.20432745e-03 5.88073465e+01] [ 4.43637986e-03 2.53647660e-04 9.99990127e-01 6.44906770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:58.83, Z:0.64 [[ 7.32314568e-01 -6.80959204e-01 -3.15214565e-03 1.73721202e+02] [ 6.80951343e-01 7.32321307e-01 -3.28202596e-03 5.88250530e+01] [ 4.54330921e-03 2.57017603e-04 9.99989646e-01 6.44985636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:58.84, Z:0.65 [[ 7.31673057e-01 -6.81648234e-01 -3.19738320e-03 1.73744635e+02] [ 6.81640147e-01 7.31679998e-01 -3.33037623e-03 5.88414153e+01] [ 4.60960641e-03 2.57281806e-04 9.99989343e-01 6.45163443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:58.86, Z:0.65 [[ 7.31097773e-01 -6.82266296e-01 -2.95764423e-03 1.73764619e+02] [ 6.82259377e-01 7.31103718e-01 -3.08171371e-03 5.88600412e+01] [ 4.26489409e-03 2.35153524e-04 9.99990878e-01 6.45086061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:58.88, Z:0.65 [[ 7.30363107e-01 -6.83054791e-01 -2.42569071e-03 1.73784628e+02] [ 6.83050138e-01 7.30367111e-01 -2.52830344e-03 5.88798010e+01] [ 3.49861449e-03 1.89711183e-04 9.99993862e-01 6.45270229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:58.90, Z:0.65 [[ 7.29761800e-01 -6.83699495e-01 -1.64794629e-03 1.73804155e+02] [ 6.83697348e-01 7.29763649e-01 -1.71811024e-03 5.88982747e+01] [ 2.37728240e-03 1.27114707e-04 9.99997166e-01 6.45805491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:58.92, Z:0.65 [[ 7.28665725e-01 -6.84869437e-01 -3.40872060e-04 1.73824992e+02] [ 6.84869345e-01 7.28665804e-01 -3.55240799e-04 5.89167514e+01] [ 4.91675380e-04 2.53989693e-05 9.99999879e-01 6.46488282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:58.94, Z:0.65 [[ 7.27429386e-01 -6.86182328e-01 -5.48345913e-04 1.73842903e+02] [ 6.86182091e-01 7.27429592e-01 -5.71866231e-04 5.89363906e+01] [ 7.91287545e-04 3.97271561e-05 9.99999686e-01 6.46144606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:58.96, Z:0.65 [[ 7.25852808e-01 -6.87849190e-01 -1.09240913e-03 1.73861253e+02] [ 6.87848249e-01 7.25853626e-01 -1.14005209e-03 5.89579150e+01] [ 1.57711303e-03 7.60982969e-05 9.99998753e-01 6.45726539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:58.98, Z:0.65 [[ 7.22131578e-01 -6.91751172e-01 -2.51006141e-03 1.73877915e+02] [ 6.91746225e-01 7.22135923e-01 -2.62094138e-03 5.89794977e+01] [ 3.62564479e-03 1.56339034e-04 9.99993415e-01 6.45341443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:59.00, Z:0.65 [[ 7.19653892e-01 -6.94327868e-01 -2.66213193e-03 1.73896508e+02] [ 6.94322316e-01 7.19658800e-01 -2.78080032e-03 5.90001757e+01] [ 3.84661383e-03 1.52836165e-04 9.99992590e-01 6.45791779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:59.02, Z:0.65 [[ 7.16781353e-01 -6.97293783e-01 -2.42346512e-03 1.73915160e+02] [ 6.97289195e-01 7.16785439e-01 -2.53242550e-03 5.90210490e+01] [ 3.50294907e-03 1.25339332e-04 9.99993857e-01 6.45859600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:59.04, Z:0.65 [[ 7.13515168e-01 -7.00636694e-01 -2.08014307e-03 1.73932900e+02] [ 7.00633326e-01 7.13518194e-01 -2.17447440e-03 5.90413977e+01] [ 3.00773649e-03 9.41029087e-05 9.99995472e-01 6.45727549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:59.06, Z:0.65 [[ 7.10030615e-01 -7.04168087e-01 -1.95747510e-03 1.73951618e+02] [ 7.04165115e-01 7.10033309e-01 -2.04699996e-03 5.90620350e+01] [ 2.83130457e-03 7.50469608e-05 9.99995989e-01 6.45359602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:59.08, Z:0.64 [[ 7.02989604e-01 -7.11192894e-01 -3.20672742e-03 1.73971797e+02] [ 7.11184986e-01 7.02996914e-01 -3.35476106e-03 5.90821386e+01] [ 4.64020171e-03 7.77857518e-05 9.99989231e-01 6.44219019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:173.99, Y:59.10, Z:0.64 [[ 6.98984931e-01 -7.15123508e-01 -4.29353481e-03 1.73991121e+02] [ 7.15109394e-01 6.98998113e-01 -4.49352411e-03 5.91025092e+01] [ 6.21459746e-03 7.05585605e-05 9.99980687e-01 6.44427673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:174.01, Y:59.12, Z:0.64 [[ 6.95473370e-01 -7.18537983e-01 -4.46747426e-03 1.74010316e+02] [ 7.18522760e-01 6.95487717e-01 -4.67743398e-03 5.91231735e+01] [ 6.46798745e-03 4.30488365e-05 9.99979081e-01 6.44272948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:174.03, Y:59.14, Z:0.65 [[ 6.92952498e-01 -7.20966861e-01 -4.86019668e-03 1.74028644e+02] [ 7.20948888e-01 6.92969541e-01 -5.09077628e-03 5.91432136e+01] [ 7.03824926e-03 2.37127454e-05 9.99975231e-01 6.45176127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:59.16, Z:0.65 [[ 6.91549904e-01 -7.22313345e-01 -4.70765713e-03 1.74047836e+02] [ 7.22296501e-01 6.91565927e-01 -4.93291092e-03 5.91640053e+01] [ 6.81876265e-03 1.10298025e-05 9.99976752e-01 6.45424249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:174.07, Y:59.18, Z:0.65 [[ 6.90429827e-01 -7.23387516e-01 -4.14194386e-03 1.74066654e+02] [ 7.23374487e-01 6.90442250e-01 -4.34176591e-03 5.91844865e+01] [ 6.00055230e-03 1.50816778e-06 9.99981997e-01 6.46049349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.08, Y:59.21, Z:0.65 [[ 6.91390248e-01 -7.22475652e-01 -2.90801142e-03 1.74084993e+02] [ 7.22469217e-01 6.91396364e-01 -3.04939342e-03 5.92053020e+01] [ 4.21370102e-03 7.37214083e-06 9.99991122e-01 6.45843186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.10, Y:59.23, Z:0.65 [[ 6.92810774e-01 -7.21115653e-01 -2.33389815e-03 1.74102198e+02] [ 7.21111497e-01 6.92814705e-01 -2.44829364e-03 5.92266826e+01] [ 3.38246182e-03 1.32034238e-05 9.99994279e-01 6.46559790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:59.25, Z:0.65 [[ 6.95086997e-01 -7.18923413e-01 -1.78664632e-03 1.74119215e+02] [ 7.18920969e-01 6.95089293e-01 -1.87489698e-03 5.92473217e+01] [ 2.58978607e-03 1.87590060e-05 9.99996646e-01 6.46598014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:59.27, Z:0.65 [[ 6.97259217e-01 -7.16816463e-01 -1.93465316e-03 1.74136722e+02] [ 7.16813586e-01 6.97261900e-01 -2.03108187e-03 5.92678150e+01] [ 2.80487286e-03 2.94048869e-05 9.99996066e-01 6.46693892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:59.29, Z:0.65 [[ 7.01138035e-01 -7.13020873e-01 -2.58677496e-03 1.74153804e+02] [ 7.13015699e-01 7.01142804e-01 -2.71690429e-03 5.92899462e+01] [ 3.75090812e-03 6.05137793e-05 9.99992963e-01 6.46869801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:59.31, Z:0.65 [[ 7.02968514e-01 -7.11215712e-01 -2.73464973e-03 1.74170728e+02] [ 7.11209912e-01 7.02973829e-01 -2.87334183e-03 5.93122231e+01] [ 3.96595305e-03 7.49588442e-05 9.99992133e-01 6.46728653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:59.33, Z:0.65 [[ 7.05003460e-01 -7.09197866e-01 -2.91685286e-03 1.74187081e+02] [ 7.09191244e-01 7.05009488e-01 -3.06603634e-03 5.93346166e+01] [ 4.23083537e-03 9.29597235e-05 9.99991046e-01 6.46611673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68140051299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.20, Y:59.36, Z:0.65 [[ 7.07050891e-01 -7.07155401e-01 -3.20561671e-03 1.74203969e+02] [ 7.07147377e-01 7.07058148e-01 -3.37091257e-03 5.93570014e+01] [ 4.65031645e-03 1.16563285e-04 9.99989180e-01 6.47208314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:59.38, Z:0.65 [[ 7.11344648e-01 -7.02835462e-01 -3.33224608e-03 1.74219538e+02] [ 7.02826737e-01 7.11352437e-01 -3.50541380e-03 5.93806564e+01] [ 4.83413050e-03 1.51565710e-04 9.99988304e-01 6.47090512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:59.40, Z:0.65 [[ 7.13041762e-01 -7.01112595e-01 -3.54611441e-03 1.74235420e+02] [ 7.01102685e-01 7.13050558e-01 -3.73188746e-03 5.94032232e+01] [ 5.14503216e-03 1.74801276e-04 9.99986749e-01 6.46385158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:59.43, Z:0.65 [[ 7.14608279e-01 -6.99516079e-01 -3.50184432e-03 1.74251223e+02] [ 6.99506388e-01 7.14616836e-01 -3.68669013e-03 5.94269675e+01] [ 5.08137593e-03 1.84976822e-04 9.99987073e-01 6.45635755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:59.45, Z:0.64 [[ 7.15803968e-01 -6.98293856e-01 -3.22032796e-03 1.74267433e+02] [ 6.98285643e-01 7.15811189e-01 -3.39155941e-03 5.94503578e+01] [ 4.67345189e-03 1.78982902e-04 9.99989063e-01 6.44562619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:59.47, Z:0.64 [[ 7.17295578e-01 -6.96763471e-01 -2.77824592e-03 1.74283035e+02] [ 6.96757342e-01 7.17300940e-01 -2.92702621e-03 5.94744180e+01] [ 4.03228336e-03 1.63779716e-04 9.99991857e-01 6.44764185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:59.50, Z:0.64 [[ 7.17173045e-01 -6.96889595e-01 -2.77772065e-03 1.74302560e+02] [ 6.96883465e-01 7.17178406e-01 -2.92752468e-03 5.94952058e+01] [ 4.03228275e-03 1.63794199e-04 9.99991857e-01 6.44798704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:59.52, Z:0.65 [[ 7.17415276e-01 -6.96641542e-01 -2.42585530e-03 1.74319312e+02] [ 6.96636862e-01 7.17419362e-01 -2.55762017e-03 5.95163940e+01] [ 3.52210002e-03 1.44935556e-04 9.99993787e-01 6.45292967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:59.54, Z:0.65 [[ 7.17405081e-01 -6.96652095e-01 -2.41028973e-03 1.74335463e+02] [ 6.96647471e-01 7.17409115e-01 -2.54219749e-03 5.95379513e+01] [ 3.50019103e-03 1.44663150e-04 9.99993864e-01 6.45274227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:59.56, Z:0.65 [[ 7.17167501e-01 -6.96896295e-01 -2.51587339e-03 1.74352280e+02] [ 6.96891256e-01 7.17171898e-01 -2.65458004e-03 5.95609488e+01] [ 3.65428069e-03 1.50488368e-04 9.99993312e-01 6.45154403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:59.58, Z:0.65 [[ 7.16720431e-01 -6.97356040e-01 -2.52517047e-03 1.74368680e+02] [ 6.97350962e-01 7.16724864e-01 -2.66543157e-03 5.95829891e+01] [ 3.66860727e-03 1.49439212e-04 9.99993259e-01 6.45141967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:59.61, Z:0.64 [[ 7.15706672e-01 -6.98396407e-01 -2.53343108e-03 1.74384912e+02] [ 6.98391299e-01 7.15711141e-01 -2.67517720e-03 5.96060880e+01] [ 3.68153899e-03 1.45315944e-04 9.99993213e-01 6.44592718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04140051299999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:174.40, Y:59.63, Z:0.64 [[ 7.15040594e-01 -6.99082616e-01 6.66511613e-04 1.74400706e+02] [ 6.99073845e-01 7.15026111e-01 -5.78094262e-03 5.96299136e+01] [ 3.56478329e-03 4.59954949e-03 9.99983068e-01 6.42692370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:59.64, Z:0.65 [[ 7.14284345e-01 -6.99828923e-01 -6.11174035e-03 1.74424020e+02] [ 6.99841983e-01 7.14297696e-01 -2.38511326e-06 5.96444775e+01] [ 4.36727122e-03 -4.27554884e-03 9.99981323e-01 6.45914808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:59.67, Z:0.65 [[ 7.13823568e-01 -7.00317905e-01 -3.27793006e-03 1.74439952e+02] [ 7.00309358e-01 7.13831073e-01 -3.46460199e-03 5.96679155e+01] [ 4.76621114e-03 1.77549461e-04 9.99988626e-01 6.45479201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:59.69, Z:0.64 [[ 7.14988761e-01 -6.99123678e-01 -4.14166960e-03 1.74459254e+02] [ 6.99110004e-01 7.15000718e-01 -4.37894966e-03 5.96872593e+01] [ 6.02272413e-03 2.35417140e-04 9.99981836e-01 6.44906483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:59.71, Z:0.64 [[ 7.15865449e-01 -6.98228110e-01 -3.76365554e-03 1.74479288e+02] [ 6.98216798e-01 7.15875308e-01 -3.98069583e-03 5.97067502e+01] [ 5.47374180e-03 2.21795084e-04 9.99984994e-01 6.44737399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:59.73, Z:0.65 [[ 7.16442203e-01 -6.97639431e-01 -3.12938063e-03 1.74499063e+02] [ 6.97631601e-01 7.16449013e-01 -3.31080518e-03 5.97258333e+01] [ 4.55178991e-03 1.88845738e-04 9.99989623e-01 6.45349189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:59.75, Z:0.65 [[ 7.16724919e-01 -6.97352596e-01 -2.17885229e-03 1.74519374e+02] [ 6.97348796e-01 7.16728219e-01 -2.30588335e-03 5.97456383e+01] [ 3.16965866e-03 1.33264040e-04 9.99994968e-01 6.45532105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:174.54, Y:59.77, Z:0.64 [[ 7.17047512e-01 -6.97024284e-01 1.17027468e-04 1.74538044e+02] [ 6.97020236e-01 7.17042755e-01 -3.53234518e-03 5.97660685e+01] [ 2.37821667e-03 2.61442983e-03 9.99993754e-01 6.43491704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:59.78, Z:0.65 [[ 7.17277728e-01 -6.96778157e-01 -3.58617936e-03 1.74561995e+02] [ 6.96782050e-01 7.17282877e-01 -2.21570290e-04 5.97815054e+01] [ 2.72669039e-03 -2.33985798e-03 9.99993545e-01 6.45350817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:59.80, Z:0.65 [[ 7.18004750e-01 -6.96036574e-01 -1.50544117e-03 1.74582305e+02] [ 6.96034754e-01 7.18006322e-01 -1.59491006e-03 5.98005833e+01] [ 2.19103201e-03 9.73136232e-05 9.99997595e-01 6.45335169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:174.60, Y:59.82, Z:0.65 [[ 7.18657865e-01 -6.95361841e-01 -1.66826984e-03 1.74603240e+02] [ 6.95359602e-01 7.18659793e-01 -1.76812925e-03 5.98188400e+01] [ 2.42840806e-03 1.10632541e-04 9.99997045e-01 6.45709396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:59.84, Z:0.65 [[ 7.20792674e-01 -6.93148028e-01 -1.93171816e-03 1.74623779e+02] [ 6.93145016e-01 7.20795250e-01 -2.04804987e-03 5.98366493e+01] [ 2.81197501e-03 1.37258530e-04 9.99996037e-01 6.45956125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:59.86, Z:0.65 [[ 7.22207086e-01 -6.91673607e-01 -2.13234333e-03 1.74643220e+02] [ 6.91669928e-01 7.22210216e-01 -2.26154372e-03 5.98558129e+01] [ 3.10425024e-03 1.58425140e-04 9.99995169e-01 6.46151904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:59.88, Z:0.65 [[ 7.24067633e-01 -6.89724547e-01 -2.47232621e-03 1.74663397e+02] [ 6.89719586e-01 7.24071828e-01 -2.62314733e-03 5.98750618e+01] [ 3.59939086e-03 1.94124275e-04 9.99993503e-01 6.46202476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:59.89, Z:0.65 [[ 7.26051765e-01 -6.87634319e-01 -2.80679490e-03 1.74683494e+02] [ 6.87627905e-01 7.26057153e-01 -2.97913299e-03 5.98941655e+01] [ 4.08644760e-03 2.32974271e-04 9.99991623e-01 6.46477950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49140051299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:174.70, Y:59.91, Z:0.65 [[ 7.27640789e-01 -6.85950183e-01 -3.35088576e-03 1.74702690e+02] [ 6.85941017e-01 7.27648447e-01 -3.55798478e-03 5.99147014e+01] [ 4.87886713e-03 2.90424871e-04 9.99988056e-01 6.46440246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:59.94, Z:0.65 [[ 7.30057354e-01 -6.83378615e-01 -3.15091309e-03 1.74720839e+02] [ 6.83370481e-01 7.30064096e-01 -3.34687165e-03 5.99363899e+01] [ 4.58754903e-03 2.90167262e-04 9.99989435e-01 6.45546082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.74, Y:59.96, Z:0.65 [[ 7.30337859e-01 -6.83080352e-01 -2.80065107e-03 1.74740002e+02] [ 6.83073919e-01 7.30343183e-01 -2.97589429e-03 5.99567565e+01] [ 4.07821134e-03 2.60356560e-04 9.99991650e-01 6.45817285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:59.98, Z:0.65 [[ 7.30247243e-01 -6.83178881e-01 -2.36225061e-03 1.74760140e+02] [ 6.83174302e-01 7.30251031e-01 -2.51093983e-03 5.99761693e+01] [ 3.44045701e-03 2.19777974e-04 9.99994057e-01 6.46604358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:59.99, Z:0.65 [[ 7.29761046e-01 -6.83699336e-01 -2.00859790e-03 1.74780030e+02] [ 6.83696025e-01 7.29763787e-01 -2.13572025e-03 5.99942328e+01] [ 2.92599252e-03 1.85295043e-04 9.99995702e-01 6.47655744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:60.02, Z:0.65 [[ 7.29728487e-01 -6.83733140e-01 -2.30835566e-03 1.74799305e+02] [ 6.83728764e-01 7.29732107e-01 -2.45535759e-03 6.00151766e+01] [ 3.36329059e-03 2.13455220e-04 9.99994321e-01 6.46897930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:60.04, Z:0.65 [[ 7.29868701e-01 -6.83581602e-01 -2.80568154e-03 1.74818288e+02] [ 6.83575133e-01 7.29874047e-01 -2.98553091e-03 6.00359675e+01] [ 4.08864815e-03 2.61151439e-04 9.99991607e-01 6.46091743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:60.06, Z:0.65 [[ 7.30447377e-01 -6.82962141e-01 -3.05659374e-03 1.74836585e+02] [ 6.82954452e-01 7.30453715e-01 -3.25368376e-03 6.00555775e+01] [ 4.45484308e-03 2.89130461e-04 9.99990035e-01 6.45498487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.85, Y:60.08, Z:0.65 [[ 7.32234776e-01 -6.81048155e-01 -2.37581619e-03 1.74854161e+02] [ 6.81043496e-01 7.32238592e-01 -2.52978617e-03 6.00759574e+01] [ 3.46257051e-03 2.34363243e-04 9.99993978e-01 6.45965119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:60.10, Z:0.65 [[ 7.33397417e-01 -6.79796811e-01 -2.12736755e-03 1.74872017e+02] [ 6.79793068e-01 7.33400470e-01 -2.26599716e-03 6.00981103e+01] [ 3.10063001e-03 2.15706750e-04 9.99995170e-01 6.46161036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:60.12, Z:0.65 [[ 7.34566176e-01 -6.78531756e-01 -2.68122122e-03 1.74889751e+02] [ 6.78525799e-01 7.34571016e-01 -2.85706053e-03 6.01199129e+01] [ 3.90815370e-03 2.79422257e-04 9.99992324e-01 6.46285740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.91, Y:60.14, Z:0.65 [[ 7.35412644e-01 -6.77611454e-01 -3.31069162e-03 1.74908336e+02] [ 6.77602355e-01 7.35420012e-01 -3.52919029e-03 6.01409670e+01] [ 4.82616863e-03 3.52078723e-04 9.99988292e-01 6.45913391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.93, Y:60.16, Z:0.65 [[ 7.35807452e-01 -6.77180995e-01 -3.64603091e-03 1.74926985e+02] [ 6.77169947e-01 7.35816381e-01 -3.88802136e-03 6.01608544e+01] [ 5.31570344e-03 3.91852526e-04 9.99985795e-01 6.46250071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.94, Y:60.18, Z:0.65 [[ 7.36233254e-01 -6.76725116e-01 -1.92703821e-03 1.74944439e+02] [ 6.76722026e-01 7.36235746e-01 -2.05547231e-03 6.01813195e+01] [ 2.80974415e-03 2.09237864e-04 9.99996031e-01 6.46876348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:60.20, Z:0.65 [[ 7.36247665e-01 -6.76711395e-01 -1.03083266e-03 1.74961940e+02] [ 6.76710511e-01 7.36248379e-01 -1.09976455e-03 6.02032798e+01] [ 1.50317208e-03 1.12123786e-04 9.99998864e-01 6.47190749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:60.23, Z:0.65 [[ 7.36178835e-01 -6.76786788e-01 -6.05671966e-04 1.74978703e+02] [ 6.76786483e-01 7.36179081e-01 -6.46282014e-04 6.02251937e+01] [ 8.83278160e-04 6.58685400e-05 9.99999608e-01 6.47228984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:60.25, Z:0.65 [[ 7.35883622e-01 -6.77107206e-01 -1.06136277e-03 1.74995115e+02] [ 6.77106268e-01 7.35884378e-01 -1.13312971e-03 6.02466517e+01] [ 1.54829057e-03 1.15196206e-04 9.99998795e-01 6.47030588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:60.27, Z:0.65 [[ 7.34703889e-01 -6.78383438e-01 -2.47129337e-03 1.75011278e+02] [ 6.78378353e-01 7.34707998e-01 -2.63983290e-03 6.02701188e+01] [ 3.60649792e-03 2.63023573e-04 9.99993462e-01 6.45838265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.03, Y:60.29, Z:0.65 [[ 7.34088125e-01 -6.79049206e-01 -2.60770203e-03 1.75028726e+02] [ 6.79043545e-01 7.34092705e-01 -2.78651739e-03 6.02907421e+01] [ 3.80647746e-03 2.74806094e-04 9.99992718e-01 6.45523908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:60.31, Z:0.65 [[ 7.33462340e-01 -6.79725890e-01 -2.38962005e-03 1.75046296e+02] [ 6.79721136e-01 7.33466190e-01 -2.55437155e-03 6.03107261e+01] [ 3.48897799e-03 2.49260076e-04 9.99993882e-01 6.45491449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.06, Y:60.33, Z:0.65 [[ 7.32838325e-01 -6.80400254e-01 -1.86681340e-03 1.75064976e+02] [ 6.80397353e-01 7.32840677e-01 -1.99618989e-03 6.03310333e+01] [ 2.72628490e-03 1.92709563e-04 9.99996265e-01 6.45814716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:60.35, Z:0.65 [[ 7.31055676e-01 -6.82314683e-01 -2.06707579e-03 1.75082806e+02] [ 6.82311131e-01 7.31058569e-01 -2.21119246e-03 6.03523842e+01] [ 3.01988255e-03 2.06115974e-04 9.99995419e-01 6.46347473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:60.37, Z:0.65 [[ 7.30078591e-01 -6.83358001e-01 -2.66318482e-03 1.75099725e+02] [ 6.83352109e-01 7.30083402e-01 -2.84979700e-03 6.03729731e+01] [ 3.89177861e-03 2.60682818e-04 9.99992393e-01 6.46081598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:60.39, Z:0.65 [[ 7.29340447e-01 -6.84143737e-01 -3.14007067e-03 1.75116902e+02] [ 6.84135547e-01 7.29347143e-01 -3.36118367e-03 6.03932177e+01] [ 4.58973433e-03 3.03213235e-04 9.99989421e-01 6.45619541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:60.41, Z:0.65 [[ 7.28843603e-01 -6.84672230e-01 -3.30768610e-03 1.75135702e+02] [ 6.84663141e-01 7.28851039e-01 -3.54190879e-03 6.04145265e+01] [ 4.83585704e-03 3.16846811e-04 9.99988257e-01 6.45352615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:60.43, Z:0.65 [[ 7.28903774e-01 -6.84609082e-01 -3.11341478e-03 1.75153662e+02] [ 6.84601024e-01 7.28910362e-01 -3.33502510e-03 6.04346918e+01] [ 4.55258876e-03 2.99465433e-04 9.99989592e-01 6.45285561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.17, Y:60.46, Z:0.65 [[ 7.30109081e-01 -6.83325411e-01 -2.66708530e-03 1.75171220e+02] [ 6.83319485e-01 7.30113905e-01 -2.85783925e-03 6.04557855e+01] [ 3.90011024e-03 2.64063030e-04 9.99992360e-01 6.45046292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.19, Y:60.48, Z:0.65 [[ 7.30569660e-01 -6.82831510e-01 -3.01677039e-03 1.75189279e+02] [ 6.82823919e-01 7.30575826e-01 -3.23376406e-03 6.04752640e+01] [ 4.41209552e-03 3.02566929e-04 9.99990221e-01 6.45253209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:60.50, Z:0.65 [[ 7.30750822e-01 -6.82635679e-01 -3.43017498e-03 1.75208833e+02] [ 6.82625857e-01 7.30758790e-01 -3.67829753e-03 6.04951761e+01] [ 5.01756765e-03 3.46392811e-04 9.99987352e-01 6.45802803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:60.51, Z:0.65 [[ 7.30789515e-01 -6.82593601e-01 -3.55830626e-03 1.75228095e+02] [ 6.82583023e-01 7.30798089e-01 -3.81714484e-03 6.05144223e+01] [ 5.20596205e-03 3.60689983e-04 9.99986384e-01 6.46277586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:60.54, Z:0.65 [[ 7.31057594e-01 -6.82304424e-01 -3.93268056e-03 1.75246886e+02] [ 6.82291491e-01 7.31068062e-01 -4.22033740e-03 6.05357154e+01] [ 5.75461203e-03 4.02075225e-04 9.99983361e-01 6.45627470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.26, Y:60.56, Z:0.65 [[ 7.30966304e-01 -6.82400429e-01 -4.23286867e-03 1.75264600e+02] [ 6.82385436e-01 7.30978431e-01 -4.54418019e-03 6.05570805e+01] [ 6.19508621e-03 4.33194663e-04 9.99980716e-01 6.45757776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:60.58, Z:0.64 [[ 7.31158933e-01 -6.82196761e-01 -3.76735347e-03 1.75281895e+02] [ 6.82184875e-01 7.31168536e-01 -4.04576477e-03 6.05777908e+01] [ 5.51457795e-03 3.88065502e-04 9.99984719e-01 6.44869103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:60.60, Z:0.64 [[ 7.31800936e-01 -6.81509314e-01 -3.52776727e-03 1.75300363e+02] [ 6.81498876e-01 7.31809346e-01 -3.78982105e-03 6.05983251e+01] [ 5.16445140e-03 3.69225166e-04 9.99986596e-01 6.44483460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:60.62, Z:0.64 [[ 7.32110338e-01 -6.81175592e-01 -3.77700501e-03 1.75318325e+02] [ 6.81163616e-01 7.32119972e-01 -4.05897675e-03 6.06182496e+01] [ 5.53009670e-03 3.98860451e-04 9.99984629e-01 6.44134838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:60.64, Z:0.64 [[ 7.32400498e-01 -6.80863075e-01 -3.87098469e-03 1.75336350e+02] [ 6.80850482e-01 7.32410611e-01 -4.16149535e-03 6.06401192e+01] [ 5.66855878e-03 4.12319473e-04 9.99983849e-01 6.43899414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:60.66, Z:0.64 [[ 7.32558922e-01 -6.80693035e-01 -3.79706630e-03 1.75352594e+02] [ 6.80680909e-01 7.32568650e-01 -4.08317047e-03 6.06615082e+01] [ 5.56099743e-03 4.06572416e-04 9.99984455e-01 6.43462101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:60.68, Z:0.64 [[ 7.32502403e-01 -6.80753783e-01 -3.80995556e-03 1.75369218e+02] [ 6.80741571e-01 7.32512198e-01 -4.09805225e-03 6.06829698e+01] [ 5.58060350e-03 4.08237989e-04 9.99984345e-01 6.43310541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:60.70, Z:0.64 [[ 7.31265027e-01 -6.82083198e-01 -3.73790955e-03 1.75387662e+02] [ 6.82071453e-01 7.31274475e-01 -4.02192541e-03 6.07044325e+01] [ 5.47672559e-03 3.91571995e-04 9.99984926e-01 6.43730666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.41, Y:60.72, Z:0.64 [[ 7.30086842e-01 -6.83345858e-01 -3.41192027e-03 1.75406380e+02] [ 6.83336079e-01 7.30094731e-01 -3.67250101e-03 6.07249987e+01] [ 5.00061337e-03 3.49756444e-04 9.99987436e-01 6.44015667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:60.75, Z:0.64 [[ 7.28714140e-01 -6.84811168e-01 -3.06030498e-03 1.75424281e+02] [ 6.84803310e-01 7.28720502e-01 -3.29494112e-03 6.07453220e+01] [ 4.48651946e-03 3.05363206e-04 9.99989889e-01 6.44240389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:60.77, Z:0.64 [[ 7.27212104e-01 -6.86407285e-01 -2.75592724e-03 1.75442849e+02] [ 6.86400920e-01 7.27217277e-01 -2.96819758e-03 6.07667185e+01] [ 4.04155034e-03 2.66838217e-04 9.99991797e-01 6.43858585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:60.79, Z:0.64 [[ 7.27093479e-01 -6.86532942e-01 -2.75540311e-03 1.75462147e+02] [ 6.86526575e-01 7.27098651e-01 -2.96868411e-03 6.07877090e+01] [ 4.04154932e-03 2.66853402e-04 9.99991797e-01 6.43894089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:60.81, Z:0.64 [[ 7.25670623e-01 -6.88036949e-01 -2.70251398e-03 1.75479974e+02] [ 6.88030831e-01 7.25675611e-01 -2.91267495e-03 6.08074767e+01] [ 3.96517647e-03 2.54229703e-04 9.99992106e-01 6.43152115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:60.83, Z:0.64 [[ 7.23459469e-01 -6.90362625e-01 -2.41707083e-03 1.75500832e+02] [ 6.90357741e-01 7.23463474e-01 -2.60592169e-03 6.08259584e+01] [ 3.54769341e-03 2.16635165e-04 9.99993683e-01 6.43883753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.52, Y:60.85, Z:0.64 [[ 7.22600690e-01 -6.91261880e-01 -2.29266361e-03 1.75520924e+02] [ 6.91257487e-01 7.22604299e-01 -2.47267882e-03 6.08453852e+01] [ 3.36595719e-03 2.01938537e-04 9.99994315e-01 6.44612631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.54, Y:60.87, Z:0.64 [[ 7.21977099e-01 -6.91912891e-01 -2.37065072e-03 1.75540082e+02] [ 6.91908194e-01 7.21980961e-01 -2.55774361e-03 6.08658635e+01] [ 3.48130046e-03 2.06359649e-04 9.99993919e-01 6.44777082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:60.89, Z:0.64 [[ 7.22348472e-01 -6.91523427e-01 -2.83474218e-03 1.75557094e+02] [ 6.91516703e-01 7.22353991e-01 -3.05970942e-03 6.08874001e+01] [ 4.16354807e-03 2.49904862e-04 9.99991301e-01 6.44413183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:60.91, Z:0.64 [[ 7.23369616e-01 -6.90454635e-01 -2.96586625e-03 1.75575919e+02] [ 6.90447260e-01 7.23375646e-01 -3.20245882e-03 6.09080312e+01] [ 4.35658795e-03 2.68787178e-04 9.99990474e-01 6.44530751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:60.93, Z:0.64 [[ 7.24604195e-01 -6.89158261e-01 -3.10679877e-03 1.75594259e+02] [ 6.89150151e-01 7.24610797e-01 -3.35593826e-03 6.09278954e+01] [ 4.56399251e-03 2.90676101e-04 9.99989543e-01 6.44749335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:60.95, Z:0.64 [[ 7.25790226e-01 -6.87907759e-01 -3.38586530e-03 1.75613417e+02] [ 6.87898106e-01 7.25798050e-01 -3.65876463e-03 6.09477647e+01] [ 4.97434701e-03 3.26365285e-04 9.99987575e-01 6.44947440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:60.97, Z:0.64 [[ 7.27814935e-01 -6.85767241e-01 -2.95148536e-03 1.75631549e+02] [ 6.85759883e-01 7.27820859e-01 -3.19053377e-03 6.09672081e+01] [ 4.33611616e-03 2.98107873e-04 9.99990555e-01 6.44749577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.65, Y:60.99, Z:0.64 [[ 7.28249567e-01 -6.85308513e-01 -2.19296150e-03 1.75651211e+02] [ 6.85304447e-01 7.28252835e-01 -2.37135591e-03 6.09873431e+01] [ 3.22214082e-03 2.24092648e-04 9.99994784e-01 6.44749128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.67, Y:61.01, Z:0.64 [[ 7.28235574e-01 -6.85324620e-01 -1.76476197e-03 1.75670770e+02] [ 6.85321985e-01 7.28237690e-01 -1.90895779e-03 6.10067710e+01] [ 2.59342195e-03 1.80740795e-04 9.99996621e-01 6.44932542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:61.03, Z:0.65 [[ 7.27385157e-01 -6.86226478e-01 -2.01339846e-03 1.75691388e+02] [ 6.86223049e-01 7.27387916e-01 -2.17877389e-03 6.10257805e+01] [ 2.95965404e-03 2.03167355e-04 9.99995600e-01 6.45512683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:61.04, Z:0.65 [[ 7.27068434e-01 -6.86562021e-01 -2.02068173e-03 1.75710088e+02] [ 6.86558566e-01 7.27071214e-01 -2.18742803e-03 6.10449747e+01] [ 2.97098452e-03 2.03093522e-04 9.99995566e-01 6.45285328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:61.06, Z:0.65 [[ 7.27249351e-01 -6.86370113e-01 -2.10920050e-03 1.75729204e+02] [ 6.86366346e-01 7.27252379e-01 -2.28391800e-03 6.10643604e+01] [ 3.10153414e-03 2.13293643e-04 9.99995167e-01 6.45337083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.75, Y:61.08, Z:0.65 [[ 7.27713283e-01 -6.85878438e-01 -2.03640543e-03 1.75748933e+02] [ 6.85874922e-01 7.27716102e-01 -2.20577475e-03 6.10838568e+01] [ 2.99481836e-03 2.08452166e-04 9.99995494e-01 6.45420303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:61.10, Z:0.65 [[ 7.29707058e-01 -6.83756203e-01 -2.25062074e-03 1.75769292e+02] [ 6.83751896e-01 7.29710489e-01 -2.43870815e-03 6.11027351e+01] [ 3.30978338e-03 2.40676345e-04 9.99994494e-01 6.45464783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:61.12, Z:0.64 [[ 7.30781887e-01 -6.82603056e-01 -3.30166893e-03 1.75788324e+02] [ 6.82593770e-01 7.30789256e-01 -3.57901463e-03 6.11235736e+01] [ 4.85587051e-03 3.61780420e-04 9.99988145e-01 6.44857386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:61.14, Z:0.64 [[ 7.31969907e-01 -6.81321840e-01 -4.53937207e-03 1.75806520e+02] [ 6.81304251e-01 7.31983804e-01 -4.92217167e-03 6.11434411e+01] [ 6.67632989e-03 5.10188051e-04 9.99977583e-01 6.44252473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:61.16, Z:0.64 [[ 7.32928262e-01 -6.80284920e-01 -5.34705326e-03 1.75825472e+02] [ 6.80260471e-01 7.32947510e-01 -5.79996881e-03 6.11637054e+01] [ 7.86474068e-03 6.13572090e-04 9.99968884e-01 6.43972648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:61.18, Z:0.64 [[ 7.33881123e-01 -6.79257212e-01 -5.30434777e-03 1.75844718e+02] [ 6.79233110e-01 7.33900030e-01 -5.75571211e-03 6.11839548e+01] [ 7.80246995e-03 6.21119835e-04 9.99969367e-01 6.44437442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:61.20, Z:0.65 [[ 7.35751886e-01 -6.77242579e-01 -3.41326941e-03 1.75863448e+02] [ 6.77232572e-01 7.35759687e-01 -3.70497157e-03 6.12046746e+01] [ 5.02051054e-03 4.14362598e-04 9.99987311e-01 6.45821422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:61.23, Z:0.65 [[ 7.36683707e-01 -6.76232329e-01 -2.63678604e-03 1.75881298e+02] [ 6.76226347e-01 7.36688354e-01 -2.86304600e-03 6.12250529e+01] [ 3.87857383e-03 3.26095145e-04 9.99992425e-01 6.46105040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.90, Y:61.25, Z:0.65 [[ 7.37456349e-01 -6.75390223e-01 -2.48582840e-03 1.75900463e+02] [ 6.75384898e-01 7.37460473e-01 -2.70009244e-03 6.12459960e+01] [ 3.65681622e-03 3.12309349e-04 9.99993265e-01 6.46128970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:61.27, Z:0.65 [[ 7.38401223e-01 -6.74356442e-01 -2.65007657e-03 1.75919169e+02] [ 6.74350381e-01 7.38405900e-01 -2.87936459e-03 6.12661503e+01] [ 3.89855024e-03 3.39046188e-04 9.99992343e-01 6.45691209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:61.29, Z:0.65 [[ 7.40237179e-01 -6.72338281e-01 -3.18652788e-03 1.75935672e+02] [ 6.72329493e-01 7.40243918e-01 -3.46346343e-03 6.12882842e+01] [ 4.68742694e-03 4.21387727e-04 9.99988925e-01 6.45412350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:61.31, Z:0.64 [[ 7.40880511e-01 -6.71630758e-01 -2.86245201e-03 1.75952254e+02] [ 6.71623656e-01 7.40885942e-01 -3.11230702e-03 6.13114541e+01] [ 4.21107157e-03 3.83357134e-04 9.99991060e-01 6.44963915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:61.33, Z:0.65 [[ 7.41566666e-01 -6.70873614e-01 -2.73386425e-03 1.75968701e+02] [ 6.70867127e-01 7.41571612e-01 -2.97353096e-03 6.13342472e+01] [ 4.02221958e-03 3.71011789e-04 9.99991842e-01 6.45009966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:61.36, Z:0.65 [[ 7.42304487e-01 -6.70057029e-01 -2.76170179e-03 1.75986170e+02] [ 6.70050399e-01 7.42309527e-01 -3.00488419e-03 6.13564067e+01] [ 4.06348132e-03 3.80059626e-04 9.99991672e-01 6.45206822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:61.38, Z:0.65 [[ 7.42819372e-01 -6.69481169e-01 -3.78756651e-03 1.76002333e+02] [ 6.69468682e-01 7.42828841e-01 -4.12269427e-03 6.13799408e+01] [ 5.57357982e-03 5.26760004e-04 9.99984329e-01 6.45352094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:61.40, Z:0.65 [[ 7.42586084e-01 -6.69740513e-01 -3.68145065e-03 1.76018862e+02] [ 6.69728711e-01 7.42595034e-01 -4.00864432e-03 6.14027403e+01] [ 5.41857847e-03 5.11190285e-04 9.99985189e-01 6.45040136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.04, Y:61.42, Z:0.65 [[ 7.42444364e-01 -6.69899997e-01 -3.21874596e-03 1.76035342e+02] [ 6.69890972e-01 7.42451206e-01 -3.50596181e-03 6.14248896e+01] [ 4.73840563e-03 4.46772729e-04 9.99988674e-01 6.45384854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71140051299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:176.05, Y:61.45, Z:0.65 [[ 7.42251915e-01 -6.70115119e-01 -2.79676167e-03 1.76051806e+02] [ 6.70108303e-01 7.42257082e-01 -3.04726475e-03 6.14461959e+01] [ 4.11793434e-03 3.87704877e-04 9.99991446e-01 6.45596792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:61.47, Z:0.65 [[ 7.43256352e-01 -6.69003367e-01 -2.11899077e-03 1.76067024e+02] [ 6.68999448e-01 7.43259312e-01 -2.30950159e-03 6.14698923e+01] [ 3.12002397e-03 2.98948072e-04 9.99995088e-01 6.46003435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:61.49, Z:0.65 [[ 7.43607582e-01 -6.68612379e-01 -2.29141221e-03 1.76082652e+02] [ 6.68607790e-01 7.43611042e-01 -2.49834969e-03 6.14934227e+01] [ 3.37434695e-03 3.25735713e-04 9.99994254e-01 6.45522320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.10, Y:61.52, Z:0.65 [[ 7.43815429e-01 -6.68378827e-01 -2.88993100e-03 1.76097747e+02] [ 6.68371522e-01 7.43820928e-01 -3.15206674e-03 6.15155712e+01] [ 4.25636583e-03 4.13008292e-04 9.99990856e-01 6.45288780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:61.54, Z:0.64 [[ 7.42949656e-01 -6.69333493e-01 -4.29924152e-03 1.76114035e+02] [ 6.69317330e-01 7.42961847e-01 -4.69103163e-03 6.15386703e+01] [ 6.33403701e-03 6.07643482e-04 9.99979755e-01 6.44780410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.13, Y:61.56, Z:0.65 [[ 7.41547648e-01 -6.70884232e-01 -4.62963888e-03 1.76131714e+02] [ 6.70865507e-01 7.41561822e-01 -5.05325613e-03 6.15591033e+01] [ 6.82331330e-03 6.41365168e-04 9.99976515e-01 6.45065281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:61.58, Z:0.64 [[ 7.39862514e-01 -6.72744505e-01 -4.27691572e-03 1.76149080e+02] [ 6.72728546e-01 7.39874650e-01 -4.66975160e-03 6.15798356e+01] [ 6.30593125e-03 5.77770865e-04 9.99979951e-01 6.44667586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:61.60, Z:0.64 [[ 7.38256387e-01 -6.74508150e-01 -4.03259676e-03 1.76167305e+02] [ 6.74493979e-01 7.38267209e-01 -4.40450873e-03 6.16016169e+01] [ 5.94801099e-03 5.31694467e-04 9.99982169e-01 6.44485675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:61.62, Z:0.64 [[ 7.36786666e-01 -6.76111529e-01 -4.31389170e-03 1.76185013e+02] [ 6.76095331e-01 7.36799085e-01 -4.71301325e-03 6.16217495e+01] [ 6.36499405e-03 5.55883278e-04 9.99979589e-01 6.44499671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:61.64, Z:0.64 [[ 7.34354886e-01 -6.78746177e-01 -5.15051973e-03 1.76202467e+02] [ 6.78723135e-01 7.34372671e-01 -5.62904717e-03 6.16421624e+01] [ 7.60309517e-03 6.37941397e-04 9.99970893e-01 6.44989202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:61.66, Z:0.65 [[ 7.33710096e-01 -6.79446683e-01 -4.65834103e-03 1.76219937e+02] [ 6.79427835e-01 7.33724661e-01 -5.09299563e-03 6.16642851e+01] [ 6.87835868e-03 5.71775753e-04 9.99976180e-01 6.45760327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:61.69, Z:0.65 [[ 7.33508361e-01 -6.79669904e-01 -3.78234913e-03 1.76236645e+02] [ 6.79657474e-01 7.33517966e-01 -4.13661742e-03 6.16856010e+01] [ 5.58595541e-03 4.63541604e-04 9.99984291e-01 6.46157037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:61.71, Z:0.65 [[ 7.33784796e-01 -6.79374874e-01 -3.10701015e-03 1.76254611e+02] [ 6.79366479e-01 7.33791274e-01 -3.39916333e-03 6.17069219e+01] [ 4.58920309e-03 3.83455825e-04 9.99989396e-01 6.46622512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:61.73, Z:0.65 [[ 7.34234066e-01 -6.78890145e-01 -2.91665144e-03 1.76274116e+02] [ 6.78882739e-01 7.34239769e-01 -3.19194158e-03 6.17257498e+01] [ 4.30849916e-03 3.63567926e-04 9.99990652e-01 6.47579525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:61.75, Z:0.65 [[ 7.33657066e-01 -6.79512778e-01 -3.11357396e-03 1.76293946e+02] [ 6.79504337e-01 7.33663572e-01 -3.40866706e-03 6.17462181e+01] [ 4.60054862e-03 3.85105660e-04 9.99989343e-01 6.47948388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:61.77, Z:0.65 [[ 7.33050975e-01 -6.80166026e-01 -3.23188942e-03 1.76312531e+02] [ 6.80156932e-01 7.33057992e-01 -3.53948985e-03 6.17672568e+01] [ 4.77660312e-03 3.96434493e-04 9.99988513e-01 6.48241651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:61.79, Z:0.65 [[ 7.32765200e-01 -6.80474759e-01 -3.04355039e-03 1.76330692e+02] [ 6.80466692e-01 7.32771426e-01 -3.33441386e-03 6.17885047e+01] [ 4.49921123e-03 3.72307779e-04 9.99989809e-01 6.47832289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:61.81, Z:0.65 [[ 7.33145908e-01 -6.80063638e-01 -3.24427999e-03 1.76351087e+02] [ 6.80054461e-01 7.33152977e-01 -3.55567236e-03 6.18081388e+01] [ 4.79663701e-03 4.00539556e-04 9.99988416e-01 6.46661887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:61.83, Z:0.65 [[ 7.33542674e-01 -6.79635510e-01 -3.27393510e-03 1.76370157e+02] [ 6.79626154e-01 7.33549867e-01 -3.58942205e-03 6.18266838e+01] [ 4.84109334e-03 4.07942335e-04 9.99988199e-01 6.46692436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.39, Y:61.85, Z:0.65 [[ 7.34002207e-01 -6.79139617e-01 -3.18439826e-03 1.76389667e+02] [ 6.79130755e-01 7.34009005e-01 -3.49248512e-03 6.18467019e+01] [ 4.70926201e-03 4.00868985e-04 9.99988831e-01 6.47344259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:61.87, Z:0.65 [[ 7.34613328e-01 -6.78480186e-01 -2.81000450e-03 1.76408907e+02] [ 6.78473276e-01 7.34618615e-01 -3.08296353e-03 6.18676424e+01] [ 4.15601128e-03 3.58273137e-04 9.99991300e-01 6.47862630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:61.89, Z:0.65 [[ 7.36075457e-01 -6.76896021e-01 -2.16775191e-03 1.76428904e+02] [ 6.76891900e-01 7.36078594e-01 -2.37907178e-03 6.18861985e+01] [ 3.20602000e-03 2.83842636e-04 9.99994820e-01 6.48286083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:61.90, Z:0.65 [[ 7.36780717e-01 -6.76127530e-01 -2.39544838e-03 1.76449624e+02] [ 6.76122490e-01 7.36784543e-01 -2.62993813e-03 6.19045619e+01] [ 3.54310291e-03 3.18071183e-04 9.99993673e-01 6.48110950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:61.92, Z:0.65 [[ 7.37443567e-01 -6.75403269e-01 -2.72214327e-03 1.76469689e+02] [ 6.75396751e-01 7.37448500e-01 -2.98968964e-03 6.19221729e+01] [ 4.02668663e-03 3.66200671e-04 9.99991826e-01 6.47695103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.49, Y:61.94, Z:0.65 [[ 7.37898739e-01 -6.74904083e-01 -3.15120934e-03 1.76490520e+02] [ 6.74895338e-01 7.37905343e-01 -3.46221103e-03 6.19413061e+01] [ 4.66195457e-03 4.28024662e-04 9.99989041e-01 6.46324153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:61.96, Z:0.65 [[ 7.37913579e-01 -6.74887563e-01 -3.21369089e-03 1.76508726e+02] [ 6.74878463e-01 7.37920447e-01 -3.53185181e-03 6.19608362e+01] [ 4.75505108e-03 4.37350635e-04 9.99988599e-01 6.45493465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:61.98, Z:0.65 [[ 7.37971624e-01 -6.74823116e-01 -3.41231370e-03 1.76527777e+02] [ 6.74812850e-01 7.37979366e-01 -3.75129033e-03 6.19805398e+01] [ 5.04967453e-03 4.65672688e-04 9.99987142e-01 6.45549718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:62.00, Z:0.65 [[ 7.38064068e-01 -6.74722080e-01 -3.39813475e-03 1.76548036e+02] [ 6.74711891e-01 7.38071744e-01 -3.73703288e-03 6.20003912e+01] [ 5.02952583e-03 4.65407766e-04 9.99987244e-01 6.45946643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.57, Y:62.02, Z:0.65 [[ 7.39076994e-01 -6.73607923e-01 -4.19083920e-03 1.76567441e+02] [ 6.73592400e-01 7.39088645e-01 -4.61013490e-03 6.20185833e+01] [ 6.20282506e-03 5.84327205e-04 9.99980592e-01 6.46984469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:62.04, Z:0.65 [[ 7.39516005e-01 -6.73121955e-01 -4.78660648e-03 1.76585897e+02] [ 6.73101683e-01 7.39531189e-01 -5.26734700e-03 6.20397349e+01] [ 7.08541169e-03 6.73414532e-04 9.99974671e-01 6.47004339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:62.06, Z:0.65 [[ 7.39881198e-01 -6.72716944e-01 -5.26552125e-03 1.76603502e+02] [ 6.72692387e-01 7.39899558e-01 -5.79631193e-03 6.20600855e+01] [ 7.79523409e-03 7.46506160e-04 9.99969338e-01 6.46536655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:62.08, Z:0.65 [[ 7.39888276e-01 -6.72706565e-01 -5.58713590e-03 1.76621437e+02] [ 6.72678898e-01 7.39908945e-01 -6.15251471e-03 6.20814315e+01] [ 8.27280887e-03 7.93825083e-04 9.99965465e-01 6.45896034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.64, Y:62.10, Z:0.65 [[ 7.39777144e-01 -6.72828784e-01 -5.58610943e-03 1.76640498e+02] [ 6.72801113e-01 7.39797808e-01 -6.15344668e-03 6.21026330e+01] [ 8.27280756e-03 7.93838569e-04 9.99965465e-01 6.45931538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.66, Y:62.12, Z:0.65 [[ 7.39197808e-01 -6.73471977e-01 -4.70064877e-03 1.76658458e+02] [ 6.73452384e-01 7.39212456e-01 -5.17986240e-03 6.21242927e+01] [ 6.96327029e-03 6.63279814e-04 9.99975536e-01 6.46290195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.68, Y:62.15, Z:0.65 [[ 7.38444982e-01 -6.74301405e-01 -4.07718030e-03 1.76675889e+02] [ 6.74286670e-01 7.38456018e-01 -4.49401039e-03 6.21451875e+01] [ 6.04113586e-03 5.69391098e-04 9.99981590e-01 6.46920996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.69, Y:62.17, Z:0.65 [[ 7.37251373e-01 -6.75607845e-01 -3.80172044e-03 1.76694044e+02] [ 6.75595043e-01 7.37260990e-01 -4.19176016e-03 6.21671361e+01] [ 5.63484622e-03 5.21957450e-04 9.99983988e-01 6.46554416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.71, Y:62.19, Z:0.65 [[ 7.35018019e-01 -6.78035911e-01 -3.97688010e-03 1.76711276e+02] [ 6.78021927e-01 7.35028588e-01 -4.38646809e-03 6.21888156e+01] [ 5.89730346e-03 5.27721175e-04 9.99982472e-01 6.46690404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:62.21, Z:0.65 [[ 7.34003772e-01 -6.79131937e-01 -4.27485150e-03 1.76729228e+02] [ 6.79115787e-01 7.34016008e-01 -4.71685247e-03 6.22108636e+01] [ 6.34117459e-03 5.59068371e-04 9.99979738e-01 6.46423543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:62.23, Z:0.65 [[ 7.33274928e-01 -6.79913616e-01 -5.03531323e-03 1.76746585e+02] [ 6.79891211e-01 7.33291927e-01 -5.55801614e-03 6.22323179e+01] [ 7.47132539e-03 6.52088676e-04 9.99971877e-01 6.46755513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:62.25, Z:0.65 [[ 7.33126834e-01 -6.80071353e-01 -5.29153323e-03 1.76762989e+02] [ 6.80046598e-01 7.33145610e-01 -5.84278860e-03 6.22541161e+01] [ 7.85297750e-03 6.85015937e-04 9.99968930e-01 6.46975309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:62.28, Z:0.65 [[ 7.33246987e-01 -6.79945749e-01 -4.75758099e-03 1.76780987e+02] [ 6.79925722e-01 7.33262161e-01 -5.25505436e-03 6.22758085e+01] [ 7.06170599e-03 6.18451085e-04 9.99974875e-01 6.47674831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:62.30, Z:0.65 [[ 7.33572194e-01 -6.79599031e-01 -4.12220708e-03 1.76797679e+02] [ 6.79583982e-01 7.33583578e-01 -4.55471627e-03 6.22971006e+01] [ 6.11936419e-03 5.39827304e-04 9.99981131e-01 6.48163359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:62.32, Z:0.65 [[ 7.33924348e-01 -6.79219432e-01 -4.00183465e-03 1.76814484e+02] [ 6.79205234e-01 7.33935068e-01 -4.42330910e-03 6.23194000e+01] [ 5.94148428e-03 5.28307202e-04 9.99982210e-01 6.48039699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:62.34, Z:0.65 [[ 7.34291057e-01 -6.78818617e-01 -4.68283216e-03 1.76828029e+02] [ 6.78799156e-01 7.34305724e-01 -5.17785238e-03 6.23433394e+01] [ 6.95345305e-03 6.23348181e-04 9.99975630e-01 6.47457623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.84, Y:62.37, Z:0.65 [[ 7.34145530e-01 -6.78975460e-01 -4.76077403e-03 1.76844704e+02] [ 6.78955335e-01 7.34160693e-01 -5.26597024e-03 6.23658165e+01] [ 7.07063773e-03 6.33635590e-04 9.99974802e-01 6.47822729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:62.39, Z:0.65 [[ 7.33866218e-01 -6.79277886e-01 -4.68259212e-03 1.76861034e+02] [ 6.79258410e-01 7.33880894e-01 -5.18125801e-03 6.23869500e+01] [ 6.95597888e-03 6.21660140e-04 9.99975614e-01 6.47766216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.88, Y:62.41, Z:0.65 [[ 7.33099407e-01 -6.80103243e-01 -4.98385196e-03 1.76878672e+02] [ 6.80081184e-01 7.33116055e-01 -5.51661243e-03 6.24091775e+01] [ 7.40560789e-03 6.54801360e-04 9.99972364e-01 6.47718632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:62.43, Z:0.65 [[ 7.30810771e-01 -6.82558371e-01 -5.44852069e-03 1.76894768e+02] [ 6.82532057e-01 7.30830756e-01 -6.03300946e-03 6.24316052e+01] [ 8.09982761e-03 6.90198264e-04 9.99966958e-01 6.47028238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:62.45, Z:0.65 [[ 7.29265575e-01 -6.84210895e-01 -5.21270742e-03 1.76912102e+02] [ 6.84186835e-01 7.29283921e-01 -5.77394248e-03 6.24538698e+01] [ 7.75213806e-03 6.44271696e-04 9.99969744e-01 6.46857681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:62.48, Z:0.65 [[ 7.27863799e-01 -6.85702991e-01 -5.06937788e-03 1.76928618e+02] [ 6.85680258e-01 7.27881194e-01 -5.61702558e-03 6.24751287e+01] [ 7.54151607e-03 6.12457248e-04 9.99971375e-01 6.46993098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:62.50, Z:0.65 [[ 7.26490505e-01 -6.87157010e-01 -5.17588573e-03 1.76945882e+02] [ 6.87133332e-01 7.26508685e-01 -5.73712231e-03 6.24974250e+01] [ 7.70262974e-03 6.11441277e-04 9.99970147e-01 6.46655533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.96, Y:62.52, Z:0.65 [[ 7.23901608e-01 -6.89884222e-01 -5.12077806e-03 1.76962439e+02] [ 6.89861098e-01 7.23919489e-01 -5.67795839e-03 6.25183231e+01] [ 7.62416494e-03 5.77657636e-04 9.99970769e-01 6.45856718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:62.54, Z:0.65 [[ 7.22285476e-01 -6.91576822e-01 -5.01899631e-03 1.76980937e+02] [ 6.91554633e-01 7.22302704e-01 -5.56708632e-03 6.25388868e+01] [ 7.47530248e-03 5.50115441e-04 9.99971908e-01 6.45762866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.00, Y:62.56, Z:0.65 [[ 7.20696570e-01 -6.93232361e-01 -5.03461516e-03 1.76999037e+02] [ 6.93210058e-01 7.20713956e-01 -5.58653981e-03 6.25592083e+01] [ 7.50128759e-03 5.36154216e-04 9.99971721e-01 6.45221290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:62.58, Z:0.64 [[ 7.19461105e-01 -6.94512681e-01 -5.27773112e-03 1.77017436e+02] [ 6.94488193e-01 7.19480253e-01 -5.85798606e-03 6.25790022e+01] [ 7.86566893e-03 5.49271180e-04 9.99968914e-01 6.44794227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.04, Y:62.60, Z:0.65 [[ 7.18254551e-01 -6.95759225e-01 -5.43136363e-03 1.77039265e+02] [ 6.95733309e-01 7.18274874e-01 -6.03063486e-03 6.25965182e+01] [ 8.09708187e-03 5.52750345e-04 9.99967065e-01 6.45155510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.06, Y:62.61, Z:0.65 [[ 7.18014142e-01 -6.96009908e-01 -5.08911894e-03 1.77059405e+02] [ 6.95987144e-01 7.18031992e-01 -5.65277869e-03 6.26147902e+01] [ 7.58854018e-03 5.16813686e-04 9.99971073e-01 6.45823088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:62.63, Z:0.65 [[ 7.17803873e-01 -6.96230522e-01 -4.54525699e-03 1.77080228e+02] [ 6.96212356e-01 7.17818116e-01 -5.05047788e-03 6.26340945e+01] [ 6.77896466e-03 4.60788504e-04 9.99976916e-01 6.46563824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:62.65, Z:0.65 [[ 7.17604378e-01 -6.96438560e-01 -4.15795583e-03 1.77100774e+02] [ 6.96423351e-01 7.17616301e-01 -4.62182626e-03 6.26528544e+01] [ 6.20263491e-03 4.20945232e-04 9.99980675e-01 6.47106237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:62.67, Z:0.65 [[ 7.17642803e-01 -6.96399406e-01 -4.08337596e-03 1.77125060e+02] [ 6.96384728e-01 7.17654301e-01 -4.54049274e-03 6.26679088e+01] [ 6.09244876e-03 4.14851283e-04 9.99981355e-01 6.47667885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:62.69, Z:0.65 [[ 7.17627510e-01 -6.96415131e-01 -4.08917245e-03 1.77146364e+02] [ 6.96400401e-01 7.17639040e-01 -4.54867725e-03 6.26852398e+01] [ 6.10231746e-03 4.16554597e-04 9.99981294e-01 6.47914813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.17, Y:62.70, Z:0.65 [[ 7.17584224e-01 -6.96461486e-01 -3.77877246e-03 1.77167398e+02] [ 6.96448899e-01 7.17594070e-01 -4.20499860e-03 6.27024813e+01] [ 5.64024428e-03 3.85718736e-04 9.99984019e-01 6.47916420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:62.72, Z:0.65 [[ 7.17525849e-01 -6.96525584e-01 -2.96091504e-03 1.77189367e+02] [ 6.96517851e-01 7.17531895e-01 -3.29601733e-03 6.27206929e+01] [ 4.42031137e-03 3.02647451e-04 9.99990185e-01 6.48383558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:62.74, Z:0.65 [[ 7.17596413e-01 -6.96457959e-01 -1.30327993e-03 1.77214048e+02] [ 6.96456460e-01 7.17597584e-01 -1.45112272e-03 6.27362115e+01] [ 1.94587650e-03 1.33642728e-04 9.99998098e-01 6.49214735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:62.75, Z:0.65 [[ 7.17648200e-01 -6.96404317e-01 -1.44489379e-03 1.77234943e+02] [ 6.96402474e-01 7.17649639e-01 -1.60936481e-03 6.27542810e+01] [ 2.15769611e-03 1.48730150e-04 9.99997661e-01 6.49715137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:62.77, Z:0.65 [[ 7.17725740e-01 -6.96322240e-01 -2.25824426e-03 1.77255086e+02] [ 6.96317734e-01 7.17729255e-01 -2.51607294e-03 6.27720232e+01] [ 3.37280551e-03 2.33394786e-04 9.99994285e-01 6.48786804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:62.79, Z:0.65 [[ 7.17692968e-01 -6.96350100e-01 -3.65260001e-03 1.77276305e+02] [ 6.96338302e-01 7.17702163e-01 -4.07119800e-03 6.27910854e+01] [ 5.45645806e-03 3.78424896e-04 9.99985042e-01 6.48149188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:62.81, Z:0.65 [[ 7.18077652e-01 -6.95944881e-01 -5.02075988e-03 1.77298305e+02] [ 6.95922563e-01 7.18095012e-01 -5.59822485e-03 6.28074750e+01] [ 7.50143855e-03 5.25900067e-04 9.99971726e-01 6.48802747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.32, Y:62.83, Z:0.65 [[ 7.17989081e-01 -6.96038616e-01 -4.68226503e-03 1.77317376e+02] [ 6.96019196e-01 7.18004181e-01 -5.22253135e-03 6.28262782e+01] [ 6.99696936e-03 4.90774141e-04 9.99975400e-01 6.49758119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:62.85, Z:0.65 [[ 7.17482940e-01 -6.96561366e-01 -4.52707793e-03 1.77336875e+02] [ 6.96543210e-01 7.17497067e-01 -5.05121429e-03 6.28459384e+01] [ 6.76664587e-03 4.70854686e-04 9.99976995e-01 6.50492031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:62.86, Z:0.65 [[ 7.14929991e-01 -6.99181605e-01 -4.49342504e-03 1.77357897e+02] [ 6.99163756e-01 7.14943974e-01 -5.01552927e-03 6.28646862e+01] [ 6.71931296e-03 4.44112362e-04 9.99977327e-01 6.50014224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:177.38, Y:62.88, Z:0.65 [[ 7.12913451e-01 -7.01238451e-01 -4.36420839e-03 1.77376892e+02] [ 7.01221641e-01 7.12926689e-01 -4.87296977e-03 6.28837857e+01] [ 6.52847441e-03 4.13728329e-04 9.99978604e-01 6.48972436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:62.90, Z:0.65 [[ 7.10672648e-01 -7.03511174e-01 -4.05160783e-03 1.77395868e+02] [ 7.03496712e-01 7.10684103e-01 -4.52564175e-03 6.29033698e+01] [ 6.06325282e-03 3.65957020e-04 9.99981551e-01 6.48899584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:62.92, Z:0.65 [[ 7.05884590e-01 -7.08321135e-01 -2.84872832e-03 1.77415315e+02] [ 7.08314020e-01 7.05890301e-01 -3.18311592e-03 6.29240031e+01] [ 4.26555797e-03 2.29118267e-04 9.99990876e-01 6.49904858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.43, Y:62.94, Z:0.65 [[ 7.03726616e-01 -7.10466748e-01 -2.41864439e-03 1.77434657e+02] [ 7.10461628e-01 7.03730748e-01 -2.70350154e-03 6.29445278e+01] [ 3.62282237e-03 1.84171959e-04 9.99993421e-01 6.50367368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:62.96, Z:0.65 [[ 7.01569989e-01 -7.12594641e-01 -2.90310463e-03 1.77453499e+02] [ 7.12587278e-01 7.01575965e-01 -3.24606899e-03 6.29637474e+01] [ 4.34987980e-03 2.08629158e-04 9.99990517e-01 6.50871632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.47, Y:62.98, Z:0.65 [[ 6.99270656e-01 -7.14844607e-01 -4.21164752e-03 1.77473606e+02] [ 7.14829139e-01 6.99283282e-01 -4.71100781e-03 6.29839004e+01] [ 6.31277322e-03 2.83661149e-04 9.99980034e-01 6.50648033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:63.00, Z:0.65 [[ 6.94149264e-01 -7.19804271e-01 -6.21369299e-03 1.77493203e+02] [ 7.19770772e-01 6.94176984e-01 -6.95338515e-03 6.30026675e+01] [ 9.31847899e-03 3.54252583e-04 9.99956519e-01 6.48455281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:177.51, Y:63.02, Z:0.65 [[ 6.91601965e-01 -7.22253672e-01 -6.02952455e-03 1.77512485e+02] [ 7.22222198e-01 6.91628177e-01 -6.74992133e-03 6.30224672e+01] [ 9.04534454e-03 3.13602387e-04 9.99959041e-01 6.48116472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:63.04, Z:0.65 [[ 6.89553165e-01 -7.24217739e-01 -5.00993775e-03 1.77531558e+02] [ 7.24196044e-01 6.89571323e-01 -5.61074738e-03 6.30410456e+01] [ 7.51811218e-03 2.40731518e-04 9.99971710e-01 6.48949013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:63.06, Z:0.65 [[ 6.87676564e-01 -7.26007289e-01 -3.78946160e-03 1.77551098e+02] [ 7.25994896e-01 6.87686984e-01 -4.24544898e-03 6.30609976e+01] [ 5.68819032e-03 1.68365981e-04 9.99983808e-01 6.50092234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:63.08, Z:0.65 [[ 6.85234253e-01 -7.28316571e-01 -2.99837290e-03 1.77570278e+02] [ 7.28308829e-01 6.85240803e-01 -3.36037385e-03 6.30810121e+01] [ 4.50202342e-03 1.18901810e-04 9.99989859e-01 6.51904854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17140051299998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:177.59, Y:63.10, Z:0.65 [[ 6.84432893e-01 -7.29034937e-01 -7.72497431e-03 1.77592300e+02] [ 7.29054407e-01 6.84455619e-01 -4.19643086e-04 6.30988817e+01] [ 5.59333655e-03 -5.34470904e-03 9.99970074e-01 6.54639154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:63.13, Z:0.65 [[ 6.83855047e-01 -7.29617746e-01 4.69176429e-04 1.77604232e+02] [ 7.29598719e-01 6.83832268e-01 -7.69017896e-03 6.31258529e+01] [ 5.29005305e-03 5.60127821e-03 9.99970320e-01 6.48926248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:63.14, Z:0.65 [[ 6.81924012e-01 -7.31411366e-01 -4.12980061e-03 1.77628114e+02] [ 7.31396704e-01 6.81936503e-01 -4.63322800e-03 6.31416119e+01] [ 6.20505741e-03 1.38986871e-04 9.99980739e-01 6.48441903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:63.16, Z:0.65 [[ 6.80541393e-01 -7.32698321e-01 -4.07221489e-03 1.77648037e+02] [ 7.32684077e-01 6.80553565e-01 -4.57035914e-03 6.31616155e+01] [ 6.12005483e-03 1.26671566e-04 9.99981264e-01 6.48921149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.67, Y:63.18, Z:0.65 [[ 6.79070639e-01 -7.34061474e-01 -4.10131118e-03 1.77667381e+02] [ 7.34047039e-01 6.79083014e-01 -4.60485567e-03 6.31810064e+01] [ 6.16537789e-03 1.16466954e-04 9.99980987e-01 6.50209178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:63.20, Z:0.65 [[ 6.77519660e-01 -7.35493706e-01 -4.01485543e-03 1.77687408e+02] [ 7.35479888e-01 6.77531548e-01 -4.50952156e-03 6.32008519e+01] [ 6.03691593e-03 1.02444090e-04 9.99981772e-01 6.50879378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:63.22, Z:0.65 [[ 6.75108337e-01 -7.37703791e-01 -4.67444508e-03 1.77709127e+02] [ 7.37685098e-01 6.75124513e-01 -5.25246139e-03 6.32187663e+01] [ 7.03059313e-03 9.77119935e-05 9.99975280e-01 6.51281545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:63.24, Z:0.65 [[ 6.74340752e-01 -7.38404225e-01 -4.87352571e-03 1.77728241e+02] [ 7.38383908e-01 6.74358355e-01 -5.47839524e-03 6.32377984e+01] [ 7.33177297e-03 9.57722071e-05 9.99973118e-01 6.50910775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.75, Y:63.26, Z:0.65 [[ 6.73800619e-01 -7.38896222e-01 -5.01001028e-03 1.77748178e+02] [ 7.38874748e-01 6.73819237e-01 -5.63403855e-03 6.32580965e+01] [ 7.53881110e-03 9.44485761e-05 9.99971578e-01 6.50543462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:63.28, Z:0.65 [[ 6.73392083e-01 -7.39267536e-01 -5.15874745e-03 1.77767851e+02] [ 7.39244761e-01 6.73411836e-01 -5.80356238e-03 6.32786455e+01] [ 7.76434686e-03 9.44959315e-05 9.99969853e-01 6.50297767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:63.30, Z:0.65 [[ 6.72322949e-01 -7.40240265e-01 -5.11889757e-03 1.77786795e+02] [ 7.40217849e-01 6.72342430e-01 -5.76130359e-03 6.32968223e+01] [ 7.70640093e-03 8.43572698e-05 9.99970302e-01 6.50879381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:63.32, Z:0.65 [[ 6.71525385e-01 -7.40966130e-01 -4.78038251e-03 1.77806083e+02] [ 7.40946582e-01 6.71542396e-01 -5.38263707e-03 6.33165420e+01] [ 7.19858128e-03 7.25693459e-05 9.99974087e-01 6.51276381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:63.33, Z:0.65 [[ 6.69705221e-01 -7.42614539e-01 -4.30863528e-03 1.77827153e+02] [ 7.42598682e-01 6.69719079e-01 -4.85313702e-03 6.33334272e+01] [ 6.48958536e-03 5.05843157e-05 9.99978941e-01 6.50926366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:63.35, Z:0.65 [[ 6.69555872e-01 -7.42749203e-01 -4.30769160e-03 1.77845386e+02] [ 7.42733344e-01 6.69569727e-01 -4.85397463e-03 6.33542740e+01] [ 6.48958568e-03 5.05410313e-05 9.99978941e-01 6.50961006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:177.87, Y:63.37, Z:0.65 [[ 6.68379113e-01 -7.43805212e-01 -4.81334439e-03 1.77866032e+02] [ 7.43785421e-01 6.68396443e-01 -5.42611782e-03 6.33727741e+01] [ 7.25319698e-03 4.66084323e-05 9.99973694e-01 6.50572725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:63.39, Z:0.65 [[ 6.66897251e-01 -7.45132619e-01 -5.04354844e-03 1.77885509e+02] [ 7.45110909e-01 6.66916321e-01 -5.68812255e-03 6.33914037e+01] [ 7.60203043e-03 3.53903279e-05 9.99971104e-01 6.50068895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.91, Y:63.41, Z:0.65 [[ 6.65503588e-01 -7.46376555e-01 -5.19740580e-03 1.77905255e+02] [ 7.46353518e-01 6.65523882e-01 -5.86421387e-03 6.34107885e+01] [ 7.83590943e-03 2.35532607e-05 9.99969299e-01 6.49595027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:63.43, Z:0.65 [[ 6.64520918e-01 -7.47254533e-01 -4.75518222e-03 1.77924560e+02] [ 7.47235256e-01 6.64537931e-01 -5.36755548e-03 6.34305344e+01] [ 7.17092912e-03 1.36130954e-05 9.99974288e-01 6.49669080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:63.45, Z:0.65 [[ 6.63457331e-01 -7.48203499e-01 -3.98683845e-03 1.77945592e+02] [ 7.48189953e-01 6.63469310e-01 -4.50215412e-03 6.34481345e+01] [ 6.01367242e-03 4.07468494e-06 9.99981918e-01 6.51137918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.96, Y:63.47, Z:0.65 [[ 6.63559087e-01 -7.48114365e-01 -3.77309285e-03 1.77964963e+02] [ 7.48102221e-01 6.63569814e-01 -4.26261490e-03 6.34672434e+01] [ 5.69263396e-03 5.83771336e-06 9.99983797e-01 6.52384563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:63.49, Z:0.65 [[ 6.64501145e-01 -7.47279740e-01 -3.34942312e-03 1.77983289e+02] [ 7.47270152e-01 6.64509586e-01 -3.78558520e-03 6.34874700e+01] [ 5.05461489e-03 1.26017784e-05 9.99987225e-01 6.52919692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:63.51, Z:0.65 [[ 6.66883753e-01 -7.45155533e-01 -3.04835097e-03 1.77999195e+02] [ 7.45147561e-01 6.66890719e-01 -3.44683280e-03 6.35079012e+01] [ 4.60134350e-03 2.71655078e-05 9.99989413e-01 6.51233188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.02, Y:63.53, Z:0.65 [[ 6.67101879e-01 -7.44958409e-01 -3.47155847e-03 1.78016469e+02] [ 7.44948058e-01 6.67110911e-01 -3.92718093e-03 6.35275505e+01] [ 5.24150100e-03 3.36990354e-05 9.99986263e-01 6.50696599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:63.55, Z:0.65 [[ 6.66616501e-01 -7.45390835e-01 -3.86573349e-03 1.78035108e+02] [ 7.45377997e-01 6.66627709e-01 -4.37490017e-03 6.35483154e+01] [ 5.83801556e-03 3.49479577e-05 9.99982958e-01 6.50358985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.05, Y:63.57, Z:0.65 [[ 6.64241953e-01 -7.47505365e-01 -4.28459063e-03 1.78051131e+02] [ 7.47489623e-01 6.64255771e-01 -4.85114783e-03 6.35688831e+01] [ 6.47232308e-03 1.96488780e-05 9.99979054e-01 6.51590251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.07, Y:63.59, Z:0.65 [[ 6.62452093e-01 -7.49093565e-01 -4.00689548e-03 1.78067142e+02] [ 7.49079815e-01 6.62464211e-01 -4.53879668e-03 6.35900065e+01] [ 6.05440824e-03 5.25083882e-06 9.99981672e-01 6.52247866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.08, Y:63.61, Z:0.65 [[ 6.60386564e-01 -7.50916057e-01 -3.82899400e-03 1.78083381e+02] [ 7.50903520e-01 6.60397665e-01 -4.33916239e-03 6.36115000e+01] [ 5.78700541e-03 -9.68052310e-06 9.99983255e-01 6.52282533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:63.63, Z:0.65 [[ 6.58002442e-01 -7.53007521e-01 -3.52985114e-03 1.78099442e+02] [ 7.52996887e-01 6.58011909e-01 -4.00192903e-03 6.36324490e+01] [ 5.33616675e-03 -2.46878458e-05 9.99985762e-01 6.52777350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:63.65, Z:0.65 [[ 6.53408656e-01 -7.56994881e-01 -3.98489849e-03 1.78114775e+02] [ 7.56981392e-01 6.53420804e-01 -4.51949108e-03 6.36543762e+01] [ 6.02504719e-03 -6.34194154e-05 9.99981847e-01 6.53134032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:63.68, Z:0.65 [[ 6.51141527e-01 -7.58941754e-01 -4.70377055e-03 1.78130672e+02] [ 7.58922995e-01 6.51158509e-01 -5.33693965e-03 6.36767326e+01] [ 7.11332656e-03 -9.46966029e-05 9.99974696e-01 6.53337057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.15, Y:63.70, Z:0.65 [[ 6.49181639e-01 -7.60613157e-01 -5.55195275e-03 1.78146588e+02] [ 7.60587060e-01 6.49205366e-01 -6.30207750e-03 6.36990684e+01] [ 8.39780058e-03 -1.31550420e-04 9.99964729e-01 6.53643267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:63.72, Z:0.65 [[ 6.45420775e-01 -7.63806316e-01 -5.65101375e-03 1.78159125e+02] [ 7.63779376e-01 6.45445490e-01 -6.41744785e-03 6.37232346e+01] [ 8.54910854e-03 -1.74173591e-04 9.99963441e-01 6.53503945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:63.75, Z:0.65 [[ 6.43739830e-01 -7.65227033e-01 -5.15946232e-03 1.78174630e+02] [ 7.65204601e-01 6.43760482e-01 -5.86175692e-03 6.37454642e+01] [ 7.80703280e-03 -1.74597899e-04 9.99969509e-01 6.54096267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:63.77, Z:0.65 [[ 6.42153961e-01 -7.66561117e-01 -4.72694701e-03 1.78190826e+02] [ 7.66542308e-01 6.42171336e-01 -5.37269342e-03 6.37678554e+01] [ 7.15400774e-03 -1.73308505e-04 9.99974395e-01 6.54302068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:63.79, Z:0.66 [[ 6.40568191e-01 -7.67887693e-01 -4.56982356e-03 1.78207397e+02] [ 7.67870131e-01 6.40584466e-01 -5.19642791e-03 6.37898752e+01] [ 6.91763102e-03 -1.80364588e-04 9.99976057e-01 6.55284272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.22, Y:63.81, Z:0.66 [[ 6.37757825e-01 -7.70220943e-01 -4.96546312e-03 1.78221829e+02] [ 7.70200263e-01 6.37777116e-01 -5.64842197e-03 6.38122574e+01] [ 7.51739165e-03 -2.22075686e-04 9.99971719e-01 6.55212577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:63.83, Z:0.65 [[ 6.36468553e-01 -7.71288959e-01 -4.59594502e-03 1.78237189e+02] [ 7.71271254e-01 6.36485110e-01 -5.23040444e-03 6.38331037e+01] [ 6.95940377e-03 -2.15732336e-04 9.99975760e-01 6.54532471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:63.85, Z:0.65 [[ 6.35383487e-01 -7.72184347e-01 -4.37710548e-03 1.78252773e+02] [ 7.72168294e-01 6.35398528e-01 -4.98366504e-03 6.38540626e+01] [ 6.62951451e-03 -2.13323593e-04 9.99978002e-01 6.54388302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:63.88, Z:0.65 [[ 6.34655444e-01 -7.72783078e-01 -4.33380503e-03 1.78269093e+02] [ 7.72767340e-01 6.34670204e-01 -4.93660829e-03 6.38755779e+01] [ 6.56546428e-03 -2.15977657e-04 9.99978424e-01 6.54451985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:178.28, Y:63.90, Z:0.66 [[ 6.35074983e-01 -7.72435657e-01 -4.78763251e-03 1.78283833e+02] [ 7.72416422e-01 6.35092986e-01 -5.45618081e-03 6.38979504e+01] [ 7.25514043e-03 -2.32962038e-04 9.99973654e-01 6.55343108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:63.92, Z:0.66 [[ 6.35587114e-01 -7.72015065e-01 -4.66486495e-03 1.78300326e+02] [ 7.71996775e-01 6.35604194e-01 -5.31868636e-03 6.39191977e+01] [ 7.07111372e-03 -2.20772185e-04 9.99974975e-01 6.55612236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:63.94, Z:0.66 [[ 6.36062190e-01 -7.71625769e-01 -4.30850031e-03 1.78316299e+02] [ 7.71610143e-01 6.36076751e-01 -4.91466024e-03 6.39403380e+01] [ 6.53281537e-03 -1.98452981e-04 9.99978641e-01 6.55869749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:63.96, Z:0.66 [[ 6.37406484e-01 -7.70519737e-01 -3.50842954e-03 1.78331091e+02] [ 7.70509350e-01 6.37416122e-01 -4.00376641e-03 6.39641839e+01] [ 5.32131059e-03 -1.51251094e-04 9.99985830e-01 6.55629263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46140051299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.35, Y:63.99, Z:0.66 [[ 6.37617512e-01 -7.70346531e-01 -3.18298345e-03 1.78347397e+02] [ 7.70337971e-01 6.37625442e-01 -3.63396240e-03 6.39864983e+01] [ 4.82896156e-03 -1.34894952e-04 9.99988331e-01 6.55793430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.36, Y:64.01, Z:0.66 [[ 6.37810727e-01 -7.70188118e-01 -2.78204689e-03 1.78362914e+02] [ 7.70181572e-01 6.37816784e-01 -3.17764104e-03 6.40080202e+01] [ 4.22181757e-03 -1.15947704e-04 9.99991081e-01 6.55857400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.38, Y:64.03, Z:0.66 [[ 6.37594550e-01 -7.70364162e-01 -3.49973689e-03 1.78378730e+02] [ 7.70353794e-01 6.37604138e-01 -3.99931936e-03 6.40301945e+01] [ 5.31237903e-03 -1.46091368e-04 9.99985879e-01 6.55890176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.39, Y:64.05, Z:0.66 [[ 6.37584624e-01 -7.70359890e-01 -5.61124363e-03 1.78391471e+02] [ 7.70333217e-01 6.37609273e-01 -6.41483914e-03 6.40538776e+01] [ 8.51951574e-03 -2.32524550e-04 9.99963681e-01 6.55567426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.41, Y:64.08, Z:0.66 [[ 6.37611838e-01 -7.70330671e-01 -6.46539341e-03 1.78406696e+02] [ 7.70295225e-01 6.37644562e-01 -7.39449126e-03 6.40773151e+01] [ 9.81882636e-03 -2.65446508e-04 9.99951759e-01 6.56117017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:64.10, Z:0.66 [[ 6.37840933e-01 -7.70144133e-01 -6.07940172e-03 1.78421221e+02] [ 7.70112757e-01 6.37869857e-01 -6.95602762e-03 6.41010705e+01] [ 9.23501097e-03 -2.44985680e-04 9.99957326e-01 6.56253132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:64.13, Z:0.66 [[ 6.38573806e-01 -7.69546261e-01 -4.69532044e-03 1.78432280e+02] [ 7.69527513e-01 6.38591042e-01 -5.37467220e-03 6.41274860e+01] [ 7.13444846e-03 -1.81053378e-04 9.99974533e-01 6.55842458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.45, Y:64.15, Z:0.66 [[ 6.38259406e-01 -7.69805795e-01 -4.89574927e-03 1.78446593e+02] [ 7.69785401e-01 6.38278154e-01 -5.60673229e-03 6.41501375e+01] [ 7.44094481e-03 -1.90126689e-04 9.99972298e-01 6.55582251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:64.17, Z:0.66 [[ 6.37688624e-01 -7.70278657e-01 -4.89987941e-03 1.78460320e+02] [ 7.70258227e-01 6.37707419e-01 -5.61351794e-03 6.41725553e+01] [ 7.44866251e-03 -1.94495894e-04 9.99972239e-01 6.55300574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:64.20, Z:0.66 [[ 6.36485505e-01 -7.71271151e-01 -5.19746727e-03 1.78474403e+02] [ 7.71248176e-01 6.36506689e-01 -5.95700981e-03 6.41957332e+01] [ 7.90269249e-03 -2.16986752e-04 9.99968750e-01 6.55142210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:64.22, Z:0.66 [[ 6.33810786e-01 -7.73472633e-01 -4.89626568e-03 1.78485152e+02] [ 7.73452290e-01 6.33829657e-01 -5.61435360e-03 6.42206647e+01] [ 7.44594726e-03 -2.28590031e-04 9.99972252e-01 6.56034283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:64.24, Z:0.66 [[ 6.32090151e-01 -7.74880597e-01 -4.70121269e-03 1.78500551e+02] [ 7.74861865e-01 6.32107590e-01 -5.39308419e-03 6.42427345e+01] [ 7.15066852e-03 -2.33875038e-04 9.99974406e-01 6.56991893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:64.26, Z:0.66 [[ 6.30141954e-01 -7.76464076e-01 -4.96551173e-03 1.78515807e+02] [ 7.76443207e-01 6.30161463e-01 -5.69893200e-03 6.42645015e+01] [ 7.55409011e-03 -2.64301701e-04 9.99971433e-01 6.57568998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:178.53, Y:64.29, Z:0.66 [[ 6.26087048e-01 -7.79735804e-01 -5.20429534e-03 1.78527734e+02] [ 7.79712971e-01 6.26108598e-01 -5.97548685e-03 6.42915127e+01] [ 7.91775510e-03 -3.16681662e-04 9.99968604e-01 6.56837780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.54, Y:64.32, Z:0.66 [[ 6.24895113e-01 -7.80696295e-01 -4.40375706e-03 1.78541237e+02] [ 7.80679956e-01 6.24910569e-01 -5.05840185e-03 6.43157130e+01] [ 6.70102991e-03 -2.76954273e-04 9.99977510e-01 6.56597087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:64.34, Z:0.66 [[ 6.24518175e-01 -7.81001715e-01 -3.65652800e-03 1.78555181e+02] [ 7.80990446e-01 6.24528837e-01 -4.20191121e-03 6.43385234e+01] [ 5.56530704e-03 -2.31543507e-04 9.99984487e-01 6.56455726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.57, Y:64.36, Z:0.66 [[ 6.24101488e-01 -7.81333643e-01 -3.88211871e-03 1.78570871e+02] [ 7.81320935e-01 6.24113513e-01 -4.46311723e-03 6.43614295e+01] [ 5.91006639e-03 -2.47742513e-04 9.99982505e-01 6.56839965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:64.39, Z:0.66 [[ 6.22819155e-01 -7.82354158e-01 -4.27465037e-03 1.78583315e+02] [ 7.82338759e-01 6.22833760e-01 -4.91662654e-03 6.43853535e+01] [ 6.50893978e-03 -2.82055486e-04 9.99978777e-01 6.57957057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:64.41, Z:0.66 [[ 6.21326129e-01 -7.83540285e-01 -4.29690786e-03 1.78596888e+02] [ 7.83524740e-01 6.21340917e-01 -4.94436700e-03 6.44092364e+01] [ 6.54395539e-03 -2.94669206e-04 9.99978545e-01 6.58241621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.61, Y:64.43, Z:0.66 [[ 6.19552079e-01 -7.84944313e-01 -4.20076187e-03 1.78610928e+02] [ 7.84929476e-01 6.19566247e-01 -4.83568001e-03 6.44337038e+01] [ 6.39838979e-03 -3.01346210e-04 9.99979485e-01 6.58253948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:64.46, Z:0.66 [[ 6.17870451e-01 -7.86271284e-01 -3.68421708e-03 1.78625726e+02] [ 7.86259885e-01 6.17881374e-01 -4.24278159e-03 6.44571419e+01] [ 5.61238644e-03 -2.75262723e-04 9.99984213e-01 6.58206254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.64, Y:64.48, Z:0.66 [[ 6.14860878e-01 -7.88625294e-01 -4.03068044e-03 1.78637143e+02] [ 7.88611690e-01 6.14874004e-01 -4.64346204e-03 6.44813390e+01] [ 6.14031224e-03 -3.23558560e-04 9.99981096e-01 6.57605648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:178.65, Y:64.50, Z:0.66 [[ 6.13480023e-01 -7.89697173e-01 -4.54273887e-03 1.78651919e+02] [ 7.89679906e-01 6.13496727e-01 -5.23560154e-03 6.45043934e+01] [ 6.92149516e-03 -3.75372643e-04 9.99975976e-01 6.57607542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:178.67, Y:64.53, Z:0.66 [[ 6.11896543e-01 -7.90920646e-01 -5.21085070e-03 1.78665526e+02] [ 7.90897951e-01 6.11918568e-01 -6.00808491e-03 6.45301445e+01] [ 7.94053469e-03 -4.44924754e-04 9.99968374e-01 6.56958962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:64.55, Z:0.66 [[ 6.11562899e-01 -7.91180355e-01 -4.94630790e-03 1.78682011e+02] [ 7.91159898e-01 6.11582755e-01 -5.70531653e-03 6.45524078e+01] [ 7.53901097e-03 -4.24160536e-04 9.99971491e-01 6.56992490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:64.57, Z:0.66 [[ 6.11472908e-01 -7.91251613e-01 -4.66562631e-03 1.78697748e+02] [ 7.91233398e-01 6.11490577e-01 -5.38378131e-03 6.45745632e+01] [ 7.11291217e-03 -3.99562947e-04 9.99974623e-01 6.57639762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.71, Y:64.60, Z:0.66 [[ 6.11273287e-01 -7.91407654e-01 -4.34670042e-03 1.78712517e+02] [ 7.91391834e-01 6.11288627e-01 -5.01785848e-03 6.45970970e+01] [ 6.62826014e-03 -3.72660369e-04 9.99977963e-01 6.57585218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:64.62, Z:0.66 [[ 6.10571843e-01 -7.91950317e-01 -4.08888541e-03 1.78725885e+02] [ 7.91936319e-01 6.10585431e-01 -4.72211207e-03 6.46231238e+01] [ 6.23629202e-03 -3.54948188e-04 9.99980491e-01 6.57733636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:64.64, Z:0.66 [[ 6.10513352e-01 -7.91996318e-01 -3.90877465e-03 1.78741554e+02] [ 7.91983515e-01 6.10525771e-01 -4.51596698e-03 6.46447036e+01] [ 5.96303688e-03 -3.38626946e-04 9.99982164e-01 6.58118363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:64.67, Z:0.66 [[ 6.10555318e-01 -7.91963407e-01 -4.02074276e-03 1.78758090e+02] [ 7.91949847e-01 6.10568458e-01 -4.64732068e-03 6.46664553e+01] [ 6.13544663e-03 -3.46780260e-04 9.99981118e-01 6.58071787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:64.69, Z:0.66 [[ 6.10404765e-01 -7.92077183e-01 -4.44520075e-03 1.78774077e+02] [ 7.92060597e-01 6.10420830e-01 -5.14017822e-03 6.46879713e+01] [ 6.78486101e-03 -3.83279084e-04 9.99976909e-01 6.57811825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:64.71, Z:0.66 [[ 6.09469240e-01 -7.92793961e-01 -4.99815600e-03 1.78787059e+02] [ 7.92773000e-01 6.09489576e-01 -5.78164966e-03 6.47119517e+01] [ 7.62998092e-03 -4.38665505e-04 9.99970795e-01 6.57103507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.80, Y:64.73, Z:0.66 [[ 6.08321653e-01 -7.93673887e-01 -5.15050452e-03 1.78802123e+02] [ 7.93651641e-01 6.08343281e-01 -5.96031975e-03 6.47349181e+01] [ 7.86382497e-03 -4.61914803e-04 9.99968973e-01 6.56932542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:64.76, Z:0.66 [[ 6.07110588e-01 -7.94601369e-01 -5.03966601e-03 1.78818418e+02] [ 7.94580084e-01 6.07131329e-01 -5.83435974e-03 6.47581325e+01] [ 7.69572936e-03 -4.62316663e-04 9.99970281e-01 6.57458037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:64.78, Z:0.66 [[ 6.07014610e-01 -7.94674696e-01 -5.03889202e-03 1.78836947e+02] [ 7.94653408e-01 6.07035348e-01 -5.83502821e-03 6.47797823e+01] [ 7.69573484e-03 -4.62225345e-04 9.99970281e-01 6.57493716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:64.80, Z:0.66 [[ 6.05181283e-01 -7.96067387e-01 -5.68588585e-03 1.78851208e+02] [ 7.96040326e-01 6.05207752e-01 -6.58612163e-03 6.48029984e+01] [ 8.68413883e-03 -5.40396881e-04 9.99962146e-01 6.57938735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:64.83, Z:0.66 [[ 6.04292370e-01 -7.96741622e-01 -5.78953456e-03 1.78867555e+02] [ 7.96713573e-01 6.04319845e-01 -6.70871179e-03 6.48261164e+01] [ 8.84384054e-03 -5.58577417e-04 9.99960736e-01 6.57885985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:64.85, Z:0.66 [[ 6.04294252e-01 -7.96741452e-01 -5.61398548e-03 1.78882786e+02] [ 7.96715055e-01 6.04320087e-01 -6.50794939e-03 6.48485093e+01] [ 8.57779724e-03 -5.40030342e-04 9.99963064e-01 6.57680835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.90, Y:64.87, Z:0.66 [[ 6.04867791e-01 -7.96308884e-01 -5.20737072e-03 1.78898282e+02] [ 7.96286138e-01 6.04890005e-01 -6.03887525e-03 6.48722039e+01] [ 7.95869652e-03 -4.93835989e-04 9.99968207e-01 6.57719949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:64.90, Z:0.66 [[ 6.07597579e-01 -7.94231387e-01 -4.65693451e-03 1.78912128e+02] [ 7.94213120e-01 6.07615283e-01 -5.40260425e-03 6.48977828e+01] [ 7.12054245e-03 -4.15989223e-04 9.99974562e-01 6.57924202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:64.92, Z:0.66 [[ 6.08672368e-01 -7.93403523e-01 -5.36641713e-03 1.78926729e+02] [ 7.93379213e-01 6.08695846e-01 -6.22829273e-03 6.49202667e+01] [ 8.20806520e-03 -4.66614113e-04 9.99966204e-01 6.58053851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:64.94, Z:0.66 [[ 6.09213072e-01 -7.92984468e-01 -5.92166256e-03 1.78940521e+02] [ 7.92954821e-01 6.09241640e-01 -6.87575763e-03 6.49423124e+01] [ 9.06009242e-03 -5.06809443e-04 9.99958828e-01 6.57877075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.96, Y:64.97, Z:0.66 [[ 6.09195330e-01 -7.92996297e-01 -6.15816925e-03 1.78955344e+02] [ 7.92964206e-01 6.09226228e-01 -7.15340973e-03 6.49657842e+01] [ 9.42434565e-03 -5.25383987e-04 9.99955452e-01 6.57824495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:178.97, Y:64.99, Z:0.66 [[ 6.07928478e-01 -7.93977435e-01 -4.77466070e-03 1.78968327e+02] [ 7.93958159e-01 6.07947085e-01 -5.54840717e-03 6.49910054e+01] [ 7.30805115e-03 -4.17846087e-04 9.99973209e-01 6.58753765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:65.01, Z:0.66 [[ 6.07299142e-01 -7.94461702e-01 -4.28437711e-03 1.78983258e+02] [ 7.94446180e-01 6.07314136e-01 -4.98064914e-03 6.50137824e+01] [ 6.55889778e-03 -3.78963084e-04 9.99978418e-01 6.59478702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:179.00, Y:65.04, Z:0.66 [[ 6.06495021e-01 -7.95071840e-01 -4.95557884e-03 1.78998364e+02] [ 7.95051076e-01 6.06515104e-01 -5.76326465e-03 6.50379463e+01] [ 7.58784284e-03 -4.44546969e-04 9.99971113e-01 6.60108051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.01, Y:65.06, Z:0.66 [[ 6.05825819e-01 -7.95578382e-01 -5.48782620e-03 1.79013550e+02] [ 7.95552917e-01 6.05850469e-01 -6.38480081e-03 6.50618645e+01] [ 8.40441157e-03 -4.97778958e-04 9.99964558e-01 6.60177941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.03, Y:65.09, Z:0.66 [[ 6.05051424e-01 -7.96169181e-01 -5.23549472e-03 1.79025175e+02] [ 7.96146011e-01 6.05073883e-01 -6.09305099e-03 6.50870878e+01] [ 8.01896053e-03 -4.81609062e-04 9.99967732e-01 6.60210307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.04, Y:65.11, Z:0.66 [[ 6.05110933e-01 -7.96130569e-01 -4.10799906e-03 1.79040575e+02] [ 7.96116293e-01 6.05124760e-01 -4.78258661e-03 6.51110555e+01] [ 6.29341535e-03 -3.76449537e-04 9.99980125e-01 6.60685086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:65.14, Z:0.66 [[ 6.05818534e-01 -7.95597195e-01 -3.00132449e-03 1.79051256e+02] [ 7.95589562e-01 6.05825908e-01 -3.49550567e-03 6.51375027e+01] [ 4.59929463e-03 -2.70180314e-04 9.99989387e-01 6.61409911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:65.16, Z:0.66 [[ 6.05866706e-01 -7.95558541e-01 -3.48462032e-03 1.79065733e+02] [ 7.95548243e-01 6.05876646e-01 -4.06004197e-03 6.51620911e+01] [ 5.34125114e-03 -3.12339315e-04 9.99985687e-01 6.61277825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:65.19, Z:0.66 [[ 6.05399274e-01 -7.95913025e-01 -3.76488383e-03 1.79079302e+02] [ 7.95901000e-01 6.05410886e-01 -4.38839661e-03 6.51858811e+01] [ 5.77208368e-03 -3.39742676e-04 9.99983284e-01 6.60821783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:65.21, Z:0.66 [[ 6.04708736e-01 -7.96438189e-01 -3.68176273e-03 1.79093739e+02] [ 7.96426689e-01 6.04719851e-01 -4.29315141e-03 6.52107354e+01] [ 5.64566474e-03 -3.36147940e-04 9.99984007e-01 6.60318177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:65.24, Z:0.66 [[ 6.02518825e-01 -7.98096442e-01 -3.62416592e-03 1.79104037e+02] [ 7.98085320e-01 6.02529626e-01 -4.22757542e-03 6.52383514e+01] [ 5.55768024e-03 -3.45199847e-04 9.99984496e-01 6.59502071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:65.26, Z:0.66 [[ 6.01031652e-01 -7.99218348e-01 -3.31458368e-03 1.79117672e+02] [ 7.99209054e-01 6.01040704e-01 -3.86793419e-03 6.52617803e+01] [ 5.08352368e-03 -3.24294414e-04 9.99987026e-01 6.59579893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:65.29, Z:0.66 [[ 5.98910621e-01 -8.00809366e-01 -3.22928539e-03 1.79131785e+02] [ 8.00800559e-01 5.98919237e-01 -3.76982595e-03 6.52864477e+01] [ 4.95299307e-03 -3.28224748e-04 9.99987680e-01 6.58837904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:65.31, Z:0.66 [[ 5.96418174e-01 -8.02664373e-01 -3.90716357e-03 1.79145516e+02] [ 8.02651510e-01 5.96430827e-01 -4.56304438e-03 6.53104389e+01] [ 5.99294596e-03 -4.14608144e-04 9.99981956e-01 6.58313178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:65.34, Z:0.66 [[ 5.91050008e-01 -8.06611773e-01 -6.11034356e-03 1.79158668e+02] [ 8.06580492e-01 5.91081167e-01 -7.13893811e-03 6.53362663e+01] [ 9.37006052e-03 -7.09014490e-04 9.99955849e-01 6.56738332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:65.36, Z:0.66 [[ 5.88641689e-01 -8.08363836e-01 -6.99079716e-03 1.79175986e+02] [ 8.08322978e-01 5.88682598e-01 -8.17082149e-03 6.53586557e+01] [ 1.07203572e-02 -8.41135817e-04 9.99942182e-01 6.56296261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:65.38, Z:0.66 [[ 5.87150207e-01 -8.09443848e-01 -7.43579412e-03 1.79193025e+02] [ 8.09397673e-01 5.87196578e-01 -8.69401773e-03 6.53800877e+01] [ 1.14035920e-02 -9.13820138e-04 9.99934559e-01 6.55796156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:65.40, Z:0.66 [[ 5.87051157e-01 -8.09520421e-01 -6.90125340e-03 1.79208518e+02] [ 8.09480627e-01 5.87091108e-01 -8.07130429e-03 6.54023401e+01] [ 1.05855502e-02 -8.48162400e-04 9.99943612e-01 6.56392782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:65.42, Z:0.66 [[ 5.88085791e-01 -8.08772018e-01 -6.55173582e-03 1.79225144e+02] [ 8.08736080e-01 5.88121754e-01 -7.66528372e-03 6.54243793e+01] [ 1.00526854e-02 -7.90780704e-04 9.99949158e-01 6.56984656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:65.45, Z:0.66 [[ 5.89948335e-01 -8.07414450e-01 -6.54733960e-03 1.79242481e+02] [ 8.07378448e-01 5.89984169e-01 -7.66308908e-03 6.54466202e+01] [ 1.00501156e-02 -7.65354238e-04 9.99949203e-01 6.57625297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.26, Y:65.47, Z:0.66 [[ 5.95301983e-01 -8.03474183e-01 -6.69226300e-03 1.79258226e+02] [ 8.03436292e-01 5.95339172e-01 -7.83547411e-03 6.54680596e+01] [ 1.02797675e-02 -7.12333702e-04 9.99946908e-01 6.57610828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.28, Y:65.49, Z:0.66 [[ 5.98189179e-01 -8.01328280e-01 -6.53409054e-03 1.79275061e+02] [ 8.01292002e-01 5.98224503e-01 -7.65326394e-03 6.54894667e+01] [ 1.00416299e-02 -6.57614815e-04 9.99949365e-01 6.58202527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:65.51, Z:0.66 [[ 6.01379321e-01 -7.98946606e-01 -5.21864897e-03 1.79292647e+02] [ 7.98923357e-01 6.01401762e-01 -6.11471228e-03 6.55115837e+01] [ 8.02383330e-03 -4.92039039e-04 9.99967687e-01 6.58299218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.31, Y:65.54, Z:0.66 [[ 6.06550070e-01 -7.95034802e-01 -4.08354868e-03 1.79308198e+02] [ 7.95020469e-01 6.06563719e-01 -4.78639365e-03 6.55354277e+01] [ 6.28228201e-03 -3.43317380e-04 9.99980207e-01 6.59436571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:65.56, Z:0.66 [[ 6.08600529e-01 -7.93466264e-01 -4.08467445e-03 1.79324743e+02] [ 7.93451876e-01 6.08614149e-01 -4.78949433e-03 6.55574839e+01] [ 6.28629283e-03 -3.26103822e-04 9.99980188e-01 6.59683338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:65.58, Z:0.66 [[ 6.10231764e-01 -7.92211250e-01 -4.30465525e-03 1.79341175e+02] [ 7.92195226e-01 6.10246858e-01 -5.04933551e-03 6.55805161e+01] [ 6.62704274e-03 -3.28862423e-04 9.99977987e-01 6.59694776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:65.61, Z:0.66 [[ 6.12447514e-01 -7.90499790e-01 -4.25732582e-03 1.79353759e+02] [ 7.90484063e-01 6.12462235e-01 -4.99569019e-03 6.56062834e+01] [ 6.55654333e-03 -3.05750174e-04 9.99978459e-01 6.59665772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:65.63, Z:0.66 [[ 6.13135769e-01 -7.89968794e-01 -3.71923636e-03 1.79368930e+02] [ 7.89956773e-01 6.13146994e-01 -4.36587054e-03 6.56306415e+01] [ 5.72934008e-03 -2.61164563e-04 9.99983553e-01 6.60073680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:65.65, Z:0.66 [[ 6.13617733e-01 -7.89597647e-01 -2.97212691e-03 1.79383674e+02] [ 7.89589960e-01 6.13624897e-01 -3.49012839e-03 6.56544729e+01] [ 4.57956823e-03 -2.05156897e-04 9.99989493e-01 6.61075626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:65.68, Z:0.66 [[ 6.13113810e-01 -7.89991534e-01 -2.19837919e-03 1.79393665e+02] [ 7.89987328e-01 6.13117732e-01 -2.58243795e-03 6.56822465e+01] [ 3.38796937e-03 -1.53363331e-04 9.99994249e-01 6.62302057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:65.71, Z:0.66 [[ 6.11932150e-01 -7.90908093e-01 -1.85278348e-03 1.79405647e+02] [ 7.90905107e-01 6.11934940e-01 -2.17721345e-03 6.57079368e+01] [ 2.85575868e-03 -1.33069015e-04 9.99995913e-01 6.62548294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:65.73, Z:0.66 [[ 6.10338596e-01 -7.92139661e-01 -1.24702144e-03 1.79417734e+02] [ 7.92138311e-01 6.10339863e-01 -1.46580905e-03 6.57334083e+01] [ 1.92223238e-03 -9.31736142e-05 9.99998148e-01 6.62540379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:65.76, Z:0.66 [[ 6.08134758e-01 -7.93833727e-01 -3.61530555e-04 1.79431588e+02] [ 7.93833614e-01 6.08134864e-01 -4.24870936e-04 6.57589430e+01] [ 5.57136213e-04 -2.86163234e-05 9.99999844e-01 6.62436583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.44, Y:65.79, Z:0.66 [[ 6.01890936e-01 -7.98578123e-01 -5.31089485e-04 1.79441331e+02] [ 7.98577881e-01 6.01891168e-01 -6.24552798e-04 6.57864177e+01] [ 8.18412272e-04 -4.82036469e-05 9.99999664e-01 6.61919457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:65.81, Z:0.66 [[ 5.97839379e-01 -8.01614050e-01 -1.72941975e-03 1.79455346e+02] [ 8.01611485e-01 5.97841857e-01 -2.03521540e-03 6.58117581e+01] [ 2.66537678e-03 -1.69590822e-04 9.99996434e-01 6.61406818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.47, Y:65.84, Z:0.66 [[ 5.93378439e-01 -8.04917793e-01 -3.06162135e-03 1.79469374e+02] [ 8.04909788e-01 5.93386248e-01 -3.60459301e-03 6.58367895e+01] [ 4.71812506e-03 -3.25441216e-04 9.99988817e-01 6.60575565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:65.86, Z:0.66 [[ 5.88979075e-01 -8.08139371e-01 -3.79556590e-03 1.79484506e+02] [ 8.08127122e-01 5.88991145e-01 -4.47047800e-03 6.58609181e+01] [ 5.84832398e-03 -4.34281753e-04 9.99982804e-01 6.60478393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.50, Y:65.88, Z:0.66 [[ 5.81924744e-01 -8.13228329e-01 -4.82454027e-03 1.79500821e+02] [ 8.13227953e-01 5.81939649e-01 -2.55763198e-03 6.58832126e+01] [ 4.88753005e-03 -2.43510167e-03 9.99985091e-01 6.59272509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:65.91, Z:0.66 [[ 5.79525473e-01 -8.14952202e-01 -1.77028058e-03 1.79514638e+02] [ 8.14936880e-01 5.79525975e-01 -5.24649546e-03 6.59080637e+01] [ 5.30156661e-03 1.59781084e-03 9.99984670e-01 6.59872938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.53, Y:65.93, Z:0.66 [[ 5.77839621e-01 -8.16144018e-01 -3.21169165e-03 1.79529022e+02] [ 8.16135352e-01 5.77848383e-01 -3.78588445e-03 6.59309992e+01] [ 4.94569777e-03 -4.33541062e-04 9.99987676e-01 6.59798268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:65.95, Z:0.66 [[ 5.77912918e-01 -8.16090703e-01 -3.55293081e-03 1.79544778e+02] [ 8.16080092e-01 5.77923641e-01 -4.18920349e-03 6.59526723e+01] [ 5.47209273e-03 -4.78481291e-04 9.99984914e-01 6.59694774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:65.97, Z:0.66 [[ 5.78007992e-01 -8.16023740e-01 -3.46654763e-03 1.79562256e+02] [ 8.16013629e-01 5.78018200e-01 -4.08874947e-03 6.59742255e+01] [ 5.34024425e-03 -4.65420238e-04 9.99985632e-01 6.59660946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:65.99, Z:0.66 [[ 5.78139428e-01 -8.15932338e-01 -3.03685570e-03 1.79579593e+02] [ 8.15924571e-01 5.78147261e-01 -3.58311979e-03 6.59949069e+01] [ 4.67933312e-03 -4.06302358e-04 9.99988969e-01 6.60072501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.60, Y:66.02, Z:0.66 [[ 5.78841921e-01 -8.15435857e-01 -2.52861045e-03 1.79596951e+02] [ 8.15430464e-01 5.78847348e-01 -2.98446686e-03 6.60165241e+01] [ 3.89732074e-03 -3.34371460e-04 9.99992350e-01 6.60488569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:66.04, Z:0.66 [[ 5.79279995e-01 -8.15122578e-01 -3.14183980e-03 1.79614901e+02] [ 8.15114240e-01 5.79288368e-01 -3.70971132e-03 6.60380430e+01] [ 4.84390070e-03 -4.11996809e-04 9.99988183e-01 6.60080621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.63, Y:66.06, Z:0.66 [[ 5.79763702e-01 -8.14774329e-01 -4.10402894e-03 1.79632921e+02] [ 8.14760083e-01 5.79777982e-01 -4.84757428e-03 6.60581241e+01] [ 6.32910470e-03 -5.33351354e-04 9.99979829e-01 6.58984699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:66.08, Z:0.66 [[ 5.80321308e-01 -8.14373608e-01 -4.77551864e-03 1.79652109e+02] [ 8.14354290e-01 5.80340632e-01 -5.64281740e-03 6.60791232e+01] [ 7.36678907e-03 -6.14316918e-04 9.99972676e-01 6.57944941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:66.10, Z:0.66 [[ 5.81337385e-01 -8.13643805e-01 -5.53196878e-03 1.79670567e+02] [ 8.13617831e-01 5.81363284e-01 -6.53890491e-03 6.60986812e+01] [ 8.53642301e-03 -6.99598558e-04 9.99963319e-01 6.57959777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.69, Y:66.12, Z:0.66 [[ 5.81933790e-01 -8.13217607e-01 -5.49432275e-03 1.79688746e+02] [ 8.13191948e-01 5.81959321e-01 -6.49653812e-03 6.61187498e+01] [ 8.48057152e-03 -6.87383968e-04 9.99963803e-01 6.58054046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.71, Y:66.14, Z:0.66 [[ 5.82761915e-01 -8.12628751e-01 -4.80251980e-03 1.79707891e+02] [ 8.12609111e-01 5.82781403e-01 -5.68058353e-03 6.61391956e+01] [ 7.41502472e-03 -5.92143612e-04 9.99972333e-01 6.58285694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:66.16, Z:0.66 [[ 5.85769858e-01 -8.10470691e-01 -3.30650476e-03 1.79726972e+02] [ 8.10461342e-01 5.85779062e-01 -3.91204673e-03 6.61586750e+01] [ 5.10748047e-03 -3.88235232e-04 9.99986881e-01 6.60269958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.74, Y:66.18, Z:0.66 [[ 5.87396166e-01 -8.09294540e-01 -2.84462955e-03 1.79743954e+02] [ 8.09287603e-01 5.87402964e-01 -3.36658715e-03 6.61793314e+01] [ 4.39550443e-03 -3.24603043e-04 9.99990287e-01 6.60758546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:179.76, Y:66.20, Z:0.66 [[ 5.88818377e-01 -8.08260221e-01 -2.88676709e-03 1.79761609e+02] [ 8.08253059e-01 5.88825366e-01 -3.41770403e-03 6.62016483e+01] [ 4.46219590e-03 -3.20831395e-04 9.99989993e-01 6.60395120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.78, Y:66.22, Z:0.66 [[ 5.91572725e-01 -8.06243991e-01 -3.51266831e-03 1.79779583e+02] [ 8.06233342e-01 5.91583037e-01 -4.16036997e-03 6.62235245e+01] [ 5.43230827e-03 -3.70868910e-04 9.99985176e-01 6.59225700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:66.25, Z:0.66 [[ 5.91432282e-01 -8.06347023e-01 -3.51193220e-03 1.79797841e+02] [ 8.06336373e-01 5.91442593e-01 -4.16099134e-03 6.62453500e+01] [ 5.43230927e-03 -3.70854062e-04 9.99985176e-01 6.59261173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.82, Y:66.27, Z:0.66 [[ 5.92188867e-01 -8.05789716e-01 -3.90879296e-03 1.79815968e+02] [ 8.05776501e-01 5.92201628e-01 -4.63281755e-03 6.62659446e+01] [ 6.04787029e-03 -4.06110540e-04 9.99981629e-01 6.58576511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:66.29, Z:0.66 [[ 5.92217719e-01 -8.05768740e-01 -3.86146089e-03 1.79834801e+02] [ 8.05755832e-01 5.92230173e-01 -4.57838865e-03 6.62861608e+01] [ 5.97599610e-03 -3.99991750e-04 9.99982064e-01 6.58631694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.86, Y:66.30, Z:0.66 [[ 5.90327655e-01 -8.07155762e-01 -3.58264977e-03 1.79855872e+02] [ 8.07144667e-01 5.90338402e-01 -4.24937214e-03 6.63048172e+01] [ 5.54488095e-03 -3.83194771e-04 9.99984554e-01 6.59092274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:66.32, Z:0.66 [[ 5.88577231e-01 -8.08434777e-01 -3.17098060e-03 1.79875497e+02] [ 8.08426097e-01 5.88585669e-01 -3.76234669e-03 6.63238028e+01] [ 4.90800565e-03 -3.49071875e-04 9.99987895e-01 6.59861176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52140051299997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:179.90, Y:66.34, Z:0.66 [[ 5.86567512e-01 -8.09896378e-01 -2.53180200e-03 1.79895253e+02] [ 8.09890855e-01 5.86572905e-01 -3.00500507e-03 6.63439517e+01] [ 3.91882918e-03 -2.87844937e-04 9.99992280e-01 6.60221994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:66.36, Z:0.66 [[ 5.84372543e-01 -8.11481718e-01 -2.48029035e-03 1.79913590e+02] [ 8.11476427e-01 5.84377734e-01 -2.94490663e-03 6.63635637e+01] [ 3.83916435e-03 -2.91774578e-04 9.99992588e-01 6.61364860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:66.38, Z:0.66 [[ 5.84484163e-01 -8.11401557e-01 -2.40343956e-03 1.79930354e+02] [ 8.11396585e-01 5.84489036e-01 -2.85462114e-03 6.63844892e+01] [ 3.72102811e-03 -2.81661805e-04 9.99993037e-01 6.60916063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.95, Y:66.41, Z:0.66 [[ 5.85635879e-01 -8.10572488e-01 -1.69075635e-03 1.79947483e+02] [ 8.10570022e-01 5.85638288e-01 -2.00877028e-03 6.64065588e+01] [ 2.61842558e-03 -1.94068461e-04 9.99996553e-01 6.60850654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:66.43, Z:0.66 [[ 5.87501143e-01 -8.09223071e-01 -6.55356143e-04 1.79963885e+02] [ 8.09222699e-01 5.87501504e-01 -7.78694136e-04 6.64290346e+01] [ 1.01515998e-03 -7.28453720e-05 9.99999482e-01 6.61655259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:66.45, Z:0.66 [[ 5.92082197e-01 -8.05877551e-01 -2.12631480e-04 1.79977017e+02] [ 8.05877512e-01 5.92082234e-01 -2.52502859e-04 6.64547121e+01] [ 3.29381708e-04 -2.18524808e-05 9.99999946e-01 6.62800505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:66.48, Z:0.66 [[ 5.94003101e-01 -8.04462411e-01 -7.38601049e-04 1.79991271e+02] [ 8.04461934e-01 5.94003556e-01 -8.78309952e-04 6.64778571e+01] [ 1.14529899e-03 -7.24575934e-05 9.99999342e-01 6.62036513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:66.50, Z:0.66 [[ 5.95207976e-01 -8.03570948e-01 -1.09417774e-03 1.80006256e+02] [ 8.03569900e-01 5.95208973e-01 -1.30174973e-03 6.65022768e+01] [ 1.69731267e-03 -1.04436473e-04 9.99998554e-01 6.61146190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:180.02, Y:66.53, Z:0.66 [[ 5.95394797e-01 -8.03432510e-01 -1.11256703e-03 1.80017576e+02] [ 8.03431426e-01 5.95395827e-01 -1.32412734e-03 6.65293672e+01] [ 1.72626472e-03 -1.05492786e-04 9.99998504e-01 6.59251101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:66.55, Z:0.66 [[ 5.94389122e-01 -8.04176525e-01 -1.29933300e-03 1.80032104e+02] [ 8.04175047e-01 5.94390529e-01 -1.54704941e-03 6.65541910e+01] [ 2.01641204e-03 -1.25341839e-04 9.99997959e-01 6.60102100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.05, Y:66.58, Z:0.66 [[ 5.92612320e-01 -8.05485855e-01 -1.78199496e-03 1.80045778e+02] [ 8.05483078e-01 5.92614973e-01 -2.12261282e-03 6.65781661e+01] [ 2.76577150e-03 -1.77480279e-04 9.99996160e-01 6.59488544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.06, Y:66.60, Z:0.66 [[ 5.87088958e-01 -8.09519628e-01 -2.12786393e-03 1.80056892e+02] [ 8.09515691e-01 5.87092767e-01 -2.53556495e-03 6.66049250e+01] [ 3.30184312e-03 -2.33937058e-04 9.99994522e-01 6.59839163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.07, Y:66.63, Z:0.66 [[ 5.83614120e-01 -8.12029062e-01 -1.83331222e-03 1.80070975e+02] [ 8.12026150e-01 5.83616960e-01 -2.18529344e-03 6.66279636e+01] [ 2.84447389e-03 -2.13329354e-04 9.99995932e-01 6.59182076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:66.65, Z:0.66 [[ 5.79897966e-01 -8.14686195e-01 -2.18017231e-03 1.80086094e+02] [ 8.14682091e-01 5.79902002e-01 -2.59972082e-03 6.66520735e+01] [ 3.38224295e-03 -2.68574523e-04 9.99994244e-01 6.58598987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:66.68, Z:0.66 [[ 5.76457331e-01 -8.17120668e-01 -3.28010722e-03 1.80100922e+02] [ 8.17111410e-01 5.76466507e-01 -3.91290446e-03 6.66756931e+01] [ 5.08818706e-03 -4.24590571e-04 9.99986965e-01 6.57652296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:66.70, Z:0.66 [[ 5.73560626e-01 -8.19150587e-01 -4.53023832e-03 1.80116200e+02] [ 8.19132974e-01 5.73578193e-01 -5.40633950e-03 6.66995819e+01] [ 7.02705209e-03 -6.10004113e-04 9.99975124e-01 6.56595645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:66.72, Z:0.66 [[ 5.69707958e-01 -8.21831892e-01 -5.01835248e-03 1.80131454e+02] [ 8.21810361e-01 5.69729617e-01 -5.99112084e-03 6.67237601e+01] [ 7.78279821e-03 -7.10944841e-04 9.99969461e-01 6.55655867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:66.74, Z:0.66 [[ 5.68197427e-01 -8.22880971e-01 -4.31184091e-03 1.80148167e+02] [ 8.22865094e-01 5.68213446e-01 -5.14936797e-03 6.67444497e+01] [ 6.68736290e-03 -6.22205753e-04 9.99977446e-01 6.56250252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:66.77, Z:0.66 [[ 5.67404564e-01 -8.23431819e-01 -3.47853083e-03 1.80165515e+02] [ 8.23421488e-01 5.67415001e-01 -4.15563757e-03 6.67660042e+01] [ 5.39565478e-03 -5.06369312e-04 9.99985315e-01 6.57200144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.18, Y:66.79, Z:0.66 [[ 5.68005812e-01 -8.23017484e-01 -3.40870124e-03 1.80180122e+02] [ 8.23007549e-01 5.68015827e-01 -4.07370341e-03 6.67900105e+01] [ 5.28892539e-03 -4.91499638e-04 9.99985893e-01 6.58634607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:66.81, Z:0.66 [[ 5.69130262e-01 -8.22239853e-01 -3.51709983e-03 1.80195849e+02] [ 8.22229252e-01 5.69140911e-01 -4.20481589e-03 6.68126692e+01] [ 5.45909260e-03 -4.98774395e-04 9.99984975e-01 6.58252926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:66.84, Z:0.66 [[ 5.70409487e-01 -8.21352321e-01 -3.65818182e-03 1.80212245e+02] [ 8.21340826e-01 5.70420990e-01 -4.37513060e-03 6.68359589e+01] [ 5.68022737e-03 -5.08998073e-04 9.99983738e-01 6.57214198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.23, Y:66.86, Z:0.66 [[ 5.72771196e-01 -8.19712814e-01 -2.01483595e-03 1.80227071e+02] [ 8.19709315e-01 5.72774675e-01 -2.41039999e-03 6.68593387e+01] [ 3.12988277e-03 -2.70972113e-04 9.99995065e-01 6.56235425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:66.88, Z:0.66 [[ 5.73434331e-01 -8.19251220e-01 -7.11580959e-04 1.80244460e+02] [ 8.19250784e-01 5.73434764e-01 -8.51359168e-04 6.68814469e+01] [ 1.10552230e-03 -9.47646837e-05 9.99999384e-01 6.56519156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:66.90, Z:0.66 [[ 5.73264809e-01 -8.19370124e-01 -2.43963897e-04 1.80262291e+02] [ 8.19370072e-01 5.73264860e-01 -2.91760276e-04 6.69035813e+01] [ 3.78915583e-04 -3.26408171e-05 9.99999928e-01 6.56920860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:66.92, Z:0.66 [[ 5.71822156e-01 -8.20376973e-01 -1.02216935e-03 1.80278992e+02] [ 8.20376072e-01 5.71823052e-01 -1.22398122e-03 6.69242460e+01] [ 1.58862600e-03 -1.38663700e-04 9.99998729e-01 6.57951400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:66.95, Z:0.66 [[ 5.70756279e-01 -8.21118138e-01 -1.50764609e-03 1.80296097e+02] [ 8.21116178e-01 5.70758233e-01 -1.80607733e-03 6.69464239e+01] [ 2.34350427e-03 -2.07122621e-04 9.99997233e-01 6.58017450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:66.97, Z:0.66 [[ 5.70332137e-01 -8.21412640e-01 -1.58973678e-03 1.80312798e+02] [ 8.21410460e-01 5.70334311e-01 -1.90512851e-03 6.69686609e+01] [ 2.47157807e-03 -2.19270411e-04 9.99996922e-01 6.57777961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:66.99, Z:0.66 [[ 5.71143392e-01 -8.20849655e-01 -1.03391851e-03 1.80327387e+02] [ 8.20848732e-01 5.71144311e-01 -1.23936101e-03 6.69916524e+01] [ 1.60784573e-03 -1.40837840e-04 9.99998698e-01 6.56535011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:67.01, Z:0.66 [[ 5.71898270e-01 -8.20323523e-01 -1.29876089e-03 1.80343596e+02] [ 8.20322063e-01 5.71899718e-01 -1.55741725e-03 6.70136940e+01] [ 2.02034699e-03 -1.74717981e-04 9.99997944e-01 6.56286139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:67.04, Z:0.66 [[ 5.72570371e-01 -8.19853064e-01 -2.03088365e-03 1.80360858e+02] [ 8.19849488e-01 5.72573909e-01 -2.43635830e-03 6.70362419e+01] [ 3.16028681e-03 -2.70032351e-04 9.99994970e-01 6.56315234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:67.06, Z:0.66 [[ 5.73818927e-01 -8.18974485e-01 -3.55424054e-03 1.80378425e+02] [ 8.18963506e-01 5.73829748e-01 -4.26569424e-03 6.70583702e+01] [ 5.53302369e-03 -4.63057199e-04 9.99984586e-01 6.57066980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.40, Y:67.08, Z:0.66 [[ 5.73829618e-01 -8.18967077e-01 -3.53488287e-03 1.80395639e+02] [ 8.18956213e-01 5.73840322e-01 -4.24348519e-03 6.70795686e+01] [ 5.50373298e-03 -4.59876799e-04 9.99984749e-01 6.57172234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:67.10, Z:0.66 [[ 5.73273000e-01 -8.19357876e-01 -3.27706248e-03 1.80413254e+02] [ 8.19348538e-01 5.73282206e-01 -3.93522614e-03 6.71018945e+01] [ 5.10304013e-03 -4.29097453e-04 9.99986887e-01 6.56909565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:67.12, Z:0.66 [[ 5.73158924e-01 -8.19437869e-01 -3.22908551e-03 1.80429469e+02] [ 8.19428798e-01 5.73167864e-01 -3.87888381e-03 6.71230395e+01] [ 5.02931232e-03 -4.22788792e-04 9.99987264e-01 6.56059738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:67.14, Z:0.66 [[ 5.73601359e-01 -8.19125261e-01 -3.90993418e-03 1.80446991e+02] [ 8.19111946e-01 5.73614460e-01 -4.69795316e-03 6.71442585e+01] [ 6.09100690e-03 -5.07921476e-04 9.99981321e-01 6.55826713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:67.17, Z:0.66 [[ 5.74167356e-01 -8.18725660e-01 -4.48783093e-03 1.80464228e+02] [ 8.18708097e-01 5.74184605e-01 -5.39366272e-03 6.71655944e+01] [ 6.99277350e-03 -5.77358457e-04 9.99975384e-01 6.56138355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:67.19, Z:0.66 [[ 5.74917469e-01 -8.18198206e-01 -4.64754055e-03 1.80480780e+02] [ 8.18179344e-01 5.74935950e-01 -5.58696661e-03 6.71871003e+01] [ 7.24328419e-03 -5.90476976e-04 9.99973593e-01 6.56829528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.50, Y:67.21, Z:0.66 [[ 5.77078717e-01 -8.16675645e-01 -4.58747300e-03 1.80497730e+02] [ 8.16657207e-01 5.77096676e-01 -5.51665328e-03 6.72097610e+01] [ 7.15273179e-03 -5.62849687e-04 9.99974260e-01 6.57361642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:67.23, Z:0.66 [[ 5.78566836e-01 -8.15623834e-01 -4.26353400e-03 1.80514603e+02] [ 8.15607868e-01 5.78582320e-01 -5.12880202e-03 6.72302443e+01] [ 6.64997857e-03 -5.10017118e-04 9.99977759e-01 6.57257205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.53, Y:67.25, Z:0.66 [[ 5.80310704e-01 -8.14385649e-01 -3.93714954e-03 1.80531701e+02] [ 8.14371996e-01 5.80323880e-01 -4.73769691e-03 6.72526392e+01] [ 6.14313426e-03 -4.56968100e-04 9.99981026e-01 6.58080244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:67.28, Z:0.66 [[ 5.81987589e-01 -8.13190630e-01 -3.38326978e-03 1.80547613e+02] [ 8.13180521e-01 5.81997298e-01 -4.07258498e-03 6.72754094e+01] [ 5.28084182e-03 -3.81015168e-04 9.99985984e-01 6.59024814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:67.30, Z:0.66 [[ 5.84494811e-01 -8.11394292e-01 -2.26242955e-03 1.80562572e+02] [ 8.11389755e-01 5.84499139e-01 -2.72418348e-03 6.72980024e+01] [ 3.53277505e-03 -2.43441055e-04 9.99993730e-01 6.58944328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:67.32, Z:0.66 [[ 5.84450333e-01 -8.11426153e-01 -2.32500605e-03 1.80580432e+02] [ 8.11421359e-01 5.84454905e-01 -2.80053566e-03 6.73197967e+01] [ 3.63128907e-03 -2.49785571e-04 9.99993376e-01 6.58040618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:67.34, Z:0.66 [[ 5.83712670e-01 -8.11955517e-01 -2.78505895e-03 1.80597127e+02] [ 8.11948638e-01 5.83719236e-01 -3.35591258e-03 6.73405301e+01] [ 4.35054422e-03 -3.02436129e-04 9.99990491e-01 6.57329480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.61, Y:67.36, Z:0.66 [[ 5.82636308e-01 -8.12724571e-01 -3.70194462e-03 1.80613107e+02] [ 8.12712425e-01 5.82647925e-01 -4.46202198e-03 6.73619678e+01] [ 5.78332525e-03 -4.08880380e-04 9.99983193e-01 6.56949989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:67.38, Z:0.66 [[ 5.81617371e-01 -8.13450513e-01 -4.41547691e-03 1.80628692e+02] [ 8.13433245e-01 5.81633921e-01 -5.32340925e-03 6.73837654e+01] [ 6.89852113e-03 -4.95508419e-04 9.99976082e-01 6.56867319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:67.41, Z:0.66 [[ 5.79811473e-01 -8.14739713e-01 -4.22568388e-03 1.80646373e+02] [ 8.14723920e-01 5.79826666e-01 -5.09629467e-03 6.74055726e+01] [ 6.60231785e-03 -4.87875611e-04 9.99978085e-01 6.57004193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:67.43, Z:0.66 [[ 5.78611950e-01 -8.15594694e-01 -3.67515939e-03 1.80663447e+02] [ 8.15582758e-01 5.78623460e-01 -4.43348979e-03 6.74258786e+01] [ 5.74246419e-03 -4.32126460e-04 9.99983419e-01 6.57639937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:67.45, Z:0.66 [[ 5.77307363e-01 -8.16522078e-01 -2.81162022e-03 1.80680320e+02] [ 8.16515099e-01 5.77314111e-01 -3.39281064e-03 6.74477988e+01] [ 4.39349282e-03 -3.37035804e-04 9.99990292e-01 6.58197244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.70, Y:67.47, Z:0.66 [[ 5.75858644e-01 -8.17545585e-01 -2.45740555e-03 1.80696503e+02] [ 8.17540258e-01 5.75863809e-01 -2.96642654e-03 6.74703397e+01] [ 3.84031984e-03 -3.00785599e-04 9.99992581e-01 6.59232911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.71, Y:67.49, Z:0.66 [[ 5.72414793e-01 -8.19962044e-01 -1.88460189e-03 1.80714691e+02] [ 8.19958922e-01 5.72417844e-01 -2.27551932e-03 6.74905948e+01] [ 2.94461922e-03 -2.42755211e-04 9.99995635e-01 6.58120728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.73, Y:67.51, Z:0.66 [[ 5.70172128e-01 -8.21524181e-01 -1.32805404e-03 1.80733269e+02] [ 8.21522635e-01 5.70173647e-01 -1.60379768e-03 6.75097887e+01] [ 2.07477999e-03 -1.76585723e-04 9.99997832e-01 6.58472475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.75, Y:67.53, Z:0.66 [[ 5.67897042e-01 -8.23099166e-01 -8.44145544e-04 1.80752301e+02] [ 8.23098543e-01 5.67897657e-01 -1.01956077e-03 6.75297854e+01] [ 1.31858790e-03 -1.15809422e-04 9.99999124e-01 6.58648810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:67.55, Z:0.66 [[ 5.65916436e-01 -8.24461880e-01 -1.09310600e-03 1.80771973e+02] [ 8.24460837e-01 5.65917471e-01 -1.32083179e-03 6.75501984e+01] [ 1.70758325e-03 -1.53742663e-04 9.99998530e-01 6.58670878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:67.57, Z:0.66 [[ 5.64510585e-01 -8.25423609e-01 -1.91474534e-03 1.80792068e+02] [ 8.25420408e-01 5.64513766e-01 -2.31467781e-03 6.75691195e+01] [ 2.99148981e-03 -2.73809757e-04 9.99995488e-01 6.58156165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:67.58, Z:0.66 [[ 5.64231858e-01 -8.25607703e-01 -3.78572328e-03 1.80816906e+02] [ 8.25595187e-01 5.64244297e-01 -4.57832882e-03 6.75849331e+01] [ 5.91597631e-03 -5.42235942e-04 9.99982353e-01 6.57362053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.84, Y:67.60, Z:0.66 [[ 5.65049613e-01 -8.25046842e-01 -4.07954235e-03 1.80837482e+02] [ 8.25032282e-01 5.65064045e-01 -4.93534642e-03 6.76042789e+01] [ 6.37709468e-03 -5.77038547e-04 9.99979500e-01 6.57482591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.86, Y:67.62, Z:0.66 [[ 5.66889643e-01 -8.23783933e-01 -4.02066251e-03 1.80857396e+02] [ 8.23769748e-01 5.66903630e-01 -4.86587699e-03 6.76240225e+01] [ 6.28775946e-03 -5.53684872e-04 9.99980079e-01 6.59164504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:67.65, Z:0.66 [[ 5.66749424e-01 -8.23880411e-01 -4.01982280e-03 1.80875423e+02] [ 8.23866224e-01 5.66763409e-01 -4.86657069e-03 6.76460269e+01] [ 6.28776074e-03 -5.53670093e-04 9.99980079e-01 6.59199977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.90, Y:67.66, Z:0.66 [[ 5.72221559e-01 -8.20094829e-01 -2.63793373e-03 1.80897149e+02] [ 8.20088676e-01 5.72227541e-01 -3.19455593e-03 6.76630167e+01] [ 4.12933713e-03 -3.35345804e-04 9.99991418e-01 6.60683102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:67.68, Z:0.66 [[ 5.74681231e-01 -8.18374841e-01 -2.02535910e-03 1.80917475e+02] [ 8.18371201e-01 5.74684747e-01 -2.45350113e-03 6.76822174e+01] [ 3.17182658e-03 -2.47514514e-04 9.99994939e-01 6.60876954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:67.70, Z:0.66 [[ 5.76450906e-01 -8.17129856e-01 -1.77546872e-03 1.80937959e+02] [ 8.17127050e-01 5.76453601e-01 -2.15153198e-03 6.77017125e+01] [ 2.78155635e-03 -2.10530961e-04 9.99996109e-01 6.60440666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.96, Y:67.72, Z:0.66 [[ 5.77820388e-01 -8.16162935e-01 -1.28945832e-03 1.80957004e+02] [ 8.16161452e-01 5.77821808e-01 -1.56304331e-03 6.77210272e+01] [ 2.02077516e-03 -1.49247879e-04 9.99997947e-01 6.60165209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.98, Y:67.74, Z:0.66 [[ 5.78845999e-01 -8.15435799e-01 -1.32945698e-03 1.80975015e+02] [ 8.15434219e-01 5.78847506e-01 -1.61207815e-03 6.77409658e+01] [ 2.08409909e-03 -1.50939723e-04 9.99997817e-01 6.60478392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.99, Y:67.76, Z:0.66 [[ 5.79929394e-01 -8.14661672e-01 -2.87368270e-03 1.80994639e+02] [ 8.14654275e-01 5.79936426e-01 -3.48620573e-03 6.77607160e+01] [ 4.50663146e-03 -3.19304719e-04 9.99989794e-01 6.60243829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.01, Y:67.78, Z:0.66 [[ 5.79805210e-01 -8.14746548e-01 -3.73901193e-03 1.81013086e+02] [ 8.14734020e-01 5.79817117e-01 -4.53734771e-03 6.77803103e+01] [ 5.86473151e-03 -4.15522373e-04 9.99982716e-01 6.59498933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:67.80, Z:0.66 [[ 5.79236774e-01 -8.15147552e-01 -4.38496080e-03 1.81032578e+02] [ 8.15130319e-01 5.79253163e-01 -5.32313240e-03 6.78007709e+01] [ 6.87914076e-03 -4.90960463e-04 9.99976218e-01 6.59477940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:67.82, Z:0.66 [[ 5.78221763e-01 -8.15867415e-01 -4.46697755e-03 1.81050927e+02] [ 8.15849542e-01 5.78238794e-01 -5.42420217e-03 6.78199887e+01] [ 7.00840952e-03 -5.07989840e-04 9.99975312e-01 6.59283617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.07, Y:67.84, Z:0.66 [[ 5.76636293e-01 -8.16974199e-01 -6.61392387e-03 1.81072756e+02] [ 8.16982696e-01 5.76658645e-01 -2.02023614e-03 6.78383211e+01] [ 5.46445719e-03 -4.23851988e-03 9.99976087e-01 6.58279478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:67.86, Z:0.66 [[ 5.72559440e-01 -8.19863163e-01 -2.84107690e-04 1.81089686e+02] [ 8.19846076e-01 5.72549679e-01 -6.26709123e-03 6.78624120e+01] [ 5.30082301e-03 3.35535767e-03 9.99980321e-01 6.59544363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.11, Y:67.88, Z:0.66 [[ 5.70660688e-01 -8.21180805e-01 -2.90945782e-03 1.81110925e+02] [ 8.21173277e-01 5.70667984e-01 -3.53557006e-03 6.78797189e+01] [ 4.56367669e-03 -3.71558167e-04 9.99989517e-01 6.58595515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.13, Y:67.90, Z:0.66 [[ 5.69266498e-01 -8.22147578e-01 -3.00253871e-03 1.81130181e+02] [ 8.22139568e-01 5.69274282e-01 -3.64999309e-03 6.78998002e+01] [ 4.71010105e-03 -3.90687093e-04 9.99988831e-01 6.58913777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:67.92, Z:0.66 [[ 5.68543952e-01 -8.22646812e-01 -3.16184106e-03 1.81148915e+02] [ 8.22637931e-01 5.68552593e-01 -3.84496072e-03 6.79194349e+01] [ 4.96071761e-03 -4.15021217e-04 9.99987609e-01 6.59135465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.17, Y:67.94, Z:0.66 [[ 5.68818025e-01 -8.22456586e-01 -3.34949312e-03 1.81168564e+02] [ 8.22446608e-01 5.68827719e-01 -4.07464098e-03 6.79394954e+01] [ 5.25649984e-03 -4.37050027e-04 9.99986089e-01 6.59782129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:67.96, Z:0.66 [[ 5.69250632e-01 -8.22157317e-01 -3.32634458e-03 1.81185461e+02] [ 8.22147465e-01 5.69260187e-01 -4.04785060e-03 6.79608031e+01] [ 5.22152553e-03 -4.30504253e-04 9.99986275e-01 6.59923173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:67.98, Z:0.66 [[ 5.70017056e-01 -8.21626241e-01 -3.29781690e-03 1.81201923e+02] [ 8.21616541e-01 5.70026441e-01 -4.01462252e-03 6.79824429e+01] [ 5.17836203e-03 -4.21137599e-04 9.99986504e-01 6.60073302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:68.01, Z:0.66 [[ 5.71889066e-01 -8.20323723e-01 -3.44752995e-03 1.81217782e+02] [ 8.20313090e-01 5.71899298e-01 -4.19842262e-03 6.80056247e+01] [ 5.41570564e-03 -4.27021958e-04 9.99985244e-01 6.60439605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86140051299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.23, Y:68.03, Z:0.66 [[ 5.72346263e-01 -8.20005538e-01 -3.26679613e-03 1.81234018e+02] [ 8.19995979e-01 5.72355446e-01 -3.97976678e-03 6.80280585e+01] [ 5.13319936e-03 -4.00955044e-04 9.99986745e-01 6.59593805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:68.05, Z:0.66 [[ 5.72542605e-01 -8.19869058e-01 -3.11343247e-03 1.81250002e+02] [ 8.19860366e-01 5.72550944e-01 -3.79432459e-03 6.80509041e+01] [ 4.89344803e-03 -3.80167400e-04 9.99987955e-01 6.60631859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:68.07, Z:0.66 [[ 5.72352482e-01 -8.20003471e-01 -2.63487260e-03 1.81264796e+02] [ 8.19997244e-01 5.72358457e-01 -3.21197887e-03 6.80738961e+01] [ 4.14192544e-03 -3.22204189e-04 9.99991370e-01 6.61255124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.28, Y:68.10, Z:0.66 [[ 5.71104230e-01 -8.20873727e-01 -2.50682456e-03 1.81279321e+02] [ 8.20868094e-01 5.71109646e-01 -3.05690162e-03 6.80985803e+01] [ 3.94100191e-03 -3.11962857e-04 9.99992186e-01 6.60515754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:68.12, Z:0.66 [[ 5.69975022e-01 -8.21657702e-01 -2.66371819e-03 1.81295801e+02] [ 8.21651346e-01 5.69981147e-01 -3.24935929e-03 6.81194450e+01] [ 4.18813024e-03 -3.36594008e-04 9.99991173e-01 6.59673967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.31, Y:68.14, Z:0.66 [[ 5.68781608e-01 -8.22483281e-01 -2.95539844e-03 1.81313237e+02] [ 8.22475461e-01 5.68789160e-01 -3.60651716e-03 6.81417512e+01] [ 4.64729866e-03 -3.79422068e-04 9.99989129e-01 6.59485986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:68.16, Z:0.66 [[ 5.67567012e-01 -8.23321676e-01 -3.01748027e-03 1.81328887e+02] [ 8.23313530e-01 5.67574896e-01 -3.68356507e-03 6.81642568e+01] [ 4.74540502e-03 -3.93662308e-04 9.99988663e-01 6.59856880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:68.19, Z:0.66 [[ 5.66616964e-01 -8.23974617e-01 -3.32363959e-03 1.81344629e+02] [ 8.23964737e-01 5.66626542e-01 -4.05883539e-03 6.81873855e+01] [ 5.22763975e-03 -4.38756835e-04 9.99986240e-01 6.60011845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:68.21, Z:0.66 [[ 5.64455674e-01 -8.25454090e-01 -3.91630562e-03 1.81360417e+02] [ 8.25440396e-01 5.64469009e-01 -4.78432358e-03 6.82095522e+01] [ 6.15987262e-03 -5.32138273e-04 9.99980886e-01 6.58703298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:68.23, Z:0.66 [[ 5.62879677e-01 -8.26528948e-01 -4.04572724e-03 1.81378223e+02] [ 8.26514351e-01 5.62893936e-01 -4.94406507e-03 6.82302190e+01] [ 6.36372823e-03 -5.60937875e-04 9.99979594e-01 6.58528962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.40, Y:68.25, Z:0.66 [[ 5.61363436e-01 -8.27558984e-01 -4.14977816e-03 1.81396360e+02] [ 8.27543643e-01 5.61378468e-01 -5.07301941e-03 6.82520402e+01] [ 6.52781890e-03 -5.86314928e-04 9.99978522e-01 6.59006187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.41, Y:68.27, Z:0.66 [[ 5.59838639e-01 -8.28588837e-01 -4.60838300e-03 1.81413539e+02] [ 8.28569937e-01 5.59857213e-01 -5.63571639e-03 6.82742225e+01] [ 7.24972815e-03 -6.63275822e-04 9.99973500e-01 6.59589367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.43, Y:68.29, Z:0.66 [[ 5.57485103e-01 -8.30166635e-01 -5.80673034e-03 1.81430535e+02] [ 8.30136684e-01 5.57514681e-01 -7.10397160e-03 6.82947351e+01] [ 9.13481760e-03 -8.60021528e-04 9.99957907e-01 6.58900669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:68.32, Z:0.66 [[ 5.57191903e-01 -8.30361286e-01 -6.10884775e-03 1.81449814e+02] [ 8.30328123e-01 5.57224652e-01 -7.47630340e-03 6.83150310e+01] [ 9.61203346e-03 -9.06612362e-04 9.99953392e-01 6.58681198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:68.34, Z:0.66 [[ 5.57624726e-01 -8.30073720e-01 -5.68195994e-03 1.81469188e+02] [ 8.30044992e-01 5.57653046e-01 -6.95641241e-03 6.83350849e+01] [ 8.94289739e-03 -8.37214828e-04 9.99959661e-01 6.57882414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:68.36, Z:0.66 [[ 5.58917690e-01 -8.29204622e-01 -5.54167878e-03 1.81487782e+02] [ 8.29177238e-01 5.58944587e-01 -6.78648761e-03 6.83552004e+01] [ 8.72487825e-03 -8.01945935e-04 9.99961616e-01 6.57756077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:68.38, Z:0.66 [[ 5.63630274e-01 -8.26009981e-01 -5.33159448e-03 1.81507050e+02] [ 8.25984473e-01 5.63655027e-01 -6.53150214e-03 6.83761882e+01] [ 8.40026599e-03 -7.22461912e-04 9.99964456e-01 6.58874603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:68.40, Z:0.66 [[ 5.66278989e-01 -8.24198090e-01 -5.06117602e-03 1.81525363e+02] [ 8.24175014e-01 5.66301222e-01 -6.20255298e-03 6.83977791e+01] [ 7.97828249e-03 -6.58919389e-04 9.99967956e-01 6.59623171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.54, Y:68.42, Z:0.66 [[ 5.68866288e-01 -8.22417600e-01 -4.52091058e-03 1.81543653e+02] [ 8.22399118e-01 5.68883971e-01 -5.54234007e-03 6.84181889e+01] [ 7.12999158e-03 -5.65142452e-04 9.99974422e-01 6.60216761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:68.44, Z:0.66 [[ 5.72625485e-01 -8.19812953e-01 -2.60309874e-03 1.81564308e+02] [ 8.19806795e-01 5.72631320e-01 -3.19225617e-03 6.84370990e+01] [ 4.10766883e-03 -3.06070795e-04 9.99991517e-01 6.60254976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:68.46, Z:0.66 [[ 5.73611905e-01 -8.19124937e-01 -1.92882408e-03 1.81582874e+02] [ 8.19121550e-01 5.73615105e-01 -2.36611328e-03 6.84569857e+01] [ 3.04454502e-03 -2.22710629e-04 9.99995341e-01 6.59940215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.60, Y:68.48, Z:0.66 [[ 5.74060041e-01 -8.18810279e-01 -2.19016370e-03 1.81600459e+02] [ 8.18805906e-01 5.74064164e-01 -2.68763805e-03 6.84768211e+01] [ 3.45796015e-03 -2.50453365e-04 9.99993990e-01 6.60480731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:68.50, Z:0.66 [[ 5.74137552e-01 -8.18753684e-01 -2.91138522e-03 1.81618671e+02] [ 8.18745950e-01 5.74144838e-01 -3.57407458e-03 6.84978833e+01] [ 4.59784353e-03 -3.31674426e-04 9.99989375e-01 6.60565774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:68.52, Z:0.66 [[ 5.73252179e-01 -8.19366618e-01 -4.50392042e-03 1.81639390e+02] [ 8.19348112e-01 5.73269636e-01 -5.53137301e-03 6.85176087e+01] [ 7.11418322e-03 -5.19407062e-04 9.99974559e-01 6.60130979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:68.54, Z:0.66 [[ 5.72270154e-01 -8.20052785e-01 -4.50564132e-03 1.81658949e+02] [ 8.20034271e-01 5.72287648e-01 -5.53558600e-03 6.85383543e+01] [ 7.11799559e-03 -5.26929643e-04 9.99974528e-01 6.60197479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.68, Y:68.56, Z:0.66 [[ 5.71225002e-01 -8.20783325e-01 -4.09025512e-03 1.81677233e+02] [ 8.20768075e-01 5.71239439e-01 -5.02696615e-03 6.85583363e+01] [ 6.46256504e-03 -4.85622072e-04 9.99979000e-01 6.60412663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:68.58, Z:0.66 [[ 5.70586907e-01 -8.21229500e-01 -3.56224700e-03 1.81694924e+02] [ 8.21217933e-01 5.70597867e-01 -4.37946430e-03 6.85783683e+01] [ 5.62915582e-03 -4.26516130e-04 9.99984065e-01 6.61040928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.71, Y:68.60, Z:0.66 [[ 5.70265739e-01 -8.21454698e-01 -3.02760275e-03 1.81712403e+02] [ 8.21446341e-01 5.70273660e-01 -3.72317438e-03 6.85985360e+01] [ 4.78498119e-03 -3.63814413e-04 9.99988486e-01 6.60803215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.73, Y:68.62, Z:0.66 [[ 5.70419916e-01 -8.21348654e-01 -2.74013726e-03 1.81729560e+02] [ 8.21341802e-01 5.70426403e-01 -3.37080717e-03 6.86204773e+01] [ 4.33165457e-03 -3.27813736e-04 9.99990565e-01 6.60650656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:68.64, Z:0.66 [[ 5.71055519e-01 -8.20908390e-01 -2.23798308e-03 1.81746066e+02] [ 8.20903813e-01 5.71059844e-01 -2.75397991e-03 6.86424115e+01] [ 3.53878748e-03 -2.64493417e-04 9.99993704e-01 6.60537866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.76, Y:68.66, Z:0.66 [[ 5.71802504e-01 -8.20390031e-01 -1.44687288e-03 1.81762128e+02] [ 8.20388115e-01 5.71804310e-01 -1.78088841e-03 6.86636539e+01] [ 2.28835124e-03 -1.68680861e-04 9.99997368e-01 6.60614123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79140051299999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.78, Y:68.69, Z:0.66 [[ 5.72195256e-01 -8.20116665e-01 -1.11545359e-03 1.81779364e+02] [ 8.20115525e-01 5.72196329e-01 -1.37330011e-03 6.86860206e+01] [ 1.76452476e-03 -1.29005003e-04 9.99998435e-01 6.59740490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:68.71, Z:0.66 [[ 5.72795540e-01 -8.19694599e-01 -2.45659457e-03 1.81796769e+02] [ 8.19689061e-01 5.72800739e-01 -3.02595302e-03 6.87082554e+01] [ 3.88749653e-03 -2.80391301e-04 9.99992404e-01 6.59518429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:68.73, Z:0.66 [[ 5.72593712e-01 -8.19833161e-01 -3.16689999e-03 1.81813712e+02] [ 8.19823953e-01 5.72602356e-01 -3.90242556e-03 6.87306899e+01] [ 5.01271228e-03 -3.61796125e-04 9.99987371e-01 6.59454299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.83, Y:68.75, Z:0.66 [[ 5.72362486e-01 -8.19993955e-01 -3.33153949e-03 1.81829750e+02] [ 8.19983761e-01 5.72372055e-01 -4.10647129e-03 6.87525696e+01] [ 5.27416174e-03 -3.81418161e-04 9.99986019e-01 6.60265728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.85, Y:68.77, Z:0.66 [[ 5.72196839e-01 -8.20109845e-01 -3.25878272e-03 1.81846394e+02] [ 8.20100086e-01 5.72205997e-01 -4.01816870e-03 6.87748732e+01] [ 5.16003472e-03 -3.73344560e-04 9.99986617e-01 6.60996165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:68.80, Z:0.66 [[ 5.72423162e-01 -8.19952079e-01 -3.21125826e-03 1.81862740e+02] [ 8.19942595e-01 5.72432052e-01 -3.96067808e-03 6.87969488e+01] [ 5.08579339e-03 -3.65863562e-04 9.99987000e-01 6.61764162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:68.82, Z:0.66 [[ 5.72468522e-01 -8.19919281e-01 -3.48769413e-03 1.81879299e+02] [ 8.19908085e-01 5.72479009e-01 -4.30312587e-03 6.88192893e+01] [ 5.52484754e-03 -3.96184507e-04 9.99984659e-01 6.61685612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.89, Y:68.84, Z:0.66 [[ 5.72378854e-01 -8.19980772e-01 -3.73927359e-03 1.81894910e+02] [ 8.19967892e-01 5.72390910e-01 -4.61533039e-03 6.88416660e+01] [ 5.92480839e-03 -4.24366762e-04 9.99982358e-01 6.61489754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:68.86, Z:0.66 [[ 5.72283486e-01 -8.20048022e-01 -3.58506809e-03 1.81911233e+02] [ 8.20036176e-01 5.72294571e-01 -4.42660956e-03 6.88645069e+01] [ 5.68174742e-03 -4.06609975e-04 9.99983776e-01 6.61329968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.93, Y:68.89, Z:0.66 [[ 5.72220243e-01 -8.20093673e-01 -3.21900981e-03 1.81927972e+02] [ 8.20084115e-01 5.72229181e-01 -3.97607729e-03 6.88863768e+01] [ 5.10276717e-03 -3.64666896e-04 9.99986914e-01 6.61862118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:68.91, Z:0.66 [[ 5.71687953e-01 -8.20463999e-01 -3.42203919e-03 1.81944504e+02] [ 8.20453197e-01 5.71698061e-01 -4.22835066e-03 6.89072217e+01] [ 5.42558266e-03 -3.90325858e-04 9.99985205e-01 6.61919235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.96, Y:68.93, Z:0.66 [[ 5.70744275e-01 -8.21117751e-01 -4.07561432e-03 1.81960967e+02] [ 8.21102432e-01 5.70758632e-01 -5.03779326e-03 6.89295136e+01] [ 6.46281353e-03 -4.71205162e-04 9.99979005e-01 6.62075705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:68.95, Z:0.66 [[ 5.68766531e-01 -8.22489555e-01 -3.94523572e-03 1.81976384e+02] [ 8.22475222e-01 5.68780020e-01 -4.87842682e-03 6.89535379e+01] [ 6.25642636e-03 -4.70172725e-04 9.99980318e-01 6.62257888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:68.98, Z:0.66 [[ 5.68626953e-01 -8.22586062e-01 -3.94439687e-03 1.81994173e+02] [ 8.22571726e-01 5.68640439e-01 -4.87910507e-03 6.89757423e+01] [ 6.25642740e-03 -4.70158687e-04 9.99980318e-01 6.62292059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.01, Y:69.00, Z:0.66 [[ 5.67988585e-01 -8.23028213e-01 -3.67817581e-03 1.82010914e+02] [ 8.23015747e-01 5.68000322e-01 -4.55130207e-03 6.89971957e+01] [ 5.83505506e-03 -4.42108993e-04 9.99982878e-01 6.62150695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.03, Y:69.02, Z:0.66 [[ 5.67325490e-01 -8.23486708e-01 -3.38069827e-03 1.82028496e+02] [ 8.23476178e-01 5.67335415e-01 -4.18466296e-03 6.90191218e+01] [ 5.36400419e-03 -4.09858526e-04 9.99985530e-01 6.61742642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:69.04, Z:0.66 [[ 5.66994648e-01 -8.23716255e-01 -2.93275950e-03 1.82045631e+02] [ 8.23708328e-01 5.67002120e-01 -3.63120044e-03 6.90401927e+01] [ 4.65395968e-03 -3.56867204e-04 9.99989107e-01 6.62065739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:69.06, Z:0.66 [[ 5.66618861e-01 -8.23976039e-01 -2.56005765e-03 1.82062928e+02] [ 8.23969997e-01 5.66624558e-01 -3.17076418e-03 6.90620530e+01] [ 4.06322524e-03 -3.12795911e-04 9.99991696e-01 6.62585075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.08, Y:69.08, Z:0.66 [[ 5.65777183e-01 -8.24553691e-01 -2.71826010e-03 1.82079681e+02] [ 8.24546881e-01 5.65783613e-01 -3.36799605e-03 6.90827429e+01] [ 4.31504059e-03 -3.35797572e-04 9.99990634e-01 6.62897374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:69.10, Z:0.66 [[ 5.65309354e-01 -8.24872900e-01 -3.16757431e-03 1.82097798e+02] [ 8.24863650e-01 5.65318091e-01 -3.92623058e-03 6.91040588e+01] [ 5.02932827e-03 -3.93282035e-04 9.99987276e-01 6.62116064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:69.12, Z:0.66 [[ 5.64790401e-01 -8.25226925e-01 -3.51073029e-03 1.82115229e+02] [ 8.25215560e-01 5.64801142e-01 -4.35309382e-03 6.91244666e+01] [ 5.57515471e-03 -4.38523652e-04 9.99984363e-01 6.62171335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:69.15, Z:0.66 [[ 5.64548432e-01 -8.25392350e-01 -3.54071757e-03 1.82132967e+02] [ 8.25380784e-01 5.64559361e-01 -4.39188880e-03 6.91459743e+01] [ 5.62397666e-03 -4.43006309e-04 9.99984087e-01 6.62370976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.15, Y:69.17, Z:0.66 [[ 5.65183074e-01 -8.24958728e-01 -3.34508724e-03 1.82150566e+02] [ 8.24948389e-01 5.65192822e-01 -4.15077689e-03 6.91673592e+01] [ 5.31483892e-03 -4.13575485e-04 9.99985791e-01 6.62673442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:69.19, Z:0.66 [[ 5.66415472e-01 -8.24111695e-01 -3.66433996e-03 1.82167537e+02] [ 8.24099261e-01 5.66427152e-01 -4.54853345e-03 6.91877244e+01] [ 5.82408126e-03 -4.43420132e-04 9.99982942e-01 6.62581050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:69.21, Z:0.66 [[ 5.68063706e-01 -8.22974801e-01 -4.01285517e-03 1.82185493e+02] [ 8.22959850e-01 5.68077684e-01 -4.98300347e-03 6.92093134e+01] [ 6.38049976e-03 -4.71755266e-04 9.99979533e-01 6.62364079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:69.23, Z:0.66 [[ 5.69879980e-01 -8.21717482e-01 -4.14597059e-03 1.82202543e+02] [ 8.21701478e-01 5.69894866e-01 -5.15007956e-03 6.92304769e+01] [ 6.59467776e-03 -4.71822925e-04 9.99978144e-01 6.62569067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:69.25, Z:0.66 [[ 5.73971035e-01 -8.18867655e-01 -3.60760405e-03 1.82217944e+02] [ 8.18855472e-01 5.73982246e-01 -4.48294292e-03 6.92533977e+01] [ 5.74163763e-03 -3.81026932e-04 9.99983444e-01 6.62778391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.23, Y:69.28, Z:0.66 [[ 5.75517734e-01 -8.17782912e-01 -3.23232311e-03 1.82233565e+02] [ 8.17773108e-01 5.75526715e-01 -4.01796989e-03 6.92752920e+01] [ 5.14611542e-03 -3.30893994e-04 9.99986704e-01 6.62844023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:182.25, Y:69.30, Z:0.66 [[ 5.76045739e-01 -8.17413100e-01 -2.67048158e-03 1.82250272e+02] [ 8.17406399e-01 5.76051866e-01 -3.32074850e-03 6.92981327e+01] [ 4.25275922e-03 -2.69965706e-04 9.99990921e-01 6.62824324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:69.32, Z:0.66 [[ 5.75528023e-01 -8.17778285e-01 -2.48407423e-03 1.82265974e+02] [ 8.17772486e-01 5.75533328e-01 -3.09002967e-03 6.93200501e+01] [ 3.95662668e-03 -2.53008890e-04 9.99992141e-01 6.63636586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.28, Y:69.34, Z:0.66 [[ 5.71886576e-01 -8.20328784e-01 -2.53590905e-03 1.82281392e+02] [ 8.20322760e-01 5.71892132e-01 -3.15567645e-03 6.93429033e+01] [ 4.03895866e-03 -2.75574916e-04 9.99991805e-01 6.63099253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:69.36, Z:0.66 [[ 5.69499039e-01 -8.21989428e-01 -2.05571117e-03 1.82298113e+02] [ 8.21985477e-01 5.69502701e-01 -2.55895423e-03 6.93643487e+01] [ 3.27416639e-03 -2.32442753e-04 9.99994613e-01 6.63065243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:69.39, Z:0.66 [[ 5.67065948e-01 -8.23670353e-01 -1.83311681e-03 1.82315007e+02] [ 8.23667218e-01 5.67068870e-01 -2.28266288e-03 6.93863679e+01] [ 2.91966522e-03 -2.15457836e-04 9.99995715e-01 6.63526677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:69.41, Z:0.66 [[ 5.63878912e-01 -8.25853596e-01 -2.53204291e-03 1.82330768e+02] [ 8.25847632e-01 5.63884510e-01 -3.15405660e-03 6.94084740e+01] [ 4.03256876e-03 -3.12575636e-04 9.99991820e-01 6.63618843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.35, Y:69.43, Z:0.66 [[ 5.62662284e-01 -8.26677928e-01 -3.84161638e-03 1.82348159e+02] [ 8.26664208e-01 5.62675192e-01 -4.78713918e-03 6.94301064e+01] [ 6.11900453e-03 -4.82184097e-04 9.99981162e-01 6.62751011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.37, Y:69.45, Z:0.66 [[ 5.61808347e-01 -8.27252325e-01 -4.99718977e-03 1.82366919e+02] [ 8.27229112e-01 5.61830213e-01 -6.22959122e-03 6.94509785e+01] [ 7.96101602e-03 -6.33984514e-04 9.99968110e-01 6.61735603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:69.47, Z:0.66 [[ 5.61201713e-01 -8.27663121e-01 -5.13766410e-03 1.82385709e+02] [ 8.27638587e-01 5.61224845e-01 -6.40649051e-03 6.94703843e+01] [ 8.18580067e-03 -6.56795601e-04 9.99966280e-01 6.60762055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:69.49, Z:0.66 [[ 5.60669700e-01 -8.28033933e-01 -3.04841234e-03 1.82404926e+02] [ 8.28025296e-01 5.60677850e-01 -3.80236725e-03 6.94898866e+01] [ 4.85766639e-03 -3.92290423e-04 9.99988125e-01 6.61460986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:69.51, Z:0.66 [[ 5.60689177e-01 -8.28023042e-01 -2.34296787e-03 1.82421907e+02] [ 8.28017935e-01 5.60693992e-01 -2.92343177e-03 6.95118552e+01] [ 3.73435688e-03 -3.00882861e-04 9.99992982e-01 6.62638227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:69.53, Z:0.66 [[ 5.61177005e-01 -8.27691115e-01 -2.79062395e-03 1.82438780e+02] [ 8.27683861e-01 5.61183831e-01 -3.48337469e-03 6.95340098e+01] [ 4.44921131e-03 -3.54964629e-04 9.99990039e-01 6.63723103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.46, Y:69.56, Z:0.66 [[ 5.62258760e-01 -8.26952959e-01 -3.72698390e-03 1.82456083e+02] [ 8.26939996e-01 5.62270919e-01 -4.65361008e-03 6.95551472e+01] [ 5.94389129e-03 -4.65459025e-04 9.99982227e-01 6.63495529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:69.58, Z:0.66 [[ 5.64901428e-01 -8.25143586e-01 -4.94358829e-03 1.82473869e+02] [ 8.25120692e-01 5.64922750e-01 -6.17502408e-03 6.95757322e+01] [ 7.88802700e-03 -5.90777073e-04 9.99968715e-01 6.62556096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:69.60, Z:0.66 [[ 5.66309936e-01 -8.24179097e-01 -4.67678631e-03 1.82490734e+02] [ 8.24158558e-01 5.66328985e-01 -5.84396082e-03 6.95983854e+01] [ 7.46507000e-03 -5.44920378e-04 9.99971988e-01 6.63119709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:69.62, Z:0.66 [[ 5.67933574e-01 -8.23065082e-01 -3.91495824e-03 1.82505824e+02] [ 8.23050653e-01 5.67946895e-01 -4.89365272e-03 6.96205280e+01] [ 6.25128305e-03 -4.42939251e-04 9.99980362e-01 6.64175442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:69.64, Z:0.66 [[ 5.69542740e-01 -8.21956649e-01 -2.88680051e-03 1.82521669e+02] [ 8.21948784e-01 5.69549968e-01 -3.60973553e-03 6.96431910e+01] [ 4.61122326e-03 -3.16903500e-04 9.99989318e-01 6.64908473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.54, Y:69.67, Z:0.67 [[ 5.71428657e-01 -8.20648292e-01 -2.38141972e-03 1.82535815e+02] [ 8.20642925e-01 5.71433564e-01 -2.97862903e-03 6.96669169e+01] [ 3.80522998e-03 -2.52221254e-04 9.99992728e-01 6.65420951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:69.69, Z:0.67 [[ 5.71322694e-01 -8.20721457e-01 -2.58262240e-03 1.82550093e+02] [ 8.20715141e-01 5.71328466e-01 -3.23142465e-03 6.96903592e+01] [ 4.12762523e-03 -2.73411067e-04 9.99991444e-01 6.65526323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:182.56, Y:69.71, Z:0.67 [[ 5.71030694e-01 -8.20923125e-01 -3.02812537e-03 1.82563871e+02] [ 8.20914438e-01 5.71038632e-01 -3.79029963e-03 6.97145974e+01] [ 4.84072119e-03 -3.21454403e-04 9.99988232e-01 6.65202398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:69.74, Z:0.66 [[ 5.70440578e-01 -8.21332231e-01 -3.30362671e-03 1.82578041e+02] [ 8.21321889e-01 5.70450034e-01 -4.13673485e-03 6.97395590e+01] [ 5.28218764e-03 -3.53579513e-04 9.99985987e-01 6.64937073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:69.76, Z:0.66 [[ 5.68686428e-01 -8.22547604e-01 -3.34458055e-03 1.82589790e+02] [ 8.22537017e-01 5.68696144e-01 -4.18948462e-03 6.97647674e+01] [ 5.34810060e-03 -3.68538261e-04 9.99985631e-01 6.64579426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:69.79, Z:0.66 [[ 5.66783320e-01 -8.23860647e-01 -3.20954882e-03 1.82604558e+02] [ 8.23850912e-01 5.66792291e-01 -4.02180592e-03 6.97891542e+01] [ 5.13255516e-03 -3.64697209e-04 9.99986762e-01 6.64906063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.62, Y:69.81, Z:0.67 [[ 5.64527168e-01 -8.25408581e-01 -3.12276644e-03 1.82618323e+02] [ 8.25399380e-01 5.64535685e-01 -3.91453177e-03 6.98134068e+01] [ 4.99400120e-03 -3.67669947e-04 9.99987462e-01 6.65309331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:69.84, Z:0.67 [[ 5.61888406e-01 -8.27207816e-01 -2.94092161e-03 1.82631520e+02] [ 8.27199674e-01 5.61895987e-01 -3.68784615e-03 6.98379766e+01] [ 4.70310721e-03 -3.60571398e-04 9.99988875e-01 6.65805377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.64, Y:69.86, Z:0.67 [[ 5.58884554e-01 -8.29240270e-01 -2.93779971e-03 1.82644980e+02] [ 8.29232167e-01 5.58892148e-01 -3.68515390e-03 6.98622519e+01] [ 4.69779120e-03 -3.76542428e-04 9.99988894e-01 6.65070274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:182.66, Y:69.89, Z:0.66 [[ 5.52045356e-01 -8.33810229e-01 -2.53494034e-03 1.82657418e+02] [ 8.33804239e-01 5.52051061e-01 -3.18092730e-03 6.98876720e+01] [ 4.05170622e-03 -3.57627860e-04 9.99991728e-01 6.63761766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.67, Y:69.91, Z:0.66 [[ 5.48680994e-01 -8.36027481e-01 -2.68669241e-03 1.82672344e+02] [ 8.36020773e-01 5.48687429e-01 -3.37222874e-03 6.99103456e+01] [ 4.29343025e-03 -3.95852852e-04 9.99990705e-01 6.62936029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.69, Y:69.93, Z:0.66 [[ 5.43565495e-01 -8.39357191e-01 -4.00730640e-03 1.82688145e+02] [ 8.39342345e-01 5.43579903e-01 -5.03163489e-03 6.99333816e+01] [ 6.40163016e-03 -6.28478835e-04 9.99979312e-01 6.62376301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:69.95, Z:0.66 [[ 5.42324342e-01 -8.40156738e-01 -4.57857006e-03 1.82705904e+02] [ 8.40137375e-01 5.42343180e-01 -5.75030761e-03 6.99541759e+01] [ 7.31431593e-03 -7.28096041e-04 9.99972985e-01 6.62136008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.72, Y:69.97, Z:0.66 [[ 5.41940679e-01 -8.40405319e-01 -4.38174551e-03 1.82724258e+02] [ 8.40387580e-01 5.41957942e-01 -5.50496524e-03 6.99749015e+01] [ 7.00112385e-03 -6.98999910e-04 9.99975248e-01 6.62490154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:70.00, Z:0.66 [[ 5.42476046e-01 -8.40062370e-01 -3.86705089e-03 1.82742099e+02] [ 8.40048535e-01 5.42489484e-01 -4.85991917e-03 6.99957695e+01] [ 6.18046966e-03 -6.12120691e-04 9.99980713e-01 6.62923092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:70.02, Z:0.66 [[ 5.43730121e-01 -8.39253490e-01 -3.33683434e-03 1.82758582e+02] [ 8.39243166e-01 5.43740112e-01 -4.19505793e-03 7.00165464e+01] [ 5.33508769e-03 -5.19436066e-04 9.99985633e-01 6.63307470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:70.04, Z:0.66 [[ 5.48334759e-01 -8.36252334e-01 -3.32066070e-03 1.82776381e+02] [ 8.36242047e-01 5.48344597e-01 -4.17619797e-03 7.00378990e+01] [ 5.31322166e-03 -4.86921594e-04 9.99985766e-01 6.63387509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:70.06, Z:0.66 [[ 5.51283764e-01 -8.34309382e-01 -3.75055629e-03 1.82793310e+02] [ 8.34296206e-01 5.51296270e-01 -4.71848049e-03 7.00589288e+01] [ 6.00434023e-03 -5.27853197e-04 9.99981834e-01 6.64007293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:70.08, Z:0.67 [[ 5.54423532e-01 -8.32224157e-01 -4.18325167e-03 1.82809697e+02] [ 8.32207694e-01 5.54439028e-01 -5.26473775e-03 7.00821628e+01] [ 6.70079992e-03 -5.62439732e-04 9.99977391e-01 6.65029890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:70.11, Z:0.67 [[ 5.58015292e-01 -8.29818587e-01 -4.47734075e-03 1.82825339e+02] [ 8.29799636e-01 5.58032963e-01 -5.63698096e-03 7.01055532e+01] [ 7.17617530e-03 -5.69774144e-04 9.99974089e-01 6.65621298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:70.13, Z:0.67 [[ 5.65207024e-01 -8.24940986e-01 -3.65909267e-03 1.82838954e+02] [ 8.24928218e-01 5.65218717e-01 -4.60833525e-03 7.01296708e+01] [ 5.86979229e-03 -4.13825339e-04 9.99982687e-01 6.66525641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.85, Y:70.15, Z:0.67 [[ 5.68249954e-01 -8.22849716e-01 -3.21482419e-03 1.82854716e+02] [ 8.22839820e-01 5.68258944e-01 -4.05019847e-03 7.01526740e+01] [ 5.15955726e-03 -3.43760266e-04 9.99986630e-01 6.66251129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:70.18, Z:0.67 [[ 5.70937308e-01 -8.20987801e-01 -3.10177981e-03 1.82868979e+02] [ 8.20978554e-01 5.70945647e-01 -3.90911642e-03 7.01758306e+01] [ 4.98028458e-03 -3.14634297e-04 9.99987549e-01 6.66181900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:70.20, Z:0.67 [[ 5.73425461e-01 -8.19251253e-01 -3.25963070e-03 1.82882860e+02] [ 8.19241006e-01 5.73434640e-01 -4.10958698e-03 7.02001232e+01] [ 5.23596944e-03 -3.13881321e-04 9.99986243e-01 6.66244306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.90, Y:70.22, Z:0.67 [[ 5.75663736e-01 -8.17678907e-01 -3.53094081e-03 1.82896749e+02] [ 8.17666844e-01 5.75674474e-01 -4.45337720e-03 7.02247760e+01] [ 5.67410510e-03 -3.23485470e-04 9.99983850e-01 6.65883342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.91, Y:70.25, Z:0.66 [[ 5.79449156e-01 -8.14992014e-01 -5.16648685e-03 1.82911720e+02] [ 8.14995814e-01 5.79463788e-01 -1.88207128e-03 7.02483163e+01] [ 4.52766511e-03 -3.12010054e-03 9.99984883e-01 6.64418442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:70.27, Z:0.67 [[ 5.80410411e-01 -8.14323978e-01 -4.63380685e-04 1.82924004e+02] [ 8.14311355e-01 5.80404411e-01 -5.26648971e-03 7.02746819e+01] [ 4.55757705e-03 2.67938931e-03 9.99986025e-01 6.66297746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:70.30, Z:0.67 [[ 5.80762966e-01 -8.14069600e-01 -2.25027179e-03 1.82941688e+02] [ 8.14064665e-01 5.80767297e-01 -2.84039886e-03 7.02958792e+01] [ 3.61916663e-03 -1.82268287e-04 9.99993434e-01 6.65876254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:70.32, Z:0.67 [[ 5.81007425e-01 -8.13897309e-01 -1.24184505e-03 1.82957121e+02] [ 8.13895805e-01 5.81008744e-01 -1.56794517e-03 7.03197839e+01] [ 1.99766919e-03 -9.97446904e-05 9.99998000e-01 6.65985886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.97, Y:70.34, Z:0.67 [[ 5.81438532e-01 -8.13589529e-01 -1.14580045e-03 1.82973830e+02] [ 8.13588247e-01 5.81439653e-01 -1.44714983e-03 7.03412093e+01] [ 1.84359976e-03 -9.07811070e-05 9.99998296e-01 6.66305874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.99, Y:70.36, Z:0.67 [[ 5.82723736e-01 -8.12668907e-01 -1.51490836e-03 1.82991331e+02] [ 8.12666661e-01 5.82725694e-01 -1.91403423e-03 7.03631091e+01] [ 2.43825213e-03 -1.15762345e-04 9.99997021e-01 6.66404336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:70.39, Z:0.67 [[ 5.87850911e-01 -8.08965181e-01 -2.57712434e-03 1.83006679e+02] [ 8.08958642e-01 5.87856535e-01 -3.25722369e-03 7.03858137e+01] [ 4.14995994e-03 -1.70025088e-04 9.99991374e-01 6.67468899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:70.41, Z:0.67 [[ 5.87712109e-01 -8.09066028e-01 -2.57663329e-03 1.83024216e+02] [ 8.09059488e-01 5.87717732e-01 -3.25761213e-03 7.04081996e+01] [ 4.14995638e-03 -1.70111510e-04 9.99991374e-01 6.67504299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:70.43, Z:0.67 [[ 5.90647936e-01 -8.06924537e-01 -2.79409973e-03 1.83040442e+02] [ 8.06916816e-01 5.90654521e-01 -3.53390516e-03 7.04309062e+01] [ 4.50194243e-03 -1.67312269e-04 9.99989852e-01 6.67648077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.06, Y:70.45, Z:0.67 [[ 5.93478574e-01 -8.04845533e-01 -2.61744317e-03 1.83057213e+02] [ 8.04838732e-01 5.93484329e-01 -3.31171700e-03 7.04525245e+01] [ 4.21883213e-03 -1.41186559e-04 9.99991091e-01 6.67386615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:70.47, Z:0.67 [[ 5.96152195e-01 -8.02868086e-01 -2.32319454e-03 1.83074259e+02] [ 8.02862709e-01 5.96156711e-01 -2.94042746e-03 7.04732278e+01] [ 3.74576338e-03 -1.12263973e-04 9.99992978e-01 6.66932045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:70.49, Z:0.67 [[ 6.00728361e-01 -7.99451374e-01 -1.71398461e-03 1.83091425e+02] [ 7.99448431e-01 6.00730802e-01 -2.17006760e-03 7.04946542e+01] [ 2.76450688e-03 -6.66211540e-05 9.99996177e-01 6.66941090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.11, Y:70.52, Z:0.67 [[ 6.02450952e-01 -7.98154584e-01 -1.45268696e-03 1.83107714e+02] [ 7.98152465e-01 6.02452701e-01 -1.83985594e-03 7.05155859e+01] [ 2.34366464e-03 -5.10427228e-05 9.99997252e-01 6.67159065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:70.54, Z:0.67 [[ 6.04098245e-01 -7.96907320e-01 -2.00843488e-03 1.83125525e+02] [ 7.96903259e-01 6.04101580e-01 -2.54479151e-03 7.05372002e+01] [ 3.24126167e-03 -6.32242187e-05 9.99994745e-01 6.67477961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:70.56, Z:0.67 [[ 6.05613765e-01 -7.95752551e-01 -3.13770582e-03 1.83142985e+02] [ 7.95742616e-01 6.05621887e-01 -3.97738207e-03 7.05586441e+01] [ 5.06527525e-03 -8.80489050e-05 9.99987168e-01 6.67149438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:70.58, Z:0.67 [[ 6.08645914e-01 -7.93427548e-01 -4.78311038e-03 1.83159791e+02] [ 7.93404370e-01 6.08664699e-01 -6.06545057e-03 7.05800673e+01] [ 7.72380601e-03 -1.03228977e-04 9.99970166e-01 6.65974079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:70.60, Z:0.67 [[ 6.10316305e-01 -7.92146529e-01 -4.22905558e-03 1.83176030e+02] [ 7.92128367e-01 6.10330952e-01 -5.36465345e-03 7.06015512e+01] [ 6.83071513e-03 -7.58194150e-05 9.99976668e-01 6.66023873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:70.62, Z:0.67 [[ 6.12120637e-01 -7.90758068e-01 -3.16296771e-03 1.83193103e+02] [ 7.90747883e-01 6.12128807e-01 -4.01372030e-03 7.06239855e+01] [ 5.11002536e-03 -4.42289966e-05 9.99986943e-01 6.66204621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:70.65, Z:0.67 [[ 6.13937541e-01 -7.89351175e-01 -2.32771664e-03 1.83209210e+02] [ 7.89345645e-01 6.13941953e-01 -2.95477730e-03 7.06451176e+01] [ 3.76143983e-03 -2.33242814e-05 9.99992926e-01 6.66996780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:70.67, Z:0.67 [[ 6.17877486e-01 -7.86269619e-01 -2.73826527e-03 1.83226028e+02] [ 7.86261930e-01 6.17883553e-01 -3.47729402e-03 7.06675710e+01] [ 4.42601972e-03 -4.45204519e-06 9.99990205e-01 6.66456535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:70.69, Z:0.67 [[ 6.18885922e-01 -7.85475113e-01 -3.01031889e-03 1.83242204e+02] [ 7.85465804e-01 6.18893243e-01 -3.82429112e-03 7.06900929e+01] [ 4.86695152e-03 2.29739199e-06 9.99988156e-01 6.65325542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:70.71, Z:0.67 [[ 6.18955090e-01 -7.85422313e-01 -2.52732393e-03 1.83258971e+02] [ 7.85415745e-01 6.18960250e-01 -3.21188378e-03 7.07126889e+01] [ 4.08699824e-03 3.01180685e-06 9.99991648e-01 6.65206552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:70.73, Z:0.67 [[ 6.18390437e-01 -7.85868375e-01 -2.04064575e-03 1.83275963e+02] [ 7.85864093e-01 6.18393804e-01 -2.59432017e-03 7.07347654e+01] [ 3.30071686e-03 6.32558043e-07 9.99994553e-01 6.66172381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.29, Y:70.75, Z:0.67 [[ 6.17529586e-01 -7.86545490e-01 -1.84462422e-03 1.83294087e+02] [ 7.86541992e-01 6.17532341e-01 -2.34593976e-03 7.07543754e+01] [ 2.98430345e-03 -2.18720077e-06 9.99995547e-01 6.67132652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:70.78, Z:0.67 [[ 6.16980272e-01 -7.86975877e-01 -2.07666351e-03 1.83312567e+02] [ 7.86971442e-01 6.16983767e-01 -2.64208207e-03 7.07755299e+01] [ 3.36052252e-03 -4.16236121e-06 9.99994353e-01 6.67340386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:70.80, Z:0.67 [[ 6.16596135e-01 -7.87276857e-01 -2.08717868e-03 1.83330570e+02] [ 7.87272376e-01 6.16599668e-01 -2.65620776e-03 7.07954610e+01] [ 3.37812458e-03 -5.37067839e-06 9.99994294e-01 6.67519436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.35, Y:70.81, Z:0.67 [[ 6.16997079e-01 -7.86963912e-01 -1.55117707e-03 1.83351365e+02] [ 7.86961435e-01 6.16999028e-01 -1.97462022e-03 7.08142185e+01] [ 2.51102960e-03 -2.38162189e-06 9.99996847e-01 6.67408150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:70.83, Z:0.67 [[ 6.18216812e-01 -7.86006069e-01 -1.55947650e-03 1.83369953e+02] [ 7.86003561e-01 6.18218779e-01 -1.98583623e-03 7.08344277e+01] [ 2.52497699e-03 1.92325882e-06 9.99996812e-01 6.67397380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.39, Y:70.85, Z:0.67 [[ 6.20124711e-01 -7.84501407e-01 -1.69850841e-03 1.83387718e+02] [ 7.84498424e-01 6.20127037e-01 -2.16357442e-03 7.08546087e+01] [ 2.75061817e-03 9.20879561e-06 9.99996217e-01 6.67511781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:70.88, Z:0.67 [[ 6.22588139e-01 -7.82547809e-01 -1.71365513e-03 1.83404971e+02] [ 7.82544762e-01 6.22590497e-01 -2.18366599e-03 7.08759871e+01] [ 2.77572843e-03 1.85126935e-05 9.99996147e-01 6.67552611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.42, Y:70.90, Z:0.67 [[ 6.29323787e-01 -7.77138467e-01 -2.71535662e-03 1.83422434e+02] [ 7.77130761e-01 6.29329642e-01 -3.46164736e-03 7.08975808e+01] [ 4.39903373e-03 6.83098695e-05 9.99990322e-01 6.68754789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.44, Y:70.92, Z:0.67 [[ 6.33221116e-01 -7.73964267e-01 -3.21437235e-03 1.83439978e+02] [ 7.73953420e-01 6.33229265e-01 -4.09907822e-03 7.09181340e+01] [ 5.20797471e-03 1.07848414e-04 9.99986433e-01 6.68601919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:70.94, Z:0.67 [[ 6.36778742e-01 -7.71039353e-01 -3.33896971e-03 1.83457705e+02] [ 7.71027600e-01 6.36787481e-01 -4.25945625e-03 7.09391079e+01] [ 5.41042251e-03 1.37893386e-04 9.99985354e-01 6.68227026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.47, Y:70.96, Z:0.67 [[ 6.42128342e-01 -7.66594207e-01 -2.12444474e-03 1.83474429e+02] [ 7.66589422e-01 6.42131847e-01 -2.71103431e-03 7.09613408e+01] [ 3.44243682e-03 1.12255105e-04 9.99994069e-01 6.68012887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.49, Y:70.98, Z:0.67 [[ 6.43740834e-01 -7.65241798e-01 -1.65206725e-03 1.83490294e+02] [ 7.65238898e-01 6.43742947e-01 -2.10893535e-03 7.09837039e+01] [ 2.67735212e-03 9.33816829e-05 9.99996412e-01 6.68267426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:71.01, Z:0.67 [[ 6.44747349e-01 -7.64394032e-01 -1.61839533e-03 1.83506807e+02] [ 7.64391244e-01 6.44749373e-01 -2.06671657e-03 7.10059985e+01] [ 2.62324518e-03 9.54228122e-05 9.99996555e-01 6.67884237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.52, Y:71.03, Z:0.67 [[ 6.45235731e-01 -7.63980696e-01 -2.08508667e-03 1.83524302e+02] [ 7.63976062e-01 6.45239088e-01 -2.66385311e-03 7.10275593e+01] [ 3.38051178e-03 1.25856907e-04 9.99994278e-01 6.67477234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:71.05, Z:0.67 [[ 6.45330136e-01 -7.63899418e-01 -2.58724667e-03 1.83541387e+02] [ 7.63892278e-01 6.45335303e-01 -3.30672551e-03 7.10483239e+01] [ 4.19564731e-03 1.57551877e-04 9.99991186e-01 6.66902432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.56, Y:71.07, Z:0.67 [[ 6.45053967e-01 -7.64133193e-01 -2.41733145e-03 1.83558195e+02] [ 7.64126956e-01 6.45058480e-01 -3.09073769e-03 7.10708586e+01] [ 3.92105541e-03 1.46544488e-04 9.99992302e-01 6.67150194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:71.09, Z:0.67 [[ 6.45032562e-01 -7.64152903e-01 -1.82604466e-03 1.83573780e+02] [ 7.64149342e-01 6.45035137e-01 -2.33552085e-03 7.10922645e+01] [ 2.96255801e-03 1.11116175e-04 9.99995605e-01 6.67689743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:71.11, Z:0.67 [[ 6.45414254e-01 -7.63831283e-01 -1.48720621e-03 1.83590740e+02] [ 7.63828918e-01 6.45415961e-01 -1.90281525e-03 7.11141083e+01] [ 2.41329644e-03 9.21329708e-05 9.99997084e-01 6.67971215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.61, Y:71.14, Z:0.67 [[ 6.45606044e-01 -7.63668380e-01 -1.85515348e-03 1.83607844e+02] [ 7.63664698e-01 6.45608698e-01 -2.37441034e-03 7.11350698e+01] [ 3.01096532e-03 1.16218443e-04 9.99995460e-01 6.67933002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.63, Y:71.16, Z:0.67 [[ 6.45572396e-01 -7.63690966e-01 -3.51988861e-03 1.83626676e+02] [ 7.63677699e-01 6.45581954e-01 -4.50697445e-03 7.11560855e+01] [ 5.71431224e-03 2.21517855e-04 9.99983649e-01 6.67650754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.64, Y:71.18, Z:0.67 [[ 6.45438946e-01 -7.63805423e-01 -3.13747976e-03 1.83644380e+02] [ 7.63794878e-01 6.45446541e-01 -4.01837093e-03 7.11767329e+01] [ 5.09432896e-03 1.97222126e-04 9.99987004e-01 6.68013687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.66, Y:71.20, Z:0.67 [[ 6.45287603e-01 -7.63936912e-01 -2.07454202e-03 1.83662770e+02] [ 7.63932299e-01 6.45290925e-01 -2.65779074e-03 7.11981413e+01] [ 3.36906759e-03 1.30229760e-04 9.99994316e-01 6.68559687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.68, Y:71.22, Z:0.67 [[ 6.45255645e-01 -7.63966569e-01 -4.84125634e-04 1.83682903e+02] [ 7.63966318e-01 6.45255826e-01 -6.20180253e-04 7.12173566e+01] [ 7.86181866e-04 3.03191306e-05 9.99999691e-01 6.69516597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.70, Y:71.24, Z:0.67 [[ 6.45352195e-01 -7.63884865e-01 -6.76021404e-04 1.83702336e+02] [ 7.63884375e-01 6.45352548e-01 -8.66503630e-04 7.12376722e+01] [ 1.09818114e-03 4.27978328e-05 9.99999396e-01 6.69423117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:71.26, Z:0.67 [[ 6.45768563e-01 -7.63531990e-01 -1.36460156e-03 1.83721613e+02] [ 7.63529990e-01 6.45769999e-01 -1.75012112e-03 7.12569185e+01] [ 2.21749221e-03 8.82589836e-05 9.99997537e-01 6.68759213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.74, Y:71.28, Z:0.67 [[ 6.46478371e-01 -7.62929818e-01 -1.95160998e-03 1.83741761e+02] [ 7.62925720e-01 6.46481303e-01 -2.50394599e-03 7.12769231e+01] [ 3.17201443e-03 1.29813471e-04 9.99994961e-01 6.68802167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:71.30, Z:0.67 [[ 6.48138241e-01 -7.61520535e-01 -1.81513031e-03 1.83764299e+02] [ 7.61516982e-01 6.48140770e-01 -2.32973390e-03 7.12950840e+01] [ 2.95060016e-03 1.27737071e-04 9.99995639e-01 6.69660768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:71.31, Z:0.67 [[ 6.48579914e-01 -7.61145085e-01 -1.50174708e-03 1.83782905e+02] [ 7.61142650e-01 6.48581643e-01 -1.92817150e-03 7.13142805e+01] [ 2.44162385e-03 1.07529556e-04 9.99997013e-01 6.70050317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.80, Y:71.33, Z:0.67 [[ 6.48629365e-01 -7.61103442e-01 -1.22356719e-03 1.83802267e+02] [ 7.61101825e-01 6.48630513e-01 -1.57152735e-03 7.13342410e+01] [ 1.98973789e-03 8.80795691e-05 9.99998017e-01 6.69648098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:71.35, Z:0.67 [[ 6.48442247e-01 -7.61262322e-01 -1.52652318e-03 1.83825126e+02] [ 7.61259803e-01 6.48444034e-01 -1.96152514e-03 7.13513985e+01] [ 2.48310003e-03 1.09855039e-04 9.99996911e-01 6.68027164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.84, Y:71.37, Z:0.67 [[ 6.47917822e-01 -7.61707477e-01 -2.05303225e-03 1.83844429e+02] [ 7.61702919e-01 6.47921058e-01 -2.63920203e-03 7.13709847e+01] [ 3.34050275e-03 1.46185377e-04 9.99994410e-01 6.67293016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.86, Y:71.39, Z:0.67 [[ 6.47184217e-01 -7.62329465e-01 -2.52513248e-03 1.83864018e+02] [ 7.62322568e-01 6.47189119e-01 -3.24744281e-03 7.13915099e+01] [ 4.10985961e-03 1.76728259e-04 9.99991539e-01 6.67223196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:71.41, Z:0.67 [[ 6.46305180e-01 -7.63074024e-01 -2.76550381e-03 1.83883572e+02] [ 7.63065752e-01 6.46311069e-01 -3.55804201e-03 7.14119702e+01] [ 4.50242516e-03 1.89319742e-04 9.99989846e-01 6.67004306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:71.43, Z:0.67 [[ 6.44085491e-01 -7.64948230e-01 -2.84342019e-03 1.83905651e+02] [ 7.64939498e-01 6.44091742e-01 -3.65966139e-03 7.14285960e+01] [ 4.63087497e-03 1.82090392e-04 9.99989261e-01 6.66541840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.93, Y:71.45, Z:0.67 [[ 6.42523809e-01 -7.66259945e-01 -2.97524046e-03 1.83926171e+02] [ 7.66250390e-01 6.42530671e-01 -3.83084638e-03 7.14486432e+01] [ 4.84710738e-03 1.81630845e-04 9.99988236e-01 6.66216654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:71.47, Z:0.67 [[ 6.41054665e-01 -7.67490183e-01 -2.78114438e-03 1.83946151e+02] [ 7.67481840e-01 6.41060678e-01 -3.58235724e-03 7.14678755e+01] [ 4.53230632e-03 1.62009016e-04 9.99989716e-01 6.66319430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.97, Y:71.49, Z:0.67 [[ 6.40088429e-01 -7.68296888e-01 -2.58755697e-03 1.83965684e+02] [ 7.68289667e-01 6.40093642e-01 -3.33422222e-03 7.14867337e+01] [ 4.21795132e-03 1.46203778e-04 9.99991094e-01 6.66903667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.99, Y:71.50, Z:0.67 [[ 6.40143966e-01 -7.68250096e-01 -2.73720291e-03 1.83988515e+02] [ 7.68242009e-01 6.40149799e-01 -3.52840472e-03 7.15042963e+01] [ 4.46291716e-03 1.55852729e-04 9.99990029e-01 6.67622132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.01, Y:71.52, Z:0.67 [[ 6.40939094e-01 -7.67586915e-01 -2.72119187e-03 1.84007539e+02] [ 7.67578911e-01 6.40944851e-01 -3.50913418e-03 7.15245083e+01] [ 4.43769939e-03 1.60411788e-04 9.99990141e-01 6.67647569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.03, Y:71.55, Z:0.67 [[ 6.41992919e-01 -7.66706914e-01 -2.36644699e-03 1.84025362e+02] [ 7.66700850e-01 6.41997264e-01 -3.05283064e-03 7.15458066e+01] [ 3.85987885e-03 1.45538734e-04 9.99992540e-01 6.68265638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.04, Y:71.57, Z:0.67 [[ 6.45457986e-01 -7.63793203e-01 -1.98275335e-03 1.84042932e+02] [ 7.63788929e-01 6.45461017e-01 -2.55881417e-03 7.15675139e+01] [ 3.23419486e-03 1.37201984e-04 9.99994761e-01 6.69354088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.06, Y:71.59, Z:0.67 [[ 6.47252640e-01 -7.62272068e-01 -2.30526103e-03 1.84059552e+02] [ 7.62266277e-01 6.47256723e-01 -2.97621284e-03 7.15882695e+01] [ 3.76077962e-03 1.69138873e-04 9.99992914e-01 6.69046258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:71.61, Z:0.67 [[ 6.48943200e-01 -7.60831550e-01 -2.84185754e-03 1.84076842e+02] [ 7.60822728e-01 6.48949385e-01 -3.67048663e-03 7.16100094e+01] [ 4.63684374e-03 2.19787532e-04 9.99989226e-01 6.68984768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.09, Y:71.63, Z:0.67 [[ 6.51370529e-01 -7.58753767e-01 -3.02582407e-03 1.84092858e+02] [ 7.58743735e-01 6.51377508e-01 -3.90968940e-03 7.16327231e+01] [ 4.93744531e-03 2.50831397e-04 9.99987779e-01 6.68301115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:71.65, Z:0.67 [[ 6.51667502e-01 -7.58499688e-01 -2.77306401e-03 1.84108158e+02] [ 7.58491254e-01 6.51673361e-01 -3.58440281e-03 7.16546003e+01] [ 4.52590036e-03 2.32494029e-04 9.99989731e-01 6.68486026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.12, Y:71.68, Z:0.67 [[ 6.51414307e-01 -7.58718453e-01 -2.38960550e-03 1.84123908e+02] [ 7.58712187e-01 6.51418659e-01 -3.08990757e-03 7.16771613e+01] [ 3.90100350e-03 1.99787186e-04 9.99992371e-01 6.68648863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.14, Y:71.70, Z:0.67 [[ 6.50872333e-01 -7.59184050e-01 -2.18726234e-03 1.84139878e+02] [ 7.59178799e-01 6.50875983e-01 -2.82936801e-03 7.16998855e+01] [ 3.57164759e-03 1.81034160e-04 9.99993605e-01 6.69150218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.16, Y:71.72, Z:0.67 [[ 6.50734181e-01 -7.59302472e-01 -2.18673554e-03 1.84157141e+02] [ 7.59297221e-01 6.50737830e-01 -2.82977515e-03 7.17225008e+01] [ 3.57164681e-03 1.81049197e-04 9.99993605e-01 6.69185645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:71.75, Z:0.67 [[ 6.49458694e-01 -7.60395647e-01 -1.36603095e-03 1.84171238e+02] [ 7.60393598e-01 6.49460121e-01 -1.76824484e-03 7.17450981e+01] [ 2.23174831e-03 1.09680790e-04 9.99997504e-01 6.69722113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:71.77, Z:0.67 [[ 6.48672388e-01 -7.61067483e-01 -6.47325296e-04 1.84186857e+02] [ 7.61067023e-01 6.48672709e-01 -8.38030677e-04 7.17670265e+01] [ 1.05770015e-03 5.09494249e-05 9.99999439e-01 6.69682095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.20, Y:71.79, Z:0.67 [[ 6.48116630e-01 -7.61541091e-01 -3.21920390e-05 1.84203419e+02] [ 7.61541090e-01 6.48116630e-01 -4.13140966e-05 7.17889647e+01] [ 5.23265781e-05 2.26079261e-06 9.99999999e-01 6.69467888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:71.81, Z:0.67 [[ 6.47554656e-01 -7.62018981e-01 1.99320204e-04 1.84220184e+02] [ 7.62018938e-01 6.47554686e-01 2.58724099e-04 7.18104846e+01] [-3.26223407e-04 -1.56522249e-05 9.99999947e-01 6.68631643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:71.83, Z:0.67 [[ 6.46400405e-01 -7.62997211e-01 -1.33156779e-03 1.84238594e+02] [ 7.62995264e-01 6.46401769e-01 -1.72632400e-03 7.18317489e+01] [ 2.17790817e-03 9.99166130e-05 9.99997623e-01 6.67539499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.26, Y:71.85, Z:0.67 [[ 6.46068479e-01 -7.63277526e-01 -1.71422167e-03 1.84256905e+02] [ 7.63274298e-01 6.46070741e-01 -2.22342697e-03 7.18530753e+01] [ 2.80460030e-03 1.28064745e-04 9.99996059e-01 6.67176389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.28, Y:71.87, Z:0.67 [[ 6.46052220e-01 -7.63291971e-01 -1.37685868e-03 1.84275597e+02] [ 7.63289887e-01 6.46053679e-01 -1.78646101e-03 7.18730900e+01] [ 2.25311596e-03 1.03204795e-04 9.99997456e-01 6.67054151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.30, Y:71.89, Z:0.67 [[ 6.46382883e-01 -7.63013207e-01 -1.20685917e-04 1.84296662e+02] [ 7.63013191e-01 6.46382894e-01 -1.56267821e-04 7.18910266e+01] [ 1.97243724e-04 8.92389805e-06 9.99999981e-01 6.67309890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:71.91, Z:0.67 [[ 6.46352195e-01 -7.63039210e-01 6.50440524e-05 1.84315278e+02] [ 7.63039205e-01 6.46352199e-01 8.48736432e-05 7.19115453e+01] [-1.06803284e-04 -5.22710355e-06 9.99999994e-01 6.67174047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:71.93, Z:0.67 [[ 6.46115416e-01 -7.63239660e-01 -3.02563489e-04 1.84334379e+02] [ 7.63239559e-01 6.46115486e-01 -3.92733826e-04 7.19321098e+01] [ 4.95240988e-04 2.28229555e-05 9.99999877e-01 6.66671887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:71.95, Z:0.67 [[ 6.45746935e-01 -7.63550991e-01 -8.83355083e-04 1.84353959e+02] [ 7.63550131e-01 6.45747536e-01 -1.14785314e-03 7.19517270e+01] [ 1.44686877e-03 6.67367574e-05 9.99998951e-01 6.66379391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:71.97, Z:0.67 [[ 6.45230120e-01 -7.63987446e-01 -1.12861447e-03 1.84377848e+02] [ 7.63986042e-01 6.45231102e-01 -1.46723671e-03 7.19679678e+01] [ 1.84916759e-03 8.44596180e-05 9.99998287e-01 6.67218843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:71.99, Z:0.67 [[ 6.44884933e-01 -7.64278854e-01 -1.12087313e-03 1.84398047e+02] [ 7.64277468e-01 6.44885902e-01 -1.45772165e-03 7.19876475e+01] [ 1.83694111e-03 8.34046460e-05 9.99998309e-01 6.67941433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.42, Y:72.01, Z:0.67 [[ 6.44726502e-01 -7.64411655e-01 -1.59971970e-03 1.84417630e+02] [ 7.64408831e-01 6.44728476e-01 -2.08134303e-03 7.20064099e+01] [ 2.62238771e-03 1.19057149e-04 9.99996554e-01 6.68267406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:72.03, Z:0.67 [[ 6.44340877e-01 -7.64734951e-01 -2.30004011e-03 1.84438317e+02] [ 7.64729110e-01 6.44344959e-01 -2.99371745e-03 7.20260511e+01] [ 3.77141962e-03 1.70066902e-04 9.99992874e-01 6.67789957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.46, Y:72.04, Z:0.67 [[ 6.44679289e-01 -7.64439348e-01 -4.59320694e-03 1.84461850e+02] [ 7.64416027e-01 6.44695559e-01 -5.98112554e-03 7.20415366e+01] [ 7.53342782e-03 3.44786759e-04 9.99971564e-01 6.66146808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.48, Y:72.06, Z:0.67 [[ 6.45329628e-01 -7.63883368e-01 -5.64540454e-03 1.84481235e+02] [ 7.63848090e-01 6.45354175e-01 -7.35418881e-03 7.20613452e+01] [ 9.26102791e-03 4.33644449e-04 9.99957022e-01 6.65815445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:72.08, Z:0.67 [[ 6.46974985e-01 -7.62485146e-01 -6.30641115e-03 1.84502957e+02] [ 7.62441022e-01 6.47005520e-01 -8.21857159e-03 7.20795568e+01] [ 1.03468216e-02 5.08943676e-04 9.99946341e-01 6.65759826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.52, Y:72.10, Z:0.67 [[ 6.47545666e-01 -7.62004366e-01 -5.82720142e-03 1.84522281e+02] [ 7.61966645e-01 6.47571707e-01 -7.59706822e-03 7.21001124e+01] [ 9.56252993e-03 4.79315479e-04 9.99954163e-01 6.66113117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:72.12, Z:0.67 [[ 6.47617167e-01 -7.61948178e-01 -5.19408624e-03 1.84540790e+02] [ 7.61918183e-01 6.47637854e-01 -6.77445333e-03 7.21202804e+01] [ 8.52566924e-03 4.29783523e-04 9.99963563e-01 6.66885186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.56, Y:72.14, Z:0.67 [[ 6.47384793e-01 -7.62150715e-01 -4.38374131e-03 1.84559325e+02] [ 7.62129338e-01 6.47399534e-01 -5.71974362e-03 7.21407083e+01] [ 7.19733877e-03 3.61897177e-04 9.99974033e-01 6.66974738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.58, Y:72.16, Z:0.67 [[ 6.46441297e-01 -7.62956109e-01 -3.40972521e-03 1.84580971e+02] [ 7.62943178e-01 6.46450230e-01 -4.45054822e-03 7.21589614e+01] [ 5.59979060e-03 2.75591574e-04 9.99984283e-01 6.66334250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:72.18, Z:0.67 [[ 6.45625098e-01 -7.63649090e-01 -2.88100596e-03 1.84600922e+02] [ 7.63639858e-01 6.45631486e-01 -3.76185978e-03 7.21789821e+01] [ 4.73280895e-03 2.28700104e-04 9.99988774e-01 6.65782019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.62, Y:72.20, Z:0.67 [[ 6.44783271e-01 -7.64362184e-01 -2.23265572e-03 1.84621127e+02] [ 7.64356640e-01 6.44787113e-01 -2.91636498e-03 7.21986716e+01] [ 3.66874674e-03 1.73878130e-04 9.99993255e-01 6.66098584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.64, Y:72.22, Z:0.67 [[ 6.44043021e-01 -7.64987720e-01 -1.54121469e-03 1.84640524e+02] [ 7.64985078e-01 6.44044855e-01 -2.01390034e-03 7.22177310e+01] [ 2.53322042e-03 1.18032220e-04 9.99996784e-01 6.66727137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:72.24, Z:0.67 [[ 6.43569785e-01 -7.65386019e-01 -1.47427055e-03 1.84662575e+02] [ 7.65383601e-01 6.43571464e-01 -1.92719523e-03 7.22360203e+01] [ 2.42384674e-03 1.11902121e-04 9.99997056e-01 6.67262145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:72.26, Z:0.67 [[ 6.44324821e-01 -7.64749610e-01 -1.88674279e-03 1.84682396e+02] [ 7.64745643e-01 6.44327566e-01 -2.46745503e-03 7.22564276e+01] [ 3.10266566e-03 1.46964189e-04 9.99995176e-01 6.67455538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.70, Y:72.28, Z:0.67 [[ 6.45795183e-01 -7.63506990e-01 -2.37872545e-03 1.84702619e+02] [ 7.63500672e-01 6.45799535e-01 -3.11217521e-03 7.22767395e+01] [ 3.91234731e-03 1.93669276e-04 9.99992328e-01 6.66914082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.72, Y:72.29, Z:0.67 [[ 6.49780280e-01 -7.60118390e-01 -2.37106701e-03 1.84724880e+02] [ 7.60112084e-01 6.49784570e-01 -3.10340820e-03 7.22931510e+01] [ 3.89964040e-03 2.14256759e-04 9.99992373e-01 6.66153039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.74, Y:72.31, Z:0.67 [[ 6.51774347e-01 -7.58409778e-01 -2.19273024e-03 1.84744208e+02] [ 7.58404372e-01 6.51778002e-01 -2.87111392e-03 7.23135669e+01] [ 3.60665421e-03 2.08342203e-04 9.99993474e-01 6.66337925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:72.33, Z:0.67 [[ 6.53474144e-01 -7.56946102e-01 -2.03527756e-03 1.84763113e+02] [ 7.56941434e-01 6.53477282e-01 -2.66601767e-03 7.23335798e+01] [ 3.34803933e-03 2.01587696e-04 9.99994375e-01 6.65946820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:72.35, Z:0.67 [[ 6.55472649e-01 -7.55215167e-01 -2.37863866e-03 1.84786282e+02] [ 7.55208774e-01 6.55476918e-01 -3.11714327e-03 7.23499851e+01] [ 3.91325662e-03 2.46833371e-04 9.99992313e-01 6.65395492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:72.37, Z:0.66 [[ 6.55702816e-01 -7.55015687e-01 -2.26478761e-03 1.84806197e+02] [ 7.55009886e-01 6.55706685e-01 -2.96911487e-03 7.23697676e+01] [ 3.72676468e-03 2.36919951e-04 9.99993028e-01 6.64959125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.82, Y:72.39, Z:0.67 [[ 6.55714331e-01 -7.55006799e-01 -1.85720895e-03 1.84824908e+02] [ 7.55002895e-01 6.55716932e-01 -2.43570927e-03 7.23891199e+01] [ 3.05678042e-03 1.94931342e-04 9.99995309e-01 6.65129690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.84, Y:72.41, Z:0.66 [[ 6.55479739e-01 -7.55211459e-01 -1.40126440e-03 1.84844337e+02] [ 7.55209236e-01 6.55481220e-01 -1.83838642e-03 7.24099237e+01] [ 2.30687299e-03 1.46777235e-04 9.99997328e-01 6.64939117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.87, Y:72.43, Z:0.66 [[ 6.54281524e-01 -7.56249850e-01 -1.36055764e-03 1.84867528e+02] [ 7.56247755e-01 6.54282924e-01 -1.78566578e-03 7.24276576e+01] [ 2.24059911e-03 1.39409467e-04 9.99997480e-01 6.64660486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:72.45, Z:0.66 [[ 6.53226489e-01 -7.57160603e-01 -1.72492116e-03 1.84886639e+02] [ 7.57157236e-01 6.53228743e-01 -2.26488752e-03 7.24468388e+01] [ 2.84165168e-03 1.73447988e-04 9.99995947e-01 6.64731970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:72.47, Z:0.66 [[ 6.52007382e-01 -7.58210159e-01 -1.93122384e-03 1.84905632e+02] [ 7.58205938e-01 6.52010214e-01 -2.53685684e-03 7.24667760e+01] [ 3.18264829e-03 1.89784000e-04 9.99994917e-01 6.64673035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.93, Y:72.49, Z:0.66 [[ 6.50491397e-01 -7.59511115e-01 -1.95162931e-03 1.84925285e+02] [ 7.59506808e-01 6.50494298e-01 -2.56468357e-03 7.24873987e+01] [ 3.21742942e-03 1.86028856e-04 9.99994807e-01 6.64843467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:72.50, Z:0.67 [[ 6.48011043e-01 -7.61627740e-01 -2.20774242e-03 1.84947930e+02] [ 7.61622236e-01 6.48014773e-01 -2.90247827e-03 7.25041167e+01] [ 3.64125767e-03 1.99372253e-04 9.99993351e-01 6.65518796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.97, Y:72.52, Z:0.67 [[ 6.47255595e-01 -7.62268907e-01 -2.51151670e-03 1.84967916e+02] [ 7.62261783e-01 6.47260429e-01 -3.30321301e-03 7.25240420e+01] [ 4.14354195e-03 2.23589902e-04 9.99991391e-01 6.65748790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:72.54, Z:0.67 [[ 6.46938321e-01 -7.62536502e-01 -2.98200813e-03 1.84987083e+02] [ 7.62526453e-01 6.46945139e-01 -3.92364284e-03 7.25440639e+01] [ 4.92111655e-03 2.64494832e-04 9.99987856e-01 6.65766483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.01, Y:72.56, Z:0.67 [[ 6.47721343e-01 -7.61864246e-01 -4.46467953e-03 1.85007099e+02] [ 7.61841689e-01 6.47736603e-01 -5.87651526e-03 7.25633604e+01] [ 7.36904322e-03 4.04965355e-04 9.99972766e-01 6.65050933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:72.58, Z:0.67 [[ 6.48792793e-01 -7.60949322e-01 -4.90323938e-03 1.85025587e+02] [ 7.60922071e-01 6.48811159e-01 -6.45615220e-03 7.25839491e+01] [ 8.09408106e-03 4.57721952e-04 9.99967138e-01 6.65031479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:72.60, Z:0.67 [[ 6.50165098e-01 -7.59777354e-01 -4.87000438e-03 1.85044578e+02] [ 7.59750419e-01 6.50183167e-01 -6.41488126e-03 7.26046691e+01] [ 8.04027638e-03 4.70744035e-04 9.99967566e-01 6.65449055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:72.62, Z:0.67 [[ 6.53348842e-01 -7.57045384e-01 -4.19244630e-03 1.85062918e+02] [ 7.57025352e-01 6.53362148e-01 -5.52458168e-03 7.26248919e+01] [ 6.92154478e-03 4.35690911e-04 9.99975951e-01 6.66199391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.08, Y:72.65, Z:0.67 [[ 6.54909355e-01 -7.55696447e-01 -4.07624106e-03 1.85079701e+02] [ 7.55677470e-01 6.54921894e-01 -5.37353461e-03 7.26478614e+01] [ 6.73038053e-03 4.38854556e-04 9.99977254e-01 6.66193287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43140051299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:185.10, Y:72.67, Z:0.67 [[ 6.57234399e-01 -7.53673706e-01 -4.34617780e-03 1.85096227e+02] [ 7.53652072e-01 6.57248585e-01 -5.73162294e-03 7.26700127e+01] [ 7.17629272e-03 4.91513855e-04 9.99974129e-01 6.65056327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:72.69, Z:0.67 [[ 6.57712084e-01 -7.53257209e-01 -4.28861735e-03 1.85113186e+02] [ 7.53236119e-01 6.57725882e-01 -5.65800059e-03 7.26906743e+01] [ 7.08266436e-03 4.90993877e-04 9.99974797e-01 6.65199916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.13, Y:72.71, Z:0.67 [[ 6.57747129e-01 -7.53229987e-01 -3.64694901e-03 1.85130706e+02] [ 7.53214725e-01 6.57757106e-01 -4.81325075e-03 7.27126277e+01] [ 6.02429143e-03 4.18966171e-04 9.99981766e-01 6.65827145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:72.73, Z:0.67 [[ 6.57493016e-01 -7.53455186e-01 -2.86636818e-03 1.85148110e+02] [ 7.53445754e-01 6.57499182e-01 -3.78440632e-03 7.27344451e+01] [ 4.73601531e-03 3.28567793e-04 9.99988731e-01 6.66923879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.17, Y:72.75, Z:0.67 [[ 6.56398794e-01 -7.54412532e-01 -1.53448943e-03 1.85168505e+02] [ 7.54409830e-01 6.56400565e-01 -2.02657552e-03 7.27522592e+01] [ 2.53611369e-03 1.72607818e-04 9.99996769e-01 6.66713830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:185.19, Y:72.77, Z:0.67 [[ 6.55217738e-01 -7.55439358e-01 -1.04500402e-03 1.85188321e+02] [ 7.55438105e-01 6.55218562e-01 -1.38053808e-03 7.27717856e+01] [ 1.72761883e-03 1.15117183e-04 9.99998501e-01 6.66564695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:72.79, Z:0.67 [[ 6.54160470e-01 -7.56355666e-01 -4.31453198e-04 1.85208342e+02] [ 7.56355452e-01 6.54160611e-01 -5.69975705e-04 7.27922284e+01] [ 7.13344042e-04 4.65235965e-05 9.99999745e-01 6.66977445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.23, Y:72.81, Z:0.67 [[ 6.52922192e-01 -7.57424791e-01 -5.44498683e-04 1.85227608e+02] [ 7.57424452e-01 6.52922417e-01 -7.19689517e-04 7.28112460e+01] [ 9.00626078e-04 5.74846407e-05 9.99999593e-01 6.66352263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:72.83, Z:0.67 [[ 6.53209702e-01 -7.57175967e-01 -1.28061722e-03 1.85247005e+02] [ 7.57174085e-01 6.53210943e-01 -1.69387824e-03 7.28316448e+01] [ 2.11907708e-03 1.36807535e-04 9.99997745e-01 6.66057055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:72.85, Z:0.67 [[ 6.53766827e-01 -7.56694560e-01 -1.50967502e-03 1.85266756e+02] [ 7.56691941e-01 6.53768549e-01 -1.99772231e-03 7.28502629e+01] [ 2.49864365e-03 1.63685660e-04 9.99996865e-01 6.65663623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:72.87, Z:0.67 [[ 6.54389431e-01 -7.56156924e-01 -1.08533589e-03 1.85287600e+02] [ 7.56155569e-01 6.54390321e-01 -1.43666530e-03 7.28697701e+01] [ 1.79657771e-03 1.19455812e-04 9.99998379e-01 6.65494770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.31, Y:72.89, Z:0.67 [[ 6.55474388e-01 -7.55217297e-01 4.02083267e-04 1.85310805e+02] [ 7.55217110e-01 6.55474510e-01 5.32990783e-04 7.28858820e+01] [-6.66079190e-04 -4.57016444e-05 9.99999777e-01 6.65811834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.33, Y:72.91, Z:0.67 [[ 6.55636916e-01 -7.55076107e-01 5.54421042e-04 1.85331169e+02] [ 7.55075752e-01 6.55637147e-01 7.35021456e-04 7.29052349e+01] [-9.18496170e-04 -6.32773150e-05 9.99999576e-01 6.65377078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:185.35, Y:72.93, Z:0.66 [[ 6.55734217e-01 -7.54991803e-01 1.21323592e-04 1.85351938e+02] [ 7.54991786e-01 6.55734228e-01 1.61195349e-04 7.29250078e+01] [-2.01257199e-04 -1.41029901e-05 9.99999980e-01 6.64845403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.37, Y:72.94, Z:0.66 [[ 6.56425985e-01 -7.54390011e-01 -7.98022544e-04 1.85373178e+02] [ 7.54389275e-01 6.56426464e-01 -1.05786272e-03 7.29441931e+01] [ 1.32188419e-03 9.23889293e-05 9.99999122e-01 6.64570781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.40, Y:72.96, Z:0.66 [[ 6.58168340e-01 -7.52866358e-01 -2.58520646e-03 1.85397600e+02] [ 7.52858613e-01 6.58173344e-01 -3.42883850e-03 7.29601226e+01] [ 4.28297113e-03 3.10457996e-04 9.99990780e-01 6.64194509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:72.98, Z:0.66 [[ 6.58029199e-01 -7.52987976e-01 -2.58462546e-03 1.85414089e+02] [ 7.52980231e-01 6.58034202e-01 -3.42927645e-03 7.29823318e+01] [ 4.28297589e-03 3.10392156e-04 9.99990780e-01 6.64228898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:73.00, Z:0.66 [[ 6.58930663e-01 -7.52196864e-01 -3.20294355e-03 1.85434327e+02] [ 7.52184952e-01 6.58938331e-01 -4.25137259e-03 7.30024085e+01] [ 5.30841140e-03 3.92153820e-04 9.99985833e-01 6.63984812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:73.02, Z:0.66 [[ 6.59748797e-01 -7.51476436e-01 -3.83289650e-03 1.85454123e+02] [ 7.51459352e-01 6.59759758e-01 -5.08954906e-03 7.30227241e+01] [ 6.35346706e-03 4.77557950e-04 9.99979703e-01 6.64130435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:73.04, Z:0.66 [[ 6.62102583e-01 -7.49400351e-01 -4.39136594e-03 1.85477301e+02] [ 7.49377864e-01 6.62116899e-01 -5.83341400e-03 7.30405186e+01] [ 7.27916010e-03 5.71526041e-04 9.99973343e-01 6.64453831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.50, Y:73.06, Z:0.66 [[ 6.63074486e-01 -7.48538345e-01 -4.75093656e-03 1.85496494e+02] [ 7.48511985e-01 6.63091207e-01 -6.31351170e-03 7.30604967e+01] [ 7.87620985e-03 6.30195569e-04 9.99968784e-01 6.64220189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.51, Y:73.08, Z:0.66 [[ 6.63686608e-01 -7.47993296e-01 -5.11029255e-03 1.85514411e+02] [ 7.47962757e-01 6.63705927e-01 -6.79381426e-03 7.30811248e+01] [ 8.47345898e-03 6.86655034e-04 9.99963864e-01 6.64086353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.53, Y:73.10, Z:0.66 [[ 6.63604270e-01 -7.48068413e-01 -4.79825551e-03 1.85533744e+02] [ 7.48041472e-01 6.63621303e-01 -6.38139152e-03 7.31020664e+01] [ 7.95794200e-03 6.45424545e-04 9.99968127e-01 6.63342032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:73.12, Z:0.66 [[ 6.62747811e-01 -7.48831655e-01 -4.06080497e-03 1.85551975e+02] [ 7.48812361e-01 6.62760032e-01 -5.40260868e-03 7.31228266e+01] [ 6.73698363e-03 5.39786122e-04 9.99977161e-01 6.63565401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:185.57, Y:73.14, Z:0.66 [[ 6.61403585e-01 -7.50022445e-01 -3.41038518e-03 1.85570547e+02] [ 7.50008842e-01 6.61412228e-01 -4.53893668e-03 7.31436493e+01] [ 5.65997484e-03 4.44249951e-04 9.99983884e-01 6.63979987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.59, Y:73.16, Z:0.67 [[ 6.57492337e-01 -7.53454916e-01 -3.08478107e-03 1.85588839e+02] [ 7.53443816e-01 6.57499466e-01 -4.10718240e-03 7.31632757e+01] [ 5.12281868e-03 3.76231730e-04 9.99986808e-01 6.65116617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:73.19, Z:0.67 [[ 6.55149344e-01 -7.55493050e-01 -3.09659667e-03 1.85606327e+02] [ 7.55481878e-01 6.55156561e-01 -4.12450741e-03 7.31856134e+01] [ 5.14479230e-03 3.62745655e-04 9.99986700e-01 6.65268513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.62, Y:73.21, Z:0.67 [[ 6.52888218e-01 -7.57448622e-01 -2.92579948e-03 1.85624127e+02] [ 7.57438661e-01 6.52894690e-01 -3.89847405e-03 7.32078320e+01] [ 4.86313274e-03 3.29154137e-04 9.99988121e-01 6.65510065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:73.23, Z:0.67 [[ 6.48921834e-01 -7.60853534e-01 -1.53416329e-03 1.85643626e+02] [ 7.60850803e-01 6.48923628e-01 -2.04481164e-03 7.32270629e+01] [ 2.55135697e-03 1.59653553e-04 9.99996733e-01 6.66588141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:73.25, Z:0.67 [[ 6.46895497e-01 -7.62578070e-01 -9.50456399e-04 1.85660576e+02] [ 7.62577023e-01 6.46896189e-01 -1.26718543e-03 7.32473983e+01] [ 1.58117444e-03 9.49403387e-05 9.99998745e-01 6.66955079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:73.27, Z:0.67 [[ 6.45139208e-01 -7.64064564e-01 -8.62649901e-04 1.85678381e+02] [ 7.64063703e-01 6.45139779e-01 -1.15057924e-03 7.32690899e+01] [ 1.43564660e-03 8.31643043e-05 9.99998966e-01 6.67025341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:73.29, Z:0.67 [[ 6.44087288e-01 -7.64951296e-01 -1.03959398e-03 1.85696115e+02] [ 7.64950044e-01 6.44088120e-01 -1.38715898e-03 7.32896477e+01] [ 1.73069919e-03 9.82140101e-05 9.99998498e-01 6.66653719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:73.31, Z:0.67 [[ 6.43345634e-01 -7.65574662e-01 -1.35355774e-03 1.85713847e+02] [ 7.65572541e-01 6.43347045e-01 -1.80679643e-03 7.33096897e+01] [ 2.25404494e-03 1.26147958e-04 9.99997452e-01 6.66823718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.73, Y:73.33, Z:0.67 [[ 6.42443819e-01 -7.66331526e-01 -1.39003745e-03 1.85733186e+02] [ 7.66329288e-01 6.42445310e-01 -1.85627508e-03 7.33293191e+01] [ 2.31554515e-03 1.27326042e-04 9.99997311e-01 6.66957603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.75, Y:73.35, Z:0.67 [[ 6.42265122e-01 -7.66481865e-01 -1.03153414e-03 1.85750534e+02] [ 7.66480632e-01 6.42265943e-01 -1.37799085e-03 7.33504813e+01] [ 1.71872425e-03 9.43845215e-05 9.99998519e-01 6.67176273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.77, Y:73.37, Z:0.67 [[ 6.42422291e-01 -7.66350420e-01 -7.96410946e-04 1.85768379e+02] [ 7.66349685e-01 6.42422780e-01 -1.06424472e-03 7.33715946e+01] [ 1.32721692e-03 7.33652517e-05 9.99999117e-01 6.67859986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:73.39, Z:0.67 [[ 6.42942562e-01 -7.65914203e-01 -5.43327038e-04 1.85786123e+02] [ 7.65913860e-01 6.42942790e-01 -7.26237462e-04 7.33919564e+01] [ 9.05563789e-04 5.07872653e-05 9.99999589e-01 6.68773853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.81, Y:73.41, Z:0.67 [[ 6.45370974e-01 -7.63869090e-01 -5.64290993e-04 1.85805657e+02] [ 7.63868720e-01 6.45371219e-01 -7.54461370e-04 7.34119274e+01] [ 9.40486886e-04 5.58632314e-05 9.99999556e-01 6.68550165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:73.43, Z:0.67 [[ 6.46530339e-01 -7.62887899e-01 -7.57900615e-04 1.85823030e+02] [ 7.62887229e-01 6.46530779e-01 -1.01384956e-03 7.34333961e+01] [ 1.26345964e-03 7.72918013e-05 9.99999199e-01 6.67973095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.84, Y:73.45, Z:0.67 [[ 6.47364578e-01 -7.62180121e-01 -7.53299582e-04 1.85840135e+02] [ 7.62179458e-01 6.47365011e-01 -1.00808861e-03 7.34547998e+01] [ 1.25600489e-03 7.84513924e-05 9.99999208e-01 6.67246129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.86, Y:73.48, Z:0.67 [[ 6.47638170e-01 -7.61947926e-01 -3.99020076e-04 1.85857439e+02] [ 7.61947740e-01 6.47638292e-01 -5.34005008e-04 7.34763892e+01] [ 6.65304688e-04 4.18095815e-05 9.99999778e-01 6.66982739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.87, Y:73.50, Z:0.67 [[ 6.47560945e-01 -7.62013646e-01 1.58720278e-04 1.85874936e+02] [ 7.62013617e-01 6.47560964e-01 2.13117687e-04 7.34954092e+01] [-2.65179642e-04 -1.70596773e-05 9.99999965e-01 6.68360994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:73.52, Z:0.67 [[ 6.47420738e-01 -7.62132670e-01 -4.25723544e-04 1.85891594e+02] [ 7.62132458e-01 6.47420877e-01 -5.70256506e-04 7.35153039e+01] [ 7.10233424e-04 4.47381571e-05 9.99999747e-01 6.69025334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:73.54, Z:0.67 [[ 6.47417202e-01 -7.62133750e-01 -1.76466228e-03 1.85910079e+02] [ 7.62130100e-01 6.47419580e-01 -2.36615429e-03 7.35353797e+01] [ 2.94580296e-03 1.86986754e-04 9.99995644e-01 6.68431514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:73.56, Z:0.67 [[ 6.47907589e-01 -7.61715925e-01 -2.14600047e-03 1.85928013e+02] [ 7.61710520e-01 6.47911102e-01 -2.87871151e-03 7.35568565e+01] [ 3.58317793e-03 2.30507903e-04 9.99993554e-01 6.67746770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:73.58, Z:0.67 [[ 6.48959335e-01 -7.60820452e-01 -2.00526448e-03 1.85944893e+02] [ 7.60815726e-01 6.48962396e-01 -2.69076669e-03 7.35780212e+01] [ 3.34853157e-03 2.20561410e-04 9.99994369e-01 6.67086398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:73.60, Z:0.67 [[ 6.50813810e-01 -7.59235562e-01 -1.65703834e-03 1.85961266e+02] [ 7.59232328e-01 6.50815892e-01 -2.22427556e-03 7.35987410e+01] [ 2.76717598e-03 1.89512177e-04 9.99996153e-01 6.66880102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.98, Y:73.62, Z:0.67 [[ 6.56049445e-01 -7.54716070e-01 -1.66750659e-03 1.85976557e+02] [ 7.54712777e-01 6.56051530e-01 -2.23929494e-03 7.36207491e+01] [ 2.78400213e-03 2.10599671e-04 9.99996102e-01 6.67684937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:73.64, Z:0.67 [[ 6.58744848e-01 -7.52363061e-01 -2.24719714e-03 1.85992151e+02] [ 7.52357062e-01 6.58748613e-01 -3.01909424e-03 7.36445120e+01] [ 3.75179298e-03 2.98118139e-04 9.99992918e-01 6.67763334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.01, Y:73.67, Z:0.67 [[ 6.61028779e-01 -7.50353715e-01 -3.20236622e-03 1.86007081e+02] [ 7.50341500e-01 6.61036388e-01 -4.30421527e-03 7.36673133e+01] [ 5.34656452e-03 4.42341890e-04 9.99985609e-01 6.67338620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:73.69, Z:0.67 [[ 6.62836859e-01 -7.48753352e-01 -3.96436833e-03 1.86021655e+02] [ 7.48734589e-01 6.62848473e-01 -5.33077217e-03 7.36885866e+01] [ 6.61920903e-03 5.65172588e-04 9.99977933e-01 6.66479515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:73.71, Z:0.67 [[ 6.64157573e-01 -7.47584802e-01 -3.41778336e-03 1.86038427e+02] [ 7.47570832e-01 6.64166180e-01 -4.59749840e-03 7.37104157e+01] [ 5.70699605e-03 4.98428229e-04 9.99983591e-01 6.66331229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:73.73, Z:0.67 [[ 6.63265191e-01 -7.48379288e-01 -2.77994083e-03 1.86055296e+02] [ 7.48370046e-01 6.63270896e-01 -3.74081205e-03 7.37325397e+01] [ 4.64340010e-03 4.00725972e-04 9.99989139e-01 6.67280478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:73.75, Z:0.67 [[ 6.61693107e-01 -7.49769605e-01 -2.78774857e-03 1.86071793e+02] [ 7.49760317e-01 6.61698862e-01 -3.75273623e-03 7.37546645e+01] [ 4.65833762e-03 3.93016448e-04 9.99989073e-01 6.68027887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.09, Y:73.78, Z:0.67 [[ 6.58261560e-01 -7.52781473e-01 -3.43102033e-03 1.86088075e+02] [ 7.52767433e-01 6.58270342e-01 -4.62053715e-03 7.37777401e+01] [ 5.73679369e-03 4.58761628e-04 9.99983439e-01 6.68101213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:73.80, Z:0.67 [[ 6.56948511e-01 -7.53929794e-01 -2.91867431e-03 1.86103824e+02] [ 7.53919638e-01 6.56954883e-01 -3.93207837e-03 7.38002840e+01] [ 4.88194838e-03 3.82727154e-04 9.99988010e-01 6.67654173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.12, Y:73.82, Z:0.67 [[ 6.56165751e-01 -7.54613195e-01 -2.33085656e-03 1.86119844e+02] [ 7.54606717e-01 6.56169821e-01 -3.14127724e-03 7.38232429e+01] [ 3.89988698e-03 3.02318522e-04 9.99992350e-01 6.67412633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.13, Y:73.84, Z:0.67 [[ 6.55406180e-01 -7.55273875e-01 -2.02823874e-03 1.86134788e+02] [ 7.55268970e-01 6.55409266e-01 -2.73432208e-03 7.38446439e+01] [ 3.39448850e-03 2.60225804e-04 9.99994205e-01 6.67180760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.15, Y:73.87, Z:0.67 [[ 6.54375296e-01 -7.56166669e-01 -2.22290572e-03 1.86151303e+02] [ 7.56160778e-01 6.54379011e-01 -2.99788501e-03 7.38676423e+01] [ 3.72152357e-03 2.80867768e-04 9.99993036e-01 6.67415623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:73.89, Z:0.67 [[ 6.52100099e-01 -7.58127857e-01 -2.75914633e-03 1.86168192e+02] [ 7.58118793e-01 6.52105850e-01 -3.72232982e-03 7.38884722e+01] [ 4.62125739e-03 3.35570959e-04 9.99989266e-01 6.67521689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.19, Y:73.91, Z:0.67 [[ 6.50772881e-01 -7.59267779e-01 -2.66428545e-03 1.86185883e+02] [ 7.59259331e-01 6.50778257e-01 -3.59563980e-03 7.39106699e+01] [ 4.46391249e-03 3.17061281e-04 9.99989986e-01 6.68248409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:73.93, Z:0.67 [[ 6.49683713e-01 -7.60202426e-01 -1.82888911e-03 1.86202735e+02] [ 7.60198446e-01 6.49686252e-01 -2.46908877e-03 7.39312576e+01] [ 3.06521138e-03 2.13808102e-04 9.99995279e-01 6.68480397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:73.95, Z:0.67 [[ 6.48867395e-01 -7.60901074e-01 -8.12032193e-04 1.86220412e+02] [ 7.60900289e-01 6.48867897e-01 -1.09650310e-03 7.39526575e+01] [ 1.36123201e-03 9.36095826e-05 9.99999069e-01 6.68591411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.24, Y:73.97, Z:0.67 [[ 6.48804658e-01 -7.60954987e-01 1.51975852e-04 1.86237791e+02] [ 7.60954959e-01 6.48804676e-01 2.05771343e-04 7.39737300e+01] [-2.55185373e-04 -1.78586274e-05 9.99999967e-01 6.68696043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.26, Y:73.99, Z:0.67 [[ 6.49505800e-01 -7.60356407e-01 5.91674037e-04 1.86255182e+02] [ 7.60355989e-01 6.49506066e-01 8.00311108e-04 7.39945400e+01] [-9.92817554e-04 -6.99238088e-05 9.99999505e-01 6.68882691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.27, Y:74.01, Z:0.67 [[ 6.51762657e-01 -7.58422982e-01 -1.42914705e-04 1.86274369e+02] [ 7.58422957e-01 6.51762672e-01 -1.92864762e-04 7.40144950e+01] [ 2.39419538e-04 1.73122564e-05 9.99999971e-01 6.68381973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.29, Y:74.03, Z:0.67 [[ 6.52651157e-01 -7.57658272e-01 -6.40342073e-04 1.86290720e+02] [ 7.57657781e-01 6.52651466e-01 -8.65988994e-04 7.40347556e+01] [ 1.07404392e-03 8.00285643e-05 9.99999420e-01 6.68127765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:74.05, Z:0.67 [[ 6.54299364e-01 -7.56234599e-01 -1.25458842e-03 1.86309618e+02] [ 7.56232710e-01 6.54300547e-01 -1.69785026e-03 7.40544845e+01] [ 2.10485100e-03 1.62141544e-04 9.99997772e-01 6.67016036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:74.08, Z:0.67 [[ 6.54859656e-01 -7.55748965e-01 -1.52708958e-03 1.86328674e+02] [ 7.55746164e-01 6.54861406e-01 -2.06753879e-03 7.40755287e+01] [ 2.56257233e-03 1.99855650e-04 9.99996697e-01 6.66786370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.35, Y:74.10, Z:0.67 [[ 6.55190179e-01 -7.55461526e-01 -1.92659659e-03 1.86347532e+02] [ 7.55457062e-01 6.55192963e-01 -2.60952196e-03 7.40960084e+01] [ 3.23368597e-03 2.54272165e-04 9.99994739e-01 6.66398011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.37, Y:74.12, Z:0.67 [[ 6.54997834e-01 -7.55627486e-01 -2.22256900e-03 1.86365260e+02] [ 7.55621541e-01 6.55001540e-01 -3.01166025e-03 7.41162163e+01] [ 3.73147938e-03 2.93209929e-04 9.99992995e-01 6.65729862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:186.38, Y:74.14, Z:0.67 [[ 6.54149127e-01 -7.56363845e-01 -1.62902160e-03 1.86384594e+02] [ 7.56360652e-01 6.54151120e-01 -2.20813932e-03 7.41372591e+01] [ 2.73578305e-03 2.12324573e-04 9.99996235e-01 6.65968593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.40, Y:74.16, Z:0.67 [[ 6.54114643e-01 -7.56394209e-01 -1.35482356e-03 1.86402092e+02] [ 7.56391998e-01 6.54116022e-01 -1.83711784e-03 7.41573914e+01] [ 2.27579709e-03 1.76907979e-04 9.99997395e-01 6.66597700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.42, Y:74.18, Z:0.67 [[ 6.54292824e-01 -7.56239176e-01 -1.79141405e-03 1.86420633e+02] [ 7.56235308e-01 6.54295234e-01 -2.43019986e-03 7.41787655e+01] [ 3.00992602e-03 2.35331774e-04 9.99995442e-01 6.66992883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.44, Y:74.20, Z:0.67 [[ 6.55082455e-01 -7.55552924e-01 -2.59908742e-03 1.86438373e+02] [ 7.55544770e-01 6.55087520e-01 -3.52743384e-03 7.41998115e+01] [ 4.36779268e-03 3.47033114e-04 9.99990401e-01 6.66695958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.46, Y:74.22, Z:0.67 [[ 6.56085257e-01 -7.54676612e-01 -3.91751321e-03 1.86455263e+02] [ 7.54658055e-01 6.56096736e-01 -5.31917208e-03 7.42208632e+01] [ 6.58452240e-03 5.33447486e-04 9.99978180e-01 6.65902638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:74.24, Z:0.67 [[ 6.57179291e-01 -7.53717493e-01 -5.03187943e-03 1.86471904e+02] [ 7.53686824e-01 6.57198183e-01 -6.83522651e-03 7.42423170e+01] [ 8.45877180e-03 6.99508084e-04 9.99963979e-01 6.65054101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:74.26, Z:0.66 [[ 6.59587405e-01 -7.51610341e-01 -5.13321054e-03 1.86489797e+02] [ 7.51578339e-01 6.59606961e-01 -6.97551896e-03 7.42638954e+01] [ 8.62877360e-03 7.42954598e-04 9.99962495e-01 6.64954817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:74.29, Z:0.67 [[ 6.60497989e-01 -7.50814577e-01 -4.45849265e-03 1.86507398e+02] [ 7.50790400e-01 6.60512711e-01 -6.06089396e-03 7.42856847e+01] [ 7.49549860e-03 6.55814790e-04 9.99971693e-01 6.65511125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.52, Y:74.31, Z:0.67 [[ 6.60369969e-01 -7.50927184e-01 -4.45744792e-03 1.86524185e+02] [ 7.50903004e-01 6.60384686e-01 -6.06166232e-03 7.43087332e+01] [ 7.49549736e-03 6.55828719e-04 9.99971693e-01 6.65546546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:74.33, Z:0.67 [[ 6.61323726e-01 -7.50090968e-01 -3.80395573e-03 1.86540606e+02] [ 7.50073332e-01 6.61334421e-01 -5.17496869e-03 7.43295789e+01] [ 6.39738414e-03 5.69083822e-04 9.99979375e-01 6.65454413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:74.35, Z:0.67 [[ 6.62321159e-01 -7.49212252e-01 -3.41804950e-03 1.86556010e+02] [ 7.49197991e-01 6.62329775e-01 -4.65187638e-03 7.43503478e+01] [ 5.74911874e-03 5.20240337e-04 9.99983338e-01 6.65254549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:74.37, Z:0.67 [[ 6.63962549e-01 -7.47759160e-01 -3.15791266e-03 1.86571628e+02] [ 7.47746962e-01 6.63969875e-01 -4.29957685e-03 7.43724610e+01] [ 5.31180685e-03 4.93438408e-04 9.99985771e-01 6.65115982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:74.40, Z:0.66 [[ 6.63799347e-01 -7.47904211e-01 -3.11747693e-03 1.86587731e+02] [ 7.47892316e-01 6.63806488e-01 -4.24614576e-03 7.43953471e+01] [ 5.24511171e-03 4.87051741e-04 9.99986126e-01 6.64972818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.60, Y:74.42, Z:0.67 [[ 6.63105392e-01 -7.48520632e-01 -2.84657396e-03 1.86603005e+02] [ 7.48510712e-01 6.63111355e-01 -3.87864989e-03 7.44170397e+01] [ 4.79084498e-03 4.41262551e-04 9.99988426e-01 6.65095895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:74.44, Z:0.67 [[ 6.61945746e-01 -7.49547465e-01 -2.53506896e-03 1.86618707e+02] [ 7.49539600e-01 6.61950487e-01 -3.45560994e-03 7.44382842e+01] [ 4.26823381e-03 3.87291726e-04 9.99990816e-01 6.65405252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:74.46, Z:0.67 [[ 6.60404160e-01 -7.50906792e-01 -2.30995288e-03 1.86635499e+02] [ 7.50900264e-01 6.60408109e-01 -3.15002090e-03 7.44597639e+01] [ 3.89088370e-03 3.45742680e-04 9.99992371e-01 6.65609735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.65, Y:74.48, Z:0.67 [[ 6.57206984e-01 -7.53705575e-01 -2.62402942e-03 1.86653642e+02] [ 7.53697167e-01 6.57212116e-01 -3.57985228e-03 7.44803925e+01] [ 4.42269855e-03 3.74980379e-04 9.99990150e-01 6.66135327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:74.50, Z:0.67 [[ 6.55657596e-01 -7.55051727e-01 -3.16326062e-03 1.86670121e+02] [ 7.55039514e-01 6.55665078e-01 -4.31723869e-03 7.45024649e+01] [ 5.33377805e-03 4.42243582e-04 9.99985678e-01 6.66081416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:74.52, Z:0.67 [[ 6.54242849e-01 -7.56276980e-01 -3.37998905e-03 1.86685732e+02] [ 7.56263040e-01 6.54251416e-01 -4.61502257e-03 7.45235996e+01] [ 5.70159795e-03 4.63184718e-04 9.99983639e-01 6.65546223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:74.54, Z:0.67 [[ 6.53141209e-01 -7.57229581e-01 -3.15003027e-03 1.86702179e+02] [ 7.57217475e-01 6.53148667e-01 -4.30288720e-03 7.45441617e+01] [ 5.31571154e-03 4.25134978e-04 9.99985781e-01 6.65643574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:186.72, Y:74.56, Z:0.67 [[ 6.51143248e-01 -7.58951753e-01 -2.16974242e-03 1.86720564e+02] [ 7.58946015e-01 6.51146801e-01 -2.96497170e-03 7.45632360e+01] [ 3.66309131e-03 2.83903942e-04 9.99993251e-01 6.66179303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:74.58, Z:0.67 [[ 6.50516723e-01 -7.59488881e-01 -2.15255853e-03 1.86737808e+02] [ 7.59483231e-01 6.50520224e-01 -2.94272607e-03 7.45845982e+01] [ 3.63525058e-03 2.79460417e-04 9.99993353e-01 6.66320330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:74.61, Z:0.67 [[ 6.50145451e-01 -7.59804898e-01 -2.72191555e-03 1.86753995e+02] [ 7.59795860e-01 6.50151054e-01 -3.72280678e-03 7.46055513e+01] [ 4.59826309e-03 3.52265726e-04 9.99989366e-01 6.66296058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:74.63, Z:0.67 [[ 6.49987662e-01 -7.59936402e-01 -3.56427221e-03 1.86769883e+02] [ 7.59920894e-01 6.49997271e-01 -4.87671130e-03 7.46261057e+01] [ 6.02275765e-03 4.61237248e-04 9.99981757e-01 6.65906064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:74.65, Z:0.67 [[ 6.49992494e-01 -7.59929276e-01 -4.15374382e-03 1.86787277e+02] [ 7.59908198e-01 6.50005543e-01 -5.68552395e-03 7.46476168e+01] [ 7.02055260e-03 5.39083912e-04 9.99975210e-01 6.65562984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.81, Y:74.67, Z:0.67 [[ 6.49945149e-01 -7.59967931e-01 -4.47741076e-03 1.86807264e+02] [ 7.59943421e-01 6.49960311e-01 -6.13117148e-03 7.46670660e+01] [ 7.56963299e-03 5.82346313e-04 9.99971180e-01 6.65846467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:74.69, Z:0.67 [[ 6.49859664e-01 -7.60042437e-01 -4.23214321e-03 1.86824659e+02] [ 7.60020522e-01 6.49873211e-01 -5.79785852e-03 7.46871928e+01] [ 7.15697502e-03 5.51278699e-04 9.99974237e-01 6.65898496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.84, Y:74.71, Z:0.67 [[ 6.49887768e-01 -7.60020219e-01 -3.89291136e-03 1.86842082e+02] [ 7.60001662e-01 6.49899229e-01 -5.33533571e-03 7.47080104e+01] [ 6.58496311e-03 5.08750309e-04 9.99978189e-01 6.66064922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.86, Y:74.73, Z:0.67 [[ 6.50062603e-01 -7.59873006e-01 -3.40989051e-03 1.86859615e+02] [ 7.59858755e-01 6.50071392e-01 -4.67524323e-03 7.47294215e+01] [ 5.76926340e-03 4.48165624e-04 9.99983257e-01 6.66169406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:74.75, Z:0.67 [[ 6.51151315e-01 -7.58943617e-01 -2.55961681e-03 1.86878901e+02] [ 7.58935574e-01 6.51156255e-01 -3.51086137e-03 7.47475734e+01] [ 4.33125632e-03 3.43517749e-04 9.99990561e-01 6.66224624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.90, Y:74.77, Z:0.67 [[ 6.51710198e-01 -7.58463123e-01 -2.74033804e-03 1.86895645e+02] [ 7.58453892e-01 6.51715853e-01 -3.76041345e-03 7.47674962e+01] [ 4.63805667e-03 3.72279740e-04 9.99989175e-01 6.66075236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:74.79, Z:0.67 [[ 6.52059295e-01 -7.58161999e-01 -3.00980977e-03 1.86912292e+02] [ 7.58150852e-01 6.52066111e-01 -4.13197495e-03 7.47894614e+01] [ 5.09530134e-03 4.12402835e-04 9.99986934e-01 6.65454006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.93, Y:74.81, Z:0.66 [[ 6.52427422e-01 -7.57844972e-01 -3.07529397e-03 1.86928839e+02] [ 7.57833322e-01 6.52434531e-01 -4.22366349e-03 7.48115850e+01] [ 5.20731012e-03 4.25073641e-04 9.99986352e-01 6.64982643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:74.83, Z:0.67 [[ 6.53473103e-01 -7.56946440e-01 -2.23408975e-03 1.86947054e+02] [ 7.56940282e-01 6.53476846e-01 -3.06956785e-03 7.48301472e+01] [ 3.78342438e-03 3.14807505e-04 9.99992793e-01 6.65669307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.96, Y:74.85, Z:0.67 [[ 6.53628610e-01 -7.56813792e-01 -1.58891166e-03 1.86964675e+02] [ 7.56810674e-01 6.53630503e-01 -2.18394817e-03 7.48502389e+01] [ 2.69140322e-03 2.24985707e-04 9.99996353e-01 6.66090031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.98, Y:74.87, Z:0.67 [[ 6.53438543e-01 -7.56978846e-01 -1.04777202e-03 1.86982153e+02] [ 7.56977490e-01 6.53439366e-01 -1.44062560e-03 7.48714815e+01] [ 1.77517859e-03 1.48220457e-04 9.99998413e-01 6.66884978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:74.89, Z:0.67 [[ 6.52950477e-01 -7.57400143e-01 -8.35816226e-04 1.86999186e+02] [ 7.57399279e-01 6.52951001e-01 -1.14959057e-03 7.48932856e+01] [ 1.41644710e-03 1.17579103e-04 9.99998990e-01 6.66862901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:74.91, Z:0.67 [[ 6.52171957e-01 -7.58068361e-01 -2.02458164e-03 1.87016290e+02] [ 7.58063293e-01 6.52175038e-01 -2.78638488e-03 7.49143714e+01] [ 3.43265183e-03 2.82441056e-04 9.99994069e-01 6.66563607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:74.94, Z:0.67 [[ 6.51723532e-01 -7.58451721e-01 -2.72499833e-03 1.87032934e+02] [ 7.58442534e-01 6.51729119e-01 -3.75206091e-03 7.49361601e+01] [ 4.62171781e-03 3.78551747e-04 9.99989248e-01 6.65866466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:74.96, Z:0.67 [[ 6.50900450e-01 -7.59157394e-01 -2.94195886e-03 1.87049273e+02] [ 7.59146686e-01 6.50906973e-01 -4.05251329e-03 7.49578802e+01] [ 4.99143697e-03 4.04404401e-04 9.99987461e-01 6.65684078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.07, Y:74.98, Z:0.67 [[ 6.50079560e-01 -7.59861051e-01 -2.78359078e-03 1.87065380e+02] [ 7.59851463e-01 6.50085409e-01 -3.83596126e-03 7.49795316e+01] [ 4.72436930e-03 3.78564482e-04 9.99988768e-01 6.65590463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:75.00, Z:0.67 [[ 6.49309035e-01 -7.60519807e-01 -2.72040794e-03 1.87081194e+02] [ 7.60510647e-01 6.49314631e-01 -3.75053035e-03 7.50003500e+01] [ 4.61875329e-03 3.66354040e-04 9.99989266e-01 6.65207993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.10, Y:75.02, Z:0.67 [[ 6.48246623e-01 -7.61422123e-01 -3.55908931e-03 1.87098928e+02] [ 7.61406444e-01 6.48256221e-01 -4.90907621e-03 7.50197231e+01] [ 6.04508101e-03 4.72378538e-04 9.99981617e-01 6.65837771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.12, Y:75.04, Z:0.67 [[ 6.47960213e-01 -7.61664432e-01 -3.85428708e-03 1.87115236e+02] [ 7.61646035e-01 6.47971475e-01 -5.31844350e-03 7.50415605e+01] [ 6.54833733e-03 5.10537314e-04 9.99978429e-01 6.66134560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:75.06, Z:0.67 [[ 6.47994000e-01 -7.61636105e-01 -3.77095064e-03 1.87130592e+02] [ 7.61618480e-01 6.48004778e-01 -5.20562409e-03 7.50638825e+01] [ 6.40838529e-03 5.01187480e-04 9.99979341e-01 6.66603239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:75.09, Z:0.67 [[ 6.49067002e-01 -7.60727906e-01 -2.25387447e-03 1.87145909e+02] [ 7.60721600e-01 6.49070844e-01 -3.11252138e-03 7.50860813e+01] [ 3.83070607e-03 3.05663931e-04 9.99992616e-01 6.67684110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.16, Y:75.11, Z:0.67 [[ 6.49885278e-01 -7.60029881e-01 -1.92496943e-03 1.87161197e+02] [ 7.60025275e-01 6.49888075e-01 -2.65941613e-03 7.51068646e+01] [ 3.27225040e-03 2.65289975e-04 9.99994611e-01 6.67920590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:75.13, Z:0.67 [[ 6.50979256e-01 -7.59091366e-01 -2.51126075e-03 1.87177277e+02] [ 7.59083513e-01 6.50984003e-01 -3.47101854e-03 7.51291659e+01] [ 4.26961078e-03 3.53304427e-04 9.99990823e-01 6.67759797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:75.15, Z:0.67 [[ 6.52217820e-01 -7.58024626e-01 -3.25286622e-03 1.87191990e+02] [ 7.58011425e-01 6.52225764e-01 -4.49813296e-03 7.51506031e+01] [ 5.53129871e-03 4.68052719e-04 9.99984593e-01 6.66699911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:75.17, Z:0.66 [[ 6.54972069e-01 -7.55641235e-01 -4.23235338e-03 1.87204684e+02] [ 7.55618818e-01 6.54985433e-01 -5.85526745e-03 7.51741115e+01] [ 7.19661135e-03 6.36990775e-04 9.99973901e-01 6.64801575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.22, Y:75.20, Z:0.66 [[ 6.56347875e-01 -7.54447421e-01 -4.06905058e-03 1.87219193e+02] [ 7.54426661e-01 6.56360189e-01 -5.63167934e-03 7.51975026e+01] [ 6.91956876e-03 6.26540522e-04 9.99975863e-01 6.64447831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:75.22, Z:0.66 [[ 6.57652825e-01 -7.53310694e-01 -3.96994065e-03 1.87234602e+02] [ 7.53290899e-01 6.57664511e-01 -5.49658803e-03 7.52212306e+01] [ 6.75152761e-03 6.24326487e-04 9.99977013e-01 6.64951864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:75.24, Z:0.67 [[ 6.58830316e-01 -7.52282421e-01 -3.71114860e-03 1.87249368e+02] [ 7.52265095e-01 6.58840500e-01 -5.14025174e-03 7.52442866e+01] [ 6.31197602e-03 5.94786121e-04 9.99979902e-01 6.65543929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:75.27, Z:0.67 [[ 6.59669052e-01 -7.51549040e-01 -3.28376341e-03 1.87263863e+02] [ 7.51535455e-01 6.59677009e-01 -4.55010449e-03 7.52676939e+01] [ 5.58584988e-03 5.33698480e-04 9.99984257e-01 6.66206241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:75.29, Z:0.67 [[ 6.60132162e-01 -7.51144761e-01 -2.66027494e-03 1.87277081e+02] [ 7.51135836e-01 6.60137379e-01 -3.68737084e-03 7.52909781e+01] [ 4.52589621e-03 4.35924245e-04 9.99989663e-01 6.66070141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.29, Y:75.32, Z:0.67 [[ 6.59819440e-01 -7.51418643e-01 -2.88597430e-03 1.87289161e+02] [ 7.51408136e-01 6.59825583e-01 -4.00166241e-03 7.53172101e+01] [ 4.91116342e-03 4.71830087e-04 9.99987829e-01 6.65222218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:75.34, Z:0.66 [[ 6.59145633e-01 -7.52008234e-01 -3.26342879e-03 1.87302672e+02] [ 7.51994797e-01 6.59153499e-01 -4.52659109e-03 7.53399704e+01] [ 5.55513428e-03 5.29601279e-04 9.99984430e-01 6.64726395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.32, Y:75.36, Z:0.66 [[ 6.57875786e-01 -7.53118313e-01 -3.50100629e-03 1.87316634e+02] [ 7.53102853e-01 6.57884864e-01 -4.85794913e-03 7.53644426e+01] [ 5.96186950e-03 5.59309278e-04 9.99982071e-01 6.64626002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.33, Y:75.39, Z:0.67 [[ 6.53744853e-01 -7.56708341e-01 -3.18650216e-03 1.87327995e+02] [ 7.56695568e-01 6.53752442e-01 -4.42285902e-03 7.53890865e+01] [ 5.42999789e-03 4.80209255e-04 9.99985142e-01 6.65589299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:75.41, Z:0.67 [[ 6.50712380e-01 -7.59318614e-01 -2.93943101e-03 1.87342632e+02] [ 7.59307764e-01 6.50718881e-01 -4.08134740e-03 7.54112538e+01] [ 5.01178631e-03 4.23850493e-04 9.99987351e-01 6.65705938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:75.43, Z:0.67 [[ 6.47394724e-01 -7.62149400e-01 -2.89197781e-03 1.87358505e+02] [ 7.62138916e-01 6.47401062e-01 -4.01711155e-03 7.54336113e+01] [ 4.93390867e-03 3.96567992e-04 9.99987750e-01 6.65918271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:75.45, Z:0.67 [[ 6.43978556e-01 -7.65036703e-01 -3.23458474e-03 1.87373310e+02] [ 7.65023613e-01 6.43986542e-01 -4.49496045e-03 7.54546611e+01] [ 5.52183876e-03 4.20124435e-04 9.99984666e-01 6.65941082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:75.48, Z:0.67 [[ 6.38037043e-01 -7.69997870e-01 -3.46583140e-03 1.87388603e+02] [ 7.69982901e-01 6.38046327e-01 -4.81839713e-03 7.54775984e+01] [ 5.92151652e-03 4.05684944e-04 9.99982385e-01 6.66733989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:75.50, Z:0.67 [[ 6.35810477e-01 -7.71840226e-01 -2.77523590e-03 1.87403801e+02] [ 7.71830638e-01 6.35816457e-01 -3.85991548e-03 7.54989065e+01] [ 4.74377870e-03 3.12162609e-04 9.99988700e-01 6.67375777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:75.52, Z:0.67 [[ 6.34385413e-01 -7.73014265e-01 -2.02346434e-03 1.87420245e+02] [ 7.73009170e-01 6.34388601e-01 -2.81543619e-03 7.55208371e+01] [ 3.46003504e-03 2.21915157e-04 9.99993989e-01 6.68039487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:75.54, Z:0.67 [[ 6.33815827e-01 -7.73482694e-01 -1.42124816e-03 1.87436377e+02] [ 7.73480179e-01 6.33817402e-01 -1.97826815e-03 7.55421050e+01] [ 2.43096800e-03 1.54550379e-04 9.99997033e-01 6.68550217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:75.56, Z:0.67 [[ 6.34121061e-01 -7.73232759e-01 -1.25725438e-03 1.87452023e+02] [ 7.73230789e-01 6.34122292e-01 -1.75074444e-03 7.55631790e+01] [ 2.15098598e-03 1.38036124e-04 9.99997677e-01 6.68473163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.47, Y:75.59, Z:0.67 [[ 6.34824526e-01 -7.72655113e-01 -1.37768674e-03 1.87468032e+02] [ 7.72652744e-01 6.34826002e-01 -1.91934376e-03 7.55850862e+01] [ 2.35758213e-03 1.53973055e-04 9.99997209e-01 6.68231732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:75.60, Z:0.67 [[ 6.36307794e-01 -7.71433987e-01 -1.41259500e-03 1.87485593e+02] [ 7.71431492e-01 6.36309341e-01 -1.96886624e-03 7.56049726e+01] [ 2.41769773e-03 1.63084661e-04 9.99997064e-01 6.68134104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:75.63, Z:0.67 [[ 6.36332190e-01 -7.71414009e-01 -1.33058016e-03 1.87502631e+02] [ 7.71411793e-01 6.36333562e-01 -1.85534895e-03 7.56257091e+01] [ 2.27793499e-03 1.54193037e-04 9.99997394e-01 6.68304930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:75.65, Z:0.67 [[ 6.36100627e-01 -7.71605508e-01 -9.65899272e-04 1.87519221e+02] [ 7.71604340e-01 6.36101350e-01 -1.34730362e-03 7.56466097e+01] [ 1.65399673e-03 1.11728608e-04 9.99998626e-01 6.68049281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.54, Y:75.67, Z:0.67 [[ 6.35875315e-01 -7.71791703e-01 -3.88850819e-04 1.87535933e+02] [ 7.71791514e-01 6.35875432e-01 -5.42379870e-04 7.56686772e+01] [ 6.65864966e-04 4.47742085e-05 9.99999777e-01 6.68175305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:75.69, Z:0.67 [[ 6.35729850e-01 -7.71911528e-01 -3.88736750e-04 1.87551905e+02] [ 7.71911338e-01 6.35729967e-01 -5.42461598e-04 7.56912938e+01] [ 6.65863963e-04 4.47887254e-05 9.99999777e-01 6.68209687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:75.71, Z:0.67 [[ 6.36867559e-01 -7.70973197e-01 2.06922215e-04 1.87569250e+02] [ 7.70973143e-01 6.36867592e-01 2.89510219e-04 7.57128012e+01] [-3.54986672e-04 -2.48481956e-05 9.99999937e-01 6.67896283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:75.73, Z:0.67 [[ 6.37971678e-01 -7.70059808e-01 -1.75398282e-04 1.87585891e+02] [ 7.70059769e-01 6.37971702e-01 -2.44718869e-04 7.57349184e+01] [ 3.00347305e-04 2.10565467e-05 9.99999955e-01 6.67947470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:187.60, Y:75.76, Z:0.67 [[ 6.39144439e-01 -7.69086179e-01 -9.13560883e-04 1.87601805e+02] [ 7.69085127e-01 6.39145082e-01 -1.27696420e-03 7.57572977e+01] [ 1.56599346e-03 1.13558477e-04 9.99998767e-01 6.68065741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:75.78, Z:0.67 [[ 6.40528272e-01 -7.67933833e-01 -1.07796000e-03 1.87617202e+02] [ 7.67932365e-01 6.40529164e-01 -1.50743889e-03 7.57782951e+01] [ 1.84807815e-03 1.37756853e-04 9.99998283e-01 6.67155288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:75.80, Z:0.67 [[ 6.41831153e-01 -7.66843690e-01 -1.87788453e-03 1.87633027e+02] [ 7.66839228e-01 6.41833853e-01 -2.62734020e-03 7.58001912e+01] [ 3.22004912e-03 2.46273264e-04 9.99994785e-01 6.66724476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.65, Y:75.82, Z:0.67 [[ 6.44634807e-01 -7.64484569e-01 -3.05112135e-03 1.87648127e+02] [ 7.64472754e-01 6.44641891e-01 -4.27095778e-03 7.58210802e+01] [ 5.23196195e-03 4.20708905e-04 9.99986225e-01 6.65504136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:75.84, Z:0.67 [[ 6.45528980e-01 -7.63729336e-01 -3.13650808e-03 1.87663746e+02] [ 7.63716832e-01 6.45536450e-01 -4.39239073e-03 7.58438881e+01] [ 5.37932794e-03 4.40011493e-04 9.99985435e-01 6.65241678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.68, Y:75.87, Z:0.67 [[ 6.46067683e-01 -7.63273574e-01 -3.16237259e-03 1.87678371e+02] [ 7.63260846e-01 6.46075267e-01 -4.43058142e-03 7.58658479e+01] [ 5.42487642e-03 4.48740292e-04 9.99985185e-01 6.65582121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:75.89, Z:0.67 [[ 6.46113496e-01 -7.63235820e-01 -2.90426118e-03 1.87693814e+02] [ 7.63225076e-01 6.46119890e-01 -4.07066309e-03 7.58886189e+01] [ 4.98337680e-03 4.13505399e-04 9.99987497e-01 6.65852046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02140051299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:187.71, Y:75.91, Z:0.67 [[ 6.45031321e-01 -7.64149573e-01 -3.16637181e-03 1.87707676e+02] [ 7.64136803e-01 6.45038939e-01 -4.44002583e-03 7.59102950e+01] [ 5.43527695e-03 4.44414495e-04 9.99985130e-01 6.66631612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:75.93, Z:0.67 [[ 6.44194731e-01 -7.64855846e-01 -2.94691233e-03 1.87722909e+02] [ 7.64844783e-01 6.44201341e-01 -4.13404842e-03 7.59322223e+01] [ 5.06035597e-03 4.09201689e-04 9.99987113e-01 6.65986809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.74, Y:75.95, Z:0.67 [[ 6.43186336e-01 -7.65704270e-01 -2.88249299e-03 1.87737717e+02] [ 7.65693685e-01 6.43192674e-01 -4.04546493e-03 7.59541948e+01] [ 4.95162814e-03 3.94881088e-04 9.99987663e-01 6.65914425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:75.98, Z:0.67 [[ 6.42276734e-01 -7.66468134e-01 -2.68262110e-03 1.87752332e+02] [ 7.66458966e-01 6.42282234e-01 -3.76627342e-03 7.59760407e+01] [ 4.60972843e-03 3.62870797e-04 9.99989309e-01 6.65678724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:76.00, Z:0.67 [[ 6.40887340e-01 -7.67630926e-01 -2.48586305e-03 1.87767316e+02] [ 7.67623057e-01 6.40892076e-01 -3.49138521e-03 7.59987711e+01] [ 4.27326519e-03 3.29378789e-04 9.99990815e-01 6.66006193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:76.02, Z:0.67 [[ 6.37524268e-01 -7.70428114e-01 -1.82431144e-03 1.87780752e+02] [ 7.70423884e-01 6.37526837e-01 -2.56323962e-03 7.60211216e+01] [ 3.13783937e-03 2.28634355e-04 9.99995051e-01 6.66099607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:76.04, Z:0.67 [[ 6.36154671e-01 -7.71559810e-01 -1.64146792e-03 1.87795365e+02] [ 7.71556386e-01 6.36156757e-01 -2.30725923e-03 7.60443623e+01] [ 2.82441940e-03 2.01288684e-04 9.99995991e-01 6.66545660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:76.07, Z:0.67 [[ 6.35370811e-01 -7.72205732e-01 -1.49701534e-03 1.87809988e+02] [ 7.72202884e-01 6.35372548e-01 -2.10504138e-03 7.60671867e+01] [ 2.57668746e-03 1.81482287e-04 9.99996664e-01 6.66669416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:76.09, Z:0.67 [[ 6.35180812e-01 -7.72361252e-01 -1.85255134e-03 1.87825132e+02] [ 7.72356888e-01 6.35183474e-01 -2.60613242e-03 7.60901879e+01] [ 3.18958570e-03 2.24534521e-04 9.99994888e-01 6.67304156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:76.11, Z:0.67 [[ 6.36199762e-01 -7.71519126e-01 -2.84626754e-03 1.87839073e+02] [ 7.71508807e-01 6.36206031e-01 -4.00593166e-03 7.61139813e+01] [ 4.90146547e-03 3.52652298e-04 9.99987926e-01 6.67272612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:76.14, Z:0.67 [[ 6.36744778e-01 -7.71068754e-01 -3.01084694e-03 1.87853123e+02] [ 7.71057192e-01 6.36751784e-01 -4.23936696e-03 7.61371639e+01] [ 5.18600556e-03 3.77859580e-04 9.99986481e-01 6.67282637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:76.16, Z:0.67 [[ 6.37224796e-01 -7.70673027e-01 -2.76483992e-03 1.87867102e+02] [ 7.70663266e-01 6.37230698e-01 -3.89464192e-03 7.61592638e+01] [ 4.76333635e-03 3.51001836e-04 9.99988594e-01 6.67021941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:76.18, Z:0.67 [[ 6.37606624e-01 -7.70358669e-01 -2.30515940e-03 1.87882015e+02] [ 7.70351876e-01 6.37610723e-01 -3.24844537e-03 7.61815121e+01] [ 3.97226240e-03 2.95446417e-04 9.99992067e-01 6.67132636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:76.20, Z:0.67 [[ 6.39272432e-01 -7.68977874e-01 -1.94590489e-03 1.87897552e+02] [ 7.68973024e-01 6.39275342e-01 -2.74311738e-03 7.62023003e+01] [ 3.35336558e-03 2.57250954e-04 9.99994344e-01 6.67721576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:76.22, Z:0.67 [[ 6.40051127e-01 -7.68328304e-01 -2.48432987e-03 1.87913233e+02] [ 7.68320388e-01 6.40055862e-01 -3.50360648e-03 7.62247439e+01] [ 4.28202992e-03 3.33725992e-04 9.99990776e-01 6.67809259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:76.25, Z:0.67 [[ 6.40698836e-01 -7.67785731e-01 -3.17362520e-03 1.87927749e+02] [ 7.67772796e-01 6.40706550e-01 -4.47779289e-03 7.62467643e+01] [ 5.47134794e-03 4.32293604e-04 9.99984939e-01 6.67216446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:187.94, Y:76.27, Z:0.67 [[ 6.41106521e-01 -7.67442799e-01 -3.73891929e-03 1.87942748e+02] [ 7.67424824e-01 6.41117217e-01 -5.27773293e-03 7.62697962e+01] [ 6.44744366e-03 5.14249517e-04 9.99979083e-01 6.66798552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:76.29, Z:0.67 [[ 6.41835426e-01 -7.66835365e-01 -3.28768612e-03 1.87959643e+02] [ 7.66821448e-01 6.41843682e-01 -4.64258680e-03 7.62925881e+01] [ 5.67028031e-03 4.58708442e-04 9.99983819e-01 6.65999660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:76.31, Z:0.67 [[ 6.43253440e-01 -7.65650536e-01 -2.06609107e-03 1.87978074e+02] [ 7.65645030e-01 6.43256690e-01 -2.91859287e-03 7.63130377e+01] [ 3.56364910e-03 2.95502539e-04 9.99993607e-01 6.65797952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:76.33, Z:0.67 [[ 6.43634414e-01 -7.65330409e-01 -2.02626728e-03 1.87994614e+02] [ 7.65325108e-01 6.43637537e-01 -2.86352648e-03 7.63348836e+01] [ 3.49572558e-03 2.92310962e-04 9.99993847e-01 6.65730262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:76.36, Z:0.67 [[ 6.43947679e-01 -7.65066232e-01 -2.24642599e-03 1.88011031e+02] [ 7.65059710e-01 6.43951515e-01 -3.17603939e-03 7.63566960e+01] [ 3.87646991e-03 3.26553177e-04 9.99992433e-01 6.65714687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:76.38, Z:0.67 [[ 6.44172954e-01 -7.64875831e-01 -2.48358689e-03 1.88027392e+02] [ 7.64867851e-01 6.44177639e-01 -3.51286448e-03 7.63781150e+01] [ 4.28677628e-03 3.63276520e-04 9.99990746e-01 6.65474599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68140051299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:188.05, Y:76.40, Z:0.67 [[ 6.44926859e-01 -7.64237520e-01 -3.21853469e-03 1.88045136e+02] [ 7.64224098e-01 6.44934713e-01 -4.55444388e-03 7.63983612e+01] [ 5.55642165e-03 4.77601417e-04 9.99984449e-01 6.65887676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:76.42, Z:0.67 [[ 6.45724472e-01 -7.63564559e-01 -3.01177500e-03 1.88061235e+02] [ 7.63552789e-01 6.45731337e-01 -4.26364426e-03 7.64197285e+01] [ 5.20036514e-03 4.53490239e-04 9.99986375e-01 6.65338483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.08, Y:76.44, Z:0.66 [[ 6.46351784e-01 -7.63033953e-01 -2.92557297e-03 1.88075345e+02] [ 7.63022833e-01 6.46358251e-01 -4.14342598e-03 7.64413172e+01] [ 5.05254293e-03 4.45831799e-04 9.99987136e-01 6.64822582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:76.46, Z:0.66 [[ 6.47106111e-01 -7.62390638e-01 -3.76774014e-03 1.88090734e+02] [ 7.62372170e-01 6.47116818e-01 -5.33844204e-03 7.64642684e+01] [ 6.50814624e-03 5.82118241e-04 9.99978652e-01 6.62977653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:76.49, Z:0.66 [[ 6.47074781e-01 -7.62413525e-01 -4.45473534e-03 1.88107008e+02] [ 7.62387687e-01 6.47089747e-01 -6.31449810e-03 7.64863331e+01] [ 7.69687232e-03 6.89717103e-04 9.99970141e-01 6.62682917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.12, Y:76.51, Z:0.66 [[ 6.46858914e-01 -7.62595860e-01 -4.59336587e-03 1.88123022e+02] [ 7.62568378e-01 6.46874833e-01 -6.51297803e-03 7.65083694e+01] [ 7.93810286e-03 7.10222329e-04 9.99968241e-01 6.62455669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.14, Y:76.53, Z:0.66 [[ 6.46183564e-01 -7.63170058e-01 -4.27368339e-03 1.88138864e+02] [ 7.63146263e-01 6.46197363e-01 -6.06210537e-03 7.65310267e+01] [ 7.38806025e-03 6.55787351e-04 9.99972493e-01 6.62587397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:76.55, Z:0.66 [[ 6.44533058e-01 -7.64568981e-01 -3.37793413e-03 1.88152736e+02] [ 7.64554124e-01 6.44541711e-01 -4.79309325e-03 7.65533257e+01] [ 5.84186986e-03 5.06693579e-04 9.99982808e-01 6.63420932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:76.58, Z:0.66 [[ 6.43850754e-01 -7.65143286e-01 -3.45814500e-03 1.88167607e+02] [ 7.65127712e-01 6.43859835e-01 -4.90887196e-03 7.65764797e+01] [ 5.98255109e-03 5.14658347e-04 9.99981972e-01 6.63264370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:76.60, Z:0.66 [[ 6.43585502e-01 -7.65364714e-01 -3.81517669e-03 1.88181607e+02] [ 7.65345747e-01 6.43596560e-01 -5.41807987e-03 7.65986320e+01] [ 6.60224175e-03 5.67068403e-04 9.99978044e-01 6.63067864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:76.62, Z:0.66 [[ 6.43242848e-01 -7.65652233e-01 -3.91107567e-03 1.88196057e+02] [ 7.65632289e-01 6.43254477e-01 -5.55659492e-03 7.66220141e+01] [ 6.77023624e-03 5.79794122e-04 9.99976914e-01 6.63251243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:76.65, Z:0.66 [[ 6.42494882e-01 -7.66281071e-01 -3.69429322e-03 1.88210157e+02] [ 7.66263273e-01 6.42505273e-01 -5.25077669e-03 7.66453791e+01] [ 6.39717366e-03 5.42795934e-04 9.99979391e-01 6.63381093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:76.67, Z:0.66 [[ 6.40193672e-01 -7.68203465e-01 -3.93699199e-03 1.88223684e+02] [ 7.68183270e-01 6.40205533e-01 -5.59821137e-03 7.66683105e+01] [ 6.82104942e-03 5.59608105e-04 9.99976580e-01 6.63816715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:76.69, Z:0.66 [[ 6.38414005e-01 -7.69681434e-01 -4.24841034e-03 1.88238882e+02] [ 7.69657931e-01 6.38427869e-01 -6.04363386e-03 7.66905260e+01] [ 7.36397634e-03 5.88517791e-04 9.99972712e-01 6.64391625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:76.71, Z:0.66 [[ 6.36348061e-01 -7.71391048e-01 -4.12252160e-03 1.88254981e+02] [ 7.71368936e-01 6.36361174e-01 -5.86686191e-03 7.67137783e+01] [ 7.14905745e-03 5.53381105e-04 9.99974292e-01 6.64817842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.27, Y:76.74, Z:0.67 [[ 6.34085148e-01 -7.73253788e-01 -3.82157997e-03 1.88270936e+02] [ 7.73234805e-01 6.34096471e-01 -5.44070150e-03 7.67372967e+01] [ 6.63029342e-03 4.94889377e-04 9.99977897e-01 6.65173454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.29, Y:76.76, Z:0.67 [[ 6.30201463e-01 -7.76426160e-01 -2.92137670e-03 1.88286292e+02] [ 7.76415092e-01 6.30208134e-01 -4.16072407e-03 7.67594867e+01] [ 5.07157037e-03 3.53893432e-04 9.99987077e-01 6.66091956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:76.78, Z:0.67 [[ 6.28901309e-01 -7.77479952e-01 -2.84055795e-03 1.88301512e+02] [ 7.77469490e-01 6.28907633e-01 -4.04741295e-03 7.67811681e+01] [ 4.93323100e-03 3.36976164e-04 9.99987775e-01 6.66411597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:76.80, Z:0.67 [[ 6.28222512e-01 -7.78028010e-01 -2.98174605e-03 1.88316577e+02] [ 7.78016479e-01 6.28229491e-01 -4.25044329e-03 7.68033400e+01] [ 5.18018473e-03 3.50376598e-04 9.99986521e-01 6.66419804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:76.83, Z:0.67 [[ 6.28148383e-01 -7.78086509e-01 -3.31555168e-03 1.88332177e+02] [ 7.78072240e-01 6.28157012e-01 -4.72834034e-03 7.68262128e+01] [ 5.76174486e-03 3.90360611e-04 9.99983325e-01 6.65695688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:76.85, Z:0.66 [[ 6.28494536e-01 -7.77806065e-01 -3.51324302e-03 1.88347201e+02] [ 7.77790026e-01 6.28504217e-01 -5.01251314e-03 7.68476345e+01] [ 6.10685118e-03 4.17771740e-04 9.99981266e-01 6.64835437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:76.87, Z:0.66 [[ 6.29091452e-01 -7.77324363e-01 -3.28341604e-03 1.88362796e+02] [ 7.77310335e-01 6.29099895e-01 -4.68661297e-03 7.68694449e+01] [ 5.70861513e-03 3.96074935e-04 9.99983627e-01 6.64512755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:76.89, Z:0.66 [[ 6.30321916e-01 -7.76327887e-01 -3.04870147e-03 1.88379725e+02] [ 7.76315773e-01 6.30329176e-01 -4.35331183e-03 7.68913247e+01] [ 5.30128286e-03 3.77232819e-04 9.99985877e-01 6.64485592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.39, Y:76.91, Z:0.66 [[ 6.31133833e-01 -7.75665713e-01 -3.57595681e-03 1.88394972e+02] [ 7.75649021e-01 6.31143803e-01 -5.10856358e-03 7.69124479e+01] [ 6.21948058e-03 4.50499916e-04 9.99980557e-01 6.64360557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:76.93, Z:0.66 [[ 6.31901653e-01 -7.75038968e-01 -3.86006628e-03 1.88410239e+02] [ 7.75019489e-01 6.31913249e-01 -5.51698714e-03 7.69333429e+01] [ 6.71510704e-03 4.94566691e-04 9.99977331e-01 6.63804608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.43, Y:76.95, Z:0.66 [[ 6.32463801e-01 -7.74582818e-01 -3.31647203e-03 1.88426985e+02] [ 7.74568421e-01 6.32472350e-01 -4.74206973e-03 7.69544701e+01] [ 5.77070259e-03 4.30352940e-04 9.99983257e-01 6.63568357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.45, Y:76.97, Z:0.66 [[ 6.33218827e-01 -7.73970950e-01 -1.69890115e-03 1.88445848e+02] [ 7.73967167e-01 6.33221066e-01 -2.43004972e-03 7.69729876e+01] [ 2.95656788e-03 2.23859520e-04 9.99995604e-01 6.64388736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:76.99, Z:0.66 [[ 6.33679408e-01 -7.73594039e-01 -1.63425675e-03 1.88462982e+02] [ 7.73590535e-01 6.33681478e-01 -2.33859693e-03 7.69942714e+01] [ 2.84472288e-03 2.17675164e-04 9.99995930e-01 6.64935714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:77.02, Z:0.66 [[ 6.34304531e-01 -7.73080433e-01 -2.09926751e-03 1.88479539e+02] [ 7.73074643e-01 6.34307941e-01 -3.00543247e-03 7.70161538e+01] [ 3.65502309e-03 2.83468948e-04 9.99993280e-01 6.64857680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:77.04, Z:0.66 [[ 6.35469039e-01 -7.72120093e-01 -3.10833852e-03 1.88495864e+02] [ 7.72107376e-01 6.35476496e-01 -4.45221988e-03 7.70376213e+01] [ 5.41292450e-03 4.29276785e-04 9.99985258e-01 6.63797733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:77.06, Z:0.66 [[ 6.35831058e-01 -7.71822609e-01 -2.95391667e-03 1.88511248e+02] [ 7.71811111e-01 6.35837786e-01 -4.23292769e-03 7.70583722e+01] [ 5.14528114e-03 4.11561185e-04 9.99986678e-01 6.64019667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.53, Y:77.08, Z:0.66 [[ 6.35723481e-01 -7.71911221e-01 -2.95324964e-03 1.88526952e+02] [ 7.71899723e-01 6.35730208e-01 -4.23339308e-03 7.70811705e+01] [ 5.14527363e-03 4.11654810e-04 9.99986678e-01 6.64054039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:77.10, Z:0.66 [[ 6.35883771e-01 -7.71780324e-01 -2.63846580e-03 1.88543679e+02] [ 7.71771138e-01 6.35889137e-01 -3.78361147e-03 7.71030319e+01] [ 4.59788863e-03 3.69645376e-04 9.99989361e-01 6.64401655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.56, Y:77.12, Z:0.67 [[ 6.35905188e-01 -7.71763259e-01 -2.46260305e-03 1.88559293e+02] [ 7.71755250e-01 6.35909862e-01 -3.53295654e-03 7.71238645e+01] [ 4.29259962e-03 3.46098562e-04 9.99990727e-01 6.65237548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:77.15, Z:0.67 [[ 6.35638036e-01 -7.71983810e-01 -2.29858323e-03 1.88573976e+02] [ 7.71976830e-01 6.35642110e-01 -3.29882099e-03 7.71451527e+01] [ 4.00771269e-03 3.22403103e-04 9.99991917e-01 6.65313085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.59, Y:77.17, Z:0.67 [[ 6.34081118e-01 -7.73262259e-01 -2.57199906e-03 1.88589691e+02] [ 7.73253522e-01 6.34086236e-01 -3.69271675e-03 7.71675998e+01] [ 4.48630770e-03 3.52674633e-04 9.99989874e-01 6.65998177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:77.19, Z:0.67 [[ 6.32644173e-01 -7.74438652e-01 -2.47494008e-03 1.88605651e+02] [ 7.74430564e-01 6.32648927e-01 -3.55487724e-03 7.71896054e+01] [ 4.31880252e-03 3.32303125e-04 9.99990619e-01 6.66514844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.62, Y:77.21, Z:0.67 [[ 6.30958445e-01 -7.75809336e-01 -3.36361974e-03 1.88621955e+02] [ 7.75808340e-01 6.30965815e-01 -1.88682750e-03 7.72099578e+01] [ 3.58614746e-03 -1.41901450e-03 9.99992563e-01 6.67750601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.64, Y:77.24, Z:0.67 [[ 6.28769489e-01 -7.77591481e-01 -6.47427830e-04 1.88635375e+02] [ 7.77584239e-01 6.28766856e-01 -3.87192026e-03 7.72354187e+01] [ 3.41785337e-03 1.93111565e-03 9.99992295e-01 6.67107578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:77.26, Z:0.67 [[ 6.26451625e-01 -7.79457214e-01 -2.19379961e-03 1.88650020e+02] [ 7.79450877e-01 6.26455410e-01 -3.15424420e-03 7.72565406e+01] [ 3.83291603e-03 2.66022370e-04 9.99992619e-01 6.67528314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.66, Y:77.28, Z:0.67 [[ 6.23977626e-01 -7.81438187e-01 -2.50631341e-03 1.88663824e+02] [ 7.81429925e-01 6.23982592e-01 -3.60522176e-03 7.72795139e+01] [ 4.38115390e-03 2.91069420e-04 9.99990360e-01 6.66712591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.68, Y:77.30, Z:0.67 [[ 6.18943519e-01 -7.85431704e-01 -2.44101631e-03 1.88678125e+02] [ 7.85423891e-01 6.18948279e-01 -3.51279980e-03 7.73021556e+01] [ 4.26992718e-03 2.56992137e-04 9.99990851e-01 6.66878111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:77.33, Z:0.67 [[ 6.16247874e-01 -7.87549341e-01 -2.14316544e-03 1.88693620e+02] [ 7.87543326e-01 6.16251564e-01 -3.08544610e-03 7.73250743e+01] [ 3.75067010e-03 2.13563955e-04 9.99992943e-01 6.67614071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.71, Y:77.35, Z:0.67 [[ 6.11471196e-01 -7.91262732e-01 -2.50306232e-03 1.88706800e+02] [ 7.91263630e-01 6.11474570e-01 -8.47091104e-04 7.73472194e+01] [ 2.20083058e-03 -1.46261037e-03 9.99996509e-01 6.68927148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:77.37, Z:0.67 [[ 6.08816529e-01 -7.93311055e-01 5.53848874e-05 1.88718262e+02] [ 7.93308577e-01 6.08814450e-01 -2.54313862e-03 7.73731701e+01] [ 1.98378086e-03 1.59224213e-03 9.99996765e-01 6.68422835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.73, Y:77.40, Z:0.67 [[ 6.06478212e-01 -7.95099522e-01 -9.63337722e-04 1.88732901e+02] [ 7.95098314e-01 6.06478972e-01 -1.38830958e-03 7.73965594e+01] [ 1.68808835e-03 7.60313113e-05 9.99998572e-01 6.68706487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.75, Y:77.42, Z:0.67 [[ 6.04511631e-01 -7.96595757e-01 -9.42520501e-04 1.88746317e+02] [ 7.96594601e-01 6.04512362e-01 -1.35892135e-03 7.74194424e+01] [ 1.65227628e-03 7.06770199e-05 9.99998633e-01 6.68861363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:77.44, Z:0.67 [[ 6.02246723e-01 -7.98309779e-01 -6.17516720e-04 1.88757046e+02] [ 7.98309283e-01 6.02247038e-01 -8.90600406e-04 7.74447145e+01] [ 1.08287263e-03 4.33918460e-05 9.99999413e-01 6.68493065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:77.47, Z:0.67 [[ 6.01183277e-01 -7.99111144e-01 -2.16073582e-04 1.88768414e+02] [ 7.99111084e-01 6.01183316e-01 -3.11489408e-04 7.74696164e+01] [ 3.78814489e-04 1.45954288e-05 9.99999928e-01 6.68583910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:77.49, Z:0.67 [[ 6.00474801e-01 -7.99643619e-01 3.09206947e-04 1.88779877e+02] [ 7.99643495e-01 6.00474880e-01 4.46970651e-04 7.74948957e+01] [-5.43088233e-04 -2.11392887e-05 9.99999852e-01 6.69049365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:77.52, Z:0.67 [[ 6.00061911e-01 -7.99953378e-01 5.43900118e-04 1.88791183e+02] [ 7.99952992e-01 6.00062157e-01 7.86259571e-04 7.75195279e+01] [-9.55344878e-04 -3.67098947e-05 9.99999543e-01 6.70106394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.80, Y:77.54, Z:0.67 [[ 6.00056774e-01 -7.99957292e-01 4.47337258e-04 1.88803288e+02] [ 7.99957030e-01 6.00056940e-01 6.47072766e-04 7.75430115e+01] [-7.86058403e-04 -3.04298120e-05 9.99999691e-01 6.70657829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.81, Y:77.57, Z:0.67 [[ 5.99484293e-01 -8.00386518e-01 -6.38932648e-05 1.88813868e+02] [ 8.00386513e-01 5.99484297e-01 -9.19691174e-05 7.75684501e+01] [ 1.11913851e-04 3.99473399e-06 9.99999994e-01 6.70691517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:77.59, Z:0.67 [[ 5.98363042e-01 -8.01225083e-01 -1.89739224e-04 1.88825623e+02] [ 8.01225036e-01 5.98363072e-01 -2.74062749e-04 7.75925687e+01] [ 3.33118894e-04 1.19652036e-05 9.99999944e-01 6.70280062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.84, Y:77.62, Z:0.67 [[ 5.96752907e-01 -8.02425017e-01 -2.45884368e-04 1.88836482e+02] [ 8.02424938e-01 5.96752957e-01 -3.55537076e-04 7.76163262e+01] [ 4.32024068e-04 1.48640341e-05 9.99999907e-01 6.69648542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:77.64, Z:0.67 [[ 5.94607098e-01 -8.04016268e-01 -4.90427019e-04 1.88849355e+02] [ 8.04015955e-01 5.94607299e-01 -7.09669001e-04 7.76402522e+01] [ 8.62196906e-04 2.76630768e-05 9.99999628e-01 6.69243014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:77.66, Z:0.67 [[ 5.91766251e-01 -8.06109229e-01 -7.84578747e-04 1.88863310e+02] [ 8.06108429e-01 5.91766770e-01 -1.13607343e-03 7.76631471e+01] [ 1.38008690e-03 3.98343714e-05 9.99999047e-01 6.68928146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:77.69, Z:0.67 [[ 5.86027641e-01 -8.10290468e-01 -9.80657283e-04 1.88877040e+02] [ 8.10289223e-01 5.86028461e-01 -1.42073487e-03 7.76858380e+01] [ 1.72590100e-03 3.79738790e-05 9.99998510e-01 6.68865483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.89, Y:77.71, Z:0.67 [[ 5.83310669e-01 -8.12248604e-01 -9.31820181e-04 1.88891925e+02] [ 8.12247482e-01 5.83311412e-01 -1.35060052e-03 7.77090883e+01] [ 1.64056474e-03 3.09510986e-05 9.99998654e-01 6.68391877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:77.73, Z:0.67 [[ 5.80878490e-01 -8.13989886e-01 -8.03816799e-04 1.88906351e+02] [ 8.13989051e-01 5.80879046e-01 -1.16554968e-03 7.77303687e+01] [ 1.41566598e-03 2.27446629e-05 9.99998998e-01 6.68096544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.92, Y:77.75, Z:0.67 [[ 5.77354826e-01 -8.16492666e-01 -1.06366038e-03 1.88923710e+02] [ 8.16491208e-01 5.77355806e-01 -1.54323509e-03 7.77507486e+01] [ 1.87415063e-03 2.25248841e-05 9.99998244e-01 6.68822585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:77.77, Z:0.67 [[ 5.76036079e-01 -8.17423745e-01 -9.26085159e-04 1.88940168e+02] [ 8.17422640e-01 5.76036823e-01 -1.34422207e-03 7.77724611e+01] [ 1.63225819e-03 1.73174361e-05 9.99998668e-01 6.69503762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:77.79, Z:0.67 [[ 5.75336054e-01 -8.17916646e-01 -8.86605720e-04 1.88955632e+02] [ 8.17915633e-01 5.75336737e-01 -1.28750193e-03 7.77941938e+01] [ 1.56316610e-03 1.55775989e-05 9.99998778e-01 6.69625278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.97, Y:77.82, Z:0.67 [[ 5.75217420e-01 -8.17999899e-01 -1.04120719e-03 1.88969818e+02] [ 8.17998501e-01 5.75218362e-01 -1.51278227e-03 7.78151440e+01] [ 1.83637724e-03 1.84727973e-05 9.99998314e-01 6.68752558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:77.84, Z:0.67 [[ 5.75797470e-01 -8.17591126e-01 -1.42283766e-03 1.88984603e+02] [ 8.17588510e-01 5.75799227e-01 -2.06833182e-03 7.78365962e+01] [ 2.51031857e-03 2.76445060e-05 9.99996849e-01 6.68614577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:77.86, Z:0.67 [[ 5.76543106e-01 -8.17064896e-01 -1.73302199e-03 1.88999057e+02] [ 8.17061009e-01 5.76545709e-01 -2.52059727e-03 7.78584554e+01] [ 3.05865794e-03 3.72482843e-05 9.99995322e-01 6.68997493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.01, Y:77.88, Z:0.67 [[ 5.77398417e-01 -8.16460885e-01 -1.64040701e-03 1.89012155e+02] [ 8.16457396e-01 5.77400746e-01 -2.38709446e-03 7.78803602e+01] [ 2.89614149e-03 3.89821290e-05 9.99995805e-01 6.69149961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:77.90, Z:0.67 [[ 5.78300639e-01 -8.15822813e-01 -1.22853132e-03 1.89025480e+02] [ 8.15820853e-01 5.78301943e-01 -1.78849409e-03 7.79037903e+01] [ 2.16955633e-03 3.20258069e-05 9.99997646e-01 6.69735559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.04, Y:77.93, Z:0.67 [[ 5.80534022e-01 -8.14235951e-01 -2.56849708e-04 1.89036965e+02] [ 8.14235865e-01 5.80534079e-01 -3.73739487e-04 7.79285799e+01] [ 4.53422135e-04 7.83224274e-06 9.99999897e-01 6.71151437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:77.95, Z:0.67 [[ 5.81566744e-01 -8.13498368e-01 -7.25985510e-04 1.89049192e+02] [ 8.13497681e-01 5.81567197e-01 -1.05767947e-03 7.79520532e+01] [ 1.28262988e-03 2.45236747e-05 9.99999177e-01 6.71284492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:77.98, Z:0.67 [[ 5.82693627e-01 -8.12690347e-01 -1.59240950e-03 1.89060062e+02] [ 8.12687033e-01 5.82695800e-01 -2.32168957e-03 7.79755336e+01] [ 2.81470503e-03 5.87031715e-05 9.99996037e-01 6.70744982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.07, Y:78.00, Z:0.67 [[ 5.83785784e-01 -8.11904570e-01 -2.26459709e-03 1.89071121e+02] [ 8.11897854e-01 5.83790169e-01 -3.30348834e-03 7.80005894e+01] [ 4.00416680e-03 8.99080115e-05 9.99991979e-01 6.70007281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:78.03, Z:0.67 [[ 5.84680300e-01 -8.11260164e-01 -2.42751646e-03 1.89082907e+02] [ 8.11252435e-01 5.84685330e-01 -3.54278253e-03 7.80259807e+01] [ 4.29345160e-03 1.02066515e-04 9.99990778e-01 6.69638529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.09, Y:78.05, Z:0.67 [[ 5.85284126e-01 -8.10825217e-01 -2.22700999e-03 1.89091532e+02] [ 8.10818703e-01 5.85288354e-01 -3.25159297e-03 7.80534171e+01] [ 3.93991659e-03 9.74043966e-05 9.99992234e-01 6.69961317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:78.08, Z:0.67 [[ 5.84724919e-01 -8.11228430e-01 -2.28118331e-03 1.89102895e+02] [ 8.11221592e-01 5.84729361e-01 -3.33226412e-03 7.80776234e+01] [ 4.03710225e-03 9.79127117e-05 9.99991846e-01 6.69920170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:78.10, Z:0.67 [[ 5.83533288e-01 -8.12085057e-01 -2.60019556e-03 1.89114708e+02] [ 8.12076173e-01 5.83539072e-01 -3.80004458e-03 7.81027971e+01] [ 4.60327512e-03 1.05895646e-04 9.99989399e-01 6.70118133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96140051299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:189.13, Y:78.13, Z:0.67 [[ 5.81936497e-01 -8.13229140e-01 -2.87719549e-03 1.89127045e+02] [ 8.13218267e-01 5.81943600e-01 -4.20681056e-03 7.81275770e+01] [ 5.09546644e-03 1.08308668e-04 9.99987012e-01 6.69447751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:78.15, Z:0.67 [[ 5.79447897e-01 -8.15004534e-01 -2.78306875e-03 1.89138015e+02] [ 8.14994372e-01 5.79454573e-01 -4.07070363e-03 7.81517277e+01] [ 4.93030383e-03 9.05752863e-05 9.99987842e-01 6.70380408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:78.17, Z:0.67 [[ 5.78477235e-01 -8.15695806e-01 -2.10743676e-03 1.89150980e+02] [ 8.15689979e-01 5.78481070e-01 -3.08383123e-03 7.81741150e+01] [ 3.73458048e-03 6.49111173e-05 9.99993024e-01 6.70873156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.16, Y:78.20, Z:0.67 [[ 5.78780184e-01 -8.15483308e-01 -6.87210475e-04 1.89160952e+02] [ 8.15482688e-01 5.78780592e-01 -1.00577838e-03 7.81975588e+01] [ 1.21793957e-03 2.17163519e-05 9.99999258e-01 6.72010882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:78.22, Z:0.67 [[ 5.80237247e-01 -8.14447429e-01 -3.49713966e-04 1.89172454e+02] [ 8.14447268e-01 5.80237353e-01 -5.11798861e-04 7.82213255e+01] [ 6.19750372e-04 1.21411782e-05 9.99999808e-01 6.72048680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:78.25, Z:0.67 [[ 5.82545760e-01 -8.12797721e-01 -5.49180354e-04 1.89184697e+02] [ 8.12797324e-01 5.82546018e-01 -8.04380972e-04 7.82458566e+01] [ 9.73721850e-04 2.22164023e-05 9.99999526e-01 6.72055584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:78.27, Z:0.67 [[ 5.84893355e-01 -8.11109472e-01 -1.08956992e-03 1.89196941e+02] [ 8.11107901e-01 5.84894368e-01 -1.59705805e-03 7.82700602e+01] [ 1.93267223e-03 5.03498672e-05 9.99998131e-01 6.71996412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:78.29, Z:0.67 [[ 5.87542548e-01 -8.09191661e-01 -1.61570954e-03 1.89209611e+02] [ 8.09188196e-01 5.87544763e-01 -2.36959064e-03 7.82931986e+01] [ 2.86675467e-03 8.48222371e-05 9.99995887e-01 6.71387961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:78.32, Z:0.67 [[ 5.89775334e-01 -8.07565544e-01 -1.71660906e-03 1.89223424e+02] [ 8.07561622e-01 5.89777824e-01 -2.51877633e-03 7.83172176e+01] [ 3.04649493e-03 9.92445555e-05 9.99995355e-01 6.71143757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.24, Y:78.34, Z:0.67 [[ 5.93756846e-01 -8.04644192e-01 -7.29650683e-04 1.89236026e+02] [ 8.04643481e-01 5.93757292e-01 -1.07084902e-03 7.83409637e+01] [ 1.29488786e-03 4.87152719e-05 9.99999160e-01 6.71730915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:78.36, Z:0.67 [[ 5.95199334e-01 -8.03578088e-01 -9.08436833e-05 1.89249392e+02] [ 8.03578077e-01 5.95199341e-01 -1.32976224e-04 7.83636827e+01] [ 1.60926881e-04 6.14736779e-06 9.99999987e-01 6.72168521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.26, Y:78.39, Z:0.67 [[ 5.96214180e-01 -8.02825358e-01 3.11046718e-04 1.89262169e+02] [ 8.02825228e-01 5.96214261e-01 4.57588039e-04 7.83866384e+01] [-5.52813770e-04 -2.31043257e-05 9.99999847e-01 6.72712700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:78.41, Z:0.67 [[ 5.97225843e-01 -8.02073061e-01 3.12272104e-04 1.89275421e+02] [ 8.02072930e-01 5.97225924e-01 4.59552560e-04 7.84110051e+01] [-5.55091724e-04 -2.39916630e-05 9.99999846e-01 6.72952166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:78.44, Z:0.67 [[ 5.98493049e-01 -8.01127998e-01 -2.86224204e-05 1.89288301e+02] [ 8.01127997e-01 5.98493049e-01 -4.16718589e-05 7.84352457e+01] [ 5.05148126e-05 2.01009560e-06 9.99999999e-01 6.72909741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.30, Y:78.46, Z:0.67 [[ 6.01187517e-01 -7.99107737e-01 -6.27652625e-04 1.89298894e+02] [ 7.99107206e-01 6.01187842e-01 -9.23205800e-04 7.84604646e+01] [ 1.11507803e-03 5.34580674e-05 9.99999377e-01 6.71377739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:78.48, Z:0.67 [[ 6.02628661e-01 -7.98021508e-01 -6.07409637e-04 1.89312191e+02] [ 7.98021009e-01 6.02628965e-01 -8.93819855e-04 7.84838216e+01] [ 1.07933011e-03 5.39158111e-05 9.99999416e-01 6.71591719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.33, Y:78.51, Z:0.67 [[ 6.04045894e-01 -7.96949378e-01 -4.96995469e-04 1.89325236e+02] [ 7.96949044e-01 6.04046096e-01 -7.31617250e-04 7.85067667e+01] [ 8.83270085e-04 4.58503313e-05 9.99999609e-01 6.72463546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:78.53, Z:0.67 [[ 6.05266980e-01 -7.96021308e-01 -1.40023576e-03 1.89337947e+02] [ 7.96018647e-01 6.05268585e-01 -2.06269555e-03 7.85312362e+01] [ 2.48946833e-03 1.33867727e-04 9.99996892e-01 6.73270276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:78.55, Z:0.67 [[ 6.04824170e-01 -7.96356051e-01 -2.18254321e-03 1.89352137e+02] [ 7.96349581e-01 6.04828072e-01 -3.21677847e-03 7.85548005e+01] [ 3.88176440e-03 2.07517994e-04 9.99992444e-01 6.72780080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:78.58, Z:0.67 [[ 6.04668457e-01 -7.96474291e-01 -2.18190352e-03 1.89367499e+02] [ 7.96467821e-01 6.04672358e-01 -3.21721237e-03 7.85778047e+01] [ 3.88176369e-03 2.07530895e-04 9.99992444e-01 6.72812679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:78.60, Z:0.67 [[ 6.04098858e-01 -7.96904990e-01 -2.64707302e-03 1.89380591e+02] [ 7.96895461e-01 6.04104606e-01 -3.90497297e-03 7.86001343e+01] [ 4.71100145e-03 2.49549236e-04 9.99988872e-01 6.72762704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:78.62, Z:0.67 [[ 6.03323755e-01 -7.97494094e-01 -1.90172791e-03 1.89392610e+02] [ 7.97489175e-01 6.03326727e-01 -2.80658831e-03 7.86244783e+01] [ 3.38560087e-03 1.76673978e-04 9.99994253e-01 6.73727992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:78.65, Z:0.67 [[ 6.03207736e-01 -7.97582617e-01 -1.54766882e-03 1.89406334e+02] [ 7.97579357e-01 6.03209704e-01 -2.28501175e-03 7.86481101e+01] [ 2.75605450e-03 1.43948062e-04 9.99996192e-01 6.74417421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:78.67, Z:0.67 [[ 6.03392213e-01 -7.97442983e-01 -1.58908464e-03 1.89420045e+02] [ 7.97439543e-01 6.03394287e-01 -2.34723525e-03 7.86712092e+01] [ 2.83063087e-03 1.49104545e-04 9.99995983e-01 6.74683559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:78.69, Z:0.67 [[ 6.03965071e-01 -7.97008593e-01 -1.86954192e-03 1.89434033e+02] [ 7.97003824e-01 6.03967938e-01 -2.76287736e-03 7.86931913e+01] [ 3.33118038e-03 1.78649364e-04 9.99994436e-01 6.74418312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.45, Y:78.72, Z:0.67 [[ 6.04620448e-01 -7.96510565e-01 -2.24376111e-03 1.89448884e+02] [ 7.96503686e-01 6.04624572e-01 -3.31752142e-03 7.87155497e+01] [ 3.99907396e-03 2.18677289e-04 9.99991980e-01 6.74062777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:78.74, Z:0.67 [[ 6.06484152e-01 -7.95092098e-01 -2.35123211e-03 1.89462606e+02] [ 7.95084528e-01 6.06488662e-01 -3.47799801e-03 7.87385703e+01] [ 4.19132435e-03 2.39922406e-04 9.99991188e-01 6.74982799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.48, Y:78.76, Z:0.68 [[ 6.07676717e-01 -7.94181322e-01 -2.24410624e-03 1.89475720e+02] [ 7.94174413e-01 6.07680814e-01 -3.32105022e-03 7.87612925e+01] [ 4.00121636e-03 2.35913143e-04 9.99991967e-01 6.75633192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.49, Y:78.79, Z:0.68 [[ 6.09188724e-01 -7.93022673e-01 -2.03428817e-03 1.89489570e+02] [ 7.93016984e-01 6.09192081e-01 -3.01186804e-03 7.87852378e+01] [ 3.62775188e-03 2.21570980e-04 9.99993395e-01 6.76554140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:78.81, Z:0.68 [[ 6.10743629e-01 -7.91826650e-01 -1.66646747e-03 1.89503517e+02] [ 7.91822825e-01 6.10745873e-01 -2.46832042e-03 7.88082792e+01] [ 2.97227002e-03 1.87963991e-04 9.99995565e-01 6.76788376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86140051299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:189.52, Y:78.83, Z:0.68 [[ 6.12085649e-01 -7.90790214e-01 -1.41247756e-03 1.89518797e+02] [ 7.90787461e-01 6.12087257e-01 -2.09294207e-03 7.88322551e+01] [ 2.51963763e-03 1.64090265e-04 9.99996812e-01 6.76551753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:78.86, Z:0.68 [[ 6.14238942e-01 -7.89119091e-01 -1.25807328e-03 1.89531544e+02] [ 7.89116902e-01 6.14240211e-01 -1.86488253e-03 7.88560235e+01] [ 2.24437361e-03 1.52716586e-04 9.99997470e-01 6.76016045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.55, Y:78.88, Z:0.68 [[ 6.14799587e-01 -7.88681993e-01 -1.47702390e-03 1.89545504e+02] [ 7.88678972e-01 6.14801334e-01 -2.19041208e-03 7.88799945e+01] [ 2.63561483e-03 1.81766755e-04 9.99996510e-01 6.75729333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:78.90, Z:0.68 [[ 6.14973391e-01 -7.88545787e-01 -1.80844210e-03 1.89559638e+02] [ 7.88541255e-01 6.14976009e-01 -2.68287791e-03 7.89024674e+01] [ 3.22772058e-03 2.23867322e-04 9.99994766e-01 6.75470803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:78.92, Z:0.68 [[ 6.13828737e-01 -7.89408105e-01 -7.00903983e-03 1.89578867e+02] [ 7.89422933e-01 6.13848911e-01 -9.73572123e-04 7.89217938e+01] [ 5.07103719e-03 -4.93549023e-03 9.99974962e-01 6.79348852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01140051299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:189.59, Y:78.95, Z:0.68 [[ 6.12033838e-01 -7.90824789e-01 3.27623160e-03 1.89588495e+02] [ 7.90830137e-01 6.12019571e-01 -4.44278529e-03 7.89511860e+01] [ 1.50834688e-03 5.31007762e-03 9.99984764e-01 6.76459670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:78.97, Z:0.68 [[ 6.10684696e-01 -7.91873671e-01 -5.40038898e-04 1.89606791e+02] [ 7.91873268e-01 6.10684931e-01 -8.01597950e-04 7.89714068e+01] [ 9.64557929e-04 6.18812334e-05 9.99999533e-01 6.77156056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.62, Y:78.99, Z:0.68 [[ 6.08665949e-01 -7.93426483e-01 -4.22439892e-04 1.89620664e+02] [ 7.93426236e-01 6.08666094e-01 -6.27212913e-04 7.89939625e+01] [ 7.54772175e-04 4.65882494e-05 9.99999714e-01 6.76829802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:189.64, Y:79.02, Z:0.68 [[ 6.06923561e-01 -7.94759526e-01 -1.04277399e-03 1.89638365e+02] [ 7.94758023e-01 6.06924447e-01 -1.54953569e-03 7.90158206e+01] [ 1.86439328e-03 1.11696726e-04 9.99998256e-01 6.75889999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:79.04, Z:0.68 [[ 6.06494413e-01 -7.95086757e-01 -1.25549595e-03 1.89655111e+02] [ 7.95084577e-01 6.06495698e-01 -1.86650566e-03 7.90359706e+01] [ 2.24548683e-03 1.33799790e-04 9.99997470e-01 6.76146073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.67, Y:79.06, Z:0.68 [[ 6.05565835e-01 -7.95794586e-01 -9.98029550e-04 1.89671904e+02] [ 7.95793209e-01 6.05566648e-01 -1.48433894e-03 7.90570031e+01] [ 1.78560230e-03 1.04639809e-04 9.99998400e-01 6.76292958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.69, Y:79.08, Z:0.68 [[ 6.04756695e-01 -7.96409999e-01 -6.73343226e-04 1.89689022e+02] [ 7.96409372e-01 6.04757066e-01 -1.00175417e-03 7.90785878e+01] [ 1.20501611e-03 6.95606844e-05 9.99999272e-01 6.76537139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:79.09, Z:0.68 [[ 6.04274662e-01 -7.96770630e-01 -2.94884574e-03 1.89707741e+02] [ 7.96773060e-01 6.04278429e-01 -5.19880297e-04 7.90947503e+01] [ 2.19614922e-03 -2.03541035e-03 9.99995517e-01 6.78141432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:79.12, Z:0.68 [[ 6.04369061e-01 -7.96703830e-01 1.02206981e-03 1.89722801e+02] [ 7.96703443e-01 6.04365696e-01 -2.39364568e-03 7.91186305e+01] [ 1.28932275e-03 2.26093192e-03 9.99996613e-01 6.76734340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:79.14, Z:0.68 [[ 6.05113293e-01 -7.96138070e-01 -1.44101091e-03 1.89740946e+02] [ 7.96135189e-01 6.05114990e-01 -2.14701719e-03 7.91397015e+01] [ 2.58129943e-03 1.51949147e-04 9.99996657e-01 6.76509317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:79.16, Z:0.68 [[ 6.06274433e-01 -7.95253267e-01 -1.88493156e-03 1.89756776e+02] [ 7.95248329e-01 6.06277329e-01 -2.80979154e-03 7.91619145e+01] [ 3.37728717e-03 2.04516102e-04 9.99994276e-01 6.76424013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:79.18, Z:0.68 [[ 6.09017003e-01 -7.93155843e-01 -1.44840731e-03 1.89774385e+02] [ 7.93152920e-01 6.09018703e-01 -2.15992665e-03 7.91828574e+01] [ 2.59526559e-03 1.66623574e-04 9.99996618e-01 6.75407977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:79.20, Z:0.68 [[ 6.10086368e-01 -7.92333691e-01 -1.39492756e-03 1.89790942e+02] [ 7.92330975e-01 6.10087941e-01 -2.08106559e-03 7.92041906e+01] [ 2.49992686e-03 1.64385437e-04 9.99996862e-01 6.75194912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:79.23, Z:0.68 [[ 6.11225401e-01 -7.91454365e-01 -1.87004528e-03 1.89807252e+02] [ 7.91449476e-01 6.11228220e-01 -2.79124664e-03 7.92258381e+01] [ 3.35216879e-03 2.26034492e-04 9.99994356e-01 6.75276455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:79.25, Z:0.68 [[ 6.12591283e-01 -7.90395807e-01 -2.52752903e-03 1.89821940e+02] [ 7.90386857e-01 6.12596417e-01 -3.77447301e-03 7.92470466e+01] [ 4.53168287e-03 3.14483539e-04 9.99989682e-01 6.75174122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:79.27, Z:0.68 [[ 6.16076468e-01 -7.87681052e-01 -2.88895709e-03 1.89837128e+02] [ 7.87669319e-01 6.16083122e-01 -4.31620779e-03 7.92698233e+01] [ 5.17963279e-03 3.83571189e-04 9.99986512e-01 6.75516841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:79.29, Z:0.68 [[ 6.17390246e-01 -7.86653320e-01 -2.41637548e-03 1.89852867e+02] [ 7.86645097e-01 6.17394887e-01 -3.61174897e-03 7.92909418e+01] [ 4.33305218e-03 3.29028660e-04 9.99990558e-01 6.76313933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:79.31, Z:0.68 [[ 6.18176519e-01 -7.86036702e-01 -2.02341654e-03 1.89869440e+02] [ 7.86030929e-01 6.18179767e-01 -3.02568827e-03 7.93126841e+01] [ 3.62913719e-03 2.79941464e-04 9.99993375e-01 6.76901546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:79.33, Z:0.68 [[ 6.18356918e-01 -7.85894059e-01 -2.29138022e-03 1.89885310e+02] [ 7.85886647e-01 6.18361081e-01 -3.42801607e-03 7.93340054e+01] [ 4.11095782e-03 3.18972337e-04 9.99991499e-01 6.77154076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:79.35, Z:0.68 [[ 6.18219481e-01 -7.85999312e-01 -3.12333833e-03 1.89901808e+02] [ 7.85985529e-01 6.18227218e-01 -4.67495318e-03 7.93540678e+01] [ 5.60544275e-03 4.35248399e-04 9.99984195e-01 6.76122335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.92, Y:79.38, Z:0.68 [[ 6.18217720e-01 -7.86000845e-01 -3.08585298e-03 1.89917907e+02] [ 7.85987380e-01 6.18225271e-01 -4.62090155e-03 7.93762694e+01] [ 5.53978482e-03 4.31281721e-04 9.99984562e-01 6.76031395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:79.40, Z:0.68 [[ 6.18587794e-01 -7.85711527e-01 -2.55683265e-03 1.89932899e+02] [ 7.85702275e-01 6.18592973e-01 -3.83006085e-03 7.93972626e+01] [ 4.59096167e-03 3.60319660e-04 9.99989397e-01 6.76330153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:79.42, Z:0.68 [[ 6.19184087e-01 -7.85243442e-01 -1.95028175e-03 1.89948209e+02] [ 7.85238052e-01 6.19187096e-01 -2.92256059e-03 7.94193108e+01] [ 3.50251083e-03 2.78167573e-04 9.99993828e-01 6.76755949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:79.44, Z:0.68 [[ 6.21057450e-01 -7.83763386e-01 -1.61224978e-03 1.89964720e+02] [ 7.83759695e-01 6.21059497e-01 -2.41698341e-03 7.94405297e+01] [ 2.89564614e-03 2.37469160e-04 9.99995779e-01 6.77092677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:79.46, Z:0.68 [[ 6.21491343e-01 -7.83418912e-01 -1.82176792e-03 1.89980598e+02] [ 7.83414194e-01 6.21493954e-01 -2.73236077e-03 7.94612645e+01] [ 3.27280084e-03 2.70939717e-04 9.99994608e-01 6.76839616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:79.48, Z:0.68 [[ 6.21672630e-01 -7.83273654e-01 -2.35019349e-03 1.89997338e+02] [ 7.83265795e-01 6.21676973e-01 -3.52650809e-03 7.94834069e+01] [ 4.22328206e-03 3.51507388e-04 9.99991020e-01 6.77119516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:190.01, Y:79.51, Z:0.68 [[ 6.21257674e-01 -7.83601880e-01 -2.64521994e-03 1.90012935e+02] [ 7.83591918e-01 6.21263180e-01 -3.97084348e-03 7.95064220e+01] [ 4.75493817e-03 3.94144016e-04 9.99988618e-01 6.76884856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:79.53, Z:0.68 [[ 6.22201382e-01 -7.82852467e-01 -2.73050827e-03 1.90029152e+02] [ 7.82841839e-01 6.22207236e-01 -4.10019264e-03 7.95277117e+01] [ 4.90878792e-03 4.13589411e-04 9.99987866e-01 6.76575188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.05, Y:79.55, Z:0.68 [[ 6.22306127e-01 -7.82769923e-01 -2.51646219e-03 1.90045351e+02] [ 7.82760890e-01 6.22311097e-01 -3.77998623e-03 7.95478828e+01] [ 4.52488187e-03 3.82520401e-04 9.99989690e-01 6.76880999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:79.57, Z:0.68 [[ 6.22320450e-01 -7.82760044e-01 -1.99279468e-03 1.90063230e+02] [ 7.82754376e-01 6.22323566e-01 -2.99444199e-03 7.95700866e+01] [ 3.58409264e-03 3.03633730e-04 9.99993531e-01 6.77133304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:79.59, Z:0.68 [[ 6.22037240e-01 -7.82985775e-01 -1.71695574e-03 1.90080103e+02] [ 7.82981565e-01 6.22039555e-01 -2.58094012e-03 7.95921033e+01] [ 3.08885379e-03 2.61096177e-04 9.99995195e-01 6.78075946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:79.61, Z:0.68 [[ 6.21762088e-01 -7.83204851e-01 -1.43800034e-03 1.90095569e+02] [ 7.83201896e-01 6.21763712e-01 -2.16245198e-03 7.96137594e+01] [ 2.58773931e-03 2.18286068e-04 9.99996628e-01 6.78148886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.11, Y:79.64, Z:0.68 [[ 6.21467538e-01 -7.83436887e-01 -2.17795651e-03 1.90111952e+02] [ 7.83430104e-01 6.21471266e-01 -3.27673029e-03 7.96360913e+01] [ 3.92064877e-03 3.30104816e-04 9.99992260e-01 6.77123529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:79.66, Z:0.68 [[ 6.21507288e-01 -7.83404254e-01 -2.54258594e-03 1.90129446e+02] [ 7.83395003e-01 6.21512369e-01 -3.82689381e-03 7.96584221e+01] [ 4.57825350e-03 3.86593272e-04 9.99989445e-01 6.77087511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:79.68, Z:0.68 [[ 6.21498617e-01 -7.83411796e-01 -2.32931085e-03 1.90146409e+02] [ 7.83404026e-01 6.21502881e-01 -3.50730231e-03 7.96794760e+01] [ 4.19533540e-03 3.54992040e-04 9.99991137e-01 6.77260420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.16, Y:79.70, Z:0.68 [[ 6.22211704e-01 -7.82847073e-01 -1.74801801e-03 1.90162821e+02] [ 7.82842692e-01 6.22214101e-01 -2.63290538e-03 7.97004860e+01] [ 3.14880372e-03 2.69801417e-04 9.99995006e-01 6.78696276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:79.72, Z:0.68 [[ 6.22699139e-01 -7.82459005e-01 -1.92014737e-03 1.90176806e+02] [ 7.82453713e-01 6.22702028e-01 -2.89340852e-03 7.97220515e+01] [ 3.45965322e-03 2.99296556e-04 9.99993971e-01 6.78618569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:79.74, Z:0.68 [[ 6.23094742e-01 -7.82143025e-01 -2.28708179e-03 1.90190887e+02] [ 7.82135508e-01 6.23098836e-01 -3.44792933e-03 7.97449059e+01] [ 4.12185188e-03 3.59578755e-04 9.99991440e-01 6.78827015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:79.77, Z:0.68 [[ 6.23408998e-01 -7.81891497e-01 -2.62818563e-03 1.90205211e+02] [ 7.81881560e-01 6.23414399e-01 -3.96395030e-03 7.97675226e+01] [ 4.73782780e-03 4.16232408e-04 9.99988690e-01 6.79054001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.22, Y:79.79, Z:0.68 [[ 6.22806035e-01 -7.82371536e-01 -2.72446190e-03 1.90218238e+02] [ 7.82360853e-01 6.22811846e-01 -4.11102854e-03 7.97898678e+01] [ 4.91317886e-03 4.28861049e-04 9.99987838e-01 6.78674977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:79.81, Z:0.68 [[ 6.21495040e-01 -7.83414401e-01 -2.40658255e-03 1.90232326e+02] [ 7.83406066e-01 6.21499588e-01 -3.63295102e-03 7.98122601e+01] [ 4.34179621e-03 3.72529675e-04 9.99990505e-01 6.78211996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.25, Y:79.83, Z:0.68 [[ 6.19907948e-01 -7.84671875e-01 -2.04555279e-03 1.90247950e+02] [ 7.84665855e-01 6.19911246e-01 -3.08923497e-03 7.98347337e+01] [ 3.69209697e-03 3.09965887e-04 9.99993136e-01 6.78111997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:79.86, Z:0.68 [[ 6.17920114e-01 -7.86238970e-01 -1.73653316e-03 1.90264824e+02] [ 7.86234634e-01 6.17922501e-01 -2.62356850e-03 7.98570197e+01] [ 3.13579471e-03 2.55833236e-04 9.99995051e-01 6.78400479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:79.88, Z:0.68 [[ 6.13368062e-01 -7.89793818e-01 -2.31191399e-03 1.90282734e+02] [ 7.89786153e-01 6.13372337e-01 -3.49411483e-03 7.98778836e+01] [ 4.17769438e-03 3.17260786e-04 9.99991223e-01 6.79175688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:79.90, Z:0.68 [[ 6.10849597e-01 -7.91742139e-01 -2.67479106e-03 1.90298835e+02] [ 7.91731889e-01 6.10855352e-01 -4.04425689e-03 7.99003027e+01] [ 4.83591903e-03 3.52715317e-04 9.99988245e-01 6.79067489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:79.92, Z:0.68 [[ 6.08504803e-01 -7.93546439e-01 -2.44013473e-03 1.90313853e+02] [ 7.93537915e-01 6.08509617e-01 -3.69113958e-03 7.99212090e+01] [ 4.41393612e-03 3.09736736e-04 9.99990211e-01 6.79425555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:79.94, Z:0.68 [[ 6.06694773e-01 -7.94932829e-01 -1.80266250e-03 1.90329556e+02] [ 7.94928179e-01 6.06697411e-01 -2.72795176e-03 7.99433652e+01] [ 3.26220908e-03 2.22046856e-04 9.99994654e-01 6.79711262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:79.97, Z:0.68 [[ 6.06544798e-01 -7.95047270e-01 -1.80213693e-03 1.90344648e+02] [ 7.95042619e-01 6.06547434e-01 -2.72829896e-03 7.99665584e+01] [ 3.26220817e-03 2.22059877e-04 9.99994654e-01 6.79743185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.36, Y:79.99, Z:0.68 [[ 6.04137358e-01 -7.96879290e-01 -1.20404214e-03 1.90361990e+02] [ 7.96877216e-01 6.04138541e-01 -1.82347281e-03 7.99872040e+01] [ 2.18049598e-03 1.42154297e-04 9.99997613e-01 6.79804455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:80.01, Z:0.68 [[ 6.02854182e-01 -7.97849595e-01 -1.69100096e-03 1.90378654e+02] [ 7.97845504e-01 6.02856522e-01 -2.56227757e-03 8.00093589e+01] [ 3.06374308e-03 1.95522241e-04 9.99995288e-01 6.79930081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.39, Y:80.03, Z:0.68 [[ 6.01594307e-01 -7.98798592e-01 -2.25835713e-03 1.90394982e+02] [ 7.98791295e-01 6.01598491e-01 -3.42366250e-03 8.00311576e+01] [ 4.09344102e-03 2.55699852e-04 9.99991589e-01 6.80043660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:80.05, Z:0.68 [[ 6.00174178e-01 -7.99865837e-01 -2.36621911e-03 1.90411188e+02] [ 7.99857828e-01 6.00178785e-01 -3.58888941e-03 8.00520561e+01] [ 4.29078454e-03 2.61319872e-04 9.99990760e-01 6.79729211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:80.07, Z:0.68 [[ 5.98566030e-01 -8.01070942e-01 -2.01370565e-03 1.90428132e+02] [ 8.01065143e-01 5.98569378e-01 -3.05557598e-03 8.00731151e+01] [ 3.65307566e-03 2.15854581e-04 9.99993304e-01 6.79477462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.45, Y:80.09, Z:0.68 [[ 5.95577355e-01 -8.03297477e-01 -8.82399382e-04 1.90448206e+02] [ 8.03296365e-01 5.95578002e-01 -1.33931848e-03 8.00913493e+01] [ 1.60140882e-03 8.88395431e-05 9.99998714e-01 6.78932154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.47, Y:80.11, Z:0.68 [[ 5.94317792e-01 -8.04230022e-01 -6.58066403e-04 1.90467075e+02] [ 8.04229404e-01 5.94318153e-01 -9.99185158e-04 8.01120011e+01] [ 1.19467551e-03 6.45971660e-05 9.99999284e-01 6.79039445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:80.13, Z:0.68 [[ 5.93488497e-01 -8.04842247e-01 -6.00801260e-04 1.90485417e+02] [ 8.04841732e-01 5.93488798e-01 -9.12604432e-04 8.01307952e+01] [ 1.09107142e-03 5.80703060e-05 9.99999403e-01 6.79232496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.50, Y:80.15, Z:0.68 [[ 5.93183523e-01 -8.05066917e-01 -7.53318444e-04 1.90503829e+02] [ 8.05066106e-01 5.93183997e-01 -1.14492172e-03 8.01511897e+01] [ 1.36859505e-03 7.26775536e-05 9.99999061e-01 6.79468046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.52, Y:80.17, Z:0.68 [[ 5.95284135e-01 -8.03514101e-01 -1.37395134e-03 1.90523600e+02] [ 8.03511396e-01 5.95285704e-01 -2.08948974e-03 8.01698485e+01] [ 2.49682806e-03 1.39854537e-04 9.99996873e-01 6.79316262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:80.19, Z:0.68 [[ 5.97336349e-01 -8.01989626e-01 -1.38805071e-03 1.90540936e+02] [ 8.01986859e-01 5.97337943e-01 -2.11189313e-03 8.01912736e+01] [ 2.52285173e-03 1.48312103e-04 9.99996807e-01 6.79099790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:80.21, Z:0.68 [[ 5.99973151e-01 -8.00018413e-01 -1.66057532e-03 1.90557659e+02] [ 8.00014441e-01 5.99975420e-01 -2.52776880e-03 8.02119221e+01] [ 3.01856596e-03 1.88109172e-04 9.99995426e-01 6.78332140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.58, Y:80.23, Z:0.68 [[ 6.05401366e-01 -7.95914709e-01 -2.99362352e-03 1.90576789e+02] [ 7.95901739e-01 6.05408650e-01 -4.55940226e-03 8.02318148e+01] [ 5.44126090e-03 3.77638188e-04 9.99985125e-01 6.76839522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:80.25, Z:0.68 [[ 6.07931465e-01 -7.93981948e-01 -3.46419489e-03 1.90592628e+02] [ 7.93964533e-01 6.07941162e-01 -5.27864677e-03 8.02527789e+01] [ 6.29717691e-03 4.58607583e-04 9.99980067e-01 6.76630046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.61, Y:80.28, Z:0.68 [[ 6.09729832e-01 -7.92600913e-01 -3.65045985e-03 1.90608190e+02] [ 7.92581533e-01 6.09740554e-01 -5.56499635e-03 8.02750456e+01] [ 6.63665460e-03 4.99857226e-04 9.99977852e-01 6.76987587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:80.30, Z:0.68 [[ 6.10697329e-01 -7.91856079e-01 -3.56695744e-03 1.90622496e+02] [ 7.91837547e-01 6.10707543e-01 -5.44019577e-03 8.02972977e+01] [ 6.48621990e-03 4.97862195e-04 9.99978840e-01 6.77573769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.64, Y:80.32, Z:0.68 [[ 6.11202547e-01 -7.91470591e-01 -2.39782166e-03 1.90636644e+02] [ 7.91462208e-01 6.11207157e-01 -3.65854155e-03 8.03202117e+01] [ 4.36119380e-03 3.38324694e-04 9.99990433e-01 6.77739362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:80.34, Z:0.68 [[ 6.10579766e-01 -7.91952907e-01 -1.71528466e-03 1.90651191e+02] [ 7.91948616e-01 6.10582128e-01 -2.61799540e-03 8.03417198e+01] [ 3.12065123e-03 2.40077710e-04 9.99995102e-01 6.78150649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:80.36, Z:0.68 [[ 6.09186081e-01 -7.93026212e-01 -1.32106124e-03 1.90666945e+02] [ 7.93023668e-01 6.09187486e-01 -2.01701814e-03 8.03641465e+01] [ 2.40432223e-03 1.81106546e-04 9.99997093e-01 6.78515218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:80.39, Z:0.68 [[ 6.07527599e-01 -7.94297088e-01 -1.53369264e-03 1.90682656e+02] [ 7.94293660e-01 6.07529500e-01 -2.34277624e-03 8.03863054e+01] [ 2.79262387e-03 2.05098883e-04 9.99996080e-01 6.78811888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05140051299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:190.70, Y:80.41, Z:0.68 [[ 6.04144248e-01 -7.96870268e-01 -2.73942393e-03 1.90697282e+02] [ 7.96848912e-01 6.04148721e-01 -6.01122432e-03 8.04076688e+01] [ 6.44518540e-03 1.44873962e-03 9.99978180e-01 6.78362639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:80.43, Z:0.68 [[ 6.02042554e-01 -7.98453547e-01 -4.08605241e-03 1.90715302e+02] [ 7.98441499e-01 6.02056124e-01 -4.42675605e-03 8.04290504e+01] [ 5.99459194e-03 -5.97378297e-04 9.99981854e-01 6.77909678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:80.45, Z:0.68 [[ 6.00127581e-01 -7.99898165e-01 -3.13257129e-03 1.90731913e+02] [ 7.99883897e-01 6.00135642e-01 -4.79185063e-03 8.04505212e+01] [ 5.71296021e-03 3.70028393e-04 9.99983612e-01 6.77998970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:80.47, Z:0.68 [[ 5.98549264e-01 -8.01081031e-01 -2.82154934e-03 1.90749355e+02] [ 8.01069459e-01 5.98555826e-01 -4.31792368e-03 8.04714199e+01] [ 5.14786155e-03 3.24233036e-04 9.99986697e-01 6.78384289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:80.49, Z:0.68 [[ 5.97533890e-01 -8.01839388e-01 -2.61657412e-03 1.90766346e+02] [ 8.01829435e-01 5.97539546e-01 -4.00595316e-03 8.04931637e+01] [ 4.77563754e-03 2.95646631e-04 9.99988553e-01 6.79029137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:80.51, Z:0.68 [[ 5.97785889e-01 -8.01653367e-01 -1.97719374e-03 1.90784313e+02] [ 8.01647679e-01 5.97789117e-01 -3.02828873e-03 8.05138139e+01] [ 3.60958276e-03 2.25255494e-04 9.99993460e-01 6.79947066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.80, Y:80.53, Z:0.68 [[ 5.99200650e-01 -8.00597295e-01 -1.59781731e-03 1.90800558e+02] [ 8.00593573e-01 5.99202751e-01 -2.44825619e-03 8.05347759e+01] [ 2.91748381e-03 1.87794429e-04 9.99995727e-01 6.80387261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.82, Y:80.55, Z:0.68 [[ 6.01134334e-01 -7.99146934e-01 -1.30006991e-03 1.90816676e+02] [ 7.99144465e-01 6.01135718e-01 -1.99290502e-03 8.05548088e+01] [ 2.37414239e-03 1.59059959e-04 9.99997169e-01 6.80622574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:80.58, Z:0.68 [[ 6.03519128e-01 -7.97347759e-01 -1.10175501e-03 1.90834195e+02] [ 7.97345981e-01 6.03520117e-01 -1.68961978e-03 8.05757353e+01] [ 2.01214586e-03 1.41237925e-04 9.99997966e-01 6.80600392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:80.59, Z:0.68 [[ 6.08506628e-01 -7.93547208e-01 -1.58490781e-03 1.90852338e+02] [ 7.93543513e-01 6.08508651e-01 -2.43188954e-03 8.05938564e+01] [ 2.89424927e-03 2.22127597e-04 9.99995787e-01 6.79759064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:80.61, Z:0.68 [[ 6.10736607e-01 -7.91830861e-01 -2.16438347e-03 1.90868590e+02] [ 7.91823952e-01 6.10740360e-01 -3.32279127e-03 8.06145554e+01] [ 3.95296502e-03 3.15539589e-04 9.99992137e-01 6.79484350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:190.89, Y:80.64, Z:0.68 [[ 6.12606563e-01 -7.90382868e-01 -2.84977419e-03 1.90885036e+02] [ 7.90370864e-01 6.12613041e-01 -4.37710189e-03 8.06359667e+01] [ 5.20539518e-03 4.29062860e-04 9.99986360e-01 6.79661572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.90, Y:80.66, Z:0.68 [[ 6.16714141e-01 -7.87181351e-01 -3.03120844e-03 1.90903291e+02] [ 7.87167721e-01 6.16721399e-01 -4.65786271e-03 8.06565096e+01] [ 5.53599377e-03 4.86500360e-04 9.99984558e-01 6.80598088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:80.68, Z:0.68 [[ 6.18417590e-01 -7.85844707e-01 -2.78958857e-03 1.90917081e+02] [ 7.85833142e-01 6.18423710e-01 -4.28811044e-03 8.06782421e+01] [ 5.09493660e-03 4.59691771e-04 9.99986915e-01 6.80876202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.93, Y:80.70, Z:0.68 [[ 6.20107045e-01 -7.84512782e-01 -2.63593432e-03 1.90930134e+02] [ 7.84502436e-01 6.20112487e-01 -4.05361596e-03 8.07007851e+01] [ 4.81468932e-03 4.45778919e-04 9.99988310e-01 6.80607376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:80.72, Z:0.68 [[ 6.21560131e-01 -7.83361345e-01 -2.82966666e-03 1.90943750e+02] [ 7.83349401e-01 6.21566379e-01 -4.35345421e-03 8.07245821e+01] [ 5.16915341e-03 4.89315885e-04 9.99986520e-01 6.79674447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.96, Y:80.75, Z:0.68 [[ 6.23230867e-01 -7.82030592e-01 -3.38226990e-03 1.90957262e+02] [ 7.82013494e-01 6.23239756e-01 -5.20594589e-03 8.07477196e+01] [ 6.17917402e-03 5.99525469e-04 9.99980729e-01 6.78722345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:80.77, Z:0.68 [[ 6.22617546e-01 -7.82519059e-01 -3.36348813e-03 1.90970374e+02] [ 7.82502143e-01 6.22626349e-01 -5.17934698e-03 8.07701134e+01] [ 6.14713406e-03 5.92815637e-04 9.99980930e-01 6.79033597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:190.98, Y:80.79, Z:0.68 [[ 6.20864135e-01 -7.83912604e-01 -2.95897080e-03 1.90983475e+02] [ 7.83899517e-01 6.20870976e-01 -4.55834429e-03 8.07939321e+01] [ 5.41048263e-03 5.10576708e-04 9.99985233e-01 6.79003936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:80.82, Z:0.68 [[ 6.18598811e-01 -7.85701994e-01 -2.80852938e-03 1.90996227e+02] [ 7.85690212e-01 6.18605007e-01 -4.32844013e-03 8.08176718e+01] [ 5.13823438e-03 4.70933878e-04 9.99986688e-01 6.79863473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:80.84, Z:0.68 [[ 6.15655174e-01 -7.88011269e-01 -2.63585759e-03 1.91008262e+02] [ 7.88000905e-01 6.15660670e-01 -4.06376491e-03 8.08406591e+01] [ 4.82508639e-03 4.24819727e-04 9.99988269e-01 6.79913917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.02, Y:80.87, Z:0.68 [[ 6.08466618e-01 -7.93575393e-01 -2.54384174e-03 1.91020023e+02] [ 7.93565779e-01 6.08471824e-01 -3.92352867e-03 8.08652017e+01] [ 4.66147183e-03 3.68630461e-04 9.99989067e-01 6.79557910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:80.89, Z:0.68 [[ 6.05127184e-01 -7.96124605e-01 -2.58936603e-03 1.91033292e+02] [ 7.96114659e-01 6.05132619e-01 -3.99554259e-03 8.08894952e+01] [ 4.74785961e-03 3.56379179e-04 9.99988665e-01 6.79694257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:80.91, Z:0.68 [[ 6.01935243e-01 -7.98540646e-01 -2.60783853e-03 1.91045481e+02] [ 7.98530570e-01 6.01940795e-01 -4.02593522e-03 8.09127962e+01] [ 4.78463731e-03 3.40913508e-04 9.99988495e-01 6.79872260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:80.94, Z:0.68 [[ 5.98964678e-01 -8.00771131e-01 -2.62874220e-03 1.91058439e+02] [ 8.00760905e-01 5.98970357e-01 -4.06003011e-03 8.09369226e+01] [ 4.82569356e-03 3.26820638e-04 9.99988303e-01 6.80046156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:80.96, Z:0.68 [[ 5.94495839e-01 -8.04091747e-01 -3.34055879e-03 1.91069988e+02] [ 8.04075270e-01 5.94505102e-01 -5.16179505e-03 8.09601043e+01] [ 6.13653605e-03 3.82604969e-04 9.99981098e-01 6.80053885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.08, Y:80.98, Z:0.68 [[ 5.92618901e-01 -8.05475161e-01 -3.55005214e-03 1.91083629e+02] [ 8.05456561e-01 5.92629404e-01 -5.48794562e-03 8.09836843e+01] [ 6.52426916e-03 3.92847508e-04 9.99978640e-01 6.80250273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:81.01, Z:0.68 [[ 5.91046202e-01 -8.06630784e-01 -3.34137301e-03 1.91097068e+02] [ 8.06614311e-01 5.91055538e-01 -5.16761214e-03 8.10068772e+01] [ 6.14329206e-03 3.59098243e-04 9.99981065e-01 6.80153873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:81.03, Z:0.68 [[ 5.89556472e-01 -8.07722487e-01 -2.74781574e-03 1.91110941e+02] [ 8.07711349e-01 5.89562805e-01 -4.25146272e-03 8.10303182e+01] [ 5.05401200e-03 2.87035407e-04 9.99987187e-01 6.80932944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:81.05, Z:0.68 [[ 5.87514289e-01 -8.09212100e-01 -1.65418496e-03 1.91123744e+02] [ 8.09208067e-01 5.87516595e-01 -2.56019182e-03 8.10529790e+01] [ 3.04359931e-03 1.65569464e-04 9.99995355e-01 6.81579307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:81.08, Z:0.68 [[ 5.86749705e-01 -8.09766504e-01 -1.72982293e-03 1.91137946e+02] [ 8.09762093e-01 5.86752230e-01 -2.67838916e-03 8.10756890e+01] [ 3.18384729e-03 1.70799012e-04 9.99994917e-01 6.81844966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:81.10, Z:0.68 [[ 5.86169253e-01 -8.10185809e-01 -2.13576474e-03 1.91151981e+02] [ 8.10179080e-01 5.86173107e-01 -3.30859875e-03 8.10981741e+01] [ 3.93250761e-03 2.09046944e-04 9.99992246e-01 6.81861364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:81.12, Z:0.68 [[ 5.87237949e-01 -8.09410156e-01 -2.60577189e-03 1.91163223e+02] [ 8.09400122e-01 5.87243672e-01 -4.03882502e-03 8.11209356e+01] [ 4.79928904e-03 2.62639233e-04 9.99988449e-01 6.82251305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:81.14, Z:0.68 [[ 5.88329078e-01 -8.08617853e-01 -2.46256693e-03 1.91175868e+02] [ 8.08608876e-01 5.88334176e-01 -3.81871209e-03 8.11436800e+01] [ 4.53669106e-03 2.55405888e-04 9.99989677e-01 6.82331497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:81.17, Z:0.68 [[ 5.89220834e-01 -8.07967762e-01 -2.62754068e-03 1.91189757e+02] [ 8.07957526e-01 5.89226626e-01 -4.07653778e-03 8.11664565e+01] [ 4.84192804e-03 2.79039727e-04 9.99988239e-01 6.82328777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:81.19, Z:0.68 [[ 5.89905687e-01 -8.07467471e-01 -2.75026013e-03 1.91203379e+02] [ 8.07456241e-01 5.89912023e-01 -4.26908856e-03 8.11874518e+01] [ 5.06956166e-03 2.97644915e-04 9.99987105e-01 6.82151511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:81.21, Z:0.68 [[ 5.90289864e-01 -8.07185783e-01 -2.99803725e-03 1.91217067e+02] [ 8.07172422e-01 5.90297386e-01 -4.65586336e-03 8.12106869e+01] [ 5.52788026e-03 3.28375961e-04 9.99984667e-01 6.82069922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:81.23, Z:0.68 [[ 5.90032768e-01 -8.07374935e-01 -2.65473122e-03 1.91231217e+02] [ 8.07364451e-01 5.90038669e-01 -4.12454856e-03 8.12339234e+01] [ 4.89645121e-03 2.90283188e-04 9.99987970e-01 6.81713239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:81.26, Z:0.68 [[ 5.89528486e-01 -8.07744579e-01 -2.20456006e-03 1.91245351e+02] [ 8.07737346e-01 5.89532559e-01 -3.42668983e-03 8.12556011e+01] [ 4.06755007e-03 2.39425772e-04 9.99991699e-01 6.82098181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:81.28, Z:0.68 [[ 5.88838584e-01 -8.08248518e-01 -1.85860845e-03 1.91260112e+02] [ 8.08243375e-01 5.88841484e-01 -2.89025663e-03 8.12772779e+01] [ 3.43047140e-03 1.99686654e-04 9.99994096e-01 6.82685684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:81.30, Z:0.68 [[ 5.87979519e-01 -8.08873094e-01 -2.09828167e-03 1.91275652e+02] [ 8.08866537e-01 5.87983221e-01 -3.26457516e-03 8.12989867e+01] [ 3.87438142e-03 2.22273504e-04 9.99992470e-01 6.83262610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:81.32, Z:0.68 [[ 5.88025316e-01 -8.08838731e-01 -2.47674537e-03 1.91290233e+02] [ 8.08829586e-01 5.88030473e-01 -3.85521779e-03 8.13223500e+01] [ 4.57465122e-03 2.63700726e-04 9.99989501e-01 6.82480584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.30, Y:81.35, Z:0.68 [[ 5.88669593e-01 -8.08368660e-01 -2.86691564e-03 1.91304387e+02] [ 8.08356391e-01 5.88676492e-01 -4.46465414e-03 8.13450095e+01] [ 5.29677233e-03 3.10716557e-04 9.99985924e-01 6.82026371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:81.37, Z:0.68 [[ 5.88509279e-01 -8.08485383e-01 -2.86601866e-03 1.91319193e+02] [ 8.08473112e-01 5.88516176e-01 -4.46522998e-03 8.13684030e+01] [ 5.29677151e-03 3.10730252e-04 9.99985924e-01 6.82057975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.33, Y:81.39, Z:0.68 [[ 5.89722607e-01 -8.07599704e-01 -3.15672135e-03 1.91332861e+02] [ 8.07584791e-01 5.89730950e-01 -4.92052424e-03 8.13906201e+01] [ 5.83543020e-03 3.52424230e-04 9.99982912e-01 6.81121067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.35, Y:81.41, Z:0.68 [[ 5.93487411e-01 -8.04835900e-01 -3.44498415e-03 1.91345350e+02] [ 8.04818075e-01 5.93497264e-01 -5.37249811e-03 8.14137144e+01] [ 6.36856801e-03 4.15924483e-04 9.99979634e-01 6.81028177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:81.44, Z:0.68 [[ 5.95175510e-01 -8.03587893e-01 -3.55112519e-03 1.91358865e+02] [ 8.03568915e-01 5.95185938e-01 -5.54060269e-03 8.14377328e+01] [ 6.56594102e-03 4.44057222e-04 9.99978345e-01 6.81373714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:81.46, Z:0.68 [[ 5.96551176e-01 -8.02565933e-01 -3.82316461e-03 1.91371999e+02] [ 8.02543899e-01 5.96563225e-01 -5.96729218e-03 8.14600824e+01] [ 7.06990483e-03 4.91537739e-04 9.99974887e-01 6.81965584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:81.48, Z:0.68 [[ 5.97182436e-01 -8.02094520e-01 -4.18555866e-03 1.91385399e+02] [ 8.02068078e-01 5.97196854e-01 -6.53577347e-03 8.14835812e+01] [ 7.74191056e-03 5.45946131e-04 9.99969882e-01 6.82273018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:81.51, Z:0.68 [[ 5.97082196e-01 -8.02169533e-01 -4.10977394e-03 1.91398430e+02] [ 8.02144019e-01 5.97096099e-01 -6.42039652e-03 8.15069208e+01] [ 7.60417647e-03 5.36873873e-04 9.99970944e-01 6.81472577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.41, Y:81.53, Z:0.68 [[ 5.96005590e-01 -8.02972455e-01 -3.54583326e-03 1.91413237e+02] [ 8.02953461e-01 5.96015963e-01 -5.54178458e-03 8.15302147e+01] [ 6.56327360e-03 4.55795502e-04 9.99978358e-01 6.81257913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.43, Y:81.55, Z:0.68 [[ 5.94453801e-01 -8.04124309e-01 -2.96217015e-03 1.91428008e+02] [ 8.04111056e-01 5.94461065e-01 -4.63155419e-03 8.15529147e+01] [ 5.48524014e-03 3.71331229e-04 9.99984887e-01 6.81256501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:81.58, Z:0.68 [[ 5.92750196e-01 -8.05382622e-01 -2.45713000e-03 1.91443271e+02] [ 8.05373506e-01 5.92755213e-01 -3.84352411e-03 8.15757558e+01] [ 4.55198415e-03 2.99342263e-04 9.99989595e-01 6.81398158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.46, Y:81.60, Z:0.68 [[ 5.88979878e-01 -8.08142747e-01 -2.82903248e-03 1.91458567e+02] [ 8.08130684e-01 5.88986585e-01 -4.42736355e-03 8.15977396e+01] [ 5.24420392e-03 3.21400093e-04 9.99986197e-01 6.82894115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:81.62, Z:0.68 [[ 5.87190446e-01 -8.09443031e-01 -3.05951851e-03 1.91472612e+02] [ 8.09428925e-01 5.87198320e-01 -4.79041719e-03 8.16201461e+01] [ 5.67411394e-03 3.36424427e-04 9.99983846e-01 6.83624588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.49, Y:81.64, Z:0.68 [[ 5.85555340e-01 -8.10626592e-01 -3.07764913e-03 1.91486621e+02] [ 8.10612323e-01 5.85563336e-01 -4.82098037e-03 8.16430128e+01] [ 5.71017338e-03 3.28170491e-04 9.99983643e-01 6.83868777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:81.67, Z:0.68 [[ 5.84188468e-01 -8.11612428e-01 -3.01680153e-03 1.91501469e+02] [ 8.11598718e-01 5.84196173e-01 -4.72781533e-03 8.16660029e+01] [ 5.59955759e-03 3.13502945e-04 9.99984273e-01 6.84359656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.52, Y:81.69, Z:0.68 [[ 5.82358800e-01 -8.12928863e-01 -2.21192405e-03 1.91518523e+02] [ 8.12921497e-01 5.82362958e-01 -3.46766199e-03 8.16859259e+01] [ 4.10710515e-03 2.21302866e-04 9.99991541e-01 6.83749250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:81.71, Z:0.68 [[ 5.80884680e-01 -8.13983394e-01 -2.00594606e-03 1.91534671e+02] [ 8.13977337e-01 5.80888111e-01 -3.14608391e-03 8.17065942e+01] [ 3.72609027e-03 1.94717307e-04 9.99993039e-01 6.83588232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:81.73, Z:0.68 [[ 5.79071006e-01 -8.15274794e-01 -1.94453885e-03 1.91550474e+02] [ 8.15269104e-01 5.79074242e-01 -3.05123600e-03 8.17277895e+01] [ 3.61362816e-03 1.81559853e-04 9.99993454e-01 6.83808787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:81.75, Z:0.68 [[ 5.75962765e-01 -8.17474777e-01 -1.37192577e-03 1.91568851e+02] [ 8.17471949e-01 5.75964386e-01 -2.15359760e-03 8.17486966e+01] [ 2.55069210e-03 1.18881197e-04 9.99996740e-01 6.84227120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:81.77, Z:0.68 [[ 5.74800070e-01 -8.18293555e-01 -7.32950905e-04 1.91586092e+02] [ 8.18292748e-01 5.74800534e-01 -1.15087469e-03 8.17696659e+01] [ 1.36305391e-03 6.17544423e-05 9.99999069e-01 6.84645107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:81.79, Z:0.68 [[ 5.74124020e-01 -8.18768346e-01 -7.45916617e-05 1.91603593e+02] [ 8.18768337e-01 5.74124025e-01 -1.16762894e-04 8.17895237e+01] [ 1.38426627e-04 5.96309131e-06 9.99999990e-01 6.84730737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.62, Y:81.81, Z:0.68 [[ 5.73480604e-01 -8.19219122e-01 1.65835233e-04 1.91621327e+02] [ 8.19219080e-01 5.73480628e-01 2.61188195e-04 8.18103562e+01] [-3.09073657e-04 -1.39309768e-05 9.99999952e-01 6.84518171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:81.83, Z:0.68 [[ 5.73195976e-01 -8.19418304e-01 -1.25057419e-04 1.91638170e+02] [ 8.19418281e-01 5.73195990e-01 -1.96248343e-04 8.18309575e+01] [ 2.32491895e-04 1.00144253e-05 9.99999973e-01 6.84275579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001400513 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:191.65, Y:81.85, Z:0.68 [[ 5.74497885e-01 -8.18501202e-01 -2.82192030e-03 1.91654898e+02] [ 8.18501854e-01 5.74502574e-01 -1.22741985e-03 8.18494999e+01] [ 2.62584510e-03 -1.60459689e-03 9.99995265e-01 6.83297935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:81.87, Z:0.68 [[ 5.75408030e-01 -8.17866258e-01 -6.18300577e-04 1.91668813e+02] [ 8.17857969e-01 5.75405320e-01 -4.13042064e-03 8.18746297e+01] [ 3.73390512e-03 1.87099515e-03 9.99991279e-01 6.83417274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:81.89, Z:0.69 [[ 5.79628345e-01 -8.14880399e-01 -9.57497992e-04 1.91685564e+02] [ 8.14879010e-01 5.79629128e-01 -1.50774794e-03 8.18940997e+01] [ 1.78362797e-03 9.36884249e-05 9.99998405e-01 6.85718000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:81.92, Z:0.69 [[ 5.82152331e-01 -8.13079641e-01 -4.02182769e-04 1.91700025e+02] [ 8.13079395e-01 5.82152468e-01 -6.33376208e-04 8.19176662e+01] [ 7.49116992e-04 4.17149131e-05 9.99999719e-01 6.85951122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.71, Y:81.94, Z:0.69 [[ 5.84670152e-01 -8.11271005e-01 -4.11340791e-04 1.91713293e+02] [ 8.11270747e-01 5.84670295e-01 -6.48097288e-04 8.19410809e+01] [ 7.66281280e-04 4.52143894e-05 9.99999705e-01 6.85848044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:81.96, Z:0.69 [[ 5.87090552e-01 -8.09520688e-01 -9.69207630e-04 1.91726450e+02] [ 8.09519253e-01 5.87091341e-01 -1.52831179e-03 8.19648397e+01] [ 1.80621342e-03 1.12665174e-04 9.99998362e-01 6.85038910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.74, Y:81.99, Z:0.68 [[ 5.91537114e-01 -8.06272017e-01 -3.04600882e-03 1.91738727e+02] [ 8.06257784e-01 5.91544830e-01 -4.80630636e-03 8.19885920e+01] [ 5.67704108e-03 3.87240271e-04 9.99983811e-01 6.83733340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:82.01, Z:0.68 [[ 5.92986477e-01 -8.05203436e-01 -3.80328507e-03 1.91752020e+02] [ 8.05181205e-01 5.92998464e-01 -6.00399151e-03 8.20126196e+01] [ 7.08977680e-03 4.97952113e-04 9.99974743e-01 6.83260018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:82.04, Z:0.68 [[ 5.94047458e-01 -8.04419157e-01 -4.17579138e-03 1.91764653e+02] [ 8.04392316e-01 5.94061872e-01 -6.59509300e-03 8.20368797e+01] [ 7.78589759e-03 5.58823737e-04 9.99969533e-01 6.83193136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:82.06, Z:0.68 [[ 5.94973170e-01 -8.03734418e-01 -4.23228096e-03 1.91777012e+02] [ 8.03706803e-01 5.94987942e-01 -6.68752979e-03 8.20601351e+01] [ 7.89315400e-03 5.77387799e-04 9.99968682e-01 6.83334091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:82.08, Z:0.68 [[ 5.97015645e-01 -8.02217059e-01 -4.48449319e-03 1.91787732e+02] [ 8.02185984e-01 5.97032149e-01 -7.08942911e-03 8.20839560e+01] [ 8.36464758e-03 6.35102506e-04 9.99964814e-01 6.84670117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.80, Y:82.11, Z:0.69 [[ 5.98317974e-01 -8.01245424e-01 -4.62295598e-03 1.91799860e+02] [ 8.01212344e-01 5.98335458e-01 -7.31161071e-03 8.21085501e+01] [ 8.62447311e-03 6.70698705e-04 9.99962584e-01 6.85188441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:82.13, Z:0.69 [[ 5.99450454e-01 -8.00399778e-01 -4.39873650e-03 1.91810580e+02] [ 8.00369780e-01 5.99466239e-01 -6.96020212e-03 8.21328647e+01] [ 8.20783825e-03 6.51680561e-04 9.99966103e-01 6.85114727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.82, Y:82.16, Z:0.69 [[ 6.00023521e-01 -7.99972815e-01 -3.90772141e-03 1.91821199e+02] [ 7.99949111e-01 6.00035960e-01 -6.18607000e-03 8.21568884e+01] [ 7.29346119e-03 5.85809233e-04 9.99973231e-01 6.85159524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:82.18, Z:0.69 [[ 5.99570938e-01 -8.00314181e-01 -3.44993132e-03 1.91833507e+02] [ 8.00295696e-01 5.99580642e-01 -5.46375858e-03 8.21817933e+01] [ 6.44123551e-03 5.14945671e-04 9.99979122e-01 6.85530077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:82.21, Z:0.69 [[ 5.95747197e-01 -8.03165700e-01 -3.18368423e-03 1.91846673e+02] [ 8.03149984e-01 5.95755535e-01 -5.04434506e-03 8.22059386e+01] [ 5.94814244e-03 4.48178493e-04 9.99982209e-01 6.86109816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:82.23, Z:0.69 [[ 5.92891535e-01 -8.05275280e-01 -3.36915123e-03 1.91860299e+02] [ 8.05257697e-01 5.92900934e-01 -5.34075681e-03 8.22281717e+01] [ 6.29835235e-03 4.53454546e-04 9.99980062e-01 6.86273626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:82.25, Z:0.69 [[ 5.90230172e-01 -8.07226795e-01 -3.63937967e-03 1.91874729e+02] [ 8.07206296e-01 5.90241206e-01 -5.77181895e-03 8.22515430e+01] [ 6.80727876e-03 4.68971511e-04 9.99976720e-01 6.86530183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:82.27, Z:0.69 [[ 5.88053752e-01 -8.08814087e-01 -3.54364086e-03 1.91888555e+02] [ 8.08794663e-01 5.88064264e-01 -5.62265968e-03 8.22731950e+01] [ 6.63157491e-03 4.40348302e-04 9.99977914e-01 6.86594287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:82.30, Z:0.69 [[ 5.85144232e-01 -8.10922524e-01 -3.29962746e-03 1.91904368e+02] [ 8.10905701e-01 5.85153406e-01 -5.23783901e-03 8.22956923e+01] [ 6.17826988e-03 3.89204564e-04 9.99980839e-01 6.87419311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:82.32, Z:0.69 [[ 5.84575580e-01 -8.11333793e-01 -2.97787821e-03 1.91918154e+02] [ 8.11320084e-01 5.84583061e-01 -4.72926801e-03 8.23174085e+01] [ 5.57783211e-03 3.48602187e-04 9.99984383e-01 6.87293406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:82.34, Z:0.69 [[ 5.84560215e-01 -8.11345630e-01 -2.76135331e-03 1.91932069e+02] [ 8.11333832e-01 5.84566647e-01 -4.38734393e-03 8.23408466e+01] [ 5.17384737e-03 3.24287349e-04 9.99986563e-01 6.86570986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:82.36, Z:0.69 [[ 5.85739042e-01 -8.10495303e-01 -2.67184769e-03 1.91945492e+02] [ 8.10484239e-01 5.85745047e-01 -4.24708355e-03 8.23634123e+01] [ 5.00726282e-03 3.22192211e-04 9.99987412e-01 6.85647776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:82.39, Z:0.69 [[ 5.86273419e-01 -8.10109231e-01 -2.55189727e-03 1.91959968e+02] [ 8.10099126e-01 5.86278890e-01 -4.05824164e-03 8.23860839e+01] [ 4.78374251e-03 3.11949459e-04 9.99988509e-01 6.86386625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:82.41, Z:0.69 [[ 5.86770341e-01 -8.09749217e-01 -2.60264996e-03 1.91973989e+02] [ 8.09738695e-01 5.86776024e-01 -4.14050630e-03 8.24082214e+01] [ 4.87994432e-03 3.22059913e-04 9.99988041e-01 6.86706653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:82.43, Z:0.69 [[ 5.87336737e-01 -8.09337445e-01 -2.90823152e-03 1.91988092e+02] [ 8.09324291e-01 5.87343824e-01 -4.62870190e-03 8.24316903e+01] [ 5.45431359e-03 3.64904254e-04 9.99985059e-01 6.86800166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.00, Y:82.46, Z:0.69 [[ 5.89023800e-01 -8.08109558e-01 -3.14724109e-03 1.92000829e+02] [ 8.08094122e-01 5.89032066e-01 -5.01142723e-03 8.24556861e+01] [ 5.90360817e-03 4.08582882e-04 9.99982490e-01 6.86135097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:82.48, Z:0.69 [[ 5.89790615e-01 -8.07551083e-01 -2.87741303e-03 1.92014256e+02] [ 8.07538164e-01 5.89797512e-01 -4.58345454e-03 8.24785301e+01] [ 5.39846472e-03 3.79657631e-04 9.99985356e-01 6.85529181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:82.50, Z:0.69 [[ 5.90186570e-01 -8.07262504e-01 -2.65730027e-03 1.92026821e+02] [ 8.07251475e-01 5.90192446e-01 -4.23467023e-03 8.25014364e+01] [ 4.98680904e-03 3.54135933e-04 9.99987503e-01 6.85550724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:82.53, Z:0.69 [[ 5.90235508e-01 -8.07227203e-01 -2.50750708e-03 1.92038822e+02] [ 8.07217373e-01 5.90240739e-01 -3.99771894e-03 8.25254414e+01] [ 4.70710031e-03 3.35492392e-04 9.99988865e-01 6.85832251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:82.55, Z:0.69 [[ 5.90213385e-01 -8.07242241e-01 -2.85039304e-03 1.92048839e+02] [ 8.07229528e-01 5.90220144e-01 -4.54649915e-03 8.25507987e+01] [ 5.35248555e-03 3.82483227e-04 9.99985602e-01 6.86491534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:82.57, Z:0.69 [[ 5.90100328e-01 -8.07323053e-01 -3.33017869e-03 1.92061527e+02] [ 8.07305689e-01 5.90109556e-01 -5.31382739e-03 8.25743285e+01] [ 6.25514562e-03 4.47219085e-04 9.99980336e-01 6.86342065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:82.60, Z:0.68 [[ 5.89887725e-01 -8.07473026e-01 -4.44788446e-03 1.92073134e+02] [ 8.07442028e-01 5.89904191e-01 -7.10048142e-03 8.25987197e+01] [ 8.35727291e-03 5.97077980e-04 9.99964899e-01 6.84434433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.09, Y:82.62, Z:0.68 [[ 5.89766925e-01 -8.07558216e-01 -4.97008844e-03 1.92085206e+02] [ 8.07519479e-01 5.89787488e-01 -7.93784176e-03 8.26214632e+01] [ 9.34156531e-03 6.68033295e-04 9.99956143e-01 6.83795225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:82.65, Z:0.68 [[ 5.89664298e-01 -8.07631228e-01 -5.27402067e-03 1.92097736e+02] [ 8.07587574e-01 5.89687456e-01 -8.42703061e-03 8.26451009e+01] [ 9.91595691e-03 7.09885537e-04 9.99950584e-01 6.83832967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.11, Y:82.67, Z:0.68 [[ 5.89677742e-01 -8.07619444e-01 -5.56731112e-03 1.92110558e+02] [ 8.07570758e-01 5.89703543e-01 -8.89961118e-03 8.26694478e+01] [ 1.04705621e-02 7.51904965e-04 9.99944899e-01 6.83918203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:82.69, Z:0.68 [[ 5.89995687e-01 -8.07386128e-01 -5.72089411e-03 1.92123602e+02] [ 8.07334664e-01 5.90022908e-01 -9.14924858e-03 8.26932905e+01] [ 1.07624350e-02 7.79341083e-04 9.99941780e-01 6.84515318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:82.72, Z:0.69 [[ 5.91149284e-01 -8.06546445e-01 -5.03547965e-03 1.92135189e+02] [ 8.06506508e-01 5.91170314e-01 -8.05682884e-03 8.27163781e+01] [ 9.47503274e-03 7.01641490e-04 9.99954865e-01 6.85061225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:82.74, Z:0.69 [[ 5.91284052e-01 -8.06450267e-01 -4.59748238e-03 1.92148272e+02] [ 8.06416946e-01 5.91301574e-01 -7.35915081e-03 8.27399537e+01] [ 8.65328771e-03 6.43860806e-04 9.99962352e-01 6.85323813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:82.76, Z:0.68 [[ 5.91050170e-01 -8.06624109e-01 -4.15245654e-03 1.92161401e+02] [ 8.06596908e-01 5.91064471e-01 -6.64975291e-03 8.27639629e+01] [ 7.81822055e-03 5.80978987e-04 9.99969268e-01 6.84509302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:82.79, Z:0.68 [[ 5.90168458e-01 -8.07273133e-01 -3.35866079e-03 1.92173352e+02] [ 8.07255332e-01 5.90177832e-01 -5.38102413e-03 8.27870991e+01] [ 6.32616335e-03 4.64413881e-04 9.99979882e-01 6.84127428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:82.81, Z:0.68 [[ 5.90018495e-01 -8.07382748e-01 -3.35763454e-03 1.92187842e+02] [ 8.07364946e-01 5.90027865e-01 -5.38166452e-03 8.28106814e+01] [ 6.32616103e-03 4.64445172e-04 9.99979882e-01 6.84158367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:82.83, Z:0.68 [[ 5.89113274e-01 -8.08045182e-01 -2.92117318e-03 1.92201309e+02] [ 8.08031704e-01 5.89120382e-01 -4.68412067e-03 8.28338347e+01] [ 5.50590380e-03 3.99077121e-04 9.99984763e-01 6.84605754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:82.86, Z:0.69 [[ 5.88029183e-01 -8.08835478e-01 -2.61712909e-03 1.92214690e+02] [ 8.08824660e-01 5.88034901e-01 -4.19810072e-03 8.28568069e+01] [ 4.93453605e-03 3.51807185e-04 9.99987763e-01 6.85024767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:82.88, Z:0.69 [[ 5.86065534e-01 -8.10258918e-01 -2.77039223e-03 1.92227143e+02] [ 8.10246801e-01 5.86071971e-01 -4.44585812e-03 8.28810846e+01] [ 5.22594542e-03 3.60862776e-04 9.99986280e-01 6.85350908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.24, Y:82.90, Z:0.69 [[ 5.85364310e-01 -8.10765625e-01 -2.77936811e-03 1.92240649e+02] [ 8.10753425e-01 5.85370799e-01 -4.46224868e-03 8.29044095e+01] [ 5.24479877e-03 3.58658908e-04 9.99986182e-01 6.85185650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:82.93, Z:0.69 [[ 5.84733161e-01 -8.11221399e-01 -2.64062845e-03 1.92253972e+02] [ 8.11210381e-01 5.84739026e-01 -4.24138303e-03 8.29277707e+01] [ 4.98477918e-03 3.37972098e-04 9.99987519e-01 6.85369368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.27, Y:82.95, Z:0.69 [[ 5.84304819e-01 -8.11531122e-01 -2.26197842e-03 1.92267126e+02] [ 8.11523033e-01 5.84309126e-01 -3.63483212e-03 8.29508833e+01] [ 4.27147403e-03 2.88202338e-04 9.99990836e-01 6.85437117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:82.97, Z:0.69 [[ 5.84159628e-01 -8.11636763e-01 -1.81467543e-03 1.92280216e+02] [ 8.11631553e-01 5.84162401e-01 -2.91731959e-03 8.29741997e+01] [ 3.42786899e-03 2.31332486e-04 9.99994098e-01 6.86165886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:83.00, Z:0.69 [[ 5.84498746e-01 -8.11394451e-01 -5.10525237e-04 1.92291989e+02] [ 8.11394039e-01 5.84498965e-01 -8.20794428e-04 8.29973844e+01] [ 9.64389517e-04 6.55161803e-05 9.99999533e-01 6.85975596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:83.02, Z:0.69 [[ 5.84657652e-01 -8.11280039e-01 -3.59305079e-04 1.92304902e+02] [ 8.11279834e-01 5.84657761e-01 -5.77827222e-04 8.30208241e+01] [ 6.78850194e-04 4.63341425e-05 9.99999769e-01 6.86227597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:83.04, Z:0.69 [[ 5.84647429e-01 -8.11287240e-01 -6.30367958e-04 1.92317226e+02] [ 8.11286610e-01 5.84647763e-01 -1.01452936e-03 8.30437841e+01] [ 1.19161794e-03 8.17328989e-05 9.99999287e-01 6.86493423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:83.07, Z:0.69 [[ 5.85372819e-01 -8.10761783e-01 -1.99836487e-03 1.92329762e+02] [ 8.10755437e-01 5.85376171e-01 -3.21865258e-03 8.30679922e+01] [ 3.77935568e-03 2.63926553e-04 9.99992823e-01 6.85842342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:83.09, Z:0.69 [[ 5.85846452e-01 -8.10417525e-01 -2.71486669e-03 1.92342370e+02] [ 8.10405798e-01 5.85852630e-01 -4.37476640e-03 8.30920286e+01] [ 5.13589915e-03 3.62797668e-04 9.99986745e-01 6.85065358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.35, Y:83.12, Z:0.68 [[ 5.86329190e-01 -8.10067419e-01 -2.97619384e-03 1.92354163e+02] [ 8.10053310e-01 5.86336605e-01 -4.79804577e-03 8.31164098e+01] [ 5.63179195e-03 4.02358617e-04 9.99984060e-01 6.84977446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:83.14, Z:0.68 [[ 5.86750444e-01 -8.09763613e-01 -2.60915857e-03 1.92365637e+02] [ 8.09752757e-01 5.86756137e-01 -4.20817111e-03 8.31418388e+01] [ 4.93856365e-03 3.56372924e-04 9.99987742e-01 6.84868951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:83.17, Z:0.69 [[ 5.87638998e-01 -8.09121207e-01 -1.81125711e-03 1.92374551e+02] [ 8.09115968e-01 5.87641736e-01 -2.92251153e-03 8.31669229e+01] [ 3.42903633e-03 2.51864694e-04 9.99994089e-01 6.85871151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:83.19, Z:0.69 [[ 5.87322688e-01 -8.09350196e-01 -2.07855754e-03 1.92387594e+02] [ 8.09343292e-01 5.87326295e-01 -3.35545056e-03 8.31901477e+01] [ 3.93652607e-03 2.88465643e-04 9.99992210e-01 6.86043696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:83.21, Z:0.69 [[ 5.86227404e-01 -8.10142261e-01 -2.63591410e-03 1.92401486e+02] [ 8.10131155e-01 5.86233219e-01 -4.25724201e-03 8.32138054e+01] [ 4.99423207e-03 3.60275800e-04 9.99987464e-01 6.86095525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:83.24, Z:0.69 [[ 5.84309084e-01 -8.11524538e-01 -3.28925262e-03 1.92414345e+02] [ 8.11507250e-01 5.84318179e-01 -5.31502115e-03 8.32370945e+01] [ 6.23524019e-03 4.36362793e-04 9.99980466e-01 6.85462004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.43, Y:83.26, Z:0.68 [[ 5.79655041e-01 -8.14851225e-01 -4.18514010e-03 1.92428986e+02] [ 8.14823295e-01 5.79669923e-01 -6.76594416e-03 8.32595267e+01] [ 7.93923773e-03 5.11763998e-04 9.99968353e-01 6.84795570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:83.28, Z:0.68 [[ 5.77215085e-01 -8.16580467e-01 -4.36887516e-03 1.92444483e+02] [ 8.16550051e-01 5.77231392e-01 -7.06645287e-03 8.32807061e+01] [ 8.29217927e-03 5.11457959e-04 9.99965489e-01 6.84832317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:83.30, Z:0.69 [[ 5.74964321e-01 -8.18165330e-01 -4.63920926e-03 1.92460796e+02] [ 8.18131054e-01 5.74982801e-01 -7.50716966e-03 8.33027934e+01] [ 8.80957147e-03 5.20873548e-04 9.99961059e-01 6.85586552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:83.32, Z:0.69 [[ 5.73490127e-01 -8.19198255e-01 -4.82631379e-03 1.92476100e+02] [ 8.19161160e-01 5.73510192e-01 -7.81365606e-03 8.33238385e+01] [ 9.16887356e-03 5.27525800e-04 9.99957826e-01 6.85860239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:83.35, Z:0.69 [[ 5.72913934e-01 -8.19600808e-01 -4.91326377e-03 1.92492135e+02] [ 8.19562344e-01 5.72934754e-01 -7.95815355e-03 8.33458274e+01] [ 9.33748864e-03 5.32611085e-04 9.99956263e-01 6.85957155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:83.37, Z:0.69 [[ 5.73899841e-01 -8.18913492e-01 -4.43461815e-03 1.92511526e+02] [ 8.18882109e-01 5.73916763e-01 -7.18616580e-03 8.33654467e+01] [ 8.42994982e-03 4.92709943e-04 9.99964346e-01 6.86524584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:83.39, Z:0.69 [[ 5.75007555e-01 -8.18137501e-01 -4.16414763e-03 1.92529135e+02] [ 8.18109785e-01 5.75022437e-01 -6.75101388e-03 8.33866096e+01] [ 7.91773595e-03 4.75154065e-04 9.99968541e-01 6.86716767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:83.41, Z:0.69 [[ 5.76388697e-01 -8.17166639e-01 -3.84106730e-03 1.92546304e+02] [ 8.17143019e-01 5.76401318e-01 -6.22955236e-03 8.34068697e+01] [ 7.30457862e-03 4.51942237e-04 9.99973219e-01 6.86896064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:83.43, Z:0.69 [[ 5.78812329e-01 -8.15452315e-01 -3.71607381e-03 1.92565206e+02] [ 8.15430153e-01 5.78824075e-01 -6.02959550e-03 8.34261491e+01] [ 7.06780060e-03 4.59805579e-04 9.99974917e-01 6.87171196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.58, Y:83.45, Z:0.69 [[ 5.79640167e-01 -8.14864085e-01 -3.71478726e-03 1.92581689e+02] [ 8.14841906e-01 5.79651882e-01 -6.03029904e-03 8.34483592e+01] [ 7.06715754e-03 4.68439212e-04 9.99974918e-01 6.87517176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.60, Y:83.47, Z:0.69 [[ 5.80410451e-01 -8.14316555e-01 -3.50091207e-03 1.92597987e+02] [ 8.14296829e-01 5.80420835e-01 -5.68580277e-03 8.34696227e+01] [ 6.66204563e-03 4.49317747e-04 9.99977707e-01 6.88000886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:83.49, Z:0.69 [[ 5.81321965e-01 -8.13667371e-01 -3.19077602e-03 1.92614092e+02] [ 8.13650964e-01 5.81330572e-01 -5.18400289e-03 8.34900698e+01] [ 6.07294965e-03 4.17396767e-04 9.99981472e-01 6.88536144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:83.51, Z:0.69 [[ 5.83024877e-01 -8.12451496e-01 -2.13530000e-03 1.92631831e+02] [ 8.12444135e-01 5.83028715e-01 -3.47053286e-03 8.35116322e+01] [ 4.06458083e-03 2.88595029e-04 9.99991698e-01 6.88262735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.65, Y:83.53, Z:0.69 [[ 5.83877570e-01 -8.11840115e-01 -1.61588640e-03 1.92646566e+02] [ 8.11835893e-01 5.83879764e-01 -2.62738971e-03 8.35342175e+01] [ 3.07650373e-03 2.22239344e-04 9.99995243e-01 6.87905075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:192.67, Y:83.55, Z:0.69 [[ 5.84781275e-01 -8.11167347e-01 -6.19649183e-03 1.92666326e+02] [ 8.11188869e-01 5.84780232e-01 2.16764867e-03 8.35535170e+01] [ 1.86526011e-03 -6.29412555e-03 9.99978452e-01 6.90510224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:83.58, Z:0.69 [[ 5.85833170e-01 -8.10419077e-01 4.51858746e-03 1.92673639e+02] [ 8.10431304e-01 5.85818473e-01 -4.22118962e-03 8.35805148e+01] [ 7.73860585e-04 6.13491762e-03 9.99980882e-01 6.87578199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.70, Y:83.60, Z:0.69 [[ 5.86798016e-01 -8.09732756e-01 -9.75955921e-04 1.92696796e+02] [ 8.09731209e-01 5.86798811e-01 -1.58906058e-03 8.35972272e+01] [ 1.85940418e-03 1.42195631e-04 9.99998261e-01 6.89215865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:83.62, Z:0.69 [[ 5.86597475e-01 -8.09877507e-01 -1.35099352e-03 1.92711546e+02] [ 8.09874541e-01 5.86598998e-01 -2.20084220e-03 8.36198057e+01] [ 2.57490404e-03 1.96873224e-04 9.99996666e-01 6.88864243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.73, Y:83.64, Z:0.69 [[ 5.86510143e-01 -8.09940723e-01 -1.36977828e-03 1.92725555e+02] [ 8.09937672e-01 5.86511709e-01 -2.23228755e-03 8.36423471e+01] [ 2.61141160e-03 1.99824264e-04 9.99996570e-01 6.88432259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:83.66, Z:0.69 [[ 5.87057068e-01 -8.09545082e-01 -8.71400800e-04 1.92742711e+02] [ 8.09543846e-01 5.87057701e-01 -1.42057621e-03 8.36636026e+01] [ 1.66158304e-03 1.28522151e-04 9.99998611e-01 6.89188813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40140051299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.76, Y:83.69, Z:0.69 [[ 5.87006579e-01 -8.09581581e-01 -9.69257008e-04 1.92759070e+02] [ 8.09580050e-01 5.87007362e-01 -1.58084781e-03 8.36860194e+01] [ 1.84878627e-03 1.43276927e-04 9.99998281e-01 6.89752762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:83.71, Z:0.69 [[ 5.86825536e-01 -8.09712239e-01 -1.37104257e-03 1.92775020e+02] [ 8.09709174e-01 5.86827103e-01 -2.23728849e-03 8.37079828e+01] [ 2.61612481e-03 2.02752270e-04 9.99996557e-01 6.89855742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:83.73, Z:0.69 [[ 5.85654193e-01 -8.10558219e-01 -2.13070900e-03 1.92792758e+02] [ 8.10550813e-01 5.85657987e-01 -3.47872121e-03 8.37282867e+01] [ 4.06757281e-03 3.10279754e-04 9.99991679e-01 6.88582122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:83.75, Z:0.69 [[ 5.84249848e-01 -8.11570388e-01 -2.37093456e-03 1.92809250e+02] [ 8.11561218e-01 5.84254560e-01 -3.87277460e-03 8.37494150e+01] [ 4.52825851e-03 3.38509433e-04 9.99989690e-01 6.88494243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:83.77, Z:0.69 [[ 5.82512943e-01 -8.12817725e-01 -2.45300118e-03 1.92825728e+02] [ 8.12807911e-01 5.82518007e-01 -4.00876954e-03 8.37701098e+01] [ 4.68731630e-03 3.41341375e-04 9.99988956e-01 6.88755210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.84, Y:83.79, Z:0.69 [[ 5.80434211e-01 -8.14303124e-01 -2.55932379e-03 1.92842728e+02] [ 8.14292445e-01 5.80439751e-01 -4.18446717e-03 8.37918456e+01] [ 4.89295794e-03 3.44769873e-04 9.99987970e-01 6.89321148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:83.81, Z:0.69 [[ 5.76825063e-01 -8.16861024e-01 -3.30368594e-03 1.92861701e+02] [ 8.16843255e-01 5.76834371e-01 -5.40414761e-03 8.38113154e+01] [ 6.32011715e-03 4.18654206e-04 9.99979940e-01 6.89232290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:83.83, Z:0.69 [[ 5.75592140e-01 -8.17729667e-01 -3.44681122e-03 1.92879137e+02] [ 8.17710323e-01 5.75602301e-01 -5.64085396e-03 8.38330992e+01] [ 6.59668610e-03 4.28338085e-04 9.99978150e-01 6.88398517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:83.85, Z:0.69 [[ 5.74865878e-01 -8.18240343e-01 -3.45888278e-03 1.92896958e+02] [ 8.18220855e-01 5.74876126e-01 -5.66318806e-03 8.38541434e+01] [ 6.62227807e-03 4.25443548e-04 9.99977982e-01 6.88307857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:83.87, Z:0.69 [[ 5.74685350e-01 -8.18367722e-01 -3.31969530e-03 1.92914124e+02] [ 8.18349755e-01 5.74694793e-01 -5.43811023e-03 8.38735918e+01] [ 6.35818548e-03 4.08530448e-04 9.99979703e-01 6.88326205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:83.89, Z:0.69 [[ 5.74994884e-01 -8.18149824e-01 -3.42767168e-03 1.92930890e+02] [ 8.18130647e-01 5.75004942e-01 -5.61783324e-03 8.38940927e+01] [ 6.56715743e-03 4.25942119e-04 9.99978345e-01 6.88700174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.95, Y:83.91, Z:0.69 [[ 5.77349625e-01 -8.16488196e-01 -3.79938844e-03 1.92950108e+02] [ 8.16464576e-01 5.77361915e-01 -6.23022205e-03 8.39131385e+01] [ 7.28052495e-03 4.94950297e-04 9.99973374e-01 6.89475266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:83.93, Z:0.69 [[ 5.79028440e-01 -8.15298940e-01 -3.70190205e-03 1.92966174e+02] [ 8.15276470e-01 5.79040059e-01 -6.07351268e-03 8.39327532e+01] [ 7.09527803e-03 4.98662942e-04 9.99974704e-01 6.89817537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:192.98, Y:83.95, Z:0.69 [[ 5.80859234e-01 -8.13996826e-01 -3.42316205e-03 1.92982304e+02] [ 8.13977572e-01 5.80869124e-01 -5.61898813e-03 8.39543522e+01] [ 6.56224764e-03 4.77464007e-04 9.99978354e-01 6.89751978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:83.98, Z:0.69 [[ 5.82772978e-01 -8.12629970e-01 -2.86124290e-03 1.92996523e+02] [ 8.12616490e-01 5.82779856e-01 -4.69899062e-03 8.39754943e+01] [ 5.48601533e-03 4.13351603e-04 9.99984866e-01 6.90166616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:84.00, Z:0.69 [[ 5.86641552e-01 -8.09843535e-01 -2.26663782e-03 1.93010907e+02] [ 8.09835047e-01 5.86645827e-01 -3.72425058e-03 8.39972626e+01] [ 4.34577387e-03 3.49197394e-04 9.99990496e-01 6.90177611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:84.02, Z:0.69 [[ 5.88025970e-01 -8.08837943e-01 -2.57683958e-03 1.93026751e+02] [ 8.08826954e-01 5.88031475e-01 -4.23588860e-03 8.40196217e+01] [ 4.94141021e-03 4.06595189e-04 9.99987709e-01 6.90105631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:84.04, Z:0.69 [[ 5.88679460e-01 -8.08361752e-01 -2.78778853e-03 1.93042835e+02] [ 8.08348873e-01 5.88685893e-01 -4.58470388e-03 8.40420177e+01] [ 5.34723104e-03 4.45415288e-04 9.99985604e-01 6.89887775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:84.06, Z:0.69 [[ 5.88945102e-01 -8.08170784e-01 -1.91084095e-03 1.93059494e+02] [ 8.08164727e-01 5.88948122e-01 -3.14380476e-03 8.40635017e+01] [ 3.66611735e-03 3.07254159e-04 9.99993233e-01 6.90455257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:84.09, Z:0.69 [[ 5.88550108e-01 -8.08459849e-01 -1.20102187e-03 1.93073731e+02] [ 8.08457456e-01 5.88551302e-01 -1.97674489e-03 8.40862927e+01] [ 2.30498186e-03 1.92438334e-04 9.99997325e-01 6.90508549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.09, Y:84.11, Z:0.69 [[ 5.87974633e-01 -8.08878845e-01 -9.19509671e-04 1.93087781e+02] [ 8.08877441e-01 5.87975334e-01 -1.51403096e-03 8.41082571e+01] [ 1.76531662e-03 1.46441167e-04 9.99998431e-01 6.90730392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:84.13, Z:0.69 [[ 5.87270737e-01 -8.09390305e-01 -6.44074046e-04 1.93102207e+02] [ 8.09389616e-01 5.87271082e-01 -1.06089910e-03 8.41309007e+01] [ 1.23692751e-03 1.01728154e-04 9.99999230e-01 6.90799920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:84.15, Z:0.69 [[ 5.86320096e-01 -8.10079325e-01 -4.82495787e-04 1.93115333e+02] [ 8.10078938e-01 5.86320289e-01 -7.95021137e-04 8.41528655e+01] [ 9.26927256e-04 7.52771942e-05 9.99999568e-01 6.91151331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:84.18, Z:0.69 [[ 5.83449688e-01 -8.12149149e-01 -4.69461347e-04 1.93127689e+02] [ 8.12148784e-01 5.83449873e-01 -7.73843468e-04 8.41769104e+01] [ 9.02383478e-04 7.02262678e-05 9.99999590e-01 6.90868238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:84.20, Z:0.69 [[ 5.81605708e-01 -8.13470177e-01 -1.03488000e-03 1.93140604e+02] [ 8.13468401e-01 5.81606609e-01 -1.70689381e-03 8.41991549e+01] [ 1.99040025e-03 1.50897004e-04 9.99998008e-01 6.90749326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:84.22, Z:0.69 [[ 5.81438820e-01 -8.13589472e-01 -1.03456547e-03 1.93154341e+02] [ 8.13587695e-01 5.81439721e-01 -1.70708445e-03 8.42222437e+01] [ 1.99040339e-03 1.50855431e-04 9.99998008e-01 6.90771064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:84.25, Z:0.69 [[ 5.79100446e-01 -8.15254227e-01 -1.79438571e-03 1.93168457e+02] [ 8.15248884e-01 5.79103171e-01 -2.96234846e-03 8.42456024e+01] [ 3.45420156e-03 2.52626365e-04 9.99994002e-01 6.90363163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:84.27, Z:0.69 [[ 5.73056414e-01 -8.19511544e-01 -2.67860504e-03 1.93182693e+02] [ 8.19499672e-01 5.73062573e-01 -4.42423730e-03 8.42691864e+01] [ 5.16072184e-03 3.40221607e-04 9.99986626e-01 6.90408733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:84.29, Z:0.69 [[ 5.69488261e-01 -8.21994954e-01 -2.72330138e-03 1.93195085e+02] [ 8.21982700e-01 5.69494681e-01 -4.49991427e-03 8.42914407e+01] [ 5.24981247e-03 3.24141731e-04 9.99986167e-01 6.90517599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:84.31, Z:0.69 [[ 5.65537488e-01 -8.24718387e-01 -2.63305084e-03 1.93208004e+02] [ 8.24706950e-01 5.65543543e-01 -4.35291009e-03 8.43141646e+01] [ 5.07902989e-03 2.90238504e-04 9.99987060e-01 6.90383898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:84.34, Z:0.69 [[ 5.61616708e-01 -8.27393685e-01 -2.52249672e-03 1.93221068e+02] [ 8.27383205e-01 5.61622314e-01 -4.17223857e-03 8.43355326e+01] [ 4.86877429e-03 2.56127463e-04 9.99988115e-01 6.90263848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:84.36, Z:0.69 [[ 5.55328654e-01 -8.31626478e-01 -2.73643146e-03 1.93235906e+02] [ 8.31614183e-01 5.55335344e-01 -4.52839775e-03 8.43566765e+01] [ 5.28557257e-03 2.39093812e-04 9.99986003e-01 6.89804665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:84.38, Z:0.69 [[ 5.52807878e-01 -8.33303533e-01 -2.94494820e-03 1.93249662e+02] [ 8.33289302e-01 5.52815669e-01 -4.87604633e-03 8.43791752e+01] [ 5.69124014e-03 2.41522994e-04 9.99983776e-01 6.90026420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.26, Y:84.40, Z:0.69 [[ 5.50783029e-01 -8.34643477e-01 -2.88460047e-03 1.93262866e+02] [ 8.34629827e-01 5.50790537e-01 -4.77874050e-03 8.44013020e+01] [ 5.57735523e-03 2.24475572e-04 9.99984421e-01 6.90444777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:84.42, Z:0.69 [[ 5.49269791e-01 -8.35640923e-01 -2.63522299e-03 1.93276515e+02] [ 8.35629531e-01 5.49276077e-01 -4.36790944e-03 8.44239716e+01] [ 5.09746882e-03 1.97090553e-04 9.99986988e-01 6.90818862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:84.45, Z:0.69 [[ 5.47920974e-01 -8.36526535e-01 -2.44203497e-03 1.93289682e+02] [ 8.36516750e-01 5.47926387e-01 -4.04989531e-03 8.44455879e+01] [ 4.72590029e-03 1.76219430e-04 9.99988817e-01 6.91007026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:84.47, Z:0.69 [[ 5.46630301e-01 -8.37370744e-01 -2.35607659e-03 1.93303424e+02] [ 8.37361634e-01 5.46635354e-01 -3.90939216e-03 8.44676620e+01] [ 4.56152539e-03 1.64104073e-04 9.99989583e-01 6.90841278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:84.49, Z:0.69 [[ 5.43415630e-01 -8.39459106e-01 -2.80402494e-03 1.93316268e+02] [ 8.39446216e-01 5.43422836e-01 -4.65525720e-03 8.44892819e+01] [ 5.43166923e-03 1.75911400e-04 9.99985233e-01 6.88806187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:84.51, Z:0.69 [[ 5.41181648e-01 -8.40901211e-01 -2.75255999e-03 1.93330648e+02] [ 8.40888796e-01 5.41188625e-01 -4.57221189e-03 8.45113839e+01] [ 5.33443267e-03 1.59800314e-04 9.99985759e-01 6.88212691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.35, Y:84.53, Z:0.69 [[ 5.34573496e-01 -8.45119991e-01 -1.83806192e-03 1.93348739e+02] [ 8.45114474e-01 5.34576650e-01 -3.05469090e-03 8.45297092e+01] [ 3.56416533e-03 7.95840621e-05 9.99993645e-01 6.89609983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:193.37, Y:84.55, Z:0.69 [[ 5.30521034e-01 -8.47665778e-01 -3.18753239e-03 1.93366112e+02] [ 8.47665863e-01 5.30527626e-01 -1.73870864e-03 8.45496274e+01] [ 3.16491780e-03 -1.77954089e-03 9.99993408e-01 6.90216292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:84.57, Z:0.69 [[ 5.26677752e-01 -8.50064887e-01 -4.84514817e-04 1.93379177e+02] [ 8.50055838e-01 5.26674624e-01 -4.34892426e-03 8.45722766e+01] [ 3.95204947e-03 1.87861700e-03 9.99990426e-01 6.89389442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:84.59, Z:0.69 [[ 5.23454938e-01 -8.52051080e-01 -1.97119993e-03 1.93395871e+02] [ 8.52044763e-01 5.23458648e-01 -3.28122057e-03 8.45919883e+01] [ 3.82760918e-03 3.80205292e-05 9.99992674e-01 6.89351580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.41, Y:84.61, Z:0.69 [[ 5.20894022e-01 -8.53620060e-01 -1.48710331e-03 1.93413058e+02] [ 8.53616467e-01 5.20896144e-01 -2.47662881e-03 8.46127790e+01] [ 2.88872641e-03 2.06452673e-05 9.99995827e-01 6.89377617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:84.63, Z:0.69 [[ 5.18814137e-01 -8.54886722e-01 -7.63484284e-04 1.93431305e+02] [ 8.54885776e-01 5.18814699e-01 -1.27200841e-03 8.46329359e+01] [ 1.48352997e-03 7.24409277e-06 9.99998900e-01 6.89596447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:84.65, Z:0.69 [[ 5.17111496e-01 -8.55918044e-01 -5.24065172e-05 1.93452494e+02] [ 8.55918039e-01 5.17111499e-01 -8.69933991e-05 8.46503646e+01] [ 1.01559233e-04 1.29603354e-07 9.99999995e-01 6.90860272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:84.67, Z:0.69 [[ 5.17367849e-01 -8.55763035e-01 -3.71102393e-04 1.93468024e+02] [ 8.55762811e-01 5.17367982e-01 -6.18766137e-04 8.46706801e+01] [ 7.21513683e-04 2.55407780e-06 9.99999740e-01 6.90691165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.48, Y:84.69, Z:0.69 [[ 5.18289029e-01 -8.55205011e-01 -9.34120445e-04 1.93484242e+02] [ 8.55203590e-01 5.18289871e-01 -1.55896987e-03 8.46920727e+01] [ 1.81738401e-03 9.13382154e-06 9.99998349e-01 6.90001271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:84.71, Z:0.69 [[ 5.19477641e-01 -8.54482544e-01 -1.60066699e-03 1.93500346e+02] [ 8.54478363e-01 5.19480107e-01 -2.67308760e-03 8.47126971e+01] [ 3.11562135e-03 2.08739261e-05 9.99995146e-01 6.89520307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.52, Y:84.73, Z:0.69 [[ 5.22375909e-01 -8.52712785e-01 -2.07749706e-03 1.93519822e+02] [ 8.52705720e-01 5.22380038e-01 -3.47145604e-03 8.47311410e+01] [ 4.04539794e-03 4.19113826e-05 9.99991816e-01 6.89212240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:84.75, Z:0.69 [[ 5.23472176e-01 -8.52040434e-01 -1.99469690e-03 1.93535067e+02] [ 8.52033909e-01 5.23475975e-01 -3.33490503e-03 8.47527816e+01] [ 3.88564983e-03 4.61805908e-05 9.99992450e-01 6.89896102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:84.77, Z:0.69 [[ 5.24437974e-01 -8.51447187e-01 -1.58073936e-03 1.93548964e+02] [ 8.51443082e-01 5.24440355e-01 -2.64421322e-03 8.47743362e+01] [ 3.08041142e-03 4.08162321e-05 9.99995255e-01 6.89788702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.56, Y:84.80, Z:0.69 [[ 5.25581814e-01 -8.50741941e-01 -1.38065624e-03 1.93563049e+02] [ 8.50738804e-01 5.25583626e-01 -2.31070617e-03 8.47960908e+01] [ 2.69146496e-03 3.98873044e-05 9.99996377e-01 6.89966745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:84.82, Z:0.69 [[ 5.27566273e-01 -8.49512768e-01 -1.37323918e-03 1.93578975e+02] [ 8.49509657e-01 5.27568058e-01 -2.29948799e-03 8.48177614e+01] [ 2.67792154e-03 4.65523605e-05 9.99996413e-01 6.89799855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:84.84, Z:0.69 [[ 5.27531379e-01 -8.49534310e-01 -1.44940074e-03 1.93593271e+02] [ 8.49530841e-01 5.27533368e-01 -2.42830492e-03 8.48402944e+01] [ 2.82753559e-03 4.96964142e-05 9.99996001e-01 6.89416334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:84.86, Z:0.69 [[ 5.26703259e-01 -8.50047530e-01 -1.69504765e-03 1.93606467e+02] [ 8.50042783e-01 5.26705984e-01 -2.84141049e-03 8.48629722e+01] [ 3.30812571e-03 5.57171467e-05 9.99994527e-01 6.89143844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:84.89, Z:0.69 [[ 5.24163270e-01 -8.51616213e-01 -1.64084223e-03 1.93618314e+02] [ 8.51611768e-01 5.24165837e-01 -2.75176031e-03 8.48851915e+01] [ 3.20351714e-03 4.50111298e-05 9.99994868e-01 6.88476841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:84.91, Z:0.69 [[ 5.22430680e-01 -8.52680335e-01 -1.55919672e-03 1.93631095e+02] [ 8.52676323e-01 5.22433005e-01 -2.61611968e-03 8.49079529e+01] [ 3.04528963e-03 3.72510570e-05 9.99995362e-01 6.88888229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.64, Y:84.93, Z:0.69 [[ 5.20409408e-01 -8.53915591e-01 -1.48708850e-03 1.93643544e+02] [ 8.53911942e-01 5.20411532e-01 -2.49637306e-03 8.49307543e+01] [ 2.90558988e-03 2.92933950e-05 9.99995778e-01 6.89352679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:84.95, Z:0.69 [[ 5.18397860e-01 -8.55138350e-01 -1.43577095e-03 1.93656341e+02] [ 8.55134950e-01 5.18399848e-01 -2.41145603e-03 8.49543609e+01] [ 2.80643197e-03 2.23157269e-05 9.99996062e-01 6.89636281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:84.98, Z:0.69 [[ 5.16281507e-01 -8.56417754e-01 -1.42702031e-03 1.93668550e+02] [ 8.56414397e-01 5.16283479e-01 -2.39800352e-03 8.49774898e+01] [ 2.79043979e-03 1.59241361e-05 9.99996107e-01 6.90054598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.68, Y:85.00, Z:0.69 [[ 5.12501004e-01 -8.58685829e-01 -1.16931625e-03 1.93679826e+02] [ 8.58683579e-01 5.12502338e-01 -1.96593118e-03 8.50019711e+01] [ 2.28739455e-03 3.46904227e-06 9.99997384e-01 6.91165204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:85.02, Z:0.69 [[ 5.10903195e-01 -8.59637697e-01 -9.77093157e-04 1.93691109e+02] [ 8.59636126e-01 5.10904130e-01 -1.64360246e-03 8.50242184e+01] [ 1.91210357e-03 -2.22825425e-07 9.99998172e-01 6.91779509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.70, Y:85.05, Z:0.69 [[ 5.09858809e-01 -8.60257928e-01 -5.40592948e-04 1.93702032e+02] [ 8.60257447e-01 5.09859096e-01 -9.09689740e-04 8.50473844e+01] [ 1.05819404e-03 -1.23578172e-06 9.99999440e-01 6.91581513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:85.07, Z:0.69 [[ 5.09566069e-01 -8.60431481e-01 -2.96692373e-04 1.93713051e+02] [ 8.60431336e-01 5.09566155e-01 -4.99377431e-04 8.50709974e+01] [ 5.80864454e-04 -8.17620269e-07 9.99999831e-01 6.91209458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:85.09, Z:0.69 [[ 5.09913113e-01 -8.60225831e-01 -3.69647783e-04 1.93724575e+02] [ 8.60225606e-01 5.09913247e-01 -6.22599962e-04 8.50938976e+01] [ 7.24064871e-04 -5.08603592e-07 9.99999738e-01 6.90764595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.74, Y:85.12, Z:0.69 [[ 5.11207982e-01 -8.59456309e-01 -1.11858595e-03 1.93735930e+02] [ 8.59454241e-01 5.11209206e-01 -1.88561338e-03 8.51167598e+01] [ 2.19243375e-03 2.56717681e-06 9.99997597e-01 6.90153766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:85.14, Z:0.69 [[ 5.11903615e-01 -8.59041895e-01 -1.30812216e-03 1.93747964e+02] [ 8.59039062e-01 5.11905286e-01 -2.20637840e-03 8.51404183e+01] [ 2.56500613e-03 5.72505056e-06 9.99996710e-01 6.89790532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:85.16, Z:0.69 [[ 5.12830666e-01 -8.58489079e-01 -1.09958719e-03 1.93758585e+02] [ 8.58487074e-01 5.12831845e-01 -1.85544104e-03 8.51633160e+01] [ 2.15677920e-03 7.54567490e-06 9.99997674e-01 6.89891574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:85.19, Z:0.69 [[ 5.14994934e-01 -8.57192535e-01 -1.08432460e-03 1.93768634e+02] [ 8.57190581e-01 5.14996075e-01 -1.83057218e-03 8.51881918e+01] [ 2.12757572e-03 1.32625621e-05 9.99997737e-01 6.90204604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:85.21, Z:0.69 [[ 5.16010058e-01 -8.56581316e-01 -1.43854345e-03 1.93781250e+02] [ 8.56577869e-01 5.16012063e-01 -2.42999516e-03 8.52114401e+01] [ 2.82379422e-03 2.16774582e-05 9.99996013e-01 6.89938540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:85.23, Z:0.69 [[ 5.16710641e-01 -8.56158211e-01 -1.79771160e-03 1.93794242e+02] [ 8.56152820e-01 5.16713767e-01 -3.03849841e-03 8.52338274e+01] [ 3.53033770e-03 3.09086026e-05 9.99993768e-01 6.89456279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:85.26, Z:0.69 [[ 5.16887140e-01 -8.56050911e-01 -2.12660570e-03 1.93807135e+02] [ 8.56043357e-01 5.16891513e-01 -3.59639228e-03 8.52569502e+01] [ 4.17791932e-03 3.84622311e-05 9.99991272e-01 6.89116247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.82, Y:85.28, Z:0.69 [[ 5.15852329e-01 -8.56675073e-01 -2.04777297e-03 1.93819033e+02] [ 8.56668067e-01 5.15856392e-01 -3.46490702e-03 8.52808835e+01] [ 4.02465626e-03 3.31186474e-05 9.99991901e-01 6.88112622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:85.30, Z:0.69 [[ 5.14203320e-01 -8.57665910e-01 -2.03279211e-03 1.93831583e+02] [ 8.57659006e-01 5.14207338e-01 -3.44146449e-03 8.53035154e+01] [ 3.99690339e-03 2.61700070e-05 9.99992012e-01 6.88125028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:85.33, Z:0.69 [[ 5.12186642e-01 -8.58872299e-01 -1.79370854e-03 1.93845312e+02] [ 8.58866925e-01 5.12189782e-01 -3.03827749e-03 8.53265740e+01] [ 3.52821156e-03 1.56082114e-05 9.99993776e-01 6.88481954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:85.35, Z:0.69 [[ 5.10055223e-01 -8.60139939e-01 -1.71883036e-03 1.93858988e+02] [ 8.60135007e-01 5.10058119e-01 -2.91295465e-03 8.53486464e+01] [ 3.38225201e-03 7.34157306e-06 9.99994280e-01 6.89819693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.87, Y:85.37, Z:0.69 [[ 5.04942304e-01 -8.63152059e-01 -1.33927398e-03 1.93872616e+02] [ 8.63149072e-01 5.04944080e-01 -2.27082718e-03 8.53707875e+01] [ 2.63632762e-03 -9.35637924e-06 9.99996525e-01 6.90396920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:85.39, Z:0.69 [[ 5.01705508e-01 -8.65037873e-01 -1.03041300e-03 1.93884652e+02] [ 8.65036107e-01 5.01706566e-01 -1.74797550e-03 8.53937551e+01] [ 2.02902998e-03 -1.43755167e-05 9.99997941e-01 6.89793239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:85.42, Z:0.69 [[ 4.98237890e-01 -8.67040047e-01 -7.50171588e-04 1.93896796e+02] [ 8.67039112e-01 4.98238454e-01 -1.27316148e-03 8.54174370e+01] [ 1.47764632e-03 -1.60908190e-05 9.99998908e-01 6.89146469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:85.44, Z:0.69 [[ 4.94934496e-01 -8.68930018e-01 -6.84374711e-04 1.93909037e+02] [ 8.68929241e-01 4.94934969e-01 -1.16210477e-03 8.54396443e+01] [ 1.34850870e-03 -1.95074582e-05 9.99999091e-01 6.88060945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:85.46, Z:0.69 [[ 4.89919713e-01 -8.71765972e-01 -1.66268840e-03 1.93923697e+02] [ 8.71761396e-01 4.89922530e-01 -2.82548004e-03 8.54612673e+01] [ 3.27774586e-03 -6.52091887e-05 9.99994626e-01 6.87209000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:85.48, Z:0.69 [[ 4.88652246e-01 -8.72476041e-01 -2.13111518e-03 1.93938136e+02] [ 8.72468520e-01 4.88656885e-01 -3.62363116e-03 8.54833163e+01] [ 4.20291547e-03 -8.86354041e-05 9.99991164e-01 6.87935374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:85.50, Z:0.69 [[ 4.88225425e-01 -8.72714845e-01 -2.17553299e-03 1.93951769e+02] [ 8.72707001e-01 4.88230263e-01 -3.70131792e-03 8.55048402e+01] [ 4.29235614e-03 -9.15253560e-05 9.99990784e-01 6.88506730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:85.53, Z:0.69 [[ 4.88407551e-01 -8.72613393e-01 -1.98271416e-03 1.93964699e+02] [ 8.72606870e-01 4.88411569e-01 -3.37482534e-03 8.55268512e+01] [ 3.91329832e-03 -8.18398223e-05 9.99992340e-01 6.89744452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:85.55, Z:0.69 [[ 4.89208976e-01 -8.72165443e-01 -1.42029816e-03 1.93977110e+02] [ 8.72162091e-01 4.89211035e-01 -2.41869980e-03 8.55496239e+01] [ 2.80433192e-03 -5.54805649e-05 9.99996066e-01 6.90777035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:85.57, Z:0.69 [[ 4.92238473e-01 -8.70460375e-01 -1.47337245e-04 1.93987829e+02] [ 8.70460339e-01 4.92238495e-01 -2.50695009e-04 8.55733696e+01] [ 2.90745135e-04 -4.84950019e-06 9.99999958e-01 6.92489432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.00, Y:85.60, Z:0.69 [[ 4.94223095e-01 -8.69335107e-01 -6.76300172e-05 1.93999081e+02] [ 8.69335099e-01 4.94223100e-01 -1.14910293e-04 8.55957351e+01] [ 1.33319869e-04 -2.00182685e-06 9.99999991e-01 6.92782092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.01, Y:85.62, Z:0.69 [[ 4.94022374e-01 -8.69449188e-01 -6.75859723e-05 1.94012007e+02] [ 8.69449180e-01 4.94022378e-01 -1.14936144e-04 8.56183512e+01] [ 1.33320120e-04 -1.98154131e-06 9.99999991e-01 6.92803222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:85.64, Z:0.69 [[ 4.96507720e-01 -8.68032221e-01 -3.82802549e-04 1.94023462e+02] [ 8.68031976e-01 4.96507867e-01 -6.53065908e-04 8.56414918e+01] [ 7.56946728e-04 -8.03258813e-06 9.99999713e-01 6.93004816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:194.03, Y:85.67, Z:0.69 [[ 5.02190235e-01 -8.64756039e-01 -1.40016648e-03 1.94032893e+02] [ 8.64752734e-01 5.02192186e-01 -2.39116149e-03 8.56664561e+01] [ 2.77092401e-03 -9.97983806e-06 9.99996161e-01 6.92712152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.04, Y:85.69, Z:0.69 [[ 5.05002618e-01 -8.63116334e-01 -1.59660624e-03 1.94043631e+02] [ 8.63112023e-01 5.05005142e-01 -2.72799125e-03 8.56898684e+01] [ 3.16086817e-03 -4.07312755e-07 9.99995004e-01 6.92890390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.06, Y:85.71, Z:0.69 [[ 5.07108452e-01 -8.61881011e-01 -1.46277688e-03 1.94055215e+02] [ 8.61877384e-01 5.07110562e-01 -2.50058044e-03 8.57137582e+01] [ 2.89699241e-03 7.33117117e-06 9.99995804e-01 6.93499981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:85.74, Z:0.69 [[ 5.08764514e-01 -8.60904993e-01 -1.12344573e-03 1.94067077e+02] [ 8.60902849e-01 5.08765754e-01 -1.92144671e-03 8.57374820e+01] [ 2.22575378e-03 1.03862756e-05 9.99997523e-01 6.93618672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:85.76, Z:0.69 [[ 5.11383089e-01 -8.59352028e-01 -1.19486628e-03 1.94076298e+02] [ 8.59349596e-01 5.11384484e-01 -2.04475080e-03 8.57621384e+01] [ 2.36819682e-03 1.88431313e-05 9.99997196e-01 6.92622255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.09, Y:85.79, Z:0.69 [[ 5.12476176e-01 -8.58699901e-01 -1.62773416e-03 1.94087457e+02] [ 8.58695378e-01 5.12478760e-01 -2.78726538e-03 8.57852989e+01] [ 3.22760369e-03 3.06792989e-05 9.99994791e-01 6.91673796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:85.81, Z:0.69 [[ 5.13530558e-01 -8.58069106e-01 -1.94334539e-03 1.94099424e+02] [ 8.58062646e-01 5.13534233e-01 -3.32967764e-03 8.58081564e+01] [ 3.85506790e-03 4.23791300e-05 9.99992568e-01 6.90623118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:85.83, Z:0.69 [[ 5.14514854e-01 -8.57479319e-01 -1.91924209e-03 1.94112583e+02] [ 8.57473008e-01 5.14518431e-01 -3.29017079e-03 8.58315229e+01] [ 3.80873883e-03 4.71434580e-05 9.99992746e-01 6.90483775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.13, Y:85.85, Z:0.69 [[ 5.15390296e-01 -8.56953758e-01 -1.76034345e-03 1.94126065e+02] [ 8.56948440e-01 5.15393300e-01 -3.01937293e-03 8.58542345e+01] [ 3.49473220e-03 4.76319329e-05 9.99993892e-01 6.90898781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:85.88, Z:0.69 [[ 5.17295664e-01 -8.55805297e-01 -1.57800810e-03 1.94138154e+02] [ 8.55801014e-01 5.17298068e-01 -2.70783168e-03 8.58761383e+01] [ 3.13367723e-03 5.02886507e-05 9.99995089e-01 6.91535343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:85.90, Z:0.69 [[ 5.18176723e-01 -8.55272075e-01 -1.60017923e-03 1.94150577e+02] [ 8.55267665e-01 5.18179191e-01 -2.74725839e-03 8.58996322e+01] [ 3.17883296e-03 5.49837985e-05 9.99994946e-01 6.90907751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:85.92, Z:0.69 [[ 5.19289123e-01 -8.54597019e-01 -1.65601236e-03 1.94163192e+02] [ 8.54592287e-01 5.19291760e-01 -2.84463442e-03 8.59232959e+01] [ 3.29096967e-03 6.19723256e-05 9.99994583e-01 6.90659060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:85.95, Z:0.69 [[ 5.20689554e-01 -8.53744694e-01 -1.54465254e-03 1.94175763e+02] [ 8.53740569e-01 5.20691841e-01 -2.65474218e-03 8.59463851e+01] [ 3.07076003e-03 6.35639801e-05 9.99995283e-01 6.90137732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:85.97, Z:0.69 [[ 5.24384530e-01 -8.51480761e-01 -1.17445189e-03 1.94187883e+02] [ 8.51478368e-01 5.24385842e-01 -2.01951655e-03 8.59690504e+01] [ 2.33544543e-03 5.89828583e-05 9.99997271e-01 6.89607705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:85.99, Z:0.69 [[ 5.26228646e-01 -8.50342453e-01 -1.06046485e-03 1.94200910e+02] [ 8.50340498e-01 5.26229711e-01 -1.82448071e-03 8.59924163e+01] [ 2.10948151e-03 5.83378101e-05 9.99997773e-01 6.89625034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:86.01, Z:0.69 [[ 5.27905321e-01 -8.49302465e-01 -1.13787495e-03 1.94213113e+02] [ 8.49300209e-01 5.27906543e-01 -1.95878765e-03 8.60147479e+01] [ 2.26429481e-03 6.76569917e-05 9.99997434e-01 6.89403914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:86.04, Z:0.69 [[ 5.30969081e-01 -8.47388706e-01 -2.05334382e-03 1.94225844e+02] [ 8.47381335e-01 5.30973034e-01 -3.53693916e-03 8.60378291e+01] [ 4.08743250e-03 1.38040107e-04 9.99991637e-01 6.89143615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.24, Y:86.06, Z:0.69 [[ 5.31846319e-01 -8.46837140e-01 -2.52018219e-03 1.94239259e+02] [ 8.46826019e-01 5.31852261e-01 -4.34346516e-03 8.60607079e+01] [ 5.01857221e-03 1.75900109e-04 9.99987391e-01 6.88870829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:86.08, Z:0.69 [[ 5.32476757e-01 -8.46440433e-01 -2.66387263e-03 1.94252527e+02] [ 8.46427990e-01 5.32483386e-01 -4.59366407e-03 8.60825763e+01] [ 5.30673092e-03 1.91242988e-04 9.99985901e-01 6.88924058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:86.11, Z:0.69 [[ 5.32872423e-01 -8.46192249e-01 -2.37875045e-03 1.94265888e+02] [ 8.46182314e-01 5.32877704e-01 -4.10417060e-03 8.61051647e+01] [ 4.74050043e-03 1.74142768e-04 9.99988749e-01 6.89066266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:86.13, Z:0.69 [[ 5.33133755e-01 -8.46028792e-01 -1.91894448e-03 1.94278672e+02] [ 8.46022319e-01 5.33137190e-01 -3.31261858e-03 8.61272688e+01] [ 3.82563136e-03 1.42598925e-04 9.99992672e-01 6.89182038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.29, Y:86.15, Z:0.69 [[ 5.33531466e-01 -8.45779180e-01 -1.32408261e-03 1.94292370e+02] [ 8.45776094e-01 5.33533100e-01 -2.28683086e-03 8.61499916e+01] [ 2.64059583e-03 1.00218799e-04 9.99996509e-01 6.89420909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:86.17, Z:0.69 [[ 5.34223840e-01 -8.45342095e-01 -1.27753618e-03 1.94306232e+02] [ 8.45339218e-01 5.34225358e-01 -2.20761211e-03 8.61719286e+01] [ 2.54867967e-03 9.94075778e-05 9.99996747e-01 6.89752527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:86.19, Z:0.69 [[ 5.35340989e-01 -8.44635033e-01 -1.29820337e-03 1.94320680e+02] [ 8.44632058e-01 5.35342553e-01 -2.24455292e-03 8.61937669e+01] [ 2.59081154e-03 1.05096999e-04 9.99996638e-01 6.89400780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.34, Y:86.21, Z:0.69 [[ 5.37153096e-01 -8.43482936e-01 -1.75740332e-03 1.94336790e+02] [ 8.43477470e-01 5.37155950e-01 -3.04028609e-03 8.62148367e+01] [ 3.50842909e-03 1.50768979e-04 9.99993834e-01 6.88644926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:86.24, Z:0.69 [[ 5.37444700e-01 -8.43297247e-01 -1.71671125e-03 1.94349927e+02] [ 8.43292026e-01 5.37447421e-01 -2.97124296e-03 8.62359888e+01] [ 3.42828304e-03 1.49189872e-04 9.99994112e-01 6.88706870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:86.26, Z:0.69 [[ 5.37535781e-01 -8.43239797e-01 -1.38876965e-03 1.94363598e+02] [ 8.43236377e-01 5.37537561e-01 -2.40481286e-03 8.62589693e+01] [ 2.77434977e-03 1.21611869e-04 9.99996144e-01 6.88943154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:86.28, Z:0.69 [[ 5.37834467e-01 -8.43049926e-01 -9.53085023e-04 1.94376235e+02] [ 8.43048313e-01 5.37835305e-01 -1.65116974e-03 8.62805511e+01] [ 1.90462130e-03 8.45592772e-05 9.99998183e-01 6.89562921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.39, Y:86.30, Z:0.69 [[ 5.39473676e-01 -8.42002351e-01 -4.40703765e-04 1.94390528e+02] [ 8.42002006e-01 5.39473854e-01 -7.63711932e-04 8.63019401e+01] [ 8.80795401e-04 4.09290288e-05 9.99999611e-01 6.89941320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:86.32, Z:0.69 [[ 5.40642815e-01 -8.41252069e-01 -5.51419715e-04 1.94404288e+02] [ 8.41251527e-01 5.40643093e-01 -9.56185675e-04 8.63240002e+01] [ 1.10251444e-03 5.30722372e-05 9.99999391e-01 6.90218540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.42, Y:86.35, Z:0.69 [[ 5.42115652e-01 -8.40303330e-01 -9.66516106e-04 1.94418385e+02] [ 8.40301662e-01 5.42116505e-01 -1.67710316e-03 8.63473932e+01] [ 1.93323970e-03 9.70187822e-05 9.99998127e-01 6.90422161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:86.37, Z:0.69 [[ 5.43600392e-01 -8.39343050e-01 -1.36324357e-03 1.94431060e+02] [ 8.39339725e-01 5.43602083e-01 -2.36663184e-03 8.63705749e+01] [ 2.72747803e-03 1.42277512e-04 9.99996270e-01 6.89896674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.44, Y:86.39, Z:0.69 [[ 5.44924349e-01 -8.38483190e-01 -1.84256375e-03 1.94442651e+02] [ 8.38477105e-01 5.44927427e-01 -3.20040352e-03 8.63940357e+01] [ 3.68754807e-03 1.99030285e-04 9.99993181e-01 6.88916351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:86.42, Z:0.69 [[ 5.47234307e-01 -8.36977719e-01 -1.70636943e-03 1.94453133e+02] [ 8.36972488e-01 5.47236933e-01 -2.96540850e-03 8.64174958e+01] [ 3.41576922e-03 1.94588996e-04 9.99994147e-01 6.88217217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:86.44, Z:0.69 [[ 5.47825596e-01 -8.36591455e-01 -1.36150222e-03 1.94466202e+02] [ 8.36588121e-01 5.47827265e-01 -2.36719740e-03 8.64414397e+01] [ 2.72624515e-03 1.57794741e-04 9.99996271e-01 6.88589100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.48, Y:86.46, Z:0.69 [[ 5.48283501e-01 -8.36291069e-01 -1.56525571e-03 1.94478711e+02] [ 8.36286657e-01 5.48285704e-01 -2.72288799e-03 8.64649462e+01] [ 3.13533424e-03 1.83912096e-04 9.99995068e-01 6.89062234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:86.49, Z:0.69 [[ 5.48898712e-01 -8.35886156e-01 -2.13026476e-03 1.94489692e+02] [ 8.35877971e-01 5.48902787e-01 -3.70789075e-03 8.64875337e+01] [ 4.26868281e-03 2.54615072e-04 9.99990857e-01 6.88876233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:86.51, Z:0.69 [[ 5.49746302e-01 -8.35328056e-01 -2.45833742e-03 1.94499489e+02] [ 8.35317138e-01 5.49751716e-01 -4.28120837e-03 8.65119783e+01] [ 4.92768867e-03 3.00087091e-04 9.99987814e-01 6.87885576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:86.54, Z:0.69 [[ 5.49435724e-01 -8.35533446e-01 -2.06052427e-03 1.94511895e+02] [ 8.35525771e-01 5.49439531e-01 -3.59012386e-03 8.65365508e+01] [ 4.13180204e-03 2.50921176e-04 9.99991433e-01 6.87787067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:86.56, Z:0.69 [[ 5.48597575e-01 -8.36084873e-01 -1.66898094e-03 1.94523994e+02] [ 8.36079836e-01 5.48600077e-01 -2.90903443e-03 8.65593296e+01] [ 3.34780275e-03 2.00487919e-04 9.99994376e-01 6.88150033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.54, Y:86.58, Z:0.69 [[ 5.45331230e-01 -8.38218482e-01 -1.90420103e-03 1.94536619e+02] [ 8.38211932e-01 5.45334512e-01 -3.32073794e-03 8.65811673e+01] [ 3.82193046e-03 2.14778079e-04 9.99992673e-01 6.89005234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:86.60, Z:0.69 [[ 5.43042637e-01 -8.39702483e-01 -2.10557579e-03 1.94549926e+02] [ 8.39694477e-01 5.43046672e-01 -3.67392206e-03 8.66037380e+01] [ 4.22842740e-03 2.27055964e-04 9.99991034e-01 6.89271085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:86.63, Z:0.69 [[ 5.40900822e-01 -8.41083723e-01 -2.11457344e-03 1.94563093e+02] [ 8.41075650e-01 5.40904911e-01 -3.69166893e-03 8.66256384e+01] [ 4.24878581e-03 2.18310522e-04 9.99990950e-01 6.89298472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:86.65, Z:0.69 [[ 5.39297631e-01 -8.42112544e-01 -2.12809710e-03 1.94576881e+02] [ 8.42104366e-01 5.39301788e-01 -3.71723293e-03 8.66479499e+01] [ 4.27801505e-03 2.12615054e-04 9.99990827e-01 6.89382688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:86.67, Z:0.69 [[ 5.37608092e-01 -8.43192108e-01 -2.14645328e-03 1.94592302e+02] [ 8.43183791e-01 5.37612338e-01 -3.75093146e-03 8.66695371e+01] [ 4.31671557e-03 2.06676492e-04 9.99990662e-01 6.89143924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:86.69, Z:0.69 [[ 5.37501022e-01 -8.43260118e-01 -2.24175109e-03 1.94605780e+02] [ 8.43251037e-01 5.37505653e-01 -3.91945485e-03 8.66924246e+01] [ 4.51007384e-03 2.16352056e-04 9.99989806e-01 6.89108633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:86.72, Z:0.69 [[ 5.38092287e-01 -8.42882915e-01 -2.25445148e-03 1.94618206e+02] [ 8.42873718e-01 5.38096964e-01 -3.94371283e-03 8.67160352e+01] [ 4.53720166e-03 2.21863557e-04 9.99989682e-01 6.89074985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:194.63, Y:86.74, Z:0.69 [[ 5.39333044e-01 -8.42090037e-01 -2.05864840e-03 1.94629939e+02] [ 8.42082354e-01 5.39336932e-01 -3.60309859e-03 8.67393184e+01] [ 4.14443853e-03 2.09718638e-04 9.99991390e-01 6.88777819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:86.76, Z:0.69 [[ 5.42775580e-01 -8.39876052e-01 -1.69934984e-03 1.94644354e+02] [ 8.39870802e-01 5.42778207e-01 -2.97566985e-03 8.67627031e+01] [ 3.42156390e-03 1.87886613e-04 9.99994129e-01 6.90102014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.66, Y:86.78, Z:0.69 [[ 5.43894097e-01 -8.39152719e-01 -1.38772219e-03 1.94658471e+02] [ 8.39149212e-01 5.43895845e-01 -2.43092458e-03 8.67848597e+01] [ 2.79469330e-03 1.57659545e-04 9.99996082e-01 6.90813835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:86.81, Z:0.69 [[ 5.44150016e-01 -8.38987304e-01 -1.03163331e-03 1.94671464e+02] [ 8.38985364e-01 5.44150981e-01 -1.80794386e-03 8.68070224e+01] [ 2.07820622e-03 1.18267437e-04 9.99997834e-01 6.91098981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.68, Y:86.83, Z:0.69 [[ 5.42384574e-01 -8.40130072e-01 -6.59951607e-04 1.94684533e+02] [ 8.40129279e-01 5.42384970e-01 -1.15703066e-03 8.68303183e+01] [ 1.33000409e-03 7.31109156e-05 9.99999113e-01 6.90535340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:194.70, Y:86.85, Z:0.69 [[ 5.41192753e-01 -8.40898185e-01 -8.03993602e-04 1.94697704e+02] [ 8.40897007e-01 5.41193343e-01 -1.41037572e-03 8.68515419e+01] [ 1.62109837e-03 8.72093034e-05 9.99998682e-01 6.89748194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.71, Y:86.87, Z:0.69 [[ 5.40375457e-01 -8.41423412e-01 -1.00382820e-03 1.94711705e+02] [ 8.41421574e-01 5.40376378e-01 -1.76186358e-03 8.68725552e+01] [ 2.02491831e-03 1.07425132e-04 9.99997944e-01 6.90021653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:86.89, Z:0.69 [[ 5.40500920e-01 -8.41343037e-01 -8.05835107e-04 1.94726894e+02] [ 8.41341852e-01 5.40501514e-01 -1.41497811e-03 8.68938875e+01] [ 1.62603708e-03 8.68141697e-05 9.99998674e-01 6.91331114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:86.92, Z:0.69 [[ 5.41518954e-01 -8.40688311e-01 -6.22098997e-04 1.94739528e+02] [ 8.40687603e-01 5.41519307e-01 -1.09286683e-03 8.69155093e+01] [ 1.25563899e-03 6.88171874e-05 9.99999209e-01 6.91874184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:86.94, Z:0.69 [[ 5.43276425e-01 -8.39553516e-01 -7.87364098e-04 1.94752675e+02] [ 8.39552380e-01 5.43276988e-01 -1.38405643e-03 8.69378539e+01] [ 1.58974624e-03 9.08918292e-05 9.99998732e-01 6.92330109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.77, Y:86.96, Z:0.69 [[ 5.45715513e-01 -8.37969608e-01 -1.23082980e-03 1.94765695e+02] [ 8.37966825e-01 5.45716880e-01 -2.16479016e-03 8.69601664e+01] [ 2.48571296e-03 1.49965034e-04 9.99996899e-01 6.91914683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.78, Y:86.98, Z:0.69 [[ 5.52270351e-01 -8.33661046e-01 -2.59233983e-03 1.94778095e+02] [ 8.33648640e-01 5.52276319e-01 -4.56203671e-03 8.69836722e+01] [ 5.23488019e-03 3.58377040e-04 9.99986234e-01 6.90348855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:87.01, Z:0.69 [[ 5.55595431e-01 -8.31446974e-01 -3.10589195e-03 1.94789896e+02] [ 8.31429114e-01 5.55603925e-01 -5.46870048e-03 8.70076757e+01] [ 6.27258023e-03 4.56056009e-04 9.99980223e-01 6.89694932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.80, Y:87.03, Z:0.69 [[ 5.58333234e-01 -8.29609536e-01 -3.46659095e-03 1.94800422e+02] [ 8.29587229e-01 5.58343740e-01 -6.10713174e-03 8.70305863e+01] [ 7.00208409e-03 5.33975032e-04 9.99975343e-01 6.89264574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:87.05, Z:0.69 [[ 5.60402420e-01 -8.28213108e-01 -3.48946849e-03 1.94810745e+02] [ 8.28190455e-01 5.60413007e-01 -6.15073616e-03 8.70535949e+01] [ 7.04966384e-03 5.56942927e-04 9.99974996e-01 6.89218595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:87.08, Z:0.69 [[ 5.60236187e-01 -8.28325569e-01 -3.48821323e-03 1.94823805e+02] [ 8.28302914e-01 5.60246769e-01 -6.15144812e-03 8.70770779e+01] [ 7.04966195e-03 5.56966653e-04 9.99974996e-01 6.89240402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:87.10, Z:0.69 [[ 5.61728933e-01 -8.27314866e-01 -3.27374474e-03 1.94835006e+02] [ 8.27294877e-01 5.61738217e-01 -5.77603062e-03 8.71007650e+01] [ 6.61758353e-03 5.36211267e-04 9.99977960e-01 6.89268708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:87.12, Z:0.69 [[ 5.62407184e-01 -8.26854687e-01 -3.07997348e-03 1.94846756e+02] [ 8.26836970e-01 5.62415385e-01 -5.43682145e-03 8.71247379e+01] [ 6.22768577e-03 5.11071505e-04 9.99980477e-01 6.89044687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.86, Y:87.15, Z:0.69 [[ 5.61276631e-01 -8.27621593e-01 -3.32307293e-03 1.94858060e+02] [ 8.27600961e-01 5.61286205e-01 -5.86899504e-03 8.71479945e+01] [ 6.72250202e-03 5.43951414e-04 9.99977256e-01 6.88456494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:87.17, Z:0.69 [[ 5.59522189e-01 -8.28808682e-01 -3.33008455e-03 1.94870135e+02] [ 8.28787963e-01 5.59531845e-01 -5.88439916e-03 8.71710901e+01] [ 6.74032946e-03 5.32517903e-04 9.99977142e-01 6.88090703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11140051299998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:194.88, Y:87.19, Z:0.69 [[ 5.57435356e-01 -8.30215292e-01 -2.89710748e-03 1.94882019e+02] [ 8.30199614e-01 5.57442703e-01 -5.12190000e-03 8.71943711e+01] [ 5.86725113e-03 4.49950638e-04 9.99982686e-01 6.87432834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:87.22, Z:0.69 [[ 5.55349085e-01 -8.31614422e-01 -2.20136749e-03 1.94893944e+02] [ 8.31605372e-01 5.55353349e-01 -3.89387086e-03 8.72162733e+01] [ 4.46073598e-03 3.31788588e-04 9.99989996e-01 6.88790977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:87.24, Z:0.69 [[ 5.51435991e-01 -8.34215808e-01 -1.52755716e-03 1.94907426e+02] [ 8.34211456e-01 5.51438065e-01 -2.70330830e-03 8.72391939e+01] [ 3.09749568e-03 2.16395807e-04 9.99995179e-01 6.89870790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.92, Y:87.26, Z:0.69 [[ 5.49808334e-01 -8.35289057e-01 -1.72838784e-03 1.94919625e+02] [ 8.35283484e-01 5.49810999e-01 -3.06041284e-03 8.72619488e+01] [ 3.50661600e-03 2.38946664e-04 9.99993823e-01 6.89704510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:87.28, Z:0.69 [[ 5.47703832e-01 -8.36669763e-01 -2.05458202e-03 1.94931697e+02] [ 8.36661890e-01 5.47707616e-01 -3.63995725e-03 8.72848496e+01] [ 4.17075239e-03 2.74628054e-04 9.99991265e-01 6.89228794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:87.31, Z:0.69 [[ 5.46739794e-01 -8.37300626e-01 -1.80558383e-03 1.94944775e+02] [ 8.37294543e-01 5.46742723e-01 -3.20044301e-03 8.73077746e+01] [ 3.66692275e-03 2.38004067e-04 9.99993249e-01 6.89655790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.96, Y:87.33, Z:0.69 [[ 5.46017893e-01 -8.37772327e-01 -1.41054666e-03 1.94957534e+02] [ 8.37768612e-01 5.46019683e-01 -2.50149539e-03 8.73294436e+01] [ 2.86586986e-03 1.84149522e-04 9.99995876e-01 6.90345170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:87.35, Z:0.69 [[ 5.45177456e-01 -8.38320078e-01 -9.93867009e-04 1.94970215e+02] [ 8.38318234e-01 5.45178347e-01 -1.76336782e-03 8.73524583e+01] [ 2.02010142e-03 1.28171546e-04 9.99997951e-01 6.90620242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.98, Y:87.38, Z:0.69 [[ 5.44036860e-01 -8.39060998e-01 -7.32921156e-04 1.94981692e+02] [ 8.39059995e-01 5.44037345e-01 -1.30097917e-03 8.73750493e+01] [ 1.49033736e-03 9.28157986e-05 9.99998885e-01 6.90495865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:87.40, Z:0.69 [[ 5.41716240e-01 -8.40560973e-01 -8.75015861e-04 1.94993654e+02] [ 8.40559543e-01 5.41716936e-01 -1.55410270e-03 8.73988206e+01] [ 1.78032899e-03 1.06379736e-04 9.99998410e-01 6.90165811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.01, Y:87.42, Z:0.69 [[ 5.40928517e-01 -8.41068165e-01 -8.25305720e-04 1.95006977e+02] [ 8.41066892e-01 5.40929137e-01 -1.46655602e-03 8.74218884e+01] [ 1.67990550e-03 9.91646579e-05 9.99998584e-01 6.90616334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:195.02, Y:87.44, Z:0.69 [[ 5.40529840e-01 -8.41324655e-01 -5.62194253e-04 1.95019950e+02] [ 8.41324064e-01 5.40530128e-01 -9.99423841e-04 8.74441523e+01] [ 1.14472285e-03 6.72308557e-05 9.99999343e-01 6.90941180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:87.47, Z:0.69 [[ 5.41490245e-01 -8.40707025e-01 -1.08781985e-04 1.95033574e+02] [ 8.40707003e-01 5.41490256e-01 -1.93185442e-04 8.74670632e+01] [ 2.21316743e-04 1.31542560e-05 9.99999975e-01 6.91878276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:87.49, Z:0.69 [[ 5.42402565e-01 -8.40118631e-01 -3.77817570e-04 1.95045457e+02] [ 8.40118363e-01 5.42402695e-01 -6.72252242e-04 8.74892581e+01] [ 7.69700902e-04 4.72198617e-05 9.99999703e-01 6.91517317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:87.51, Z:0.69 [[ 5.43735882e-01 -8.39255571e-01 -1.17327354e-03 1.95057614e+02] [ 8.39252984e-01 5.43737127e-01 -2.08956012e-03 8.75122593e+01] [ 2.39162736e-03 1.51495494e-04 9.99997129e-01 6.91080256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:87.54, Z:0.69 [[ 5.47477120e-01 -8.36817696e-01 -2.22426554e-03 1.95068403e+02] [ 8.36808367e-01 5.47481551e-01 -3.96342354e-03 8.75356424e+01] [ 4.53440730e-03 3.08599691e-04 9.99989672e-01 6.90716262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:87.56, Z:0.69 [[ 5.49522710e-01 -8.35476465e-01 -1.96667591e-03 1.95079874e+02] [ 8.35469156e-01 5.49526156e-01 -3.50614150e-03 8.75591595e+01] [ 4.01003856e-03 2.83607314e-04 9.99991920e-01 6.91088769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:87.58, Z:0.69 [[ 5.51530873e-01 -8.34153066e-01 -1.53616863e-03 1.95091013e+02] [ 8.34148597e-01 5.51532964e-01 -2.74002970e-03 8.75822752e+01] [ 3.13285181e-03 2.29818067e-04 9.99995066e-01 6.91792407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.10, Y:87.61, Z:0.69 [[ 5.53430007e-01 -8.32894891e-01 -1.15202311e-03 1.95102841e+02] [ 8.32892373e-01 5.53431178e-01 -2.05581234e-03 8.76055718e+01] [ 2.34984110e-03 1.78236975e-04 9.99997223e-01 6.92211299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:87.63, Z:0.69 [[ 5.56410346e-01 -8.30905754e-01 -1.77601160e-03 1.95113611e+02] [ 8.30899754e-01 5.56413106e-01 -3.17088908e-03 8.76291244e+01] [ 3.62290611e-03 2.88627888e-04 9.99993396e-01 6.92303955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:87.65, Z:0.69 [[ 5.57278496e-01 -8.30322235e-01 -2.38017951e-03 1.95124417e+02] [ 8.30311442e-01 5.57283440e-01 -4.25169677e-03 8.76536767e+01] [ 4.85671299e-03 3.93088902e-04 9.99988129e-01 6.91983383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:87.68, Z:0.69 [[ 5.57799336e-01 -8.29971591e-01 -2.65679019e-03 1.95134299e+02] [ 8.29958127e-01 5.57805487e-01 -4.74823725e-03 8.76783318e+01] [ 5.42287417e-03 4.43538972e-04 9.99985198e-01 6.90822441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:87.70, Z:0.69 [[ 5.57510609e-01 -8.30166972e-01 -2.17226482e-03 1.95144274e+02] [ 8.30157965e-01 5.57514724e-01 -3.88420349e-03 8.77033167e+01] [ 4.43560707e-03 3.62161712e-04 9.99990097e-01 6.90081566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:87.73, Z:0.69 [[ 5.56128398e-01 -8.31094572e-01 -1.73710518e-03 1.95156292e+02] [ 8.31088812e-01 5.56131038e-01 -3.10736304e-03 8.77256259e+01] [ 3.54857066e-03 2.84404147e-04 9.99993663e-01 6.90441050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:87.75, Z:0.69 [[ 5.54252037e-01 -8.32347288e-01 -1.63431362e-03 1.95168807e+02] [ 8.32342190e-01 5.54254386e-01 -2.92489478e-03 8.77486385e+01] [ 3.34035373e-03 2.60820712e-04 9.99994387e-01 6.91137207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:87.77, Z:0.69 [[ 5.51976648e-01 -8.33857712e-01 -1.75951685e-03 1.95181448e+02] [ 8.33851804e-01 5.51979386e-01 -3.15062778e-03 8.77721246e+01] [ 3.59839230e-03 2.71896664e-04 9.99993489e-01 6.91309140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:87.79, Z:0.69 [[ 5.48250052e-01 -8.36311004e-01 -2.40514368e-03 1.95194772e+02] [ 8.36299977e-01 5.48255215e-01 -4.30907282e-03 8.77937241e+01] [ 4.92235758e-03 3.51027789e-04 9.99987824e-01 6.90845356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:87.82, Z:0.69 [[ 5.46902586e-01 -8.37192476e-01 -2.51396464e-03 1.95208587e+02] [ 8.37180424e-01 5.46908246e-01 -4.50642367e-03 8.78163747e+01] [ 5.14765198e-03 3.59932776e-04 9.99986686e-01 6.90393605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:87.84, Z:0.69 [[ 5.46275535e-01 -8.37601451e-01 -2.61713692e-03 1.95221713e+02] [ 8.37588381e-01 5.46281677e-01 -4.69394432e-03 8.78376775e+01] [ 5.36134851e-03 3.72103468e-04 9.99985559e-01 6.90392639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:87.86, Z:0.69 [[ 5.45958239e-01 -8.37808529e-01 -2.54351762e-03 1.95234721e+02] [ 8.37796174e-01 5.45964045e-01 -4.56427473e-03 8.78600960e+01] [ 5.21265746e-03 3.60954065e-04 9.99986349e-01 6.90170268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:87.88, Z:0.69 [[ 5.45782126e-01 -8.37923936e-01 -2.31282875e-03 1.95248490e+02] [ 8.37913713e-01 5.45786927e-01 -4.15205944e-03 8.78812860e+01] [ 4.74142168e-03 3.28168896e-04 9.99988706e-01 6.90452010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:87.90, Z:0.69 [[ 5.45495506e-01 -8.38111210e-01 -2.06196108e-03 1.95262333e+02] [ 8.38103078e-01 5.45499325e-01 -3.70352268e-03 8.79038087e+01] [ 4.22876225e-03 2.92119051e-04 9.99991016e-01 6.91406475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:87.93, Z:0.69 [[ 5.45236873e-01 -8.38279830e-01 -1.91815925e-03 1.95276350e+02] [ 8.38272787e-01 5.45240179e-01 -3.44691416e-03 8.79267223e+01] [ 3.93533611e-03 2.71443996e-04 9.99992220e-01 6.92009460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:87.95, Z:0.69 [[ 5.45037341e-01 -8.38408325e-01 -2.40357129e-03 1.95290858e+02] [ 8.38397257e-01 5.45042535e-01 -4.32147328e-03 8.79490934e+01] [ 4.93320776e-03 3.40216729e-04 9.99987774e-01 6.90992546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:87.97, Z:0.69 [[ 5.45134871e-01 -8.38344707e-01 -2.47473765e-03 1.95304765e+02] [ 8.38332961e-01 5.45140375e-01 -4.45178967e-03 8.79717363e+01] [ 5.08121372e-03 3.52171646e-04 9.99987029e-01 6.90019546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:87.99, Z:0.69 [[ 5.45263529e-01 -8.38261723e-01 -2.22902992e-03 1.95318591e+02] [ 8.38252183e-01 5.45267991e-01 -4.01188069e-03 8.79936952e+01] [ 4.57842468e-03 3.19043020e-04 9.99989468e-01 6.89676835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:88.01, Z:0.69 [[ 5.45417897e-01 -8.38161745e-01 -2.05118399e-03 1.95331575e+02] [ 8.38153657e-01 5.45421674e-01 -3.69379015e-03 8.80149670e+01] [ 4.21475380e-03 2.95451887e-04 9.99991074e-01 6.90219543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:88.04, Z:0.69 [[ 5.46060907e-01 -8.37741822e-01 -2.47511585e-03 1.95343501e+02] [ 8.37730029e-01 5.46066397e-01 -4.45964541e-03 8.80382976e+01] [ 5.08760906e-03 3.61759139e-04 9.99986993e-01 6.91018600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:88.06, Z:0.69 [[ 5.46536933e-01 -8.37429447e-01 -3.04998139e-03 1.95355598e+02] [ 8.37411519e-01 5.46545258e-01 -5.49819068e-03 8.80625645e+01] [ 6.27129964e-03 4.50874730e-04 9.99980234e-01 6.90626090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:88.09, Z:0.69 [[ 5.47192473e-01 -8.36999627e-01 -3.46721441e-03 1.95367616e+02] [ 8.36976430e-01 5.47203211e-01 -6.25308002e-03 8.80852028e+01] [ 7.13109650e-03 5.19661583e-04 9.99974438e-01 6.90094229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:88.11, Z:0.69 [[ 5.48029372e-01 -8.36453380e-01 -3.09041898e-03 1.95379662e+02] [ 8.36434925e-01 5.48037883e-01 -5.57634462e-03 8.81087604e+01] [ 6.35801898e-03 4.71066273e-04 9.99979677e-01 6.90002940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:88.13, Z:0.69 [[ 5.47809765e-01 -8.36600052e-01 -2.19418918e-03 1.95391316e+02] [ 8.36590741e-01 5.47814057e-01 -3.96115348e-03 8.81325273e+01] [ 4.51590889e-03 3.34320203e-04 9.99989747e-01 6.90506466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:88.16, Z:0.69 [[ 5.46836723e-01 -8.37238110e-01 -1.39470594e-03 1.95402763e+02] [ 8.37234347e-01 5.46838462e-01 -2.51903501e-03 8.81566520e+01] [ 2.87171096e-03 2.09805135e-04 9.99995855e-01 6.91472335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:88.18, Z:0.69 [[ 5.45126433e-01 -8.38352790e-01 -1.33121800e-03 1.95414639e+02] [ 8.38349361e-01 5.45128024e-01 -2.40561500e-03 8.81803951e+01] [ 2.74243828e-03 1.95338561e-04 9.99996220e-01 6.92305211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.42, Y:88.20, Z:0.69 [[ 5.40334966e-01 -8.41447117e-01 -2.20775986e-03 1.95424300e+02] [ 8.41437701e-01 5.40339393e-01 -3.99202674e-03 8.82037959e+01] [ 4.55201901e-03 2.99339253e-04 9.99989595e-01 6.91995359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:88.23, Z:0.69 [[ 5.37358357e-01 -8.43350567e-01 -2.41191677e-03 1.95435022e+02] [ 8.43339336e-01 5.37363680e-01 -4.36345280e-03 8.82279994e+01] [ 4.97599687e-03 3.10673546e-04 9.99987571e-01 6.91551866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:88.25, Z:0.69 [[ 5.34632504e-01 -8.45081883e-01 -2.16729619e-03 1.95446592e+02] [ 8.45072820e-01 5.34636831e-01 -3.92282771e-03 8.82523438e+01] [ 4.47382699e-03 2.65748101e-04 9.99989957e-01 6.91321965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:88.28, Z:0.69 [[ 5.32852488e-01 -8.46206197e-01 -1.81624464e-03 1.95458947e+02] [ 8.46199832e-01 5.32855540e-01 -3.28899847e-03 8.82754147e+01] [ 3.75096690e-03 2.15645105e-04 9.99992942e-01 6.91817427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:88.30, Z:0.69 [[ 5.31883026e-01 -8.46815960e-01 -1.78226433e-03 1.95471815e+02] [ 8.46809829e-01 5.31885972e-01 -3.22916671e-03 8.82981747e+01] [ 3.68247130e-03 2.08300012e-04 9.99993198e-01 6.92657241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:88.32, Z:0.69 [[ 5.32009508e-01 -8.46734781e-01 -2.46883290e-03 1.95483817e+02] [ 8.46723001e-01 5.32015157e-01 -4.47575945e-03 8.83208142e+01] [ 5.10323772e-03 2.90728979e-04 9.99986936e-01 6.93587702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:88.34, Z:0.69 [[ 5.32642561e-01 -8.46336441e-01 -2.55558132e-03 1.95494021e+02] [ 8.46323801e-01 5.32648603e-01 -4.63560495e-03 8.83439041e+01] [ 5.28450821e-03 3.06271193e-04 9.99985990e-01 6.93434760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:88.37, Z:0.69 [[ 5.33365439e-01 -8.45882268e-01 -2.12069824e-03 1.95503776e+02] [ 8.45873551e-01 5.33369593e-01 -3.84874229e-03 8.83681843e+01] [ 4.38669882e-03 2.58943573e-04 9.99990345e-01 6.93322208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67140051299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:195.51, Y:88.39, Z:0.69 [[ 5.34211495e-01 -8.45349532e-01 -1.49930676e-03 1.95514156e+02] [ 8.45345169e-01 5.34213566e-01 -2.72237817e-03 8.83931207e+01] [ 3.10231112e-03 1.86893983e-04 9.99995170e-01 6.92770675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:88.42, Z:0.69 [[ 5.35534586e-01 -8.44511843e-01 -1.56652056e-03 1.95522687e+02] [ 8.44507071e-01 5.35536840e-01 -2.84605592e-03 8.84177520e+01] [ 3.24245740e-03 2.01223687e-04 9.99994723e-01 6.92752794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:88.44, Z:0.69 [[ 5.35693188e-01 -8.44409913e-01 -2.16954516e-03 1.95533764e+02] [ 8.44400750e-01 5.35697508e-01 -3.94379859e-03 8.84426127e+01] [ 4.49240256e-03 2.80700483e-04 9.99989870e-01 6.92714074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:88.47, Z:0.69 [[ 5.35487866e-01 -8.44538968e-01 -2.58391070e-03 1.95544267e+02] [ 8.44525959e-01 5.35493996e-01 -4.69952598e-03 8.84664842e+01] [ 5.35260149e-03 3.34359480e-04 9.99985619e-01 6.92398973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:88.49, Z:0.69 [[ 5.34758436e-01 -8.45000465e-01 -2.76212803e-03 1.95554820e+02] [ 8.44985590e-01 5.34765452e-01 -5.02635331e-03 8.84907034e+01] [ 5.72436153e-03 3.53926448e-04 9.99983553e-01 6.93038465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:88.51, Z:0.69 [[ 5.32187897e-01 -8.46622895e-01 -2.39100392e-03 1.95564395e+02] [ 8.46611753e-01 5.32193187e-01 -4.35336354e-03 8.85148017e+01] [ 4.95813324e-03 2.92555362e-04 9.99987666e-01 6.94514199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:88.54, Z:0.69 [[ 5.32036165e-01 -8.46718257e-01 -2.39018358e-03 1.95577131e+02] [ 8.46707114e-01 5.32041453e-01 -4.35381398e-03 8.85384510e+01] [ 4.95813053e-03 2.92601055e-04 9.99987666e-01 6.94536005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.59, Y:88.56, Z:0.70 [[ 5.30657876e-01 -8.47584078e-01 -1.85694044e-03 1.95589264e+02] [ 8.47577351e-01 5.30661079e-01 -3.38414625e-03 8.85623731e+01] [ 3.85375450e-03 2.21923197e-04 9.99992550e-01 6.95108527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:88.59, Z:0.69 [[ 5.29352089e-01 -8.48401396e-01 -1.19872104e-03 1.95601162e+02] [ 8.48398592e-01 5.29353428e-01 -2.18561991e-03 8.85858976e+01] [ 2.48883007e-03 1.39969218e-04 9.99996893e-01 6.94906014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:88.61, Z:0.69 [[ 5.28415106e-01 -8.48985694e-01 -8.75992253e-04 1.95613477e+02] [ 8.48984196e-01 5.28415822e-01 -1.59791083e-03 8.86101021e+01] [ 1.81949160e-03 1.00656640e-04 9.99998340e-01 6.94317543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:88.63, Z:0.69 [[ 5.27380806e-01 -8.49627620e-01 -1.54661081e-03 1.95625498e+02] [ 8.49622949e-01 5.27383045e-01 -2.82288256e-03 8.86341836e+01] [ 3.21405531e-03 1.74698037e-04 9.99994820e-01 6.93342864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:88.66, Z:0.69 [[ 5.27430542e-01 -8.49595234e-01 -2.22750474e-03 1.95637980e+02] [ 8.49585534e-01 5.27435185e-01 -4.06765918e-03 8.86567327e+01] [ 4.63072823e-03 2.52951879e-04 9.99989246e-01 6.93068876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.65, Y:88.68, Z:0.69 [[ 5.27760337e-01 -8.49389186e-01 -2.65257333e-03 1.95650930e+02] [ 8.49375414e-01 5.27766915e-01 -4.84659897e-03 8.86789965e+01] [ 5.51658920e-03 3.04812138e-04 9.99984737e-01 6.93890791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:88.70, Z:0.69 [[ 5.28153351e-01 -8.49145929e-01 -2.28660710e-03 1.95663544e+02] [ 8.49135682e-01 5.28158234e-01 -4.18013927e-03 8.87025607e+01] [ 4.75723861e-03 2.66114881e-04 9.99988649e-01 6.94334006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:88.73, Z:0.69 [[ 5.28755911e-01 -8.48771532e-01 -2.01841761e-03 1.95676347e+02] [ 8.48763536e-01 5.28759709e-01 -3.69180674e-03 8.87260403e+01] [ 4.20075837e-03 2.38905372e-04 9.99991148e-01 6.93799153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:88.75, Z:0.69 [[ 5.29121120e-01 -8.48543826e-01 -2.05300661e-03 1.95689564e+02] [ 8.48535544e-01 5.29125046e-01 -3.75711079e-03 8.87484709e+01] [ 4.27437038e-03 2.45917590e-04 9.99990835e-01 6.93643615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:88.77, Z:0.69 [[ 5.28399221e-01 -8.48993931e-01 -1.88907373e-03 1.95704500e+02] [ 8.48986914e-01 5.28402550e-01 -3.45900758e-03 8.87688742e+01] [ 3.93486782e-03 2.23938031e-04 9.99992233e-01 6.92623545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:88.79, Z:0.69 [[ 5.27516404e-01 -8.49542716e-01 -1.90164882e-03 1.95718022e+02] [ 8.49535602e-01 5.27519785e-01 -3.48397555e-03 8.87900227e+01] [ 3.96294343e-03 2.22335886e-04 9.99992123e-01 6.92372394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:88.81, Z:0.69 [[ 5.26966663e-01 -8.49883754e-01 -1.93427314e-03 1.95732935e+02] [ 8.49876387e-01 5.26970165e-01 -3.54567558e-03 8.88124348e+01] [ 4.03271630e-03 2.24559757e-04 9.99991843e-01 6.92285781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:88.83, Z:0.69 [[ 5.26675078e-01 -8.50063678e-01 -2.25959970e-03 1.95748255e+02] [ 8.50053616e-01 5.26679860e-01 -4.14431390e-03 8.88345666e+01] [ 4.71301637e-03 2.61925946e-04 9.99988859e-01 6.92559068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:88.85, Z:0.69 [[ 5.26459739e-01 -8.50196025e-01 -2.61977464e-03 1.95765799e+02] [ 8.50182486e-01 5.26466169e-01 -4.80761444e-03 8.88549600e+01] [ 5.46663740e-03 3.03728926e-04 9.99985012e-01 6.92872625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:88.88, Z:0.69 [[ 5.26655835e-01 -8.50073974e-01 -2.80528182e-03 1.95780217e+02] [ 8.50058431e-01 5.26663204e-01 -5.15102947e-03 8.88759106e+01] [ 5.85619481e-03 3.28166263e-04 9.99982799e-01 6.92902213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:88.90, Z:0.69 [[ 5.26894964e-01 -8.49924937e-01 -3.04933413e-03 1.95794596e+02] [ 8.49906550e-01 5.26903664e-01 -5.60221546e-03 8.88970519e+01] [ 6.36816795e-03 3.60130066e-04 9.99979658e-01 6.92678215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:88.92, Z:0.69 [[ 5.27192775e-01 -8.49739526e-01 -3.24269469e-03 1.95809532e+02] [ 8.49718708e-01 5.27202606e-01 -5.96066673e-03 8.89185152e+01] [ 6.77457121e-03 3.87042095e-04 9.99976977e-01 6.92661706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:88.94, Z:0.69 [[ 5.28331024e-01 -8.49032050e-01 -3.30249579e-03 1.95828831e+02] [ 8.49010421e-01 5.28341190e-01 -6.07384125e-03 8.89382765e+01] [ 6.90173044e-03 4.05145426e-04 9.99976101e-01 6.92985429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:88.96, Z:0.69 [[ 5.29202989e-01 -8.48489546e-01 -3.11231623e-03 1.95844453e+02] [ 8.48470307e-01 5.29211997e-01 -5.72722021e-03 8.89590861e+01] [ 6.50656156e-03 3.90154150e-04 9.99978756e-01 6.92964700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:88.98, Z:0.69 [[ 5.32173572e-01 -8.46629213e-01 -3.20378864e-03 1.95864475e+02] [ 8.46608771e-01 5.32183045e-01 -5.89873142e-03 8.89785090e+01] [ 6.69904033e-03 4.26793407e-04 9.99977470e-01 6.93656803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:89.00, Z:0.69 [[ 5.33957140e-01 -8.45505312e-01 -3.24663586e-03 1.95879276e+02] [ 8.45484281e-01 5.33966822e-01 -5.98024417e-03 8.89992099e+01] [ 6.78992404e-03 4.48214488e-04 9.99976848e-01 6.94009653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:89.02, Z:0.69 [[ 5.35917207e-01 -8.44264977e-01 -3.06535264e-03 1.95893782e+02] [ 8.44246191e-01 5.35925793e-01 -5.64916987e-03 8.90217389e+01] [ 6.41219782e-03 4.39575047e-04 9.99979345e-01 6.94196024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:89.04, Z:0.69 [[ 5.37777579e-01 -8.43082278e-01 -2.74737342e-03 1.95907231e+02] [ 8.43067157e-01 5.37784442e-01 -5.06581629e-03 8.90441836e+01] [ 5.74839462e-03 4.08062120e-04 9.99983395e-01 6.93943701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:89.07, Z:0.69 [[ 5.41375154e-01 -8.40778969e-01 -1.91539567e-03 1.95921234e+02] [ 8.40771598e-01 5.41378458e-01 -3.53358962e-03 8.90651364e+01] [ 4.00792179e-03 3.02587344e-04 9.99991922e-01 6.93786877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:89.09, Z:0.69 [[ 5.42651589e-01 -8.39956588e-01 -1.47787833e-03 1.95935074e+02] [ 8.39952192e-01 5.42653549e-01 -2.72784978e-03 8.90869131e+01] [ 3.09325131e-03 2.38924876e-04 9.99995187e-01 6.93867226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:89.11, Z:0.69 [[ 5.43557615e-01 -8.39370776e-01 -1.34917205e-03 1.95949333e+02] [ 8.39367107e-01 5.43559244e-01 -2.49158465e-03 8.91094830e+01] [ 2.82471828e-03 2.21869172e-04 9.99995986e-01 6.94158606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:89.13, Z:0.69 [[ 5.43702609e-01 -8.39276809e-01 -1.38241548e-03 1.95963158e+02] [ 8.39272953e-01 5.43704318e-01 -2.55433533e-03 8.91318070e+01] [ 2.89541967e-03 2.28574855e-04 9.99995782e-01 6.94474298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.98, Y:89.15, Z:0.69 [[ 5.42922637e-01 -8.39780462e-01 -1.94576647e-03 1.95977248e+02] [ 8.39772817e-01 5.42926030e-01 -3.59733298e-03 8.91537700e+01] [ 4.07737722e-03 3.19071722e-04 9.99991637e-01 6.94091034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:89.18, Z:0.69 [[ 5.41697894e-01 -8.40570362e-01 -2.20406237e-03 1.95989342e+02] [ 8.40560549e-01 5.41702261e-01 -4.07718714e-03 8.91763614e+01] [ 4.62110824e-03 3.55955808e-04 9.99989259e-01 6.93672874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:89.20, Z:0.69 [[ 5.40259301e-01 -8.41495230e-01 -2.38029335e-03 1.96001779e+02] [ 8.41483782e-01 5.40264413e-01 -4.40558136e-03 8.91998514e+01] [ 4.99326349e-03 3.77178051e-04 9.99987462e-01 6.93128558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:89.22, Z:0.69 [[ 5.37184279e-01 -8.43462680e-01 -1.93821354e-03 1.96014623e+02] [ 8.43455095e-01 5.37187696e-01 -3.58926213e-03 8.92215748e+01] [ 4.06859312e-03 2.93299107e-04 9.99991680e-01 6.92721851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:89.24, Z:0.69 [[ 5.35543547e-01 -8.44505888e-01 -1.70691809e-03 1.96027733e+02] [ 8.44500004e-01 5.35546208e-01 -3.16257468e-03 8.92448483e+01] [ 3.58494645e-03 2.52204127e-04 9.99993542e-01 6.92565189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:89.27, Z:0.69 [[ 5.33735802e-01 -8.45649494e-01 -1.73989633e-03 1.96041017e+02] [ 8.45643380e-01 5.33738579e-01 -3.22531487e-03 8.92684730e+01] [ 3.65613568e-03 2.50134201e-04 9.99993285e-01 6.92514791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:89.29, Z:0.69 [[ 5.29770499e-01 -8.48138750e-01 -1.96934121e-03 1.96054550e+02] [ 8.48130927e-01 5.29774093e-01 -3.65259849e-03 8.92913159e+01] [ 4.14121627e-03 2.64779745e-04 9.99991390e-01 6.92062140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.07, Y:89.31, Z:0.69 [[ 5.27819068e-01 -8.49354128e-01 -2.14396571e-03 1.96067445e+02] [ 8.49344855e-01 5.27823348e-01 -3.97870200e-03 8.93129074e+01] [ 4.51096213e-03 2.79068535e-04 9.99989787e-01 6.91747432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:89.34, Z:0.69 [[ 5.26298849e-01 -8.50296737e-01 -2.23174200e-03 1.96081155e+02] [ 8.50286687e-01 5.26303504e-01 -4.14385571e-03 8.93354791e+01] [ 4.69808063e-03 2.83285975e-04 9.99988924e-01 6.92048397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:89.36, Z:0.69 [[ 5.25456036e-01 -8.50818474e-01 -1.96961281e-03 1.96094076e+02] [ 8.50810643e-01 5.25459669e-01 -3.65874271e-03 8.93571405e+01] [ 4.14787798e-03 2.46740894e-04 9.99991367e-01 6.92760907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:89.38, Z:0.69 [[ 5.25586583e-01 -8.50738081e-01 -1.86025538e-03 1.96108005e+02] [ 8.50731088e-01 5.25589823e-01 -3.45738735e-03 8.93796971e+01] [ 3.91906237e-03 2.34579319e-04 9.99992293e-01 6.93898436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:89.40, Z:0.69 [[ 5.26046614e-01 -8.50452923e-01 -2.18756520e-03 1.96120340e+02] [ 8.50443239e-01 5.26051088e-01 -4.06808307e-03 8.94014041e+01] [ 4.61048419e-03 2.79601290e-04 9.99989333e-01 6.94777535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:89.42, Z:0.69 [[ 5.26435692e-01 -8.50210369e-01 -2.79113011e-03 1.96133678e+02] [ 8.50194583e-01 5.26442967e-01 -5.19351124e-03 8.94228908e+01] [ 5.88494792e-03 3.61045981e-04 9.99982618e-01 6.94789808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:89.44, Z:0.69 [[ 5.26298011e-01 -8.50291894e-01 -3.75486975e-03 1.96150631e+02] [ 8.50263296e-01 5.26311181e-01 -6.99063973e-03 8.94442550e+01] [ 7.92031422e-03 4.86531862e-04 9.99968515e-01 6.94912917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:89.47, Z:0.69 [[ 5.26223842e-01 -8.50335924e-01 -4.15745025e-03 1.96163968e+02] [ 8.50300836e-01 5.26239988e-01 -7.74354937e-03 8.94659258e+01] [ 8.77243478e-03 5.39756881e-04 9.99961376e-01 6.94877986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.18, Y:89.49, Z:0.69 [[ 5.26382575e-01 -8.50236634e-01 -4.36473432e-03 1.96176669e+02] [ 8.50197916e-01 5.26400361e-01 -8.13407014e-03 8.94878458e+01] [ 9.21348214e-03 5.70744759e-04 9.99957392e-01 6.94560317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:89.51, Z:0.69 [[ 5.27075275e-01 -8.49806860e-01 -4.46703608e-03 1.96190430e+02] [ 8.49766249e-01 5.27093870e-01 -8.32917070e-03 8.95109071e+01] [ 9.43273373e-03 5.94163446e-04 9.99955334e-01 6.94494893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:89.53, Z:0.70 [[ 5.29491196e-01 -8.48308179e-01 -3.50811588e-03 1.96205862e+02] [ 8.48283074e-01 5.29502591e-01 -6.54462688e-03 8.95331105e+01] [ 7.40941696e-03 4.89446993e-04 9.99972430e-01 6.95850678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:89.56, Z:0.70 [[ 5.31034077e-01 -8.47345758e-01 -2.82407980e-03 1.96218319e+02] [ 8.47329458e-01 5.31041431e-01 -5.27138358e-03 8.95557563e+01] [ 5.96638789e-03 4.06358313e-04 9.99982118e-01 6.96505505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:89.58, Z:0.70 [[ 5.33030447e-01 -8.46092328e-01 -2.51309525e-03 1.96230579e+02] [ 8.46079393e-01 5.33036239e-01 -4.69339106e-03 8.95794511e+01] [ 5.31061301e-03 3.75442232e-04 9.99985828e-01 6.96688609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:89.60, Z:0.70 [[ 5.35275578e-01 -8.44673241e-01 -2.67797713e-03 1.96242341e+02] [ 8.44658521e-01 5.35282115e-01 -5.00411845e-03 8.96014194e+01] [ 5.66031821e-03 4.16606191e-04 9.99983894e-01 6.95820329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:196.26, Y:89.62, Z:0.69 [[ 5.39323003e-01 -8.42091768e-01 -3.48597364e-03 1.96257117e+02] [ 8.42066745e-01 5.39333957e-01 -6.51758603e-03 8.96236633e+01] [ 7.36850951e-03 5.79661592e-04 9.99972684e-01 6.94688748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:89.65, Z:0.69 [[ 5.40263233e-01 -8.41489641e-01 -3.28990790e-03 1.96270071e+02] [ 8.41467319e-01 5.40272963e-01 -6.15440633e-03 8.96453086e+01] [ 6.95631746e-03 5.56649479e-04 9.99975650e-01 6.94955335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:89.67, Z:0.69 [[ 5.40623408e-01 -8.41260495e-01 -2.66637862e-03 1.96282737e+02] [ 8.41245816e-01 5.40629792e-01 -4.99054591e-03 8.96679540e+01] [ 5.63987284e-03 4.54926085e-04 9.99983992e-01 6.94977139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:89.69, Z:0.70 [[ 5.40270417e-01 -8.41489045e-01 -2.01558531e-03 1.96294879e+02] [ 8.41480650e-01 5.40274068e-01 -3.77444628e-03 8.96907273e+01] [ 4.26512367e-03 3.43145630e-04 9.99990845e-01 6.95601286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:89.71, Z:0.69 [[ 5.38232553e-01 -8.42795015e-01 -1.51044258e-03 1.96307495e+02] [ 8.42790301e-01 5.38234614e-01 -2.82994910e-03 8.97122447e+01] [ 3.19803947e-03 2.50184372e-04 9.99994855e-01 6.94609324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:89.74, Z:0.69 [[ 5.36924623e-01 -8.43628326e-01 -1.78795129e-03 1.96320720e+02] [ 8.43621718e-01 5.36927521e-01 -3.35171497e-03 8.97355482e+01] [ 3.78760194e-03 2.91263763e-04 9.99992785e-01 6.93971703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.33, Y:89.76, Z:0.69 [[ 5.35625947e-01 -8.44452508e-01 -2.19234879e-03 1.96333531e+02] [ 8.44442569e-01 5.35630318e-01 -4.11203084e-03 8.97591827e+01] [ 4.64670324e-03 3.51197773e-04 9.99989142e-01 6.93777066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:89.78, Z:0.69 [[ 5.33571452e-01 -8.45750524e-01 -2.74891075e-03 1.96344473e+02] [ 8.45734899e-01 5.33578361e-01 -5.15877082e-03 8.97832732e+01] [ 5.82979242e-03 4.27723076e-04 9.99982915e-01 6.94496140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:89.81, Z:0.69 [[ 5.32656848e-01 -8.46326816e-01 -2.75728804e-03 1.96355226e+02] [ 8.46311086e-01 5.32663816e-01 -5.17731187e-03 8.98069991e+01] [ 5.85040544e-03 4.24207186e-04 9.99982796e-01 6.94723410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:89.83, Z:0.70 [[ 5.31934439e-01 -8.46782044e-01 -2.43377420e-03 1.96366250e+02] [ 8.46769780e-01 5.31939877e-01 -4.57240901e-03 8.98295162e+01] [ 5.16645539e-03 3.71375376e-04 9.99986585e-01 6.95187381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.38, Y:89.85, Z:0.70 [[ 5.30946823e-01 -8.47402056e-01 -2.28605158e-03 1.96378728e+02] [ 8.47391231e-01 5.30951633e-01 -4.29714644e-03 8.98531645e+01] [ 4.85519355e-03 3.44376187e-04 9.99988154e-01 6.95859913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:89.88, Z:0.70 [[ 5.28810966e-01 -8.48735861e-01 -2.53004854e-03 1.96392118e+02] [ 8.48722602e-01 5.28816889e-01 -4.75843622e-03 8.98752977e+01] [ 5.37658786e-03 3.69003873e-04 9.99985478e-01 6.95583402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.41, Y:89.90, Z:0.70 [[ 5.27536738e-01 -8.49526981e-01 -2.98304986e-03 1.96405259e+02] [ 8.49508542e-01 5.27544999e-01 -5.61350060e-03 8.98980915e+01] [ 6.34251326e-03 4.27201455e-04 9.99979795e-01 6.95285671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:89.92, Z:0.70 [[ 5.26220391e-01 -8.50319657e-01 -6.96993886e-03 1.96420868e+02] [ 8.50324934e-01 5.26248965e-01 -3.08755306e-03 8.99180429e+01] [ 6.29333017e-03 -4.30197942e-03 9.99970943e-01 6.96628370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:89.95, Z:0.69 [[ 5.24887348e-01 -8.51171679e-01 2.13599586e-04 1.96426389e+02] [ 8.51133646e-01 5.24861488e-01 -9.58828101e-03 8.99455168e+01] [ 8.04916304e-03 5.21456918e-03 9.99954009e-01 6.93036701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:89.97, Z:0.69 [[ 5.24680394e-01 -8.51290255e-01 -3.92239754e-03 1.96442346e+02] [ 8.51258325e-01 5.24694778e-01 -7.39289411e-03 8.99674803e+01] [ 8.35156021e-03 5.39933041e-04 9.99964979e-01 6.94598040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:89.99, Z:0.69 [[ 5.24583006e-01 -8.51349374e-01 -4.11251793e-03 1.96454630e+02] [ 8.51314239e-01 5.24598820e-01 -7.75535005e-03 8.99902855e+01] [ 8.75993446e-03 5.67279777e-04 9.99961470e-01 6.94432937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.47, Y:90.01, Z:0.69 [[ 5.24832756e-01 -8.51195861e-01 -4.02305922e-03 1.96466964e+02] [ 8.51162197e-01 5.24847876e-01 -7.59085378e-03 9.00128776e+01] [ 8.57279741e-03 5.59652782e-04 9.99963096e-01 6.94627460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:90.04, Z:0.70 [[ 5.26196393e-01 -8.50356214e-01 -3.41545589e-03 1.96478758e+02] [ 8.50331908e-01 5.26207251e-01 -6.44791024e-03 9.00351792e+01] [ 7.28025820e-03 4.88595990e-04 9.99973379e-01 6.95428114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:90.06, Z:0.70 [[ 5.27128581e-01 -8.49778885e-01 -3.36232385e-03 1.96489862e+02] [ 8.49755293e-01 5.27139076e-01 -6.35106977e-03 9.00579930e+01] [ 7.16941728e-03 4.90677909e-04 9.99974179e-01 6.95975872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.50, Y:90.08, Z:0.70 [[ 5.28289505e-01 -8.49058048e-01 -3.26035481e-03 1.96500970e+02] [ 8.49035829e-01 5.28299341e-01 -6.16168449e-03 9.00819371e+01] [ 6.95407110e-03 4.86995198e-04 9.99975702e-01 6.95874243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:90.11, Z:0.70 [[ 5.29250251e-01 -8.48459589e-01 -3.24000904e-03 1.96511971e+02] [ 8.48437612e-01 5.29259939e-01 -6.12657929e-03 9.01062381e+01] [ 6.91296193e-03 4.93548095e-04 9.99975983e-01 6.95401089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:90.13, Z:0.69 [[ 5.30436319e-01 -8.47719666e-01 -2.94616796e-03 1.96521328e+02] [ 8.47701464e-01 5.30444302e-01 -5.57409241e-03 9.01305430e+01] [ 6.28804576e-03 4.59230163e-04 9.99980125e-01 6.94849505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.53, Y:90.15, Z:0.69 [[ 5.30129960e-01 -8.47911653e-01 -2.83794417e-03 1.96531820e+02] [ 8.47894753e-01 5.30137372e-01 -5.37170775e-03 9.01542229e+01] [ 6.05923386e-03 4.41425239e-04 9.99981545e-01 6.94799818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:90.18, Z:0.69 [[ 5.28908626e-01 -8.48673441e-01 -3.00923585e-03 1.96542644e+02] [ 8.48654431e-01 5.28916986e-01 -5.69894630e-03 9.01785118e+01] [ 6.42818033e-03 4.60420516e-04 9.99979233e-01 6.94907741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:90.20, Z:0.69 [[ 5.24533926e-01 -8.51383104e-01 -3.31232658e-03 1.96555040e+02] [ 8.51360100e-01 5.24544172e-01 -6.27637784e-03 9.02019554e+01] [ 7.08106364e-03 4.72190422e-04 9.99974817e-01 6.94859831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:90.22, Z:0.70 [[ 5.21380748e-01 -8.53317622e-01 -3.33930575e-03 1.96568986e+02] [ 8.53294256e-01 5.21391247e-01 -6.33098299e-03 9.02248301e+01] [ 7.14342414e-03 4.51442236e-04 9.99974384e-01 6.95571490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:90.25, Z:0.70 [[ 5.17802769e-01 -8.55495199e-01 -2.87362851e-03 1.96582028e+02] [ 8.55477909e-01 5.17810614e-01 -5.45116992e-03 9.02468486e+01] [ 6.15144504e-03 3.64305164e-04 9.99981013e-01 6.95761589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.60, Y:90.27, Z:0.70 [[ 5.14290607e-01 -8.57612840e-01 -2.32118929e-03 1.96595189e+02] [ 8.57601568e-01 5.14295772e-01 -4.40553627e-03 9.02700890e+01] [ 4.97202231e-03 2.75070347e-04 9.99987602e-01 6.96088301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:90.29, Z:0.70 [[ 5.09471281e-01 -8.60485613e-01 -1.87689501e-03 1.96610082e+02] [ 8.60478255e-01 5.09474699e-01 -3.56420452e-03 9.02912293e+01] [ 4.02317723e-03 2.00832500e-04 9.99991887e-01 6.96584717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:90.31, Z:0.70 [[ 5.08322069e-01 -8.61164769e-01 -1.97885887e-03 1.96624890e+02] [ 8.61156585e-01 5.08325878e-01 -3.75995329e-03 9.03130038e+01] [ 4.24384448e-03 2.07159890e-04 9.99990973e-01 6.96405284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:90.33, Z:0.70 [[ 5.08093235e-01 -8.61299702e-01 -2.02188836e-03 1.96639511e+02] [ 8.61291151e-01 5.08097214e-01 -3.84386119e-03 9.03346013e+01] [ 4.33803234e-03 2.11605319e-04 9.99990568e-01 6.96422206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:90.36, Z:0.70 [[ 5.10121473e-01 -8.60100702e-01 -1.69280660e-03 1.96653736e+02] [ 8.60094695e-01 5.10124248e-01 -3.22003006e-03 9.03553299e+01] [ 3.63309181e-03 1.86632504e-04 9.99993383e-01 6.96886486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:90.38, Z:0.70 [[ 5.11931961e-01 -8.59023801e-01 -1.94324296e-03 1.96666342e+02] [ 8.59015868e-01 5.11935600e-01 -3.69858102e-03 9.03779016e+01] [ 4.17198438e-03 2.24145297e-04 9.99991272e-01 6.96957843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:90.40, Z:0.70 [[ 5.13922767e-01 -8.57833324e-01 -2.31921477e-03 1.96679024e+02] [ 8.57821999e-01 5.13927923e-01 -4.41673875e-03 9.04006593e+01] [ 4.98073491e-03 2.80389152e-04 9.99987557e-01 6.96602440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:90.42, Z:0.70 [[ 5.17062605e-01 -8.55944132e-01 -2.43000268e-03 1.96692736e+02] [ 8.55931665e-01 5.17068220e-01 -4.63044873e-03 9.04220337e+01] [ 5.21988258e-03 3.14315645e-04 9.99986327e-01 6.95799140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:90.44, Z:0.70 [[ 5.17911133e-01 -8.55431594e-01 -2.20155930e-03 1.96705468e+02] [ 8.55421347e-01 5.17915730e-01 -4.19705060e-03 9.04442547e+01] [ 4.73051187e-03 2.90438411e-04 9.99988769e-01 6.95530267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:90.47, Z:0.70 [[ 5.17951179e-01 -8.55407144e-01 -2.27898155e-03 1.96718674e+02] [ 8.55396155e-01 5.17956105e-01 -4.34651506e-03 9.04660212e+01] [ 4.89845244e-03 3.01850544e-04 9.99987957e-01 6.95454488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:90.49, Z:0.70 [[ 5.16756297e-01 -8.56128251e-01 -2.71068486e-03 1.96734728e+02] [ 8.56112697e-01 5.16763286e-01 -5.17261012e-03 9.04870551e+01] [ 5.82920007e-03 3.52327118e-04 9.99982948e-01 6.95519372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:90.51, Z:0.70 [[ 5.16263346e-01 -8.56425460e-01 -2.75484852e-03 1.96748651e+02] [ 8.56409382e-01 5.16270574e-01 -5.25972833e-03 9.05100632e+01] [ 5.92681248e-03 3.56126827e-04 9.99982373e-01 6.95421482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:90.53, Z:0.70 [[ 5.16544994e-01 -8.56256425e-01 -2.49073963e-03 1.96761018e+02] [ 8.56243267e-01 5.16550896e-01 -4.75811177e-03 9.05318484e+01] [ 5.36075757e-03 3.25099774e-04 9.99985578e-01 6.95450710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:90.55, Z:0.70 [[ 5.19230105e-01 -8.54631458e-01 -2.27354648e-03 1.96773384e+02] [ 8.54620467e-01 5.19234988e-01 -4.34555910e-03 9.05547292e+01] [ 4.89435639e-03 3.13325755e-04 9.99987973e-01 6.95585358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:90.58, Z:0.70 [[ 5.20945137e-01 -8.53586502e-01 -2.49946816e-03 1.96785188e+02] [ 8.53573192e-01 5.20951011e-01 -4.78012552e-03 9.05768764e+01] [ 5.38235109e-03 3.56704127e-04 9.99985451e-01 6.95893193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:90.60, Z:0.70 [[ 5.22291926e-01 -8.52762423e-01 -2.71919393e-03 1.96797662e+02] [ 8.52746642e-01 5.22298852e-01 -5.20323723e-03 9.05998423e+01] [ 5.85735706e-03 3.98825302e-04 9.99982766e-01 6.95934974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.81, Y:90.62, Z:0.70 [[ 5.23198558e-01 -8.52206360e-01 -2.75494279e-03 1.96809499e+02] [ 8.52190136e-01 5.23205649e-01 -5.27463641e-03 9.06221966e+01] [ 5.93648032e-03 4.11947093e-04 9.99982294e-01 6.96105400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:90.65, Z:0.70 [[ 5.23786164e-01 -8.51845972e-01 -2.54841620e-03 1.96820741e+02] [ 8.51832071e-01 5.23792221e-01 -4.88178196e-03 9.06457862e+01] [ 5.49336688e-03 3.86187199e-04 9.99984837e-01 6.95927222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:90.67, Z:0.70 [[ 5.23681023e-01 -8.51912030e-01 -2.01963082e-03 1.96829028e+02] [ 8.51903291e-01 5.23684828e-01 -3.87080477e-03 9.06714989e+01] [ 4.35523517e-03 3.06536862e-04 9.99990469e-01 6.96097604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.84, Y:90.70, Z:0.70 [[ 5.22717067e-01 -8.52504082e-01 -1.91265394e-03 1.96839008e+02] [ 8.52496240e-01 5.22720488e-01 -3.66778659e-03 9.06955919e+01] [ 4.12658644e-03 2.86684353e-04 9.99991445e-01 6.96641615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:90.72, Z:0.70 [[ 5.21458953e-01 -8.53274629e-01 -1.72269560e-03 1.96848804e+02] [ 8.53268266e-01 5.21461737e-01 -3.30503495e-03 9.07187567e+01] [ 3.71842231e-03 2.53518575e-04 9.99993055e-01 6.96400391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:90.74, Z:0.70 [[ 5.17667091e-01 -8.55581105e-01 -1.32509633e-03 1.96858961e+02] [ 8.55577344e-01 5.17668755e-01 -2.54347222e-03 9.07435837e+01] [ 2.86210774e-03 1.82949466e-04 9.99995887e-01 6.96648061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:90.77, Z:0.70 [[ 5.15664887e-01 -8.56789672e-01 -1.08711466e-03 1.96870051e+02] [ 8.56787141e-01 5.15666013e-01 -2.08777967e-03 9.07669884e+01] [ 2.34937614e-03 1.45168806e-04 9.99997230e-01 6.96407848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:90.79, Z:0.70 [[ 5.14042652e-01 -8.57763946e-01 -1.07986339e-03 1.96881609e+02] [ 8.57761447e-01 5.14043767e-01 -2.07500465e-03 9.07911132e+01] [ 2.33496123e-03 1.40375706e-04 9.99997264e-01 6.96323406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:90.82, Z:0.70 [[ 5.11286878e-01 -8.59408576e-01 -1.62085723e-03 1.96891475e+02] [ 8.59402949e-01 5.11289408e-01 -3.11645213e-03 9.08155052e+01] [ 3.50703282e-03 2.00431594e-04 9.99993830e-01 6.95778912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:90.84, Z:0.70 [[ 5.10019606e-01 -8.60160643e-01 -1.91568261e-03 1.96901817e+02] [ 8.60152779e-01 5.10023151e-01 -3.68547968e-03 9.08387547e+01] [ 4.14714705e-03 2.31887179e-04 9.99991374e-01 6.95138114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:90.86, Z:0.69 [[ 5.08865310e-01 -8.60843912e-01 -1.96351069e-03 1.96912568e+02] [ 8.60835646e-01 5.08869045e-01 -3.77961728e-03 9.08634496e+01] [ 4.25283034e-03 2.33056121e-04 9.99990930e-01 6.94808579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.92, Y:90.89, Z:0.69 [[ 5.07836250e-01 -8.61452315e-01 -1.50098510e-03 1.96923577e+02] [ 8.61447482e-01 5.07838438e-01 -2.89080249e-03 9.08874948e+01] [ 3.25254642e-03 1.75034459e-04 9.99994695e-01 6.94590186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.94, Y:90.91, Z:0.69 [[ 5.06566653e-01 -8.62200228e-01 -9.96885180e-04 1.96935068e+02] [ 8.62198096e-01 5.06567621e-01 -1.92086676e-03 9.09116161e+01] [ 2.16116151e-03 1.13534539e-04 9.99997658e-01 6.94586858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:90.94, Z:0.69 [[ 5.06171884e-01 -8.62431617e-01 -1.31508584e-03 1.96946807e+02] [ 8.62427903e-01 5.06173570e-01 -2.53554093e-03 9.09353290e+01] [ 2.85239236e-03 1.49252801e-04 9.99995921e-01 6.94215704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:90.96, Z:0.69 [[ 5.06254415e-01 -8.62382361e-01 -1.76916064e-03 1.96958224e+02] [ 8.62375631e-01 5.06257466e-01 -3.41305766e-03 9.09586458e+01] [ 3.83901150e-03 2.02194488e-04 9.99992611e-01 6.93741831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:90.98, Z:0.69 [[ 5.08826270e-01 -8.60866649e-01 -2.10689928e-03 1.96969347e+02] [ 8.60857082e-01 5.08830568e-01 -4.06658609e-03 9.09817192e+01] [ 4.57284309e-03 2.55446669e-04 9.99989512e-01 6.94412319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:91.01, Z:0.69 [[ 5.10450723e-01 -8.59904831e-01 -1.93414648e-03 1.96980267e+02] [ 8.59896753e-01 5.10454330e-01 -3.73508448e-03 9.10063185e+01] [ 4.19911063e-03 2.43410293e-04 9.99991154e-01 6.94870954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:91.03, Z:0.69 [[ 5.11808030e-01 -8.59098186e-01 -1.68753128e-03 1.96990306e+02] [ 8.59092026e-01 5.11810765e-01 -3.26058705e-03 9.10311075e+01] [ 3.66486110e-03 2.19049968e-04 9.99993260e-01 6.94724834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.00, Y:91.06, Z:0.69 [[ 5.12768814e-01 -8.58525030e-01 -1.70751641e-03 1.97000583e+02] [ 8.58518714e-01 5.12771607e-01 -3.30107390e-03 9.10558917e+01] [ 3.70962050e-03 2.26752954e-04 9.99993094e-01 6.94891875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:91.08, Z:0.69 [[ 5.13277070e-01 -8.58220582e-01 -2.02029525e-03 1.97009509e+02] [ 8.58211727e-01 5.13280974e-01 -3.90813339e-03 9.10793455e+01] [ 4.39101963e-03 2.72114182e-04 9.99990322e-01 6.93727920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:91.10, Z:0.69 [[ 5.12905899e-01 -8.58441870e-01 -2.25696854e-03 1.97020341e+02] [ 8.58430808e-01 5.12910775e-01 -4.36850353e-03 9.11018879e+01] [ 4.90772983e-03 3.03179900e-04 9.99987911e-01 6.93376962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:91.12, Z:0.69 [[ 5.12031239e-01 -8.58963388e-01 -2.43087311e-03 1.97031715e+02] [ 8.58950547e-01 5.12036907e-01 -4.70779119e-03 9.11248259e+01] [ 5.28851702e-03 3.22536367e-04 9.99985964e-01 6.93233181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:91.15, Z:0.69 [[ 5.09693629e-01 -8.60352979e-01 -2.27061872e-03 1.97043639e+02] [ 8.60341777e-01 5.09698605e-01 -4.39984766e-03 9.11481442e+01] [ 4.94275323e-03 2.89066176e-04 9.99987743e-01 6.93888839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:91.17, Z:0.69 [[ 5.08312038e-01 -8.61170568e-01 -2.03095364e-03 1.97054718e+02] [ 8.61161603e-01 5.08316032e-01 -3.93766268e-03 9.11709496e+01] [ 4.42336550e-03 2.52582043e-04 9.99990185e-01 6.94507394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:91.19, Z:0.69 [[ 5.07081183e-01 -8.61896613e-01 -1.70352577e-03 1.97066308e+02] [ 8.61890303e-01 5.07084002e-01 -3.30465887e-03 9.11945522e+01] [ 3.71210495e-03 2.07477989e-04 9.99993089e-01 6.94807282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.08, Y:91.22, Z:0.69 [[ 5.05733427e-01 -8.62688192e-01 -1.66873830e-03 1.97077329e+02] [ 8.62682134e-01 5.05736141e-01 -3.23907529e-03 9.12177448e+01] [ 3.63825327e-03 1.98517927e-04 9.99993362e-01 6.94306390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:91.24, Z:0.69 [[ 5.05506632e-01 -8.62820417e-01 -1.99324424e-03 1.97089117e+02] [ 8.62811767e-01 5.05510506e-01 -3.87086952e-03 9.12405406e+01] [ 4.34747116e-03 2.36955629e-04 9.99990522e-01 6.93684550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.10, Y:91.26, Z:0.69 [[ 5.05310123e-01 -8.62934770e-01 -2.29389771e-03 1.97101460e+02] [ 8.62923302e-01 5.05315256e-01 -4.45717120e-03 9.12633373e+01] [ 5.00538952e-03 2.72795941e-04 9.99987436e-01 6.93066153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:91.29, Z:0.69 [[ 5.05312998e-01 -8.62932826e-01 -2.39022785e-03 1.97114158e+02] [ 8.62920361e-01 5.05318570e-01 -4.64694859e-03 9.12867564e+01] [ 5.21783099e-03 2.85587244e-04 9.99986346e-01 6.92915204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:91.31, Z:0.69 [[ 5.06055753e-01 -8.62497406e-01 -2.40829811e-03 1.97126640e+02] [ 8.62484735e-01 5.06061398e-01 -4.68423962e-03 9.13091277e+01] [ 5.25889123e-03 2.93366045e-04 9.99986129e-01 6.92881011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.14, Y:91.33, Z:0.69 [[ 5.06286166e-01 -8.62361032e-01 -2.78739206e-03 1.97139436e+02] [ 8.62344038e-01 5.06293723e-01 -5.42468430e-03 9.13320927e+01] [ 6.08927545e-03 3.42751689e-04 9.99981401e-01 6.93450989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:91.35, Z:0.69 [[ 5.06452745e-01 -8.62262988e-01 -2.85605693e-03 1.97152170e+02] [ 8.62245124e-01 5.06460675e-01 -5.56158359e-03 9.13547042e+01] [ 6.24202820e-03 3.54058119e-04 9.99980456e-01 6.93417775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:91.38, Z:0.69 [[ 5.06799592e-01 -8.62058820e-01 -2.96034279e-03 1.97166056e+02] [ 8.62039602e-01 5.06808102e-01 -5.76818643e-03 9.13763042e+01] [ 6.47284170e-03 3.71381812e-04 9.99978982e-01 6.93349017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:91.40, Z:0.69 [[ 5.07082079e-01 -8.61893235e-01 -2.79576600e-03 1.97178089e+02] [ 8.61876072e-01 5.07089662e-01 -5.45075820e-03 9.13982475e+01] [ 6.11567566e-03 3.54377980e-04 9.99981236e-01 6.93191486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:91.42, Z:0.69 [[ 5.06888264e-01 -8.62007238e-01 -2.79452676e-03 1.97189738e+02] [ 8.61990073e-01 5.06895843e-01 -5.45139363e-03 9.14215543e+01] [ 6.11567476e-03 3.54393129e-04 9.99981236e-01 6.93213049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.20, Y:91.44, Z:0.69 [[ 5.07110807e-01 -8.61876109e-01 -2.86393060e-03 1.97202070e+02] [ 8.61858058e-01 5.07118761e-01 -5.59013086e-03 9.14433522e+01] [ 6.27035317e-03 3.66514110e-04 9.99980274e-01 6.93189117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:91.46, Z:0.69 [[ 5.07033316e-01 -8.61922742e-01 -2.53033931e-03 1.97215193e+02] [ 8.61908637e-01 5.07039526e-01 -4.94179869e-03 9.14648408e+01] [ 5.54243072e-03 3.24735275e-04 9.99984588e-01 6.92848905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:91.48, Z:0.69 [[ 5.06042631e-01 -8.62505280e-01 -2.34475166e-03 1.97231526e+02] [ 8.62493160e-01 5.06047976e-01 -4.58196740e-03 9.14849970e+01] [ 5.13852791e-03 2.96338569e-04 9.99986754e-01 6.93717251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:91.51, Z:0.69 [[ 5.05402121e-01 -8.62880529e-01 -2.42664497e-03 1.97245101e+02] [ 8.62867538e-01 5.05407855e-01 -4.74465980e-03 9.15076442e+01] [ 5.32051998e-03 3.04087955e-04 9.99985800e-01 6.93426278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.26, Y:91.53, Z:0.69 [[ 5.05090333e-01 -8.63062285e-01 -2.69225565e-03 1.97258399e+02] [ 8.63046279e-01 5.05097395e-01 -5.26696521e-03 9.15305429e+01] [ 5.90557035e-03 3.36751995e-04 9.99982505e-01 6.93033339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:91.55, Z:0.69 [[ 5.05868790e-01 -8.62604784e-01 -3.12305853e-03 1.97271845e+02] [ 8.62583213e-01 5.05878273e-01 -6.11336375e-03 9.15520452e+01] [ 6.85330428e-03 3.98662063e-04 9.99976436e-01 6.93460446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:91.57, Z:0.69 [[ 5.07247247e-01 -8.61795275e-01 -3.02231956e-03 1.97283759e+02] [ 8.61775036e-01 5.07256094e-01 -5.91956732e-03 9.15744161e+01] [ 6.63454516e-03 3.98124674e-04 9.99977912e-01 6.94270963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:91.60, Z:0.69 [[ 5.09583477e-01 -8.60417268e-01 -2.60865406e-03 1.97295171e+02] [ 8.60402156e-01 5.09590027e-01 -5.11222635e-03 9.15968097e+01] [ 5.72799192e-03 3.60614499e-04 9.99983530e-01 6.94456625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:91.62, Z:0.69 [[ 5.16808416e-01 -8.56097602e-01 -2.44072707e-03 1.97306440e+02] [ 8.56084311e-01 5.16814037e-01 -4.78573287e-03 9.16206394e+01] [ 5.35845644e-03 3.83838867e-04 9.99985570e-01 6.94302340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:91.64, Z:0.69 [[ 5.20417401e-01 -8.53908130e-01 -2.57568375e-03 1.97317164e+02] [ 8.53893286e-01 5.20423597e-01 -5.05322215e-03 9.16436978e+01] [ 5.65543408e-03 4.30425681e-04 9.99983915e-01 6.93315926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.33, Y:91.67, Z:0.69 [[ 5.25448422e-01 -8.50821097e-01 -2.72336233e-03 1.97326289e+02] [ 8.50804444e-01 5.25455249e-01 -5.34589957e-03 9.16682392e+01] [ 5.97940916e-03 4.91945723e-04 9.99982002e-01 6.93265271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:91.69, Z:0.69 [[ 5.26664512e-01 -8.50069956e-01 -2.35845666e-03 1.97336491e+02] [ 8.50057447e-01 5.26669613e-01 -4.63206442e-03 9.16931611e+01] [ 5.17970625e-03 4.34720298e-04 9.99986491e-01 6.94070444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:91.72, Z:0.69 [[ 5.27414376e-01 -8.49606180e-01 -1.84792878e-03 1.97346321e+02] [ 8.49598490e-01 5.27417500e-01 -3.63126178e-03 9.17173104e+01] [ 4.05977243e-03 3.45182161e-04 9.99991700e-01 6.94834312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.36, Y:91.74, Z:0.70 [[ 5.27634045e-01 -8.49470592e-01 -1.42421934e-03 1.97355927e+02] [ 8.49466019e-01 5.27635899e-01 -2.80007672e-03 9.17414973e+01] [ 3.13005209e-03 2.67589871e-04 9.99995066e-01 6.95527043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:91.77, Z:0.70 [[ 5.27511644e-01 -8.49546933e-01 -1.21432528e-03 1.97365898e+02] [ 8.49543605e-01 5.27512992e-01 -2.38865536e-03 9.17665548e+01] [ 2.66984720e-03 2.28421241e-04 9.99996410e-01 6.95406224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:91.79, Z:0.69 [[ 5.26541205e-01 -8.50148127e-01 -1.58806569e-03 1.97371902e+02] [ 8.50142432e-01 5.26543517e-01 -3.12571093e-03 9.17919461e+01] [ 3.49350298e-03 2.95733572e-04 9.99993854e-01 6.94307035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:91.82, Z:0.69 [[ 5.25472489e-01 -8.50808274e-01 -1.98588062e-03 1.97380139e+02] [ 8.50799363e-01 5.25476115e-01 -3.91102637e-03 9.18165454e+01] [ 4.37106643e-03 3.65550797e-04 9.99990380e-01 6.94206321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20140051299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:197.39, Y:91.84, Z:0.69 [[ 5.24610256e-01 -8.51339152e-01 -2.39316084e-03 1.97388905e+02] [ 8.51326203e-01 5.24615533e-01 -4.71582500e-03 9.18412911e+01] [ 5.27025581e-03 4.36609628e-04 9.99986017e-01 6.93348742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:91.87, Z:0.69 [[ 5.20407216e-01 -8.53914963e-01 -2.35927550e-03 1.97397014e+02] [ 8.53902390e-01 5.20412406e-01 -4.65150830e-03 9.18671891e+01] [ 5.19978877e-03 4.06087492e-04 9.99986399e-01 6.94174970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:91.89, Z:0.69 [[ 5.17873856e-01 -8.55454874e-01 -1.90491007e-03 1.97406811e+02] [ 8.55446679e-01 5.17877263e-01 -3.75775475e-03 9.18907669e+01] [ 4.20109923e-03 3.16493955e-04 9.99991125e-01 6.94527507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:91.91, Z:0.69 [[ 5.15198603e-01 -8.57069078e-01 -1.73077551e-03 1.97416616e+02] [ 8.57062314e-01 5.15201436e-01 -3.41616465e-03 9.19139946e+01] [ 3.81958711e-03 2.76620790e-04 9.99992667e-01 6.94235675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:91.94, Z:0.69 [[ 5.09236757e-01 -8.60622640e-01 -2.56846132e-03 1.97427658e+02] [ 8.60607772e-01 5.09243097e-01 -5.07256395e-03 9.19378232e+01] [ 5.67353458e-03 3.72698242e-04 9.99983836e-01 6.93140618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:91.96, Z:0.69 [[ 5.06164897e-01 -8.62432276e-01 -2.76874515e-03 1.97440039e+02] [ 8.62415006e-01 5.06172326e-01 -5.47125477e-03 9.19606706e+01] [ 6.12004888e-03 3.81549744e-04 9.99981200e-01 6.92862843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.45, Y:91.98, Z:0.69 [[ 5.03261710e-01 -8.64130161e-01 -2.59160825e-03 1.97452327e+02] [ 8.64115034e-01 5.03268268e-01 -5.12424062e-03 9.19832183e+01] [ 5.73228507e-03 3.39386444e-04 9.99983513e-01 6.92534255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:92.01, Z:0.69 [[ 5.01320482e-01 -8.65257997e-01 -2.52427468e-03 1.97465400e+02] [ 8.65243644e-01 5.01326736e-01 -4.99398692e-03 9.20066007e+01] [ 5.58657350e-03 3.19475309e-04 9.99984344e-01 6.92561295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:92.03, Z:0.69 [[ 5.00210941e-01 -8.65900096e-01 -2.45727551e-03 1.97477301e+02] [ 8.65886487e-01 5.00216883e-01 -4.86434009e-03 9.20285325e+01] [ 5.44120325e-03 3.05474478e-04 9.99985150e-01 6.92593836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.49, Y:92.05, Z:0.69 [[ 5.00895999e-01 -8.65503214e-01 -2.71756893e-03 1.97490190e+02] [ 8.65486543e-01 5.00903253e-01 -5.38282557e-03 9.20513372e+01] [ 6.02009195e-03 3.44216452e-04 9.99981820e-01 6.92852259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:92.07, Z:0.69 [[ 5.01942107e-01 -8.64897028e-01 -2.69297419e-03 1.97502223e+02] [ 8.64880630e-01 5.01949209e-01 -5.33735287e-03 9.20737967e+01] [ 5.96799690e-03 3.49940929e-04 9.99982130e-01 6.92707712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:92.10, Z:0.69 [[ 5.03017829e-01 -8.64271683e-01 -2.74242375e-03 1.97514321e+02] [ 8.64254649e-01 5.03025172e-01 -5.43854984e-03 9.20972961e+01] [ 6.07989280e-03 3.65535058e-04 9.99981450e-01 6.92457183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:92.12, Z:0.69 [[ 5.04837585e-01 -8.63210251e-01 -2.66020145e-03 1.97526322e+02] [ 8.63194190e-01 5.04844459e-01 -5.27856761e-03 9.21204190e+01] [ 5.89950163e-03 3.68548885e-04 9.99982530e-01 6.92144836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:197.54, Y:92.14, Z:0.69 [[ 5.06171828e-01 -8.62427971e-01 -2.84156761e-03 1.97538673e+02] [ 8.62409612e-01 5.06179642e-01 -5.64189838e-03 9.21431474e+01] [ 6.30407465e-03 4.05174801e-04 9.99980047e-01 6.91435360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:92.17, Z:0.69 [[ 5.06416215e-01 -8.62282255e-01 -3.45398318e-03 1.97551131e+02] [ 8.62255094e-01 5.06427750e-01 -6.86203583e-03 9.21654242e+01] [ 7.66620466e-03 4.96831624e-04 9.99970491e-01 6.92715130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:92.19, Z:0.69 [[ 5.07223663e-01 -8.61803841e-01 -4.27727090e-03 1.97564272e+02] [ 8.61762123e-01 5.07241310e-01 -8.50269700e-03 9.21887558e+01] [ 9.49726543e-03 6.26779066e-04 9.99954704e-01 6.92905789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:92.21, Z:0.69 [[ 5.08070556e-01 -8.61305336e-01 -4.17471701e-03 1.97576558e+02] [ 8.61265532e-01 5.08087325e-01 -8.30382242e-03 9.22108778e+01] [ 9.27324735e-03 6.23387813e-04 9.99956808e-01 6.93332350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:92.23, Z:0.69 [[ 5.08017649e-01 -8.61340035e-01 -3.37824317e-03 1.97587404e+02] [ 8.61313948e-01 5.08028630e-01 -6.72262559e-03 9.22334520e+01] [ 7.50671081e-03 5.05484488e-04 9.99971697e-01 6.94184732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:92.26, Z:0.69 [[ 5.08039095e-01 -8.61329811e-01 -2.68975761e-03 1.97598755e+02] [ 8.61313257e-01 5.08046054e-01 -5.35536917e-03 9.22570683e+01] [ 5.97925985e-03 4.04013017e-04 9.99982042e-01 6.94602908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:92.28, Z:0.69 [[ 5.08426904e-01 -8.61102253e-01 -2.23453099e-03 1.97610256e+02] [ 8.61090814e-01 5.08431701e-01 -4.45147567e-03 9.22810420e+01] [ 4.96928213e-03 3.39115882e-04 9.99987596e-01 6.94716068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:92.30, Z:0.69 [[ 5.08665222e-01 -8.60961420e-01 -2.26383910e-03 1.97620708e+02] [ 8.60949667e-01 5.08670141e-01 -4.51201935e-03 9.23040479e+01] [ 5.03622194e-03 3.46055797e-04 9.99987258e-01 6.93691700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:92.33, Z:0.69 [[ 5.08658622e-01 -8.60965262e-01 -2.28548535e-03 1.97630835e+02] [ 8.60953270e-01 5.08663636e-01 -4.55761170e-03 9.23289623e+01] [ 5.08648864e-03 3.50572404e-04 9.99987002e-01 6.93012626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:92.35, Z:0.69 [[ 5.08588886e-01 -8.61006827e-01 -2.14204223e-03 1.97640111e+02] [ 8.60996283e-01 5.08593291e-01 -4.27389004e-03 9.23540496e+01] [ 4.76927682e-03 3.29362577e-04 9.99988573e-01 6.92470971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.65, Y:92.38, Z:0.69 [[ 5.08169655e-01 -8.61255655e-01 -1.51591282e-03 1.97647543e+02] [ 8.61250370e-01 5.08171863e-01 -3.02616137e-03 9.23800007e+01] [ 3.37664283e-03 2.32222905e-04 9.99994272e-01 6.93257935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:92.40, Z:0.69 [[ 5.07301983e-01 -8.61767717e-01 -1.04824384e-03 1.97657354e+02] [ 8.61765189e-01 5.07303042e-01 -2.09360686e-03 9.24044403e+01] [ 2.33598010e-03 1.58750860e-04 9.99997259e-01 6.93824325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:92.43, Z:0.69 [[ 5.05876119e-01 -8.62605924e-01 -6.10748409e-04 1.97666432e+02] [ 8.62605065e-01 5.05876479e-01 -1.22032507e-03 9.24295576e+01] [ 1.36162289e-03 9.04986372e-05 9.99999069e-01 6.94110564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:92.46, Z:0.69 [[ 5.02876383e-01 -8.64358160e-01 -5.61784762e-04 1.97671039e+02] [ 8.64357434e-01 5.02876690e-01 -1.12308269e-03 9.24572280e+01] [ 1.25325415e-03 7.91889271e-05 9.99999212e-01 6.93436338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:92.48, Z:0.69 [[ 5.01212216e-01 -8.65323894e-01 -9.34617802e-04 1.97679504e+02] [ 8.65321883e-01 5.01213071e-01 -1.86976868e-03 9.24828863e+01] [ 2.08639818e-03 1.28405668e-04 9.99997815e-01 6.93007805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:92.51, Z:0.69 [[ 4.99503745e-01 -8.66310992e-01 -1.12878225e-03 1.97687867e+02] [ 8.66308058e-01 4.99504997e-01 -2.25965509e-03 9.25075347e+01] [ 2.52139641e-03 1.50833022e-04 9.99996810e-01 6.92865987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:92.53, Z:0.69 [[ 4.97826934e-01 -8.67275804e-01 -1.01189990e-03 1.97696393e+02] [ 8.67273446e-01 4.97827945e-01 -2.02677491e-03 9.25335684e+01] [ 2.26152489e-03 1.31389220e-04 9.99997434e-01 6.93303969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:92.56, Z:0.69 [[ 4.95175594e-01 -8.68792824e-01 -4.01051962e-04 1.97701169e+02] [ 8.68792453e-01 4.95175754e-01 -8.03477271e-04 9.25604710e+01] [ 8.96646495e-04 4.94314171e-05 9.99999597e-01 6.93911540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:92.59, Z:0.69 [[ 4.93754784e-01 -8.69601113e-01 -3.43541433e-04 1.97710523e+02] [ 8.69600841e-01 4.93754902e-01 -6.88591773e-04 9.25851416e+01] [ 7.68425439e-04 4.12515626e-05 9.99999704e-01 6.93791642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.72, Y:92.61, Z:0.69 [[ 4.92169971e-01 -8.70498824e-01 -7.19270735e-04 1.97720310e+02] [ 8.70497632e-01 4.92170490e-01 -1.44300794e-03 9.26084986e+01] [ 1.61014054e-03 8.40817041e-05 9.99998700e-01 6.93580972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:92.63, Z:0.69 [[ 4.90821200e-01 -8.71259269e-01 -1.35493437e-03 1.97730901e+02] [ 8.71255036e-01 4.90823046e-01 -2.72028772e-03 9.26325362e+01] [ 3.03510890e-03 1.54681490e-04 9.99995382e-01 6.92917775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.74, Y:92.66, Z:0.69 [[ 4.87985018e-01 -8.72847478e-01 -2.81106043e-03 1.97740149e+02] [ 8.72829259e-01 4.87993021e-01 -5.64769337e-03 9.26562976e+01] [ 6.30135279e-03 3.02413955e-04 9.99980101e-01 6.92403882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:92.68, Z:0.69 [[ 4.86191094e-01 -8.73847114e-01 -3.07288142e-03 1.97751150e+02] [ 8.73825336e-01 4.86200700e-01 -6.17749102e-03 9.26793859e+01] [ 6.89221979e-03 3.18279475e-04 9.99976198e-01 6.91897754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:197.76, Y:92.70, Z:0.69 [[ 4.84724691e-01 -8.74662200e-01 -2.83013987e-03 1.97762976e+02] [ 8.74643720e-01 4.84732870e-01 -5.69275843e-03 9.27027052e+01] [ 6.35110243e-03 2.84056499e-04 9.99979791e-01 6.91029197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:92.73, Z:0.69 [[ 4.82582687e-01 -8.75847314e-01 -2.33075516e-03 1.97774912e+02] [ 8.75834780e-01 4.82588264e-01 -4.69089096e-03 9.27260316e+01] [ 5.23329934e-03 2.22386332e-04 9.99986281e-01 6.92408753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.79, Y:92.75, Z:0.69 [[ 4.80676188e-01 -8.76896643e-01 -1.63721062e-03 1.97788656e+02] [ 8.76890458e-01 4.80678953e-01 -3.29685764e-03 9.27487118e+01] [ 3.67797608e-03 1.49066585e-04 9.99993225e-01 6.93618846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:92.77, Z:0.69 [[ 4.80553134e-01 -8.76964031e-01 -1.66540126e-03 1.97800823e+02] [ 8.76957624e-01 4.80555995e-01 -3.35566327e-03 9.27704912e+01] [ 3.74311455e-03 1.52088165e-04 9.99992983e-01 6.93903092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.81, Y:92.79, Z:0.69 [[ 4.81061133e-01 -8.76685279e-01 -1.76283732e-03 1.97814270e+02] [ 8.76678090e-01 4.81064335e-01 -3.55408435e-03 9.27934796e+01] [ 3.96385160e-03 1.64290992e-04 9.99992130e-01 6.93846393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43140051299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.83, Y:92.82, Z:0.69 [[ 4.81945158e-01 -8.76199321e-01 -1.90139366e-03 1.97827699e+02] [ 8.76190944e-01 4.81948874e-01 -3.83575231e-03 9.28157112e+01] [ 4.27725810e-03 1.82638347e-04 9.99990836e-01 6.93275832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:92.84, Z:0.69 [[ 4.83308413e-01 -8.75449179e-01 -1.30890681e-03 1.97840269e+02] [ 8.75445202e-01 4.83310168e-01 -2.64200352e-03 9.28375806e+01] [ 2.94554778e-03 1.31026346e-04 9.99995653e-01 6.93192198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:92.86, Z:0.69 [[ 4.84480541e-01 -8.74801022e-01 -1.33281909e-03 1.97852474e+02] [ 8.74796892e-01 4.84482355e-01 -2.69184731e-03 9.28614830e+01] [ 3.00055811e-03 1.38201645e-04 9.99995489e-01 6.92634060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:92.88, Z:0.69 [[ 4.85806813e-01 -8.74064623e-01 -1.66594154e-03 1.97865243e+02] [ 8.74058158e-01 4.85809636e-01 -3.36672211e-03 9.28849643e+01] [ 3.75206314e-03 1.79446746e-04 9.99992945e-01 6.92893486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.88, Y:92.91, Z:0.69 [[ 4.87327160e-01 -8.73217318e-01 -1.93777160e-03 1.97877956e+02] [ 8.73208553e-01 4.87330964e-01 -3.91854662e-03 9.29069214e+01] [ 4.36607887e-03 2.17535460e-04 9.99990445e-01 6.93370007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:92.93, Z:0.69 [[ 4.87137836e-01 -8.73322952e-01 -1.93690002e-03 1.97889674e+02] [ 8.73314186e-01 4.87141638e-01 -3.91897748e-03 9.29311119e+01] [ 4.36607763e-03 2.17559943e-04 9.99990445e-01 6.93392261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:92.95, Z:0.69 [[ 4.90070507e-01 -8.71680489e-01 -2.00572261e-03 1.97903112e+02] [ 8.71671065e-01 4.90074551e-01 -4.06063916e-03 9.29528020e+01] [ 4.52253354e-03 2.41669124e-04 9.99989744e-01 6.93731933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:92.98, Z:0.69 [[ 4.91282964e-01 -8.70998133e-01 -1.81706839e-03 1.97914670e+02] [ 8.70990385e-01 4.91286272e-01 -3.68079445e-03 9.29763496e+01] [ 4.09866585e-03 2.25662511e-04 9.99991575e-01 6.93634406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.93, Y:93.00, Z:0.69 [[ 4.92847545e-01 -8.70113518e-01 -1.93985052e-03 1.97926116e+02] [ 8.70104670e-01 4.92851300e-01 -3.93179149e-03 9.30006516e+01] [ 4.37716278e-03 2.49900786e-04 9.99990389e-01 6.93015909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:93.02, Z:0.69 [[ 4.93367299e-01 -8.69818922e-01 -1.93693367e-03 1.97936860e+02] [ 8.69810089e-01 4.93371036e-01 -3.92820929e-03 9.30241676e+01] [ 4.37245774e-03 2.53285563e-04 9.99990409e-01 6.92092746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.95, Y:93.05, Z:0.69 [[ 4.94566137e-01 -8.69136674e-01 -2.40369418e-03 1.97947490e+02] [ 8.69123046e-01 4.94571873e-01 -4.87781183e-03 9.30474031e+01] [ 5.42828468e-03 3.23294550e-04 9.99985215e-01 6.91668790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:93.07, Z:0.69 [[ 4.95236888e-01 -8.68755188e-01 -2.20193938e-03 1.97958144e+02] [ 8.68743735e-01 4.95241692e-01 -4.47092200e-03 9.30721152e+01] [ 4.97462887e-03 3.01244461e-04 9.99987581e-01 6.91425535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.97, Y:93.10, Z:0.69 [[ 4.97747352e-01 -8.67320249e-01 -1.77756449e-03 1.97968473e+02] [ 8.67312768e-01 4.97750460e-01 -3.61128282e-03 9.30965269e+01] [ 4.01692226e-03 2.55802083e-04 9.99991899e-01 6.91827482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:93.12, Z:0.69 [[ 4.98503183e-01 -8.66885721e-01 -1.92955115e-03 1.97979182e+02] [ 8.66876893e-01 4.98506837e-01 -3.92248884e-03 9.31193258e+01] [ 4.36224401e-03 2.82689866e-04 9.99990445e-01 6.91901778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:93.14, Z:0.69 [[ 4.98864388e-01 -8.66677717e-01 -2.01437120e-03 1.97989872e+02] [ 8.66668083e-01 4.98868365e-01 -4.09734836e-03 9.31437934e+01] [ 4.55598659e-03 2.98229953e-04 9.99989577e-01 6.91826275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:93.17, Z:0.69 [[ 4.98844288e-01 -8.66689295e-01 -2.01078212e-03 1.98000221e+02] [ 8.66679684e-01 4.98848251e-01 -4.09244219e-03 9.31677516e+01] [ 4.54995098e-03 2.98787396e-04 9.99989604e-01 6.91934198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.01, Y:93.19, Z:0.69 [[ 4.98873944e-01 -8.66672584e-01 -1.84930956e-03 1.98009386e+02] [ 8.66664446e-01 4.98877295e-01 -3.76605604e-03 9.31911180e+01] [ 4.18651607e-03 2.76056384e-04 9.99991198e-01 6.92054732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:93.22, Z:0.69 [[ 4.99246814e-01 -8.66458312e-01 -1.61597209e-03 1.98019911e+02] [ 8.66452090e-01 4.99249370e-01 -3.29271398e-03 9.32151676e+01] [ 3.65977245e-03 2.43714574e-04 9.99993273e-01 6.92647364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:93.24, Z:0.69 [[ 4.99993971e-01 -8.66027597e-01 -1.49343568e-03 1.98029992e+02] [ 8.66022275e-01 4.99996149e-01 -3.04478171e-03 9.32390379e+01] [ 3.38357708e-03 2.29023934e-04 9.99994249e-01 6.92939371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:93.26, Z:0.69 [[ 5.01002187e-01 -8.65444221e-01 -1.76328184e-03 1.98039475e+02] [ 8.65436789e-01 5.01005214e-01 -3.59705562e-03 9.32635248e+01] [ 3.99646440e-03 2.76123758e-04 9.99991976e-01 6.92825262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:93.29, Z:0.69 [[ 5.02040908e-01 -8.64841393e-01 -2.07158311e-03 1.98049000e+02] [ 8.64831119e-01 5.02045073e-01 -4.22843505e-03 9.32882517e+01] [ 4.69695375e-03 3.31277834e-04 9.99988914e-01 6.92367139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:93.31, Z:0.69 [[ 5.02943620e-01 -8.64316174e-01 -2.29495354e-03 1.98058823e+02] [ 8.64303546e-01 5.02948717e-01 -4.68709226e-03 9.33124131e+01] [ 5.20537358e-03 3.73806661e-04 9.99986382e-01 6.92388562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.07, Y:93.34, Z:0.69 [[ 5.03516982e-01 -8.63981918e-01 -2.42789239e-03 1.98068628e+02] [ 8.63967764e-01 5.03522676e-01 -4.96156803e-03 9.33357549e+01] [ 5.50920393e-03 4.00613003e-04 9.99984744e-01 6.92303358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:93.36, Z:0.69 [[ 5.03100963e-01 -8.64224812e-01 -2.21251285e-03 1.98079624e+02] [ 8.64213047e-01 5.03105697e-01 -4.52401653e-03 9.33599516e+01] [ 5.02289515e-03 3.63954605e-04 9.99987319e-01 6.92359682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:93.38, Z:0.69 [[ 5.02453161e-01 -8.64602694e-01 -1.73274053e-03 1.98090886e+02] [ 8.64595473e-01 5.02456069e-01 -3.54484033e-03 9.33848628e+01] [ 3.93550449e-03 2.82996611e-04 9.99992216e-01 6.92083701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.10, Y:93.41, Z:0.69 [[ 5.01920067e-01 -8.64912811e-01 -1.44072971e-03 1.98100986e+02] [ 8.64907815e-01 5.01922080e-01 -2.94914785e-03 9.34076807e+01] [ 3.27388981e-03 2.34138103e-04 9.99994613e-01 6.91963812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:93.43, Z:0.69 [[ 5.01084685e-01 -8.65396544e-01 -1.72048554e-03 1.98112092e+02] [ 8.65389413e-01 5.01087563e-01 -3.52396781e-03 9.34318955e+01] [ 3.91174348e-03 2.76916329e-04 9.99992311e-01 6.91729437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:93.45, Z:0.69 [[ 5.00592302e-01 -8.65680412e-01 -2.18445862e-03 1.98122506e+02] [ 8.65668905e-01 5.00596945e-01 -4.47710238e-03 9.34545721e+01] [ 4.96927314e-03 3.50185081e-04 9.99987592e-01 6.91547174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.13, Y:93.48, Z:0.69 [[ 5.00436831e-01 -8.65769654e-01 -2.42565295e-03 1.98133177e+02] [ 8.65755451e-01 5.00442558e-01 -4.97441624e-03 9.34782348e+01] [ 5.52059860e-03 3.89358839e-04 9.99984686e-01 6.91302511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:93.50, Z:0.69 [[ 5.00481106e-01 -8.65744790e-01 -2.14958223e-03 1.98144071e+02] [ 8.65733623e-01 5.00485602e-01 -4.41080198e-03 9.35024252e+01] [ 4.89446379e-03 3.46557438e-04 9.99987962e-01 6.91544549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.16, Y:93.52, Z:0.69 [[ 5.01534043e-01 -8.65137308e-01 -1.02116912e-03 1.98156800e+02] [ 8.65134785e-01 5.01535054e-01 -2.09621169e-03 9.35247052e+01] [ 2.32566305e-03 1.67872601e-04 9.99997282e-01 6.92922000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:93.55, Z:0.69 [[ 5.02049337e-01 -8.64838569e-01 -8.43853051e-04 1.98170218e+02] [ 8.64836844e-01 5.02050027e-01 -1.73306881e-03 9.35474452e+01] [ 1.92248119e-03 1.40290835e-04 9.99998142e-01 6.92921919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.18, Y:93.57, Z:0.69 [[ 5.02093753e-01 -8.64812647e-01 -9.74521838e-04 1.98182942e+02] [ 8.64810343e-01 5.02094672e-01 -2.00265273e-03 9.35695639e+01] [ 2.22122163e-03 1.62742860e-04 9.99997520e-01 6.92665852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:93.59, Z:0.69 [[ 5.01682386e-01 -8.65051253e-01 -1.05530337e-03 1.98194474e+02] [ 8.65048549e-01 5.01683466e-01 -2.16993569e-03 9.35936765e+01] [ 2.40653384e-03 1.75729871e-04 9.99997089e-01 6.91157752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.21, Y:93.62, Z:0.69 [[ 5.01502656e-01 -8.65155841e-01 -6.75056483e-04 1.98205565e+02] [ 8.65154734e-01 5.01503098e-01 -1.38870793e-03 9.36176808e+01] [ 1.53999169e-03 1.12412402e-04 9.99998808e-01 6.91405187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:93.64, Z:0.69 [[ 5.01004927e-01 -8.65444430e-01 -3.50184718e-05 1.98216647e+02] [ 8.65444427e-01 5.01004928e-01 -7.16489322e-05 9.36401121e+01] [ 7.95525964e-05 5.58992680e-06 9.99999997e-01 6.91734274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:93.66, Z:0.69 [[ 5.00342763e-01 -8.65827332e-01 3.86662278e-04 1.98228365e+02] [ 8.65826968e-01 5.00342909e-01 7.97076954e-04 9.36623555e+01] [-8.83594742e-04 -6.40290580e-05 9.99999608e-01 6.92828762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.24, Y:93.69, Z:0.69 [[ 4.98888719e-01 -8.66665905e-01 5.06368860e-04 1.98241006e+02] [ 8.66665279e-01 4.98888969e-01 1.04428972e-03 9.36854337e+01] [-1.15767213e-03 -8.21320485e-05 9.99999327e-01 6.93118579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:93.71, Z:0.69 [[ 4.98311158e-01 -8.66998239e-01 -2.06474171e-04 1.98252935e+02] [ 8.66998136e-01 4.98311200e-01 -4.25468275e-04 9.37094251e+01] [ 4.71768637e-04 3.30028670e-05 9.99999888e-01 6.92194519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:93.73, Z:0.69 [[ 4.98163906e-01 -8.67082159e-01 -1.11885845e-03 1.98264637e+02] [ 8.67079104e-01 4.98165130e-01 -2.30869080e-03 9.37322586e+01] [ 2.55920086e-03 1.79967644e-04 9.99996709e-01 6.91390780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:93.75, Z:0.69 [[ 4.98641139e-01 -8.66806605e-01 -1.82294053e-03 1.98276460e+02] [ 8.66798485e-01 4.98644383e-01 -3.76362363e-03 9.37542291e+01] [ 4.17133288e-03 2.96575483e-04 9.99991256e-01 6.91288556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.29, Y:93.78, Z:0.69 [[ 4.99275924e-01 -8.66440664e-01 -2.03172477e-03 1.98288565e+02] [ 8.66430563e-01 4.99279945e-01 -4.19707074e-03 9.37776352e+01] [ 4.65091219e-03 3.35147934e-04 9.99989128e-01 6.91114741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:93.80, Z:0.69 [[ 5.00529634e-01 -8.65717519e-01 -1.80651083e-03 1.98298043e+02] [ 8.65709519e-01 5.00532801e-01 -3.73404533e-03 9.38014118e+01] [ 4.13684638e-03 3.05086716e-04 9.99991397e-01 6.90902170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.32, Y:93.82, Z:0.70 [[ 5.01595872e-01 -8.64953505e-01 -1.60316936e-02 1.98321687e+02] [ 8.65067779e-01 5.01654844e-01 3.93629380e-04 9.38203705e+01] [ 7.70190564e-03 -1.40659444e-02 9.99871407e-01 7.03207010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:93.85, Z:0.69 [[ 5.01898515e-01 -8.64853356e-01 1.12496064e-02 1.98308895e+02] [ 8.64921228e-01 5.01807505e-01 -1.00248151e-02 9.38543783e+01] [ 3.02485810e-03 1.47614632e-02 9.99886468e-01 6.86022909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:93.87, Z:0.69 [[ 5.02110571e-01 -8.64801339e-01 -1.90236526e-03 1.98332233e+02] [ 8.64792432e-01 5.02114065e-01 -3.93891399e-03 9.38718609e+01] [ 4.36158244e-03 3.32619277e-04 9.99990433e-01 6.89988911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:93.89, Z:0.69 [[ 5.01138359e-01 -8.65365094e-01 -1.89745290e-03 1.98343806e+02] [ 8.65356227e-01 5.01141843e-01 -3.93105721e-03 9.38947521e+01] [ 4.35269274e-03 3.28030874e-04 9.99990473e-01 6.90056649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.37, Y:93.92, Z:0.70 [[ 5.00597226e-01 -8.65556486e-01 -1.46419818e-02 1.98366839e+02] [ 8.65647184e-01 5.00654445e-01 -2.81567694e-04 9.39150345e+01] [ 7.57428603e-03 -1.25338384e-02 9.99892761e-01 7.00816234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:93.95, Z:0.69 [[ 4.99239992e-01 -8.66409983e-01 9.65257867e-03 1.98356220e+02] [ 8.66458789e-01 4.99168458e-01 -8.94520836e-03 9.39479800e+01] [ 2.93195501e-03 1.28293674e-02 9.99913402e-01 6.85941481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:93.96, Z:0.70 [[ 4.97388233e-01 -8.67372985e-01 -1.64027858e-02 1.98390625e+02] [ 8.67489097e-01 4.97456190e-01 -7.26242613e-05 9.39621844e+01] [ 8.22265963e-03 -1.41931154e-02 9.99865463e-01 7.00659733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:94.00, Z:0.68 [[ 4.95641343e-01 -8.68455599e-01 1.11593697e-02 1.98378288e+02] [ 8.68519995e-01 4.95543594e-01 -1.04673150e-02 9.39966790e+01] [ 3.56044418e-03 1.48801698e-02 9.99882945e-01 6.84325795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:94.01, Z:0.69 [[ 4.94295468e-01 -8.69291545e-01 -2.04940356e-03 1.98401010e+02] [ 8.69281172e-01 4.94299611e-01 -4.25888919e-03 9.40142461e+01] [ 4.71523575e-03 3.23641693e-04 9.99988831e-01 6.88623484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:94.04, Z:0.69 [[ 4.93291823e-01 -8.69861478e-01 -2.04634861e-03 1.98412442e+02] [ 8.69851129e-01 4.93295964e-01 -4.25511178e-03 9.40369724e+01] [ 4.71081333e-03 3.18993200e-04 9.99988853e-01 6.89017695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:94.06, Z:0.69 [[ 4.92495741e-01 -8.70312674e-01 -1.94815959e-03 1.98425142e+02] [ 8.70303287e-01 4.92499502e-01 -4.05328453e-03 9.40597096e+01] [ 4.48709252e-03 3.00735673e-04 9.99989888e-01 6.89377453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:94.08, Z:0.69 [[ 4.90881477e-01 -8.71224768e-01 -1.66703989e-03 1.98438926e+02] [ 8.71217892e-01 4.90884243e-01 -3.47043279e-03 9.40822589e+01] [ 3.84185062e-03 2.51216187e-04 9.99992589e-01 6.88800684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:94.10, Z:0.69 [[ 4.90160353e-01 -8.71631072e-01 -1.44997414e-03 1.98450748e+02] [ 8.71625866e-01 4.90162450e-01 -3.02038973e-03 9.41043208e+01] [ 3.34338842e-03 2.16640337e-04 9.99994387e-01 6.88032270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:94.13, Z:0.69 [[ 4.89377087e-01 -8.72071935e-01 -7.79048953e-04 1.98465994e+02] [ 8.72070431e-01 4.89377694e-01 -1.62362981e-03 9.41262895e+01] [ 1.79717117e-03 1.15181673e-04 9.99998378e-01 6.88172019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:94.15, Z:0.69 [[ 4.89565743e-01 -8.71966218e-01 -5.45872092e-04 1.98479409e+02] [ 8.71965479e-01 4.89566041e-01 -1.13824084e-03 9.41491357e+01] [ 1.25974800e-03 8.12621044e-05 9.99999203e-01 6.88933211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:94.17, Z:0.69 [[ 4.89938805e-01 -8.71756614e-01 -6.10520079e-04 1.98491038e+02] [ 8.71755689e-01 4.89939177e-01 -1.27383280e-03 9.41721190e+01] [ 1.40958988e-03 9.18757688e-05 9.99999002e-01 6.89318650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:94.19, Z:0.70 [[ 4.90563969e-01 -8.71287169e-01 -1.43409010e-02 1.98514229e+02] [ 8.71386858e-01 4.90593945e-01 1.58889961e-03 9.41922780e+01] [ 5.65117133e-03 -1.32759295e-02 9.99895902e-01 7.00171487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.50, Y:94.22, Z:0.68 [[ 4.90461437e-01 -8.71398274e-01 1.06125887e-02 1.98504281e+02] [ 8.71458541e-01 4.90384116e-01 -9.13405156e-03 9.42242533e+01] [ 2.75515186e-03 1.37283311e-02 9.99901966e-01 6.83632969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:198.53, Y:94.24, Z:0.69 [[ 4.89862127e-01 -8.71798132e-01 -1.76472536e-03 1.98528457e+02] [ 8.71790372e-01 4.89865232e-01 -3.68798203e-03 9.42424930e+01] [ 4.07965344e-03 2.68132144e-04 9.99991642e-01 6.87426865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:94.26, Z:0.69 [[ 4.89021556e-01 -8.72270287e-01 -1.56983892e-03 1.98541094e+02] [ 8.72264142e-01 4.89024019e-01 -3.28272035e-03 9.42644560e+01] [ 3.63110836e-03 2.36006816e-04 9.99993380e-01 6.88558580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:94.28, Z:0.70 [[ 4.88936569e-01 -8.72217386e-01 -1.33365225e-02 1.98562936e+02] [ 8.72303261e-01 4.88963240e-01 1.40396230e-03 9.42836954e+01] [ 5.29650895e-03 -1.23199406e-02 9.99910079e-01 6.99629652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:94.32, Z:0.68 [[ 4.90534584e-01 -8.71351092e-01 1.10948738e-02 1.98552261e+02] [ 8.71421665e-01 4.90499471e-01 -5.87788167e-03 9.43170707e+01] [-3.20331110e-04 1.25516176e-02 9.99921174e-01 6.84539364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:94.34, Z:0.69 [[ 4.92033774e-01 -8.70575910e-01 -5.91917518e-04 1.98573035e+02] [ 8.70575032e-01 4.92034120e-01 -1.23983313e-03 9.43351126e+01] [ 1.37061247e-03 9.47311634e-05 9.99999056e-01 6.88102614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:94.36, Z:0.69 [[ 4.93841722e-01 -8.69551312e-01 -9.32130426e-04 1.98584217e+02] [ 8.69549131e-01 4.93842578e-01 -1.95374322e-03 9.43585013e+01] [ 2.15920567e-03 1.54306714e-04 9.99997657e-01 6.88358864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:198.59, Y:94.38, Z:0.69 [[ 4.97574043e-01 -8.67420030e-01 -1.60118640e-03 1.98593553e+02] [ 8.67413575e-01 4.97576539e-01 -3.35825729e-03 9.43829407e+01] [ 3.70973243e-03 2.82090836e-04 9.99993079e-01 6.87856983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:198.60, Y:94.41, Z:0.69 [[ 4.97385810e-01 -8.67527979e-01 -1.60045163e-03 1.98604942e+02] [ 8.67521524e-01 4.97388305e-01 -3.35860751e-03 9.44072901e+01] [ 3.70973191e-03 2.82097480e-04 9.99993079e-01 6.87871652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:94.43, Z:0.69 [[ 4.98766770e-01 -8.66734654e-01 -1.65811957e-03 1.98615288e+02] [ 8.66727712e-01 4.98769436e-01 -3.48174767e-03 9.44302412e+01] [ 3.84477072e-03 2.99441853e-04 9.99992564e-01 6.88101954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:94.45, Z:0.69 [[ 4.99698351e-01 -8.66198251e-01 -1.46568142e-03 1.98625999e+02] [ 8.66192819e-01 4.99700428e-01 -3.07946715e-03 9.44535221e+01] [ 3.39983070e-03 2.69241933e-04 9.99994184e-01 6.87970282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:94.48, Z:0.69 [[ 5.00260694e-01 -8.65873758e-01 -1.36853515e-03 1.98637664e+02] [ 8.65869016e-01 5.00262501e-01 -2.87695504e-03 9.44776445e+01] [ 3.17570669e-03 2.54255340e-04 9.99994925e-01 6.87913643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:94.50, Z:0.69 [[ 5.00341967e-01 -8.65826821e-01 -1.35392341e-03 1.98649033e+02] [ 8.65822174e-01 5.00343735e-01 -2.84787513e-03 9.45017070e+01] [ 3.14319376e-03 2.52654532e-04 9.99995028e-01 6.87798906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.66, Y:94.53, Z:0.69 [[ 4.99763687e-01 -8.66160497e-01 -1.50032000e-03 1.98659522e+02] [ 8.66154786e-01 4.99765861e-01 -3.15773733e-03 9.45250598e+01] [ 3.48491606e-03 2.78613099e-04 9.99993889e-01 6.87785888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:94.55, Z:0.69 [[ 4.99032049e-01 -8.66581456e-01 -1.89582748e-03 1.98670623e+02] [ 8.66572329e-01 4.99035528e-01 -3.99253044e-03 9.45495024e+01] [ 4.40593811e-03 3.49529013e-04 9.99990233e-01 6.87657181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:94.57, Z:0.69 [[ 4.98795247e-01 -8.66717556e-01 -1.99491617e-03 1.98681011e+02] [ 8.66707442e-01 4.98799101e-01 -4.20317850e-03 9.45730097e+01] [ 4.63803099e-03 3.67516769e-04 9.99989177e-01 6.87164381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:94.60, Z:0.69 [[ 4.98975439e-01 -8.66613306e-01 -2.21104593e-03 1.98689720e+02] [ 8.66600868e-01 4.98980169e-01 -4.66120326e-03 9.45978936e+01] [ 5.14272884e-03 4.09731622e-04 9.99986692e-01 6.87038831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.70, Y:94.62, Z:0.69 [[ 4.99238413e-01 -8.66462044e-01 -2.12930478e-03 1.98698808e+02] [ 8.66450496e-01 4.99242796e-01 -4.49098916e-03 9.46217147e+01] [ 4.95431171e-03 3.97137118e-04 9.99987648e-01 6.87207832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:94.65, Z:0.69 [[ 4.99886092e-01 -8.66089192e-01 -1.84538449e-03 1.98707836e+02] [ 8.66080507e-01 4.99889377e-01 -3.89439685e-03 9.46453431e+01] [ 4.29538313e-03 3.48503294e-04 9.99990714e-01 6.87791141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80140051299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:198.72, Y:94.67, Z:0.69 [[ 5.00522018e-01 -8.65722600e-01 -1.44548680e-03 1.98716599e+02] [ 8.65717263e-01 5.00524029e-01 -3.05221250e-03 9.46690392e+01] [ 3.36587022e-03 2.76316682e-04 9.99994297e-01 6.88147031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:94.69, Z:0.69 [[ 5.01081068e-01 -8.65398757e-01 -1.65944643e-03 1.98724508e+02] [ 8.65391715e-01 5.01083713e-01 -3.50605849e-03 9.46946503e+01] [ 3.86566024e-03 3.20748344e-04 9.99992477e-01 6.89437932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:94.72, Z:0.69 [[ 5.00360315e-01 -8.65814975e-01 -1.99630748e-03 1.98733899e+02] [ 8.65804774e-01 5.00364150e-01 -4.22034804e-03 9.47187231e+01] [ 4.65292123e-03 3.83282133e-04 9.99989102e-01 6.89032010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:94.74, Z:0.69 [[ 4.98971633e-01 -8.66615655e-01 -2.14863834e-03 1.98743230e+02] [ 8.66603831e-01 4.98976094e-01 -4.54507912e-03 9.47427866e+01] [ 5.01095589e-03 4.05847335e-04 9.99987363e-01 6.88494880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92140051299998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:198.75, Y:94.77, Z:0.69 [[ 4.97552412e-01 -8.67431770e-01 -1.92934365e-03 1.98753313e+02] [ 8.67422232e-01 4.97556024e-01 -4.08344563e-03 9.47677138e+01] [ 4.50206703e-03 3.58172645e-04 9.99989802e-01 6.88229048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:94.79, Z:0.69 [[ 4.94683965e-01 -8.69072522e-01 -8.51768451e-04 1.98761685e+02] [ 8.69070664e-01 4.94684675e-01 -1.80364319e-03 9.47917098e+01] [ 1.98885353e-03 1.51986390e-04 9.99998011e-01 6.89695237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:94.82, Z:0.69 [[ 4.93672625e-01 -8.69647507e-01 -7.44229252e-04 1.98771556e+02] [ 8.69646087e-01 4.93673168e-01 -1.57677625e-03 9.48157923e+01] [ 1.73864554e-03 1.31195212e-04 9.99998480e-01 6.90486041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:94.84, Z:0.69 [[ 4.92847982e-01 -8.70115097e-01 -7.65304376e-04 1.98781882e+02] [ 8.70113594e-01 4.92848558e-01 -1.62235987e-03 9.48398152e+01] [ 1.78881898e-03 1.33675048e-04 9.99998391e-01 6.90301296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:94.86, Z:0.69 [[ 4.92195514e-01 -8.70484274e-01 -8.39268518e-04 1.98791630e+02] [ 8.70482466e-01 4.92196208e-01 -1.78024548e-03 9.48630788e+01] [ 1.96276047e-03 1.45660308e-04 9.99998063e-01 6.90184088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:94.89, Z:0.69 [[ 4.90795204e-01 -8.71274755e-01 -6.07749921e-04 1.98802776e+02] [ 8.71273806e-01 4.90795570e-01 -1.28982018e-03 9.48872849e+01] [ 1.42206873e-03 1.03520974e-04 9.99998984e-01 6.89637610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:94.91, Z:0.69 [[ 4.89316840e-01 -8.72106006e-01 -3.79803592e-04 1.98814669e+02] [ 8.72105635e-01 4.89316984e-01 -8.06413825e-04 9.49099819e+01] [ 8.89122688e-04 6.33630123e-05 9.99999603e-01 6.89634093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.83, Y:94.93, Z:0.69 [[ 4.87097343e-01 -8.73347655e-01 -2.28867943e-04 1.98827275e+02] [ 8.73347520e-01 4.87097395e-01 -4.86113781e-04 9.49327927e+01] [ 5.36027310e-04 3.69034808e-05 9.99999856e-01 6.90590343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:94.96, Z:0.69 [[ 4.84647467e-01 -8.74709568e-01 -6.30563684e-05 1.98839947e+02] [ 8.74709558e-01 4.84647471e-01 -1.33844659e-04 9.49552678e+01] [ 1.47635314e-04 9.71146711e-06 9.99999989e-01 6.91348531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:94.98, Z:0.69 [[ 4.80195461e-01 -8.77161504e-01 -1.23249163e-04 1.98854182e+02] [ 8.77161465e-01 4.80195476e-01 -2.61916847e-04 9.49773234e+01] [ 2.88927067e-04 1.76618645e-05 9.99999958e-01 6.92916683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:95.00, Z:0.69 [[ 4.79096158e-01 -8.77762365e-01 -3.20815414e-04 1.98866157e+02] [ 8.77762101e-01 4.79096263e-01 -6.82602420e-04 9.49996336e+01] [ 7.52864181e-04 4.54325850e-05 9.99999716e-01 6.93311553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:95.02, Z:0.69 [[ 4.79213385e-01 -8.77698277e-01 -5.15562336e-04 1.98878699e+02] [ 8.77697594e-01 4.79213657e-01 -1.09769383e-03 9.50230218e+01] [ 1.21050850e-03 7.35217537e-05 9.99999265e-01 6.93039622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:198.89, Y:95.05, Z:0.69 [[ 4.80644950e-01 -8.76915056e-01 -6.45002015e-04 1.98890799e+02] [ 8.76913985e-01 4.80645374e-01 -1.37419521e-03 9.50456544e+01] [ 1.51506970e-03 9.48887005e-05 9.99998848e-01 6.92448740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:95.07, Z:0.69 [[ 4.85114719e-01 -8.74449608e-01 -1.26203433e-03 1.98903807e+02] [ 8.74445491e-01 4.85116319e-01 -2.69067362e-03 9.50687394e+01] [ 2.96509194e-03 2.01705149e-04 9.99995584e-01 6.92421015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:95.09, Z:0.69 [[ 4.87435362e-01 -8.73158041e-01 -1.34281012e-03 1.98914708e+02] [ 8.73153371e-01 4.87437160e-01 -2.86462988e-03 9.50920034e+01] [ 3.15581016e-03 2.23842720e-04 9.99994995e-01 6.91998283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:95.12, Z:0.69 [[ 4.91356344e-01 -8.70957606e-01 -1.33849241e-03 1.98925229e+02] [ 8.70952952e-01 4.91358110e-01 -2.85711809e-03 9.51162724e+01] [ 3.14610784e-03 2.38099185e-04 9.99995023e-01 6.92245082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:95.14, Z:0.69 [[ 4.92115033e-01 -8.70528997e-01 -1.43510191e-03 1.98936019e+02] [ 8.70523640e-01 4.92117058e-01 -3.06486227e-03 9.51397408e+01] [ 3.37428960e-03 2.58974661e-04 9.99994274e-01 6.92751826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:95.16, Z:0.69 [[ 4.91927624e-01 -8.70634674e-01 -1.57400646e-03 1.98947618e+02] [ 8.70628223e-01 4.91930060e-01 -3.36348588e-03 9.51637593e+01] [ 3.70266853e-03 2.84217169e-04 9.99993105e-01 6.92405419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:95.19, Z:0.69 [[ 4.91017674e-01 -8.71147869e-01 -1.74202655e-03 1.98958775e+02] [ 8.71139961e-01 4.91020665e-01 -3.72486998e-03 9.51864838e+01] [ 4.10028358e-03 3.11428053e-04 9.99991545e-01 6.91988459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:95.21, Z:0.69 [[ 4.89432815e-01 -8.72039588e-01 -1.57350233e-03 1.98970286e+02] [ 8.72033134e-01 4.89435267e-01 -3.36632969e-03 9.52107096e+01] [ 3.70570029e-03 2.75446055e-04 9.99993096e-01 6.91599199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:95.23, Z:0.69 [[ 4.85399290e-01 -8.74292231e-01 -7.90102874e-04 1.98981688e+02] [ 8.74290605e-01 4.85399915e-01 -1.69115999e-03 9.52344586e+01] [ 1.86208391e-03 1.30108338e-04 9.99998258e-01 6.91943782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:95.26, Z:0.69 [[ 4.83422838e-01 -8.75386673e-01 -7.29167912e-04 1.98993380e+02] [ 8.75385288e-01 4.83423374e-01 -1.56162250e-03 9.52580835e+01] [ 1.71952034e-03 1.16621120e-04 9.99998515e-01 6.92581917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:95.28, Z:0.69 [[ 4.82230746e-01 -8.76043808e-01 -8.68507339e-04 1.99004812e+02] [ 8.76041842e-01 4.82231508e-01 -1.86122283e-03 9.52812728e+01] [ 2.04933434e-03 1.36690106e-04 9.99997891e-01 6.93239518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:95.30, Z:0.69 [[ 4.82017394e-01 -8.76160912e-01 -1.13460540e-03 1.99016066e+02] [ 8.76157553e-01 4.82018697e-01 -2.43276858e-03 9.53038674e+01] [ 2.67839775e-03 1.78543675e-04 9.99996397e-01 6.93409115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:95.33, Z:0.69 [[ 4.82604742e-01 -8.75837755e-01 -9.43501709e-04 1.99026351e+02] [ 8.75835429e-01 4.82605640e-01 -2.02409124e-03 9.53276486e+01] [ 2.22811478e-03 1.50483807e-04 9.99997506e-01 6.93380918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:95.35, Z:0.69 [[ 4.83059602e-01 -8.75587120e-01 -7.85022417e-04 1.99036836e+02] [ 8.75585508e-01 4.83060223e-01 -1.68506826e-03 9.53523123e+01] [ 1.85463717e-03 1.26634153e-04 9.99998272e-01 6.94072181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:95.38, Z:0.69 [[ 4.84553603e-01 -8.74761115e-01 -8.93372742e-04 1.99046017e+02] [ 8.74759023e-01 4.84554404e-01 -1.91889206e-03 9.53760009e+01] [ 2.11145985e-03 1.48320192e-04 9.99997760e-01 6.94614760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:95.40, Z:0.69 [[ 4.85358670e-01 -8.74314454e-01 -1.09456890e-03 1.99056445e+02] [ 8.74311308e-01 4.85359869e-01 -2.35250361e-03 9.54003630e+01] [ 2.58808773e-03 1.84814054e-04 9.99996634e-01 6.94096562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.07, Y:95.42, Z:0.69 [[ 4.86343219e-01 -8.73767145e-01 -1.11770917e-03 1.99066674e+02] [ 8.73763860e-01 4.86344466e-01 -2.40367915e-03 9.54238915e+01] [ 2.64384754e-03 1.92399180e-04 9.99996487e-01 6.93784949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:95.45, Z:0.69 [[ 4.87389107e-01 -8.73184409e-01 -9.20347996e-04 1.99077186e+02] [ 8.73182178e-01 4.87389949e-01 -1.98034994e-03 9.54479475e+01] [ 2.17777906e-03 1.61569522e-04 9.99997616e-01 6.94021403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:95.47, Z:0.69 [[ 4.88039083e-01 -8.72821414e-01 -7.95430826e-04 1.99087228e+02] [ 8.72819746e-01 4.88039710e-01 -1.71251269e-03 9.54722576e+01] [ 1.88291958e-03 1.41505391e-04 9.99998217e-01 6.94502261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.10, Y:95.50, Z:0.69 [[ 4.89427510e-01 -8.72042654e-01 -1.52401509e-03 1.99095880e+02] [ 8.72036517e-01 4.89429804e-01 -3.28329190e-03 9.54973119e+01] [ 3.60906899e-03 2.77936570e-04 9.99993449e-01 6.94420325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:95.52, Z:0.69 [[ 4.89562226e-01 -8.71966454e-01 -1.82462660e-03 1.99105034e+02] [ 8.71957649e-01 4.89565512e-01 -3.93286817e-03 9.55209671e+01] [ 4.32260337e-03 3.34386575e-04 9.99990602e-01 6.94202804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:95.55, Z:0.69 [[ 4.89624550e-01 -8.71932132e-01 -1.46902820e-03 1.99114559e+02] [ 8.71926418e-01 4.89626679e-01 -3.16814134e-03 9.55453347e+01] [ 3.48167964e-03 2.70315281e-04 9.99993902e-01 6.92751262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:95.57, Z:0.69 [[ 4.89184822e-01 -8.72179401e-01 -1.14116968e-03 1.99126034e+02] [ 8.72175950e-01 4.89186109e-01 -2.46243679e-03 9.55689728e+01] [ 2.70593100e-03 2.09285954e-04 9.99996317e-01 6.93012774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:95.59, Z:0.69 [[ 4.88353334e-01 -8.72645361e-01 -1.04643756e-03 1.99137542e+02] [ 8.72642457e-01 4.88354418e-01 -2.25936496e-03 9.55927302e+01] [ 2.48265675e-03 1.90202569e-04 9.99996900e-01 6.93537058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:199.15, Y:95.62, Z:0.69 [[ 4.87460771e-01 -8.73144054e-01 -1.20778878e-03 1.99148100e+02] [ 8.73140181e-01 4.87462219e-01 -2.60943941e-03 9.56162192e+01] [ 2.86716790e-03 2.17430426e-04 9.99995866e-01 6.92600312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:95.64, Z:0.69 [[ 4.85517886e-01 -8.74224067e-01 -2.15939314e-03 1.99159105e+02] [ 8.74211684e-01 4.85522540e-01 -4.66848801e-03 9.56402239e+01] [ 5.12973862e-03 3.78867715e-04 9.99986771e-01 6.92248974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:95.66, Z:0.69 [[ 4.85090612e-01 -8.74461783e-01 -1.92057856e-03 1.99170005e+02] [ 8.74451977e-01 4.85094297e-01 -4.15477204e-03 9.56626300e+01] [ 4.56485107e-03 3.35987191e-04 9.99989525e-01 6.92043069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:95.69, Z:0.69 [[ 4.85075817e-01 -8.74471021e-01 -1.37269996e-03 1.99181221e+02] [ 8.74466007e-01 4.85077700e-01 -2.97127400e-03 9.56857094e+01] [ 3.26415915e-03 2.40913709e-04 9.99994644e-01 6.92218123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:95.71, Z:0.69 [[ 4.85386988e-01 -8.74298990e-01 -8.65244262e-04 1.99192526e+02] [ 8.74296995e-01 4.85387735e-01 -1.87387121e-03 9.57100086e+01] [ 2.05830266e-03 1.53072244e-04 9.99997870e-01 6.92591947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:95.73, Z:0.69 [[ 4.87544058e-01 -8.73098150e-01 -6.42001426e-04 1.99202674e+02] [ 8.73097049e-01 4.87544467e-01 -1.39114858e-03 9.57341624e+01] [ 1.52761350e-03 1.17716675e-04 9.99998826e-01 6.91976487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:95.76, Z:0.69 [[ 4.88748592e-01 -8.72424155e-01 -9.52757070e-04 1.99213122e+02] [ 8.72421727e-01 4.88749488e-01 -2.06595217e-03 9.57575242e+01] [ 2.26804610e-03 1.78525246e-04 9.99997412e-01 6.91346026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:95.78, Z:0.69 [[ 4.89958417e-01 -8.71744846e-01 -1.29356561e-03 1.99223621e+02] [ 8.71740362e-01 4.89960062e-01 -2.80677386e-03 9.57815559e+01] [ 3.08058613e-03 2.47549129e-04 9.99995224e-01 6.91090628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:95.80, Z:0.69 [[ 4.91309638e-01 -8.70983995e-01 -1.31163507e-03 1.99233443e+02] [ 8.70979377e-01 4.91311322e-01 -2.84776400e-03 9.58046732e+01] [ 3.12477803e-03 2.56726806e-04 9.99995085e-01 6.91232268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:95.83, Z:0.69 [[ 4.92963440e-01 -8.70049007e-01 -1.33159517e-03 1.99241628e+02] [ 8.70044239e-01 4.92965165e-01 -2.89280627e-03 9.58296939e+01] [ 3.17331325e-03 2.67501024e-04 9.99994929e-01 6.91934369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:95.85, Z:0.69 [[ 4.93034381e-01 -8.70009058e-01 -1.15674092e-03 1.99251043e+02] [ 8.70005456e-01 4.93035683e-01 -2.51436284e-03 9.58542314e+01] [ 2.75783300e-03 2.33296409e-04 9.99996170e-01 6.91887512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:95.88, Z:0.69 [[ 4.93068608e-01 -8.69989662e-01 -1.15567174e-03 1.99261566e+02] [ 8.69986063e-01 4.93069907e-01 -2.51343490e-03 9.58796965e+01] [ 2.75648934e-03 2.33877540e-04 9.99996174e-01 6.92354312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:95.90, Z:0.69 [[ 4.92791066e-01 -8.70147251e-01 -8.52127384e-04 1.99270904e+02] [ 8.70145293e-01 4.92791773e-01 -1.85412639e-03 9.59028347e+01] [ 2.03328435e-03 1.72222289e-04 9.99997918e-01 6.91924407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:95.93, Z:0.69 [[ 4.92611992e-01 -8.70248642e-01 -8.51756466e-04 1.99281933e+02] [ 8.70246684e-01 4.92612699e-01 -1.85429680e-03 9.59273417e+01] [ 2.03328533e-03 1.72210603e-04 9.99997918e-01 6.91939081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:95.95, Z:0.69 [[ 4.91357353e-01 -8.70957567e-01 -9.31111459e-04 1.99291795e+02] [ 8.70955226e-01 4.91358201e-01 -2.02824280e-03 9.59515933e+01] [ 2.22402267e-03 1.85635622e-04 9.99997510e-01 6.91827986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:95.98, Z:0.69 [[ 4.90105436e-01 -8.71662388e-01 -1.15889058e-03 1.99302655e+02] [ 8.71658758e-01 4.90106753e-01 -2.52599997e-03 9.59755627e+01] [ 2.76979927e-03 2.27849194e-04 9.99996138e-01 6.92028752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:96.00, Z:0.69 [[ 4.88456018e-01 -8.72587704e-01 -1.19065812e-03 1.99312894e+02] [ 8.72583870e-01 4.88457415e-01 -2.59687487e-03 9.59988753e+01] [ 2.84758687e-03 2.29510090e-04 9.99995919e-01 6.92345535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:96.02, Z:0.69 [[ 4.85474107e-01 -8.74250687e-01 -7.91923269e-04 1.99323081e+02] [ 8.74248992e-01 4.85474731e-01 -1.72813798e-03 9.60229160e+01] [ 1.89528455e-03 1.46628122e-04 9.99998193e-01 6.92912768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:96.05, Z:0.69 [[ 4.84310400e-01 -8.74896049e-01 -5.82867403e-04 1.99333417e+02] [ 8.74895130e-01 4.84310739e-01 -1.27259973e-03 9.60467169e+01] [ 1.39568142e-03 1.06385432e-04 9.99999020e-01 6.93005400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:96.07, Z:0.69 [[ 4.83392125e-01 -8.75403741e-01 -5.86172459e-04 1.99344205e+02] [ 8.75402811e-01 4.83392469e-01 -1.28056798e-03 9.60708376e+01] [ 1.40436536e-03 1.05879461e-04 9.99999008e-01 6.92893360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:96.10, Z:0.69 [[ 4.82759613e-01 -8.75752563e-01 -7.77795090e-04 1.99355169e+02] [ 8.75750924e-01 4.82760219e-01 -1.70030009e-03 9.60950449e+01] [ 1.86453069e-03 1.39681444e-04 9.99998252e-01 6.92823854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:96.12, Z:0.69 [[ 4.82528287e-01 -8.75879957e-01 -8.67917571e-04 1.99364306e+02] [ 8.75877913e-01 4.82529042e-01 -1.89852092e-03 9.61186227e+01] [ 2.08167185e-03 1.55900216e-04 9.99997821e-01 6.92652182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.37, Y:96.14, Z:0.69 [[ 4.82475185e-01 -8.75909439e-01 -5.93184352e-04 1.99374524e+02] [ 8.75908483e-01 4.82475537e-01 -1.29823380e-03 9.61430015e+01] [ 1.42333218e-03 1.06790389e-04 9.99998981e-01 6.93132463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:96.17, Z:0.69 [[ 4.82679604e-01 -8.75796943e-01 -3.38406681e-04 1.99385193e+02] [ 8.75796632e-01 4.82679719e-01 -7.40940594e-04 9.61672526e+01] [ 8.12255549e-04 6.12614807e-05 9.99999668e-01 6.93782731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:96.19, Z:0.69 [[ 4.83503917e-01 -8.75342157e-01 -2.64737491e-04 1.99395269e+02] [ 8.75341967e-01 4.83503987e-01 -5.79924949e-04 9.61907398e+01] [ 6.35634388e-04 4.86601477e-05 9.99999797e-01 6.94336424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:96.21, Z:0.69 [[ 4.85950713e-01 -8.73985903e-01 -7.38845146e-04 1.99404118e+02] [ 8.73984413e-01 4.85951254e-01 -1.61987716e-03 9.62140412e+01] [ 1.77479253e-03 1.41441321e-04 9.99998415e-01 6.92739184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:96.24, Z:0.69 [[ 4.86676311e-01 -8.73581875e-01 -9.36642444e-04 1.99414377e+02] [ 8.73579477e-01 4.86677178e-01 -2.05474841e-03 9.62386880e+01] [ 2.25083347e-03 1.81765757e-04 9.99997450e-01 6.91907835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:96.26, Z:0.69 [[ 4.87210187e-01 -8.73284210e-01 -9.60572968e-04 1.99423959e+02] [ 8.73281684e-01 4.87211098e-01 -2.10853745e-03 9.62620644e+01] [ 2.30935427e-03 1.88450149e-04 9.99997316e-01 6.91964290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:96.29, Z:0.69 [[ 4.87186349e-01 -8.73297468e-01 -9.97006670e-04 1.99433756e+02] [ 8.73294745e-01 4.87187330e-01 -2.18961562e-03 9.62859454e+01] [ 2.39791479e-03 1.96070155e-04 9.99997106e-01 6.92288722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:96.31, Z:0.69 [[ 4.85752210e-01 -8.74095424e-01 -1.40702945e-03 1.99443500e+02] [ 8.74089998e-01 4.85754172e-01 -3.09191754e-03 9.63110227e+01] [ 3.38610140e-03 2.72035413e-04 9.99994230e-01 6.92909626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:96.34, Z:0.69 [[ 4.84260677e-01 -8.74921760e-01 -1.87370841e-03 1.99454456e+02] [ 8.74912132e-01 4.84264171e-01 -4.11992387e-03 9.63355420e+01] [ 4.51198089e-03 3.55786904e-04 9.99989758e-01 6.92306882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:96.36, Z:0.69 [[ 4.82028590e-01 -8.76152063e-01 -2.44968122e-03 1.99465419e+02] [ 8.76135602e-01 4.82034603e-01 -5.38974378e-03 9.63584937e+01] [ 5.90306625e-03 4.51757665e-04 9.99982475e-01 6.91678520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:96.38, Z:0.69 [[ 4.79223932e-01 -8.77688337e-01 -2.75784246e-03 1.99477238e+02] [ 8.77667474e-01 4.79231618e-01 -6.07137012e-03 9.63820226e+01] [ 6.65041605e-03 4.89077233e-04 9.99977766e-01 6.90868695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:96.40, Z:0.69 [[ 4.73057892e-01 -8.81028688e-01 -2.16354025e-03 1.99489942e+02] [ 8.81015867e-01 4.73062711e-01 -4.76576342e-03 9.64048988e+01] [ 5.22226452e-03 3.48368708e-04 9.99986303e-01 6.91660052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:96.43, Z:0.69 [[ 4.70397755e-01 -8.82452956e-01 -1.65323765e-03 1.99500969e+02] [ 8.82445470e-01 4.70400591e-01 -3.64383276e-03 9.64288912e+01] [ 3.99319496e-03 2.55158670e-04 9.99991995e-01 6.92260127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:96.45, Z:0.69 [[ 4.68533865e-01 -8.83444253e-01 -1.50601517e-03 1.99511325e+02] [ 8.83438039e-01 4.68536231e-01 -3.32142396e-03 9.64525847e+01] [ 3.63991558e-03 2.25728522e-04 9.99993350e-01 6.92882152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.52, Y:96.48, Z:0.69 [[ 4.67519651e-01 -8.83981364e-01 -1.52431107e-03 1.99521503e+02] [ 8.83974992e-01 4.67522082e-01 -3.36391924e-03 9.64754554e+01] [ 3.68629100e-03 2.25245488e-04 9.99993180e-01 6.92909832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:96.50, Z:0.69 [[ 4.66730013e-01 -8.84397820e-01 -1.89490646e-03 1.99534699e+02] [ 8.84387964e-01 4.66733777e-01 -4.18448307e-03 9.64978449e+01] [ 4.58516456e-03 2.77191369e-04 9.99989450e-01 6.92545359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:96.52, Z:0.69 [[ 4.66247175e-01 -8.84652331e-01 -1.95557560e-03 1.99548192e+02] [ 8.84641824e-01 4.66251189e-01 -4.32107717e-03 9.65209773e+01] [ 4.73444045e-03 2.84706057e-04 9.99988752e-01 6.92392525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:199.56, Y:96.54, Z:0.69 [[ 4.64655204e-01 -8.85490317e-01 -1.56199620e-03 1.99564350e+02] [ 8.85483610e-01 4.64657777e-01 -3.45350956e-03 9.65425509e+01] [ 3.78384296e-03 2.21569151e-04 9.99992817e-01 6.93258790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:96.56, Z:0.69 [[ 4.63447051e-01 -8.86123205e-01 -1.58002742e-03 1.99576122e+02] [ 8.86116337e-01 4.63449692e-01 -3.49565497e-03 9.65646982e+01] [ 3.82984420e-03 2.19962874e-04 9.99992642e-01 6.93735300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:96.59, Z:0.69 [[ 4.62563950e-01 -8.86583976e-01 -1.85630951e-03 1.99587512e+02] [ 8.86574488e-01 4.62567604e-01 -4.10961338e-03 9.65878101e+01] [ 4.50218601e-03 2.55202344e-04 9.99989833e-01 6.93175494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.60, Y:96.61, Z:0.69 [[ 4.62064074e-01 -8.86844186e-01 -2.04472309e-03 1.99599045e+02] [ 8.86832663e-01 4.62068514e-01 -4.52958656e-03 9.66117131e+01] [ 4.96183967e-03 2.79632000e-04 9.99987651e-01 6.92506975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:96.63, Z:0.69 [[ 4.62367357e-01 -8.86687365e-01 -1.39413862e-03 1.99611965e+02] [ 8.86682001e-01 4.62369419e-01 -3.09021091e-03 9.66349400e+01] [ 3.38465804e-03 1.92655029e-04 9.99994253e-01 6.91709274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:96.66, Z:0.69 [[ 4.63114870e-01 -8.86297893e-01 -8.13481304e-04 1.99623893e+02] [ 8.86296064e-01 4.63115570e-01 -1.80418010e-03 9.66577665e+01] [ 1.97577688e-03 1.14557353e-04 9.99998042e-01 6.91851465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:96.68, Z:0.69 [[ 4.64032485e-01 -8.85818092e-01 -4.01194259e-04 1.99636512e+02] [ 8.85817647e-01 4.64032655e-01 -8.90184637e-04 9.66811025e+01] [ 9.74708894e-04 5.76896345e-05 9.99999523e-01 6.92151170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:96.70, Z:0.69 [[ 4.64480055e-01 -8.85583495e-01 -3.91170885e-04 1.99649090e+02] [ 8.85583071e-01 4.64480216e-01 -8.68462709e-04 9.67043639e+01] [ 9.50787378e-04 5.69692924e-05 9.99999546e-01 6.92902260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.66, Y:96.73, Z:0.69 [[ 4.63542286e-01 -8.86073788e-01 -1.33845354e-03 1.99660854e+02] [ 8.86068817e-01 4.63544178e-01 -2.97422083e-03 9.67268174e+01] [ 3.25581146e-03 1.92715174e-04 9.99994681e-01 6.92881503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:96.75, Z:0.69 [[ 4.62317277e-01 -8.86712616e-01 -1.86339744e-03 1.99670310e+02] [ 8.86702974e-01 4.62320957e-01 -4.14343857e-03 9.67506248e+01] [ 4.53552694e-03 2.63303186e-04 9.99989680e-01 6.92209692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:96.78, Z:0.69 [[ 4.60726935e-01 -8.87540043e-01 -1.83404327e-03 1.99680271e+02] [ 8.87530698e-01 4.60730516e-01 -4.08066886e-03 9.67753727e+01] [ 4.46675672e-03 2.52304352e-04 9.99989992e-01 6.91484987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:96.80, Z:0.69 [[ 4.58891708e-01 -8.88491368e-01 -1.22025299e-03 1.99689940e+02] [ 8.88487230e-01 4.58893301e-01 -2.71663580e-03 9.67985490e+01] [ 2.97367339e-03 1.62462444e-04 9.99995565e-01 6.91453173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:96.82, Z:0.69 [[ 4.53077102e-01 -8.91471210e-01 -4.71116877e-04 1.99700800e+02] [ 8.91470594e-01 4.53077343e-01 -1.04929511e-03 9.68231158e+01] [ 1.14886877e-03 5.54247463e-05 9.99999339e-01 6.92084502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:199.71, Y:96.85, Z:0.69 [[ 4.49305608e-01 -8.93377709e-01 -8.60016712e-04 1.99711759e+02] [ 8.93375657e-01 4.49306421e-01 -1.91690142e-03 9.68475584e+01] [ 2.09892803e-03 9.29565640e-05 9.99997793e-01 6.91901153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:199.72, Y:96.87, Z:0.69 [[ 4.45329118e-01 -8.95365506e-01 -1.60876066e-03 1.99722742e+02] [ 8.95358329e-01 4.45331996e-01 -3.58829653e-03 9.68717470e+01] [ 3.92926954e-03 1.57555671e-04 9.99992268e-01 6.91616137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:96.89, Z:0.69 [[ 4.38620758e-01 -8.98669697e-01 -2.14621990e-03 1.99733742e+02] [ 8.98656950e-01 4.38625975e-01 -4.78963821e-03 9.68948625e+01] [ 5.24569052e-03 1.72119311e-04 9.99986226e-01 6.91140847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:96.92, Z:0.69 [[ 4.36139374e-01 -8.99877647e-01 -1.63308831e-03 1.99743969e+02] [ 8.99870266e-01 4.36142414e-01 -3.64682820e-03 9.69184474e+01] [ 3.99395826e-03 1.20957758e-04 9.99992017e-01 6.92282778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:96.94, Z:0.69 [[ 4.34445558e-01 -9.00697602e-01 -9.41953707e-04 1.99753865e+02] [ 9.00695145e-01 4.34446575e-01 -2.10467618e-03 9.69431013e+01] [ 2.30490535e-03 6.59540869e-05 9.99997342e-01 6.92953048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71140051299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.76, Y:96.97, Z:0.69 [[ 4.33810290e-01 -9.01003940e-01 -7.29964597e-04 1.99762822e+02] [ 9.01002463e-01 4.33810901e-01 -1.63201043e-03 9.69664478e+01] [ 1.78711443e-03 5.02830184e-05 9.99998402e-01 6.93456663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.77, Y:96.99, Z:0.69 [[ 4.33654652e-01 -9.01078685e-01 -9.19491070e-04 1.99771417e+02] [ 9.01076339e-01 4.33655623e-01 -2.05726586e-03 9.69899495e+01] [ 2.25250089e-03 6.36112644e-05 9.99997461e-01 6.93348153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77140051299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.78, Y:97.02, Z:0.69 [[ 4.35081204e-01 -9.00389616e-01 -1.69833389e-03 1.99777975e+02] [ 9.00381595e-01 4.35084501e-01 -3.80276390e-03 9.70155199e+01] [ 4.16288788e-03 1.25362523e-04 9.99991327e-01 6.93263094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:97.04, Z:0.69 [[ 4.35826806e-01 -9.00028763e-01 -1.79460385e-03 1.99785792e+02] [ 9.00019792e-01 4.35830479e-01 -4.02091810e-03 9.70411951e+01] [ 4.40108500e-03 1.37244904e-04 9.99990306e-01 6.93304283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:97.07, Z:0.69 [[ 4.36654890e-01 -8.99627604e-01 -1.63763958e-03 1.99793462e+02] [ 8.99620121e-01 4.36657942e-01 -3.67152476e-03 9.70663461e+01] [ 4.01809335e-03 1.29935724e-04 9.99991919e-01 6.93512190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:97.09, Z:0.69 [[ 4.36944966e-01 -8.99487139e-01 -1.40840094e-03 1.99801690e+02] [ 8.99481597e-01 4.36947221e-01 -3.15960882e-03 9.70902732e+01] [ 3.45742438e-03 1.13744443e-04 9.99994017e-01 6.93614207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:97.11, Z:0.69 [[ 4.36056207e-01 -8.99917384e-01 -1.91993908e-03 1.99811179e+02] [ 8.99907075e-01 4.36060407e-01 -4.31015710e-03 9.71142911e+01] [ 4.71599472e-03 1.51703998e-04 9.99988868e-01 6.93031657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.82, Y:97.14, Z:0.69 [[ 4.35008074e-01 -9.00423538e-01 -2.32972192e-03 1.99820653e+02] [ 9.00408347e-01 4.35014276e-01 -5.23347342e-03 9.71392429e+01] [ 5.72580495e-03 1.78902126e-04 9.99983591e-01 6.92783453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.83, Y:97.16, Z:0.69 [[ 4.33832276e-01 -9.00990729e-01 -2.29393214e-03 1.99828965e+02] [ 9.00975990e-01 4.33838308e-01 -5.15637110e-03 9.71641984e+01] [ 5.64103820e-03 1.70222429e-04 9.99984075e-01 6.92706567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:97.19, Z:0.69 [[ 4.31104108e-01 -9.02300906e-01 -1.52442996e-03 1.99835997e+02] [ 9.02294397e-01 4.31106791e-01 -3.42878034e-03 9.71895530e+01] [ 3.75098372e-03 1.02676680e-04 9.99992960e-01 6.94309900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01140051299998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:199.85, Y:97.21, Z:0.69 [[ 4.28955526e-01 -9.03324950e-01 -1.09119074e-03 1.99845704e+02] [ 9.03321615e-01 4.28956909e-01 -2.45582731e-03 9.72128094e+01] [ 2.68648389e-03 6.77445149e-05 9.99996389e-01 6.94756898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.86, Y:97.24, Z:0.70 [[ 4.25787182e-01 -9.04822838e-01 -9.53065512e-04 1.99856206e+02] [ 9.04820294e-01 4.25788245e-01 -2.14630352e-03 9.72368087e+01] [ 2.34782854e-03 5.15155116e-05 9.99997243e-01 6.95081624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:199.87, Y:97.26, Z:0.69 [[ 4.22281665e-01 -9.06464100e-01 -1.01511443e-03 1.99865697e+02] [ 9.06461215e-01 4.22282883e-01 -2.28757892e-03 9.72601083e+01] [ 2.50227361e-03 4.58407765e-05 9.99996868e-01 6.94650463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:97.28, Z:0.69 [[ 4.15381720e-01 -9.09646528e-01 -1.10520362e-03 1.99874639e+02] [ 9.09643114e-01 4.15383189e-01 -2.49216983e-03 9.72844751e+01] [ 2.72607664e-03 2.98609269e-05 9.99996284e-01 6.92988222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:199.89, Y:97.31, Z:0.69 [[ 4.12449150e-01 -9.10979779e-01 -1.24150311e-03 1.99885998e+02] [ 9.10975472e-01 4.12451018e-01 -2.80148847e-03 9.73075982e+01] [ 3.06415857e-03 2.44926559e-05 9.99995305e-01 6.93372439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.90, Y:97.33, Z:0.69 [[ 4.10148228e-01 -9.12017914e-01 -1.32491717e-03 1.99897310e+02] [ 9.12013007e-01 4.10150367e-01 -2.99193044e-03 9.73290564e+01] [ 3.27210942e-03 1.87932740e-05 9.99994646e-01 6.93887258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.91, Y:97.35, Z:0.70 [[ 4.08741506e-01 -9.12649570e-01 -1.06983931e-03 1.99908981e+02] [ 9.12646368e-01 4.08742905e-01 -2.41757649e-03 9.73519138e+01] [ 2.64368937e-03 1.17788994e-05 9.99996505e-01 6.95018439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.92, Y:97.38, Z:0.70 [[ 4.09015859e-01 -9.12527140e-01 -4.96192758e-04 1.99916845e+02] [ 9.12526450e-01 4.09016160e-01 -1.12188527e-03 9.73761373e+01] [ 1.22670161e-03 6.07985134e-06 9.99999248e-01 6.95807146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:97.40, Z:0.70 [[ 4.10178374e-01 -9.12005154e-01 -5.47739102e-04 1.99925850e+02] [ 9.12004312e-01 4.10178740e-01 -1.23930857e-03 9.74011033e+01] [ 1.35492674e-03 8.79715293e-06 9.99999082e-01 6.95113445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.94, Y:97.43, Z:0.70 [[ 4.09998932e-01 -9.12085838e-01 -5.47472981e-04 1.99936509e+02] [ 9.12084996e-01 4.09999298e-01 -1.23942614e-03 9.74257735e+01] [ 1.35492657e-03 8.82150393e-06 9.99999082e-01 6.95128111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:199.95, Y:97.45, Z:0.70 [[ 4.11831842e-01 -9.11259169e-01 -1.12334383e-03 1.99945938e+02] [ 9.11255615e-01 4.11833373e-01 -2.54505207e-03 9.74502417e+01] [ 2.78183251e-03 2.44801050e-05 9.99996130e-01 6.95175576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:97.47, Z:0.69 [[ 4.15857739e-01 -9.09427493e-01 -1.99403050e-03 1.99953682e+02] [ 9.09416258e-01 4.15862514e-01 -4.52108391e-03 9.74741696e+01] [ 4.94084054e-03 6.67239765e-05 9.99987792e-01 6.94738442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.96, Y:97.50, Z:0.69 [[ 4.17711227e-01 -9.08577797e-01 -1.92828473e-03 1.99961089e+02] [ 9.08567266e-01 4.17715671e-01 -4.37510117e-03 9.74988899e+01] [ 4.78059453e-03 7.55524943e-05 9.99988570e-01 6.94684342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:97.52, Z:0.69 [[ 4.19426580e-01 -9.07787883e-01 -1.58241092e-03 1.99968356e+02] [ 9.07780776e-01 4.19429560e-01 -3.59265023e-03 9.75242628e+01] [ 3.92507427e-03 7.03707863e-05 9.99992294e-01 6.94874844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:97.55, Z:0.69 [[ 4.21024527e-01 -9.07048409e-01 -1.23755423e-03 1.99975919e+02] [ 9.07044054e-01 4.21026341e-01 -2.81153324e-03 9.75484134e+01] [ 3.07123968e-03 6.12082429e-05 9.99995282e-01 6.94988168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:97.57, Z:0.70 [[ 4.22259306e-01 -9.06472960e-01 -1.96259387e-03 1.99982919e+02] [ 9.06461984e-01 4.22263854e-01 -4.46206139e-03 9.75727409e+01] [ 4.87347045e-03 1.05130207e-04 9.99988119e-01 6.95608044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49140051299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:199.99, Y:97.60, Z:0.70 [[ 4.21738970e-01 -9.06713864e-01 -2.49210933e-03 1.99991269e+02] [ 9.06696146e-01 4.21746313e-01 -5.66974202e-03 9.75975382e+01] [ 6.19187161e-03 1.31565232e-04 9.99980822e-01 6.95839367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:97.62, Z:0.70 [[ 4.20355840e-01 -9.07355990e-01 -2.46473302e-03 1.99999480e+02] [ 9.07338648e-01 4.20363048e-01 -5.61123008e-03 9.76230921e+01] [ 6.12746591e-03 1.22365801e-04 9.99981219e-01 6.95896314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:97.65, Z:0.70 [[ 4.19149500e-01 -9.07915177e-01 -1.93090679e-03 2.00007763e+02] [ 9.07904525e-01 4.19153938e-01 -4.39893749e-03 9.76467233e+01] [ 4.80320929e-03 9.07334332e-05 9.99988460e-01 6.96372563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:200.02, Y:97.67, Z:0.70 [[ 4.16910952e-01 -9.08947309e-01 -2.19753140e-04 2.00016385e+02] [ 9.08947171e-01 4.16911010e-01 -5.00675505e-04 9.76697794e+01] [ 5.46705156e-04 8.99310630e-06 9.99999851e-01 6.98393213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:97.69, Z:0.70 [[ 4.15843358e-01 -9.09436255e-01 -1.51990304e-05 2.00026533e+02] [ 9.09436254e-01 4.15843358e-01 -3.43307310e-05 9.76927891e+01] [ 3.75420273e-05 4.53657188e-07 9.99999999e-01 6.98404150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:200.04, Y:97.72, Z:0.70 [[ 4.15108674e-01 -9.09771523e-01 -7.51561129e-04 2.00036942e+02] [ 9.09769906e-01 4.15109354e-01 -1.71563734e-03 9.77165716e+01] [ 1.87281805e-03 2.84282430e-05 9.99998246e-01 6.97686608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:97.74, Z:0.70 [[ 4.14890033e-01 -9.09869967e-01 -1.70385499e-03 2.00047320e+02] [ 9.09861643e-01 4.14893527e-01 -3.89249952e-03 9.77409269e+01] [ 4.24858681e-03 6.46869564e-05 9.99990973e-01 6.96125488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:97.76, Z:0.70 [[ 4.17581549e-01 -9.08635837e-01 -2.56234331e-03 2.00058045e+02] [ 9.08616960e-01 4.17589393e-01 -5.85820578e-03 9.77633831e+01] [ 6.39298310e-03 1.18090055e-04 9.99979558e-01 6.96412813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.07, Y:97.79, Z:0.70 [[ 4.20079260e-01 -9.07484922e-01 -2.12886637e-03 2.00068542e+02] [ 9.07471860e-01 4.20084639e-01 -4.87032020e-03 9.77876340e+01] [ 5.31404621e-03 1.14034179e-04 9.99985874e-01 6.97648669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:97.81, Z:0.70 [[ 4.22655584e-01 -9.06289225e-01 -1.44859852e-03 2.00078315e+02] [ 9.06283162e-01 4.22658057e-01 -3.31608743e-03 9.78120833e+01] [ 3.61759614e-03 8.87224186e-05 9.99993453e-01 6.98832111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.09, Y:97.84, Z:0.70 [[ 4.25348867e-01 -9.05029079e-01 -8.41271244e-04 2.00087295e+02] [ 9.05027029e-01 4.25349695e-01 -1.92696883e-03 9.78355868e+01] [ 2.10179729e-03 5.82607934e-05 9.99997790e-01 6.99647134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.10, Y:97.86, Z:0.70 [[ 4.30603293e-01 -9.02540579e-01 -1.14324896e-03 2.00096833e+02] [ 9.02536780e-01 4.30604799e-01 -2.62059579e-03 9.78591956e+01] [ 2.85748253e-03 9.66129416e-05 9.99995913e-01 6.97779414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:97.88, Z:0.70 [[ 4.32729958e-01 -9.01522091e-01 -1.64375483e-03 2.00107275e+02] [ 9.01514218e-01 4.32733054e-01 -3.77072701e-03 9.78814285e+01] [ 4.11070075e-03 1.49838189e-04 9.99991540e-01 6.97000919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:97.90, Z:0.70 [[ 4.34168996e-01 -9.00829626e-01 -1.80788627e-03 2.00117945e+02] [ 9.00820082e-01 4.34172726e-01 -4.15013548e-03 9.79044382e+01] [ 4.52349990e-03 1.73279897e-04 9.99989754e-01 6.97136823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.13, Y:97.93, Z:0.70 [[ 4.35075008e-01 -9.00393718e-01 -9.43123174e-04 2.00129493e+02] [ 9.00391117e-01 4.35076020e-01 -2.16626696e-03 9.79287123e+01] [ 2.36082344e-03 9.33088856e-05 9.99997209e-01 6.97917412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:97.95, Z:0.70 [[ 4.34258095e-01 -9.00788448e-01 -2.80341833e-04 2.00141040e+02] [ 9.00788218e-01 4.34258184e-01 -6.44108104e-04 9.79524713e+01] [ 7.01945875e-04 2.71805378e-05 9.99999753e-01 6.98613140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:97.97, Z:0.70 [[ 4.33054129e-01 -9.01367899e-01 1.77468383e-04 2.00152341e+02] [ 9.01367807e-01 4.33054165e-01 4.08566436e-04 9.79749094e+01] [-4.45122092e-04 -1.69670950e-05 9.99999901e-01 6.99005033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:98.00, Z:0.70 [[ 4.31752796e-01 -9.01991966e-01 1.26258864e-04 2.00165345e+02] [ 9.01991919e-01 4.31752814e-01 2.90941688e-04 9.79984888e+01] [-3.16939685e-04 -1.17304117e-05 9.99999950e-01 6.98786945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:98.02, Z:0.70 [[ 4.30293591e-01 -9.02688958e-01 -2.66552289e-04 2.00178237e+02] [ 9.02688750e-01 4.30293673e-01 -6.13613935e-04 9.80214540e+01] [ 6.68598288e-04 2.34203908e-05 9.99999776e-01 6.98607244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:200.19, Y:98.04, Z:0.70 [[ 4.28861151e-01 -9.03369651e-01 -1.17784031e-03 2.00194800e+02] [ 9.03365579e-01 4.28862757e-01 -2.71431370e-03 9.80427218e+01] [ 2.95716046e-03 1.00043301e-04 9.99995623e-01 6.97551437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.21, Y:98.07, Z:0.70 [[ 4.29026208e-01 -9.03290899e-01 -1.43661549e-03 2.00207967e+02] [ 9.03284832e-01 4.29028595e-01 -3.31297630e-03 9.80651202e+01] [ 3.60893047e-03 1.23680673e-04 9.99993480e-01 6.97705122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:98.09, Z:0.70 [[ 4.29239188e-01 -9.03189640e-01 -1.48155908e-03 2.00220841e+02] [ 9.03183178e-01 4.29241725e-01 -3.41887812e-03 9.80883402e+01] [ 3.72384227e-03 1.29397228e-04 9.99993058e-01 6.98128544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:98.11, Z:0.70 [[ 4.29910598e-01 -9.02870263e-01 -1.47189894e-03 2.00233144e+02] [ 9.02863877e-01 4.29913097e-01 -3.39841372e-03 9.81102284e+01] [ 3.70111532e-03 1.32089692e-04 9.99993142e-01 6.98934077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.25, Y:98.13, Z:0.70 [[ 4.32235161e-01 -9.01759767e-01 -1.44509584e-03 2.00247700e+02] [ 9.01753597e-01 4.32237554e-01 -3.33869545e-03 9.81312118e+01] [ 3.63532593e-03 1.39981192e-04 9.99993382e-01 6.99462534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:98.15, Z:0.70 [[ 4.33531135e-01 -9.01137206e-01 -1.57821050e-03 2.00260486e+02] [ 9.01129834e-01 4.33533978e-01 -3.64863123e-03 9.81541509e+01] [ 3.97212523e-03 1.59622668e-04 9.99992098e-01 6.99305761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:98.18, Z:0.70 [[ 4.34784146e-01 -9.00533400e-01 -1.53017711e-03 2.00273138e+02] [ 9.00526457e-01 4.34786809e-01 -3.53993056e-03 9.81766850e+01] [ 3.85312653e-03 1.61140717e-04 9.99992564e-01 6.99453755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:98.20, Z:0.70 [[ 4.36809079e-01 -8.99553055e-01 -1.45953762e-03 2.00287571e+02] [ 8.99546724e-01 4.36811487e-01 -3.37880737e-03 9.81978979e+01] [ 3.67695929e-03 1.62971450e-04 9.99993227e-01 6.99097080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:98.22, Z:0.70 [[ 4.37771599e-01 -8.99085250e-01 -1.31893023e-03 2.00300520e+02] [ 8.99080072e-01 4.37773560e-01 -3.05522897e-03 9.82208954e+01] [ 3.32430408e-03 1.51668580e-04 9.99994463e-01 6.99063801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:98.24, Z:0.70 [[ 4.38866970e-01 -8.98551232e-01 -1.21056636e-03 2.00313643e+02] [ 8.98546862e-01 4.38868616e-01 -2.80601735e-03 9.82434195e+01] [ 3.05262993e-03 1.43717724e-04 9.99995330e-01 6.99421426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:98.27, Z:0.70 [[ 4.39847075e-01 -8.98072112e-01 -1.01619173e-03 2.00326269e+02] [ 8.98069027e-01 4.39848231e-01 -2.35700980e-03 9.82653276e+01] [ 2.56373491e-03 1.24113553e-04 9.99996706e-01 6.99432578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:98.29, Z:0.70 [[ 4.41431846e-01 -8.97294573e-01 -6.12062038e-04 2.00341321e+02] [ 8.97293452e-01 4.41432263e-01 -1.42043323e-03 9.82876851e+01] [ 1.54473096e-03 7.78252051e-05 9.99998804e-01 6.98948946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:98.31, Z:0.70 [[ 4.42208745e-01 -8.96912012e-01 -5.17775019e-04 2.00353165e+02] [ 8.96911209e-01 4.42209043e-01 -1.20223538e-03 9.83097403e+01] [ 1.30726415e-03 6.72407793e-05 9.99999143e-01 6.98876827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:98.33, Z:0.70 [[ 4.42942832e-01 -8.96549678e-01 -5.68063774e-04 2.00365570e+02] [ 8.96548710e-01 4.42943190e-01 -1.31980354e-03 9.83328806e+01] [ 1.43488942e-03 7.53006756e-05 9.99998968e-01 6.98888691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:98.36, Z:0.70 [[ 4.43751912e-01 -8.96149325e-01 -7.92787933e-04 2.00377594e+02] [ 8.96147436e-01 4.43752607e-01 -1.84326756e-03 9.83551005e+01] [ 2.00364470e-03 1.07498632e-04 9.99997987e-01 6.99269235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:98.38, Z:0.70 [[ 4.46179156e-01 -8.94942275e-01 -1.57650543e-03 2.00391193e+02] [ 8.94934786e-01 4.46181884e-01 -3.66812369e-03 9.83775523e+01] [ 3.98616712e-03 2.25770783e-04 9.99992030e-01 6.99784122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:98.40, Z:0.70 [[ 4.47112535e-01 -8.94475886e-01 -1.80834800e-03 2.00403000e+02] [ 8.94466016e-01 4.47116114e-01 -4.21026762e-03 9.84011953e+01] [ 4.57452439e-03 2.64957596e-04 9.99989502e-01 6.99382835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:98.42, Z:0.70 [[ 4.47842048e-01 -8.94110851e-01 -1.81276813e-03 2.00414458e+02] [ 8.94100917e-01 4.47845635e-01 -4.22334160e-03 9.84239407e+01] [ 4.58797585e-03 2.70592306e-04 9.99989439e-01 6.99200722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:98.45, Z:0.70 [[ 4.47939878e-01 -8.94062993e-01 -1.10909583e-03 2.00427937e+02] [ 8.94059270e-01 4.47941220e-01 -2.58543185e-03 9.84472387e+01] [ 2.80834867e-03 1.66520622e-04 9.99996043e-01 6.99821016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.44, Y:98.47, Z:0.70 [[ 4.47030787e-01 -8.94518174e-01 -8.43371324e-04 2.00438536e+02] [ 8.94516020e-01 4.47031566e-01 -1.96715658e-03 9.84708822e+01] [ 2.13667091e-03 1.24970393e-04 9.99997710e-01 7.00035899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:98.49, Z:0.70 [[ 4.45778408e-01 -8.95143074e-01 -6.98955808e-04 2.00448269e+02] [ 8.95141593e-01 4.45778944e-01 -1.63131567e-03 9.84944880e+01] [ 1.77184070e-03 1.01540887e-04 9.99998425e-01 6.99479786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:98.52, Z:0.70 [[ 4.44041779e-01 -8.96005760e-01 -7.59617071e-04 2.00457118e+02] [ 8.96004010e-01 4.44042416e-01 -1.77415210e-03 9.85179293e+01] [ 1.92695270e-03 1.07177713e-04 9.99998138e-01 6.98884068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:98.54, Z:0.70 [[ 4.39219274e-01 -8.98378092e-01 -1.79816817e-03 2.00466025e+02] [ 8.98368290e-01 4.39222895e-01 -4.20280009e-03 9.85430331e+01] [ 4.56550015e-03 2.30533541e-04 9.99989551e-01 6.98511804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:98.57, Z:0.70 [[ 4.36060452e-01 -8.99914675e-01 -2.20452020e-03 2.00475703e+02] [ 8.99899943e-01 4.36065944e-01 -5.15612207e-03 9.85672281e+01] [ 5.60138609e-03 2.64533321e-04 9.99984277e-01 6.99549474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:98.59, Z:0.70 [[ 4.32604216e-01 -9.01581290e-01 -2.18403354e-03 2.00484995e+02] [ 9.01566833e-01 4.32609661e-01 -5.11145079e-03 9.85915725e+01] [ 5.55322241e-03 2.42182959e-04 9.99984551e-01 7.00494165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:98.62, Z:0.70 [[ 4.29193877e-01 -9.03210741e-01 -1.72416751e-03 2.00492788e+02] [ 9.03201732e-01 4.29197304e-01 -4.03799869e-03 9.86151305e+01] [ 4.38717183e-03 1.75813234e-04 9.99990361e-01 7.01358118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:98.64, Z:0.70 [[ 4.23875190e-01 -9.05720292e-01 -7.59003950e-04 2.00499027e+02] [ 9.05718548e-01 4.23875865e-01 -1.77852843e-03 9.86409082e+01] [ 1.93257274e-03 6.64301214e-05 9.99998130e-01 7.02936901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:98.67, Z:0.70 [[ 4.21409636e-01 -9.06870261e-01 -4.98396318e-04 2.00507405e+02] [ 9.06869509e-01 4.21409929e-01 -1.16851579e-03 9.86653005e+01] [ 1.26972138e-03 4.04433889e-05 9.99999193e-01 7.03326659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:98.69, Z:0.70 [[ 4.18667847e-01 -9.08139321e-01 -4.55975584e-04 2.00515265e+02] [ 9.08138691e-01 4.18668094e-01 -1.06976551e-03 9.86896349e+01] [ 1.16239855e-03 3.37873513e-05 9.99999324e-01 7.03242815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:98.71, Z:0.70 [[ 4.15809371e-01 -9.09451631e-01 -5.45644533e-04 2.00523874e+02] [ 9.09450730e-01 4.15809727e-01 -1.28106657e-03 9.87148862e+01] [ 1.39195238e-03 3.64426645e-05 9.99999031e-01 7.03232356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.53, Y:98.74, Z:0.70 [[ 4.12575818e-01 -9.10922985e-01 -7.14374482e-04 2.00532805e+02] [ 9.10921439e-01 4.12576434e-01 -1.67844603e-03 9.87389800e+01] [ 1.82366914e-03 4.17472121e-05 9.99998336e-01 7.03156051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:98.76, Z:0.70 [[ 4.05591913e-01 -9.14053938e-01 -7.73957835e-04 2.00543298e+02] [ 9.14052127e-01 4.05592651e-01 -1.81967685e-03 9.87635507e+01] [ 1.97719440e-03 3.06084092e-05 9.99998045e-01 7.03902340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:98.79, Z:0.70 [[ 4.02324660e-01 -9.15496900e-01 -5.41361484e-04 2.00553330e+02] [ 9.15496015e-01 4.02325024e-01 -1.27360114e-03 9.87867254e+01] [ 1.38378116e-03 1.67868637e-05 9.99999042e-01 7.04233819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.56, Y:98.81, Z:0.70 [[ 3.99694638e-01 -9.16648294e-01 -3.17681260e-04 2.00562617e+02] [ 9.16647989e-01 3.99694764e-01 -7.47772263e-04 9.88096892e+01] [ 8.12419706e-04 7.67867607e-06 9.99999670e-01 7.04551551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:98.83, Z:0.70 [[ 3.98682269e-01 -9.17089097e-01 1.88237469e-04 2.00572116e+02] [ 9.17088990e-01 3.98682314e-01 4.43988657e-04 9.88338851e+01] [-4.82224106e-04 -4.37989527e-06 9.99999884e-01 7.03720624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.58, Y:98.86, Z:0.70 [[ 4.00003864e-01 -9.16513434e-01 1.87327921e-04 2.00582460e+02] [ 9.16513327e-01 4.00003908e-01 4.42164233e-04 9.88569233e+01] [-4.80181360e-04 -5.17886526e-06 9.99999885e-01 7.03599331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.59, Y:98.88, Z:0.70 [[ 4.02128350e-01 -9.15583294e-01 1.50430344e-04 2.00593260e+02] [ 9.15583225e-01 4.02128378e-01 3.55422312e-04 9.88790316e+01] [-3.85911041e-04 -5.19388817e-06 9.99999926e-01 7.03582444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:98.90, Z:0.70 [[ 4.04338781e-01 -9.14609286e-01 5.81290199e-05 2.00604505e+02] [ 9.14609276e-01 4.04338786e-01 1.37653651e-04 9.89015205e+01] [-1.49403125e-04 -2.49336884e-06 9.99999989e-01 7.03799138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.61, Y:98.93, Z:0.70 [[ 4.04116330e-01 -9.14707597e-01 5.81021161e-05 2.00614416e+02] [ 9.14707587e-01 4.04116334e-01 1.37665020e-04 9.89256223e+01] [-1.49403254e-04 -2.48623615e-06 9.99999989e-01 7.03813350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:98.95, Z:0.70 [[ 4.08454306e-01 -9.12778615e-01 -5.28246405e-04 2.00628341e+02] [ 9.12777761e-01 4.08454647e-01 -1.24905315e-03 9.89461397e+01] [ 1.35587370e-03 2.80095658e-05 9.99999080e-01 7.04603183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.64, Y:98.97, Z:0.70 [[ 4.09536540e-01 -9.12293333e-01 -8.35147162e-04 2.00640333e+02] [ 9.12291193e-01 4.09537389e-01 -1.97635172e-03 9.89683357e+01] [ 2.14503649e-03 4.74908457e-05 9.99997698e-01 7.04644024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:98.99, Z:0.70 [[ 4.10225654e-01 -9.11983630e-01 -8.77646771e-04 2.00651572e+02] [ 9.11981263e-01 4.10226590e-01 -2.07844701e-03 9.89898584e+01] [ 2.25554369e-03 5.22348741e-05 9.99997455e-01 7.04595309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.66, Y:99.01, Z:0.70 [[ 4.10847527e-01 -9.11704064e-01 -9.36172641e-05 2.00664747e+02] [ 9.11704037e-01 4.10847537e-01 -2.21539344e-04 9.90110730e+01] [ 2.40440743e-04 5.66765411e-06 9.99999971e-01 7.04553747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:99.03, Z:0.70 [[ 4.11617728e-01 -9.11356595e-01 5.86277465e-05 2.00676798e+02] [ 9.11356584e-01 4.11617732e-01 1.39417897e-04 9.90333360e+01] [-1.51191640e-04 -3.95609532e-06 9.99999989e-01 7.04763338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:99.06, Z:0.70 [[ 4.13035713e-01 -9.10714829e-01 -1.89429597e-05 2.00689680e+02] [ 9.10714828e-01 4.13035713e-01 -4.46095979e-05 9.90558237e+01] [ 4.84507412e-05 1.17372279e-06 9.99999999e-01 7.04916683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:99.08, Z:0.70 [[ 4.14797049e-01 -9.09913899e-01 -3.23427909e-04 2.00701799e+02] [ 9.09913575e-01 4.14797175e-01 -7.67904063e-04 9.90773087e+01] [ 8.32883563e-04 2.42328943e-05 9.99999653e-01 7.04746238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:99.10, Z:0.70 [[ 4.18144185e-01 -9.08380288e-01 -8.33034748e-04 2.00715558e+02] [ 9.08378133e-01 4.18145008e-01 -1.97976357e-03 9.90999621e+01] [ 2.14670752e-03 7.11160742e-05 9.99997693e-01 7.03247377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:99.12, Z:0.70 [[ 4.19067050e-01 -9.07954936e-01 -8.01057384e-04 2.00726969e+02] [ 9.07952940e-01 4.19067810e-01 -1.90513378e-03 9.91221794e+01] [ 2.06547298e-03 7.10563852e-05 9.99997864e-01 7.02751096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.74, Y:99.15, Z:0.70 [[ 4.19742431e-01 -9.07642855e-01 -8.59619656e-04 2.00739689e+02] [ 9.07640553e-01 4.19743304e-01 -2.04582192e-03 9.91450885e+01] [ 2.21769524e-03 7.84926045e-05 9.99997538e-01 7.02729817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.75, Y:99.17, Z:0.70 [[ 4.20987659e-01 -9.07065386e-01 -1.33270669e-03 2.00754967e+02] [ 9.07059841e-01 4.20989749e-01 -3.17423101e-03 9.91650135e+01] [ 3.44029093e-03 1.27467364e-04 9.99994074e-01 7.02874894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.77, Y:99.19, Z:0.70 [[ 4.21754830e-01 -9.06708743e-01 -1.45550545e-03 2.00766624e+02] [ 9.06702117e-01 4.21757317e-01 -3.46932086e-03 9.91869550e+01] [ 3.75953363e-03 1.43492952e-04 9.99992923e-01 7.02566037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.78, Y:99.21, Z:0.70 [[ 4.22560339e-01 -9.06333439e-01 -1.56732280e-03 2.00779202e+02] [ 9.06325743e-01 4.22563216e-01 -3.73839061e-03 9.92105545e+01] [ 4.05052138e-03 1.59190602e-04 9.99991784e-01 7.02363481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:99.23, Z:0.70 [[ 4.23830589e-01 -9.05740175e-01 -1.53888620e-03 2.00792164e+02] [ 9.05732741e-01 4.23833351e-01 -3.67307406e-03 9.92331512e+01] [ 3.97908204e-03 1.62941522e-04 9.99992070e-01 7.02254079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:99.25, Z:0.70 [[ 4.26037067e-01 -9.04704702e-01 -1.34871239e-03 2.00807575e+02] [ 9.04698980e-01 4.26039175e-01 -3.22147439e-03 9.92536729e+01] [ 3.48908734e-03 1.52288783e-04 9.99993902e-01 7.02432288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:99.28, Z:0.70 [[ 4.26988886e-01 -9.04256175e-01 -1.12325328e-03 2.00819538e+02] [ 9.04252199e-01 4.26990343e-01 -2.68468684e-03 9.92774539e+01] [ 2.90726295e-03 1.30627195e-04 9.99995765e-01 7.02311635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:99.30, Z:0.70 [[ 4.28127675e-01 -9.03717780e-01 -9.32101444e-04 2.00830652e+02] [ 9.03715037e-01 4.28128675e-01 -2.22926469e-03 9.92999588e+01] [ 2.41368549e-03 1.12055816e-04 9.99997081e-01 7.02170505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:99.32, Z:0.70 [[ 4.30584795e-01 -9.02549559e-01 -1.01424204e-03 2.00845326e+02] [ 9.02546303e-01 4.30585970e-01 -2.42748153e-03 9.93205977e+01] [ 2.62764077e-03 1.29836235e-04 9.99996539e-01 7.02086715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.86, Y:99.34, Z:0.70 [[ 4.31821708e-01 -9.01957987e-01 -1.34250931e-03 2.00857623e+02] [ 9.01952273e-01 4.31823758e-01 -3.21552947e-03 9.93433579e+01] [ 3.47999991e-03 1.77656104e-04 9.99993929e-01 7.02295083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:99.37, Z:0.70 [[ 4.33007580e-01 -9.01389044e-01 -1.49200173e-03 2.00868928e+02] [ 9.01381974e-01 4.33010103e-01 -3.57611806e-03 9.93661880e+01] [ 3.86952546e-03 2.03622765e-04 9.99992493e-01 7.02456287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:99.39, Z:0.70 [[ 4.34210710e-01 -9.00810329e-01 -1.34544300e-03 2.00879565e+02] [ 9.00804569e-01 4.34212753e-01 -3.22711855e-03 9.93882514e+01] [ 3.49123023e-03 1.89268231e-04 9.99993888e-01 7.02578109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:99.41, Z:0.70 [[ 4.36174830e-01 -8.99861023e-01 -1.28757626e-03 2.00892576e+02] [ 8.99855736e-01 4.36176689e-01 -3.09046212e-03 9.94109691e+01] [ 3.34259716e-03 1.89348907e-04 9.99994396e-01 7.02865536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.90, Y:99.43, Z:0.70 [[ 4.37164153e-01 -8.99380796e-01 -1.29894732e-03 2.00903783e+02] [ 8.99375407e-01 4.37166039e-01 -3.11964723e-03 9.94324545e+01] [ 3.37360646e-03 1.95556666e-04 9.99994290e-01 7.02858278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.91, Y:99.46, Z:0.70 [[ 4.38067540e-01 -8.98941112e-01 -1.30644315e-03 2.00914946e+02] [ 8.98935652e-01 4.38069442e-01 -3.13977002e-03 9.94551822e+01] [ 3.39478118e-03 2.01023005e-04 9.99994218e-01 7.02832606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:99.48, Z:0.70 [[ 4.38920934e-01 -8.98524703e-01 -1.33133169e-03 2.00925181e+02] [ 8.98519022e-01 4.38922903e-01 -3.20188324e-03 9.94775215e+01] [ 3.46132315e-03 2.09146735e-04 9.99993988e-01 7.02688333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:99.50, Z:0.70 [[ 4.41723901e-01 -8.97150725e-01 -7.55919014e-04 2.00935769e+02] [ 8.97148890e-01 4.41724530e-01 -1.81912108e-03 9.95004388e+01] [ 1.96593377e-03 1.25377356e-04 9.99998060e-01 7.02996204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:99.52, Z:0.70 [[ 4.43179720e-01 -8.96432660e-01 -4.71108349e-04 2.00945058e+02] [ 8.96431946e-01 4.43179963e-01 -1.13439565e-03 9.95232458e+01] [ 1.22569509e-03 8.04245722e-05 9.99999246e-01 7.03287785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:99.55, Z:0.70 [[ 4.44563290e-01 -8.95747338e-01 -4.32660792e-04 2.00954370e+02] [ 8.95746735e-01 4.44563494e-01 -1.04249208e-03 9.95479488e+01] [ 1.12615470e-03 7.58992174e-05 9.99999363e-01 7.03080909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:99.57, Z:0.70 [[ 4.46438597e-01 -8.94814029e-01 -6.57512773e-04 2.00963758e+02] [ 8.94812633e-01 4.46439065e-01 -1.58547307e-03 9.95720562e+01] [ 1.71224293e-03 1.19465636e-04 9.99998527e-01 7.02033436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.97, Y:99.60, Z:0.70 [[ 4.46398517e-01 -8.94834145e-01 -4.65840985e-04 2.00974514e+02] [ 8.94833443e-01 4.46398752e-01 -1.12392325e-03 9.95966351e+01] [ 1.21367574e-03 8.48675813e-05 9.99999260e-01 7.01704261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:99.62, Z:0.70 [[ 4.46143435e-01 -8.94961441e-01 -2.33484277e-04 2.00984896e+02] [ 8.94961265e-01 4.46143494e-01 -5.63522408e-04 9.96197226e+01] [ 6.08498317e-04 4.24524393e-05 9.99999814e-01 7.02124515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:99.64, Z:0.70 [[ 4.46086231e-01 -8.94989970e-01 -1.68031300e-04 2.00994927e+02] [ 8.94989878e-01 4.46086262e-01 -4.05728269e-04 9.96437392e+01] [ 4.38079186e-04 3.06034823e-05 9.99999904e-01 7.02236880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.00, Y:99.67, Z:0.70 [[ 4.46147864e-01 -8.94958707e-01 -9.98058910e-04 2.01001809e+02] [ 8.94955473e-01 4.46148942e-01 -2.41310906e-03 9.96679926e+01] [ 2.60491589e-03 1.83385169e-04 9.99996590e-01 7.01126741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:99.69, Z:0.70 [[ 4.45792891e-01 -8.95134786e-01 -1.55350526e-03 2.01009979e+02] [ 8.95126940e-01 4.45795506e-01 -3.75863622e-03 9.96930526e+01] [ 4.05703170e-03 2.84988892e-04 9.99991730e-01 7.00215047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:99.72, Z:0.70 [[ 4.45272355e-01 -8.95393447e-01 -1.76204701e-03 2.01018920e+02] [ 8.95383342e-01 4.45275725e-01 -4.26602133e-03 9.97182674e+01] [ 4.60436431e-03 3.21833825e-04 9.99989348e-01 6.99542306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.03, Y:99.74, Z:0.70 [[ 4.44774473e-01 -8.95641185e-01 -1.59265501e-03 2.01027791e+02] [ 8.95632920e-01 4.44777230e-01 -3.85851742e-03 9.97415635e+01] [ 4.16422380e-03 2.89735796e-04 9.99991288e-01 6.99502511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:201.04, Y:99.77, Z:0.70 [[ 4.43301683e-01 -8.96371310e-01 -1.44645632e-03 2.01039731e+02] [ 8.96364488e-01 4.43303967e-01 -3.50662030e-03 9.97652807e+01] [ 3.78445366e-03 2.57938603e-04 9.99992806e-01 7.00652064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:99.79, Z:0.70 [[ 4.42685594e-01 -8.96675081e-01 -1.80647384e-03 2.01050887e+02] [ 8.96664429e-01 4.42689164e-01 -4.38250373e-03 9.97882838e+01] [ 4.72938828e-03 3.20270439e-04 9.99988765e-01 7.01193275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.06, Y:99.81, Z:0.70 [[ 4.42710549e-01 -8.96661556e-01 -2.32903319e-03 2.01060076e+02] [ 8.96643825e-01 4.42716481e-01 -5.65402785e-03 9.98134990e+01] [ 6.10085079e-03 4.14784546e-04 9.99981304e-01 7.01179981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:99.84, Z:0.70 [[ 4.43856719e-01 -8.96094960e-01 -2.24396766e-03 2.01067691e+02] [ 8.96078473e-01 4.43862203e-01 -5.45120484e-03 9.98376242e+01] [ 5.88080962e-03 4.08782783e-04 9.99982624e-01 7.00642736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:99.86, Z:0.70 [[ 4.45530343e-01 -8.95264261e-01 -2.14849962e-03 2.01075707e+02] [ 8.95249118e-01 4.45535341e-01 -5.22274385e-03 9.98630587e+01] [ 5.63296843e-03 4.03448475e-04 9.99984053e-01 7.00605791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:99.89, Z:0.70 [[ 4.47584288e-01 -8.94239387e-01 -2.05504199e-03 2.01084014e+02] [ 8.94225508e-01 4.47588828e-01 -4.99824896e-03 9.98875679e+01] [ 5.38944493e-03 3.99466737e-04 9.99985397e-01 7.00020486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:99.91, Z:0.70 [[ 4.49332204e-01 -8.93362267e-01 -2.10490483e-03 2.01092951e+02] [ 8.93347677e-01 4.49336937e-01 -5.12293917e-03 9.99115120e+01] [ 5.52245204e-03 4.21489708e-04 9.99984662e-01 7.00241603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.10, Y:99.93, Z:0.70 [[ 4.51989115e-01 -8.92021988e-01 -1.61624543e-03 2.01101485e+02] [ 8.92013369e-01 4.51991879e-01 -3.93588360e-03 9.99341775e+01] [ 4.24142453e-03 3.37264009e-04 9.99990948e-01 7.01532857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:99.96, Z:0.70 [[ 4.52099504e-01 -8.91966421e-01 -1.39366109e-03 2.01110163e+02] [ 8.91960004e-01 4.52101558e-01 -3.39606632e-03 9.99578183e+01] [ 3.65925347e-03 2.92269944e-04 9.99993262e-01 7.02156784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:99.98, Z:0.70 [[ 4.51608866e-01 -8.92215096e-01 -1.28671548e-03 2.01119159e+02] [ 8.92209620e-01 4.51610619e-01 -3.13742750e-03 9.99826965e+01] [ 3.38035455e-03 2.68870151e-04 9.99994250e-01 7.02489263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.13, Y:100.01, Z:0.70 [[ 4.50025142e-01 -8.93015483e-01 -8.47621780e-04 2.01126433e+02] [ 8.93013106e-01 4.50025906e-01 -2.06776183e-03 1.00006843e+02] [ 2.22799509e-03 1.73607453e-04 9.99997503e-01 7.02625648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.13, Y:100.03, Z:0.70 [[ 4.49606205e-01 -8.93226643e-01 -6.51755593e-04 2.01134633e+02] [ 8.93225236e-01 4.49606658e-01 -1.59091435e-03 1.00029971e+02] [ 1.71408073e-03 1.33120418e-04 9.99998522e-01 7.03253188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:100.05, Z:0.70 [[ 4.49138134e-01 -8.93462096e-01 -6.48123118e-04 2.01142480e+02] [ 8.93460703e-01 4.49138582e-01 -1.58312639e-03 1.00054874e+02] [ 1.70556052e-03 1.31969894e-04 9.99998537e-01 7.03096248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:100.08, Z:0.70 [[ 4.48550659e-01 -8.93756994e-01 -8.61439123e-04 2.01149669e+02] [ 8.93754531e-01 4.48551452e-01 -2.10564896e-03 1.00080662e+02] [ 2.26833825e-03 1.74575108e-04 9.99997412e-01 7.02443719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:100.11, Z:0.70 [[ 4.48107703e-01 -8.93978823e-01 -1.16235249e-03 2.01155675e+02] [ 8.93974333e-01 4.48109149e-01 -2.84316889e-03 1.00105661e+02] [ 3.06259356e-03 2.34932595e-04 9.99995283e-01 7.01371046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:100.13, Z:0.70 [[ 4.48051803e-01 -8.94006927e-01 -1.09331438e-03 2.01157519e+02] [ 8.94002949e-01 4.48053083e-01 -2.67616397e-03 1.00131084e+02] [ 2.88237201e-03 2.21633812e-04 9.99995821e-01 7.01430014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:100.16, Z:0.70 [[ 4.48036629e-01 -8.94014715e-01 -9.32182918e-04 2.01164635e+02] [ 8.94011819e-01 4.48037559e-01 -2.28317742e-03 1.00156805e+02] [ 2.45884717e-03 1.89564568e-04 9.99996959e-01 7.02246885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:100.18, Z:0.70 [[ 4.47503702e-01 -8.94281667e-01 -8.57673181e-04 2.01171037e+02] [ 8.94279214e-01 4.47504491e-01 -2.10190963e-03 1.00180823e+02] [ 2.26351185e-03 1.73613041e-04 9.99997423e-01 7.03159821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:100.21, Z:0.70 [[ 4.46346781e-01 -8.94859689e-01 -8.29085144e-04 2.01177475e+02] [ 8.94857395e-01 4.46347520e-01 -2.03310393e-03 1.00206430e+02] [ 2.18940285e-03 1.65556421e-04 9.99997590e-01 7.03703869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:100.23, Z:0.70 [[ 4.44351390e-01 -8.95852289e-01 -7.20781286e-04 2.01178685e+02] [ 8.95850554e-01 4.44351952e-01 -1.76863528e-03 1.00233248e+02] [ 1.90471653e-03 1.40183229e-04 9.99998176e-01 7.03614175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:100.26, Z:0.70 [[ 4.43283465e-01 -8.96381417e-01 -3.53972525e-04 2.01184550e+02] [ 8.96380998e-01 4.43283601e-01 -8.68916934e-04 1.00258094e+02] [ 9.35791208e-04 6.78822636e-05 9.99999560e-01 7.03604760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.19, Y:100.28, Z:0.70 [[ 4.42165367e-01 -8.96933546e-01 4.96877761e-05 2.01191804e+02] [ 8.96933538e-01 4.42165369e-01 1.22409784e-04 1.00283742e+02] [-1.31763655e-04 -9.55873413e-06 9.99999991e-01 7.03677299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:100.31, Z:0.70 [[ 4.41248930e-01 -8.97384705e-01 2.71584453e-04 2.01198682e+02] [ 8.97384458e-01 4.41249010e-01 6.68080992e-04 1.00308873e+02] [-7.19362035e-04 -5.10743557e-05 9.99999740e-01 7.04013136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:100.33, Z:0.70 [[ 4.40440182e-01 -8.97781950e-01 1.26540329e-04 2.01205219e+02] [ 8.97781897e-01 4.40440199e-01 3.11640801e-04 1.00334956e+02] [-3.35518934e-04 -2.36535148e-05 9.99999943e-01 7.03576441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:100.36, Z:0.70 [[ 4.40212256e-01 -8.97893188e-01 -9.96614586e-04 2.01208171e+02] [ 8.97889855e-01 4.40213345e-01 -2.45327385e-03 1.00361706e+02] [ 2.64150092e-03 1.85111092e-04 9.99996494e-01 7.02320698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.22, Y:100.39, Z:0.70 [[ 4.40010534e-01 -8.97991160e-01 -1.61468816e-03 2.01215112e+02] [ 8.97982401e-01 4.40013394e-01 -3.97750361e-03 1.00386835e+02] [ 4.28224750e-03 3.00181938e-04 9.99990786e-01 7.01723889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.23, Y:100.41, Z:0.70 [[ 4.39848696e-01 -8.98070443e-01 -1.61395048e-03 2.01225034e+02] [ 8.98061683e-01 4.39851554e-01 -3.97780298e-03 1.00411816e+02] [ 4.28224592e-03 3.00204366e-04 9.99990786e-01 7.01738554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:100.44, Z:0.70 [[ 4.38944654e-01 -8.98511411e-01 -2.19890541e-03 2.01231296e+02] [ 8.98495137e-01 4.38949975e-01 -5.42297177e-03 1.00437246e+02] [ 5.83781149e-03 4.04678644e-04 9.99982878e-01 7.01374765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:100.46, Z:0.70 [[ 4.37584980e-01 -8.99174291e-01 -2.23168260e-03 2.01239120e+02] [ 8.99157515e-01 4.37590485e-01 -5.50736481e-03 1.00462324e+02] [ 5.92864391e-03 4.03305936e-04 9.99982344e-01 7.01522522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.25, Y:100.49, Z:0.70 [[ 4.35770017e-01 -9.00055760e-01 -2.02993471e-03 2.01247114e+02] [ 9.00041872e-01 4.35774599e-01 -5.01283351e-03 1.00486031e+02] [ 5.39642366e-03 3.57416304e-04 9.99985375e-01 7.01539840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:100.51, Z:0.70 [[ 4.33564630e-01 -9.01120700e-01 -1.78764560e-03 2.01256513e+02] [ 9.01109924e-01 4.33568208e-01 -4.41738586e-03 1.00510281e+02] [ 4.75566414e-03 3.04357078e-04 9.99988645e-01 7.01678772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.27, Y:100.53, Z:0.70 [[ 4.31008464e-01 -9.02346307e-01 -1.68684670e-03 2.01266680e+02] [ 9.02336709e-01 4.31011677e-01 -4.17112553e-03 1.00533998e+02] [ 4.49085034e-03 2.75686703e-04 9.99989878e-01 7.01952208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:100.56, Z:0.70 [[ 4.27353214e-01 -9.04083463e-01 -1.52394761e-03 2.01279770e+02] [ 9.04075629e-01 4.27355867e-01 -3.77099121e-03 1.00555065e+02] [ 4.06055875e-03 2.33781326e-04 9.99991729e-01 7.01806274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.29, Y:100.58, Z:0.70 [[ 4.26200892e-01 -9.04627125e-01 -1.60129615e-03 2.01291389e+02] [ 9.04618468e-01 4.26203831e-01 -3.96507146e-03 1.00578686e+02] [ 4.26938976e-03 2.41354922e-04 9.99990857e-01 7.02135132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:100.60, Z:0.70 [[ 4.25708084e-01 -9.04859341e-01 -1.48319240e-03 2.01303193e+02] [ 9.04851905e-01 4.25710609e-01 -3.67513828e-03 1.00601566e+02] [ 3.95689394e-03 2.22466600e-04 9.99992147e-01 7.02620352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:100.62, Z:0.70 [[ 4.26425089e-01 -9.04522631e-01 -6.74126226e-04 2.01317854e+02] [ 9.04521093e-01 4.26425609e-01 -1.67125757e-03 1.00622074e+02] [ 1.79915498e-03 1.02904768e-04 9.99998376e-01 7.04219737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:100.65, Z:0.70 [[ 4.26720573e-01 -9.04383471e-01 -3.00777665e-04 2.01329925e+02] [ 9.04383164e-01 4.26720677e-01 -7.45969284e-04 1.00645438e+02] [ 8.02990339e-04 4.63021840e-05 9.99999677e-01 7.04497111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:100.67, Z:0.70 [[ 4.27658258e-01 -9.03940452e-01 -2.72744518e-04 2.01341322e+02] [ 9.03940199e-01 4.27658343e-01 -6.76869561e-04 1.00668466e+02] [ 7.28491245e-04 4.29241237e-05 9.99999734e-01 7.03788457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:100.69, Z:0.70 [[ 4.28401261e-01 -9.03588456e-01 -5.11885585e-04 2.01352004e+02] [ 9.03587565e-01 4.28401559e-01 -1.27157640e-03 1.00690615e+02] [ 1.36827434e-03 8.22114851e-05 9.99999061e-01 7.03249940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:100.71, Z:0.70 [[ 4.29633051e-01 -9.03002808e-01 -1.17069347e-03 2.01365977e+02] [ 9.02998137e-01 4.29634603e-01 -2.91066791e-03 1.00712879e+02] [ 3.13131172e-03 1.93385116e-04 9.99995079e-01 7.02647723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:100.74, Z:0.70 [[ 4.30013093e-01 -9.02821632e-01 -1.35695915e-03 2.01377753e+02] [ 9.02815348e-01 4.30015174e-01 -3.37606500e-03 1.00736434e+02] [ 3.63149753e-03 2.26668604e-04 9.99993380e-01 7.02689767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:100.76, Z:0.70 [[ 4.30282839e-01 -9.02693149e-01 -1.32523715e-03 2.01388388e+02] [ 9.02687147e-01 4.30284822e-01 -3.29937806e-03 1.00759122e+02] [ 3.54855541e-03 2.23391218e-04 9.99993679e-01 7.02780019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:100.78, Z:0.70 [[ 4.30786821e-01 -9.02453081e-01 -1.07263143e-03 2.01398222e+02] [ 9.02449143e-01 4.30788118e-01 -2.67236416e-03 1.00781827e+02] [ 2.87376015e-03 1.83223945e-04 9.99995854e-01 7.03015864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:100.80, Z:0.70 [[ 4.32242270e-01 -9.01757247e-01 -6.98298218e-04 2.01409792e+02] [ 9.01755575e-01 4.32242817e-01 -1.74071963e-03 1.00803260e+02] [ 1.87154093e-03 1.22718292e-04 9.99998241e-01 7.03252618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:100.83, Z:0.70 [[ 4.32933499e-01 -9.01425511e-01 -7.96062401e-04 2.01421144e+02] [ 9.01423335e-01 4.32934208e-01 -1.98573011e-03 1.00826722e+02] [ 2.13463042e-03 1.42099860e-04 9.99997712e-01 7.03180611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:100.85, Z:0.70 [[ 4.33952739e-01 -9.00935016e-01 -1.05704317e-03 2.01431383e+02] [ 9.00931173e-01 4.33953983e-01 -2.63859929e-03 1.00851521e+02] [ 2.83591459e-03 1.92704249e-04 9.99995960e-01 7.02677297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:100.88, Z:0.70 [[ 4.35296312e-01 -9.00286454e-01 -1.19237662e-03 2.01439790e+02] [ 9.00281554e-01 4.35297888e-01 -2.97853461e-03 1.00875888e+02] [ 3.20057338e-03 2.23070452e-04 9.99994853e-01 7.01312336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:100.90, Z:0.70 [[ 4.38210992e-01 -8.98871720e-01 -8.70668935e-04 2.01446743e+02] [ 8.98869101e-01 4.38211824e-01 -2.17633200e-03 1.00900535e+02] [ 2.33778071e-03 1.71075201e-04 9.99997253e-01 6.99944517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:100.92, Z:0.70 [[ 4.38706279e-01 -8.98630242e-01 -6.99552772e-04 2.01455446e+02] [ 8.98628549e-01 4.38706815e-01 -1.74963619e-03 1.00923747e+02] [ 1.87917456e-03 1.38938288e-04 9.99998225e-01 7.00415722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:100.95, Z:0.70 [[ 4.38756468e-01 -8.98605700e-01 -7.46229179e-04 2.01464642e+02] [ 8.98603772e-01 4.38757077e-01 -1.86758320e-03 1.00948036e+02] [ 2.00563424e-03 1.48849852e-04 9.99997978e-01 7.00779191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:201.47, Y:100.97, Z:0.70 [[ 4.37974832e-01 -8.98986432e-01 -1.20082631e-03 2.01472807e+02] [ 8.98981432e-01 4.37976414e-01 -3.00752165e-03 1.00971989e+02] [ 3.22965476e-03 2.37698238e-04 9.99994756e-01 7.01077688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:101.00, Z:0.70 [[ 4.35748195e-01 -9.00067191e-01 -1.60064064e-03 2.01479559e+02] [ 9.00058304e-01 4.35751026e-01 -4.01160283e-03 1.00997419e+02] [ 4.30819290e-03 3.07378790e-04 9.99990672e-01 7.00566617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:101.02, Z:0.70 [[ 4.34121073e-01 -9.00853129e-01 -1.59180949e-03 2.01487013e+02] [ 9.00844333e-01 4.34123889e-01 -3.99206646e-03 1.01022414e+02] [ 4.28730809e-03 2.99067620e-04 9.99990765e-01 7.00323143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:101.05, Z:0.70 [[ 4.32503213e-01 -9.01631333e-01 -1.38206098e-03 2.01493941e+02] [ 9.01624698e-01 4.32505346e-01 -3.46834428e-03 1.01046456e+02] [ 3.72491664e-03 2.53969732e-04 9.99993030e-01 6.99881251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:101.07, Z:0.70 [[ 4.30815883e-01 -9.02439187e-01 -1.09072927e-03 2.01501328e+02] [ 9.02435051e-01 4.30817219e-01 -2.73896408e-03 1.01071457e+02] [ 2.94165346e-03 1.95676904e-04 9.99995654e-01 6.99802233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:101.10, Z:0.70 [[ 4.28983287e-01 -9.03311901e-01 -9.74188930e-04 2.01508252e+02] [ 9.03308600e-01 4.28984359e-01 -2.44790564e-03 1.01097229e+02] [ 2.62913411e-03 1.70117369e-04 9.99996529e-01 7.00462180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:101.12, Z:0.70 [[ 4.28406484e-01 -9.03585547e-01 -1.02124491e-03 2.01516390e+02] [ 9.03581916e-01 4.28407665e-01 -2.56793692e-03 1.01120826e+02] [ 2.75785983e-03 1.77342392e-04 9.99996181e-01 7.01556268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.021400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:201.52, Y:101.15, Z:0.70 [[ 4.28075226e-01 -9.03742628e-01 -9.28774059e-04 2.01520701e+02] [ 9.03739621e-01 4.28076203e-01 -2.33696324e-03 1.01147679e+02] [ 2.50959938e-03 1.61026152e-04 9.99996838e-01 7.02978414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:101.17, Z:0.70 [[ 4.28931298e-01 -9.03336933e-01 -5.71207044e-04 2.01527624e+02] [ 9.03335794e-01 4.28931667e-01 -1.43809189e-03 1.01173705e+02] [ 1.54409031e-03 1.00850854e-04 9.99998803e-01 7.02960966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:101.20, Z:0.70 [[ 4.29507254e-01 -9.03063350e-01 -3.22382753e-04 2.01534427e+02] [ 9.03062987e-01 4.29507372e-01 -8.12047424e-04 1.01198588e+02] [ 8.71796036e-04 5.76483276e-05 9.99999618e-01 7.03117900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.54, Y:101.22, Z:0.70 [[ 4.29864848e-01 -9.02893231e-01 -1.60616411e-04 2.01541731e+02] [ 9.02893141e-01 4.29864877e-01 -4.04681584e-04 1.01223391e+02] [ 4.34427617e-04 2.89389319e-05 9.99999905e-01 7.03461881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:101.25, Z:0.70 [[ 4.29985132e-01 -9.02835953e-01 -1.66901513e-04 2.01549150e+02] [ 9.02835856e-01 4.29985163e-01 -4.20823226e-04 1.01249256e+02] [ 4.51699512e-04 3.02630599e-05 9.99999898e-01 7.03583084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:101.28, Z:0.70 [[ 4.30291343e-01 -9.02689914e-01 -5.28797236e-04 2.01554091e+02] [ 9.02688932e-01 4.30291657e-01 -1.33488427e-03 1.01275683e+02] [ 1.43252361e-03 9.70497339e-05 9.99998969e-01 7.03236394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:101.30, Z:0.70 [[ 4.30253771e-01 -9.02707813e-01 -5.45544284e-04 2.01562281e+02] [ 9.02706766e-01 4.30254105e-01 -1.37807114e-03 1.01301252e+02] [ 1.47871825e-03 1.00453788e-04 9.99998902e-01 7.02625785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:101.33, Z:0.70 [[ 4.30345441e-01 -9.02664108e-01 -5.55454257e-04 2.01570912e+02] [ 9.02663022e-01 4.30345787e-01 -1.40404462e-03 1.01326501e+02] [ 1.50641808e-03 1.02836181e-04 9.99998860e-01 7.02790408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:101.35, Z:0.70 [[ 4.31588325e-01 -9.02070602e-01 -3.83670846e-04 2.01577367e+02] [ 9.02070083e-01 4.31588490e-01 -9.70379464e-04 1.01350925e+02] [ 1.04093871e-03 7.27064556e-05 9.99999456e-01 7.03609048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:101.38, Z:0.70 [[ 4.32385091e-01 -9.01688997e-01 -2.94397093e-04 2.01584304e+02] [ 9.01688691e-01 4.32385187e-01 -7.45029439e-04 1.01376041e+02] [ 7.99077790e-04 5.66850925e-05 9.99999679e-01 7.03744079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:101.40, Z:0.70 [[ 4.33553841e-01 -9.01127646e-01 -1.81730269e-04 2.01591483e+02] [ 9.01127529e-01 4.33553878e-01 -4.60095345e-04 1.01401239e+02] [ 4.93394498e-04 3.57139557e-05 9.99999878e-01 7.03643994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:101.43, Z:0.70 [[ 4.35361446e-01 -9.00255736e-01 1.45045841e-04 2.01599358e+02] [ 9.00255661e-01 4.35361470e-01 3.68134784e-04 1.01425035e+02] [-3.94562822e-04 -2.96933525e-05 9.99999922e-01 7.03489767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:101.45, Z:0.70 [[ 4.39624274e-01 -8.98181625e-01 5.15388787e-04 2.01605975e+02] [ 8.98180680e-01 4.39624562e-01 1.30804886e-03 1.01448763e+02] [-1.40144302e-03 -1.12137778e-04 9.99999012e-01 7.03525739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:101.47, Z:0.70 [[ 4.41370061e-01 -8.97325088e-01 -3.95269901e-04 2.01614119e+02] [ 8.97323682e-01 4.41368480e-01 2.01858303e-03 1.01473244e+02] [-1.63686552e-03 -1.24562716e-03 9.99997885e-01 7.03192688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:101.50, Z:0.70 [[ 4.42459089e-01 -8.96787698e-01 1.33366058e-03 2.01619589e+02] [ 8.96788148e-01 4.42459968e-01 4.41908426e-04 1.01499890e+02] [-9.86389457e-04 1.00048460e-03 9.99999013e-01 7.01663683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.63, Y:101.52, Z:0.70 [[ 4.43243333e-01 -8.96401263e-01 -3.52485770e-04 2.01627385e+02] [ 8.96400819e-01 4.43243465e-01 -8.96062503e-04 1.01523726e+02] [ 9.59468574e-04 8.12051973e-05 9.99999536e-01 7.00602745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:101.55, Z:0.70 [[ 4.42291907e-01 -8.96870994e-01 -5.38196668e-04 2.01636589e+02] [ 8.96869957e-01 4.42292218e-01 -1.36923701e-03 1.01548241e+02] [ 1.46606916e-03 1.22910028e-04 9.99998918e-01 7.00565874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.65, Y:101.57, Z:0.70 [[ 4.40605209e-01 -8.97700846e-01 -4.91604573e-04 2.01645928e+02] [ 8.97699980e-01 4.40605469e-01 -1.25148916e-03 1.01573437e+02] [ 1.34006654e-03 1.10099227e-04 9.99999096e-01 7.00650523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:101.60, Z:0.70 [[ 4.38379491e-01 -8.98789831e-01 -5.10744250e-04 2.01655159e+02] [ 8.98788896e-01 4.38379775e-01 -1.30110799e-03 1.01597497e+02] [ 1.39332258e-03 1.11327798e-04 9.99999023e-01 7.00295547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.67, Y:101.62, Z:0.70 [[ 4.33037946e-01 -9.01375310e-01 -8.28972713e-04 2.01666353e+02] [ 9.01372848e-01 4.33038707e-01 -2.11339016e-03 1.01621545e+02] [ 2.26393498e-03 1.67964640e-04 9.99997423e-01 6.99712857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.68, Y:101.64, Z:0.70 [[ 4.29784274e-01 -9.02931137e-01 -9.16074741e-04 2.01676601e+02] [ 9.02928131e-01 4.29785214e-01 -2.33676036e-03 1.01644557e+02] [ 2.50364907e-03 1.77153199e-04 9.99996850e-01 6.99632055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:101.67, Z:0.70 [[ 4.26483442e-01 -9.04495001e-01 -8.16693080e-04 2.01687466e+02] [ 9.04492611e-01 4.26484198e-01 -2.08451592e-03 1.01669148e+02] [ 2.23374093e-03 1.50318670e-04 9.99997494e-01 6.99558780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:101.69, Z:0.70 [[ 4.23333512e-01 -9.05971906e-01 -1.90852957e-03 2.01699011e+02] [ 9.05973065e-01 4.23335063e-01 -4.79316902e-04 1.01691553e+02] [ 1.24219513e-03 -1.52616548e-03 9.99998064e-01 7.00009675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:101.71, Z:0.70 [[ 4.19203353e-01 -9.07891559e-01 1.21053261e-03 2.01710221e+02] [ 9.07892127e-01 4.19201902e-01 -1.28501899e-03 1.01714181e+02] [ 6.59200318e-04 1.63771730e-03 9.99998442e-01 6.99737813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:101.74, Z:0.70 [[ 4.18139254e-01 -9.08382917e-01 -1.99615378e-04 2.01723153e+02] [ 9.08382775e-01 4.18139300e-01 -5.10280960e-04 1.01736461e+02] [ 5.46997541e-04 3.20413290e-05 9.99999850e-01 7.01074165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:101.76, Z:0.70 [[ 4.17848578e-01 -9.08516662e-01 -2.00254532e-04 2.01733649e+02] [ 9.08516518e-01 4.17848625e-01 -5.12282870e-04 1.01758990e+02] [ 5.49093604e-04 3.21221192e-05 9.99999849e-01 7.01158597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:101.78, Z:0.70 [[ 4.19191605e-01 -9.07897309e-01 -9.35307603e-04 2.01745383e+02] [ 9.07894161e-01 4.19192620e-01 -2.39572211e-03 1.01781556e+02] [ 2.56714370e-03 1.55106284e-04 9.99996693e-01 7.00414780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:101.80, Z:0.70 [[ 4.19970242e-01 -9.07536498e-01 -1.58106573e-03 2.01757040e+02] [ 9.07527488e-01 4.19973133e-01 -4.05294994e-03 1.01804428e+02] [ 4.34220513e-03 2.67257758e-04 9.99990537e-01 7.00155288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:101.83, Z:0.70 [[ 4.20810238e-01 -9.07146826e-01 -1.83836416e-03 2.01769222e+02] [ 9.07134622e-01 4.20814134e-01 -4.71613211e-03 1.01826565e+02] [ 5.05183389e-03 3.16952901e-04 9.99987189e-01 7.00393362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.78, Y:101.85, Z:0.70 [[ 4.22163919e-01 -9.06519261e-01 -6.74088399e-04 2.01782082e+02] [ 9.06517618e-01 4.22164440e-01 -1.73033421e-03 1.01849404e+02] [ 1.85315744e-03 1.19411660e-04 9.99998276e-01 7.02002824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:101.87, Z:0.70 [[ 4.22741886e-01 -9.06250125e-01 9.60884612e-05 2.01791602e+02] [ 9.06250091e-01 4.22741896e-01 2.47248120e-04 1.01873253e+02] [-2.64689258e-04 -1.74419597e-05 9.99999965e-01 7.02855591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.80, Y:101.90, Z:0.70 [[ 4.23535716e-01 -9.05879325e-01 3.81326301e-04 2.01800701e+02] [ 9.05878797e-01 4.23535882e-01 9.80873832e-04 1.01895650e+02] [-1.05005870e-03 -6.99996894e-05 9.99999446e-01 7.03557325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.81, Y:101.92, Z:0.70 [[ 4.26459948e-01 -9.04506446e-01 -4.91872364e-05 2.01813158e+02] [ 9.04506437e-01 4.26459950e-01 -1.26203593e-04 1.01918474e+02] [ 1.35128349e-04 9.33060558e-06 9.99999991e-01 7.03052640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:101.94, Z:0.70 [[ 4.28090241e-01 -9.03735970e-01 -2.06717183e-04 2.01823633e+02] [ 9.03735814e-01 4.28090289e-01 -5.31929738e-04 1.01942031e+02] [ 5.69217656e-04 4.08962076e-05 9.99999837e-01 7.02340472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.83, Y:101.97, Z:0.70 [[ 4.27894157e-01 -9.03828826e-01 -2.06588838e-04 2.01832839e+02] [ 9.03828671e-01 4.27894205e-01 -5.31979580e-04 1.01966407e+02] [ 5.69216647e-04 4.09100392e-05 9.99999837e-01 7.02354472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:101.99, Z:0.70 [[ 4.30318712e-01 -9.02677021e-01 3.57501676e-05 2.01843983e+02] [ 9.02677017e-01 4.30318713e-01 9.25426581e-05 1.01989917e+02] [-9.89200970e-05 -7.55198273e-06 9.99999995e-01 7.01544229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:102.01, Z:0.70 [[ 4.30669863e-01 -9.02509528e-01 1.47234089e-04 2.01854259e+02] [ 9.02509448e-01 4.30669887e-01 3.80223943e-04 1.02014365e+02] [-4.06565020e-04 -3.08708365e-05 9.99999917e-01 7.01780114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.86, Y:102.04, Z:0.70 [[ 4.30335347e-01 -9.02669080e-01 1.44641916e-04 2.01864845e+02] [ 9.02669003e-01 4.30335370e-01 3.73789045e-04 1.02038869e+02] [-3.99652346e-04 -3.02908642e-05 9.99999920e-01 7.02437688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:102.06, Z:0.70 [[ 4.29713901e-01 -9.02964911e-01 -5.76736965e-04 2.01875501e+02] [ 9.02964855e-01 4.29713233e-01 1.00462937e-03 1.02062094e+02] [-6.59313561e-04 -9.52476414e-04 9.99999329e-01 7.02894568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:201.88, Y:102.09, Z:0.70 [[ 4.27842604e-01 -9.03852610e-01 1.07961823e-03 2.01883184e+02] [ 9.03852957e-01 4.27843127e-01 3.00273016e-04 1.02086971e+02] [-7.33309788e-04 8.47346538e-04 9.99999372e-01 7.01617126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:102.11, Z:0.70 [[ 4.27461632e-01 -9.04033450e-01 2.72348382e-04 2.01892560e+02] [ 9.04033177e-01 4.27461715e-01 7.04872819e-04 1.02109488e+02] [-7.53647113e-04 -5.50941123e-05 9.99999715e-01 7.01747072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.90, Y:102.13, Z:0.70 [[ 4.27632245e-01 -9.03952796e-01 7.01893306e-05 2.01900586e+02] [ 9.03952778e-01 4.27632251e-01 1.82093502e-04 1.02132531e+02] [-1.94619151e-04 -1.44212125e-05 9.99999981e-01 7.00641756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.281400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.91, Y:102.16, Z:0.70 [[ 4.27797102e-01 -9.03874790e-01 -6.18934037e-05 2.01908903e+02] [ 9.03874776e-01 4.27797106e-01 -1.59983210e-04 1.02156707e+02] [ 1.71082609e-04 1.24964671e-05 9.99999985e-01 6.99625449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:102.18, Z:0.70 [[ 4.28461986e-01 -9.03559738e-01 3.55931069e-04 2.01918102e+02] [ 9.03559617e-01 4.28462118e-01 4.80590279e-04 1.02181772e+02] [-5.86745006e-04 1.15690275e-04 9.99999821e-01 6.99909832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.341400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:201.93, Y:102.21, Z:0.70 [[ 4.27571872e-01 -9.03981244e-01 4.52318684e-04 2.01927014e+02] [ 9.03979845e-01 4.27572018e-01 1.61514596e-03 1.02206260e+02] [-1.65346047e-03 -2.81704008e-04 9.99998593e-01 7.00533340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:102.23, Z:0.70 [[ 4.27449299e-01 -9.04039004e-01 7.58779471e-04 2.01935470e+02] [ 9.04036361e-01 4.27449896e-01 2.20080861e-03 1.02228979e+02] [-2.31395703e-03 -2.54769863e-04 9.99997290e-01 7.02017400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:102.25, Z:0.70 [[ 4.26919524e-01 -9.04289589e-01 -2.43129522e-04 2.01944660e+02] [ 9.04284712e-01 4.26916304e-01 3.41019192e-03 1.02252349e+02] [-2.98000509e-03 -1.67573582e-03 9.99994156e-01 7.03064324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:102.28, Z:0.70 [[ 4.25822099e-01 -9.04803857e-01 2.34933028e-03 2.01949898e+02] [ 9.04802426e-01 4.25826727e-01 2.04184264e-03 1.02279298e+02] [-2.84787472e-03 1.25621802e-03 9.99995156e-01 7.02224915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.96, Y:102.30, Z:0.70 [[ 4.24996849e-01 -9.05194328e-01 9.52482736e-04 2.01959229e+02] [ 9.05190959e-01 4.24997873e-01 2.47685984e-03 1.02303099e+02] [-2.64684262e-03 -1.90478865e-04 9.99996479e-01 7.02523694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:102.33, Z:0.70 [[ 4.23960629e-01 -9.05680188e-01 8.84678882e-04 2.01967265e+02] [ 9.05677278e-01 4.23961516e-01 2.30233586e-03 1.02326397e+02] [-2.46024977e-03 -1.74866195e-04 9.99996958e-01 7.02677624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:102.35, Z:0.70 [[ 4.22775382e-01 -9.06234097e-01 8.59362698e-04 2.01974416e+02] [ 9.06231348e-01 4.22776223e-01 2.23814456e-03 1.02349429e+02] [-2.39160103e-03 -1.67451004e-04 9.99997126e-01 7.03151560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.98, Y:102.37, Z:0.70 [[ 4.22601853e-01 -9.06315181e-01 6.82992523e-04 2.01982559e+02] [ 9.06313443e-01 4.22602384e-01 1.78001752e-03 1.02374223e+02] [-1.90189117e-03 -1.33233396e-04 9.99998183e-01 7.03401451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:102.40, Z:0.70 [[ 4.23293409e-01 -9.05992632e-01 2.02905974e-04 2.01988843e+02] [ 9.05992478e-01 4.23293456e-01 5.29402438e-04 1.02400106e+02] [-5.65523479e-04 -4.02612766e-05 9.99999839e-01 7.02886654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:102.43, Z:0.70 [[ 4.23737061e-01 -9.05785241e-01 -5.32225553e-08 2.01996333e+02] [ 9.05785241e-01 4.23737061e-01 1.78561879e-07 1.02425703e+02] [-1.39186277e-07 -1.23871472e-07 1.00000000e+00 7.02440921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:102.45, Z:0.70 [[ 4.24256886e-01 -9.05541873e-01 1.03236326e-04 2.02002919e+02] [ 9.05541833e-01 4.24256899e-01 2.69906572e-04 1.02450301e+02] [-2.88210426e-04 -2.10249101e-05 9.99999958e-01 7.02080736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:102.47, Z:0.70 [[ 4.25056119e-01 -9.05166872e-01 -4.79368582e-04 2.02009744e+02] [ 9.05166119e-01 4.25054909e-01 1.61911151e-03 1.02474618e+02] [-1.26180813e-03 -1.12212145e-03 9.99998574e-01 7.02666786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:102.50, Z:0.70 [[ 4.25951257e-01 -9.04744316e-01 1.80267453e-03 2.02011220e+02] [ 9.04742712e-01 4.25954273e-01 1.89275527e-03 1.02502748e+02] [-2.48031649e-03 8.24735154e-04 9.99996584e-01 7.03831690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:102.53, Z:0.70 [[ 4.26270969e-01 -9.04595149e-01 8.22988397e-04 2.02017976e+02] [ 9.04592602e-01 4.26271728e-01 2.15355484e-03 1.02528899e+02] [-2.29891195e-03 -1.73528695e-04 9.99997342e-01 7.04599485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:102.55, Z:0.70 [[ 4.25624576e-01 -9.04899741e-01 4.23830957e-04 2.02018228e+02] [ 9.04899064e-01 4.25624778e-01 1.11009088e-03 1.02554967e+02] [-1.18491391e-03 -8.89577248e-05 9.99999294e-01 7.03560449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:102.58, Z:0.70 [[ 4.24768946e-01 -9.05301534e-01 6.89240745e-04 2.02021981e+02] [ 9.05299743e-01 4.24769481e-01 1.80634776e-03 1.02579399e+02] [-1.92805783e-03 -1.43310966e-04 9.99998131e-01 7.02506559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:102.61, Z:0.70 [[ 4.23388402e-01 -9.05947350e-01 1.28847539e-03 2.02027239e+02] [ 9.05941088e-01 4.23390281e-01 3.37877602e-03 1.02605921e+02] [-3.60652113e-03 -2.63251785e-04 9.99993462e-01 7.02402911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.851400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.03, Y:102.63, Z:0.70 [[ 4.20832250e-01 -9.07135608e-01 2.28186021e-03 2.02031571e+02] [ 9.07115957e-01 4.20838196e-01 5.98774966e-03 1.02631198e+02] [-6.39199486e-03 -4.49926357e-04 9.99979470e-01 7.03066997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.04, Y:102.66, Z:0.70 [[ 4.20152950e-01 -9.07450629e-01 2.20334722e-03 2.02038840e+02] [ 9.07432285e-01 4.20158506e-01 5.78595484e-03 1.02655269e+02] [-6.17622343e-03 -4.31597592e-04 9.99980834e-01 7.03675820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:102.68, Z:0.70 [[ 4.20027908e-01 -9.07511117e-01 3.59537568e-04 2.02047111e+02] [ 9.07494090e-01 4.20022393e-01 5.97209966e-03 1.02679268e+02] [-5.57076067e-03 -2.18217031e-03 9.99982102e-01 7.04173124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:202.05, Y:102.71, Z:0.70 [[ 4.19317239e-01 -9.07834265e-01 3.16241240e-03 2.02049847e+02] [ 9.07829201e-01 4.19326623e-01 3.36535063e-03 1.02707483e+02] [-4.38126433e-03 1.45978079e-03 9.99989337e-01 7.01648942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:102.73, Z:0.70 [[ 4.19561122e-01 -9.07725787e-01 1.53640599e-03 2.02059222e+02] [ 9.07716834e-01 4.19563827e-01 4.04272559e-03 1.02730884e+02] [-4.31430664e-03 -3.01548898e-04 9.99990648e-01 7.02491611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.07, Y:102.76, Z:0.70 [[ 4.19205868e-01 -9.07889401e-01 1.80988608e-03 2.02067276e+02] [ 9.07876962e-01 4.19209625e-01 4.76578846e-03 1.02755572e+02] [-5.08553049e-03 -3.54692612e-04 9.99987006e-01 7.02102497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.031400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.08, Y:102.78, Z:0.70 [[ 4.18503721e-01 -9.08212792e-01 2.03958361e-03 2.02076574e+02] [ 9.08196978e-01 4.18508503e-01 5.37416355e-03 1.02780393e+02] [-5.73446716e-03 -3.96763774e-04 9.99983479e-01 7.01902680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:102.81, Z:0.70 [[ 4.18654432e-01 -9.08144086e-01 1.66917726e-03 2.02086249e+02] [ 9.08133480e-01 4.18657632e-01 4.40118957e-03 1.02805163e+02] [-4.69572808e-03 -3.26741768e-04 9.99988922e-01 7.02113271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.10, Y:102.83, Z:0.70 [[ 4.19435265e-01 -9.07784399e-01 1.24250926e-03 2.02096312e+02] [ 9.07778512e-01 4.19437033e-01 3.27844828e-03 1.02829938e+02] [-3.49727860e-03 -2.47173621e-04 9.99993854e-01 7.01719588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:102.85, Z:0.70 [[ 4.22365614e-01 -9.06425236e-01 7.60535389e-04 2.02106549e+02] [ 9.06423026e-01 4.22366269e-01 2.00819585e-03 1.02854642e+02] [-2.14150389e-03 -1.58826084e-04 9.99997694e-01 7.01309874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:102.88, Z:0.70 [[ 4.24038522e-01 -9.05643583e-01 1.01587205e-03 2.02114098e+02] [ 9.05639632e-01 4.24039683e-01 2.68421919e-03 1.02878452e+02] [-2.86171594e-03 -2.18198348e-04 9.99995881e-01 7.01360478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:102.90, Z:0.70 [[ 4.26706203e-01 -9.04388786e-01 1.65553094e-03 2.02119305e+02] [ 9.04378269e-01 4.26709254e-01 4.37709802e-03 1.02904685e+02] [-4.66502873e-03 -3.70508672e-04 9.99989050e-01 7.01481657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:102.93, Z:0.70 [[ 4.27443238e-01 -9.04040738e-01 1.61903142e-03 2.02127650e+02] [ 9.04030665e-01 4.27446147e-01 4.28358680e-03 1.02929461e+02] [-4.56458571e-03 -3.67336165e-04 9.99989515e-01 7.01997635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:102.95, Z:0.70 [[ 4.27662081e-01 -9.03937422e-01 1.51029334e-03 2.02136593e+02] [ 9.03928643e-01 4.27664609e-01 3.99882463e-03 1.02953244e+02] [-4.26058624e-03 -3.44948258e-04 9.99990864e-01 7.01623563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:102.98, Z:0.70 [[ 4.27288477e-01 -9.04114605e-01 1.15674921e-03 2.02145939e+02] [ 9.04109449e-01 4.27289961e-01 3.06489852e-03 1.02977553e+02] [-3.26528684e-03 -2.63767929e-04 9.99994634e-01 7.01835129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:103.00, Z:0.70 [[ 4.24514251e-01 -9.05420100e-01 1.44699889e-03 2.02154944e+02] [ 9.05412027e-01 4.24516598e-01 3.83651609e-03 1.03002298e+02] [-4.08793382e-03 -3.18525559e-04 9.99991594e-01 7.00826457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.16, Y:103.03, Z:0.70 [[ 4.22443329e-01 -9.06387589e-01 1.78111564e-03 2.02163548e+02] [ 9.06375350e-01 4.22446911e-01 4.72574304e-03 1.03025893e+02] [-5.03578164e-03 -3.81999312e-04 9.99987247e-01 7.00808937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36140051300004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:202.17, Y:103.05, Z:0.70 [[ 4.20645067e-01 -9.07223201e-01 1.94722248e-03 2.02172974e+02] [ 9.07208562e-01 4.20649376e-01 5.16988251e-03 1.03050634e+02] [-5.50933528e-03 -4.08148664e-04 9.99984740e-01 7.00728961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.18, Y:103.07, Z:0.70 [[ 4.18364678e-01 -9.08277291e-01 1.83273670e-03 2.02180216e+02] [ 9.08264314e-01 4.18368526e-01 4.86956181e-03 1.03074738e+02] [-5.18967176e-03 -3.72643314e-04 9.99986464e-01 7.00881292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:103.10, Z:0.70 [[ 4.18379973e-01 -9.08271769e-01 7.68895928e-04 2.02188182e+02] [ 9.08251704e-01 4.18376103e-01 6.34660446e-03 1.03098555e+02] [-6.08612935e-03 -1.95694117e-03 9.99979565e-01 7.01068351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:103.12, Z:0.70 [[ 4.19182030e-01 -9.07900124e-01 1.94689770e-03 2.02192854e+02] [ 9.07875056e-01 4.19185114e-01 6.83540376e-03 1.03122765e+02] [-7.02197446e-03 -1.09773857e-03 9.99974743e-01 7.00934933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:103.15, Z:0.70 [[ 4.19451987e-01 -9.07767429e-01 4.28087786e-03 2.02198972e+02] [ 9.07751212e-01 4.19471069e-01 5.63556611e-03 1.03149645e+02] [-6.91148777e-03 1.52212266e-03 9.99974957e-01 7.00198110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:103.17, Z:0.70 [[ 4.19948179e-01 -9.07544734e-01 2.46612342e-03 2.02207436e+02] [ 9.07521130e-01 4.19955099e-01 6.56599987e-03 1.03173718e+02] [-6.99459971e-03 -5.19320575e-04 9.99975403e-01 7.00712555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:103.20, Z:0.70 [[ 4.21588984e-01 -9.06783760e-01 2.43746981e-03 2.02210553e+02] [ 9.06760665e-01 4.21595700e-01 6.49325585e-03 1.03199573e+02] [-6.91560575e-03 -5.27283392e-04 9.99975948e-01 7.00150239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:103.23, Z:0.70 [[ 4.22368430e-01 -9.06421190e-01 2.35304419e-03 2.02216100e+02] [ 9.06399632e-01 4.22374668e-01 6.27263597e-03 1.03225626e+02] [-6.67951642e-03 -5.16565013e-04 9.99977558e-01 7.00394553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.601400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:202.22, Y:103.25, Z:0.70 [[ 4.22635419e-01 -9.06296632e-01 2.39119243e-03 2.02220690e+02] [ 9.06274338e-01 4.22641852e-01 6.37883686e-03 1.03251104e+02] [-6.79173636e-03 -5.28846052e-04 9.99976796e-01 6.99200520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:103.28, Z:0.70 [[ 4.22210880e-01 -9.06494223e-01 2.48930664e-03 2.02221471e+02] [ 9.06470032e-01 4.22217861e-01 6.64521861e-03 1.03277796e+02] [-7.07488201e-03 -5.49201728e-04 9.99974822e-01 6.99524895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:103.30, Z:0.70 [[ 4.20599187e-01 -9.07242813e-01 2.60799858e-03 2.02227087e+02] [ 9.07216238e-01 4.20606894e-01 6.96689338e-03 1.03303947e+02] [-7.41760613e-03 -5.64251032e-04 9.99972330e-01 6.99377385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:103.33, Z:0.70 [[ 4.18432668e-01 -9.08243280e-01 2.87164970e-03 2.02233805e+02] [ 9.08211037e-01 4.18442086e-01 7.67675935e-03 1.03328271e+02] [-8.17398418e-03 -6.04142944e-04 9.99966410e-01 6.98694959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:103.35, Z:0.70 [[ 4.13675203e-01 -9.10419041e-01 3.16156979e-03 2.02241977e+02] [ 9.10379961e-01 4.13686819e-01 8.45824016e-03 1.03350968e+02] [-9.00844265e-03 -6.20734434e-04 9.99959231e-01 6.99098203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:103.38, Z:0.70 [[ 4.11186533e-01 -9.11546159e-01 3.03887007e-03 2.02250568e+02] [ 9.11510036e-01 4.11197360e-01 8.13539229e-03 1.03375793e+02] [-8.66536095e-03 -5.75203187e-04 9.99962290e-01 6.99784590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:103.40, Z:0.70 [[ 4.08062108e-01 -9.12953953e-01 6.29988147e-04 2.02258390e+02] [ 9.12903479e-01 4.08046625e-01 1.02562421e-02 1.03398600e+02] [-9.62054130e-03 -3.61006540e-03 9.99947205e-01 6.99709342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:103.42, Z:0.70 [[ 4.07035773e-01 -9.13411526e-01 1.12406685e-03 2.02265665e+02] [ 9.13343018e-01 4.07019775e-01 1.18082354e-02 1.03422762e+02] [-1.12432958e-02 -3.77971562e-03 9.99929649e-01 6.98905516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:103.45, Z:0.70 [[ 4.05867045e-01 -9.13884263e-01 9.35393451e-03 2.02267196e+02] [ 9.13863644e-01 4.05940670e-01 8.08783650e-03 1.03451944e+02] [-1.11884889e-02 5.26563437e-03 9.99923543e-01 6.97030478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:103.47, Z:0.70 [[ 4.05917208e-01 -9.13899932e-01 4.25838578e-03 2.02279985e+02] [ 9.13828763e-01 4.05938855e-01 1.14296547e-02 1.03473515e+02] [-1.21742049e-02 -7.48058109e-04 9.99925612e-01 6.98361929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:103.50, Z:0.70 [[ 4.05717193e-01 -9.13988756e-01 4.25588153e-03 2.02288836e+02] [ 9.13917583e-01 4.05738824e-01 1.14305874e-02 1.03497999e+02] [-1.21742047e-02 -7.48060871e-04 9.99925612e-01 6.98370559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:103.52, Z:0.70 [[ 4.05855648e-01 -9.13926639e-01 4.39226417e-03 2.02294948e+02] [ 9.13850721e-01 4.05878670e-01 1.18053019e-02 1.03524195e+02] [-1.25719062e-02 -7.77374680e-04 9.99920668e-01 6.99197142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:103.55, Z:0.70 [[ 4.05614791e-01 -9.14033574e-01 4.38939497e-03 2.02302374e+02] [ 9.13957656e-01 4.05637796e-01 1.18059853e-02 1.03549710e+02] [-1.25715714e-02 -7.76961119e-04 9.99920673e-01 6.99205087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99140051300003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:202.31, Y:103.57, Z:0.70 [[ 4.04881021e-01 -9.14360983e-01 3.91811098e-03 2.02309200e+02] [ 9.14300420e-01 4.04899394e-01 1.05462281e-02 1.03574850e+02] [-1.12295003e-02 -6.87637083e-04 9.99936711e-01 6.98931813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:103.60, Z:0.70 [[ 4.05292572e-01 -9.14180684e-01 3.40700357e-03 2.02316827e+02] [ 9.14134815e-01 4.05306440e-01 9.17766867e-03 1.03598668e+02] [-9.77092791e-03 -6.05180357e-04 9.99952080e-01 6.98386942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:103.62, Z:0.70 [[ 4.05391892e-01 -9.14138177e-01 2.96759885e-03 2.02323127e+02] [ 9.14103325e-01 4.05402407e-01 7.99994460e-03 1.03623178e+02] [-8.51612649e-03 -5.30420702e-04 9.99963596e-01 6.96956329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:103.65, Z:0.70 [[ 4.05410411e-01 -9.14130347e-01 2.84719519e-03 2.02328914e+02] [ 9.14098223e-01 4.05420087e-01 7.68057925e-03 1.03648742e+02] [-8.17536070e-03 -5.11170729e-04 9.99966451e-01 6.95844168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:103.67, Z:0.70 [[ 4.05341516e-01 -9.14160386e-01 3.00748121e-03 2.02332338e+02] [ 9.14124491e-01 4.05352311e-01 8.11908371e-03 1.03674423e+02] [-8.64123415e-03 -5.41789471e-04 9.99962517e-01 6.95614493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:103.70, Z:0.70 [[ 4.04947207e-01 -9.14335467e-01 2.90051611e-03 2.02339965e+02] [ 9.14302039e-01 4.04957260e-01 7.83573212e-03 1.03699966e+02] [-8.33907284e-03 -5.21110040e-04 9.99965094e-01 6.95984107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:103.73, Z:0.69 [[ 4.03077322e-01 -9.15157735e-01 3.87201482e-03 2.02343986e+02] [ 9.15128838e-01 4.03095469e-01 7.29740563e-03 1.03725403e+02] [-8.23906884e-03 6.01973709e-04 9.99965877e-01 6.93285881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:103.75, Z:0.69 [[ 4.01226441e-01 -9.15977865e-01 1.37649398e-03 2.02353288e+02] [ 9.15952975e-01 4.01225938e-01 6.92056303e-03 1.03752206e+02] [-6.89136764e-03 -1.51590912e-03 9.99975105e-01 6.94143790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:103.78, Z:0.69 [[ 3.97789025e-01 -9.17474738e-01 1.99908471e-03 2.02355095e+02] [ 9.17458835e-01 3.97793921e-01 5.41139940e-03 1.03780132e+02] [-5.76004599e-03 -3.18517363e-04 9.99983360e-01 6.92461059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:103.81, Z:0.69 [[ 3.95513894e-01 -9.18458303e-01 1.76226922e-03 2.02360587e+02] [ 9.18445935e-01 3.95517728e-01 4.77399503e-03 1.03805026e+02] [-5.08172409e-03 -2.69632356e-04 9.99987052e-01 6.92259286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:103.83, Z:0.69 [[ 3.93359525e-01 -9.19383160e-01 1.69983295e-03 2.02367044e+02] [ 9.19371644e-01 3.93363118e-01 4.60832750e-03 1.03830153e+02] [-4.90547028e-03 -2.49951304e-04 9.99987937e-01 6.92352927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:103.86, Z:0.69 [[ 3.88981681e-01 -9.21243458e-01 1.93494240e-03 2.02374053e+02] [ 9.21228538e-01 3.88986407e-01 5.24945724e-03 1.03855300e+02] [-5.58869443e-03 -2.59418542e-04 9.99984349e-01 6.93943378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.38, Y:103.88, Z:0.69 [[ 3.86777785e-01 -9.22170222e-01 2.24228307e-03 2.02382800e+02] [ 9.22150172e-01 3.86784178e-01 6.08772117e-03 1.03880273e+02] [-6.48119480e-03 -2.86873587e-04 9.99978956e-01 6.94817709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:103.90, Z:0.70 [[ 3.84874638e-01 -9.22965345e-01 2.54658920e-03 2.02390542e+02] [ 9.22939462e-01 3.84882936e-01 6.91921953e-03 1.03904255e+02] [-7.36633856e-03 -3.12684446e-04 9.99972819e-01 6.95036840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:103.93, Z:0.69 [[ 3.82795303e-01 -9.23829343e-01 2.66458826e-03 2.02398040e+02] [ 9.23800986e-01 3.82804450e-01 7.24510808e-03 1.03929948e+02] [-7.71325968e-03 -3.11844088e-04 9.99970204e-01 6.94401604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:103.95, Z:0.69 [[ 3.78702294e-01 -9.25515091e-01 2.52746943e-03 2.02404577e+02] [ 9.25489575e-01 3.78710635e-01 6.87757435e-03 1.03954240e+02] [-7.32247841e-03 -2.65406569e-04 9.99973155e-01 6.92396849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:103.98, Z:0.69 [[ 3.76617609e-01 -9.26366122e-01 2.23266318e-03 2.02413133e+02] [ 9.26346195e-01 3.76624162e-01 6.08004061e-03 1.03977852e+02] [-6.47321853e-03 -2.21631318e-04 9.99979024e-01 6.91895408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:104.00, Z:0.69 [[ 3.74231521e-01 -9.27333480e-01 1.84010879e-03 2.02422237e+02] [ 9.27319935e-01 3.74236006e-01 5.01507150e-03 1.04001905e+02] [-5.33927867e-03 -1.70428271e-04 9.99985731e-01 6.91661675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:104.03, Z:0.69 [[ 3.74066010e-01 -9.27400301e-01 1.81714147e-03 2.02430875e+02] [ 9.27387071e-01 3.74070386e-01 4.95646254e-03 1.04026064e+02] [-5.27636367e-03 -1.68850663e-04 9.99986066e-01 6.91514395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.44, Y:104.05, Z:0.69 [[ 3.75343652e-01 -9.26884360e-01 1.58933222e-03 2.02438849e+02] [ 9.26874218e-01 3.75346985e-01 4.33874054e-03 1.04049644e+02] [-4.61806181e-03 -1.55407662e-04 9.99989325e-01 6.91081868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:104.07, Z:0.69 [[ 3.76215344e-01 -9.26531054e-01 1.49030079e-03 2.02447150e+02] [ 9.26522120e-01 3.76218265e-01 4.07166075e-03 1.04073645e+02] [-4.33319850e-03 -1.51024598e-04 9.99990600e-01 6.91104911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:104.10, Z:0.69 [[ 3.76978061e-01 -9.26221178e-01 1.36768404e-03 2.02455729e+02] [ 9.26213641e-01 3.76980515e-01 3.73941025e-03 1.04098187e+02] [-3.97911120e-03 -1.42908016e-04 9.99992073e-01 6.90691573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:104.12, Z:0.69 [[ 3.77216780e-01 -9.26124021e-01 1.34128895e-03 2.02464461e+02] [ 9.26116760e-01 3.77219138e-01 3.66998499e-03 1.04123579e+02] [-3.90482112e-03 -1.42189744e-04 9.99992366e-01 6.89871855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:104.15, Z:0.69 [[ 3.76857864e-01 -9.26269362e-01 1.79396862e-03 2.02473516e+02] [ 9.26256356e-01 3.76862087e-01 4.91233641e-03 1.04147017e+02] [-5.22622547e-03 -1.89577767e-04 9.99986325e-01 6.89738275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.48, Y:104.17, Z:0.69 [[ 3.76074365e-01 -9.26587252e-01 2.03402356e-03 2.02482066e+02] [ 9.26570510e-01 3.76079806e-01 5.57397695e-03 1.04171600e+02] [-5.92973117e-03 -2.11563589e-04 9.99982397e-01 6.89712889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:104.20, Z:0.69 [[ 3.75252198e-01 -9.26920131e-01 2.20442792e-03 2.02490013e+02] [ 9.26900447e-01 3.75258605e-01 6.04491241e-03 1.04195164e+02] [-6.43038155e-03 -2.25081444e-04 9.99979300e-01 6.89223328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:104.22, Z:0.69 [[ 3.74650057e-01 -9.27163329e-01 2.34447956e-03 2.02498777e+02] [ 9.27141034e-01 3.74657317e-01 6.43415447e-03 1.04219335e+02] [-6.84388850e-03 -2.36893138e-04 9.99976552e-01 6.88395230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:104.24, Z:0.69 [[ 3.73847495e-01 -9.27485484e-01 2.95435953e-03 2.02507310e+02] [ 9.27450039e-01 3.73859054e-01 8.11380238e-03 1.04244194e+02] [-8.62994798e-03 -2.93303834e-04 9.99962718e-01 6.86941012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:104.27, Z:0.69 [[ 3.73609401e-01 -9.27580282e-01 3.29165782e-03 2.02514550e+02] [ 9.27536212e-01 3.73623758e-01 9.04781576e-03 1.04268123e+02] [-9.62241707e-03 -3.27217205e-04 9.99953650e-01 6.86978903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86140051300004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:202.52, Y:104.29, Z:0.69 [[ 3.72926307e-01 -9.27855347e-01 3.22866334e-03 2.02521902e+02] [ 9.27812895e-01 3.72940149e-01 8.88130380e-03 1.04293201e+02] [-9.44466341e-03 -3.16476344e-04 9.99955348e-01 6.87053157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.53, Y:104.32, Z:0.69 [[ 3.72810584e-01 -9.27902942e-01 2.89805790e-03 2.02532811e+02] [ 9.27868687e-01 3.72821738e-01 7.97817280e-03 1.04316553e+02] [-8.48342900e-03 -2.85330080e-04 9.99963974e-01 6.87254624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:104.34, Z:0.69 [[ 3.71427590e-01 -9.28458334e-01 2.58193248e-03 2.02541335e+02] [ 9.28431116e-01 3.71436483e-01 7.11345743e-03 1.04340340e+02] [-7.56357276e-03 -2.44987903e-04 9.99971366e-01 6.86440456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:104.36, Z:0.69 [[ 3.69279175e-01 -9.29315852e-01 2.22214842e-03 2.02548905e+02] [ 9.29295674e-01 3.69285808e-01 6.12715480e-03 1.04364744e+02] [-6.51466996e-03 -1.97597753e-04 9.99978760e-01 6.85515278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:104.39, Z:0.68 [[ 3.65020933e-01 -9.30997802e-01 1.67676250e-03 2.02556421e+02] [ 9.30986315e-01 3.65024762e-01 4.62653031e-03 1.04388377e+02] [-4.91934938e-03 -1.27737472e-04 9.99987892e-01 6.84738545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:104.41, Z:0.68 [[ 3.63520041e-01 -9.31586284e-01 4.19462046e-04 2.02566543e+02] [ 9.31570421e-01 3.63516413e-01 5.68937695e-03 1.04410228e+02] [-5.45262686e-03 -1.67744411e-03 9.99983727e-01 6.84697877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:104.44, Z:0.69 [[ 3.61527223e-01 -9.32357150e-01 2.86567026e-03 2.02571707e+02] [ 9.32351366e-01 3.61535933e-01 3.56360152e-03 1.04436147e+02] [-4.35859213e-03 1.38347262e-03 9.99989544e-01 6.85719727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:104.46, Z:0.69 [[ 3.61627055e-01 -9.32321757e-01 1.41944614e-03 2.02578383e+02] [ 9.32313498e-01 3.61629828e-01 3.92538563e-03 1.04459646e+02] [-4.17303649e-03 -9.61568510e-05 9.99991288e-01 6.85605756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:104.48, Z:0.69 [[ 3.62122340e-01 -9.32129602e-01 1.34788003e-03 2.02584120e+02] [ 9.32122141e-01 3.62124836e-01 3.73052667e-03 1.04484710e+02] [-3.96543518e-03 -9.45182243e-05 9.99992133e-01 6.85074286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.131400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.59, Y:104.51, Z:0.68 [[ 3.62138322e-01 -9.32123507e-01 1.26624552e-03 2.02588903e+02] [ 9.32116912e-01 3.62140525e-01 3.50759003e-03 1.04508629e+02] [-3.72806594e-03 -8.99439083e-05 9.99993047e-01 6.84236158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:104.53, Z:0.68 [[ 3.63905081e-01 -9.31435652e-01 8.47090470e-04 2.02593498e+02] [ 9.31432694e-01 3.63906061e-01 2.34832136e-03 1.04534810e+02] [-2.49557159e-03 -6.55583162e-05 9.99996884e-01 6.84084131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:104.56, Z:0.68 [[ 3.64317358e-01 -9.31274787e-01 3.67256173e-04 2.02599090e+02] [ 9.31274229e-01 3.64317542e-01 1.01914477e-03 1.04558859e+02] [-1.08290170e-03 -2.92759221e-05 9.99999413e-01 6.84383941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:104.58, Z:0.68 [[ 3.64542643e-01 -9.31186687e-01 -1.19758843e-04 2.02604608e+02] [ 9.31186628e-01 3.64542663e-01 -3.32296504e-04 1.04584002e+02] [ 3.53087288e-04 9.61841227e-06 9.99999938e-01 6.84151808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:104.61, Z:0.68 [[ 3.63782494e-01 -9.31483721e-01 -6.12569449e-04 2.02607118e+02] [ 9.31482167e-01 3.63783006e-01 -1.70205094e-03 1.04610045e+02] [ 1.80827510e-03 4.85788190e-05 9.99998364e-01 6.84069177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:104.63, Z:0.68 [[ 3.62121198e-01 -9.32130898e-01 -4.75675378e-04 2.02611882e+02] [ 9.32129961e-01 3.62121509e-01 -1.32275273e-03 1.04634856e+02] [ 1.40523097e-03 3.56055313e-05 9.99999012e-01 6.84204679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:104.66, Z:0.68 [[ 3.60239310e-01 -9.32859924e-01 4.85830017e-05 2.02616262e+02] [ 9.32859914e-01 3.60239313e-01 1.35465221e-04 1.04660028e+02] [-1.43871583e-04 -3.47876292e-06 9.99999990e-01 6.83810982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:104.69, Z:0.69 [[ 3.55584895e-01 -9.34643985e-01 6.12063668e-05 2.02616909e+02] [ 9.34643969e-01 3.55584900e-01 1.70778784e-04 1.04685673e+02] [-1.81381423e-04 -3.52019427e-06 9.99999984e-01 6.85125920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:104.71, Z:0.68 [[ 3.53081227e-01 -9.35592670e-01 -5.75639665e-05 2.02622499e+02] [ 9.35592656e-01 3.53081231e-01 -1.60282694e-04 1.04710591e+02] [ 1.70284070e-04 2.73638585e-06 9.99999986e-01 6.84925019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:104.73, Z:0.68 [[ 3.50904351e-01 -9.36411290e-01 -1.82025697e-04 2.02628316e+02] [ 9.36411152e-01 3.50904398e-01 -5.07731764e-04 1.04734120e+02] [ 5.39319373e-04 7.71439261e-06 9.99999855e-01 6.84558981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:104.76, Z:0.68 [[ 3.49200948e-01 -9.37047824e-01 -2.71140930e-04 2.02635077e+02] [ 9.37047518e-01 3.49201053e-01 -7.57064598e-04 1.04758522e+02] [ 8.04088433e-04 1.02957399e-05 9.99999677e-01 6.84061358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:104.78, Z:0.68 [[ 3.47366268e-01 -9.37729521e-01 -1.45367695e-04 2.02639976e+02] [ 9.37729433e-01 3.47366298e-01 -4.06123032e-04 1.04782607e+02] [ 4.31329395e-04 4.75787583e-06 9.99999907e-01 6.83782201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:104.81, Z:0.68 [[ 3.46979488e-01 -9.37872712e-01 -9.99014263e-05 2.02646379e+02] [ 9.37872671e-01 3.46979503e-01 -2.79268215e-04 1.04807606e+02] [ 2.96581786e-04 3.20552479e-06 9.99999956e-01 6.84278464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:104.83, Z:0.68 [[ 3.48743806e-01 -9.37198344e-01 -6.08463249e-03 2.02653756e+02] [ 9.37217614e-01 3.48729697e-01 3.27758905e-03 1.04830282e+02] [-9.49858986e-04 -6.84566362e-03 9.99976117e-01 6.84255483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:104.86, Z:0.68 [[ 3.49434703e-01 -9.36941185e-01 6.05006426e-03 2.02648018e+02] [ 9.36960643e-01 3.49424797e-01 -2.65789940e-03 1.04860703e+02] [ 3.76252935e-04 6.59743439e-03 9.99978166e-01 6.82836069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:104.88, Z:0.68 [[ 3.50195487e-01 -9.36676633e-01 -8.31288328e-05 2.02659049e+02] [ 9.36676604e-01 3.50195497e-01 -2.32995723e-04 1.04883444e+02] [ 2.47352992e-04 3.72921787e-06 9.99999969e-01 6.83872048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:104.91, Z:0.68 [[ 3.49906804e-01 -9.36784491e-01 -2.15122915e-04 2.02660991e+02] [ 9.36784296e-01 3.49906870e-01 -6.03610085e-04 1.04910032e+02] [ 6.40725552e-04 9.68350689e-06 9.99999795e-01 6.83849658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:104.93, Z:0.68 [[ 3.48899433e-01 -9.37160133e-01 -2.67770939e-04 2.02665870e+02] [ 9.37159831e-01 3.48899535e-01 -7.52000603e-04 1.04934313e+02] [ 7.98170141e-04 1.14284160e-05 9.99999681e-01 6.83140866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:104.96, Z:0.68 [[ 3.47706919e-01 -9.37603216e-01 -3.27371473e-04 2.02671195e+02] [ 9.37602765e-01 3.47707073e-01 -9.20179119e-04 1.04958498e+02] [ 9.76592278e-04 1.30082483e-05 9.99999523e-01 6.82457908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:104.98, Z:0.68 [[ 3.45710466e-01 -9.38341043e-01 -5.99881148e-04 2.02676430e+02] [ 9.38339526e-01 3.45710986e-01 -1.68763783e-03 1.04983665e+02] [ 1.79096535e-03 2.05418694e-05 9.99998396e-01 6.82323483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:105.01, Z:0.68 [[ 3.45647431e-01 -9.38355431e-01 -4.11563975e-03 2.02685730e+02] [ 9.38363146e-01 3.45650955e-01 -1.55660440e-04 1.05006043e+02] [ 1.56863963e-03 -3.80816103e-03 9.99991519e-01 6.82319385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:105.03, Z:0.68 [[ 3.45160816e-01 -9.38540317e-01 2.46683123e-03 2.02685378e+02] [ 9.38538138e-01 3.45148697e-01 -4.30582622e-03 1.05033890e+02] [ 3.18976792e-03 3.80141768e-03 9.99987687e-01 6.82232394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:105.06, Z:0.68 [[ 3.45400037e-01 -9.38454673e-01 -1.28119053e-03 2.02693211e+02] [ 9.38447718e-01 3.45402410e-01 -3.61329885e-03 1.05057031e+02] [ 3.83344349e-03 4.57032229e-05 9.99992651e-01 6.82381954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:105.08, Z:0.68 [[ 3.47133414e-01 -9.37813943e-01 -1.84404876e-03 2.02696421e+02] [ 9.37799501e-01 3.47138304e-01 -5.20513771e-03 1.05083402e+02] [ 5.52159068e-03 7.75292153e-05 9.99984753e-01 6.82072360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:105.11, Z:0.68 [[ 3.46896863e-01 -9.37901472e-01 -1.84273445e-03 2.02704831e+02] [ 9.37887029e-01 3.46901748e-01 -5.20560315e-03 1.05108010e+02] [ 5.52159066e-03 7.75306644e-05 9.99984753e-01 6.82075126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:105.13, Z:0.68 [[ 3.47754887e-01 -9.37583617e-01 -1.87071275e-03 2.02710907e+02] [ 9.37568701e-01 3.47759908e-01 -5.28925407e-03 1.05132303e+02] [ 5.60967686e-03 8.54422308e-05 9.99984262e-01 6.81331757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:105.16, Z:0.68 [[ 3.48504077e-01 -9.37305393e-01 -1.87331933e-03 2.02717699e+02] [ 9.37290407e-01 3.48509100e-01 -5.30102275e-03 1.05157257e+02] [ 5.62154604e-03 9.15838076e-05 9.99984195e-01 6.81160359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:105.18, Z:0.68 [[ 3.49242624e-01 -9.37023261e-01 -4.12282982e-03 2.02727408e+02] [ 9.37022970e-01 3.49255422e-01 -2.93335769e-03 1.05180301e+02] [ 4.18854506e-03 -2.83873271e-03 9.99987199e-01 6.80301028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:105.21, Z:0.68 [[ 3.50902331e-01 -9.36411790e-01 7.16834183e-04 2.02730791e+02] [ 9.36392318e-01 3.50889857e-01 -6.76280593e-03 1.05206042e+02] [ 6.08124136e-03 3.04432239e-03 9.99976875e-01 6.80058335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:105.23, Z:0.68 [[ 3.51761360e-01 -9.36087095e-01 -2.21257167e-03 2.02740900e+02] [ 9.36066061e-01 3.51768292e-01 -6.27684089e-03 1.05228308e+02] [ 6.65398232e-03 1.36836842e-04 9.99977853e-01 6.80252217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.031400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.75, Y:105.25, Z:0.68 [[ 3.52405279e-01 -9.35844301e-01 -2.44223570e-03 2.02748550e+02] [ 9.35818624e-01 3.52413706e-01 -6.93414020e-03 1.05252520e+02] [ 7.34995292e-03 1.58137956e-04 9.99972976e-01 6.79857606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:105.28, Z:0.68 [[ 3.53600067e-01 -9.35392551e-01 -2.78707804e-03 2.02757763e+02] [ 9.35359043e-01 3.53610998e-01 -7.91981896e-03 1.05276723e+02] [ 8.39368111e-03 1.93529868e-04 9.99964754e-01 6.79607335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.091400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:202.77, Y:105.30, Z:0.68 [[ 3.53306936e-01 -9.35501892e-01 -3.22772352e-03 2.02766160e+02] [ 9.35456879e-01 3.53321609e-01 -9.17974120e-03 1.05300860e+02] [ 9.72808973e-03 2.23870067e-04 9.99952656e-01 6.79268615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:105.32, Z:0.68 [[ 3.54484404e-01 -9.35055931e-01 -3.34862777e-03 2.02774471e+02] [ 9.35007378e-01 3.54500133e-01 -9.53198121e-03 1.05323889e+02] [ 1.01000246e-02 2.47947004e-04 9.99948963e-01 6.79782016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:105.35, Z:0.68 [[ 3.55891760e-01 -9.34521551e-01 -3.24439339e-03 2.02781685e+02] [ 9.34475879e-01 3.55906455e-01 -9.24267121e-03 1.05348714e+02] [ 9.79217599e-03 2.57583157e-04 9.99952022e-01 6.80237707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:105.37, Z:0.68 [[ 3.61839275e-01 -9.32235297e-01 -3.11297703e-03 2.02785444e+02] [ 9.32193096e-01 3.61852533e-01 -8.87557277e-03 1.05374288e+02] [ 9.40056084e-03 3.09635118e-04 9.99955766e-01 6.80364393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:105.40, Z:0.68 [[ 3.65206206e-01 -9.30919354e-01 -3.68563713e-03 2.02790716e+02] [ 9.30860035e-01 3.65224573e-01 -1.05169413e-02 1.05399600e+02] [ 1.11365094e-02 4.10039919e-04 9.99937903e-01 6.79585065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:105.43, Z:0.68 [[ 3.71422373e-01 -9.28449062e-01 -5.26875980e-03 2.02791755e+02] [ 9.28327390e-01 3.71459085e-01 -1.50467445e-02 1.05426223e+02] [ 1.59272646e-02 6.97563522e-04 9.99872910e-01 6.76654246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:105.45, Z:0.68 [[ 3.73329114e-01 -9.27681502e-01 -5.69247999e-03 2.02796781e+02] [ 9.27539154e-01 3.73371666e-01 -1.62701471e-02 1.05450955e+02] [ 1.72189253e-02 7.94121535e-04 9.99851428e-01 6.76397126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:105.47, Z:0.68 [[ 3.73937039e-01 -9.27438587e-01 -5.36261804e-03 2.02802117e+02] [ 9.27312023e-01 3.73974710e-01 -1.53403990e-02 1.05474618e+02] [ 1.62327615e-02 7.63523188e-04 9.99867949e-01 6.77382464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.331400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:202.81, Y:105.50, Z:0.68 [[ 3.72330283e-01 -9.28085788e-01 -5.18954386e-03 2.02808456e+02] [ 9.27967128e-01 3.72365758e-01 -1.48576912e-02 1.05499906e+02] [ 1.57216205e-02 7.16242266e-04 9.99876151e-01 6.77125588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36140051300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:202.81, Y:105.53, Z:0.68 [[ 3.70811931e-01 -9.28693079e-01 -5.26085967e-03 2.02814294e+02] [ 9.28570995e-01 3.70848578e-01 -1.50744431e-02 1.05525185e+02] [ 1.59505133e-02 7.04701666e-04 9.99872534e-01 6.77523841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:105.55, Z:0.68 [[ 3.69640081e-01 -9.29158722e-01 -5.50267481e-03 2.02819475e+02] [ 9.29024987e-01 3.69680334e-01 -1.57805316e-02 1.05550532e+02] [ 1.66968493e-02 7.20994605e-04 9.99860338e-01 6.78369302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:105.58, Z:0.68 [[ 3.68050014e-01 -9.29785814e-01 -6.12595321e-03 2.02822135e+02] [ 9.29619865e-01 3.68100172e-01 -1.75832294e-02 1.05576007e+02] [ 1.86036017e-02 7.76700015e-04 9.99826636e-01 6.77195046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.83, Y:105.60, Z:0.68 [[ 3.67922590e-01 -9.29833715e-01 -6.49849288e-03 2.02829563e+02] [ 9.29646676e-01 3.67979047e-01 -1.86675646e-02 1.05599935e+02] [ 1.97490401e-02 8.26916406e-04 9.99804627e-01 6.77082227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:105.62, Z:0.68 [[ 3.68156928e-01 -9.29740045e-01 -6.62762589e-03 2.02837168e+02] [ 9.29545166e-01 3.68215588e-01 -1.90542912e-02 1.05624636e+02] [ 2.01559328e-02 8.54291716e-04 9.99796484e-01 6.77100857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:105.65, Z:0.68 [[ 3.68530852e-01 -9.29591507e-01 -6.68141262e-03 2.02843757e+02] [ 9.29393090e-01 3.68590374e-01 -1.92255138e-02 1.05648282e+02] [ 2.03345788e-02 8.75536285e-04 9.99792848e-01 6.77838432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:105.67, Z:0.68 [[ 3.70015285e-01 -9.28999068e-01 -7.02992986e-03 2.02849245e+02] [ 9.28778948e-01 3.70080810e-01 -2.02449709e-02 1.05672933e+02] [ 2.14092012e-02 9.61697798e-04 9.99770334e-01 6.78557544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:105.70, Z:0.68 [[ 3.70708911e-01 -9.28721030e-01 -7.22165724e-03 2.02856802e+02] [ 9.28488308e-01 3.70777868e-01 -2.08142761e-02 1.05697083e+02] [ 2.20082866e-02 1.01081331e-03 9.99757277e-01 6.79029890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:105.72, Z:0.68 [[ 3.73120315e-01 -9.27752899e-01 -7.46914508e-03 2.02865628e+02] [ 9.27503339e-01 3.73193411e-01 -2.15460944e-02 1.05720463e+02] [ 2.27768873e-02 1.11162854e-03 9.99739955e-01 6.78765175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:105.74, Z:0.68 [[ 3.74816018e-01 -9.27069550e-01 -7.41637682e-03 2.02873912e+02] [ 9.26822972e-01 3.74887614e-01 -2.14115837e-02 1.05744393e+02] [ 2.26303351e-02 1.15173615e-03 9.99743238e-01 6.78525642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:105.77, Z:0.68 [[ 3.76594000e-01 -9.26349758e-01 -7.28599396e-03 2.02881571e+02] [ 9.26111257e-01 3.76662624e-01 -2.10524885e-02 1.05768927e+02] [ 2.22463292e-02 1.18059983e-03 9.99751823e-01 6.78586610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.691400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.89, Y:105.79, Z:0.68 [[ 3.78963821e-01 -9.25386446e-01 -6.80794611e-03 2.02888230e+02] [ 9.25177715e-01 3.79023184e-01 -1.96881186e-02 1.05793026e+02] [ 2.07994875e-02 1.16252462e-03 9.99782991e-01 6.78419740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.721400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.90, Y:105.82, Z:0.68 [[ 3.79474787e-01 -9.25180318e-01 -6.34550612e-03 2.02896424e+02] [ 9.24998659e-01 3.79526243e-01 -1.83660298e-02 1.05817077e+02] [ 1.94001754e-02 1.09986058e-03 9.99811194e-01 6.78878805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:105.84, Z:0.68 [[ 3.79884534e-01 -9.25014819e-01 -5.94347012e-03 2.02906842e+02] [ 9.24855163e-01 3.79929592e-01 -1.72172169e-02 1.05838981e+02] [ 1.81842810e-02 1.04370539e-03 9.99834108e-01 6.80113141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.92, Y:105.86, Z:0.68 [[ 3.80171158e-01 -9.24896936e-01 -5.96222551e-03 2.02915941e+02] [ 9.24736002e-01 3.80216436e-01 -1.72855081e-02 1.05862717e+02] [ 1.82542496e-02 1.05796707e-03 9.99832818e-01 6.80462757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.811400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:202.92, Y:105.89, Z:0.68 [[ 3.81069980e-01 -9.24543432e-01 -2.26127468e-03 2.02921355e+02] [ 9.24400626e-01 3.81052241e-01 -1.68128634e-02 1.05887636e+02] [ 1.64058862e-02 4.31655379e-03 9.99856097e-01 6.78101849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:105.91, Z:0.68 [[ 3.82319562e-01 -9.23988137e-01 -8.81334789e-03 2.02936783e+02] [ 9.23860393e-01 3.82414758e-01 -1.55218129e-02 1.05910997e+02] [ 1.77123253e-02 -2.20801034e-03 9.99840686e-01 6.82466815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:105.94, Z:0.68 [[ 3.84283189e-01 -9.23200532e-01 -5.21620588e-03 2.02942869e+02] [ 9.23076694e-01 3.84317266e-01 -1.51544076e-02 1.05935808e+02] [ 1.59952351e-02 1.00862599e-03 9.99871559e-01 6.83306080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:105.96, Z:0.68 [[ 3.89557639e-01 -9.20991368e-01 -4.44364269e-03 2.02949733e+02] [ 9.20901214e-01 3.89581845e-01 -1.29205473e-02 1.05960158e+02] [ 1.36308751e-02 9.41141971e-04 9.99906652e-01 6.84206856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:105.98, Z:0.68 [[ 3.92265037e-01 -9.19841019e-01 -4.54315906e-03 2.02955947e+02] [ 9.19746550e-01 3.92290051e-01 -1.32212110e-02 1.05984062e+02] [ 1.39436483e-02 1.00766393e-03 9.99902275e-01 6.84657623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:106.01, Z:0.68 [[ 3.97898356e-01 -9.17415527e-01 -5.06450285e-03 2.02960484e+02] [ 9.17297773e-01 3.97928706e-01 -1.47492883e-02 1.06010385e+02] [ 1.55465372e-02 1.22306039e-03 9.99878397e-01 6.84953463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:106.03, Z:0.69 [[ 3.99518291e-01 -9.16710262e-01 -5.23740798e-03 2.02966994e+02] [ 9.16584084e-01 3.99550511e-01 -1.52645529e-02 1.06034894e+02] [ 1.60857813e-02 1.29794330e-03 9.99869773e-01 6.85440981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:106.06, Z:0.68 [[ 3.98046405e-01 -9.17364586e-01 -1.12993806e-03 2.02968454e+02] [ 9.17261396e-01 3.98019563e-01 -1.45587711e-02 1.06060172e+02] [ 1.38054385e-02 4.75861796e-03 9.99893377e-01 6.83729855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:106.08, Z:0.69 [[ 3.94050860e-01 -9.19055817e-01 -7.76697327e-03 2.02982962e+02] [ 9.18985157e-01 3.94119232e-01 -1.16753011e-02 1.06084439e+02] [ 1.37913669e-02 -2.53707071e-03 9.99901676e-01 6.86431569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:106.11, Z:0.69 [[ 3.89514708e-01 -9.21011630e-01 -3.98356535e-03 2.02988197e+02] [ 9.20938505e-01 3.89534118e-01 -1.16378700e-02 1.06109576e+02] [ 1.22703483e-02 8.64502838e-04 9.99924343e-01 6.86300251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.00, Y:106.13, Z:0.69 [[ 3.84669482e-01 -9.23046296e-01 -3.86334369e-03 2.02997347e+02] [ 9.22977534e-01 3.84688094e-01 -1.12934943e-02 1.06132809e+02] [ 1.19106004e-02 7.78483171e-04 9.99928763e-01 6.86606532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:106.16, Z:0.69 [[ 3.77029289e-01 -9.26191495e-01 -4.26956431e-03 2.03009877e+02] [ 9.26107585e-01 3.77052707e-01 -1.24899109e-02 1.06156804e+02] [ 1.31779000e-02 7.54986322e-04 9.99912883e-01 6.86353098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:106.18, Z:0.69 [[ 3.75043986e-01 -9.26996037e-01 -4.51177206e-03 2.03020131e+02] [ 9.26902248e-01 3.75070329e-01 -1.32087492e-02 1.06180804e+02] [ 1.39366900e-02 7.71890270e-04 9.99902582e-01 6.86607358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.03, Y:106.20, Z:0.69 [[ 3.74749371e-01 -9.27115621e-01 -4.41971912e-03 2.03029549e+02] [ 9.27025484e-01 3.74774671e-01 -1.29498066e-02 1.06204438e+02] [ 1.36623668e-02 7.55739637e-04 9.99906380e-01 6.87141689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:106.23, Z:0.69 [[ 3.76343898e-01 -9.26479358e-01 -1.12648218e-03 2.03035760e+02] [ 9.26408640e-01 3.76329711e-01 -1.19574662e-02 1.06227535e+02] [ 1.15022743e-02 3.45653662e-03 9.99927872e-01 6.85608863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:106.25, Z:0.69 [[ 3.80745643e-01 -9.24658158e-01 -6.32815596e-03 2.03054209e+02] [ 9.24604385e-01 3.80793080e-01 -1.01666593e-02 1.06251216e+02] [ 1.18104025e-02 -1.98012952e-03 9.99928294e-01 6.88444862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.291400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.06, Y:106.28, Z:0.69 [[ 3.82566933e-01 -9.23920560e-01 -3.65234649e-03 2.03062445e+02] [ 9.23858588e-01 3.82583672e-01 -1.07258534e-02 1.06275764e+02] [ 1.13071646e-02 7.29105188e-04 9.99935806e-01 6.87148861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:106.30, Z:0.69 [[ 3.85528860e-01 -9.22689107e-01 -3.50862082e-03 2.03075674e+02] [ 9.22631777e-01 3.85544118e-01 -1.03119819e-02 1.06298500e+02] [ 1.08674815e-02 7.38401560e-04 9.99940675e-01 6.86928318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:106.32, Z:0.69 [[ 3.86328371e-01 -9.22355567e-01 -3.25556228e-03 2.03085497e+02] [ 9.22306114e-01 3.86341459e-01 -9.57649589e-03 1.06321492e+02] [ 1.00906930e-02 6.97047056e-04 9.99948845e-01 6.87323320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:106.34, Z:0.69 [[ 3.86895894e-01 -9.22118457e-01 -3.01975515e-03 2.03094756e+02] [ 9.22075835e-01 3.86907124e-01 -8.89004495e-03 1.06344971e+02] [ 9.36603931e-03 6.55078633e-04 9.99955923e-01 6.88203173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:106.37, Z:0.69 [[ 3.88818266e-01 -9.21307873e-01 -3.48699719e-03 2.03104287e+02] [ 9.21250925e-01 3.88833115e-01 -1.02733338e-02 1.06369999e+02] [ 1.08207633e-02 7.82060433e-04 9.99941148e-01 6.88138403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.11, Y:106.40, Z:0.69 [[ 3.90222359e-01 -9.20711535e-01 -4.09622723e-03 2.03112262e+02] [ 9.20632801e-01 3.90242722e-01 -1.20773774e-02 1.06395500e+02] [ 1.27183036e-02 9.41741563e-04 9.99918676e-01 6.87988066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:106.42, Z:0.69 [[ 3.91672627e-01 -9.20094163e-01 -4.39130358e-03 2.03119569e+02] [ 9.20003501e-01 3.91695876e-01 -1.29575737e-02 1.06419704e+02] [ 1.36422434e-02 1.03511227e-03 9.99906405e-01 6.87707936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.13, Y:106.44, Z:0.69 [[ 3.93928710e-01 -9.19133633e-01 -3.67908598e-03 2.03127011e+02] [ 9.19069861e-01 3.93944866e-01 -1.08642805e-02 1.06444864e+02] [ 1.14350827e-02 8.98414971e-04 9.99934214e-01 6.89329690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.13, Y:106.47, Z:0.69 [[ 3.93850802e-01 -9.19168588e-01 -3.26379282e-03 2.03134459e+02] [ 9.19118327e-01 3.93863515e-01 -9.64532786e-03 1.06469923e+02] [ 1.01511713e-02 7.99008313e-04 9.99948156e-01 6.89835413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:106.49, Z:0.69 [[ 3.93236650e-01 -9.19431852e-01 -3.16317531e-03 2.03142820e+02] [ 9.19384577e-01 3.93248617e-01 -9.35545559e-03 1.06494262e+02] [ 9.84561818e-03 7.70733422e-04 9.99951234e-01 6.91313990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:106.52, Z:0.69 [[ 3.90084992e-01 -9.20771812e-01 -3.60124825e-03 2.03151913e+02] [ 9.20710492e-01 3.90100705e-01 -1.06597119e-02 1.06518390e+02] [ 1.12200117e-02 8.42486586e-04 9.99936699e-01 6.90827639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.621400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:203.16, Y:106.54, Z:0.69 [[ 3.87902703e-01 -9.21693330e-01 -3.59156371e-03 2.03160545e+02] [ 9.21632279e-01 3.87918469e-01 -1.06397478e-02 1.06542053e+02] [ 1.11998185e-02 8.17085887e-04 9.99936946e-01 6.89073114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:106.57, Z:0.69 [[ 3.85443488e-01 -9.22725304e-01 -3.36618829e-03 2.03169192e+02] [ 9.22671626e-01 3.85457474e-01 -9.98029295e-03 1.06565642e+02] [ 1.05065913e-02 7.40952499e-04 9.99944530e-01 6.90940414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.681400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.18, Y:106.59, Z:0.69 [[ 3.83271787e-01 -9.23630877e-01 -2.95632763e-03 2.03176596e+02] [ 9.23589432e-01 3.83282668e-01 -8.77260396e-03 1.06589054e+02] [ 9.23575704e-03 6.31858639e-04 9.99957150e-01 6.90943551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.711400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.18, Y:106.61, Z:0.69 [[ 3.83068582e-01 -9.23715180e-01 -2.95439245e-03 2.03184633e+02] [ 9.23673731e-01 3.83079454e-01 -8.77325587e-03 1.06613780e+02] [ 9.23575667e-03 6.31863989e-04 9.99957150e-01 6.90947101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:106.64, Z:0.69 [[ 3.80871870e-01 -9.24625159e-01 -2.22116085e-03 2.03192598e+02] [ 9.24601712e-01 3.80878068e-01 -6.60090413e-03 1.06639025e+02] [ 6.94935348e-03 4.60409572e-04 9.99975747e-01 6.93268512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:106.66, Z:0.69 [[ 3.80802596e-01 -9.24653632e-01 -2.24566894e-03 2.03201057e+02] [ 9.24629629e-01 3.80808931e-01 -6.67881999e-03 1.06664144e+02] [ 7.03076595e-03 4.66899946e-04 9.99975175e-01 6.93521352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:106.69, Z:0.69 [[ 3.81030469e-01 -9.24559455e-01 -2.36548388e-03 2.03209818e+02] [ 9.24532783e-01 3.81037490e-01 -7.04019221e-03 1.06687493e+02] [ 7.41041431e-03 4.95560348e-04 9.99972420e-01 6.93008582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:106.71, Z:0.69 [[ 3.82846122e-01 -9.23812122e-01 9.99600170e-05 2.03217679e+02] [ 9.23796618e-01 3.82839065e-01 -5.83598609e-03 1.06707941e+02] [ 5.35308610e-03 2.32662737e-03 9.99982966e-01 6.91574417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:106.73, Z:0.69 [[ 3.82271438e-01 -9.24044941e-01 -3.08148874e-03 2.03232159e+02] [ 9.24040724e-01 3.82280448e-01 -3.22478133e-03 1.06733778e+02] [ 4.15783576e-03 -1.61467929e-03 9.99990053e-01 6.93346128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:106.76, Z:0.69 [[ 3.81887577e-01 -9.24208715e-01 -3.59520661e-04 2.03241519e+02] [ 9.24208096e-01 3.81887739e-01 -1.07216557e-03 1.06758447e+02] [ 1.12820130e-03 7.71748065e-05 9.99999361e-01 6.94310758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:106.78, Z:0.69 [[ 3.83004205e-01 -9.23746561e-01 -2.65612184e-04 2.03249238e+02] [ 9.23746302e-01 3.83004297e-01 -6.91051052e-04 1.06777685e+02] [ 7.40086640e-04 1.93171858e-05 9.99999726e-01 6.93900512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:106.81, Z:0.69 [[ 3.82672080e-01 -9.23884052e-01 -5.80548259e-04 2.03260661e+02] [ 9.23882212e-01 3.82672482e-01 -1.85183958e-03 1.06805414e+02] [ 1.93304490e-03 1.72289095e-04 9.99998117e-01 6.94134579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:106.83, Z:0.69 [[ 3.85693125e-01 -9.22626355e-01 -1.19275132e-03 2.03271019e+02] [ 9.22619502e-01 3.85694871e-01 -3.56655496e-03 1.06828253e+02] [ 3.75063567e-03 2.75140101e-04 9.99992929e-01 6.93619243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:106.85, Z:0.69 [[ 3.87677935e-01 -9.21794066e-01 -1.23243924e-03 2.03279042e+02] [ 9.21786735e-01 3.87679783e-01 -3.68803386e-03 1.06853115e+02] [ 3.87739950e-03 2.93723212e-04 9.99992440e-01 6.93708337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.29, Y:106.88, Z:0.69 [[ 3.89779089e-01 -9.20907691e-01 -1.13448027e-03 2.03286679e+02] [ 9.20901465e-01 3.89780639e-01 -3.39781663e-03 1.06876174e+02] [ 3.57127391e-03 2.79653328e-04 9.99993584e-01 6.93823174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.30, Y:106.90, Z:0.69 [[ 3.91791759e-01 -9.20053152e-01 -1.18983777e-03 2.03295593e+02] [ 9.20046289e-01 3.91793449e-01 -3.56654339e-03 1.06900551e+02] [ 3.74758013e-03 3.02636480e-04 9.99992932e-01 6.94994833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:106.93, Z:0.69 [[ 3.92620740e-01 -9.19699445e-01 -1.37299024e-03 2.03305188e+02] [ 9.19690291e-01 3.92622981e-01 -4.11869112e-03 1.06925168e+02] [ 4.32702546e-03 3.54357761e-04 9.99990576e-01 6.94896011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:106.95, Z:0.69 [[ 3.91290776e-01 -9.20264704e-01 -2.09831635e-03 2.03316462e+02] [ 9.20243305e-01 3.91296038e-01 -6.29839575e-03 1.06948012e+02] [ 6.61725417e-03 5.33542588e-04 9.99977963e-01 6.93141769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:106.97, Z:0.69 [[ 3.89062902e-01 -9.21208143e-01 -2.36962132e-03 2.03326776e+02] [ 9.21180829e-01 3.89069676e-01 -7.11816221e-03 1.06972714e+02] [ 7.47925679e-03 5.86563117e-04 9.99971858e-01 6.92177789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:107.00, Z:0.69 [[ 3.83672100e-01 -9.23466385e-01 -2.35697343e-03 2.03339134e+02] [ 9.23439360e-01 3.83678957e-01 -7.08567125e-03 1.06996418e+02] [ 7.44770033e-03 5.42052340e-04 9.99972119e-01 6.91674125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:107.02, Z:0.69 [[ 3.81102271e-01 -9.24530362e-01 -2.16064019e-03 2.03347894e+02] [ 9.24507632e-01 3.81108094e-01 -6.50072658e-03 1.07019706e+02] [ 6.83355656e-03 4.79913320e-04 9.99976536e-01 6.91954581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:107.04, Z:0.69 [[ 3.78584835e-01 -9.25564903e-01 -1.77010973e-03 2.03355475e+02] [ 9.25549632e-01 3.78588783e-01 -5.33023995e-03 1.07043126e+02] [ 5.60362671e-03 3.79623601e-04 9.99984228e-01 6.92419579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:107.07, Z:0.69 [[ 3.78436280e-01 -9.25625746e-01 -1.72053122e-03 2.03362814e+02] [ 9.25611296e-01 3.78440010e-01 -5.18531124e-03 1.07067593e+02] [ 5.45077544e-03 3.69766759e-04 9.99985076e-01 6.92309587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:107.09, Z:0.69 [[ 3.78593916e-01 -9.25561280e-01 -1.72152229e-03 2.03370236e+02] [ 9.25546788e-01 3.78597647e-01 -5.19285715e-03 1.07091091e+02] [ 5.45807180e-03 3.72634699e-04 9.99985035e-01 6.92524916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.38, Y:107.12, Z:0.69 [[ 3.79495696e-01 -9.25192022e-01 -1.65484857e-03 2.03378954e+02] [ 9.25178607e-01 3.79499129e-01 -4.99562266e-03 1.07115602e+02] [ 5.24992382e-03 3.64786804e-04 9.99986153e-01 6.93597205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:107.14, Z:0.69 [[ 3.79551012e-01 -9.25169356e-01 -1.64046750e-03 2.03386865e+02] [ 9.25156157e-01 3.79554383e-01 -4.95528628e-03 1.07139861e+02] [ 5.20712565e-03 3.63095317e-04 9.99986377e-01 6.94646546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:107.17, Z:0.69 [[ 3.79223962e-01 -9.25303651e-01 -1.52997549e-03 2.03394590e+02] [ 9.25292154e-01 3.79226897e-01 -4.62506560e-03 1.07165561e+02] [ 4.85979794e-03 3.38261383e-04 9.99988134e-01 6.94877682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:107.19, Z:0.69 [[ 3.78177755e-01 -9.25732070e-01 -1.31176165e-03 2.03402102e+02] [ 9.25723610e-01 3.78179922e-01 -3.96785841e-03 1.07189301e+02] [ 4.16925570e-03 2.86227055e-04 9.99991268e-01 6.94823465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:107.21, Z:0.69 [[ 3.77446476e-01 -9.26030697e-01 -1.14260919e-03 2.03409729e+02] [ 9.26024270e-01 3.77448124e-01 -3.45912678e-03 1.07212509e+02] [ 3.63453328e-03 2.47551365e-04 9.99993364e-01 6.94881262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:107.24, Z:0.70 [[ 3.77832231e-01 -9.25873835e-01 -6.67812176e-04 2.03415530e+02] [ 9.25871636e-01 3.77832793e-01 -2.02333211e-03 1.07237305e+02] [ 2.12567160e-03 1.46171732e-04 9.99997730e-01 6.95486202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:107.26, Z:0.70 [[ 3.78898905e-01 -9.25437791e-01 -7.17175142e-04 2.03422048e+02] [ 9.25435250e-01 3.78899550e-01 -2.17472983e-03 1.07260800e+02] [ 2.28431451e-03 1.60303597e-04 9.99997378e-01 6.96243169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:107.29, Z:0.70 [[ 3.80142272e-01 -9.24927579e-01 -9.09627041e-04 2.03429574e+02] [ 9.24923482e-01 3.80143303e-01 -2.76063419e-03 1.07285238e+02] [ 2.89917532e-03 2.08098341e-04 9.99995776e-01 6.96410372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:107.31, Z:0.70 [[ 3.82784541e-01 -9.23836892e-01 -1.17968916e-03 2.03437331e+02] [ 9.23829986e-01 3.82786255e-01 -3.58335645e-03 1.07308147e+02] [ 3.76200568e-03 2.81821234e-04 9.99992884e-01 6.95763988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:107.33, Z:0.70 [[ 3.83699113e-01 -9.23457544e-01 -1.07455210e-03 2.03445124e+02] [ 9.23451803e-01 3.83700529e-01 -3.26667612e-03 1.07332808e+02] [ 3.42894292e-03 2.61123660e-04 9.99994087e-01 6.95197061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:107.36, Z:0.69 [[ 3.84027055e-01 -9.23321462e-01 -8.36372378e-04 2.03452110e+02] [ 9.23317978e-01 3.84027911e-01 -2.54474688e-03 1.07356466e+02] [ 2.67080975e-03 2.05013998e-04 9.99996412e-01 6.94980854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.46, Y:107.38, Z:0.69 [[ 3.83937057e-01 -9.23359161e-01 -4.42129858e-04 2.03459537e+02] [ 9.23358186e-01 3.83937296e-01 -1.34622071e-03 1.07381412e+02] [ 1.41279536e-03 1.08619792e-04 9.99998996e-01 6.94732644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:107.40, Z:0.70 [[ 3.82640806e-01 -9.23897188e-01 5.25877759e-06 2.03469421e+02] [ 9.23897187e-01 3.82640806e-01 1.61291172e-05 1.07404528e+02] [-1.69138689e-05 -1.31308858e-06 1.00000000e+00 6.95311128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:107.43, Z:0.70 [[ 3.81679226e-01 -9.24294846e-01 -7.96622060e-05 2.03479635e+02] [ 9.24294814e-01 3.81679234e-01 -2.42860481e-04 1.07428743e+02] [ 2.54880101e-04 1.90634365e-05 9.99999967e-01 6.95556857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:107.45, Z:0.70 [[ 3.80788313e-01 -9.24661875e-01 -8.23525224e-04 2.03491836e+02] [ 9.24658479e-01 3.80789154e-01 -2.51346927e-03 1.07452270e+02] [ 2.63769868e-03 1.95620142e-04 9.99996502e-01 6.95322839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:107.48, Z:0.69 [[ 3.80275204e-01 -9.24872722e-01 -1.10282059e-03 2.03501516e+02] [ 9.24866625e-01 3.80276714e-01 -3.36857978e-03 1.07477292e+02] [ 3.53488454e-03 2.61025402e-04 9.99993718e-01 6.94889348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:107.50, Z:0.69 [[ 3.80220533e-01 -9.24895057e-01 -1.21659657e-03 2.03511025e+02] [ 9.24887624e-01 3.80222369e-01 -3.71916328e-03 1.07500602e+02] [ 3.90241296e-03 2.88887137e-04 9.99992344e-01 6.94627879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.851400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.52, Y:107.52, Z:0.70 [[ 3.79662125e-01 -9.25124803e-01 -8.77626569e-04 2.03522134e+02] [ 9.25120930e-01 3.79663082e-01 -2.68511254e-03 1.07523401e+02] [ 2.81726661e-03 2.07524822e-04 9.99996010e-01 6.95059526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:107.55, Z:0.70 [[ 3.80219955e-01 -9.24895692e-01 -8.62942768e-04 2.03531371e+02] [ 9.24891941e-01 3.80220878e-01 -2.64240672e-03 1.07547463e+02] [ 2.77205945e-03 2.06566952e-04 9.99996137e-01 6.96037168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.54, Y:107.57, Z:0.70 [[ 3.80780348e-01 -9.24665166e-01 -8.11522066e-04 2.03539110e+02] [ 9.24661842e-01 3.80781162e-01 -2.48711379e-03 1.07570297e+02] [ 2.60875980e-03 1.96660564e-04 9.99996578e-01 6.96130504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:107.59, Z:0.70 [[ 3.81027391e-01 -9.24563273e-01 -9.38472868e-04 2.03547037e+02] [ 9.24558820e-01 3.81028478e-01 -2.87868504e-03 1.07593703e+02] [ 3.01911135e-03 2.29184482e-04 9.99995416e-01 6.96321554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:107.62, Z:0.70 [[ 3.81479184e-01 -9.24362671e-01 -5.22352864e-03 2.03560230e+02] [ 9.24361129e-01 3.81499925e-01 -3.78303879e-03 1.07615610e+02] [ 5.48967563e-03 -3.38527628e-03 9.99979201e-01 6.98372936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:107.64, Z:0.69 [[ 3.81470083e-01 -9.24378790e-01 2.10441287e-03 2.03563889e+02] [ 9.24370242e-01 3.81453502e-01 -5.73423453e-03 1.07642114e+02] [ 4.49786911e-03 4.13269556e-03 9.99981345e-01 6.94832403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:107.66, Z:0.69 [[ 3.80338325e-01 -9.24846671e-01 -1.18036391e-03 2.03575354e+02] [ 9.24839594e-01 3.80340047e-01 -3.62957964e-03 1.07664943e+02] [ 3.80574432e-03 2.88820964e-04 9.99992716e-01 6.94921292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:107.69, Z:0.70 [[ 3.79678194e-01 -9.25117787e-01 -1.24470480e-03 2.03582654e+02] [ 9.25109905e-01 3.79680114e-01 -3.83079574e-03 1.07687966e+02] [ 4.01652694e-03 3.02980871e-04 9.99991888e-01 6.95089951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:107.71, Z:0.70 [[ 3.78955018e-01 -9.25413792e-01 -1.55179041e-03 2.03590204e+02] [ 9.25401524e-01 3.78958010e-01 -4.77987563e-03 1.07711927e+02] [ 5.01142624e-03 3.75328646e-04 9.99987372e-01 6.95161148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.121400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:203.60, Y:107.74, Z:0.69 [[ 3.77253121e-01 -9.26107465e-01 -2.24625974e-03 2.03596129e+02] [ 9.26081728e-01 3.77259432e-01 -6.92485533e-03 1.07736460e+02] [ 7.26058289e-03 5.32203185e-04 9.99973500e-01 6.94512310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:107.76, Z:0.69 [[ 3.76507182e-01 -9.26410796e-01 -2.31936188e-03 2.03602592e+02] [ 9.26383323e-01 3.76513931e-01 -7.15534095e-03 1.07759652e+02] [ 7.50205716e-03 5.45419096e-04 9.99971710e-01 6.94285937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:107.78, Z:0.69 [[ 3.73334664e-01 -9.27695152e-01 -1.71297967e-03 2.03609207e+02] [ 9.27680155e-01 3.73338395e-01 -5.28899600e-03 1.07784807e+02] [ 5.54609703e-03 3.85468300e-04 9.99984546e-01 6.94438704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:107.81, Z:0.69 [[ 3.71761701e-01 -9.28327103e-01 -1.42420291e-03 2.03616465e+02] [ 9.28316725e-01 3.71764296e-01 -4.40080108e-03 1.07810147e+02] [ 4.61485071e-03 3.13937914e-04 9.99989302e-01 6.94724561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:107.83, Z:0.69 [[ 3.70251222e-01 -9.28930881e-01 -1.20441705e-03 2.03622957e+02] [ 9.28923449e-01 3.70253089e-01 -3.72496364e-03 1.07833802e+02] [ 3.90617289e-03 2.60361101e-04 9.99992337e-01 6.94864173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:107.86, Z:0.70 [[ 3.68828807e-01 -9.29496852e-01 -9.55967455e-04 2.03629884e+02] [ 9.29492164e-01 3.68829990e-01 -2.95907896e-03 1.07858431e+02] [ 3.10304404e-03 2.02829304e-04 9.99995165e-01 6.95284348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:107.88, Z:0.70 [[ 3.66557186e-01 -9.30395490e-01 -2.49993103e-04 2.03636083e+02] [ 9.30395169e-01 3.66557267e-01 -7.74400883e-04 1.07882850e+02] [ 8.12135878e-04 5.12698333e-05 9.99999669e-01 6.96499715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:107.91, Z:0.70 [[ 3.65083591e-01 -9.30974734e-01 -1.31422845e-04 2.03643520e+02] [ 9.30974645e-01 3.65083613e-01 -4.07383941e-04 1.07908444e+02] [ 4.27244483e-04 2.63778556e-05 9.99999908e-01 6.96705639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:107.93, Z:0.70 [[ 3.63913645e-01 -9.31432668e-01 -2.08070282e-04 2.03651216e+02] [ 9.31432446e-01 3.63913702e-01 -6.45609761e-04 1.07931862e+02] [ 6.77061650e-04 4.11427893e-05 9.99999770e-01 6.96184947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:107.96, Z:0.70 [[ 3.60694382e-01 -9.32684003e-01 -3.36203273e-04 2.03661898e+02] [ 9.32683421e-01 3.60694533e-01 -1.04415656e-03 1.07955472e+02] [ 1.09513481e-03 6.30501877e-05 9.99999398e-01 6.96093421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:107.98, Z:0.70 [[ 3.59201134e-01 -9.33260148e-01 -2.03174017e-04 2.03671644e+02] [ 9.33259935e-01 3.59201189e-01 -6.31499383e-04 1.07979409e+02] [ 6.62333556e-04 3.72211241e-05 9.99999780e-01 6.96756962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.68, Y:108.00, Z:0.70 [[ 3.58294745e-01 -9.33608523e-01 -5.08757546e-05 2.03680659e+02] [ 9.33608509e-01 3.58294748e-01 -1.58180545e-04 1.08001957e+02] [ 1.65907221e-04 9.17722069e-06 9.99999986e-01 6.97612058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:108.03, Z:0.70 [[ 3.58955652e-01 -9.33354582e-01 2.53570904e-04 2.03688913e+02] [ 9.33354249e-01 3.58955739e-01 7.89660135e-04 1.08025263e+02] [-8.28053636e-04 -4.67814884e-05 9.99999656e-01 6.99207117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:108.05, Z:0.70 [[ 3.60693051e-01 -9.32676733e-01 -3.82556732e-03 2.03698680e+02] [ 9.32684571e-01 3.60690542e-01 1.35071458e-03 1.08046525e+02] [ 1.20065890e-04 -4.05524098e-03 9.99991770e-01 7.02147316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:108.08, Z:0.70 [[ 3.62165291e-01 -9.32104921e-01 4.08879282e-03 2.03700997e+02] [ 9.32113519e-01 3.62165570e-01 -6.98165944e-04 1.08075065e+02] [-8.30056068e-04 4.06407054e-03 9.99991397e-01 6.98856219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.71, Y:108.10, Z:0.70 [[ 3.66327123e-01 -9.30486126e-01 -9.60234695e-05 2.03712953e+02] [ 9.30486078e-01 3.66327135e-01 -2.99613974e-04 1.08098055e+02] [ 3.13962648e-04 2.04082236e-05 9.99999951e-01 6.98348217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.601400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:203.72, Y:108.12, Z:0.70 [[ 3.68106149e-01 -9.29783760e-01 1.51738749e-04 2.03720244e+02] [ 9.29783639e-01 3.68106179e-01 4.74342277e-04 1.08122289e+02] [-4.96891716e-04 -3.35241030e-05 9.99999876e-01 6.97676200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:108.15, Z:0.70 [[ 3.71300485e-01 -9.28512684e-01 3.81087662e-04 2.03727528e+02] [ 9.28511923e-01 3.71300670e-01 1.19207632e-03 1.08145607e+02] [-1.24835609e-03 -8.87740786e-05 9.99999217e-01 6.97618202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:108.17, Z:0.70 [[ 3.71083776e-01 -9.28599314e-01 3.80814643e-04 2.03735194e+02] [ 9.28598553e-01 3.71083961e-01 1.19216357e-03 1.08170463e+02] [-1.24835648e-03 -8.87686335e-05 9.99999217e-01 6.97624184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:108.20, Z:0.70 [[ 3.75647579e-01 -9.26762502e-01 4.01409520e-04 2.03742971e+02] [ 9.26761654e-01 3.75647780e-01 1.25762302e-03 1.08195314e+02] [-1.31630645e-03 -1.00412091e-04 9.99999129e-01 6.97463659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:108.22, Z:0.70 [[ 3.77215444e-01 -9.26125536e-01 -1.53658739e-05 2.03750836e+02] [ 9.26125535e-01 3.77215445e-01 -4.79991130e-05 1.08220047e+02] [ 5.02494493e-05 3.87527861e-06 9.99999999e-01 6.97656174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:108.24, Z:0.70 [[ 3.79599773e-01 -9.25150644e-01 -5.46781732e-04 2.03757185e+02] [ 9.25149065e-01 3.79600139e-01 -1.71514069e-03 1.08244528e+02] [ 1.79432194e-03 1.45212408e-04 9.99998380e-01 6.96825760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:108.27, Z:0.70 [[ 3.80394027e-01 -9.24824424e-01 -4.11881151e-04 2.03763641e+02] [ 9.24823526e-01 3.80394234e-01 -1.29303981e-03 1.08268023e+02] [ 1.35251201e-03 1.10947240e-04 9.99999079e-01 6.95970045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:108.29, Z:0.70 [[ 3.80816870e-01 -9.24650436e-01 -2.89131020e-04 2.03771134e+02] [ 9.24649993e-01 3.80816971e-01 -9.08396140e-04 1.08292303e+02] [ 9.50054886e-04 7.85875786e-05 9.99999546e-01 6.96063780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:108.32, Z:0.70 [[ 3.80780920e-01 -9.24665193e-01 -4.13837485e-04 2.03777615e+02] [ 9.24664285e-01 3.80781128e-01 -1.30140492e-03 1.08316239e+02] [ 1.36094534e-03 1.12889420e-04 9.99999068e-01 6.96343293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:108.34, Z:0.70 [[ 3.79794280e-01 -9.25070690e-01 -7.23006178e-04 2.03783737e+02] [ 9.25067912e-01 3.79794918e-01 -2.27562640e-03 1.08342433e+02] [ 2.37970936e-03 1.95440074e-04 9.99997149e-01 6.96126088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:108.37, Z:0.70 [[ 3.78780637e-01 -9.25485836e-01 -1.09351316e-03 2.03788887e+02] [ 9.25479472e-01 3.78782103e-01 -3.44472748e-03 1.08367173e+02] [ 3.60224971e-03 2.92772092e-04 9.99993469e-01 6.95450617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:108.39, Z:0.69 [[ 3.77430249e-01 -9.26036987e-01 -1.38071036e-03 2.03795238e+02] [ 9.26026828e-01 3.77432599e-01 -4.35293866e-03 1.08393165e+02] [ 4.55210730e-03 3.64355892e-04 9.99989573e-01 6.94808628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:108.42, Z:0.70 [[ 3.74783111e-01 -9.27111109e-01 -1.61613486e-03 2.03800451e+02] [ 9.27097176e-01 3.74786368e-01 -5.09939636e-03 1.08417797e+02] [ 5.33341232e-03 4.12853568e-04 9.99985692e-01 6.95543498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:108.44, Z:0.70 [[ 3.73153953e-01 -9.27767981e-01 -1.64355316e-03 2.03804770e+02] [ 9.27753554e-01 3.73157345e-01 -5.19032318e-03 1.08442770e+02] [ 5.42871959e-03 4.11977327e-04 9.99985180e-01 6.96217212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:108.47, Z:0.70 [[ 3.69661487e-01 -9.29164600e-01 -1.87919945e-03 2.03805754e+02] [ 9.29145723e-01 3.69665990e-01 -5.93977172e-03 1.08468561e+02] [ 6.21370174e-03 4.49654712e-04 9.99980594e-01 6.96868165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:108.49, Z:0.70 [[ 3.67873237e-01 -9.29874147e-01 -1.83079995e-03 2.03811278e+02] [ 9.29856211e-01 3.67877543e-01 -5.79139848e-03 1.08494620e+02] [ 6.05878192e-03 4.28119795e-04 9.99981554e-01 6.96898407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:108.52, Z:0.70 [[ 3.66453438e-01 -9.30434841e-01 -1.69819177e-03 2.03816158e+02] [ 9.30419392e-01 3.66457165e-01 -5.37591896e-03 1.08518334e+02] [ 5.62425685e-03 3.89993428e-04 9.99984108e-01 6.96572615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:108.54, Z:0.70 [[ 3.64765251e-01 -9.31098630e-01 -1.28601693e-03 2.03817893e+02] [ 9.31089759e-01 3.64767404e-01 -4.07454554e-03 1.08544905e+02] [ 4.26290083e-03 2.88855437e-04 9.99990872e-01 6.96783242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:108.57, Z:0.70 [[ 3.63676957e-01 -9.31524743e-01 -8.50534147e-04 2.03821756e+02] [ 9.31520858e-01 3.63677903e-01 -2.69713542e-03 1.08569715e+02] [ 2.82176885e-03 1.88595703e-04 9.99996001e-01 6.97232580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:108.59, Z:0.70 [[ 3.62250674e-01 -9.32080564e-01 -5.20399368e-04 2.03825941e+02] [ 9.32079108e-01 3.62251030e-01 -1.65157481e-03 1.08594850e+02] [ 1.72791599e-03 1.13230710e-04 9.99998501e-01 6.98260266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:108.62, Z:0.70 [[ 3.59889150e-01 -9.32995051e-01 -1.83056570e-04 2.03827656e+02] [ 9.32994871e-01 3.59889195e-01 -5.81345582e-04 1.08620601e+02] [ 6.08272633e-04 3.84291264e-05 9.99999814e-01 6.98745828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:108.64, Z:0.70 [[ 3.58581613e-01 -9.33498374e-01 -1.10379339e-04 2.03833137e+02] [ 9.33498309e-01 3.58581629e-01 -3.50777132e-04 1.08644261e+02] [ 3.67029886e-04 2.27433035e-05 9.99999932e-01 6.98043211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:108.67, Z:0.70 [[ 3.56480384e-01 -9.34302803e-01 8.84304810e-05 2.03840121e+02] [ 9.34302761e-01 3.56480394e-01 2.81617505e-04 1.08668396e+02] [-2.94639757e-04 -1.77702738e-05 9.99999956e-01 6.97053877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:108.69, Z:0.70 [[ 3.55775132e-01 -9.34571552e-01 2.62368284e-04 2.03848118e+02] [ 9.34571180e-01 3.55775225e-01 8.35899619e-04 1.08692204e+02] [-8.74552140e-04 -5.21904610e-05 9.99999616e-01 6.97533024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:108.72, Z:0.70 [[ 3.55460598e-01 -9.34691201e-01 3.50347321e-04 2.03856713e+02] [ 9.34690536e-01 3.55460764e-01 1.11713149e-03 1.08716581e+02] [-1.16870770e-03 -6.96299022e-05 9.99999315e-01 6.98670868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:108.74, Z:0.70 [[ 3.56504256e-01 -9.34293652e-01 2.95409079e-04 2.03866016e+02] [ 9.34293178e-01 3.56504374e-01 9.42859989e-04 1.08739111e+02] [-9.86222731e-04 -6.01349118e-05 9.99999512e-01 6.98998481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:108.76, Z:0.70 [[ 3.57283952e-01 -9.33995799e-01 1.61442066e-04 2.03873842e+02] [ 9.33995657e-01 3.57283987e-01 5.15820193e-04 1.08763720e+02] [-5.39454558e-04 -3.35080885e-05 9.99999854e-01 6.98818755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:108.79, Z:0.70 [[ 3.58424079e-01 -9.33558864e-01 1.65886528e-04 2.03881913e+02] [ 9.33558714e-01 3.58424116e-01 5.30435691e-04 1.08789293e+02] [-5.54650673e-04 -3.52561108e-05 9.99999846e-01 6.97937210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:108.81, Z:0.70 [[ 3.61370392e-01 -9.32422338e-01 1.52699733e-04 2.03889446e+02] [ 9.32422211e-01 3.61370422e-01 4.88710155e-04 1.08813969e+02] [-5.10865433e-04 -3.42247573e-05 9.99999869e-01 6.97965594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:108.84, Z:0.70 [[ 3.62766622e-01 -9.31880021e-01 7.14519069e-05 2.03897300e+02] [ 9.31879993e-01 3.62766629e-01 2.28955130e-04 1.08839032e+02] [-2.39279079e-04 -1.64726768e-05 9.99999971e-01 6.98363659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:108.86, Z:0.70 [[ 3.64216469e-01 -9.31314316e-01 9.29029739e-05 2.03906286e+02] [ 9.31314269e-01 3.64216480e-01 2.97897442e-04 1.08864231e+02] [-3.11272946e-04 -2.19772892e-05 9.99999951e-01 7.00274286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:108.89, Z:0.70 [[ 3.64153142e-01 -9.31339055e-01 2.31489574e-04 2.03914396e+02] [ 9.31338761e-01 3.64153211e-01 7.42666762e-04 1.08888308e+02] [-7.75972232e-04 -5.48492219e-05 9.99999697e-01 7.00477716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:108.91, Z:0.70 [[ 3.63377036e-01 -9.31642092e-01 3.75961482e-04 2.03922781e+02] [ 9.31641315e-01 3.63377220e-01 1.20709396e-03 1.08912129e+02] [-1.26119538e-03 -8.83689755e-05 9.99999201e-01 7.00492787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:108.93, Z:0.70 [[ 3.60692244e-01 -9.32684691e-01 6.09819387e-04 2.03934848e+02] [ 9.32682643e-01 3.60692733e-01 1.95961128e-03 1.08934151e+02] [-2.04765687e-03 -1.38048633e-04 9.99997894e-01 6.99360747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.95, Y:108.96, Z:0.70 [[ 3.58785835e-01 -9.33419875e-01 2.47925317e-04 2.03945789e+02] [ 9.33419536e-01 3.58785916e-01 7.97432675e-04 1.08958409e+02] [-8.33291620e-04 -5.46892133e-05 9.99999651e-01 6.98900152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:108.98, Z:0.70 [[ 3.56908469e-01 -9.34139350e-01 -1.39292183e-04 2.03955836e+02] [ 9.34139243e-01 3.56908495e-01 -4.48096224e-04 1.08980684e+02] [ 4.68298879e-04 2.98110435e-05 9.99999890e-01 6.98526749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:109.01, Z:0.70 [[ 3.54975417e-01 -9.34875525e-01 -4.54337427e-04 2.03966360e+02] [ 9.34874385e-01 3.54975695e-01 -1.46314738e-03 1.09005180e+02] [ 1.52913942e-03 9.46329292e-05 9.99998826e-01 6.98889014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.711400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.98, Y:109.03, Z:0.70 [[ 3.51912946e-01 -9.36032732e-01 -4.84259099e-05 2.03979160e+02] [ 9.36032719e-01 3.51912949e-01 -1.55909776e-04 1.09027272e+02] [ 1.62978358e-04 9.53843238e-06 9.99999987e-01 7.00155239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:109.05, Z:0.70 [[ 3.51780125e-01 -9.36082585e-01 3.70499761e-04 2.03989608e+02] [ 9.36081825e-01 3.51780312e-01 1.19565957e-03 1.09050316e+02] [-1.24957062e-03 -7.37911807e-05 9.99999217e-01 7.01309591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:109.07, Z:0.70 [[ 3.53088363e-01 -9.35589668e-01 7.62072388e-04 2.04002336e+02] [ 9.35586443e-01 3.53089151e-01 2.46135699e-03 1.09072244e+02] [-2.57189966e-03 -1.56091914e-04 9.99996680e-01 7.00353000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:109.10, Z:0.70 [[ 3.53896622e-01 -9.35284308e-01 6.66401630e-04 2.04013056e+02] [ 9.35281838e-01 3.53897222e-01 2.15424567e-03 1.09095681e+02] [-2.25066986e-03 -1.39106925e-04 9.99997458e-01 6.99632820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.02, Y:109.12, Z:0.70 [[ 3.54373251e-01 -9.35103838e-01 6.41469608e-04 2.04024254e+02] [ 9.35101545e-01 3.54373805e-01 2.07548057e-03 1.09118527e+02] [-2.16810987e-03 -1.35655576e-04 9.99997640e-01 6.98662107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:109.14, Z:0.70 [[ 3.55408547e-01 -9.34710750e-01 7.60206935e-04 2.04040919e+02] [ 9.34707523e-01 3.55409322e-01 2.46178203e-03 1.09140534e+02] [-2.57123876e-03 -1.64367234e-04 9.99996681e-01 6.98896618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:109.16, Z:0.70 [[ 3.55715524e-01 -9.34593977e-01 7.50701290e-04 2.04051553e+02] [ 9.34590824e-01 3.55716278e-01 2.43322905e-03 1.09162497e+02] [-2.54111788e-03 -1.63938809e-04 9.99996758e-01 6.98842799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92140051300004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:204.06, Y:109.18, Z:0.70 [[ 3.56553618e-01 -9.34274656e-01 6.21104939e-04 2.04061697e+02] [ 9.34270868e-01 3.56553959e-01 2.68694439e-03 1.09184788e+02] [-2.73180147e-03 -3.77759492e-04 9.99996197e-01 6.97542613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:109.21, Z:0.70 [[ 3.59508033e-01 -9.33141791e-01 6.10710967e-04 2.04076176e+02] [ 9.33140833e-01 3.59508541e-01 1.33978775e-03 1.09208836e+02] [-1.46976775e-03 8.82148825e-05 9.99998916e-01 6.98445928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.09, Y:109.23, Z:0.70 [[ 3.61592398e-01 -9.32336182e-01 4.25148874e-04 2.04087313e+02] [ 9.32335165e-01 3.61592633e-01 1.38145451e-03 1.09231276e+02] [-1.44171072e-03 -1.03142204e-04 9.99998955e-01 6.98016061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:109.25, Z:0.70 [[ 3.63524717e-01 -9.31584364e-01 5.94717579e-04 2.04098231e+02] [ 9.31582368e-01 3.63525172e-01 1.93405386e-03 1.09254164e+02] [-2.01792914e-03 -1.49047969e-04 9.99997953e-01 6.97919483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:109.28, Z:0.70 [[ 3.67145735e-01 -9.30162796e-01 1.08761251e-03 2.04111890e+02] [ 9.30156104e-01 3.67147233e-01 3.53989436e-03 1.09276605e+02] [-3.69199195e-03 -2.88007704e-04 9.99993143e-01 6.97452189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:109.30, Z:0.70 [[ 3.68506650e-01 -9.29624202e-01 1.30034674e-03 2.04122779e+02] [ 9.29614618e-01 3.68508776e-01 4.23600518e-03 1.09299706e+02] [-4.41708213e-03 -3.52174738e-04 9.99990183e-01 6.97472718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:109.32, Z:0.70 [[ 3.70573804e-01 -9.28802129e-01 1.28853357e-03 2.04136597e+02] [ 9.28792697e-01 3.70575869e-01 4.20139550e-03 1.09321149e+02] [-4.37976453e-03 -3.60146541e-04 9.99990344e-01 6.97760854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:109.34, Z:0.70 [[ 3.71298461e-01 -9.28512885e-01 1.12929286e-03 2.04145696e+02] [ 9.28505628e-01 3.71300041e-01 3.68479404e-03 1.09344245e+02] [-3.84068523e-03 -3.19603576e-04 9.99992573e-01 6.97816491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:109.37, Z:0.70 [[ 3.71760229e-01 -9.28328294e-01 9.54677509e-04 2.04154137e+02] [ 9.28323098e-01 3.71761355e-01 3.11777758e-03 1.09368197e+02] [-3.24923335e-03 -2.72816525e-04 9.99994684e-01 6.97606805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:109.39, Z:0.70 [[ 3.72101996e-01 -9.28191429e-01 8.81044152e-04 2.04164973e+02] [ 9.28186996e-01 3.72102952e-01 2.87991838e-03 1.09390628e+02] [-3.00095469e-03 -2.53849654e-04 9.99995465e-01 6.96269067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:109.41, Z:0.70 [[ 3.71502797e-01 -9.28431338e-01 9.60881832e-04 2.04174591e+02] [ 9.28426057e-01 3.71503937e-01 3.14357131e-03 1.09414306e+02] [-3.27556150e-03 -2.75737804e-04 9.99994597e-01 6.96101349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:109.44, Z:0.70 [[ 3.71005866e-01 -9.28629820e-01 1.14208944e-03 2.04183925e+02] [ 9.28622348e-01 3.71007480e-01 3.73957883e-03 1.09437823e+02] [-3.89640814e-03 -3.26835905e-04 9.99992356e-01 6.96332767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:109.46, Z:0.70 [[ 3.69543078e-01 -9.29212624e-01 1.34668939e-03 2.04192121e+02] [ 9.29202220e-01 3.69545337e-01 4.41342702e-03 1.09460661e+02] [-4.59867488e-03 -3.79604633e-04 9.99989354e-01 6.96616628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:109.49, Z:0.70 [[ 3.68756462e-01 -9.29525215e-01 1.24357931e-03 2.04199143e+02] [ 9.29516330e-01 3.68758395e-01 4.07900172e-03 1.09485700e+02] [-4.25011526e-03 -3.48230968e-04 9.99990908e-01 6.95752873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:109.51, Z:0.69 [[ 3.68131482e-01 -9.29773089e-01 1.10228103e-03 2.04206086e+02] [ 9.29766098e-01 3.68133004e-01 3.61865454e-03 1.09510502e+02] [-3.77031364e-03 -3.07277128e-04 9.99992845e-01 6.94518994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:109.54, Z:0.69 [[ 3.66674912e-01 -9.30348510e-01 1.07666334e-03 2.04211152e+02] [ 9.30341830e-01 3.66676374e-01 3.53772229e-03 1.09535029e+02] [-3.68610167e-03 -2.95529066e-04 9.99993163e-01 6.93394038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:109.56, Z:0.69 [[ 3.65761856e-01 -9.30707822e-01 1.10191433e-03 2.04217189e+02] [ 9.30700816e-01 3.65763393e-01 3.62378772e-03 1.09559901e+02] [-3.77572750e-03 -2.99890757e-04 9.99992827e-01 6.93144871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:109.59, Z:0.69 [[ 3.64602882e-01 -9.31162438e-01 1.11914164e-03 2.04223360e+02] [ 9.31155201e-01 3.64604476e-01 3.68343642e-03 1.09585292e+02] [-3.83792169e-03 -3.00896974e-04 9.99992590e-01 6.92811383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:109.61, Z:0.69 [[ 3.61422688e-01 -9.32401280e-01 1.22183793e-03 2.04228957e+02] [ 9.32392645e-01 3.61424616e-01 4.02521503e-03 1.09608974e+02] [-4.19471795e-03 -3.15571334e-04 9.99991152e-01 6.93307336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:109.63, Z:0.69 [[ 3.59221317e-01 -9.33251315e-01 1.42389204e-03 2.04235757e+02] [ 9.33239574e-01 3.59223961e-01 4.69494098e-03 1.09633130e+02] [-4.89305598e-03 -3.57690487e-04 9.99987965e-01 6.93100615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:109.66, Z:0.69 [[ 3.59003545e-01 -9.33335112e-01 1.42279890e-03 2.04243062e+02] [ 9.33323370e-01 3.59006186e-01 4.69527238e-03 1.09658108e+02] [-4.89305617e-03 -3.57687964e-04 9.99987965e-01 6.93106593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:109.68, Z:0.69 [[ 3.54346307e-01 -9.35112429e-01 1.85466366e-03 2.04249727e+02] [ 9.35092465e-01 3.54350892e-01 6.12601018e-03 1.09681761e+02] [-6.38570998e-03 -4.36447068e-04 9.99979516e-01 6.92597473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:109.71, Z:0.69 [[ 3.51964576e-01 -9.36011183e-01 2.00050539e-03 2.04256941e+02] [ 9.35987934e-01 3.51969967e-01 6.61289454e-03 1.09705840e+02] [-6.89386106e-03 -4.55055716e-04 9.99976134e-01 6.92629403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:109.73, Z:0.69 [[ 3.49992661e-01 -9.36750016e-01 2.13167537e-03 2.04264400e+02] [ 9.36723592e-01 3.49998836e-01 7.05178162e-03 1.09728886e+02] [-7.35184045e-03 -4.71281210e-04 9.99972864e-01 6.92500072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:109.75, Z:0.69 [[ 3.47319011e-01 -9.37744915e-01 1.99484098e-03 2.04274100e+02] [ 9.37721749e-01 3.47324481e-01 6.60501537e-03 1.09752149e+02] [-6.88667669e-03 -4.23441629e-04 9.99976197e-01 6.92036534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:109.78, Z:0.69 [[ 3.46050211e-01 -9.38214194e-01 1.83776117e-03 2.04282801e+02] [ 9.38194503e-01 3.46054879e-01 6.09056695e-03 1.09775382e+02] [-6.35022258e-03 -3.83464550e-04 9.99979764e-01 6.91805177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:109.80, Z:0.69 [[ 3.45128661e-01 -9.38553746e-01 1.75317488e-03 2.04291717e+02] [ 9.38535798e-01 3.45132925e-01 5.81545014e-03 1.09799116e+02] [-6.06319088e-03 -3.61661138e-04 9.99981553e-01 6.91700832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.30, Y:109.82, Z:0.69 [[ 3.44297642e-01 -9.38859194e-01 1.59607277e-03 2.04301853e+02] [ 9.38844295e-01 3.44301187e-01 5.29928962e-03 1.09821840e+02] [-5.52481653e-03 -3.26069110e-04 9.99984685e-01 6.91371327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:109.85, Z:0.69 [[ 3.44394968e-01 -9.38823738e-01 1.44731902e-03 2.04311038e+02] [ 9.38811465e-01 3.44397880e-01 4.80970000e-03 1.09846117e+02] [-5.01391413e-03 -2.97676788e-04 9.99987386e-01 6.91552630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:109.87, Z:0.69 [[ 3.45013981e-01 -9.38596663e-01 1.28750060e-03 2.04319730e+02] [ 9.38586932e-01 3.45016278e-01 4.28244252e-03 1.09869966e+02] [-4.46369492e-03 -2.69071304e-04 9.99990001e-01 6.91462043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:109.89, Z:0.69 [[ 3.45999330e-01 -9.38233795e-01 1.34541811e-03 2.04327508e+02] [ 9.38223146e-01 3.46001827e-01 4.47925772e-03 1.09893502e+02] [-4.66810809e-03 -2.87517765e-04 9.99989063e-01 6.91584352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:109.92, Z:0.69 [[ 3.49619703e-01 -9.36888881e-01 2.29961029e-03 2.04335972e+02] [ 9.36857691e-01 3.49626872e-01 7.66269298e-03 1.09918054e+02] [-7.98309740e-03 -5.24620853e-04 9.99967997e-01 6.92275552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:109.94, Z:0.69 [[ 3.51130105e-01 -9.36323040e-01 2.61045378e-03 2.04343937e+02] [ 9.36282764e-01 3.51139274e-01 8.70612651e-03 1.09942788e+02] [-9.06837968e-03 -6.12860233e-04 9.99958694e-01 6.92807633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.911400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.35, Y:109.97, Z:0.69 [[ 3.51615210e-01 -9.36140940e-01 2.62367845e-03 2.04351786e+02] [ 9.36100179e-01 3.51624446e-01 8.75806986e-03 1.09967049e+02] [-9.12133723e-03 -6.23444711e-04 9.99958205e-01 6.92557122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:109.99, Z:0.69 [[ 3.51275168e-01 -9.36269332e-01 2.34385225e-03 2.04359980e+02] [ 9.36236747e-01 3.51282547e-01 7.83110705e-03 1.09991753e+02] [-8.15537976e-03 -5.56472838e-04 9.99966590e-01 6.91724641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:110.02, Z:0.69 [[ 3.48439710e-01 -9.37329064e-01 1.99874168e-03 2.04367775e+02] [ 9.37305340e-01 3.48445145e-01 6.68440394e-03 1.10015360e+02] [-6.96193792e-03 -4.55680519e-04 9.99975662e-01 6.90041184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:110.04, Z:0.69 [[ 3.45994218e-01 -9.38234291e-01 2.10147800e-03 2.04376382e+02] [ 9.38208035e-01 3.46000291e-01 7.03429782e-03 1.10039571e+02] [-7.32693143e-03 -4.62202824e-04 9.99973051e-01 6.89457260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:110.06, Z:0.69 [[ 3.42852840e-01 -9.39386358e-01 2.28061463e-03 2.04385649e+02] [ 9.39355404e-01 3.42860093e-01 7.64077658e-03 1.10062965e+02] [-7.95957303e-03 -4.77354271e-04 9.99968208e-01 6.89775455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:110.09, Z:0.69 [[ 3.37133085e-01 -9.41454344e-01 2.23638927e-03 2.04396513e+02] [ 9.41424567e-01 3.37140237e-01 7.49963731e-03 1.10085635e+02] [-7.81454293e-03 -4.22984055e-04 9.99969377e-01 6.89945577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:110.11, Z:0.69 [[ 3.35360131e-01 -9.42087592e-01 2.13360631e-03 2.04403936e+02] [ 9.42060454e-01 3.35366689e-01 7.16134834e-03 1.10109559e+02] [-7.46215789e-03 -3.91644584e-04 9.99972081e-01 6.89637212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.41, Y:110.13, Z:0.69 [[ 3.34870155e-01 -9.42262124e-01 2.01726113e-03 2.04411066e+02] [ 9.42237825e-01 3.34876028e-01 6.77694588e-03 1.10133963e+02] [-7.06119181e-03 -3.68657172e-04 9.99975002e-01 6.89333628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:110.16, Z:0.69 [[ 3.35973327e-01 -9.41869162e-01 2.09878689e-03 2.04418858e+02] [ 9.41842805e-01 3.35979651e-01 7.05721551e-03 1.10158074e+02] [-7.35212334e-03 -3.94308836e-04 9.99972895e-01 6.89085185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:110.18, Z:0.69 [[ 3.41147481e-01 -9.40007007e-01 2.28529674e-03 2.04427727e+02] [ 9.39975659e-01 3.41154803e-01 7.69159647e-03 1.10181464e+02] [-8.00979454e-03 -4.75845454e-04 9.99967808e-01 6.88945106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:110.21, Z:0.69 [[ 3.43503710e-01 -9.39148592e-01 2.26343850e-03 2.04434454e+02] [ 9.39117768e-01 3.43510813e-01 7.62492220e-03 1.10205718e+02] [-7.93845055e-03 -4.93553751e-04 9.99968368e-01 6.89090393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:110.23, Z:0.69 [[ 3.45036710e-01 -9.38586864e-01 2.08969851e-03 2.04440883e+02] [ 9.38560536e-01 3.45042718e-01 7.04573217e-03 1.10231235e+02] [-7.33406692e-03 -4.69727692e-04 9.99972995e-01 6.88547762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:110.26, Z:0.69 [[ 3.45584315e-01 -9.38385936e-01 1.82132146e-03 2.04446947e+02] [ 9.38365898e-01 3.45588865e-01 6.14644294e-03 1.10255655e+02] [-6.39716403e-03 -4.15048325e-04 9.99979452e-01 6.87637187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:110.28, Z:0.69 [[ 3.45271657e-01 -9.38501653e-01 1.45974431e-03 2.04453590e+02] [ 9.38488758e-01 3.45274582e-01 4.93085015e-03 1.10279961e+02] [-5.13162363e-03 -3.32529175e-04 9.99986778e-01 6.86872053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:110.30, Z:0.69 [[ 3.44504034e-01 -9.38784408e-01 8.97544306e-04 2.04460445e+02] [ 9.38779525e-01 3.44505143e-01 3.03481036e-03 1.10303364e+02] [-3.15824128e-03 -2.02908196e-04 9.99994992e-01 6.86953852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:110.33, Z:0.69 [[ 3.44166013e-01 -9.38908481e-01 7.86706063e-04 2.04466864e+02] [ 9.38904723e-01 3.44166867e-01 2.66258816e-03 1.10326765e+02] [-2.77068477e-03 -1.77730314e-04 9.99996146e-01 6.86848011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:110.35, Z:0.69 [[ 3.43642590e-01 -9.39100224e-01 7.34978003e-04 2.04472134e+02] [ 9.39096938e-01 3.43643336e-01 2.48975174e-03 1.10351646e+02] [-2.59069671e-03 -1.65369146e-04 9.99996630e-01 6.86691624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:110.38, Z:0.69 [[ 3.43074989e-01 -9.39307734e-01 7.30620171e-04 2.04476825e+02] [ 9.39304481e-01 3.43075728e-01 2.47731857e-03 1.10375714e+02] [-2.57762254e-03 -1.63631242e-04 9.99996665e-01 6.86244086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:110.40, Z:0.69 [[ 3.41670779e-01 -9.39819372e-01 7.92407102e-04 2.04481391e+02] [ 9.39815540e-01 3.41671653e-01 2.68920683e-03 1.10401441e+02] [-2.79811172e-03 -1.74106884e-04 9.99996070e-01 6.85203365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:110.43, Z:0.69 [[ 3.40149559e-01 -9.40370986e-01 8.28110336e-04 2.04487684e+02] [ 9.40366796e-01 3.40150520e-01 2.81300689e-03 1.10425258e+02] [-2.92695223e-03 -1.78115591e-04 9.99995701e-01 6.85286744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:110.45, Z:0.69 [[ 3.38170075e-01 -9.41084720e-01 7.41002320e-04 2.04494413e+02] [ 9.41081361e-01 3.38170852e-01 2.51938600e-03 1.10450255e+02] [-2.62154105e-03 -1.54637480e-04 9.99996552e-01 6.85644402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:110.47, Z:0.69 [[ 3.36306352e-01 -9.41752444e-01 6.10364928e-04 2.04500690e+02] [ 9.41750161e-01 3.36306883e-01 2.07714072e-03 1.10474550e+02] [-2.16142228e-03 -1.23744350e-04 9.99997656e-01 6.85705681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:110.50, Z:0.69 [[ 3.33902576e-01 -9.42607552e-01 2.69494880e-04 2.04505604e+02] [ 9.42607106e-01 3.33902681e-01 9.18109197e-04 1.10498716e+02] [-9.55401726e-04 -5.25312371e-05 9.99999542e-01 6.85712347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:110.52, Z:0.69 [[ 3.32930915e-01 -9.42951196e-01 2.16850694e-04 2.04511472e+02] [ 9.42950907e-01 3.32930983e-01 7.39472805e-04 1.10523279e+02] [-7.69483081e-04 -4.17137993e-05 9.99999703e-01 6.85761246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:110.55, Z:0.69 [[ 3.32358932e-01 -9.43152956e-01 2.05998342e-04 2.04517091e+02] [ 9.43152695e-01 3.32358993e-01 7.02995282e-04 1.10547213e+02] [-7.31497479e-04 -3.93588696e-05 9.99999732e-01 6.85629126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:110.57, Z:0.69 [[ 3.31770762e-01 -9.43359964e-01 3.73459036e-04 2.04521525e+02] [ 9.43359104e-01 3.31770965e-01 1.27557706e-03 1.10571269e+02] [-1.32723120e-03 -7.08931926e-05 9.99999117e-01 6.85373635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:110.60, Z:0.69 [[ 3.31618179e-01 -9.43413659e-01 2.26553601e-04 2.04527706e+02] [ 9.43413342e-01 3.31618254e-01 7.74580364e-04 1.10596187e+02] [-8.05879004e-04 -4.31312402e-05 9.99999674e-01 6.85442184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:110.62, Z:0.69 [[ 3.31170850e-01 -9.43570797e-01 -1.40247025e-04 2.04534046e+02] [ 9.43570675e-01 3.31170879e-01 -4.79614693e-04 1.10621304e+02] [ 4.98996148e-04 2.65014259e-05 9.99999875e-01 6.85232761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:110.65, Z:0.68 [[ 3.30238457e-01 -9.43897407e-01 -4.97265695e-04 2.04539984e+02] [ 9.43895876e-01 3.30238819e-01 -1.70242387e-03 1.10645310e+02] [ 1.77112992e-03 9.28387950e-05 9.99998427e-01 6.84623628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:110.67, Z:0.68 [[ 3.29146880e-01 -9.44278391e-01 -8.06939188e-04 2.04545021e+02] [ 9.44274354e-01 3.29147836e-01 -2.76521212e-03 1.10669920e+02] [ 2.87673234e-03 1.48188961e-04 9.99995851e-01 6.84170023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:110.69, Z:0.68 [[ 3.27036383e-01 -9.45011186e-01 -1.03044640e-03 2.04547549e+02] [ 9.45004594e-01 3.27037956e-01 -3.53453090e-03 1.10694740e+02] [ 3.67716632e-03 1.82143619e-04 9.99993223e-01 6.83507607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:110.72, Z:0.68 [[ 3.25730344e-01 -9.45462168e-01 -1.01581966e-03 2.04553125e+02] [ 9.45455752e-01 3.25731881e-01 -3.48757130e-03 1.10719722e+02] [ 3.62825157e-03 1.75595263e-04 9.99993402e-01 6.83221129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:110.74, Z:0.68 [[ 3.24926628e-01 -9.45738533e-01 -1.14587397e-03 2.04558660e+02] [ 9.45730355e-01 3.24928589e-01 -3.93789109e-03 1.10744665e+02] [ 4.09654255e-03 1.95837877e-04 9.99991590e-01 6.83207327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:110.77, Z:0.68 [[ 3.24745675e-01 -9.45800358e-01 -1.38933771e-03 2.04563657e+02] [ 9.45788312e-01 3.24748560e-01 -4.77941000e-03 1.10769265e+02] [ 4.97155311e-03 2.38073355e-04 9.99987613e-01 6.82805416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:110.79, Z:0.68 [[ 3.25124137e-01 -9.45670080e-01 -1.54790974e-03 2.04568793e+02] [ 9.45655098e-01 3.25127711e-01 -5.32987450e-03 1.10794733e+02] [ 5.54357119e-03 2.69082109e-04 9.99984598e-01 6.82520211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:110.82, Z:0.68 [[ 3.27460965e-01 -9.44863548e-01 -1.48080366e-03 2.04572333e+02] [ 9.44849804e-01 3.27464201e-01 -5.10351909e-03 1.10820501e+02] [ 5.30703934e-03 2.72066237e-04 9.99985881e-01 6.83554969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:110.85, Z:0.68 [[ 3.28826774e-01 -9.44389268e-01 -1.36482492e-03 2.04577528e+02] [ 9.44377567e-01 3.28829504e-01 -4.70825207e-03 1.10845168e+02] [ 4.89521743e-03 2.59289304e-04 9.99987985e-01 6.84679464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:110.87, Z:0.69 [[ 3.30481620e-01 -9.43811612e-01 -1.24079726e-03 2.04582102e+02] [ 9.43801922e-01 3.30483859e-01 -4.28387907e-03 1.10868953e+02] [ 4.45323827e-03 2.44676459e-04 9.99990054e-01 6.85156313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:110.89, Z:0.68 [[ 3.33666996e-01 -9.42688996e-01 -1.94742423e-03 2.04581280e+02] [ 9.42665060e-01 3.33672428e-01 -6.73014750e-03 1.10894898e+02] [ 6.99423776e-03 4.09859320e-04 9.99975456e-01 6.83853625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:110.92, Z:0.68 [[ 3.35244032e-01 -9.42128402e-01 -2.34789174e-03 2.04583209e+02] [ 9.42093542e-01 3.35251865e-01 -8.12062385e-03 1.10920265e+02] [ 8.43780546e-03 5.10457031e-04 9.99964271e-01 6.82371028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:110.95, Z:0.68 [[ 3.36499562e-01 -9.41680516e-01 -2.41865836e-03 2.04585558e+02] [ 9.41643443e-01 3.36507821e-01 -8.37334613e-03 1.10945533e+02] [ 8.69891436e-03 5.40113520e-04 9.99962018e-01 6.81282461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:110.97, Z:0.68 [[ 3.37114243e-01 -9.41460710e-01 -2.39139866e-03 2.04588523e+02] [ 9.41424407e-01 3.37122289e-01 -8.28541463e-03 1.10969886e+02] [ 8.60658614e-03 5.41810216e-04 9.99962816e-01 6.81360548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:110.99, Z:0.68 [[ 3.37115103e-01 -9.41460378e-01 -2.40096488e-03 2.04592674e+02] [ 9.41423718e-01 3.37123210e-01 -8.32614862e-03 1.10994941e+02] [ 8.64816001e-03 5.46545161e-04 9.99962455e-01 6.82321780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:111.02, Z:0.68 [[ 3.35231594e-01 -9.42131279e-01 -2.90373395e-03 2.04595943e+02] [ 9.42077581e-01 3.35243553e-01 -1.00793125e-02 1.11019573e+02] [ 1.04694936e-02 6.43361334e-04 9.99944986e-01 6.82356504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:111.04, Z:0.68 [[ 3.33106109e-01 -9.42883825e-01 -3.22686890e-03 2.04602263e+02] [ 9.42817420e-01 3.33121019e-01 -1.12115637e-02 1.11044343e+02] [ 1.16461399e-02 6.92292160e-04 9.99931942e-01 6.82156360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:111.07, Z:0.68 [[ 3.30931370e-01 -9.43648586e-01 -3.43139994e-03 2.04609826e+02] [ 9.43573390e-01 3.30948395e-01 -1.19338942e-02 1.11068061e+02] [ 1.23970187e-02 7.11522277e-04 9.99922901e-01 6.81679357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:111.09, Z:0.68 [[ 3.28729164e-01 -9.44418354e-01 -3.33310130e-03 2.04617866e+02] [ 9.44347310e-01 3.28745386e-01 -1.16030201e-02 1.11091943e+02] [ 1.20538468e-02 6.66645861e-04 9.99927128e-01 6.81609409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:111.12, Z:0.68 [[ 3.25849235e-01 -9.45417856e-01 -2.71183832e-03 2.04626801e+02] [ 9.45370770e-01 3.25860111e-01 -9.44960319e-03 1.11115231e+02] [ 9.81750352e-03 5.15453287e-04 9.99951674e-01 6.81450629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:111.14, Z:0.68 [[ 3.25377075e-01 -9.45580756e-01 -2.60650276e-03 2.04634516e+02] [ 9.45537181e-01 3.25387140e-01 -9.09107929e-03 1.11139873e+02] [ 9.44447210e-03 4.93483513e-04 9.99955278e-01 6.81651097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:111.16, Z:0.68 [[ 3.26043137e-01 -9.45351130e-01 -2.66735978e-03 2.04641660e+02] [ 9.45305401e-01 3.26053641e-01 -9.31242970e-03 1.11163391e+02] [ 9.67321831e-03 5.14784179e-04 9.99953081e-01 6.81275050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:111.19, Z:0.68 [[ 3.27504713e-01 -9.44844387e-01 -3.12198675e-03 2.04648752e+02] [ 9.44781605e-01 3.27519000e-01 -1.09098093e-02 1.11188211e+02] [ 1.13305821e-02 6.23418310e-04 9.99935613e-01 6.80937679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:111.21, Z:0.68 [[ 3.29516572e-01 -9.44143159e-01 -3.53899576e-03 2.04655266e+02] [ 9.44062290e-01 3.29534749e-01 -1.23791092e-02 1.11213059e+02] [ 1.28538733e-02 7.38089182e-04 9.99917113e-01 6.80580923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:111.24, Z:0.68 [[ 3.29285572e-01 -9.44223760e-01 -3.53596398e-03 2.04662165e+02] [ 9.44142886e-01 3.29303729e-01 -1.23799755e-02 1.11238147e+02] [ 1.28538732e-02 7.38092080e-04 9.99917113e-01 6.80586902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:111.26, Z:0.68 [[ 3.31421661e-01 -9.43475561e-01 -3.68079678e-03 2.04667592e+02] [ 9.43387708e-01 3.31441128e-01 -1.29000710e-02 1.11261952e+02] [ 1.33908692e-02 8.02944532e-04 9.99910016e-01 6.80839703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:111.29, Z:0.68 [[ 3.35103629e-01 -9.42173484e-01 -3.83191512e-03 2.04670733e+02] [ 9.42078037e-01 3.35124345e-01 -1.34404287e-02 1.11286626e+02] [ 1.39473835e-02 8.93973349e-04 9.99902331e-01 6.81405291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:111.31, Z:0.68 [[ 3.35833974e-01 -9.41912670e-01 -4.00791078e-03 2.04675864e+02] [ 9.41808046e-01 3.35856543e-01 -1.40708060e-02 1.11312005e+02] [ 1.45995535e-02 9.50772091e-04 9.99892969e-01 6.81072511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:111.34, Z:0.68 [[ 3.35502502e-01 -9.42029609e-01 -4.27636147e-03 2.04681507e+02] [ 9.41910280e-01 3.35528222e-01 -1.50278749e-02 1.11335464e+02] [ 1.55915431e-02 1.01394080e-03 9.99877930e-01 6.81201068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:111.36, Z:0.68 [[ 3.34117529e-01 -9.42521166e-01 -4.39644337e-03 2.04688368e+02] [ 9.42394851e-01 3.34144884e-01 -1.54641959e-02 1.11360285e+02] [ 1.60443810e-02 1.02367331e-03 9.99870757e-01 6.80805801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:111.38, Z:0.68 [[ 3.29007830e-01 -9.44317656e-01 -4.24402100e-03 2.04696507e+02] [ 9.44199870e-01 3.29033946e-01 -1.49421198e-02 1.11384555e+02] [ 1.55065345e-02 9.08870325e-04 9.99879353e-01 6.81747626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:111.41, Z:0.68 [[ 3.25319909e-01 -9.45594640e-01 -4.21120051e-03 2.04704143e+02] [ 9.45478546e-01 3.25346063e-01 -1.48410888e-02 1.11408015e+02] [ 1.54037516e-02 8.46501930e-04 9.99880997e-01 6.82341560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.711400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:204.71, Y:111.43, Z:0.68 [[ 3.21352323e-01 -9.46949532e-01 -4.38956516e-03 2.04712645e+02] [ 9.46823273e-01 3.21381256e-01 -1.54847936e-02 1.11431768e+02] [ 1.60740420e-02 8.19931952e-04 9.99870468e-01 6.82577190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:111.46, Z:0.68 [[ 3.17682263e-01 -9.48186196e-01 -4.57363581e-03 2.04721697e+02] [ 9.48048971e-01 3.17714190e-01 -1.61505899e-02 1.11455072e+02] [ 1.67668754e-02 7.94725200e-04 9.99859110e-01 6.82475947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.771400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:204.74, Y:111.48, Z:0.69 [[ 3.15188296e-01 -9.48972757e-01 -1.03462703e-02 2.04736717e+02] [ 9.48863866e-01 3.15318135e-01 -1.52262262e-02 1.11477392e+02] [ 1.77116404e-02 -5.01807372e-03 9.99830544e-01 6.85996640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:111.50, Z:0.68 [[ 3.12590768e-01 -9.49887344e-01 1.02213426e-03 2.04737656e+02] [ 9.49746003e-01 3.12525295e-01 -1.76201361e-02 1.11503571e+02] [ 1.64177015e-02 6.47865980e-03 9.99844231e-01 6.83707015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:111.53, Z:0.69 [[ 3.12655201e-01 -9.49856378e-01 -4.42561178e-03 2.04751416e+02] [ 9.49727341e-01 3.12685745e-01 -1.56717190e-02 1.11525759e+02] [ 1.62697079e-02 6.96719937e-04 9.99867397e-01 6.85271023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86140051300004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:204.76, Y:111.55, Z:0.69 [[ 3.13671772e-01 -9.49508973e-01 -6.53678147e-03 2.04761595e+02] [ 9.49402804e-01 3.13735163e-01 -1.43025742e-02 1.11547964e+02] [ 1.56312408e-02 -1.71972486e-03 9.99876346e-01 6.85077057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.77, Y:111.57, Z:0.68 [[ 3.14817103e-01 -9.49148984e-01 -2.52941100e-03 2.04766240e+02] [ 9.48984977e-01 3.14810514e-01 -1.79402867e-02 1.11573896e+02] [ 1.78242901e-02 3.24753606e-03 9.99835861e-01 6.84812345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:111.60, Z:0.68 [[ 3.16314873e-01 -9.48640930e-01 -5.02870478e-03 2.04776477e+02] [ 9.48473288e-01 3.16353624e-01 -1.78551738e-02 1.11597998e+02] [ 1.85289977e-02 8.78264889e-04 9.99827938e-01 6.84521567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:111.62, Z:0.68 [[ 3.18221313e-01 -9.48003725e-01 -4.91252775e-03 2.04784334e+02] [ 9.47843368e-01 3.18257958e-01 -1.74591602e-02 1.11621950e+02] [ 1.81148000e-02 8.99570026e-04 9.99835509e-01 6.84518609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:111.65, Z:0.69 [[ 3.22295074e-01 -9.46631699e-01 -3.78302955e-03 2.04794367e+02] [ 9.46536337e-01 3.22316388e-01 -1.34576522e-02 1.11645752e+02] [ 1.39587726e-02 7.56560077e-04 9.99902285e-01 6.86094157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:111.67, Z:0.69 [[ 3.23522103e-01 -9.46214062e-01 -3.52096882e-03 2.04803207e+02] [ 9.46131277e-01 3.23540450e-01 -1.25372964e-02 1.11669792e+02] [ 1.30021420e-02 7.24793759e-04 9.99915206e-01 6.87210015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:111.69, Z:0.69 [[ 3.24227943e-01 -9.45971849e-01 -3.67451825e-03 2.04811368e+02] [ 9.45881495e-01 3.24247848e-01 -1.30969615e-02 1.11693336e+02] [ 1.35808115e-02 7.70742055e-04 9.99907479e-01 6.87328838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:111.72, Z:0.69 [[ 3.24702443e-01 -9.45807878e-01 -3.97252002e-03 2.04819035e+02] [ 9.45702067e-01 3.24725643e-01 -1.41724063e-02 1.11718133e+02] [ 1.46943526e-02 8.44994541e-04 9.99891675e-01 6.86188030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:111.74, Z:0.69 [[ 3.24106133e-01 -9.46012309e-01 -3.99065391e-03 2.04826463e+02] [ 9.45905339e-01 3.24129601e-01 -1.42509884e-02 1.11741452e+02] [ 1.47750995e-02 8.44051907e-04 9.99890486e-01 6.85267890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:111.77, Z:0.69 [[ 3.23249313e-01 -9.46306556e-01 -3.71268234e-03 2.04833565e+02] [ 9.46213818e-01 3.23269700e-01 -1.32706832e-02 1.11765982e+02] [ 1.37583322e-02 7.76747907e-04 9.99905048e-01 6.85651005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:111.79, Z:0.69 [[ 3.22819627e-01 -9.46453919e-01 -3.53104646e-03 2.04841515e+02] [ 9.46369884e-01 3.22838097e-01 -1.26335295e-02 1.11790431e+02] [ 1.30970098e-02 7.36675252e-04 9.99913959e-01 6.86514159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:111.81, Z:0.69 [[ 3.22516733e-01 -9.46557194e-01 -3.52645770e-03 2.04849674e+02] [ 9.46473218e-01 3.22535173e-01 -1.26297445e-02 1.11813949e+02] [ 1.30921821e-02 7.35606170e-04 9.99914023e-01 6.87381244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:111.84, Z:0.69 [[ 3.22305218e-01 -9.46628616e-01 -3.68908965e-03 2.04858116e+02] [ 9.46536542e-01 3.22325409e-01 -1.32252015e-02 1.11838036e+02] [ 1.37084415e-02 7.70693303e-04 9.99905738e-01 6.88007891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:111.86, Z:0.69 [[ 3.22271090e-01 -9.46639613e-01 -3.84541248e-03 2.04865815e+02] [ 9.46539370e-01 3.22293020e-01 -1.37996652e-02 1.11861003e+02] [ 1.43026594e-02 8.07398853e-04 9.99897386e-01 6.87822172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:111.88, Z:0.69 [[ 3.23311973e-01 -9.46284824e-01 -3.79479391e-03 2.04874588e+02] [ 9.46186992e-01 3.23333211e-01 -1.36312346e-02 1.11884713e+02] [ 1.41260133e-02 8.16556710e-04 9.99899889e-01 6.87496771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.88, Y:111.91, Z:0.69 [[ 3.24096725e-01 -9.46017435e-01 -3.51088257e-03 2.04881976e+02] [ 9.45933520e-01 3.24114826e-01 -1.26236302e-02 1.11908918e+02] [ 1.30801033e-02 7.70215693e-04 9.99914155e-01 6.87687433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:111.93, Z:0.69 [[ 3.25115489e-01 -9.45668579e-01 -3.29507822e-03 2.04889005e+02] [ 9.45594500e-01 3.25131345e-01 -1.18596031e-02 1.11932284e+02] [ 1.22865872e-02 7.39932807e-04 9.99924243e-01 6.88751820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:111.96, Z:0.69 [[ 3.26791841e-01 -9.45091026e-01 -3.16938910e-03 2.04895537e+02] [ 9.45022332e-01 3.26806380e-01 -1.14184929e-02 1.11955905e+02] [ 1.18272918e-02 7.36326833e-04 9.99929784e-01 6.89398023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:111.98, Z:0.69 [[ 3.28975767e-01 -9.44333080e-01 -3.15899409e-03 2.04902128e+02] [ 9.44264673e-01 3.28990044e-01 -1.13920337e-02 1.11980767e+02] [ 1.17971519e-02 7.64776489e-04 9.99930119e-01 6.90312839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:112.01, Z:0.69 [[ 3.31176459e-01 -9.43563441e-01 -3.19153921e-03 2.04908745e+02] [ 9.43493451e-01 3.31190861e-01 -1.15204676e-02 1.12005793e+02] [ 1.19273007e-02 8.04111344e-04 9.99928544e-01 6.90022727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:112.03, Z:0.69 [[ 3.34106283e-01 -9.42528775e-01 -3.53554787e-03 2.04916213e+02] [ 9.42442664e-01 3.34123678e-01 -1.27746964e-02 1.12030212e+02] [ 1.32218292e-02 9.36055179e-04 9.99912150e-01 6.89652027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:112.05, Z:0.69 [[ 3.33939011e-01 -9.42588408e-01 -3.43941774e-03 2.04922926e+02] [ 9.42506758e-01 3.33955476e-01 -1.24398992e-02 1.12054142e+02] [ 1.28743172e-02 9.12493182e-04 9.99916706e-01 6.89887358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:112.08, Z:0.69 [[ 3.33225045e-01 -9.42841686e-01 -3.25954194e-03 2.04929224e+02] [ 9.42768225e-01 3.33239879e-01 -1.18007451e-02 1.12079115e+02] [ 1.22124438e-02 8.59311249e-04 9.99925056e-01 6.90007195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:112.10, Z:0.69 [[ 3.30870078e-01 -9.43671298e-01 -3.07795709e-03 2.04935267e+02] [ 9.43605720e-01 3.30883461e-01 -1.11526089e-02 1.12103401e+02] [ 1.15428420e-02 7.85686659e-04 9.99933071e-01 6.90614587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:112.13, Z:0.69 [[ 3.29842353e-01 -9.44031105e-01 -3.04870383e-03 2.04942271e+02] [ 9.43966660e-01 3.29855545e-01 -1.10573148e-02 1.12127543e+02] [ 1.14440810e-02 7.69295976e-04 9.99934218e-01 6.91123666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:112.15, Z:0.69 [[ 3.29865470e-01 -9.44022902e-01 -3.08731970e-03 2.04948720e+02] [ 9.43956683e-01 3.29878988e-01 -1.12086892e-02 1.12151681e+02] [ 1.15997012e-02 7.83063465e-04 9.99932415e-01 6.91586001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:112.18, Z:0.69 [[ 3.31203833e-01 -9.43554420e-01 -3.01303316e-03 2.04954731e+02] [ 9.43491211e-01 3.31216610e-01 -1.09495321e-02 1.12176811e+02] [ 1.13294461e-02 7.83756707e-04 9.99935513e-01 6.91845155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:112.20, Z:0.69 [[ 3.33221478e-01 -9.42843857e-01 -2.98464012e-03 2.04960174e+02] [ 9.42781690e-01 3.33233875e-01 -1.08568026e-02 1.12201802e+02] [ 1.12308528e-02 8.03855743e-04 9.99936609e-01 6.91607444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:112.23, Z:0.69 [[ 3.35246405e-01 -9.42125677e-01 -3.00942575e-03 2.04965803e+02] [ 9.42062326e-01 3.35258864e-01 -1.09575840e-02 1.12227146e+02] [ 1.13323579e-02 8.38424039e-04 9.99935435e-01 6.91004851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:112.25, Z:0.69 [[ 3.39089702e-01 -9.40748836e-01 -3.13075026e-03 2.04970925e+02] [ 9.40680083e-01 3.39102895e-01 -1.14108417e-02 1.12250965e+02] [ 1.17963825e-02 9.24264489e-04 9.99929993e-01 6.90453711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:112.28, Z:0.69 [[ 3.40272737e-01 -9.40321327e-01 -3.20411844e-03 2.04976633e+02] [ 9.40249162e-01 3.40286454e-01 -1.16893876e-02 1.12275953e+02] [ 1.20820986e-02 9.64910225e-04 9.99926543e-01 6.90356342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:112.30, Z:0.69 [[ 3.40810449e-01 -9.40126232e-01 -3.30238097e-03 2.04981827e+02] [ 9.40049423e-01 3.40824965e-01 -1.20592840e-02 1.12301441e+02] [ 1.24627831e-02 1.00552865e-03 9.99921831e-01 6.90116337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:112.33, Z:0.69 [[ 3.40718017e-01 -9.40160633e-01 -3.03611529e-03 2.04985644e+02] [ 9.40095589e-01 3.40730283e-01 -1.10976161e-02 1.12326450e+02] [ 1.14680382e-02 9.26919166e-04 9.99933810e-01 6.90117330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:112.35, Z:0.69 [[ 3.39816503e-01 -9.40487927e-01 -2.68389399e-03 2.04990873e+02] [ 9.40437010e-01 3.39826129e-01 -9.81997914e-03 1.12350902e+02] [ 1.01476291e-02 8.12957732e-04 9.99948181e-01 6.90831924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:112.38, Z:0.69 [[ 3.38861887e-01 -9.40833330e-01 -2.29516000e-03 2.04996378e+02] [ 9.40796031e-01 3.38868959e-01 -8.40577537e-03 1.12375749e+02] [ 8.68619210e-03 6.89119486e-04 9.99962037e-01 6.91839575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:112.40, Z:0.69 [[ 3.37712142e-01 -9.41247296e-01 -2.00912807e-03 2.05001583e+02] [ 9.41218665e-01 3.37717592e-01 -7.36559194e-03 1.12399550e+02] [ 7.61136139e-03 5.96420994e-04 9.99970855e-01 6.92234899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.01, Y:112.42, Z:0.69 [[ 3.35690923e-01 -9.41970007e-01 -2.02749776e-03 2.05008046e+02] [ 9.41940807e-01 3.35696532e-01 -7.44012875e-03 1.12423931e+02] [ 7.68900210e-03 5.87800813e-04 9.99970266e-01 6.91722380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:112.45, Z:0.69 [[ 3.34176708e-01 -9.42507762e-01 -2.24649292e-03 2.05015023e+02] [ 9.42471854e-01 3.34183645e-01 -8.25205095e-03 1.12447109e+02] [ 8.52836327e-03 6.40386870e-04 9.99963428e-01 6.91300986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:112.47, Z:0.69 [[ 3.32807235e-01 -9.42991796e-01 -2.41196319e-03 2.05022432e+02] [ 9.42950335e-01 3.32815287e-01 -8.86851402e-03 1.12471168e+02] [ 9.16567418e-03 6.77144131e-04 9.99957765e-01 6.91858001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.03, Y:112.50, Z:0.69 [[ 3.31653151e-01 -9.43398199e-01 -2.45482541e-03 2.05029695e+02] [ 9.43355179e-01 3.31661538e-01 -9.03497797e-03 1.12495262e+02] [ 9.33775311e-03 6.80706650e-04 9.99956171e-01 6.92595669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:112.52, Z:0.69 [[ 3.30713523e-01 -9.43728638e-01 -2.19625632e-03 2.05037407e+02] [ 9.43694144e-01 3.30720265e-01 -8.09126152e-03 1.12520133e+02] [ 8.36230168e-03 6.03295376e-04 9.99964853e-01 6.93133984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.05, Y:112.54, Z:0.69 [[ 3.29758310e-01 -9.44063615e-01 -1.82970367e-03 2.05045554e+02] [ 9.44039639e-01 3.29763011e-01 -6.74651871e-03 1.12542918e+02] [ 6.97251144e-03 4.97407814e-04 9.99975568e-01 6.93743292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:112.57, Z:0.69 [[ 3.27934697e-01 -9.44699086e-01 -1.57210833e-03 2.05056095e+02] [ 9.44681360e-01 3.27938199e-01 -5.80226909e-03 1.12566897e+02] [ 5.99695268e-03 4.17623919e-04 9.99981931e-01 6.94117937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:112.59, Z:0.69 [[ 3.27001534e-01 -9.45022350e-01 -1.65999335e-03 2.05062233e+02] [ 9.45002551e-01 3.27005455e-01 -6.13282762e-03 1.12590176e+02] [ 6.33848605e-03 4.36746091e-04 9.99979816e-01 6.94087885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:112.61, Z:0.69 [[ 3.26643615e-01 -9.45145689e-01 -1.89112454e-03 2.05067528e+02] [ 9.45119943e-01 3.26648711e-01 -6.99372118e-03 1.12614636e+02] [ 7.22781881e-03 4.97114846e-04 9.99973755e-01 6.94417212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:112.64, Z:0.69 [[ 3.28830371e-01 -9.44386326e-01 -2.24808302e-03 2.05072723e+02] [ 9.44349855e-01 3.28837483e-01 -8.32232205e-03 1.12638297e+02] [ 8.59874111e-03 6.13655372e-04 9.99962842e-01 6.94333428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.08, Y:112.66, Z:0.69 [[ 3.31164753e-01 -9.43570069e-01 -2.33056721e-03 2.05079406e+02] [ 9.43530779e-01 3.31172294e-01 -8.63596401e-03 1.12663440e+02] [ 8.92045645e-03 6.60964988e-04 9.99959994e-01 6.94725577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:112.69, Z:0.69 [[ 3.33624730e-01 -9.42702985e-01 -2.37100336e-03 2.05085174e+02] [ 9.42662223e-01 3.33632422e-01 -8.79436878e-03 1.12688043e+02] [ 9.08152129e-03 6.98963611e-04 9.99958518e-01 6.94581703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:112.71, Z:0.69 [[ 3.36076406e-01 -9.41831615e-01 -2.42026607e-03 2.05090430e+02] [ 9.41789044e-01 3.36084305e-01 -8.98539879e-03 1.12713639e+02] [ 9.27614610e-03 7.40400467e-04 9.99956702e-01 6.94427264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:112.74, Z:0.69 [[ 3.35868961e-01 -9.41905618e-01 -2.41828421e-03 2.05097215e+02] [ 9.41863044e-01 3.35876851e-01 -8.98593237e-03 1.12739626e+02] [ 9.27614587e-03 7.40403243e-04 9.99956702e-01 6.94433663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:112.76, Z:0.69 [[ 3.38077048e-01 -9.41115073e-01 -2.51562640e-03 2.05101914e+02] [ 9.41068888e-01 3.38085470e-01 -9.35750025e-03 1.12763944e+02] [ 9.65698126e-03 7.96178326e-04 9.99953053e-01 6.93909762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:112.79, Z:0.69 [[ 3.39070121e-01 -9.40757326e-01 -2.66574356e-03 2.05107490e+02] [ 9.40705354e-01 3.39079515e-01 -9.92574336e-03 1.12788842e+02] [ 1.02416148e-02 8.57843769e-04 9.99947185e-01 6.93510492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:112.81, Z:0.69 [[ 3.36982824e-01 -9.41507094e-01 -2.63965061e-03 2.05115891e+02] [ 9.41456052e-01 3.36992139e-01 -9.83873538e-03 1.12811470e+02] [ 1.01527807e-02 8.30369787e-04 9.99948114e-01 6.93978238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:112.84, Z:0.69 [[ 3.34226205e-01 -9.42489637e-01 -2.47536442e-03 2.05123855e+02] [ 9.42444690e-01 3.34234522e-01 -9.23531588e-03 1.12835489e+02] [ 9.53154176e-03 7.53790529e-04 9.99954290e-01 6.94705250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:112.86, Z:0.70 [[ 3.31160563e-01 -9.43571680e-01 -2.27309602e-03 2.05131129e+02] [ 9.43533727e-01 3.31167694e-01 -8.48914440e-03 1.12859632e+02] [ 8.76289221e-03 6.66527086e-04 9.99961383e-01 6.95445023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.14, Y:112.88, Z:0.70 [[ 3.27416026e-01 -9.44878301e-01 -1.93450867e-03 2.05139761e+02] [ 9.44850787e-01 3.27421296e-01 -7.23082520e-03 1.12882758e+02] [ 7.46564916e-03 5.39666005e-04 9.99971986e-01 6.95477139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.15, Y:112.91, Z:0.70 [[ 3.26480923e-01 -9.45201544e-01 -2.06090813e-03 2.05147821e+02] [ 9.45170264e-01 3.26486931e-01 -7.71076787e-03 1.12907080e+02] [ 7.96108927e-03 5.69509527e-04 9.99968148e-01 6.95504422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:112.93, Z:0.70 [[ 3.26109684e-01 -9.45329552e-01 -2.12425655e-03 2.05155786e+02] [ 9.45296255e-01 3.26116076e-01 -7.95583988e-03 1.12930837e+02] [ 8.21364476e-03 5.86424668e-04 9.99966096e-01 6.95107439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:112.95, Z:0.70 [[ 3.26258326e-01 -9.45278039e-01 -2.22115727e-03 2.05163715e+02] [ 9.45241564e-01 3.26265303e-01 -8.32697184e-03 1.12954874e+02] [ 8.59599016e-03 6.17213723e-04 9.99962863e-01 6.95588804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:112.98, Z:0.70 [[ 3.26444086e-01 -9.45213870e-01 -2.23594310e-03 2.05171485e+02] [ 9.45176833e-01 3.26451144e-01 -8.39074104e-03 1.12979121e+02] [ 8.66097099e-03 6.25746175e-04 9.99962297e-01 6.96093240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:113.00, Z:0.70 [[ 3.26763232e-01 -9.45103341e-01 -2.33780715e-03 2.05179635e+02] [ 9.45062769e-01 3.26770928e-01 -8.78200385e-03 1.13003878e+02] [ 9.06382859e-03 6.60261465e-04 9.99958705e-01 6.96859284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:113.03, Z:0.70 [[ 3.28132169e-01 -9.44628509e-01 -2.50196971e-03 2.05188714e+02] [ 9.44581929e-01 3.28140909e-01 -9.40873519e-03 1.13026517e+02] [ 9.70875811e-03 7.23993312e-04 9.99952607e-01 6.96824701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:113.05, Z:0.70 [[ 3.29078915e-01 -9.44299573e-01 -2.32044115e-03 2.05197097e+02] [ 9.44259420e-01 3.29086386e-01 -8.73485679e-03 1.13050494e+02] [ 9.01194713e-03 6.83358777e-04 9.99959158e-01 6.97183088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:113.07, Z:0.70 [[ 3.30049947e-01 -9.43961498e-01 -1.92936549e-03 2.05205648e+02] [ 9.43933677e-01 3.30055080e-01 -7.27030926e-03 1.13074031e+02] [ 7.49968890e-03 5.78372121e-04 9.99971710e-01 6.97985694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:113.10, Z:0.70 [[ 3.30381001e-01 -9.43846290e-01 -1.60464861e-03 2.05213162e+02] [ 9.43827008e-01 3.30384542e-01 -6.05263360e-03 1.13098271e+02] [ 6.24290686e-03 4.85164452e-04 9.99980395e-01 6.99125668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:113.12, Z:0.70 [[ 3.30450703e-01 -9.43822220e-01 -1.39646636e-03 2.05219226e+02] [ 9.43807587e-01 3.30453381e-01 -5.27275125e-03 1.13122168e+02] [ 5.43800682e-03 4.24388816e-04 9.99985124e-01 6.99481588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:113.15, Z:0.70 [[ 3.31534152e-01 -9.43442037e-01 -1.49314587e-03 2.05223316e+02] [ 9.43425271e-01 3.31537192e-01 -5.64338933e-03 1.13147454e+02] [ 5.81924412e-03 4.62304750e-04 9.99982961e-01 6.99274108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:113.17, Z:0.70 [[ 3.32119968e-01 -9.43236042e-01 -1.44776401e-03 2.05229138e+02] [ 9.43220247e-01 3.32122814e-01 -5.47749448e-03 1.13171795e+02] [ 5.64740567e-03 4.53624971e-04 9.99983950e-01 6.98879977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:113.20, Z:0.70 [[ 3.32419150e-01 -9.43130870e-01 -1.29257997e-03 2.05235274e+02] [ 9.43118256e-01 3.32421412e-01 -4.89493024e-03 1.13196398e+02] [ 5.04624108e-03 4.08112783e-04 9.99987184e-01 6.98834027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:113.22, Z:0.70 [[ 3.32858090e-01 -9.42976222e-01 -1.15608472e-03 2.05241455e+02] [ 9.42966111e-01 3.32859893e-01 -4.38230418e-03 1.13221583e+02] [ 4.51722288e-03 3.68536682e-04 9.99989729e-01 6.99273865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:113.25, Z:0.70 [[ 3.33388103e-01 -9.42789055e-01 -1.08234679e-03 2.05246942e+02] [ 9.42780177e-01 3.33389678e-01 -4.10626003e-03 1.13245349e+02] [ 4.23218026e-03 3.48563144e-04 9.99990984e-01 6.99401881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:113.27, Z:0.70 [[ 3.34193018e-01 -9.42503811e-01 -1.26187275e-03 2.05252160e+02] [ 9.42491719e-01 3.34195146e-01 -4.79216143e-03 1.13270453e+02] [ 4.93834216e-03 4.12202272e-04 9.99987721e-01 6.99538466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:113.29, Z:0.70 [[ 3.33871414e-01 -9.42617662e-01 -1.35020431e-03 2.05257500e+02] [ 9.42603794e-01 3.33873853e-01 -5.13204942e-03 1.13294317e+02] [ 5.28835834e-03 4.40736888e-04 9.99985919e-01 6.99550920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:113.32, Z:0.70 [[ 3.32915328e-01 -9.42955693e-01 -1.39492632e-03 2.05262548e+02] [ 9.42940865e-01 3.32917944e-01 -5.30741056e-03 1.13318405e+02] [ 5.46904901e-03 4.51585298e-04 9.99984943e-01 6.99527730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:113.34, Z:0.70 [[ 3.31481827e-01 -9.43460894e-01 -1.15727603e-03 2.05268008e+02] [ 9.43450671e-01 3.31483641e-01 -4.40764615e-03 1.13343541e+02] [ 4.54205985e-03 3.69221756e-04 9.99989617e-01 7.00013644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:113.37, Z:0.70 [[ 3.30828206e-01 -9.43690495e-01 -9.73574644e-04 2.05274392e+02] [ 9.43683248e-01 3.30829495e-01 -3.71121126e-03 1.13367209e+02] [ 3.82432200e-03 3.09027283e-04 9.99992640e-01 7.00028351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.28, Y:113.39, Z:0.70 [[ 3.30148431e-01 -9.43928487e-01 -1.01233097e-03 2.05281069e+02] [ 9.43920638e-01 3.30149829e-01 -3.86262700e-03 1.13392058e+02] [ 3.98026455e-03 3.19680150e-04 9.99992028e-01 7.00163355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:113.42, Z:0.70 [[ 3.29773683e-01 -9.44059392e-01 -1.08707806e-03 2.05287429e+02] [ 9.44050325e-01 3.29775297e-01 -4.15189777e-03 1.13417146e+02] [ 4.27812958e-03 3.42930224e-04 9.99990790e-01 7.00235808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:113.44, Z:0.70 [[ 3.29325731e-01 -9.44215607e-01 -1.20432572e-03 2.05292838e+02] [ 9.44204457e-01 3.29327714e-01 -4.60428482e-03 1.13442043e+02] [ 4.74405542e-03 3.79179747e-04 9.99988675e-01 7.00066173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:113.47, Z:0.70 [[ 3.28895731e-01 -9.44365294e-01 -1.33775961e-03 2.05297733e+02] [ 9.44351510e-01 3.28898183e-01 -5.11972499e-03 1.13465939e+02] [ 5.27487731e-03 4.20540383e-04 9.99985999e-01 7.00209748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:113.49, Z:0.70 [[ 3.27792321e-01 -9.44748249e-01 -1.71475790e-03 2.05302075e+02] [ 9.44725561e-01 3.27796372e-01 -6.56910987e-03 1.13491120e+02] [ 6.76824647e-03 5.33328148e-04 9.99976953e-01 7.00136282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:113.52, Z:0.70 [[ 3.26888532e-01 -9.45060965e-01 -1.91290076e-03 2.05307789e+02] [ 9.45032681e-01 3.26893596e-01 -7.33547030e-03 1.13515526e+02] [ 7.55778166e-03 5.90127383e-04 9.99971265e-01 6.99759864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:113.54, Z:0.70 [[ 3.25625184e-01 -9.45496831e-01 -1.99552549e-03 2.05314102e+02] [ 9.45465996e-01 3.25630731e-01 -7.66014390e-03 1.13540326e+02] [ 7.89244621e-03 6.07634266e-04 9.99968670e-01 6.99775967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:113.56, Z:0.70 [[ 3.23799118e-01 -9.46124408e-01 -1.65400877e-03 2.05321103e+02] [ 9.46103195e-01 3.23802967e-01 -6.35471983e-03 1.13563342e+02] [ 6.54792848e-03 4.92789696e-04 9.99978441e-01 7.01015864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:113.59, Z:0.70 [[ 3.22813876e-01 -9.46461258e-01 -1.51283023e-03 2.05327972e+02] [ 9.46443479e-01 3.22817112e-01 -5.81834394e-03 1.13587793e+02] [ 5.99520462e-03 4.46433848e-04 9.99981929e-01 7.01745122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:113.61, Z:0.70 [[ 3.21950795e-01 -9.46755309e-01 -1.43903818e-03 2.05334566e+02] [ 9.46739190e-01 3.21953735e-01 -5.54054114e-03 1.13611757e+02] [ 5.70884045e-03 4.21387785e-04 9.99983616e-01 7.02167933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.34, Y:113.64, Z:0.70 [[ 3.21332211e-01 -9.46965480e-01 -1.41065094e-03 2.05340388e+02] [ 9.46949963e-01 3.21335045e-01 -5.43664915e-03 1.13637084e+02] [ 5.60161065e-03 4.11154644e-04 9.99984226e-01 7.01845571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.34, Y:113.66, Z:0.70 [[ 3.21378239e-01 -9.46950181e-01 -1.17601258e-03 2.05342780e+02] [ 9.46939375e-01 3.21380206e-01 -4.53685595e-03 1.13662556e+02] [ 4.67412373e-03 3.44434154e-04 9.99989017e-01 7.01010266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:113.69, Z:0.70 [[ 3.21914877e-01 -9.46768008e-01 -1.07234042e-03 2.05346814e+02] [ 9.46759005e-01 3.21916507e-01 -4.14107355e-03 1.13688251e+02] [ 4.26584004e-03 3.17825234e-04 9.99990851e-01 7.01146602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:113.71, Z:0.70 [[ 3.22608415e-01 -9.46531970e-01 -1.01955860e-03 2.05351363e+02] [ 9.46523814e-01 3.22609881e-01 -3.94137749e-03 1.13712384e+02] [ 4.05955948e-03 3.06485048e-04 9.99991713e-01 7.01462261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:113.74, Z:0.70 [[ 3.22885790e-01 -9.46437393e-01 -1.01394021e-03 2.05356070e+02] [ 9.46429309e-01 3.22887236e-01 -3.92374522e-03 1.13736573e+02] [ 4.04096755e-03 3.07298840e-04 9.99991788e-01 7.02369973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:113.76, Z:0.70 [[ 3.23108462e-01 -9.46361468e-01 -9.44873902e-04 2.05360351e+02] [ 9.46354434e-01 3.23109715e-01 -3.66017969e-03 1.13761813e+02] [ 3.76915096e-03 2.88449423e-04 9.99992855e-01 7.03051572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:113.79, Z:0.70 [[ 3.24307955e-01 -9.45951479e-01 -3.87464766e-04 2.05360796e+02] [ 9.45950294e-01 3.24308164e-01 -1.50237422e-03 1.13786724e+02] [ 1.54683111e-03 1.20709502e-04 9.99998796e-01 7.04294731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:113.81, Z:0.70 [[ 3.24614827e-01 -9.45846288e-01 -1.14216523e-04 2.05365217e+02] [ 9.45846185e-01 3.24614845e-01 -4.43153060e-04 1.13812343e+02] [ 4.56231056e-04 3.58227917e-05 9.99999895e-01 7.04306902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:113.84, Z:0.70 [[ 3.24462139e-01 -9.45898668e-01 -1.76292270e-04 2.05370383e+02] [ 9.45898421e-01 3.24462182e-01 -6.84814889e-04 1.13837622e+02] [ 7.04965665e-04 5.54419240e-05 9.99999750e-01 7.04666580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:113.86, Z:0.70 [[ 3.23719846e-01 -9.46152851e-01 -4.93781104e-04 2.05375676e+02] [ 9.46150914e-01 3.23720186e-01 -1.92051691e-03 1.13862246e+02] [ 1.97694946e-03 1.54517995e-04 9.99998034e-01 7.04390888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:113.89, Z:0.70 [[ 3.22236936e-01 -9.46658690e-01 -8.25424370e-04 2.05380972e+02] [ 9.46653270e-01 3.22237893e-01 -3.21345030e-03 1.13886018e+02] [ 3.30802366e-03 2.54101702e-04 9.99994496e-01 7.03999346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:113.91, Z:0.70 [[ 3.18136082e-01 -9.48044428e-01 -1.09321799e-03 2.05387782e+02] [ 9.48034909e-01 3.18137800e-01 -4.26032671e-03 1.13909536e+02] [ 4.38677297e-03 3.18954833e-04 9.99990327e-01 7.03622823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:113.93, Z:0.70 [[ 3.16264391e-01 -9.48670510e-01 -1.04841793e-03 2.05394752e+02] [ 9.48661741e-01 3.16265987e-01 -4.08991381e-03 1.13934288e+02] [ 4.21155955e-03 2.98900119e-04 9.99991087e-01 7.04386170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:113.96, Z:0.71 [[ 3.15677439e-01 -9.48866197e-01 -8.33506509e-04 2.05404188e+02] [ 9.48860644e-01 3.15678451e-01 -3.25481460e-03 1.13957869e+02] [ 3.35150360e-03 2.36590016e-04 9.99994356e-01 7.05147811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:113.98, Z:0.71 [[ 3.16653318e-01 -9.48540843e-01 -9.72479378e-04 2.05411946e+02] [ 9.48533267e-01 3.16654686e-01 -3.80157156e-03 1.13982699e+02] [ 3.91388604e-03 2.81351206e-04 9.99992301e-01 7.05067011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:114.01, Z:0.70 [[ 3.18458865e-01 -9.47936113e-01 -1.03758680e-03 2.05418014e+02] [ 9.47927467e-01 3.18460404e-01 -4.06058238e-03 1.14006258e+02] [ 4.17960299e-03 3.09571431e-04 9.99991218e-01 7.04456973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:114.03, Z:0.70 [[ 3.21108003e-01 -9.47042014e-01 -1.03644560e-03 2.05422641e+02] [ 9.47033364e-01 3.21109514e-01 -4.06040977e-03 1.14030640e+02] [ 4.17819118e-03 3.22281511e-04 9.99991219e-01 7.03800779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:114.06, Z:0.70 [[ 3.23917448e-01 -9.46084786e-01 -1.03168919e-03 2.05426653e+02] [ 9.46076194e-01 3.23918918e-01 -4.04587986e-03 1.14055539e+02] [ 4.16192903e-03 3.34474494e-04 9.99991283e-01 7.03078372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:114.08, Z:0.70 [[ 3.26257968e-01 -9.45280147e-01 -1.08718974e-03 2.05431350e+02] [ 9.45270583e-01 3.26259575e-01 -4.26792204e-03 1.14081020e+02] [ 4.38908803e-03 3.64755091e-04 9.99990301e-01 7.02652034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:114.11, Z:0.70 [[ 3.28054195e-01 -9.44657234e-01 -1.77629727e-03 2.05435447e+02] [ 9.44631639e-01 3.28058433e-01 -6.98073296e-03 1.14105479e+02] [ 7.17712919e-03 6.12112127e-04 9.99974057e-01 7.02462509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:114.13, Z:0.70 [[ 3.27109227e-01 -9.44984435e-01 -1.99285026e-03 2.05440119e+02] [ 9.44952156e-01 3.27114588e-01 -7.84017617e-03 1.14129760e+02] [ 8.06073484e-03 6.81445815e-04 9.99967280e-01 7.02350275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:114.15, Z:0.70 [[ 3.25588054e-01 -9.45509793e-01 -1.91055801e-03 2.05444784e+02] [ 9.45480072e-01 3.25593024e-01 -7.52444304e-03 1.14154915e+02] [ 7.73649894e-03 6.43474244e-04 9.99969866e-01 7.02263301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:114.18, Z:0.70 [[ 3.23414183e-01 -9.46256174e-01 -1.58696761e-03 2.05449654e+02] [ 9.46235632e-01 3.23417656e-01 -6.25690262e-03 1.14178812e+02] [ 6.43388608e-03 5.21925749e-04 9.99979166e-01 7.02220450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:114.20, Z:0.70 [[ 3.20802995e-01 -9.47145081e-01 -1.27849445e-03 2.05455506e+02] [ 9.47131726e-01 3.20805283e-01 -5.04609822e-03 1.14202776e+02] [ 5.18953488e-03 4.07900760e-04 9.99986451e-01 7.02476456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:114.23, Z:0.70 [[ 3.14174875e-01 -9.49364312e-01 -1.24550357e-03 2.05461994e+02] [ 9.49351628e-01 3.14177134e-01 -4.92096873e-03 1.14227629e+02] [ 5.06310084e-03 3.63623892e-04 9.99987116e-01 7.02239776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:114.25, Z:0.70 [[ 3.10623188e-01 -9.50531987e-01 -1.47567147e-03 2.05467503e+02] [ 9.50514156e-01 3.10626422e-01 -5.83644790e-03 1.14252634e+02] [ 6.00611296e-03 4.10289435e-04 9.99981879e-01 7.02079938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:114.28, Z:0.70 [[ 3.07291960e-01 -9.51613892e-01 -1.62848285e-03 2.05473660e+02] [ 9.51592153e-01 3.07295973e-01 -6.44661760e-03 1.14275907e+02] [ 6.63511709e-03 4.31342253e-04 9.99977894e-01 7.01579477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.48, Y:114.30, Z:0.70 [[ 3.00717141e-01 -9.53712174e-01 -1.51320636e-03 2.05484784e+02] [ 9.53693391e-01 3.00720733e-01 -5.99636792e-03 1.14299277e+02] [ 6.17386161e-03 3.60075721e-04 9.99980877e-01 7.01989749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:114.32, Z:0.70 [[ 3.00484113e-01 -9.53785622e-01 -1.51174149e-03 2.05490897e+02] [ 9.53766838e-01 3.00487700e-01 -5.99673739e-03 1.14324577e+02] [ 6.17386162e-03 3.60075411e-04 9.99980877e-01 7.01995949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.50, Y:114.35, Z:0.70 [[ 2.97224782e-01 -9.54806308e-01 -1.53047582e-03 2.05500493e+02] [ 9.54787027e-01 2.97228522e-01 -6.07774462e-03 1.14348094e+02] [ 6.25796996e-03 3.45177866e-04 9.99980359e-01 7.02408615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:114.37, Z:0.70 [[ 2.94256782e-01 -9.55725248e-01 -1.48225371e-03 2.05510258e+02] [ 9.55707132e-01 2.94260344e-01 -5.89298196e-03 1.14371212e+02] [ 6.06824013e-03 3.17449463e-04 9.99981538e-01 7.02525605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:114.40, Z:0.70 [[ 2.91706216e-01 -9.56507057e-01 -1.31651013e-03 2.05520101e+02] [ 9.56492746e-01 2.91709063e-01 -5.23914644e-03 1.14395279e+02] [ 5.39531848e-03 2.69059199e-04 9.99985409e-01 7.02775613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:114.42, Z:0.70 [[ 2.89904511e-01 -9.57055077e-01 -9.76238211e-04 2.05529436e+02] [ 9.57047197e-01 2.89906091e-01 -3.88859150e-03 1.14417915e+02] [ 4.00461364e-03 1.93014176e-04 9.99991963e-01 7.03189347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:114.44, Z:0.70 [[ 2.89351776e-01 -9.57222596e-01 -6.71737657e-04 2.05539441e+02] [ 9.57218858e-01 2.89352526e-01 -2.67844137e-03 1.14442110e+02] [ 2.75823359e-03 1.32011817e-04 9.99996187e-01 7.03760171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:114.46, Z:0.70 [[ 2.90999976e-01 -9.56722980e-01 -3.92599010e-04 2.05553067e+02] [ 9.56721700e-01 2.91000229e-01 -1.56677598e-03 1.14463896e+02] [ 1.61321699e-03 8.03237801e-05 9.99998696e-01 7.04597063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.56, Y:114.49, Z:0.70 [[ 2.92716568e-01 -9.56199178e-01 -3.77518678e-04 2.05562383e+02] [ 9.56197992e-01 2.92716800e-01 -1.50818186e-03 1.14488299e+02] [ 1.55262832e-03 8.04872166e-05 9.99998791e-01 7.04530922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:114.51, Z:0.70 [[ 2.95033655e-01 -9.55486700e-01 -5.54885270e-04 2.05570477e+02] [ 9.55484131e-01 2.95034150e-01 -2.21937689e-03 1.14512001e+02] [ 2.28429521e-03 1.24606805e-04 9.99997383e-01 7.04421394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:114.54, Z:0.70 [[ 2.97771038e-01 -9.54636881e-01 -9.13797612e-04 2.05578162e+02] [ 9.54629893e-01 2.97772361e-01 -3.65908960e-03 1.14535810e+02] [ 3.76520555e-03 2.17232390e-04 9.99992888e-01 7.03907406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.59, Y:114.56, Z:0.70 [[ 3.03187710e-01 -9.52929847e-01 -1.38501515e-03 2.05588672e+02] [ 9.52913743e-01 3.03190656e-01 -5.55192028e-03 1.14559437e+02] [ 5.71051420e-03 3.63474026e-04 9.99983629e-01 7.02895277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:114.58, Z:0.70 [[ 3.04738065e-01 -9.52435339e-01 -1.27945378e-03 2.05597390e+02] [ 9.52421564e-01 3.04740555e-01 -5.13411955e-03 1.14583646e+02] [ 5.27981835e-03 3.45982292e-04 9.99986002e-01 7.02957767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:114.61, Z:0.70 [[ 3.05390807e-01 -9.52226593e-01 -9.85308956e-04 2.05606285e+02] [ 9.52218406e-01 3.05392277e-01 -3.95789054e-03 1.14607913e+02] [ 4.06971437e-03 2.70474064e-04 9.99991682e-01 7.03214766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:114.63, Z:0.70 [[ 3.04179087e-01 -9.52614539e-01 -7.89231355e-04 2.05618604e+02] [ 9.52609277e-01 3.04180036e-01 -3.17355074e-03 1.14630849e+02] [ 3.26323900e-03 2.13498658e-04 9.99994653e-01 7.03230402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.701400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:205.63, Y:114.65, Z:0.70 [[ 3.02214867e-01 -9.53239281e-01 -1.02284526e-03 2.05627403e+02] [ 9.53230427e-01 3.02216478e-01 -4.11750221e-03 1.14654115e+02] [ 4.23408554e-03 2.69363162e-04 9.99991000e-01 7.02159853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:114.68, Z:0.70 [[ 3.00002511e-01 -9.53937610e-01 -1.23641818e-03 2.05636602e+02] [ 9.53924649e-01 3.00004893e-01 -4.98274570e-03 1.14678105e+02] [ 5.12416003e-03 3.15386445e-04 9.99986822e-01 7.01558812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:114.70, Z:0.70 [[ 2.97754883e-01 -9.54641438e-01 -1.32468953e-03 2.05645782e+02] [ 9.54626534e-01 2.97757650e-01 -5.34441121e-03 1.14701844e+02] [ 5.49643284e-03 3.26740759e-04 9.99984841e-01 7.01146341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:114.72, Z:0.70 [[ 2.96044035e-01 -9.55173483e-01 -1.24400123e-03 2.05654841e+02] [ 9.55160313e-01 2.96046497e-01 -5.02464636e-03 1.14724564e+02] [ 5.16769117e-03 2.99295973e-04 9.99986603e-01 7.01248416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:114.75, Z:0.70 [[ 2.94968537e-01 -9.55506350e-01 -1.08467551e-03 2.05664306e+02] [ 9.55496319e-01 2.94970420e-01 -4.38585522e-03 1.14748274e+02] [ 4.51065970e-03 2.57285845e-04 9.99989794e-01 7.01670821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.68, Y:114.77, Z:0.70 [[ 2.94991308e-01 -9.55499269e-01 -1.12958717e-03 2.05676169e+02] [ 9.55488365e-01 2.94993347e-01 -4.57259420e-03 1.14770401e+02] [ 4.70233112e-03 2.69568142e-04 9.99988908e-01 7.02100769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.68, Y:114.79, Z:0.70 [[ 2.95762624e-01 -9.55260517e-01 -1.34700836e-03 2.05683648e+02] [ 9.55244977e-01 2.95765509e-01 -5.45876830e-03 1.14794558e+02] [ 5.61294445e-03 3.27776668e-04 9.99984194e-01 7.01266004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:114.82, Z:0.70 [[ 2.96785274e-01 -9.54942973e-01 -1.55552067e-03 2.05690893e+02] [ 9.54922197e-01 2.96789097e-01 -6.31099828e-03 1.14817882e+02] [ 6.48830503e-03 3.87610130e-04 9.99978876e-01 7.01167227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.941400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:205.70, Y:114.84, Z:0.70 [[ 3.00603908e-01 -9.53741127e-01 -3.89268608e-03 2.05703235e+02] [ 9.53721660e-01 3.00623709e-01 -6.35463158e-03 1.14843897e+02] [ 7.23090721e-03 -1.80231194e-03 9.99972232e-01 7.01807668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.71, Y:114.87, Z:0.70 [[ 3.01868294e-01 -9.53349490e-01 5.32916683e-04 2.05705129e+02] [ 9.53325983e-01 3.01856818e-01 -7.21330882e-03 1.14868883e+02] [ 6.71593974e-03 2.68551254e-03 9.99973842e-01 6.99258624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.71, Y:114.89, Z:0.70 [[ 3.03121234e-01 -9.52950716e-01 -1.56566757e-03 2.05713473e+02] [ 9.52929506e-01 3.03124958e-01 -6.37308574e-03 1.14891846e+02] [ 6.54782954e-03 4.39846790e-04 9.99978466e-01 6.99687253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:114.92, Z:0.70 [[ 3.03834158e-01 -9.52723839e-01 -1.44599382e-03 2.05719979e+02] [ 9.52705707e-01 3.03837318e-01 -5.89231061e-03 1.14915441e+02] [ 6.05309167e-03 4.12678662e-04 9.99981595e-01 6.99680876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:114.94, Z:0.70 [[ 3.03776847e-01 -9.52742550e-01 -1.12316172e-03 2.05728434e+02] [ 9.52731588e-01 3.03778753e-01 -4.58161841e-03 1.14940107e+02] [ 4.70629547e-03 3.21717949e-04 9.99988874e-01 6.99662233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:114.96, Z:0.70 [[ 3.02660975e-01 -9.53097778e-01 -9.79717146e-04 2.05735028e+02] [ 9.53089421e-01 3.02662434e-01 -4.00087239e-03 1.14963968e+02] [ 4.10974616e-03 2.77149891e-04 9.99991517e-01 7.00179796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:114.99, Z:0.70 [[ 3.01511042e-01 -9.53462272e-01 -8.87422008e-04 2.05740818e+02] [ 9.53455402e-01 3.01512246e-01 -3.62780124e-03 1.14988482e+02] [ 3.72654021e-03 2.47704823e-04 9.99993026e-01 7.00529202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:115.01, Z:0.70 [[ 3.00835271e-01 -9.53675779e-01 -8.05244779e-04 2.05745889e+02] [ 9.53670113e-01 3.00836266e-01 -3.29486105e-03 1.15012330e+02] [ 3.38447602e-03 2.23272539e-04 9.99994248e-01 7.00404420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:115.04, Z:0.70 [[ 3.00445657e-01 -9.53798662e-01 -7.21522267e-04 2.05751717e+02] [ 9.53794104e-01 3.00446457e-01 -2.95535979e-03 1.15037046e+02] [ 3.03559702e-03 1.99741330e-04 9.99995373e-01 6.99606215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:115.06, Z:0.70 [[ 3.00127810e-01 -9.53898677e-01 -7.82186378e-04 2.05759254e+02] [ 9.53893310e-01 3.00128751e-01 -3.20727498e-03 1.15061422e+02] [ 3.29417198e-03 2.16470061e-04 9.99994551e-01 7.00065837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24140051300003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:205.77, Y:115.08, Z:0.70 [[ 2.99810498e-01 -9.53998329e-01 -9.23369298e-04 2.05766658e+02] [ 9.53990834e-01 2.99811811e-01 -3.79042420e-03 1.15084983e+02] [ 3.89289538e-03 2.55523121e-04 9.99992390e-01 7.00960335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:115.11, Z:0.70 [[ 2.99952464e-01 -9.53953631e-01 -9.94709388e-04 2.05773259e+02] [ 9.53944916e-01 2.99953985e-01 -4.08703661e-03 1.15108237e+02] [ 4.19721046e-03 2.77018738e-04 9.99991153e-01 7.01630233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:115.13, Z:0.70 [[ 3.03142269e-01 -9.52944822e-01 -9.64916172e-04 2.05778976e+02] [ 9.52936600e-01 3.03143672e-01 -3.96874750e-03 1.15133551e+02] [ 4.07450561e-03 2.83591187e-04 9.99991659e-01 7.01967545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:115.16, Z:0.70 [[ 3.06357232e-01 -9.51916297e-01 -7.80388186e-04 2.05784334e+02] [ 9.51910905e-01 3.06358131e-01 -3.21322468e-03 1.15157999e+02] [ 3.29779921e-03 2.41534596e-04 9.99994533e-01 7.01840422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:115.18, Z:0.70 [[ 3.09827337e-01 -9.50792627e-01 -6.34032807e-04 2.05789489e+02] [ 9.50789058e-01 3.09827917e-01 -2.61336921e-03 1.15182742e+02] [ 2.68121324e-03 2.06861770e-04 9.99996384e-01 7.01820151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:115.21, Z:0.70 [[ 3.13248919e-01 -9.49670888e-01 -5.65233210e-04 2.05794536e+02] [ 9.49668044e-01 3.13249369e-01 -2.33234979e-03 1.15206657e+02] [ 2.39202364e-03 1.93822135e-04 9.99997120e-01 7.01400223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:115.23, Z:0.70 [[ 3.16611989e-01 -9.48554969e-01 -5.65493467e-04 2.05800128e+02] [ 9.48552114e-01 3.16612429e-01 -2.33582860e-03 1.15231413e+02] [ 2.39470408e-03 2.03151315e-04 9.99997112e-01 7.01158073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:115.26, Z:0.70 [[ 3.21973046e-01 -9.46748760e-01 -3.79388030e-04 2.05807145e+02] [ 9.46747471e-01 3.21973236e-01 -1.56862769e-03 1.15255871e+02] [ 1.60724911e-03 1.45871177e-04 9.99998698e-01 7.01571685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:115.28, Z:0.70 [[ 3.22952481e-01 -9.46415167e-01 -1.65124781e-04 2.05813609e+02] [ 9.46414922e-01 3.22952517e-01 -6.83314679e-04 1.15280998e+02] [ 7.00026839e-04 6.44016141e-05 9.99999753e-01 7.01764327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:115.31, Z:0.70 [[ 3.22727847e-01 -9.46491803e-01 -5.70367826e-05 2.05819005e+02] [ 9.46491774e-01 3.22727851e-01 -2.36122110e-04 1.15305610e+02] [ 2.41895000e-04 2.22183346e-05 9.99999971e-01 7.01609739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:115.33, Z:0.70 [[ 3.21138423e-01 -9.47031942e-01 -7.83385329e-04 2.05823441e+02] [ 9.47026415e-01 3.21139237e-01 -3.24968671e-03 1.15330271e+02] [ 3.32913288e-03 3.01712667e-04 9.99994413e-01 6.99598365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.83, Y:115.35, Z:0.70 [[ 3.19517330e-01 -9.47579475e-01 -1.34658332e-03 2.05829414e+02] [ 9.47563111e-01 3.19519760e-01 -5.59227369e-03 1.15354431e+02] [ 5.72938375e-03 5.10855683e-04 9.99983456e-01 6.99084938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:115.38, Z:0.70 [[ 3.18226386e-01 -9.48013288e-01 -1.66518898e-03 2.05835400e+02] [ 9.47988218e-01 3.18230131e-01 -6.92265828e-03 1.15378761e+02] [ 7.09268535e-03 6.24392997e-04 9.99974652e-01 6.98670670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:115.40, Z:0.70 [[ 3.17458426e-01 -9.48270706e-01 -1.67822120e-03 2.05840752e+02] [ 9.48245192e-01 3.17462245e-01 -6.98416220e-03 1.15403654e+02] [ 7.15564829e-03 6.25815957e-04 9.99974202e-01 6.98640979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:115.43, Z:0.70 [[ 3.16476278e-01 -9.48599711e-01 -1.16315751e-03 2.05844689e+02] [ 9.48587432e-01 3.16478123e-01 -4.84574439e-03 1.15428740e+02] [ 4.96478563e-03 4.30206556e-04 9.99987583e-01 6.98914644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:115.45, Z:0.70 [[ 3.16086585e-01 -9.48729804e-01 -1.01463726e-03 2.05848718e+02] [ 9.48720441e-01 3.16087991e-01 -4.23166298e-03 1.15452505e+02] [ 4.33541944e-03 3.74964795e-04 9.99990532e-01 6.98767657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:115.48, Z:0.70 [[ 3.15653928e-01 -9.48873874e-01 -9.84445347e-04 2.05853134e+02] [ 9.48865042e-01 3.15655254e-01 -4.11009512e-03 1.15477839e+02] [ 4.21070722e-03 3.63261894e-04 9.99991069e-01 6.98549294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:115.50, Z:0.70 [[ 3.14731890e-01 -9.49180104e-01 -9.83505626e-04 2.05857374e+02] [ 9.49171272e-01 3.14733221e-01 -4.11057372e-03 1.15503343e+02] [ 4.21121669e-03 3.60213352e-04 9.99991068e-01 6.98562547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:115.53, Z:0.70 [[ 3.13553967e-01 -9.49569920e-01 -9.36339825e-04 2.05861933e+02] [ 9.49561899e-01 3.13555181e-01 -3.91779194e-03 1.15527128e+02] [ 4.01381158e-03 3.39326580e-04 9.99991887e-01 6.98359153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.811400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.87, Y:115.55, Z:0.70 [[ 3.11886384e-01 -9.50119016e-01 -8.59996260e-04 2.05867215e+02] [ 9.50112236e-01 3.11887420e-01 -3.60220337e-03 1.15551648e+02] [ 3.69074394e-03 3.06385216e-04 9.99993142e-01 6.98655704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:115.58, Z:0.70 [[ 3.08526843e-01 -9.51215407e-01 -6.61587574e-04 2.05870901e+02] [ 9.51211388e-01 3.08527469e-01 -2.77418217e-03 1.15576060e+02] [ 2.84296276e-03 2.26600032e-04 9.99995933e-01 7.00271313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:115.60, Z:0.70 [[ 3.07036781e-01 -9.51697273e-01 -8.45890249e-04 2.05873848e+02] [ 9.51690691e-01 3.07037814e-01 -3.55088472e-03 1.15601230e+02] [ 3.63908760e-03 2.85226340e-04 9.99993338e-01 7.00854414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:115.63, Z:0.70 [[ 3.05995349e-01 -9.52032411e-01 -1.06562266e-03 2.05876309e+02] [ 9.52021944e-01 3.05996998e-01 -4.47833614e-03 1.15625567e+02] [ 4.58959848e-03 3.55853873e-04 9.99989404e-01 7.00618019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.931400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.88, Y:115.65, Z:0.70 [[ 3.04871646e-01 -9.52392706e-01 -1.18858244e-03 2.05876826e+02] [ 9.52379659e-01 3.04873710e-01 -5.00068500e-03 1.15651231e+02] [ 5.12498346e-03 3.92585324e-04 9.99986790e-01 7.00882830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:115.68, Z:0.70 [[ 3.04334773e-01 -9.52564635e-01 -9.80691506e-04 2.05879220e+02] [ 9.52555737e-01 3.04336182e-01 -4.12994471e-03 1.15676041e+02] [ 4.23249919e-03 3.22722465e-04 9.99990991e-01 7.01622814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:115.70, Z:0.70 [[ 3.03618927e-01 -9.52793257e-01 -7.46057256e-04 2.05881111e+02] [ 9.52788097e-01 3.03619745e-01 -3.14516294e-03 1.15701720e+02] [ 3.22320775e-03 2.44096522e-04 9.99994776e-01 7.02222552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:115.73, Z:0.70 [[ 3.02604319e-01 -9.53116019e-01 -6.92377943e-04 2.05883351e+02] [ 9.53111567e-01 3.02605028e-01 -2.92202206e-03 1.15727210e+02] [ 2.99454309e-03 2.24303072e-04 9.99995491e-01 7.02623109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:115.75, Z:0.70 [[ 2.99052678e-01 -9.54235964e-01 -1.10468846e-03 2.05885302e+02] [ 9.54224611e-01 2.99054524e-01 -4.66730742e-03 1.15753339e+02] [ 4.78407467e-03 3.41649864e-04 9.99988498e-01 7.02141742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:115.78, Z:0.70 [[ 2.95923581e-01 -9.55210908e-01 -1.16425209e-03 2.05888975e+02] [ 9.55198281e-01 2.95925670e-01 -4.92359675e-03 1.15777374e+02] [ 5.04760540e-03 3.44916782e-04 9.99987201e-01 7.01962170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:115.80, Z:0.70 [[ 2.92094056e-01 -9.56389132e-01 -9.43690119e-04 2.05892476e+02] [ 9.56380824e-01 2.92095461e-01 -3.99510431e-03 1.15802665e+02] [ 4.09652195e-03 2.64419092e-04 9.99991574e-01 7.02282812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:115.83, Z:0.70 [[ 2.91872096e-01 -9.56456894e-01 -9.42760484e-04 2.05898207e+02] [ 9.56448586e-01 2.91873499e-01 -3.99532378e-03 1.15828064e+02] [ 4.09652178e-03 2.64421597e-04 9.99991574e-01 7.02288826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:115.85, Z:0.70 [[ 2.86155572e-01 -9.58183169e-01 -5.78992093e-05 2.05901370e+02] [ 9.58183138e-01 2.86155577e-01 -2.45407681e-04 1.15853931e+02] [ 2.51713691e-04 1.47467293e-05 9.99999968e-01 7.03933530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:115.88, Z:0.71 [[ 2.84534200e-01 -9.58665853e-01 2.65669829e-04 2.05907364e+02] [ 9.58665191e-01 2.84534317e-01 1.12877236e-03 1.15878048e+02] [-1.15770770e-03 -6.64859223e-05 9.99999328e-01 7.05426274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:115.90, Z:0.71 [[ 2.83783815e-01 -9.58888175e-01 4.62822830e-04 2.05913359e+02] [ 9.58886162e-01 2.83784169e-01 1.96838869e-03 1.15903041e+02] [-2.01880643e-03 -1.14802443e-04 9.99997956e-01 7.06525706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:115.93, Z:0.71 [[ 2.83977742e-01 -9.58830779e-01 4.23740687e-04 2.05917737e+02] [ 9.58829087e-01 2.83978038e-01 1.80427685e-03 1.15926755e+02] [-1.85032923e-03 -1.06079571e-04 9.99998283e-01 7.06641634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:115.95, Z:0.71 [[ 2.85363347e-01 -9.58419391e-01 1.74099822e-04 2.05921607e+02] [ 9.58419105e-01 2.85363397e-01 7.42273620e-04 1.15952572e+02] [-7.61091148e-04 -4.49570887e-05 9.99999709e-01 7.05848360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:115.98, Z:0.70 [[ 2.90918435e-01 -9.56747758e-01 -4.37664589e-04 2.05924452e+02] [ 9.56745944e-01 2.90918738e-01 -1.86716612e-03 1.15977845e+02] [ 1.91373183e-03 1.24459227e-04 9.99998161e-01 7.03917027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:116.00, Z:0.70 [[ 2.93673628e-01 -9.55905608e-01 -5.19024102e-04 2.05929397e+02] [ 9.55903050e-01 2.93674046e-01 -2.21675562e-03 1.16002415e+02] [ 2.27143304e-03 1.54865945e-04 9.99997408e-01 7.04022444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:116.03, Z:0.70 [[ 2.95974424e-01 -9.55195722e-01 -5.22613651e-04 2.05934134e+02] [ 9.55193123e-01 2.95974841e-01 -2.23422776e-03 1.16026739e+02] [ 2.28880529e-03 1.62077308e-04 9.99997368e-01 7.04828089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:116.05, Z:0.71 [[ 2.97320316e-01 -9.54777653e-01 -5.12665959e-04 2.05937821e+02] [ 9.54775146e-01 2.97320713e-01 -2.19420589e-03 1.16051511e+02] [ 2.24740496e-03 1.62901272e-04 9.99997461e-01 7.05272482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:116.08, Z:0.70 [[ 2.99364601e-01 -9.54138692e-01 -4.38315022e-04 2.05938774e+02] [ 9.54136855e-01 2.99364887e-01 -1.87808908e-03 1.16077477e+02] [ 1.92317358e-03 1.44020872e-04 9.99998140e-01 7.04333502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:116.10, Z:0.70 [[ 2.99759956e-01 -9.54014543e-01 -4.70158710e-04 2.05943192e+02] [ 9.54012423e-01 2.99760284e-01 -2.01692851e-03 1.16101178e+02] [ 2.06511404e-03 1.56057151e-04 9.99997855e-01 7.03578446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:116.13, Z:0.70 [[ 2.99842241e-01 -9.53988607e-01 -6.07565560e-04 2.05949435e+02] [ 9.53985059e-01 2.99842788e-01 -2.60936629e-03 1.16125950e+02] [ 2.67147987e-03 2.02789771e-04 9.99996411e-01 7.03193443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:116.15, Z:0.70 [[ 2.99940794e-01 -9.53957466e-01 -8.20120686e-04 2.05956472e+02] [ 9.53950989e-01 2.99941789e-01 -3.52632541e-03 1.16150995e+02] [ 3.60995292e-03 2.75333903e-04 9.99993446e-01 7.03314025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:116.18, Z:0.70 [[ 3.00664649e-01 -9.53729272e-01 -1.11533237e-03 2.05961342e+02] [ 9.53717262e-01 3.00666478e-01 -4.80141998e-03 1.16175031e+02] [ 4.91459784e-03 3.79905518e-04 9.99987851e-01 7.03042300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:116.20, Z:0.70 [[ 3.01090081e-01 -9.53595067e-01 -1.10065301e-03 2.05964752e+02] [ 9.53583343e-01 3.01091854e-01 -4.74372326e-03 1.16199345e+02] [ 4.85498876e-03 3.78723640e-04 9.99988143e-01 7.02709898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.97, Y:116.22, Z:0.70 [[ 3.02022764e-01 -9.53300119e-01 -1.06482780e-03 2.05969598e+02] [ 9.53289120e-01 3.02024411e-01 -4.59441915e-03 1.16224883e+02] [ 4.70146432e-03 3.72530412e-04 9.99988879e-01 7.01997850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:116.25, Z:0.70 [[ 3.03517226e-01 -9.52825224e-01 -1.17750424e-03 2.05975593e+02] [ 9.52811740e-01 3.03519217e-01 -5.08648801e-03 1.16248337e+02] [ 5.20392924e-03 4.21896868e-04 9.99986370e-01 7.02281349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:116.27, Z:0.70 [[ 3.07778742e-01 -9.51456514e-01 -1.65777429e-03 2.05981824e+02] [ 9.51429710e-01 3.07782563e-01 -7.16943465e-03 1.16271602e+02] [ 7.33163931e-03 6.29343866e-04 9.99972925e-01 7.03195536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:116.30, Z:0.70 [[ 3.09880241e-01 -9.50773715e-01 -1.89184486e-03 2.05985484e+02] [ 9.50738722e-01 3.09885133e-01 -8.19066908e-03 1.16297350e+02] [ 8.37372747e-03 7.39476346e-04 9.99964666e-01 7.02427513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:116.32, Z:0.70 [[ 3.11659101e-01 -9.50191802e-01 -2.03558641e-03 2.05988726e+02] [ 9.50151190e-01 3.11664681e-01 -8.82283397e-03 1.16322846e+02] [ 9.01780490e-03 8.15601648e-04 9.99959006e-01 7.01245108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:116.35, Z:0.70 [[ 3.12763511e-01 -9.49828787e-01 -2.06434147e-03 2.05993033e+02] [ 9.49786918e-01 3.12769193e-01 -8.95783569e-03 1.16346993e+02] [ 9.15407262e-03 8.40999618e-04 9.99957747e-01 7.00868642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.00, Y:116.37, Z:0.70 [[ 3.12912769e-01 -9.49780827e-01 -1.40700154e-03 2.05996920e+02] [ 9.49761334e-01 3.12915401e-01 -6.11234080e-03 1.16371011e+02] [ 6.24565655e-03 5.76313821e-04 9.99980330e-01 7.02178869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.00, Y:116.40, Z:0.70 [[ 3.11900511e-01 -9.50114184e-01 -1.05283810e-03 2.05999742e+02] [ 9.50103248e-01 3.11901994e-01 -4.57873036e-03 1.16396661e+02] [ 4.67869896e-03 4.27803437e-04 9.99988963e-01 7.02200911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.00, Y:116.42, Z:0.70 [[ 3.10707873e-01 -9.50505117e-01 -8.00122640e-04 2.06002708e+02] [ 9.50498788e-01 3.10708737e-01 -3.48347070e-03 1.16422379e+02] [ 3.55966182e-03 3.21826172e-04 9.99993613e-01 7.02368130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:116.45, Z:0.70 [[ 3.08340567e-01 -9.51275735e-01 -7.55500801e-04 2.06005185e+02] [ 9.51270082e-01 3.08341349e-01 -3.29290472e-03 1.16447748e+02] [ 3.36541250e-03 2.96650798e-04 9.99994293e-01 7.02544993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:206.01, Y:116.47, Z:0.70 [[ 3.06929252e-01 -9.51731980e-01 -8.19676409e-04 2.06008972e+02] [ 9.51725312e-01 3.06930182e-01 -3.57685959e-03 1.16471790e+02] [ 3.65579509e-03 3.17736054e-04 9.99993267e-01 7.02497004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:116.50, Z:0.70 [[ 3.05203828e-01 -9.52286620e-01 -9.04133937e-04 2.06012678e+02] [ 9.52278490e-01 3.05204973e-01 -3.94984050e-03 1.16496776e+02] [ 4.03732643e-03 3.44519140e-04 9.99991791e-01 7.02540134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:116.52, Z:0.70 [[ 3.01490280e-01 -9.53468756e-01 -9.70329397e-04 2.06015691e+02] [ 9.53459378e-01 3.01491634e-01 -4.24382465e-03 1.16522161e+02] [ 4.33890041e-03 3.54302222e-04 9.99990524e-01 7.02453645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:116.55, Z:0.70 [[ 2.99272407e-01 -9.54167110e-01 -1.07383301e-03 2.06021443e+02] [ 9.54155602e-01 2.99274089e-01 -4.70188991e-03 1.16546688e+02] [ 4.80775910e-03 3.82542126e-04 9.99988370e-01 7.02548190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:116.57, Z:0.70 [[ 2.97361016e-01 -9.54764314e-01 -1.23716903e-03 2.06027137e+02] [ 9.54749014e-01 2.97363277e-01 -5.42244949e-03 1.16570207e+02] [ 5.54504991e-03 4.31239181e-04 9.99984533e-01 7.02675920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:116.60, Z:0.70 [[ 2.95699149e-01 -9.55280180e-01 -1.33861686e-03 2.06032158e+02] [ 9.55262231e-01 2.95701824e-01 -5.87381109e-03 1.16595301e+02] [ 6.00696676e-03 4.58150811e-04 9.99981853e-01 7.02922853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:116.62, Z:0.70 [[ 2.94552215e-01 -9.55634464e-01 -1.32837462e-03 2.06036206e+02] [ 9.55616750e-01 2.94554867e-01 -5.83583024e-03 1.16619879e+02] [ 5.96819971e-03 4.49539680e-04 9.99982089e-01 7.03069682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:116.65, Z:0.70 [[ 2.93319582e-01 -9.56013960e-01 -9.64974044e-04 2.06039294e+02] [ 9.56004594e-01 2.93320992e-01 -4.24407206e-03 1.16645031e+02] [ 4.34043928e-03 3.22349822e-04 9.99990528e-01 7.03285824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:116.67, Z:0.70 [[ 2.92886545e-01 -9.56146889e-01 -7.74112437e-04 2.06043792e+02] [ 9.56140850e-01 2.92887454e-01 -3.40791625e-03 1.16668815e+02] [ 3.48519634e-03 2.57972291e-04 9.99993893e-01 7.03295831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.191400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:206.05, Y:116.69, Z:0.70 [[ 2.92413912e-01 -9.56291592e-01 -7.03914441e-04 2.06049002e+02] [ 9.56286588e-01 2.92414666e-01 -3.10232594e-03 1.16693800e+02] [ 3.17256312e-03 2.34019326e-04 9.99994940e-01 7.02218899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:116.72, Z:0.70 [[ 2.91840858e-01 -9.56466634e-01 -7.00921592e-04 2.06054423e+02] [ 9.56461663e-01 2.91841607e-01 -3.09263873e-03 1.16718959e+02] [ 3.16256384e-03 2.32153708e-04 9.99994972e-01 7.02412353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:116.74, Z:0.70 [[ 2.90941909e-01 -9.56740434e-01 -7.40261244e-04 2.06059239e+02] [ 9.56734876e-01 2.90942749e-01 -3.27008617e-03 1.16742876e+02] [ 3.34399730e-03 2.43171361e-04 9.99994379e-01 7.02298831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:116.77, Z:0.70 [[ 2.88612932e-01 -9.57445325e-01 -1.01286796e-03 2.06063637e+02] [ 9.57434900e-01 2.88614528e-01 -4.47947553e-03 1.16768133e+02] [ 4.58118131e-03 3.23079433e-04 9.99989454e-01 7.03007645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:116.79, Z:0.70 [[ 2.87456513e-01 -9.57793245e-01 -9.23959649e-04 2.06067955e+02] [ 9.57784555e-01 2.87457851e-01 -4.09029177e-03 1.16791829e+02] [ 4.18325328e-03 2.90826731e-04 9.99991208e-01 7.03525769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:116.82, Z:0.70 [[ 2.86795525e-01 -9.57991590e-01 -6.64278135e-04 2.06072865e+02] [ 9.57987089e-01 2.86796219e-01 -2.94395958e-03 1.16817310e+02] [ 3.01080097e-03 2.07944555e-04 9.99995446e-01 7.03799118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:116.84, Z:0.70 [[ 2.87266606e-01 -9.57850665e-01 -3.63092460e-05 2.06075897e+02] [ 9.57850651e-01 2.87266608e-01 -1.60852785e-04 1.16842067e+02] [ 1.64503381e-04 1.14287985e-05 9.99999986e-01 7.03826510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:116.87, Z:0.70 [[ 2.88247659e-01 -9.57555892e-01 -2.39565987e-06 2.06079839e+02] [ 9.57555892e-01 2.88247659e-01 -1.03777075e-05 1.16866114e+02] [ 1.06277784e-05 6.97371698e-07 1.00000000e+00 7.03119097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:116.89, Z:0.70 [[ 2.89340632e-01 -9.57226131e-01 -3.64787157e-04 2.06084030e+02] [ 9.57224764e-01 2.89340837e-01 -1.62225521e-03 1.16891130e+02] [ 1.65841290e-03 1.20201047e-04 9.99998618e-01 7.02388294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:116.92, Z:0.70 [[ 2.90094251e-01 -9.56997705e-01 -8.47322830e-04 2.06088516e+02] [ 9.56990310e-01 2.90095350e-01 -3.77286048e-03 1.16916423e+02] [ 3.85642323e-03 2.83605397e-04 9.99992524e-01 7.01716610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:116.94, Z:0.70 [[ 2.90389277e-01 -9.56907126e-01 -1.67922701e-03 2.06092779e+02] [ 9.56878012e-01 2.90393579e-01 -7.48592239e-03 1.16940719e+02] [ 7.65096922e-03 5.67016190e-04 9.99970570e-01 7.00090035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:116.97, Z:0.70 [[ 2.89534366e-01 -9.57166172e-01 -1.66407831e-03 2.06098145e+02] [ 9.57137521e-01 2.89538611e-01 -7.42689655e-03 1.16965865e+02] [ 7.59058907e-03 5.57589996e-04 9.99971036e-01 6.99529679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:116.99, Z:0.70 [[ 2.88038592e-01 -9.57617614e-01 -1.50829530e-03 2.06103465e+02] [ 9.57594027e-01 2.88042112e-01 -6.73945279e-03 1.16990926e+02] [ 6.88827126e-03 4.96887925e-04 9.99976152e-01 7.00144893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.11, Y:117.02, Z:0.70 [[ 2.86141074e-01 -9.58186615e-01 -1.30233854e-03 2.06109077e+02] [ 9.58168995e-01 2.86143730e-01 -5.82609665e-03 1.17016208e+02] [ 5.95514384e-03 4.19225137e-04 9.99982180e-01 7.00636898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.11, Y:117.04, Z:0.70 [[ 2.83194924e-01 -9.59061858e-01 -9.94100161e-04 2.06112783e+02] [ 9.59051571e-01 2.83196502e-01 -4.45262452e-03 1.17040607e+02] [ 4.55186803e-03 3.07567344e-04 9.99989593e-01 7.02166402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:117.07, Z:0.70 [[ 2.83202142e-01 -9.59059854e-01 -8.61490763e-04 2.06116088e+02] [ 9.59052111e-01 2.83203326e-01 -3.86311836e-03 1.17065774e+02] [ 3.94893878e-03 2.67828859e-04 9.99992167e-01 7.02547471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:117.09, Z:0.70 [[ 2.84382516e-01 -9.58710561e-01 -8.02619371e-04 2.06118678e+02] [ 9.58703824e-01 2.84383535e-01 -3.60328767e-03 1.17091255e+02] [ 3.68276168e-03 2.55237755e-04 9.99993186e-01 7.02614539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.701400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:206.12, Y:117.12, Z:0.70 [[ 2.89696833e-01 -9.57118150e-01 -7.69715743e-04 2.06120088e+02] [ 9.57111934e-01 2.89697734e-01 -3.45965225e-03 1.17117425e+02] [ 3.53428086e-03 2.65546175e-04 9.99993719e-01 7.02940108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:117.14, Z:0.70 [[ 2.92332396e-01 -9.56316382e-01 -8.64776821e-04 2.06123211e+02] [ 9.56308514e-01 2.92333510e-01 -3.89172996e-03 1.17141347e+02] [ 3.97452836e-03 3.10685308e-04 9.99992053e-01 7.03613613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:117.17, Z:0.70 [[ 2.94661108e-01 -9.55601180e-01 -1.10245949e-03 2.06125604e+02] [ 9.55588359e-01 2.94662885e-01 -4.96720817e-03 1.17166934e+02] [ 5.07152388e-03 4.10145611e-04 9.99987056e-01 7.04001341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:117.19, Z:0.70 [[ 2.96494202e-01 -9.55033845e-01 -1.24207850e-03 2.06123836e+02] [ 9.55017529e-01 2.96496423e-01 -5.60276012e-03 1.17193566e+02] [ 5.71909737e-03 4.74979150e-04 9.99983533e-01 7.03258626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:117.22, Z:0.70 [[ 2.95595481e-01 -9.55312526e-01 -1.13579904e-03 2.06126779e+02] [ 9.55298853e-01 2.95597349e-01 -5.12927088e-03 1.17219428e+02] [ 5.23579590e-03 4.31161774e-04 9.99986200e-01 7.03215160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:117.24, Z:0.70 [[ 2.93619984e-01 -9.55921739e-01 -9.66171956e-04 2.06129749e+02] [ 9.55911825e-01 2.93621354e-01 -4.36845338e-03 1.17243561e+02] [ 4.45958828e-03 3.59090015e-04 9.99989992e-01 7.03002335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:117.27, Z:0.70 [[ 2.90896947e-01 -9.56753991e-01 -8.75257630e-04 2.06133440e+02] [ 9.56745840e-01 2.90898093e-01 -3.96201070e-03 1.17269202e+02] [ 4.04528033e-03 3.15137721e-04 9.99991768e-01 7.03259115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:117.29, Z:0.70 [[ 2.86403406e-01 -9.58108824e-01 -7.55542951e-04 2.06136262e+02] [ 9.58102740e-01 2.86404288e-01 -3.42411330e-03 1.17294610e+02] [ 3.49706391e-03 2.56789941e-04 9.99993852e-01 7.02893953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:117.32, Z:0.70 [[ 2.85146682e-01 -9.58483531e-01 -8.31496631e-04 2.06141504e+02] [ 9.58476146e-01 2.85147758e-01 -3.77287415e-03 1.17319091e+02] [ 3.85333714e-03 2.78852861e-04 9.99992537e-01 7.03127353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:117.34, Z:0.70 [[ 2.84378152e-01 -9.58711777e-01 -8.91707277e-04 2.06146418e+02] [ 9.58703264e-01 2.84379395e-01 -4.05114324e-03 1.17342682e+02] [ 4.13746192e-03 2.97173953e-04 9.99991397e-01 7.02891321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:117.37, Z:0.70 [[ 2.84161174e-01 -9.58776100e-01 -9.03995050e-04 2.06151077e+02] [ 9.58767331e-01 2.84162451e-01 -4.11181578e-03 1.17368272e+02] [ 4.19919215e-03 3.01697477e-04 9.99991138e-01 7.03215002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:117.39, Z:0.70 [[ 2.85527921e-01 -9.58370140e-01 -6.94206254e-04 2.06154651e+02] [ 9.58364955e-01 2.85528666e-01 -3.16137918e-03 1.17393032e+02] [ 3.22798719e-03 2.37359080e-04 9.99994762e-01 7.03875009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.061400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:206.16, Y:117.42, Z:0.70 [[ 2.86657948e-01 -9.58032704e-01 -7.47690633e-04 2.06160000e+02] [ 9.58026674e-01 2.86658804e-01 -3.40901880e-03 1.17417604e+02] [ 3.48028360e-03 2.60914761e-04 9.99993910e-01 7.03554685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.091400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:206.17, Y:117.44, Z:0.70 [[ 2.86444238e-01 -9.58096624e-01 -7.46924411e-04 2.06165323e+02] [ 9.58090594e-01 2.86445093e-01 -3.40918675e-03 1.17443073e+02] [ 3.48028315e-03 2.60920651e-04 9.99993910e-01 7.03560700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:117.47, Z:0.70 [[ 2.87713082e-01 -9.57716205e-01 -9.23988193e-04 2.06169779e+02] [ 9.57706957e-01 2.87714376e-01 -4.22170307e-03 1.17467384e+02] [ 4.30903813e-03 3.29729281e-04 9.99990662e-01 7.03290179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:117.49, Z:0.70 [[ 2.89141110e-01 -9.57285953e-01 -1.01179486e-03 2.06173762e+02] [ 9.57274835e-01 2.89142644e-01 -4.62828444e-03 1.17492138e+02] [ 4.72314472e-03 3.69661544e-04 9.99988778e-01 7.01839832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:117.52, Z:0.70 [[ 2.91114521e-01 -9.56687362e-01 -1.27592525e-03 2.06175815e+02] [ 9.56669637e-01 2.91116921e-01 -5.84335701e-03 1.17518105e+02] [ 5.96170923e-03 4.80447130e-04 9.99982113e-01 7.00881333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:117.54, Z:0.70 [[ 2.91323455e-01 -9.56623644e-01 -1.35969502e-03 2.06180767e+02] [ 9.56603467e-01 2.91326172e-01 -6.23451648e-03 1.17542899e+02] [ 6.36020062e-03 5.15571916e-04 9.99979641e-01 7.01026163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:117.57, Z:0.70 [[ 2.91049403e-01 -9.56707000e-01 -1.40023251e-03 2.06186153e+02] [ 9.56685550e-01 2.91052286e-01 -6.42845277e-03 1.17567037e+02] [ 6.55768664e-03 5.31415133e-04 9.99978357e-01 7.01494827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:117.59, Z:0.70 [[ 2.88085913e-01 -9.57603562e-01 -1.38722671e-03 2.06189529e+02] [ 9.57582468e-01 2.88088804e-01 -6.37630099e-03 1.17592329e+02] [ 6.50561302e-03 5.08538513e-04 9.99978709e-01 7.01709643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:117.62, Z:0.70 [[ 2.86090317e-01 -9.58201676e-01 -1.37021447e-03 2.06192593e+02] [ 9.58181053e-01 2.86093177e-01 -6.30586857e-03 1.17616560e+02] [ 6.43430285e-03 4.91134401e-04 9.99979179e-01 7.01337113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:117.64, Z:0.70 [[ 2.84346832e-01 -9.58720490e-01 -1.37886853e-03 2.06195995e+02] [ 9.58699562e-01 2.84349763e-01 -6.35317504e-03 1.17642217e+02] [ 6.48300003e-03 4.84584547e-04 9.99978868e-01 7.00926256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:117.67, Z:0.70 [[ 2.83315194e-01 -9.59025887e-01 -1.36009761e-03 2.06199996e+02] [ 9.59005478e-01 2.83318063e-01 -6.27436441e-03 1.17666900e+02] [ 6.40261811e-03 4.73281715e-04 9.99979391e-01 7.00872719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:117.69, Z:0.70 [[ 2.83460822e-01 -9.58983083e-01 -1.18714688e-03 2.06202712e+02] [ 9.58967498e-01 2.83463003e-01 -5.48305585e-03 1.17692557e+02] [ 5.59467002e-03 4.15796240e-04 9.99984263e-01 7.01569299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:117.72, Z:0.70 [[ 2.83602850e-01 -9.58941047e-01 -1.22129196e-03 2.06204884e+02] [ 9.58924513e-01 2.83605153e-01 -5.64767107e-03 1.17718626e+02] [ 5.76214830e-03 4.30568812e-04 9.99983306e-01 7.02089193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:117.74, Z:0.70 [[ 2.83406842e-01 -9.58998875e-01 -1.31118229e-03 2.06205154e+02] [ 9.58979778e-01 2.83409497e-01 -6.06975153e-03 1.17743279e+02] [ 6.19248640e-03 4.62811812e-04 9.99980719e-01 7.01813517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:117.77, Z:0.70 [[ 2.82448816e-01 -9.59281114e-01 -1.55247793e-03 2.06206011e+02] [ 9.59254281e-01 2.82452560e-01 -7.19549015e-03 1.17768992e+02] [ 7.34099917e-03 5.43136567e-04 9.99972907e-01 7.01948891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:117.79, Z:0.70 [[ 2.80595414e-01 -9.59824641e-01 -1.69476483e-03 2.06208421e+02] [ 9.59792593e-01 2.80599932e-01 -7.86492288e-03 1.17793973e+02] [ 8.02449768e-03 5.80238557e-04 9.99967635e-01 7.01732278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.541400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:206.21, Y:117.82, Z:0.70 [[ 2.73772178e-01 -9.61793457e-01 -1.46304345e-03 2.06210965e+02] [ 9.61769542e-01 2.73775711e-01 -6.79764722e-03 1.17819629e+02] [ 6.93847838e-03 4.53896053e-04 9.99975825e-01 7.01622787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:117.84, Z:0.70 [[ 2.69467062e-01 -9.63008869e-01 -1.19187596e-03 2.06214377e+02] [ 9.62992968e-01 2.69469476e-01 -5.54490852e-03 1.17843991e+02] [ 5.66097027e-03 3.46402045e-04 9.99983917e-01 7.01538336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:117.87, Z:0.70 [[ 2.65229339e-01 -9.64184902e-01 -9.33710090e-04 2.06218443e+02] [ 9.64175126e-01 2.65230861e-01 -4.34930106e-03 1.17868695e+02] [ 4.44117915e-03 2.53302201e-04 9.99990106e-01 7.01447741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:117.89, Z:0.70 [[ 2.58951456e-01 -9.65890082e-01 -7.02109183e-04 2.06223896e+02] [ 9.65884547e-01 2.58952352e-01 -3.27438189e-03 1.17893507e+02] [ 3.34450582e-03 1.69749548e-04 9.99994393e-01 7.02586760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:117.92, Z:0.70 [[ 2.57636660e-01 -9.66241603e-01 -7.18130399e-04 2.06228716e+02] [ 9.66235800e-01 2.57637605e-01 -3.35323278e-03 1.17918208e+02] [ 3.42505042e-03 1.70032393e-04 9.99994120e-01 7.03112646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:117.94, Z:0.70 [[ 2.58016440e-01 -9.66140193e-01 -8.03051298e-04 2.06232295e+02] [ 9.66132919e-01 2.58017618e-01 -3.75379568e-03 1.17942330e+02] [ 3.83389427e-03 1.92686704e-04 9.99992632e-01 7.03531351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:117.97, Z:0.70 [[ 2.60069053e-01 -9.65589629e-01 -8.69951929e-04 2.06235038e+02] [ 9.65581069e-01 2.60070416e-01 -4.07165444e-03 1.17967444e+02] [ 4.15779606e-03 2.18902199e-04 9.99991332e-01 7.03362328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:117.99, Z:0.70 [[ 2.63294726e-01 -9.64714961e-01 -9.64788256e-04 2.06237978e+02] [ 9.64704401e-01 2.63296365e-01 -4.52133154e-03 1.17992487e+02] [ 4.61582143e-03 2.59707272e-04 9.99989313e-01 7.03012596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:118.02, Z:0.70 [[ 2.70975826e-01 -9.62585391e-01 -1.21114819e-03 2.06241342e+02] [ 9.62568685e-01 2.70978274e-01 -5.68349795e-03 1.18016453e+02] [ 5.79904695e-03 3.74277229e-04 9.99983115e-01 7.03062501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:118.04, Z:0.70 [[ 2.74075747e-01 -9.61707118e-01 -1.37972994e-03 2.06245651e+02] [ 9.61685373e-01 2.74078850e-01 -6.48279555e-03 1.18041822e+02] [ 6.61270542e-03 4.49910930e-04 9.99978035e-01 7.03326512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:118.07, Z:0.70 [[ 2.77618237e-01 -9.60690401e-01 -1.43821719e-03 2.06244754e+02] [ 9.60666700e-01 2.77621518e-01 -6.76646121e-03 1.18067251e+02] [ 6.89975437e-03 4.96845671e-04 9.99976073e-01 7.02818024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:118.09, Z:0.70 [[ 2.77771300e-01 -9.60646292e-01 -1.34394766e-03 2.06247076e+02] [ 9.60625547e-01 2.77774158e-01 -6.33056342e-03 1.18092659e+02] [ 6.45474621e-03 4.67418379e-04 9.99979059e-01 7.02464311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:118.12, Z:0.70 [[ 2.77469246e-01 -9.60733588e-01 -1.33794459e-03 2.06250767e+02] [ 9.60712978e-01 2.77472081e-01 -6.31022898e-03 1.18118152e+02] [ 6.43369120e-03 4.65513747e-04 9.99979195e-01 7.02373331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:118.14, Z:0.70 [[ 2.77030657e-01 -9.60860197e-01 -1.30266474e-03 2.06255918e+02] [ 9.60840619e-01 2.77033351e-01 -6.15048297e-03 1.18141777e+02] [ 6.27063585e-03 4.52219143e-04 9.99980237e-01 7.02509123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:118.17, Z:0.70 [[ 2.76138770e-01 -9.61116972e-01 -1.24323479e-03 2.06261002e+02] [ 9.61099097e-01 2.76141237e-01 -5.87732438e-03 1.18165351e+02] [ 5.99210460e-03 4.28085284e-04 9.99981956e-01 7.03113638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:118.19, Z:0.70 [[ 2.74666577e-01 -9.61538868e-01 -1.13019696e-03 2.06265342e+02] [ 9.61524062e-01 2.74668635e-01 -5.34972444e-03 1.18190362e+02] [ 5.45439764e-03 3.82678930e-04 9.99985051e-01 7.03657725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:118.21, Z:0.70 [[ 2.70811072e-01 -9.62632161e-01 -8.27515845e-04 2.06267407e+02] [ 9.62624208e-01 2.70812207e-01 -3.92210779e-03 1.18214572e+02] [ 3.99964849e-03 2.65563432e-04 9.99991966e-01 7.04211598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:118.24, Z:0.70 [[ 2.68897127e-01 -9.63168623e-01 -7.33653828e-04 2.06271674e+02] [ 9.63162360e-01 2.68898030e-01 -3.48095959e-03 1.18238315e+02] [ 3.55002913e-03 2.29392281e-04 9.99993672e-01 7.04293638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.081400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:206.28, Y:118.26, Z:0.70 [[ 2.67459012e-01 -9.63568923e-01 -7.79182228e-04 2.06276597e+02] [ 9.63561843e-01 2.67460040e-01 -3.70153961e-03 1.18262954e+02] [ 3.77508865e-03 2.39219864e-04 9.99992846e-01 7.03855043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.28, Y:118.29, Z:0.70 [[ 2.66205155e-01 -9.63915986e-01 -8.87130052e-04 2.06280957e+02] [ 9.63906787e-01 2.66206498e-01 -4.21963729e-03 1.18288079e+02] [ 4.30353563e-03 2.68178522e-04 9.99990704e-01 7.04336215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.28, Y:118.31, Z:0.70 [[ 2.65495129e-01 -9.64111520e-01 -1.14631326e-03 2.06283837e+02] [ 9.64096123e-01 2.65497380e-01 -5.45946515e-03 1.18313496e+02] [ 5.56787641e-03 3.44305236e-04 9.99984440e-01 7.04090192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:118.34, Z:0.70 [[ 2.65501622e-01 -9.64109486e-01 -1.33685441e-03 2.06288276e+02] [ 9.64088491e-01 2.65504680e-01 -6.37543492e-03 1.18337096e+02] [ 6.50155839e-03 4.03842363e-04 9.99978783e-01 7.03911870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:118.36, Z:0.70 [[ 2.65805173e-01 -9.64025775e-01 -1.38388438e-03 2.06293473e+02] [ 9.64003218e-01 2.65808440e-01 -6.60820674e-03 1.18360710e+02] [ 6.73832977e-03 4.22426541e-04 9.99977208e-01 7.04015882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.231400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:206.30, Y:118.38, Z:0.71 [[ 2.66461114e-01 -9.63829238e-01 -5.62810282e-03 2.06302410e+02] [ 9.63828782e-01 2.66486469e-01 -4.36367806e-03 1.18383463e+02] [ 5.70565374e-03 -4.26177697e-03 9.99974641e-01 7.05222514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:118.41, Z:0.70 [[ 2.68017223e-01 -9.63408367e-01 3.32967735e-03 2.06297936e+02] [ 9.63399240e-01 2.67992273e-01 -6.48436305e-03 1.18410748e+02] [ 5.35476182e-03 4.94572960e-03 9.99973433e-01 7.04070182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.31, Y:118.44, Z:0.70 [[ 2.68916424e-01 -9.63162846e-01 -1.13521437e-03 2.06305522e+02] [ 9.63147543e-01 2.68918566e-01 -5.44195113e-03 1.18435203e+02] [ 5.54676536e-03 3.70051106e-04 9.99984548e-01 7.03996548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.31, Y:118.46, Z:0.70 [[ 2.69924275e-01 -9.62880877e-01 -1.14148116e-03 2.06309868e+02] [ 9.62865361e-01 2.69926422e-01 -5.47928964e-03 1.18459285e+02] [ 5.58401914e-03 3.79900616e-04 9.99984337e-01 7.03809957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:118.48, Z:0.70 [[ 2.71124894e-01 -9.62543399e-01 -1.22347266e-03 2.06315457e+02] [ 9.62525528e-01 2.71127334e-01 -5.88024500e-03 1.18484334e+02] [ 5.99170789e-03 4.16657138e-04 9.99981963e-01 7.03521813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:118.51, Z:0.70 [[ 2.72239024e-01 -9.62228722e-01 -1.34203970e-03 2.06321633e+02] [ 9.62207160e-01 2.72241931e-01 -6.45850429e-03 1.18508330e+02] [ 6.57991781e-03 4.66936698e-04 9.99978243e-01 7.03441086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:118.53, Z:0.70 [[ 2.73289499e-01 -9.61930704e-01 -1.47314414e-03 2.06327678e+02] [ 9.61904656e-01 2.73292969e-01 -7.09832738e-03 1.18533481e+02] [ 7.23069899e-03 5.22874127e-04 9.99973721e-01 7.03654392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:118.56, Z:0.70 [[ 2.74879594e-01 -9.61477369e-01 -1.57432405e-03 2.06331948e+02] [ 9.61447539e-01 2.74883502e-01 -7.59535489e-03 1.18559011e+02] [ 7.73551754e-03 5.74178082e-04 9.99969916e-01 7.03894355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:118.58, Z:0.70 [[ 2.75722808e-01 -9.61235956e-01 -1.53969271e-03 2.06336449e+02] [ 9.61207360e-01 2.75726517e-01 -7.43624981e-03 1.18583017e+02] [ 7.57252481e-03 5.70379715e-04 9.99971165e-01 7.03778983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:118.61, Z:0.70 [[ 2.76591874e-01 -9.60986350e-01 -1.47325197e-03 2.06342264e+02] [ 9.60960100e-01 2.76595242e-01 -7.12447072e-03 1.18606982e+02] [ 7.25401360e-03 5.54834348e-04 9.99973535e-01 7.04070597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:118.63, Z:0.70 [[ 2.78656732e-01 -9.60390208e-01 -1.03644226e-03 2.06349747e+02] [ 9.60377182e-01 2.78658369e-01 -5.01824218e-03 1.18631403e+02] [ 5.10828396e-03 4.02991475e-04 9.99986871e-01 7.04815270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:118.66, Z:0.70 [[ 2.79180836e-01 -9.60238174e-01 -8.42451533e-04 2.06353719e+02] [ 9.60229546e-01 2.79181911e-01 -4.08417253e-03 1.18655268e+02] [ 4.15697560e-03 3.31275850e-04 9.99991305e-01 7.04879375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:118.68, Z:0.70 [[ 2.79271913e-01 -9.60211683e-01 -8.49718370e-04 2.06356988e+02] [ 9.60202884e-01 2.79273004e-01 -4.12449471e-03 1.18680781e+02] [ 4.19769141e-03 3.35953500e-04 9.99991133e-01 7.04530254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:118.71, Z:0.70 [[ 2.78875606e-01 -9.60326679e-01 -1.03258361e-03 2.06360679e+02] [ 9.60313652e-01 2.78877219e-01 -5.01865255e-03 1.18706279e+02] [ 5.10750998e-03 4.07975638e-04 9.99986873e-01 7.04126324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:118.73, Z:0.70 [[ 2.76782919e-01 -9.60931734e-01 -1.19094704e-03 2.06365858e+02] [ 9.60914363e-01 2.76785099e-01 -5.79619985e-03 1.18730306e+02] [ 5.89938877e-03 4.59890996e-04 9.99982493e-01 7.03910081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:118.76, Z:0.70 [[ 2.75043071e-01 -9.61431483e-01 -9.01759669e-04 2.06371246e+02] [ 9.61421501e-01 2.75044337e-01 -4.39428428e-03 1.18755356e+02] [ 4.47282714e-03 3.41646306e-04 9.99989939e-01 7.04632499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:118.78, Z:0.71 [[ 2.73107251e-01 -9.61983398e-01 -6.09202251e-04 2.06375447e+02] [ 9.61978832e-01 2.73107837e-01 -2.97246260e-03 1.18779812e+02] [ 3.02583758e-03 2.25761420e-04 9.99995397e-01 7.05295693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:118.81, Z:0.71 [[ 2.71065142e-01 -9.62560865e-01 -5.19157015e-04 2.06379007e+02] [ 9.62557542e-01 2.71065575e-01 -2.53625068e-03 1.18805361e+02] [ 2.58202124e-03 1.87770651e-04 9.99996649e-01 7.05787985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:118.83, Z:0.71 [[ 2.69127086e-01 -9.63104464e-01 -6.35015713e-04 2.06382536e+02] [ 9.63099480e-01 2.69127742e-01 -3.10631505e-03 1.18830994e+02] [ 3.16260624e-03 2.24410217e-04 9.99994974e-01 7.05148344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:118.85, Z:0.70 [[ 2.67263181e-01 -9.63622924e-01 -1.11901482e-03 2.06387052e+02] [ 9.63607411e-01 2.67265244e-01 -5.48148870e-03 1.18854962e+02] [ 5.58116193e-03 3.86709135e-04 9.99984350e-01 7.03558453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:118.88, Z:0.70 [[ 2.66551940e-01 -9.63819775e-01 -1.22661246e-03 2.06392470e+02] [ 9.63801089e-01 2.66554429e-01 -6.01639350e-03 1.18879726e+02] [ 6.12567801e-03 4.21470939e-04 9.99981149e-01 7.03235917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:118.90, Z:0.70 [[ 2.66012579e-01 -9.63968786e-01 -1.21932873e-03 2.06397655e+02] [ 9.63950275e-01 2.66015046e-01 -5.98854008e-03 1.18904201e+02] [ 6.09712550e-03 4.17654731e-04 9.99981325e-01 7.03838456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:118.93, Z:0.70 [[ 2.65593027e-01 -9.64084547e-01 -1.15374153e-03 2.06401639e+02] [ 9.64067929e-01 2.65595240e-01 -5.67417134e-03 1.18928118e+02] [ 5.77680916e-03 3.94735136e-04 9.99983236e-01 7.04400868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92140051300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:206.40, Y:118.95, Z:0.71 [[ 2.66315051e-01 -9.63885374e-01 -1.13103555e-03 2.06403187e+02] [ 9.63869363e-01 2.66317162e-01 -5.56963852e-03 1.18954218e+02] [ 5.66970728e-03 3.93108050e-04 9.99983850e-01 7.05513415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.951400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:206.41, Y:118.98, Z:0.71 [[ 2.66084542e-01 -9.63949034e-01 -1.12970110e-03 2.06408096e+02] [ 9.63933022e-01 2.66086649e-01 -5.56990933e-03 1.18979755e+02] [ 5.66970710e-03 3.93110575e-04 9.99983850e-01 7.05519686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.981400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.41, Y:119.00, Z:0.71 [[ 2.66865868e-01 -9.63733095e-01 -1.06328109e-03 2.06410870e+02] [ 9.63718872e-01 2.66867721e-01 -5.24940949e-03 1.19003749e+02] [ 5.34278506e-03 3.76184161e-04 9.99985656e-01 7.05052832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.41, Y:119.03, Z:0.70 [[ 2.67660935e-01 -9.63512767e-01 -8.78236293e-04 2.06413903e+02] [ 9.63503039e-01 2.67662190e-01 -4.34123565e-03 1.19029368e+02] [ 4.41790662e-03 3.15795855e-04 9.99990191e-01 7.04403973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:119.05, Z:0.70 [[ 2.68721051e-01 -9.63217675e-01 -8.40794999e-04 2.06416540e+02] [ 9.63208735e-01 2.68722190e-01 -4.16138094e-03 1.19054504e+02] [ 4.23425594e-03 3.08389573e-04 9.99990988e-01 7.04065046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:119.08, Z:0.70 [[ 2.69800656e-01 -9.62915605e-01 -1.06899973e-03 2.06416007e+02] [ 9.62901115e-01 2.69802478e-01 -5.29778583e-03 1.19080552e+02] [ 5.38973942e-03 4.00005062e-04 9.99985395e-01 7.03647933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:119.10, Z:0.70 [[ 2.69417635e-01 -9.63022584e-01 -1.28079565e-03 2.06417966e+02] [ 9.63001728e-01 2.69420253e-01 -6.35602905e-03 1.19104940e+02] [ 6.46607181e-03 4.79017893e-04 9.99978980e-01 7.03368313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:119.13, Z:0.70 [[ 2.68869099e-01 -9.63175545e-01 -1.50884373e-03 2.06420553e+02] [ 9.63146529e-01 2.68872744e-01 -7.49738426e-03 1.19130695e+02] [ 7.62698413e-03 5.62577347e-04 9.99970756e-01 7.03525221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:119.16, Z:0.70 [[ 2.68283999e-01 -9.63338427e-01 -1.66463643e-03 2.06423635e+02] [ 9.63303022e-01 2.68288451e-01 -8.28216316e-03 1.19155975e+02] [ 8.42512875e-03 6.18422550e-04 9.99964317e-01 7.03568765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:119.18, Z:0.70 [[ 2.67224563e-01 -9.63632690e-01 -1.75261036e-03 2.06426569e+02] [ 9.63593348e-01 2.67229533e-01 -8.73130163e-03 1.19181119e+02] [ 8.88211692e-03 6.44414580e-04 9.99960346e-01 7.03370390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:119.21, Z:0.70 [[ 2.64026935e-01 -9.64513428e-01 -1.90398375e-03 2.06426085e+02] [ 9.64466895e-01 2.64032947e-01 -9.49798375e-03 1.19207301e+02] [ 9.66364731e-03 6.71394245e-04 9.99953080e-01 7.03387351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.251400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:206.43, Y:119.23, Z:0.70 [[ 2.62140532e-01 -9.65027749e-01 -1.94542932e-03 2.06427521e+02] [ 9.64979054e-01 2.62146894e-01 -9.71755700e-03 1.19231974e+02] [ 9.88770042e-03 6.70067019e-04 9.99950891e-01 7.03229302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:119.26, Z:0.70 [[ 2.60230558e-01 -9.65544350e-01 -2.04092322e-03 2.06429726e+02] [ 9.65490629e-01 2.60237656e-01 -1.02082272e-02 1.19256899e+02] [ 1.03876212e-02 6.86000424e-04 9.99945812e-01 7.03236613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:119.28, Z:0.70 [[ 2.58871587e-01 -9.65909542e-01 -2.06331719e-03 2.06432966e+02] [ 9.65854501e-01 2.58878911e-01 -1.03340588e-02 1.19282568e+02] [ 1.05159153e-02 6.82330011e-04 9.99944473e-01 7.03079183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:119.31, Z:0.70 [[ 2.58140171e-01 -9.66105617e-01 -1.89443416e-03 2.06436971e+02] [ 9.66059117e-01 2.58146373e-01 -9.49910981e-03 1.19306784e+02] [ 9.66618465e-03 6.21966431e-04 9.99953088e-01 7.03175273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:119.33, Z:0.70 [[ 2.57919153e-01 -9.66165334e-01 -1.50282587e-03 2.06438557e+02] [ 9.66135993e-01 2.57923058e-01 -7.54582038e-03 1.19330991e+02] [ 7.67812351e-03 4.94277440e-04 9.99970401e-01 7.04112754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:119.36, Z:0.70 [[ 2.58333237e-01 -9.66054583e-01 -1.57498137e-03 2.06439659e+02] [ 9.66022268e-01 2.58337506e-01 -7.91905347e-03 1.19356203e+02] [ 8.05711466e-03 5.24287642e-04 9.99967404e-01 7.04949191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:119.38, Z:0.71 [[ 2.59020754e-01 -9.65870256e-01 -1.70217569e-03 2.06440436e+02] [ 9.65832407e-01 2.59025707e-01 -8.57002928e-03 1.19382084e+02] [ 8.71844363e-03 5.75799002e-04 9.99961828e-01 7.05871910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:119.41, Z:0.71 [[ 2.59941271e-01 -9.65622957e-01 -1.68562116e-03 2.06441900e+02] [ 9.65585737e-01 2.59946086e-01 -8.49802086e-03 1.19407483e+02] [ 8.64405465e-03 5.81374591e-04 9.99962470e-01 7.06210650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:119.43, Z:0.71 [[ 2.60999955e-01 -9.65337541e-01 -1.56689860e-03 2.06444644e+02] [ 9.65305291e-01 2.61004075e-01 -7.91005831e-03 1.19432788e+02] [ 8.04484316e-03 5.51989352e-04 9.99967487e-01 7.06640681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:119.46, Z:0.71 [[ 2.63447649e-01 -9.64673205e-01 -9.71754081e-04 2.06445750e+02] [ 9.64660765e-01 2.63449199e-01 -4.91206403e-03 1.19458070e+02] [ 4.99454439e-03 3.56658684e-04 9.99987464e-01 7.07216682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:119.48, Z:0.71 [[ 2.64039153e-01 -9.64511702e-01 -7.08857813e-04 2.06447858e+02] [ 9.64505064e-01 2.64039973e-01 -3.58804081e-03 1.19482497e+02] [ 3.64787415e-03 2.63686308e-04 9.99993312e-01 7.07199648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.581400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.45, Y:119.51, Z:0.71 [[ 2.64219523e-01 -9.64462358e-01 -6.34649465e-04 2.06450685e+02] [ 9.64457024e-01 2.64220178e-01 -3.21665619e-03 1.19507927e+02] [ 3.27003101e-03 2.37811230e-04 9.99994625e-01 7.07324622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:119.53, Z:0.71 [[ 2.63830376e-01 -9.64568865e-01 -6.61581741e-04 2.06454571e+02] [ 9.64563052e-01 2.63831089e-01 -3.35778331e-03 1.19532272e+02] [ 3.41335907e-03 2.47747932e-04 9.99994144e-01 7.07417074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:119.56, Z:0.71 [[ 2.62899434e-01 -9.64823027e-01 -6.43217193e-04 2.06459758e+02] [ 9.64817519e-01 2.62900112e-01 -3.26894971e-03 1.19557087e+02] [ 3.32305983e-03 2.38817813e-04 9.99994450e-01 7.07448879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:119.58, Z:0.71 [[ 2.62495537e-01 -9.64933049e-01 -5.51650880e-04 2.06464490e+02] [ 9.64928987e-01 2.62496037e-01 -2.80731978e-03 1.19582635e+02] [ 2.85368180e-03 2.04604987e-04 9.99995907e-01 7.07401171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:119.61, Z:0.71 [[ 2.62079476e-01 -9.65046157e-01 -5.13699993e-04 2.06468912e+02] [ 9.65042625e-01 2.62079910e-01 -2.61782129e-03 1.19606680e+02] [ 2.66094882e-03 1.90334841e-04 9.99996442e-01 7.07280312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:119.63, Z:0.71 [[ 2.61702712e-01 -9.65148359e-01 -5.79669472e-04 2.06473755e+02] [ 9.65143850e-01 2.61703266e-01 -2.95805990e-03 1.19631252e+02] [ 3.00666805e-03 2.14667874e-04 9.99995457e-01 7.06793996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:119.66, Z:0.71 [[ 2.61348085e-01 -9.65244317e-01 -7.65899319e-04 2.06479148e+02] [ 9.65236423e-01 2.61349053e-01 -3.91399928e-03 1.19655384e+02] [ 3.97813262e-03 2.83642296e-04 9.99992047e-01 7.06593505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:119.68, Z:0.71 [[ 2.60359797e-01 -9.65511121e-01 -1.02487651e-03 2.06485294e+02] [ 9.65496956e-01 2.60361544e-01 -5.24353098e-03 1.19679420e+02] [ 5.32952591e-03 3.75689518e-04 9.99985727e-01 7.06119848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:119.70, Z:0.71 [[ 2.59695928e-01 -9.65689955e-01 -9.67375949e-04 2.06490719e+02] [ 9.65677304e-01 2.59697490e-01 -4.95572322e-03 1.19704425e+02] [ 5.03691724e-03 3.52808141e-04 9.99987252e-01 7.06549645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:119.73, Z:0.71 [[ 2.59229261e-01 -9.65815482e-01 -8.03020038e-04 2.06496846e+02] [ 9.65806742e-01 2.59230340e-01 -4.11921878e-03 1.19728791e+02] [ 4.18657243e-03 2.92259872e-04 9.99991194e-01 7.06074809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:119.75, Z:0.71 [[ 2.59143762e-01 -9.65838513e-01 -6.90379824e-04 2.06508359e+02] [ 9.65832036e-01 2.59144559e-01 -3.54616347e-03 1.19752726e+02] [ 3.60392943e-03 2.52175190e-04 9.99993474e-01 7.06017193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:119.78, Z:0.71 [[ 2.59079205e-01 -9.65855735e-01 -8.14689430e-04 2.06515964e+02] [ 9.65846691e-01 2.59080314e-01 -4.19061533e-03 1.19775899e+02] [ 4.25859984e-03 2.98836199e-04 9.99990887e-01 7.06327487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:119.80, Z:0.71 [[ 2.59059530e-01 -9.65860848e-01 -9.91641886e-04 2.06522349e+02] [ 9.65847410e-01 2.59061170e-01 -5.10797513e-03 1.19799618e+02] [ 5.19048910e-03 3.65494889e-04 9.99986463e-01 7.06033034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.53, Y:119.82, Z:0.71 [[ 2.59114434e-01 -9.65845947e-01 -1.14718641e-03 2.06528348e+02] [ 9.65827914e-01 2.59116624e-01 -5.91737294e-03 1.19824018e+02] [ 6.01252574e-03 4.25292085e-04 9.99981834e-01 7.05727668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:119.85, Z:0.70 [[ 2.60414053e-01 -9.65496458e-01 -1.05360952e-03 2.06538149e+02] [ 9.65481202e-01 2.60415877e-01 -5.44244151e-03 1.19846994e+02] [ 5.52903465e-03 4.00048068e-04 9.99984635e-01 7.04593482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:119.87, Z:0.70 [[ 2.61619464e-01 -9.65170616e-01 -9.68565229e-04 2.06545291e+02] [ 9.65157691e-01 2.61620987e-01 -5.00900860e-03 1.19870575e+02] [ 5.08794491e-03 3.75635966e-04 9.99986986e-01 7.04756240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:119.90, Z:0.71 [[ 2.62882537e-01 -9.64827278e-01 -1.04618943e-03 2.06550605e+02] [ 9.64812156e-01 2.62884292e-01 -5.41777334e-03 1.19895435e+02] [ 5.50224227e-03 4.14861726e-04 9.99984777e-01 7.05179969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:119.92, Z:0.71 [[ 2.64657748e-01 -9.64341670e-01 -1.19152407e-03 2.06554646e+02] [ 9.64321997e-01 2.64659984e-01 -6.17891189e-03 1.19920589e+02] [ 6.27393095e-03 4.86284039e-04 9.99980200e-01 7.05109834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.121400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:206.56, Y:119.94, Z:0.70 [[ 2.66542183e-01 -9.63822275e-01 -1.37359222e-03 2.06558570e+02] [ 9.63796051e-01 2.66545097e-01 -7.13328688e-03 1.19944387e+02] [ 7.24134506e-03 5.77459097e-04 9.99973614e-01 7.04866070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:119.97, Z:0.71 [[ 2.67814690e-01 -9.63469327e-01 -1.46538683e-03 2.06563240e+02] [ 9.63439397e-01 2.67817960e-01 -7.62022749e-03 1.19969670e+02] [ 7.73431236e-03 6.28997457e-04 9.99969892e-01 7.05078381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:119.99, Z:0.71 [[ 2.69124716e-01 -9.63104252e-01 -1.44475263e-03 2.06568778e+02] [ 9.63075089e-01 2.69127850e-01 -7.52156189e-03 1.19993826e+02] [ 7.63287140e-03 6.32832938e-04 9.99970669e-01 7.05559069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:120.02, Z:0.71 [[ 2.68724764e-01 -9.63216137e-01 -1.29438947e-03 2.06572676e+02] [ 9.63192669e-01 2.68727284e-01 -6.74755349e-03 1.20019385e+02] [ 6.84719017e-03 5.66488265e-04 9.99976397e-01 7.06173284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:120.04, Z:0.71 [[ 2.67827408e-01 -9.63466187e-01 -1.17760751e-03 2.06576061e+02] [ 9.63446714e-01 2.67829508e-01 -6.14693014e-03 1.20044260e+02] [ 6.23775738e-03 5.11754274e-04 9.99980414e-01 7.06187805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:120.07, Z:0.71 [[ 2.66534137e-01 -9.63824698e-01 -1.22706306e-03 2.06580031e+02] [ 9.63803502e-01 2.66536441e-01 -6.41364877e-03 1.20069513e+02] [ 6.50869011e-03 5.26808673e-04 9.99978680e-01 7.05712107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:120.09, Z:0.70 [[ 2.64344731e-01 -9.64427411e-01 -1.27767361e-03 2.06585636e+02] [ 9.64404375e-01 2.64347276e-01 -6.68730493e-03 1.20094775e+02] [ 6.78716972e-03 5.35559802e-04 9.99976824e-01 7.04843307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:120.12, Z:0.71 [[ 2.63203226e-01 -9.64739790e-01 -1.09527404e-03 2.06590177e+02] [ 9.64722816e-01 2.63205113e-01 -5.74075054e-03 1.20118731e+02] [ 5.82661220e-03 4.54348209e-04 9.99982922e-01 7.05209608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:120.14, Z:0.71 [[ 2.62237703e-01 -9.65002874e-01 -9.16346478e-04 2.06594110e+02] [ 9.64990964e-01 2.62239033e-01 -4.80930946e-03 1.20143582e+02] [ 4.88129927e-03 3.76916196e-04 9.99988015e-01 7.06137748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:120.17, Z:0.71 [[ 2.61283455e-01 -9.65261743e-01 -8.50272396e-04 2.06597775e+02] [ 9.65251462e-01 2.61284608e-01 -4.46872041e-03 1.20167526e+02] [ 4.53564794e-03 3.46876033e-04 9.99989654e-01 7.06637557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:120.19, Z:0.71 [[ 2.59427897e-01 -9.65761792e-01 -1.15240784e-03 2.06601728e+02] [ 9.65742857e-01 2.59430047e-01 -6.06503118e-03 1.20192785e+02] [ 6.15634460e-03 4.60508646e-04 9.99980944e-01 7.06650385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:120.22, Z:0.71 [[ 2.58314141e-01 -9.66060279e-01 -1.15819897e-03 2.06606568e+02] [ 9.66041102e-01 2.58316332e-01 -6.10419725e-03 1.20216426e+02] [ 6.19620421e-03 4.57932658e-04 9.99980699e-01 7.06671813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:120.24, Z:0.71 [[ 2.57068521e-01 -9.66392645e-01 -1.01592933e-03 2.06611699e+02] [ 9.66377852e-01 2.57070223e-01 -5.36172607e-03 1.20241433e+02] [ 5.44269782e-03 3.96559392e-04 9.99985110e-01 7.07160526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:120.27, Z:0.71 [[ 2.55646438e-01 -9.66770018e-01 -7.94882295e-04 2.06617155e+02] [ 9.66760938e-01 2.55647491e-01 -4.20106066e-03 1.20265466e+02] [ 4.26466915e-03 3.05525040e-04 9.99990860e-01 7.07572127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:120.29, Z:0.71 [[ 2.52483275e-01 -9.67600990e-01 -7.20627702e-04 2.06625835e+02] [ 9.67593511e-01 2.52484163e-01 -3.81379649e-03 1.20289379e+02] [ 3.87218034e-03 2.65645139e-04 9.99992468e-01 7.08195624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:120.31, Z:0.71 [[ 2.51022933e-01 -9.67980672e-01 -9.51902445e-04 2.06632764e+02] [ 9.67967592e-01 2.51024501e-01 -5.04382249e-03 1.20312880e+02] [ 5.12127352e-03 3.44704400e-04 9.99986827e-01 7.08011647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.64, Y:120.34, Z:0.71 [[ 2.49655580e-01 -9.68333978e-01 -1.18275819e-03 2.06639624e+02] [ 9.68313733e-01 2.49658026e-01 -6.27569601e-03 1.20337109e+02] [ 6.37225475e-03 4.21481524e-04 9.99979608e-01 7.07725678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:120.36, Z:0.71 [[ 2.48152711e-01 -9.68720233e-01 -1.15836098e-03 2.06646547e+02] [ 9.68700765e-01 2.48155084e-01 -6.15479037e-03 1.20361860e+02] [ 6.24972312e-03 4.05222752e-04 9.99980388e-01 7.07086185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:120.38, Z:0.71 [[ 2.44886205e-01 -9.69551586e-01 -6.84543772e-04 2.06657637e+02] [ 9.69544771e-01 2.44887056e-01 -3.64233715e-03 1.20384339e+02] [ 3.69906967e-03 2.28262288e-04 9.99993132e-01 7.08514071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:120.41, Z:0.71 [[ 2.43296304e-01 -9.69951808e-01 -6.31739275e-04 2.06665629e+02] [ 9.69945989e-01 2.43297037e-01 -3.36616147e-03 1.20408130e+02] [ 3.41871469e-03 2.06221667e-04 9.99994135e-01 7.09777107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:120.43, Z:0.71 [[ 2.42640276e-01 -9.70116004e-01 -7.97454280e-04 2.06672546e+02] [ 9.70106706e-01 2.42641448e-01 -4.25510373e-03 1.20432349e+02] [ 4.32143969e-03 2.58843799e-04 9.99990629e-01 7.09953823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:120.46, Z:0.71 [[ 2.42998505e-01 -9.70026039e-01 -1.09967768e-03 2.06678217e+02] [ 9.70008308e-01 2.43000725e-01 -5.87621030e-03 1.20456798e+02] [ 5.96729947e-03 3.61213832e-04 9.99982130e-01 7.10136565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:120.48, Z:0.71 [[ 2.44346455e-01 -9.69687121e-01 -1.30260217e-03 2.06683412e+02] [ 9.69662177e-01 2.44349532e-01 -6.96916974e-03 1.20481226e+02] [ 7.07620437e-03 4.39807872e-04 9.99974867e-01 7.09543674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:120.50, Z:0.71 [[ 2.48939261e-01 -9.68518455e-01 -1.11671711e-03 2.06691534e+02] [ 9.68500068e-01 2.48941432e-01 -5.98177141e-03 1.20504716e+02] [ 6.07145316e-03 4.07557159e-04 9.99981486e-01 7.08646714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:120.53, Z:0.71 [[ 2.51034179e-01 -9.67977641e-01 -1.06173676e-03 2.06698893e+02] [ 9.67960968e-01 2.51036102e-01 -5.69557204e-03 1.20528561e+02] [ 5.77972065e-03 4.02063508e-04 9.99983216e-01 7.08654637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:120.55, Z:0.71 [[ 2.52965702e-01 -9.67474422e-01 -1.26318662e-03 2.06705960e+02] [ 9.67450745e-01 2.52968372e-01 -6.78660337e-03 1.20550905e+02] [ 6.88541144e-03 4.94707048e-04 9.99976173e-01 7.08470331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:120.58, Z:0.71 [[ 2.52730718e-01 -9.67535835e-01 -1.26153087e-03 2.06710233e+02] [ 9.67512158e-01 2.52733383e-01 -6.78691134e-03 1.20575714e+02] [ 6.88541089e-03 4.94714526e-04 9.99976173e-01 7.08476399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:120.60, Z:0.71 [[ 2.54476438e-01 -9.67077842e-01 -1.48011060e-03 2.06716834e+02] [ 9.67045153e-01 2.54480040e-01 -7.97377791e-03 1.20600766e+02] [ 8.08792254e-03 5.97804819e-04 9.99967114e-01 7.08157278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:120.63, Z:0.71 [[ 2.56441088e-01 -9.66558550e-01 -1.59313798e-03 2.06721981e+02] [ 9.66520563e-01 2.56445177e-01 -8.59494894e-03 1.20625653e+02] [ 8.71607393e-03 6.64297442e-04 9.99961794e-01 7.08624302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:120.65, Z:0.71 [[ 2.61371181e-01 -9.65237841e-01 -1.00783340e-03 2.06724952e+02] [ 9.65222587e-01 2.61372736e-01 -5.44516299e-03 1.20650461e+02] [ 5.51929755e-03 4.50425120e-04 9.99984667e-01 7.09526236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:120.68, Z:0.71 [[ 2.63784093e-01 -9.64581543e-01 -6.31450553e-04 2.06728406e+02] [ 9.64575538e-01 2.63784688e-01 -3.41619212e-03 1.20676023e+02] [ 3.46176286e-03 2.92055385e-04 9.99993965e-01 7.09789107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:120.70, Z:0.71 [[ 2.65818134e-01 -9.64023080e-01 -4.70486060e-04 2.06731994e+02] [ 9.64019736e-01 2.65818456e-01 -2.54875178e-03 1.20701673e+02] [ 2.58211942e-03 2.23946596e-04 9.99996641e-01 7.09320408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:120.73, Z:0.71 [[ 2.67079122e-01 -9.63674432e-01 -5.76536162e-04 2.06735967e+02] [ 9.63669397e-01 2.67079597e-01 -3.12759957e-03 1.20727182e+02] [ 3.16796878e-03 2.79726289e-04 9.99994943e-01 7.09016516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:120.75, Z:0.71 [[ 2.67269022e-01 -9.63621658e-01 -7.54636692e-04 2.06740546e+02] [ 9.63613009e-01 2.67269833e-01 -4.09949375e-03 1.20752095e+02] [ 4.15205259e-03 3.68489951e-04 9.99991312e-01 7.08145613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.75, Y:120.78, Z:0.71 [[ 2.65879162e-01 -9.64005895e-01 -9.51813140e-04 2.06745446e+02] [ 9.63992097e-01 2.65880469e-01 -5.17810582e-03 1.20776525e+02] [ 5.24479306e-03 4.59210093e-04 9.99986141e-01 7.08279189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.75, Y:120.80, Z:0.71 [[ 2.59554195e-01 -9.65727927e-01 -1.09111452e-03 2.06751546e+02] [ 9.65709756e-01 2.59556027e-01 -5.94439686e-03 1.20801130e+02] [ 6.02387541e-03 4.89193207e-04 9.99981737e-01 7.08759298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:120.83, Z:0.71 [[ 2.55106120e-01 -9.66912563e-01 -9.81071093e-04 2.06756959e+02] [ 9.66897837e-01 2.55107666e-01 -5.35271161e-03 1.20825127e+02] [ 5.42588286e-03 4.16913972e-04 9.99985193e-01 7.08974885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:120.85, Z:0.71 [[ 2.50781925e-01 -9.68043246e-01 -8.36045785e-04 2.06763558e+02] [ 9.68032527e-01 2.50783094e-01 -4.56795938e-03 1.20849456e+02] [ 4.63164837e-03 3.36242134e-04 9.99989217e-01 7.08980337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:120.87, Z:0.71 [[ 2.44195250e-01 -9.69725835e-01 -6.95655811e-04 2.06775176e+02] [ 9.69718398e-01 2.44196108e-01 -3.80653744e-03 1.20871991e+02] [ 3.86117414e-03 2.54948125e-04 9.99992513e-01 7.09450242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:120.90, Z:0.71 [[ 2.42187860e-01 -9.70229086e-01 -7.48753676e-04 2.06782025e+02] [ 9.70220447e-01 2.42188870e-01 -4.10316590e-03 1.20895398e+02] [ 4.16235071e-03 2.67280841e-04 9.99991302e-01 7.09507276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:120.92, Z:0.71 [[ 2.40859300e-01 -9.70559694e-01 -8.23081812e-04 2.06787669e+02] [ 9.70549226e-01 2.40860533e-01 -4.51706004e-03 1.20919923e+02] [ 4.58232433e-03 2.89134504e-04 9.99989459e-01 7.09983384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:120.94, Z:0.71 [[ 2.40133852e-01 -9.70739355e-01 -9.15690084e-04 2.06792634e+02] [ 9.70726360e-01 2.40135385e-01 -5.03291848e-03 1.20943594e+02] [ 5.10554162e-03 3.19689599e-04 9.99986916e-01 7.10325069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:120.97, Z:0.71 [[ 2.40029856e-01 -9.70765048e-01 -9.43418581e-04 2.06799035e+02] [ 9.70751216e-01 2.40031482e-01 -5.19269749e-03 1.20968071e+02] [ 5.26733939e-03 3.30577696e-04 9.99986073e-01 7.10045256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.81, Y:120.99, Z:0.71 [[ 2.40055621e-01 -9.70758678e-01 -9.42150938e-04 2.06806119e+02] [ 9.70744849e-01 2.40057241e-01 -5.19215496e-03 1.20991544e+02] [ 5.26649964e-03 3.31817812e-04 9.99986077e-01 7.09800078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:121.02, Z:0.71 [[ 2.40513589e-01 -9.70645374e-01 -8.78215453e-04 2.06815771e+02] [ 9.70633324e-01 2.40514989e-01 -4.84675064e-03 1.21016028e+02] [ 4.91570007e-03 3.13284210e-04 9.99987869e-01 7.09762653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:121.04, Z:0.71 [[ 2.40879460e-01 -9.70554668e-01 -8.49807565e-04 2.06820934e+02] [ 9.70543351e-01 2.40880764e-01 -4.69701014e-03 1.21040229e+02] [ 4.76340741e-03 3.06638184e-04 9.99988608e-01 7.09496363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:121.07, Z:0.71 [[ 2.41711462e-01 -9.70347802e-01 -8.43904266e-04 2.06825653e+02] [ 9.70336609e-01 2.41712737e-01 -4.67097327e-03 1.21065673e+02] [ 4.73645105e-03 3.10156576e-04 9.99988735e-01 7.09722454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:121.09, Z:0.71 [[ 2.42733778e-01 -9.70092615e-01 -7.94518125e-04 2.06830228e+02] [ 9.70082662e-01 2.42734895e-01 -4.40456704e-03 1.21088941e+02] [ 4.46569523e-03 2.98388941e-04 9.99989984e-01 7.09599087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:121.11, Z:0.71 [[ 2.45088037e-01 -9.69500401e-01 -9.09343626e-04 2.06835903e+02] [ 9.69487322e-01 2.45089466e-01 -5.04845978e-03 1.21114267e+02] [ 5.11735433e-03 3.55719984e-04 9.99986843e-01 7.08955013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:121.14, Z:0.71 [[ 2.45419840e-01 -9.69416394e-01 -9.78527398e-04 2.06840299e+02] [ 9.69401203e-01 2.45421486e-01 -5.44070240e-03 1.21138171e+02] [ 5.51445774e-03 3.86670674e-04 9.99984721e-01 7.08632979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.85, Y:121.16, Z:0.71 [[ 2.45315381e-01 -9.69442730e-01 -1.07571109e-03 2.06845131e+02] [ 9.69424319e-01 2.45317368e-01 -5.98984169e-03 1.21163565e+02] [ 6.07069910e-03 4.26579800e-04 9.99981482e-01 7.08321726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.85, Y:121.19, Z:0.71 [[ 2.44980547e-01 -9.69527328e-01 -1.13637101e-03 2.06850243e+02] [ 9.69506724e-01 2.44982768e-01 -6.33690690e-03 1.21188168e+02] [ 6.42219574e-03 4.50699583e-04 9.99979276e-01 7.07981925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:121.21, Z:0.71 [[ 2.44311732e-01 -9.69695886e-01 -1.29104900e-03 2.06855895e+02] [ 9.69669215e-01 2.44314612e-01 -7.21003352e-03 1.21212654e+02] [ 7.30696197e-03 5.09605310e-04 9.99973174e-01 7.07817954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:121.24, Z:0.71 [[ 2.42137903e-01 -9.70240750e-01 -1.45733473e-03 2.06861650e+02] [ 9.70206671e-01 2.42141642e-01 -8.15110698e-03 1.21236044e+02] [ 8.26141757e-03 5.59776078e-04 9.99965717e-01 7.07977738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:121.26, Z:0.71 [[ 2.41457234e-01 -9.70410520e-01 -1.35183902e-03 2.06866293e+02] [ 9.70381116e-01 2.41460466e-01 -7.57191349e-03 1.21261600e+02] [ 7.67428019e-03 5.16494227e-04 9.99970419e-01 7.08483469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.771400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:206.87, Y:121.29, Z:0.71 [[ 2.41720435e-01 -9.70345169e-01 -1.21864464e-03 2.06871263e+02] [ 9.70321203e-01 2.41723050e-01 -6.83587006e-03 1.21286606e+02] [ 6.92772799e-03 4.69892753e-04 9.99975893e-01 7.08492285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:121.31, Z:0.71 [[ 2.41850576e-01 -9.70312890e-01 -1.09262163e-03 2.06876678e+02] [ 9.70293568e-01 2.41852672e-01 -6.13817560e-03 1.21311984e+02] [ 6.22020437e-03 4.24357568e-04 9.99980564e-01 7.09565741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:121.34, Z:0.71 [[ 2.45540842e-01 -9.69385724e-01 -1.00661217e-03 2.06880536e+02] [ 9.69369266e-01 2.45542555e-01 -5.66384449e-03 1.21336354e+02] [ 5.73761612e-03 4.14926243e-04 9.99983454e-01 7.09210065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:121.36, Z:0.71 [[ 2.48043009e-01 -9.68748462e-01 -1.04119750e-03 2.06883084e+02] [ 9.68730799e-01 2.48044792e-01 -5.86680042e-03 1.21361772e+02] [ 5.94171749e-03 4.46578740e-04 9.99982248e-01 7.08710337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:121.39, Z:0.71 [[ 2.50730354e-01 -9.68056311e-01 -1.12629588e-03 2.06884771e+02] [ 9.68035577e-01 2.50732379e-01 -6.35576628e-03 1.21387857e+02] [ 6.43513850e-03 5.03289043e-04 9.99979168e-01 7.08996213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.41, Z:0.71 [[ 2.53408685e-01 -9.67358595e-01 -1.17749433e-03 2.06885932e+02] [ 9.67335859e-01 2.53410829e-01 -6.65494051e-03 1.21412107e+02] [ 6.73610372e-03 5.47387233e-04 9.99977162e-01 7.08943025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.44, Z:0.71 [[ 2.55734984e-01 -9.66746214e-01 -1.17312432e-03 2.06887494e+02] [ 9.66723577e-01 2.55737053e-01 -6.63965429e-03 1.21437375e+02] [ 6.71887200e-03 5.63904952e-04 9.99977269e-01 7.09259602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.46, Z:0.71 [[ 2.56925596e-01 -9.66430477e-01 -1.17106681e-03 2.06886446e+02] [ 9.66407851e-01 2.56927624e-01 -6.63781862e-03 1.21463262e+02] [ 6.71586963e-03 5.73697348e-04 9.99977284e-01 7.09269147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.49, Z:0.71 [[ 2.55362207e-01 -9.66844666e-01 -1.23929913e-03 2.06886233e+02] [ 9.66819253e-01 2.55364513e-01 -7.03541318e-03 1.21488084e+02] [ 7.11862472e-03 5.98400378e-04 9.99974483e-01 7.08368559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.51, Z:0.71 [[ 2.52466495e-01 -9.67604727e-01 -1.32691242e-03 2.06886482e+02] [ 9.67575518e-01 2.52469219e-01 -7.54388313e-03 1.21513451e+02] [ 7.63450152e-03 6.20689758e-04 9.99970664e-01 7.07301557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.54, Z:0.71 [[ 2.48410028e-01 -9.68654122e-01 -1.28421654e-03 2.06888140e+02] [ 9.68626691e-01 2.48412688e-01 -7.31231312e-03 1.21537999e+02] [ 7.40211793e-03 5.72525488e-04 9.99972440e-01 7.06729338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.56, Z:0.71 [[ 2.43893791e-01 -9.69801203e-01 -1.20195611e-03 2.06891346e+02] [ 9.69777114e-01 2.43896228e-01 -6.85415622e-03 1.21563490e+02] [ 6.94032152e-03 5.06056617e-04 9.99975788e-01 7.07047277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:121.59, Z:0.71 [[ 2.36305347e-01 -9.71678425e-01 -9.06284266e-04 2.06892408e+02] [ 9.71664701e-01 2.36306836e-01 -5.17573256e-03 1.21587954e+02] [ 5.24330883e-03 3.42448847e-04 9.99986195e-01 7.08900772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.89, Y:121.61, Z:0.71 [[ 2.33660433e-01 -9.72317904e-01 -8.34215432e-04 2.06894213e+02] [ 9.72306245e-01 2.33661725e-01 -4.77119508e-03 1.21613578e+02] [ 4.83404262e-03 3.03726637e-04 9.99988270e-01 7.08865383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:121.64, Z:0.71 [[ 2.30106426e-01 -9.73165169e-01 -7.65306260e-04 2.06896328e+02] [ 9.73155332e-01 2.30107547e-01 -4.38363707e-03 1.21639175e+02] [ 4.44210566e-03 2.63941193e-04 9.99990099e-01 7.08884128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:121.66, Z:0.71 [[ 2.29209307e-01 -9.73376869e-01 -7.51942644e-04 2.06902188e+02] [ 9.73367344e-01 2.29210396e-01 -4.31363655e-03 1.21663894e+02] [ 4.37114711e-03 2.56809229e-04 9.99990414e-01 7.08886646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:121.69, Z:0.71 [[ 2.28819280e-01 -9.73468625e-01 -7.57784926e-04 2.06908347e+02] [ 9.73458923e-01 2.28820389e-01 -4.35379568e-03 1.21688979e+02] [ 4.41168013e-03 2.58559895e-04 9.99990235e-01 7.08670014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:121.71, Z:0.71 [[ 2.28688414e-01 -9.73499333e-01 -8.11477661e-04 2.06913921e+02] [ 9.73488173e-01 2.28689685e-01 -4.66968944e-03 1.21713050e+02] [ 4.73151612e-03 2.77939965e-04 9.99988768e-01 7.09141747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:121.74, Z:0.71 [[ 2.28518346e-01 -9.73539218e-01 -8.69662933e-04 2.06918436e+02] [ 9.73526361e-01 2.28519806e-01 -5.01229167e-03 1.21736995e+02] [ 5.07839771e-03 2.98760811e-04 9.99987060e-01 7.08853987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:121.76, Z:0.71 [[ 2.28060939e-01 -9.73646359e-01 -9.87805400e-04 2.06922553e+02] [ 9.73629719e-01 2.28062827e-01 -5.70233147e-03 1.21761457e+02] [ 5.77733596e-03 3.38722375e-04 9.99983254e-01 7.08473183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.371400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:206.93, Y:121.79, Z:0.71 [[ 2.28576113e-01 -9.73525407e-01 -1.11483018e-03 2.06929360e+02] [ 9.73504148e-01 2.28578502e-01 -6.44535944e-03 1.21786250e+02] [ 6.52954739e-03 3.87963400e-04 9.99978607e-01 7.06396219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:121.81, Z:0.71 [[ 2.28783490e-01 -9.73476863e-01 -9.54885003e-04 2.06934766e+02] [ 9.73461218e-01 2.28785236e-01 -5.52922736e-03 1.21810422e+02] [ 5.60103850e-03 3.35452412e-04 9.99984258e-01 7.06891245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:121.84, Z:0.71 [[ 2.30372404e-01 -9.73102186e-01 -8.31157710e-04 2.06940608e+02] [ 9.73090295e-01 2.30373706e-01 -4.82003863e-03 1.21835030e+02] [ 4.88186701e-03 3.01612385e-04 9.99988038e-01 7.07238053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:121.86, Z:0.71 [[ 2.32396297e-01 -9.72620869e-01 -7.78707475e-04 2.06946065e+02] [ 9.72610398e-01 2.32397416e-01 -4.52266632e-03 1.21860361e+02] [ 4.57980925e-03 2.93671920e-04 9.99989470e-01 7.07722651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:121.88, Z:0.71 [[ 2.37976811e-01 -9.71270472e-01 -8.41599069e-04 2.06952911e+02] [ 9.71258196e-01 2.37978045e-01 -4.89562947e-03 1.21883884e+02] [ 4.95526245e-03 3.47636295e-04 9.99987662e-01 7.08570849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:121.91, Z:0.71 [[ 2.40414360e-01 -9.70669946e-01 -8.89548239e-04 2.06958229e+02] [ 9.70656187e-01 2.40415701e-01 -5.18246755e-03 1.21908924e+02] [ 5.24432687e-03 3.82494118e-04 9.99986175e-01 7.09333234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:121.93, Z:0.71 [[ 2.42354316e-01 -9.70187443e-01 -8.43211560e-04 2.06962246e+02] [ 9.70175039e-01 2.42355494e-01 -4.92028142e-03 1.21932924e+02] [ 4.97795220e-03 3.74388630e-04 9.99987540e-01 7.09006950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:121.96, Z:0.71 [[ 2.43915167e-01 -9.69796220e-01 -8.26424998e-04 2.06964883e+02] [ 9.69784266e-01 2.43916277e-01 -4.82982705e-03 1.21957538e+02] [ 4.88552652e-03 3.76614111e-04 9.99987995e-01 7.08695465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:121.98, Z:0.71 [[ 2.45008515e-01 -9.69520587e-01 -8.12170535e-04 2.06966742e+02] [ 9.69509007e-01 2.45009571e-01 -4.75354814e-03 1.21983451e+02] [ 4.80765234e-03 3.77253123e-04 9.99988372e-01 7.08421875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:122.01, Z:0.71 [[ 2.45213552e-01 -9.69468833e-01 -7.03570726e-04 2.06969100e+02] [ 9.69460117e-01 2.45214340e-01 -4.12410173e-03 1.22008810e+02] [ 4.17071373e-03 3.29201876e-04 9.99991248e-01 7.08508815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:122.03, Z:0.71 [[ 2.43298377e-01 -9.69951413e-01 -3.94019686e-04 2.06974282e+02] [ 9.69948674e-01 2.43298630e-01 -2.31249662e-03 1.22032332e+02] [ 2.33887381e-03 1.80447804e-04 9.99997249e-01 7.09642559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:122.06, Z:0.71 [[ 2.41184867e-01 -9.70479147e-01 -2.92961069e-04 2.06979883e+02] [ 9.70477629e-01 2.41185009e-01 -1.72151899e-03 1.22055984e+02] [ 1.74135610e-03 1.30892166e-04 9.99998475e-01 7.09973757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:122.08, Z:0.71 [[ 2.38574488e-01 -9.71124185e-01 -1.73516907e-04 2.06984802e+02] [ 9.71123652e-01 2.38574540e-01 -1.02099118e-03 1.22078741e+02] [ 1.03290595e-03 7.50760764e-05 9.99999464e-01 7.09653853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:122.10, Z:0.71 [[ 2.35569411e-01 -9.71857511e-01 -1.77191657e-04 2.06989594e+02] [ 9.71856953e-01 2.35569466e-01 -1.04421458e-03 1.22103941e+02] [ 1.05656872e-03 7.37800687e-05 9.99999439e-01 7.08657286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:122.13, Z:0.71 [[ 2.35334496e-01 -9.71914422e-01 -1.76936586e-04 2.06993689e+02] [ 9.71913864e-01 2.35334551e-01 -1.04425782e-03 1.22129630e+02] [ 1.05656853e-03 7.37827672e-05 9.99999439e-01 7.08663557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.821400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.00, Y:122.15, Z:0.71 [[ 2.30172762e-01 -9.73149738e-01 -2.94311508e-04 2.07000611e+02] [ 9.73148190e-01 2.30172922e-01 -1.73992220e-03 1.22154345e+02] [ 1.76094737e-03 1.14073986e-04 9.99998443e-01 7.05501509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:122.18, Z:0.71 [[ 2.27425847e-01 -9.73795311e-01 -4.20339170e-04 2.07007549e+02] [ 9.73792142e-01 2.27426181e-01 -2.48918985e-03 1.22178521e+02] [ 2.51955753e-03 1.56783128e-04 9.99996814e-01 7.06264459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:122.20, Z:0.71 [[ 2.25048390e-01 -9.74347411e-01 -5.87154206e-04 2.07014454e+02] [ 9.74341210e-01 2.25049056e-01 -3.48262958e-03 1.22202833e+02] [ 3.52542961e-03 2.11671640e-04 9.99993763e-01 7.06620970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.911400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.02, Y:122.23, Z:0.71 [[ 2.23554584e-01 -9.74691069e-01 -8.17492399e-04 2.07020790e+02] [ 9.74679018e-01 2.23555892e-01 -4.85548803e-03 1.22226284e+02] [ 4.91535606e-03 2.88673919e-04 9.99987878e-01 7.07008689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:122.25, Z:0.71 [[ 2.22418837e-01 -9.74950761e-01 -9.35082286e-04 2.07026956e+02] [ 9.74934946e-01 2.22420565e-01 -5.56262203e-03 1.22250888e+02] [ 5.63126411e-03 3.25587525e-04 9.99984091e-01 7.08035400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:122.28, Z:0.71 [[ 2.23729138e-01 -9.74650956e-01 -8.86892101e-04 2.07034841e+02] [ 9.74636683e-01 2.23730670e-01 -5.28426749e-03 1.22275534e+02] [ 5.34874133e-03 3.17847035e-04 9.99985645e-01 7.07554336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:122.30, Z:0.71 [[ 2.25349029e-01 -9.74277857e-01 -6.87342176e-04 2.07039909e+02] [ 9.74269255e-01 2.25349933e-01 -4.10195755e-03 1.22299795e+02] [ 4.15133893e-03 2.54715800e-04 9.99991351e-01 7.07378162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:122.32, Z:0.71 [[ 2.27059487e-01 -9.73880757e-01 -5.09788246e-04 2.07044186e+02] [ 9.73876010e-01 2.27059976e-01 -3.04699750e-03 1.22324841e+02] [ 3.08316474e-03 1.95379147e-04 9.99995228e-01 7.07161851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:122.35, Z:0.71 [[ 2.28739060e-01 -9.73487669e-01 -4.48182460e-04 2.07048023e+02] [ 9.73483988e-01 2.28739430e-01 -2.68296353e-03 1.22349617e+02] [ 2.71434892e-03 1.77400108e-04 9.99996300e-01 7.07405336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:122.37, Z:0.71 [[ 2.31167261e-01 -9.72913855e-01 -5.73827241e-04 2.07052506e+02] [ 9.72907800e-01 2.31167851e-01 -3.44065678e-03 1.22374316e+02] [ 3.48011306e-03 2.37086205e-04 9.99993916e-01 7.07125045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:122.40, Z:0.71 [[ 2.30905819e-01 -9.72975900e-01 -6.33183823e-04 2.07058228e+02] [ 9.72968504e-01 2.30906538e-01 -3.80284120e-03 1.22398108e+02] [ 3.84627912e-03 2.62030243e-04 9.99992569e-01 7.06850901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:122.42, Z:0.71 [[ 2.29388752e-01 -9.73334693e-01 -6.12571825e-04 2.07064434e+02] [ 9.73327748e-01 2.29389434e-01 -3.68532679e-03 1.22421534e+02] [ 3.72757393e-03 2.49139357e-04 9.99993022e-01 7.06643971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.07, Y:122.44, Z:0.71 [[ 2.26518201e-01 -9.74006803e-01 -5.01394774e-04 2.07071017e+02] [ 9.74002136e-01 2.26518671e-01 -3.02155897e-03 1.22444939e+02] [ 3.05659427e-03 1.96078521e-04 9.99995309e-01 7.06391037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:122.47, Z:0.71 [[ 2.22241422e-01 -9.74991570e-01 -4.34417676e-04 2.07078021e+02] [ 9.74988057e-01 2.22241790e-01 -2.62209016e-03 1.22469498e+02] [ 2.65306156e-03 1.59185000e-04 9.99996468e-01 7.06201509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:122.49, Z:0.71 [[ 2.17002733e-01 -9.76170880e-01 -4.77290124e-04 2.07085330e+02] [ 9.76166628e-01 2.17003198e-01 -2.88569635e-03 1.22493350e+02] [ 2.92050623e-03 1.60289303e-04 9.99995722e-01 7.05804044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.10, Y:122.52, Z:0.70 [[ 2.08085245e-01 -9.78110438e-01 -7.07878450e-04 2.07098652e+02] [ 9.78101068e-01 2.08086354e-01 -4.28594646e-03 1.22516026e+02] [ 4.33942881e-03 1.99465550e-04 9.99990565e-01 7.04853381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.11, Y:122.54, Z:0.70 [[ 2.05042624e-01 -9.78752818e-01 -6.65531750e-04 2.07108455e+02] [ 9.78744513e-01 2.05043629e-01 -4.03595501e-03 1.22540625e+02] [ 4.08666539e-03 1.76157259e-04 9.99991634e-01 7.03928434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.331400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.12, Y:122.56, Z:0.70 [[ 2.02610260e-01 -9.79259343e-01 -4.69808641e-04 2.07117296e+02] [ 9.79255193e-01 2.02610770e-01 -2.85356766e-03 1.22564689e+02] [ 2.88957109e-03 1.18099536e-04 9.99995818e-01 7.04101146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:122.59, Z:0.71 [[ 2.01468101e-01 -9.79495053e-01 -2.12680897e-04 2.07124276e+02] [ 9.79494200e-01 2.01468207e-01 -1.29376636e-03 1.22587987e+02] [ 1.31008619e-03 5.23329480e-05 9.99999140e-01 7.05316118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.13, Y:122.61, Z:0.71 [[ 2.03769135e-01 -9.79018949e-01 -1.94364546e-04 2.07131129e+02] [ 9.79018234e-01 2.03769221e-01 -1.18427597e-03 1.22612659e+02] [ 1.19903413e-03 5.10324560e-05 9.99999280e-01 7.05924398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:122.64, Z:0.71 [[ 2.05456359e-01 -9.78666227e-01 -3.16710622e-04 2.07136862e+02] [ 9.78664322e-01 2.05456585e-01 -1.93329959e-03 1.22636965e+02] [ 1.95712530e-03 8.72553095e-05 9.99998081e-01 7.05901471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:122.66, Z:0.71 [[ 2.06463327e-01 -9.78454251e-01 -4.16838477e-04 2.07142902e+02] [ 9.78450938e-01 2.06463713e-01 -2.54897736e-03 1.22660705e+02] [ 2.58011975e-03 1.18414346e-04 9.99996664e-01 7.05921649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:122.68, Z:0.71 [[ 2.06620262e-01 -9.78421119e-01 -4.26323205e-04 2.07148263e+02] [ 9.78417641e-01 2.06620665e-01 -2.61149238e-03 1.22684422e+02] [ 2.64322648e-03 1.22465095e-04 9.99996499e-01 7.05841714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:122.71, Z:0.70 [[ 2.03833533e-01 -9.79005510e-01 -3.19316793e-04 2.07151515e+02] [ 9.79003554e-01 2.03833765e-01 -1.95910636e-03 1.22710237e+02] [ 1.98306347e-03 8.67192956e-05 9.99998030e-01 7.04598599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.541400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.15, Y:122.74, Z:0.70 [[ 2.00846150e-01 -9.79622721e-01 -3.86340627e-04 2.07154951e+02] [ 9.79619848e-01 2.00846497e-01 -2.37429259e-03 1.22735572e+02] [ 2.40350613e-03 9.84005791e-05 9.99997107e-01 7.03198146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:122.76, Z:0.70 [[ 1.96982974e-01 -9.80406780e-01 -5.03586822e-04 2.07159918e+02] [ 9.80401885e-01 1.96983583e-01 -3.10026233e-03 1.22759521e+02] [ 3.13871655e-03 1.16981424e-04 9.99995067e-01 7.03797030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:122.78, Z:0.70 [[ 1.93137046e-01 -9.81171609e-01 -5.96155132e-04 2.07164787e+02] [ 9.81164729e-01 1.93137926e-01 -3.67651755e-03 1.22783456e+02] [ 3.72243480e-03 1.25145350e-04 9.99993064e-01 7.04018017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:122.81, Z:0.70 [[ 1.89729910e-01 -9.81836087e-01 -6.78035393e-04 2.07169190e+02] [ 9.81827162e-01 1.89731078e-01 -4.18840948e-03 1.22809032e+02] [ 4.24097596e-03 1.28952991e-04 9.99990999e-01 7.04664268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:122.83, Z:0.70 [[ 1.83981214e-01 -9.82929489e-01 -7.29464158e-04 2.07172129e+02] [ 9.82919133e-01 1.83982625e-01 -4.51356472e-03 1.22834064e+02] [ 4.57072460e-03 1.13406839e-04 9.99989548e-01 7.04027950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:122.86, Z:0.70 [[ 1.81824502e-01 -9.83330727e-01 -7.29905852e-04 2.07176220e+02] [ 9.83320326e-01 1.81825937e-01 -4.52379657e-03 1.22859019e+02] [ 4.58110398e-03 1.04805799e-04 9.99989501e-01 7.03746878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:122.88, Z:0.70 [[ 1.80294255e-01 -9.83612411e-01 -7.78336349e-04 2.07180510e+02] [ 9.83600548e-01 1.80295904e-01 -4.83211231e-03 1.22883807e+02] [ 4.89325649e-03 1.05630028e-04 9.99988022e-01 7.03504391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:122.91, Z:0.70 [[ 1.79437677e-01 -9.83768963e-01 -8.64804681e-04 2.07184268e+02] [ 9.83754275e-01 1.79439725e-01 -5.37690385e-03 1.22907588e+02] [ 5.44481144e-03 1.14063835e-04 9.99985170e-01 7.03155495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:122.93, Z:0.70 [[ 1.78806939e-01 -9.83883707e-01 -9.64650460e-04 2.07186978e+02] [ 9.83865365e-01 1.78809497e-01 -6.00886278e-03 1.22931125e+02] [ 6.08451085e-03 1.25340186e-04 9.99981481e-01 7.03069580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:122.96, Z:0.70 [[ 1.78368895e-01 -9.83963191e-01 -9.88209579e-04 2.07189716e+02] [ 9.83943874e-01 1.78371587e-01 -6.16677712e-03 1.22956130e+02] [ 6.24415020e-03 1.27618462e-04 9.99980497e-01 7.02882059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:122.98, Z:0.70 [[ 1.76938653e-01 -9.84221509e-01 -8.57087004e-04 2.07192227e+02] [ 9.84206929e-01 1.76940698e-01 -5.35825449e-03 1.22980587e+02] [ 5.42536289e-03 1.04531361e-04 9.99985277e-01 7.02707193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:123.00, Z:0.70 [[ 1.75362543e-01 -9.84503695e-01 -6.73697346e-04 2.07195652e+02] [ 9.84494655e-01 1.75363820e-01 -4.21966095e-03 1.23004166e+02] [ 4.27241394e-03 7.67190385e-05 9.99990870e-01 7.02890454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.20, Y:123.03, Z:0.70 [[ 1.73235637e-01 -9.84880282e-01 -4.93634931e-04 2.07198940e+02] [ 9.84875413e-01 1.73236333e-01 -3.09743822e-03 1.23028470e+02] [ 3.13612133e-03 5.04177770e-05 9.99995081e-01 7.02189764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.931400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.20, Y:123.05, Z:0.70 [[ 1.70727627e-01 -9.85318173e-01 -4.18162791e-04 2.07202500e+02] [ 9.85314667e-01 1.70728136e-01 -2.62881034e-03 1.23052307e+02] [ 2.66160675e-03 3.67886211e-05 9.99996457e-01 7.02421621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.961400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.21, Y:123.08, Z:0.70 [[ 1.65388406e-01 -9.86228374e-01 -5.19402927e-04 2.07207497e+02] [ 9.86222948e-01 1.65389219e-01 -3.27143350e-03 1.23075439e+02] [ 3.31228419e-03 2.88100859e-05 9.99994514e-01 7.01974970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.21, Y:123.10, Z:0.70 [[ 1.62846624e-01 -9.86651266e-01 -5.06444454e-04 2.07211783e+02] [ 9.86646091e-01 1.62847410e-01 -3.19574070e-03 1.23099272e+02] [ 3.23555477e-03 2.07341414e-05 9.99994765e-01 7.01831990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.021400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:207.22, Y:123.12, Z:0.70 [[ 1.60466798e-01 -9.87041194e-01 -2.95945071e-04 2.07215862e+02] [ 9.87039421e-01 1.60467071e-01 -1.87074599e-03 1.23123522e+02] [ 1.89399280e-03 8.08316811e-06 9.99998206e-01 7.01618605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.22, Y:123.15, Z:0.70 [[ 1.58288659e-01 -9.87392862e-01 -1.90281343e-04 2.07219760e+02] [ 9.87392127e-01 1.58288774e-01 -1.20492607e-03 1.23147466e+02] [ 1.21985480e-03 2.84383172e-06 9.99999256e-01 7.02354995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.081400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.22, Y:123.17, Z:0.70 [[ 1.55974557e-01 -9.87761072e-01 4.48682750e-05 2.07223653e+02] [ 9.87761031e-01 1.55974564e-01 2.85254190e-04 1.23171120e+02] [-2.88761294e-04 -1.73262383e-07 9.99999958e-01 7.02956657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.23, Y:123.20, Z:0.70 [[ 1.55077640e-01 -9.87902281e-01 9.56251349e-05 2.07227388e+02] [ 9.87902093e-01 1.55077669e-01 6.08491428e-04 1.23195305e+02] [-6.15959392e-04 1.04856481e-07 9.99999810e-01 7.02740850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:123.22, Z:0.70 [[ 1.54056635e-01 -9.88062015e-01 8.31806796e-05 2.07231464e+02] [ 9.88061873e-01 1.54056658e-01 5.30395162e-04 1.23219993e+02] [-5.36877850e-04 4.76764034e-07 9.99999856e-01 7.03905985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.23, Y:123.25, Z:0.70 [[ 1.52683979e-01 -9.88275023e-01 2.85648945e-04 2.07233863e+02] [ 9.88273341e-01 1.52684246e-01 1.82325062e-03 1.23245291e+02] [-1.84548714e-03 3.91807877e-06 9.99998297e-01 7.02047676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.201400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.24, Y:123.27, Z:0.70 [[ 1.51342924e-01 -9.88481316e-01 8.83945419e-05 2.07236052e+02] [ 9.88481154e-01 1.51342950e-01 5.65587107e-04 1.23268512e+02] [-5.72450178e-04 1.77873220e-06 9.99999836e-01 7.02876475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.24, Y:123.29, Z:0.70 [[ 1.49661336e-01 -9.88737314e-01 8.76359393e-05 2.07238860e+02] [ 9.88737155e-01 1.49661362e-01 5.61892246e-04 1.23291983e+02] [-5.68679544e-04 2.55536487e-06 9.99999838e-01 7.03925886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.24, Y:123.32, Z:0.70 [[ 1.46618755e-01 -9.89193075e-01 5.71033680e-06 2.07242651e+02] [ 9.89193075e-01 1.46618756e-01 3.71056183e-05 1.23315965e+02] [-3.75418631e-05 2.08246063e-07 9.99999999e-01 7.03689209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.291400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.25, Y:123.34, Z:0.70 [[ 1.45240429e-01 -9.89396386e-01 -9.16132117e-05 2.07245445e+02] [ 9.89396211e-01 1.45240458e-01 -5.88704177e-04 1.23339601e+02] [ 5.95767731e-04 -5.13811709e-06 9.99999823e-01 7.03801202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.321400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.26, Y:123.36, Z:0.71 [[ 1.42877954e-01 -9.89654726e-01 -1.30159037e-02 2.07258131e+02] [ 9.89736994e-01 1.42831055e-01 4.46899678e-03 1.23362872e+02] [-2.56368851e-03 -1.35208426e-02 9.99905303e-01 7.05053653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.351400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.24, Y:123.39, Z:0.70 [[ 1.40798871e-01 -9.89954429e-01 1.28804888e-02 2.07236747e+02] [ 9.90037928e-01 1.40776922e-01 -2.59970140e-03 1.23390847e+02] [ 7.60310345e-04 1.31182074e-02 9.99913664e-01 7.01291053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.25, Y:123.41, Z:0.70 [[ 1.37836653e-01 -9.90454971e-01 8.43568455e-05 2.07249739e+02] [ 9.90454801e-01 1.37836578e-01 -6.04066179e-04 1.23414774e+02] [ 5.86672891e-04 1.66814103e-04 9.99999814e-01 7.04530416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.411400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.26, Y:123.44, Z:0.71 [[ 1.34409424e-01 -9.90898757e-01 -7.33220277e-03 2.07258398e+02] [ 9.90925166e-01 1.34396740e-01 2.19828064e-03 1.23438488e+02] [-1.19284940e-03 -7.56113388e-03 9.99970703e-01 7.05023177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.441400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:207.25, Y:123.46, Z:0.70 [[ 1.28555005e-01 -9.91676598e-01 7.15097960e-03 2.07246125e+02] [ 9.91701411e-01 1.28541455e-01 -2.32515983e-03 1.23464780e+02] [ 1.38660926e-03 7.39054749e-03 9.99971728e-01 7.02411705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.471400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.25, Y:123.49, Z:0.70 [[ 1.26317322e-01 -9.91989870e-01 -1.77859916e-04 2.07253610e+02] [ 9.91989195e-01 1.26317443e-01 -1.15805358e-03 1.23487806e+02] [ 1.17124423e-03 -3.01528879e-05 9.99999314e-01 7.03741088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.501400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.26, Y:123.51, Z:0.70 [[ 1.24824326e-01 -9.92178850e-01 -1.35326905e-04 2.07255286e+02] [ 9.92178457e-01 1.24824397e-01 -8.82853166e-04 1.23512629e+02] [ 8.92840338e-04 -2.40668887e-05 9.99999601e-01 7.03838628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.531400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:207.26, Y:123.54, Z:0.70 [[ 1.24211184e-01 -9.92255781e-01 -2.16947921e-04 2.07257969e+02] [ 9.92254768e-01 1.24211367e-01 -1.41811390e-03 1.23536939e+02] [ 1.43407912e-03 -3.91220020e-05 9.99998971e-01 7.04212958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.561400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.26, Y:123.56, Z:0.70 [[ 1.24255466e-01 -9.92250211e-01 -3.12403693e-04 2.07261131e+02] [ 9.92248104e-01 1.24255846e-01 -2.04586355e-03 1.23560809e+02] [ 2.06882652e-03 -5.57722431e-05 9.99997858e-01 7.03851548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.591400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:207.26, Y:123.59, Z:0.70 [[ 1.24215868e-01 -9.92255096e-01 -4.93423569e-04 2.07264286e+02] [ 9.92249817e-01 1.24216817e-01 -3.23768918e-03 1.23585476e+02] [ 3.27390509e-03 -8.74270739e-05 9.99994637e-01 7.03961439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.621400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.27, Y:123.61, Z:0.70 [[ 1.23631540e-01 -9.92325917e-01 -2.12543714e-03 2.07265981e+02] [ 9.92322568e-01 1.23637767e-01 -3.10227079e-03 1.23609896e+02] [ 3.34124801e-03 -1.72558073e-03 9.99992929e-01 7.03401136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.651400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.26, Y:123.63, Z:0.70 [[ 1.23964261e-01 -9.92286168e-01 1.01117981e-03 2.07264926e+02] [ 9.92279392e-01 1.23959379e-01 -3.95997496e-03 1.23634956e+02] [ 3.80408316e-03 1.49426826e-03 9.99991648e-01 7.02688795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.681400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.27, Y:123.66, Z:0.70 [[ 1.24961674e-01 -9.92161382e-01 -6.10870166e-04 2.07268147e+02] [ 9.92153190e-01 1.24963125e-01 -4.03291531e-03 1.23658179e+02] [ 4.07763907e-03 -1.02116938e-04 9.99991681e-01 7.03399426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.711400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.27, Y:123.68, Z:0.70 [[ 1.24694251e-01 -9.92195027e-01 -6.09785934e-04 2.07271565e+02] [ 9.92186836e-01 1.24695701e-01 -4.03307939e-03 1.23683143e+02] [ 4.07763900e-03 -1.02119761e-04 9.99991681e-01 7.03397574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.27, Y:123.71, Z:0.70 [[ 1.26443277e-01 -9.91973606e-01 -6.79894481e-04 2.07273761e+02] [ 9.91963379e-01 1.26445061e-01 -4.50575180e-03 1.23707884e+02] [ 4.55555616e-03 -1.04708406e-04 9.99989618e-01 7.03538210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.771400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.28, Y:123.73, Z:0.70 [[ 1.27592926e-01 -9.91789592e-01 -8.57037707e-03 2.07281891e+02] [ 9.91822581e-01 1.27612304e-01 -1.75125744e-03 1.23731460e+02] [ 2.83056446e-03 -8.27684544e-03 9.99961740e-01 7.04513476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80140051300003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:207.27, Y:123.76, Z:0.70 [[ 1.29322451e-01 -9.91588201e-01 5.34267295e-03 2.07270550e+02] [ 9.91591822e-01 1.29294056e-01 -5.35770009e-03 1.23757786e+02] [ 4.62185633e-03 5.99062171e-03 9.99971375e-01 7.02953269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:123.78, Z:0.71 [[ 1.31730794e-01 -9.91285157e-01 -8.57017026e-04 2.07274556e+02] [ 9.91282205e-01 1.31732542e-01 -2.47534003e-03 1.23781813e+02] [ 2.56666486e-03 -5.23467220e-04 9.99996569e-01 7.05397300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.27, Y:123.81, Z:0.70 [[ 1.32222589e-01 -9.91217908e-01 2.06079087e-03 2.07272509e+02] [ 9.91215698e-01 1.32215562e-01 -3.23801176e-03 1.23807349e+02] [ 2.93710662e-03 2.47082656e-03 9.99992634e-01 7.03954928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.891400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.28, Y:123.83, Z:0.70 [[ 1.32039841e-01 -9.91244309e-01 -4.48428276e-04 2.07275050e+02] [ 9.91239765e-01 1.32040594e-01 -3.00153576e-03 1.23832419e+02] [ 3.03446598e-03 -4.81776335e-05 9.99995395e-01 7.04228639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:123.86, Z:0.71 [[ 1.30825362e-01 -9.91405295e-01 -5.15038389e-04 2.07274766e+02] [ 9.91399278e-01 1.30826362e-01 -3.45450234e-03 1.23856623e+02] [ 3.49219251e-03 -5.86721696e-05 9.99993901e-01 7.05126574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.951400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.27, Y:123.88, Z:0.70 [[ 1.28883482e-01 -9.91659612e-01 -5.12007308e-04 2.07274015e+02] [ 9.91653643e-01 1.28884483e-01 -3.44117954e-03 1.23882083e+02] [ 3.47846856e-03 -6.42227099e-05 9.99993948e-01 7.04351327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.981400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.28, Y:123.91, Z:0.70 [[ 1.25846901e-01 -9.92043100e-01 -3.61181338e-03 2.07276446e+02] [ 9.92047825e-01 1.25852864e-01 -1.47305822e-03 1.23906913e+02] [ 1.91589430e-03 -3.39771180e-03 9.99992392e-01 7.04348908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.28, Y:123.93, Z:0.70 [[ 1.18543799e-01 -9.92937743e-01 -4.69102450e-03 2.07277671e+02] [ 9.92947742e-01 1.18535373e-01 2.03625092e-03 1.23931209e+02] [-1.46581805e-03 -4.89932711e-03 9.99986924e-01 7.04509296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.041400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.27, Y:123.96, Z:0.70 [[ 1.15169386e-01 -9.93311290e-01 8.28817114e-03 2.07269548e+02] [ 9.93345849e-01 1.15163770e-01 -1.15338554e-03 1.23957271e+02] [ 1.91173848e-04 8.36585511e-03 9.99964987e-01 7.04073682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.071400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.28, Y:123.98, Z:0.71 [[ 1.12004427e-01 -9.93707707e-01 3.22421770e-05 2.07279365e+02] [ 9.93707683e-01 1.12004432e-01 2.18409348e-04 1.23979801e+02] [-2.20646319e-04 7.57648500e-06 9.99999976e-01 7.05882886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.101400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.28, Y:124.00, Z:0.71 [[ 1.09148676e-01 -9.94025436e-01 -9.92865741e-06 2.07281840e+02] [ 9.94025433e-01 1.09148676e-01 -6.74816518e-05 1.24004444e+02] [ 6.81621782e-05 -2.50380502e-06 9.99999998e-01 7.06219535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.28, Y:124.03, Z:0.71 [[ 1.06617878e-01 -9.94300068e-01 -6.22012394e-05 2.07283717e+02] [ 9.94299978e-01 1.06617894e-01 -4.23311804e-04 1.24027659e+02] [ 4.27530720e-04 -1.67140848e-05 9.99999908e-01 7.06233727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.28, Y:124.05, Z:0.71 [[ 1.02506778e-01 -9.94732306e-01 -1.96151258e-05 2.07283501e+02] [ 9.94732297e-01 1.02506779e-01 -1.33818778e-04 1.24051427e+02] [ 1.35124545e-04 -5.79446733e-06 9.99999991e-01 7.05795941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.191400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:207.28, Y:124.08, Z:0.71 [[ 1.01177656e-01 -9.94868374e-01 9.37680746e-06 2.07284819e+02] [ 9.94868372e-01 1.01177656e-01 6.40036889e-05 1.24076273e+02] [-6.46239692e-05 2.85294601e-06 9.99999998e-01 7.05765393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:124.10, Z:0.71 [[ 1.00332898e-01 -9.94950664e-01 -2.54691839e-03 2.07289193e+02] [ 9.94953809e-01 1.00333787e-01 -2.23502616e-04 1.24102321e+02] [ 4.77916044e-04 -2.51164149e-03 9.99996732e-01 7.08065387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.29, Y:124.13, Z:0.71 [[ 1.00164496e-01 -9.94967958e-01 2.41582817e-03 2.07285642e+02] [ 9.94970814e-01 1.00163240e-01 -6.35689657e-04 1.24127466e+02] [ 3.90513663e-04 2.46735206e-03 9.99996880e-01 7.06292153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:124.15, Z:0.71 [[ 1.00469444e-01 -9.94940143e-01 -5.33996270e-05 2.07289474e+02] [ 9.94940075e-01 1.00469457e-01 -3.66813673e-04 1.24150393e+02] [ 3.70322680e-04 -1.62758630e-05 9.99999931e-01 7.07843575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.311400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.29, Y:124.18, Z:0.71 [[ 1.00966163e-01 -9.94889842e-01 -1.92265200e-04 2.07289749e+02] [ 9.94888963e-01 1.00966330e-01 -1.32314360e-03 1.24175770e+02] [ 1.33579443e-03 -5.76897937e-05 9.99999106e-01 7.07450910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.341400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.29, Y:124.20, Z:0.71 [[ 1.01564661e-01 -9.94828851e-01 -4.19491694e-04 2.07289625e+02] [ 9.94824654e-01 1.01565452e-01 -2.89270592e-03 1.24201031e+02] [ 2.92035317e-03 -1.23523983e-04 9.99995728e-01 7.06985293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.371400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.29, Y:124.22, Z:0.71 [[ 1.02475567e-01 -9.94735305e-01 -6.56141646e-04 2.07288740e+02] [ 9.94724989e-01 1.02477495e-01 -4.53416763e-03 1.24224809e+02] [ 4.57753637e-03 -1.88039095e-04 9.99989505e-01 7.06305247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.401400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:207.29, Y:124.25, Z:0.71 [[ 1.03595504e-01 -9.94619152e-01 -8.45588410e-04 2.07288405e+02] [ 9.94601944e-01 1.03598689e-01 -5.85529292e-03 1.24250026e+02] [ 5.91138833e-03 -2.34441858e-04 9.99982500e-01 7.05627990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:207.29, Y:124.27, Z:0.71 [[ 1.04442137e-01 -9.94530578e-01 -8.77516113e-04 2.07288375e+02] [ 9.94511964e-01 1.04445556e-01 -6.08932270e-03 1.24274183e+02] [ 6.14767028e-03 -2.36718395e-04 9.99981075e-01 7.05821628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.461400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.29, Y:124.30, Z:0.71 [[ 1.03565911e-01 -9.94622432e-01 -5.66030320e-04 2.07285271e+02] [ 9.94614658e-01 1.03567341e-01 -3.93542035e-03 1.24298289e+02] [ 3.97287961e-03 -1.55406661e-04 9.99992096e-01 7.07018721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:124.32, Z:0.71 [[ 1.01920091e-01 -9.94792499e-01 -4.22406986e-04 2.07285557e+02] [ 9.94788154e-01 1.01920895e-01 -2.94278912e-03 1.24322689e+02] [ 2.97051665e-03 -1.20276131e-04 9.99995581e-01 7.08087016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.521400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.29, Y:124.35, Z:0.71 [[ 1.00150512e-01 -9.94972195e-01 -4.53774648e-04 2.07285481e+02] [ 9.94967161e-01 1.00151450e-01 -3.16782233e-03 1.24347557e+02] [ 3.19734133e-03 -1.34231844e-04 9.99994880e-01 7.07179280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55140051300003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:207.29, Y:124.37, Z:0.71 [[ 9.77431256e-02 -9.95211511e-01 -5.74589444e-04 2.07285431e+02] [ 9.95203409e-01 9.77446507e-02 -4.01977516e-03 1.24371090e+02] [ 4.05668956e-03 -1.78927985e-04 9.99991756e-01 7.06348089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.581400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.29, Y:124.40, Z:0.71 [[ 9.48005613e-02 -9.95496088e-01 -6.25741005e-04 2.07286494e+02] [ 9.95486445e-01 9.48024003e-02 -4.38674015e-03 1.24395417e+02] [ 4.42630441e-03 -2.07051260e-04 9.99990182e-01 7.06315184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.29, Y:124.42, Z:0.71 [[ 9.13010422e-02 -9.95823131e-01 -6.41009001e-04 2.07287926e+02] [ 9.95812976e-01 9.13030097e-02 -4.50311406e-03 1.24420277e+02] [ 4.54283119e-03 -2.27186074e-04 9.99989656e-01 7.06310141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.641400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.29, Y:124.44, Z:0.71 [[ 8.36956366e-02 -9.96491174e-01 -6.17689096e-04 2.07288206e+02] [ 9.96481717e-01 8.36975378e-02 -4.34864687e-03 1.24443947e+02] [ 4.38508728e-03 -2.51553123e-04 9.99990354e-01 7.06506883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:124.47, Z:0.71 [[ 8.04537429e-02 -9.96758200e-01 -5.34017250e-04 2.07290030e+02] [ 9.96751106e-01 8.04551888e-02 -3.76762142e-03 1.24467176e+02] [ 3.79837201e-03 -2.29163039e-04 9.99992760e-01 7.07097344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.701400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.29, Y:124.49, Z:0.71 [[ 7.87547572e-02 -9.96893934e-01 -4.15866668e-04 2.07291539e+02] [ 9.96889615e-01 7.87556425e-02 -2.94016892e-03 1.24492015e+02] [ 2.96378841e-03 -1.83020873e-04 9.99995591e-01 7.07215605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.731400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.29, Y:124.52, Z:0.71 [[ 7.86483529e-02 -9.96902378e-01 -2.92730636e-04 2.07292607e+02] [ 9.96900229e-01 7.86487923e-02 -2.07366898e-03 1.24515496e+02] [ 2.09026845e-03 -1.28732588e-04 9.99997807e-01 7.07471743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.29, Y:124.54, Z:0.71 [[ 7.94652784e-02 -9.96837614e-01 -2.03769491e-04 2.07293497e+02] [ 9.96836568e-01 7.94654908e-02 -1.44644556e-03 1.24540648e+02] [ 1.45806399e-03 -8.81826812e-05 9.99998933e-01 7.07369105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.791400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.29, Y:124.57, Z:0.71 [[ 8.08594799e-02 -9.96725497e-01 -1.70289144e-04 2.07294243e+02] [ 9.96724763e-01 8.08596274e-02 -1.21130229e-03 1.24565884e+02] [ 1.22110539e-03 -7.17861338e-05 9.99999252e-01 7.06872271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.821400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.29, Y:124.59, Z:0.71 [[ 8.33871307e-02 -9.96517210e-01 -1.89067405e-04 2.07292982e+02] [ 9.96516302e-01 8.33873104e-02 -1.34748019e-03 1.24589701e+02] [ 1.35855302e-03 -7.60462451e-05 9.99999074e-01 7.05681945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.851400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.29, Y:124.61, Z:0.71 [[ 8.34609742e-02 -9.96511016e-01 -2.47909691e-04 2.07294606e+02] [ 9.96509448e-01 8.34612833e-02 -1.77045629e-03 1.24614866e+02] [ 1.78497005e-03 -9.92803429e-05 9.99998402e-01 7.05141442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.30, Y:124.64, Z:0.70 [[ 8.28129151e-02 -9.96565055e-01 -3.34856255e-04 2.07296145e+02] [ 9.96562183e-01 8.28134817e-02 -2.39643638e-03 1.24638217e+02] [ 2.41593536e-03 -1.35249198e-04 9.99997072e-01 7.04660050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.30, Y:124.66, Z:0.70 [[ 8.18292787e-02 -9.96646286e-01 -3.87339411e-04 2.07298784e+02] [ 9.96642427e-01 8.18300415e-02 -2.77788410e-03 1.24663260e+02] [ 2.80026387e-03 -1.58726638e-04 9.99996067e-01 7.04267597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.941400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.30, Y:124.69, Z:0.70 [[ 8.05840244e-02 -9.96747741e-01 -3.93999949e-04 2.07301623e+02] [ 9.96743732e-01 8.05848196e-02 -2.83185712e-03 1.24687115e+02] [ 2.85439760e-03 -1.64514536e-04 9.99995913e-01 7.04053210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.971400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.30, Y:124.71, Z:0.70 [[ 7.95779067e-02 -9.96828576e-01 -3.84200300e-04 2.07304890e+02] [ 9.96824748e-01 7.95786677e-02 -2.76722536e-03 1.24711600e+02] [ 2.78902346e-03 -1.62770366e-04 9.99996097e-01 7.04346654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:124.74, Z:0.71 [[ 7.77859941e-02 -9.96970004e-01 -3.87220978e-04 2.07305919e+02] [ 9.96966101e-01 7.77867750e-02 -2.79486775e-03 1.24736430e+02] [ 2.81651998e-03 -1.68644623e-04 9.99996019e-01 7.06105640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.031400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.31, Y:124.76, Z:0.71 [[ 7.74941537e-02 -9.96992733e-01 -3.83804032e-04 2.07306493e+02] [ 9.96988883e-01 7.74949230e-02 -2.77567330e-03 1.24759975e+02] [ 2.79706898e-03 -1.67549899e-04 9.99996074e-01 7.06523011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.061400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.31, Y:124.79, Z:0.71 [[ 7.74373074e-02 -9.96997151e-01 -3.79699400e-04 2.07307824e+02] [ 9.96993368e-01 7.74380614e-02 -2.75142340e-03 1.24785668e+02] [ 2.77256448e-03 -1.65494964e-04 9.99996143e-01 7.06682838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.091400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.31, Y:124.81, Z:0.71 [[ 7.75225766e-02 -9.96990514e-01 -4.05908074e-04 2.07309431e+02] [ 9.96986173e-01 7.75234390e-02 -2.94738390e-03 1.24810337e+02] [ 2.96998118e-03 -1.76195943e-04 9.99995574e-01 7.06356562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.121400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.31, Y:124.84, Z:0.71 [[ 7.73045030e-02 -9.97007457e-01 -3.79182653e-04 2.07311170e+02] [ 9.97003654e-01 7.73052573e-02 -2.75878242e-03 1.24835718e+02] [ 2.77983945e-03 -1.64780187e-04 9.99996123e-01 7.05565493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.151400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.31, Y:124.86, Z:0.70 [[ 7.61474396e-02 -9.97091972e-01 -3.02761508e-03 2.07313249e+02] [ 9.97095381e-01 7.61516843e-02 -1.31217615e-03 1.24860896e+02] [ 1.53891829e-03 -2.91890216e-03 9.99994556e-01 7.04273853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.181400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:207.31, Y:124.88, Z:0.70 [[ 7.59161752e-02 -9.97111304e-01 2.40457249e-03 2.07309700e+02] [ 9.97108467e-01 7.59073376e-02 -3.57511699e-03 1.24884804e+02] [ 3.38226487e-03 2.66902880e-03 9.99990718e-01 7.04124802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.211400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:207.32, Y:124.91, Z:0.70 [[ 7.44591988e-02 -9.97222382e-01 -1.82978988e-03 2.07315002e+02] [ 9.97217528e-01 7.44652276e-02 -3.48318114e-03 1.24908914e+02] [ 3.60976192e-03 -1.56534366e-03 9.99992260e-01 7.04080455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.32, Y:124.93, Z:0.70 [[ 7.35908719e-02 -9.97288313e-01 6.35538618e-04 2.07315164e+02] [ 9.97276262e-01 7.35867937e-02 -5.00407002e-03 1.24932445e+02] [ 4.94373330e-03 1.00206145e-03 9.99987278e-01 7.04480281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.271400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:207.32, Y:124.96, Z:0.70 [[ 7.18017347e-02 -9.97418688e-01 -6.86713807e-04 2.07318434e+02] [ 9.97405963e-01 7.18042946e-02 -5.04867380e-03 1.24957978e+02] [ 5.08495060e-03 -3.22428908e-04 9.99987020e-01 7.04625152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.32, Y:124.98, Z:0.70 [[ 6.99413089e-02 -9.97550908e-01 -6.31411926e-04 2.07320274e+02] [ 9.97540108e-01 6.99434962e-02 -4.65201579e-03 1.24982749e+02] [ 4.68478573e-03 -3.04490647e-04 9.99988980e-01 7.04535738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.331400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.32, Y:125.01, Z:0.70 [[ 6.83827040e-02 -9.97659046e-01 -4.83524618e-04 2.07319844e+02] [ 9.97652692e-01 6.83839981e-02 -3.56858376e-03 1.25007888e+02] [ 3.59329521e-03 -2.38360230e-04 9.99993516e-01 7.04906953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36140051300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.32, Y:125.03, Z:0.71 [[ 6.84338585e-02 -9.97655562e-01 -4.32270806e-04 2.07320674e+02] [ 9.97650462e-01 6.84348939e-02 -3.19698812e-03 1.25032965e+02] [ 3.21907539e-03 -2.12472937e-04 9.99994796e-01 7.05524502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.391400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.32, Y:125.06, Z:0.71 [[ 6.87604133e-02 -9.97633149e-01 -3.24536894e-04 2.07321461e+02] [ 9.97630262e-01 6.87609967e-02 -2.40523242e-03 1.25057479e+02] [ 2.42185507e-03 -1.58383051e-04 9.99997055e-01 7.05779839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42140051300004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:207.32, Y:125.08, Z:0.71 [[ 6.90480684e-02 -9.97613313e-01 -2.06143678e-04 2.07322172e+02] [ 9.97612143e-01 6.90483038e-02 -1.53081503e-03 1.25083038e+02] [ 1.54139532e-03 -9.99516159e-05 9.99998807e-01 7.06101285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.451400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:207.32, Y:125.11, Z:0.71 [[ 6.82832240e-02 -9.97665951e-01 -2.28796332e-04 2.07320393e+02] [ 9.97664504e-01 6.82835154e-02 -1.70256094e-03 1.25108187e+02] [ 1.71421009e-03 -1.12005629e-04 9.99998524e-01 7.06203446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.481400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:207.32, Y:125.13, Z:0.71 [[ 6.68051228e-02 -9.97765955e-01 -4.17788583e-04 2.07321897e+02] [ 9.97761114e-01 6.68061030e-02 -3.11524819e-03 1.25133334e+02] [ 3.13619941e-03 -2.08738664e-04 9.99995060e-01 7.06179555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.511400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.32, Y:125.16, Z:0.71 [[ 6.51623445e-02 -9.97874490e-01 -6.08474985e-04 2.07323943e+02] [ 9.97864188e-01 6.51644432e-02 -4.54496984e-03 1.25158028e+02] [ 4.57496039e-03 -3.11014507e-04 9.99989486e-01 7.05487661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.541400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.33, Y:125.18, Z:0.71 [[ 6.33033678e-02 -9.97994087e-01 -6.97329066e-04 2.07326457e+02] [ 9.97980503e-01 6.33061534e-02 -5.21985931e-03 1.25182282e+02] [ 5.25353395e-03 -3.65486138e-04 9.99986133e-01 7.05445060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.571400513 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:207.33, Y:125.21, Z:0.71 [[ 6.18028640e-02 -9.98088157e-01 -6.60426022e-04 2.07328984e+02] [ 9.98075928e-01 6.18053844e-02 -4.95352143e-03 1.25207397e+02] [ 4.98486896e-03 -3.53013503e-04 9.99987513e-01 7.06276180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.601400513 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:207.33, Y:125.23, Z:0.71 [[ 6.15684172e-02 -9.98102648e-01 -6.59262295e-04 2.07332167e+02] [ 9.98090417e-01 6.15709348e-02 -4.95367644e-03 1.25233195e+02] [ 4.98486897e-03 -3.53013361e-04 9.99987513e-01 7.06276315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.631400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:207.33, Y:125.26, Z:0.71 [[ 6.10773599e-02 -9.98132917e-01 -4.86300957e-04 2.07333537e+02] [ 9.98126239e-01 6.10787347e-02 -3.66039284e-03 1.25257716e+02] [ 3.68326122e-03 -2.61822614e-04 9.99993183e-01 7.07651185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.661400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.33, Y:125.28, Z:0.71 [[ 6.19611676e-02 -9.98078459e-01 -4.50531542e-04 2.07334904e+02] [ 9.98072702e-01 6.19623442e-02 -3.39844826e-03 1.25281913e+02] [ 3.41983399e-03 -2.39091412e-04 9.99994124e-01 7.07843789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.691400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.34, Y:125.31, Z:0.71 [[ 6.37447717e-02 -9.97966112e-01 -4.94161587e-04 2.07335516e+02] [ 9.97959153e-01 6.37461770e-02 -3.73558360e-03 1.25306487e+02] [ 3.75948675e-03 -2.55029155e-04 9.99992901e-01 7.07806449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.721400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.34, Y:125.33, Z:0.71 [[ 6.64252313e-02 -9.97791225e-01 -5.99223948e-04 2.07335562e+02] [ 9.97780941e-01 6.64272731e-02 -4.53991623e-03 1.25330290e+02] [ 4.56969339e-03 -2.96329249e-04 9.99989515e-01 7.07223607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.751400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.34, Y:125.36, Z:0.71 [[ 6.95748384e-02 -9.97576556e-01 -5.98009385e-04 2.07335781e+02] [ 9.97566262e-01 6.95768423e-02 -4.54045909e-03 1.25355561e+02] [ 4.57106314e-03 -2.80652280e-04 9.99989513e-01 7.06769630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.34, Y:125.38, Z:0.71 [[ 7.23236764e-02 -9.97381086e-01 -5.04424039e-04 2.07335841e+02] [ 9.97373727e-01 7.23250839e-02 -3.83819429e-03 1.25380844e+02] [ 3.86462490e-03 -2.25506962e-04 9.99992507e-01 7.07239686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.811400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.33, Y:125.41, Z:0.71 [[ 7.61619478e-02 -9.97095443e-01 -1.88373490e-04 2.07330915e+02] [ 9.97094411e-01 7.61621404e-02 -1.43657182e-03 1.25405744e+02] [ 1.44674615e-03 -7.84140459e-05 9.99998950e-01 7.08775089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.841400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.33, Y:125.43, Z:0.71 [[ 7.67743858e-02 -9.97048476e-01 -1.72601935e-04 2.07329096e+02] [ 9.97047606e-01 7.67745471e-02 -1.31899511e-03 1.25431432e+02] [ 1.32835350e-03 -7.08273064e-05 9.99999115e-01 7.09118550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.33, Y:125.46, Z:0.71 [[ 7.67646818e-02 -9.97049201e-01 -2.72928172e-04 2.07327077e+02] [ 9.97047018e-01 7.67650857e-02 -2.08939396e-03 1.25455937e+02] [ 2.10417993e-03 -1.11730558e-04 9.99997780e-01 7.08677342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:125.48, Z:0.71 [[ 7.60102251e-02 -9.97106959e-01 -3.96855308e-04 2.07324917e+02] [ 9.97102324e-01 7.60110836e-02 -3.04475434e-03 1.25480789e+02] [ 3.06611114e-03 -1.64272887e-04 9.99995286e-01 7.07528888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:125.51, Z:0.71 [[ 7.44461036e-02 -9.97224960e-01 -3.97310023e-04 2.07316159e+02] [ 9.97220294e-01 7.44469724e-02 -3.05494472e-03 1.25506359e+02] [ 3.07604566e-03 -1.68776887e-04 9.99995255e-01 7.06835165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:125.53, Z:0.71 [[ 7.33796988e-02 -9.97304019e-01 -3.38223152e-04 2.07312407e+02] [ 9.97300623e-01 7.33803330e-02 -2.60653318e-03 1.25530268e+02] [ 2.62432494e-03 -1.46043540e-04 9.99996546e-01 7.06738330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.31, Y:125.56, Z:0.71 [[ 7.27023210e-02 -9.97353248e-01 -9.33332908e-04 2.07309070e+02] [ 9.97348630e-01 7.27049002e-02 -3.11584582e-03 1.25555077e+02] [ 3.17545683e-03 -7.04329073e-04 9.99994710e-01 7.07310022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:125.58, Z:0.71 [[ 7.11982505e-02 -9.97462169e-01 1.76786148e-04 2.07305566e+02] [ 9.97458409e-01 7.11974923e-02 -2.76382034e-03 1.25581930e+02] [ 2.74421950e-03 3.73116004e-04 9.99996165e-01 7.07091292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:125.61, Z:0.71 [[ 7.00512000e-02 -9.97543319e-01 -3.96377428e-04 2.07303134e+02] [ 9.97538602e-01 7.00520898e-02 -3.07273092e-03 1.25608241e+02] [ 3.09294927e-03 -1.80153297e-04 9.99995201e-01 7.06855726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.081400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.30, Y:125.63, Z:0.71 [[ 6.90966459e-02 -9.97609850e-01 -4.89748830e-04 2.07301275e+02] [ 9.97602622e-01 6.90980129e-02 -3.80442054e-03 1.25633748e+02] [ 3.82916808e-03 -2.25702017e-04 9.99992643e-01 7.06334887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11140051300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.30, Y:125.66, Z:0.71 [[ 6.56195787e-02 -9.97844568e-01 -5.38540707e-04 2.07296825e+02] [ 9.97835796e-01 6.56212644e-02 -4.19216557e-03 1.25659670e+02] [ 4.21846936e-03 -2.62287056e-04 9.99991068e-01 7.05332892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:125.69, Z:0.71 [[ 6.31596526e-02 -9.98003292e-01 -5.35775085e-04 2.07296257e+02] [ 9.97994577e-01 6.31613448e-02 -4.17945451e-03 1.25685075e+02] [ 4.20494963e-03 -2.70727735e-04 9.99991123e-01 7.05215316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:125.71, Z:0.70 [[ 6.06765831e-02 -9.98157327e-01 -5.49492085e-04 2.07296094e+02] [ 9.98148126e-01 6.06783885e-02 -4.29548224e-03 1.25710755e+02] [ 4.32090937e-03 -2.87839310e-04 9.99990623e-01 7.04890991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.201400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.30, Y:125.74, Z:0.70 [[ 5.88015131e-02 -9.98269531e-01 -5.71223256e-04 2.07297104e+02] [ 9.98259547e-01 5.88034857e-02 -4.47511616e-03 1.25735124e+02] [ 4.50096203e-03 -3.07085468e-04 9.99989823e-01 7.04716066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:125.76, Z:0.70 [[ 5.73720937e-02 -9.98352709e-01 -5.58303478e-04 2.07299227e+02] [ 9.98343135e-01 5.73739945e-02 -4.38279661e-03 1.25760846e+02] [ 4.40760897e-03 -3.05928227e-04 9.99990240e-01 7.04767699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.30, Y:125.78, Z:0.71 [[ 5.68907433e-02 -9.98380246e-01 -5.72459893e-04 2.07301101e+02] [ 9.98370139e-01 5.68927496e-02 -4.50344788e-03 1.25784883e+02] [ 4.52872222e-03 -3.15322365e-04 9.99989696e-01 7.05225605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.291400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:207.30, Y:125.81, Z:0.71 [[ 5.79864568e-02 -9.98317169e-01 -6.33542274e-04 2.07300941e+02] [ 9.98304734e-01 5.79889040e-02 -4.99449303e-03 1.25810628e+02] [ 5.02282656e-03 -3.42855297e-04 9.99987327e-01 7.06022855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.321400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.30, Y:125.84, Z:0.71 [[ 5.89625496e-02 -9.98260048e-01 -5.43175643e-04 2.07302307e+02] [ 9.98250866e-01 5.89643422e-02 -4.29121858e-03 1.25835838e+02] [ 4.31578006e-03 -2.89204368e-04 9.99990645e-01 7.06621819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.351400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.30, Y:125.86, Z:0.71 [[ 5.96581373e-02 -9.98218784e-01 -4.07130852e-04 2.07303912e+02] [ 9.98213602e-01 5.96591424e-02 -3.22357080e-03 1.25860733e+02] [ 3.24211800e-03 -2.14091325e-04 9.99994721e-01 7.06817269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.381400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.31, Y:125.89, Z:0.71 [[ 5.95711486e-02 -9.98223983e-01 -3.97199208e-04 2.07305781e+02] [ 9.98219031e-01 5.95721070e-02 -3.15134142e-03 1.25885880e+02] [ 3.16940658e-03 -2.08762780e-04 9.99994956e-01 7.06322892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.31, Y:125.91, Z:0.71 [[ 5.80431490e-02 -9.98313971e-01 -4.55397683e-04 2.07308226e+02] [ 9.98307440e-01 5.80444203e-02 -3.61948386e-03 1.25909754e+02] [ 3.63981460e-03 -2.44540654e-04 9.99993346e-01 7.05391621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:125.93, Z:0.70 [[ 5.22899708e-02 -9.98631820e-01 -4.97114873e-04 2.07313305e+02] [ 9.98624014e-01 5.22915329e-02 -3.95915559e-03 1.25934963e+02] [ 3.97973366e-03 -2.89406719e-04 9.99992039e-01 7.04644173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.471400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.32, Y:125.96, Z:0.71 [[ 4.88782499e-02 -9.98804645e-01 -4.45405368e-04 2.07317756e+02] [ 9.98798355e-01 4.88795273e-02 -3.55489993e-03 1.25958712e+02] [ 3.57242176e-03 -2.71112862e-04 9.99993582e-01 7.05697666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.501400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.32, Y:125.98, Z:0.71 [[ 4.56157572e-02 -9.98959002e-01 -3.39542890e-04 2.07322665e+02] [ 9.98955334e-01 4.56165128e-02 -2.71560293e-03 1.25983618e+02] [ 2.72826476e-03 -2.15313897e-04 9.99996255e-01 7.06562007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:126.01, Z:0.71 [[ 4.28306793e-02 -9.99082290e-01 -3.31567063e-04 2.07327494e+02] [ 9.99078780e-01 4.28314108e-02 -2.65753260e-03 1.26008995e+02] [ 2.66929525e-03 -2.17437690e-04 9.99996414e-01 7.07348253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:126.03, Z:0.71 [[ 4.16143266e-02 -9.99133662e-01 -4.15153884e-04 2.07332368e+02] [ 9.99128135e-01 4.16154821e-02 -3.33495949e-03 1.26032889e+02] [ 3.34934712e-03 -2.76009832e-04 9.99994353e-01 7.07180399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.591400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.34, Y:126.06, Z:0.71 [[ 4.14474948e-02 -9.99140477e-01 -6.42612275e-04 2.07336588e+02] [ 9.99127173e-01 4.14502704e-02 -5.17366719e-03 1.26057213e+02] [ 5.19585675e-03 -4.27615842e-04 9.99986410e-01 7.06261685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:126.08, Z:0.70 [[ 4.38475730e-02 -9.99037685e-01 -1.04634331e-03 2.07342541e+02] [ 9.99002242e-01 4.38548594e-02 -8.44229160e-03 1.26082366e+02] [ 8.48005469e-03 -6.75125320e-04 9.99963816e-01 7.04852122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:126.11, Z:0.70 [[ 4.53088852e-02 -9.98972476e-01 -1.04765136e-03 2.07346820e+02] [ 9.98936801e-01 4.53161483e-02 -8.46843284e-03 1.26106500e+02] [ 8.50720684e-03 -6.62842243e-04 9.99963593e-01 7.04895771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:126.13, Z:0.71 [[ 4.63990032e-02 -9.98922530e-01 -9.55187529e-04 2.07350982e+02] [ 9.98892740e-01 4.64050182e-02 -7.73742928e-03 1.26131808e+02] [ 7.77341792e-03 -5.95120883e-04 9.99969609e-01 7.05929583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.711400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.35, Y:126.16, Z:0.71 [[ 4.75270078e-02 -9.98869622e-01 -8.13818292e-04 2.07354584e+02] [ 9.98847898e-01 4.75313568e-02 -6.60655027e-03 1.26157188e+02] [ 6.63776426e-03 -4.98891124e-04 9.99977845e-01 7.06928046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:126.18, Z:0.71 [[ 4.85088670e-02 -9.98822505e-01 -7.02741884e-04 2.07357892e+02] [ 9.98806229e-01 4.85120994e-02 -5.71770562e-03 1.26181147e+02] [ 5.74506453e-03 -4.24543549e-04 9.99983407e-01 7.07501812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.771400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.36, Y:126.21, Z:0.71 [[ 4.92329007e-02 -9.98787050e-01 -7.41483467e-04 2.07361695e+02] [ 9.98768848e-01 4.92364920e-02 -6.04609959e-03 1.26205460e+02] [ 6.07527402e-03 -4.42903568e-04 9.99981447e-01 7.07235816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.37, Y:126.23, Z:0.71 [[ 4.77367689e-02 -9.98859478e-01 -9.71660334e-04 2.07369567e+02] [ 9.98828096e-01 4.77429927e-02 -7.93984217e-03 1.26230168e+02] [ 7.97717658e-03 -5.91499231e-04 9.99968007e-01 7.06381466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.831400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.37, Y:126.26, Z:0.71 [[ 4.60415258e-02 -9.98939048e-01 -9.78406875e-04 2.07374686e+02] [ 9.98907098e-01 4.60479011e-02 -8.01257155e-03 1.26255662e+02] [ 8.04912418e-03 -6.08426552e-04 9.99967420e-01 7.06586177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.38, Y:126.28, Z:0.71 [[ 4.46069054e-02 -9.99004286e-01 -8.12743429e-04 2.07378369e+02] [ 9.98982162e-01 4.46113427e-02 -6.66844476e-03 1.26280132e+02] [ 6.69806248e-03 -5.14457503e-04 9.99977435e-01 7.07123077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.38, Y:126.31, Z:0.71 [[ 4.32933714e-02 -9.99062206e-01 -6.25825079e-04 2.07381627e+02] [ 9.99049035e-01 4.32960241e-02 -5.14595785e-03 1.26305141e+02] [ 5.16822775e-03 -4.02444077e-04 9.99986564e-01 7.07699848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.39, Y:126.33, Z:0.71 [[ 4.17502750e-02 -9.99127996e-01 -4.02492266e-04 2.07386628e+02] [ 9.99122525e-01 4.17513826e-02 -3.31705727e-03 1.26328746e+02] [ 3.33096939e-03 -2.63651036e-04 9.99994418e-01 7.08001048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:126.35, Z:0.71 [[ 4.18299494e-02 -9.99124642e-01 -4.53587464e-04 2.07391480e+02] [ 9.99117663e-01 4.18313579e-02 -3.74608294e-03 1.26353950e+02] [ 3.76177795e-03 -2.96488788e-04 9.99992881e-01 7.07830820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:126.38, Z:0.71 [[ 4.28717090e-02 -9.99080436e-01 -5.46009595e-04 2.07395070e+02] [ 9.99070278e-01 4.28737428e-02 -4.51908200e-03 1.26378697e+02] [ 4.53833589e-03 -3.51761189e-04 9.99989640e-01 7.07682468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:126.40, Z:0.71 [[ 4.43227687e-02 -9.99017051e-01 -6.51528047e-04 2.07397936e+02] [ 9.99002519e-01 4.43256484e-02 -5.40412149e-03 1.26403899e+02] [ 5.42768891e-03 -4.11352534e-04 9.99985185e-01 7.07716937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.041400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.40, Y:126.43, Z:0.71 [[ 4.53762275e-02 -9.98969705e-01 -7.24969595e-04 2.07400314e+02] [ 9.98951630e-01 4.53797799e-02 -6.02634147e-03 1.26429287e+02] [ 6.05303152e-03 -4.50756917e-04 9.99981579e-01 7.07230752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:126.45, Z:0.71 [[ 4.56159000e-02 -9.98958843e-01 -6.48600001e-04 2.07404540e+02] [ 9.98944308e-01 4.56187448e-02 -5.40373202e-03 1.26453661e+02] [ 5.42769421e-03 -4.01419179e-04 9.99985189e-01 7.07157828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.101400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.41, Y:126.48, Z:0.71 [[ 4.48673116e-02 -9.98992722e-01 -6.82325485e-04 2.07408721e+02] [ 9.98976568e-01 4.48704772e-02 -5.69703098e-03 1.26478785e+02] [ 5.72190876e-03 -4.26016707e-04 9.99983539e-01 7.07477165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.131400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.41, Y:126.50, Z:0.71 [[ 4.40245881e-02 -9.99030215e-01 -6.82213298e-04 2.07412424e+02] [ 9.99013989e-01 4.40277723e-02 -5.71002554e-03 1.26501754e+02] [ 5.73452437e-03 -4.30159106e-04 9.99983465e-01 7.07433626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:126.53, Z:0.71 [[ 4.36430956e-02 -9.99046971e-01 -6.55986098e-04 2.07415914e+02] [ 9.99031899e-01 4.36460508e-02 -5.50344786e-03 1.26526007e+02] [ 5.52683411e-03 -4.15163536e-04 9.99984641e-01 7.07659907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.191400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.42, Y:126.55, Z:0.71 [[ 4.42298571e-02 -9.99021182e-01 -6.30759973e-04 2.07419132e+02] [ 9.99007179e-01 4.42325861e-02 -5.30429657e-03 1.26549996e+02] [ 5.32700478e-03 -3.95525462e-04 9.99985733e-01 7.07626700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.221400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:207.42, Y:126.57, Z:0.71 [[ 4.80647065e-02 -9.98844111e-01 -4.75297279e-04 2.07422814e+02] [ 9.98836116e-01 4.80662282e-02 -4.00640326e-03 1.26574807e+02] [ 4.02461805e-03 -2.82177492e-04 9.99991861e-01 7.07852650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:126.60, Z:0.71 [[ 5.10638732e-02 -9.98695279e-01 -4.68966398e-04 2.07425491e+02] [ 9.98687457e-01 5.10653336e-02 -3.96180545e-03 1.26600522e+02] [ 3.98058433e-03 -2.66045728e-04 9.99992042e-01 7.07993053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:126.63, Z:0.71 [[ 5.42161245e-02 -9.98529018e-01 -6.42109367e-04 2.07426559e+02] [ 9.98514279e-01 5.42188202e-02 -5.43638854e-03 1.26625560e+02] [ 5.46320612e-03 -3.46415453e-04 9.99985017e-01 7.07600146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.311400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.43, Y:126.65, Z:0.71 [[ 5.72622679e-02 -9.98358803e-01 -8.56232782e-04 2.07426405e+02] [ 9.98332453e-01 5.72669888e-02 -7.26668181e-03 1.26649759e+02] [ 7.30378963e-03 -4.38698293e-04 9.99973231e-01 7.06625935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:126.68, Z:0.71 [[ 6.23810506e-02 -9.98051959e-01 -9.44826639e-04 2.07426296e+02] [ 9.98019700e-01 6.23866422e-02 -8.03645411e-03 1.26675329e+02] [ 8.07974332e-03 -4.41633149e-04 9.99967261e-01 7.06083895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.371400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.43, Y:126.70, Z:0.71 [[ 6.38226733e-02 -9.97960866e-01 -8.81063613e-04 2.07428259e+02] [ 9.97932677e-01 6.38275021e-02 -7.51151468e-03 1.26699994e+02] [ 7.55243379e-03 -3.99837222e-04 9.99971400e-01 7.06697221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.43, Y:126.72, Z:0.71 [[ 6.44242869e-02 -9.97922310e-01 -7.58487092e-04 2.07429808e+02] [ 9.97901315e-01 6.44278583e-02 -6.48208744e-03 1.26724787e+02] [ 6.51748737e-03 -3.39291405e-04 9.99978703e-01 7.07337670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.431400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.43, Y:126.75, Z:0.71 [[ 6.45264219e-02 -9.97915743e-01 -7.14990917e-04 2.07430590e+02] [ 9.97897000e-01 6.45295980e-02 -6.12442371e-03 1.26750494e+02] [ 6.15779691e-03 -3.18300143e-04 9.99980990e-01 7.07606817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:126.78, Z:0.71 [[ 6.48134877e-02 -9.97897165e-01 -6.78243967e-04 2.07430967e+02] [ 9.97880217e-01 6.48163451e-02 -5.82353908e-03 1.26775368e+02] [ 5.85525443e-03 -2.99362359e-04 9.99982813e-01 7.08141983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.43, Y:126.80, Z:0.71 [[ 6.50606918e-02 -9.97881063e-01 -6.99853605e-04 2.07430968e+02] [ 9.97862931e-01 6.50637340e-02 -6.02336827e-03 1.26800198e+02] [ 6.05614022e-03 -3.06473463e-04 9.99981614e-01 7.07858320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.521400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.43, Y:126.83, Z:0.71 [[ 6.47987175e-02 -9.97898110e-01 -6.98272185e-04 2.07433549e+02] [ 9.97879977e-01 6.48017549e-02 -6.02355180e-03 1.26825204e+02] [ 6.05614023e-03 -3.06473401e-04 9.99981614e-01 7.07858477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.43, Y:126.85, Z:0.71 [[ 6.51495735e-02 -9.97875261e-01 -7.04535240e-04 2.07431404e+02] [ 9.97856717e-01 6.51526634e-02 -6.09128577e-03 1.26851012e+02] [ 6.12424573e-03 -3.06180551e-04 9.99981200e-01 7.07031855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.581400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.43, Y:126.88, Z:0.71 [[ 6.54622806e-02 -9.97854828e-01 -6.57508527e-04 2.07430851e+02] [ 9.97838601e-01 6.54649704e-02 -5.69773270e-03 1.26876596e+02] [ 5.72855386e-03 -2.83100812e-04 9.99983552e-01 7.06796619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.43, Y:126.90, Z:0.71 [[ 6.56789433e-02 -9.97840663e-01 -5.36124336e-04 2.07429418e+02] [ 9.97829823e-01 6.56807319e-02 -4.65682387e-03 1.26902799e+02] [ 4.68198125e-03 -2.29105581e-04 9.99989013e-01 7.06835334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:126.93, Z:0.71 [[ 6.60052830e-02 -9.97819218e-01 -3.34426850e-04 2.07427708e+02] [ 9.97814982e-01 6.60059783e-02 -2.91072771e-03 1.26927743e+02] [ 2.92645421e-03 -1.41572715e-04 9.99995708e-01 7.07025052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:126.95, Z:0.71 [[ 6.63747423e-02 -9.97794734e-01 -2.50306632e-04 2.07426032e+02] [ 9.97792350e-01 6.63751315e-02 -2.18351265e-03 1.26953841e+02] [ 2.19531156e-03 -1.04823953e-04 9.99997585e-01 7.07977590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:126.98, Z:0.71 [[ 6.64446888e-02 -9.97790086e-01 -2.20569871e-04 2.07423811e+02] [ 9.97788226e-01 6.64449913e-02 -1.92866346e-03 1.26978482e+02] [ 1.93905704e-03 -9.19325771e-05 9.99998116e-01 7.08406312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:127.00, Z:0.71 [[ 6.44542139e-02 -9.97920635e-01 -2.47984600e-04 2.07415353e+02] [ 9.97918273e-01 6.44546015e-02 -2.17356026e-03 1.27003900e+02] [ 2.18502438e-03 -1.07373246e-04 9.99997607e-01 7.07624990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.03, Z:0.71 [[ 6.19351370e-02 -9.98080143e-01 -2.59647281e-04 2.07412155e+02] [ 9.98077543e-01 6.19355691e-02 -2.28092219e-03 1.27029774e+02] [ 2.29262455e-03 -1.17878892e-04 9.99997365e-01 7.06875411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.06, Z:0.71 [[ 5.82828082e-02 -9.98300091e-01 -2.06030042e-04 2.07409720e+02] [ 9.98298448e-01 5.82830867e-02 -1.81405095e-03 1.27055459e+02] [ 1.82297529e-03 -9.99514874e-05 9.99998333e-01 7.05970424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.08, Z:0.71 [[ 5.38676669e-02 -9.98548072e-01 -1.51930695e-04 2.07408046e+02] [ 9.98547175e-01 5.38678225e-02 -1.34089775e-03 1.27080114e+02] [ 1.34713504e-03 -7.94789324e-05 9.99999089e-01 7.05353940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:127.11, Z:0.70 [[ 4.43606246e-02 -9.99015555e-01 -2.36808007e-04 2.07404129e+02] [ 9.99013369e-01 4.43610241e-02 -2.09492653e-03 1.27105665e+02] [ 2.10336924e-03 -1.43642115e-04 9.99997778e-01 7.04786750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:127.13, Z:0.70 [[ 3.96792720e-02 -9.99212389e-01 -3.95466178e-04 2.07403398e+02] [ 9.99206266e-01 3.96804170e-02 -3.50736657e-03 1.27129846e+02] [ 3.52029639e-03 -2.55982531e-04 9.99993771e-01 7.04207018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:127.16, Z:0.70 [[ 3.52304710e-02 -9.99378986e-01 -6.75295371e-04 2.07402731e+02] [ 9.99361067e-01 3.52338954e-02 -6.00261480e-03 1.27155679e+02] [ 6.02268038e-03 -4.63388956e-04 9.99981756e-01 7.04132323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:127.18, Z:0.70 [[ 3.16714210e-02 -9.99497925e-01 -9.05470195e-04 2.07402981e+02] [ 9.99465577e-01 3.16777045e-02 -8.06745068e-03 1.27180480e+02] [ 8.09208343e-03 -6.49478664e-04 9.99967048e-01 7.03579045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.971400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.40, Y:127.21, Z:0.70 [[ 2.84004954e-02 -9.99596064e-01 -1.05866198e-03 2.07403905e+02] [ 9.99551669e-01 2.84092466e-02 -9.45386471e-03 1.27206003e+02] [ 9.48012174e-03 -7.89692906e-04 9.99954751e-01 7.03241798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.001400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.41, Y:127.23, Z:0.70 [[ 2.55337732e-02 -9.99673412e-01 -1.04657728e-03 2.07405071e+02] [ 9.99629842e-01 2.55424680e-02 -9.36811104e-03 1.27230526e+02] [ 9.39178370e-03 -8.06986656e-04 9.99955571e-01 7.03880959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.26, Z:0.71 [[ 2.15700007e-02 -9.99767070e-01 -7.35942049e-04 2.07405339e+02] [ 9.99745441e-01 2.15743946e-02 -6.60299914e-03 1.27255652e+02] [ 6.61733860e-03 -5.93328013e-04 9.99977929e-01 7.05139083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.28, Z:0.71 [[ 2.00564390e-02 -9.99798684e-01 -5.74846361e-04 2.07406756e+02] [ 9.99785427e-01 2.00591457e-02 -5.17019319e-03 1.27280027e+02] [ 5.18068328e-03 -4.71027350e-04 9.99986469e-01 7.05012887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.30, Z:0.70 [[ 1.90283266e-02 -9.99818788e-01 -5.60192357e-04 2.07408582e+02] [ 9.99806140e-01 1.90309156e-02 -5.05042421e-03 1.27303953e+02] [ 5.06016999e-03 -4.63982636e-04 9.99987090e-01 7.04934293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.33, Z:0.70 [[ 1.84835321e-02 -9.99828898e-01 -7.30312375e-04 2.07411151e+02] [ 9.99807299e-01 1.84879537e-02 -6.60010968e-03 1.27327384e+02] [ 6.61248237e-03 -6.08178303e-04 9.99977952e-01 7.04471926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:127.35, Z:0.70 [[ 1.83473685e-02 -9.99831214e-01 -9.57531039e-04 2.07414473e+02] [ 9.99793911e-01 1.83549905e-02 -8.67347502e-03 1.27352737e+02] [ 8.68958653e-03 -7.98198261e-04 9.99961926e-01 7.03843429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.181400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.42, Y:127.38, Z:0.70 [[ 1.82296758e-02 -9.99833124e-01 -1.18435958e-03 2.07417300e+02] [ 9.99775779e-01 1.82413687e-02 -1.07537877e-02 1.27376861e+02] [ 1.07735975e-02 -9.88055963e-04 9.99941475e-01 7.03661213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:127.40, Z:0.71 [[ 1.89473811e-02 -9.99819865e-01 -1.11126220e-03 2.07421319e+02] [ 9.99769138e-01 1.89576603e-02 -1.01132957e-02 1.27401522e+02] [ 1.01325409e-02 -9.19385187e-04 9.99948242e-01 7.05018895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:127.43, Z:0.71 [[ 1.97311210e-02 -9.99804869e-01 -9.52024608e-04 2.07424726e+02] [ 9.99767456e-01 1.97386521e-02 -8.68443079e-03 1.27426612e+02] [ 8.70152787e-03 -7.80449666e-04 9.99961836e-01 7.05585205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:127.45, Z:0.71 [[ 2.07748873e-02 -9.99783851e-01 -8.09929879e-04 2.07428167e+02] [ 9.99756634e-01 2.07803215e-02 -7.40619141e-03 1.27450933e+02] [ 7.42142117e-03 -6.55869978e-04 9.99972246e-01 7.05924028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:127.48, Z:0.71 [[ 2.19020679e-02 -9.99759852e-01 -7.34031755e-04 2.07430815e+02] [ 9.99737383e-01 2.19065157e-02 -6.72825449e-03 1.27475068e+02] [ 6.74271878e-03 -5.86476299e-04 9.99977096e-01 7.05508438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:127.50, Z:0.70 [[ 2.30580450e-02 -9.99733876e-01 -7.10037375e-04 2.07433342e+02] [ 9.99712745e-01 2.30621912e-02 -6.52406997e-03 1.27499503e+02] [ 6.53870878e-03 -5.59401114e-04 9.99978466e-01 7.04779520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:127.52, Z:0.70 [[ 2.52406951e-02 -9.99681094e-01 -7.85289697e-04 2.07437289e+02] [ 9.99655120e-01 2.52457199e-02 -7.23151749e-03 1.27524558e+02] [ 7.24903653e-03 -6.02490338e-04 9.99973544e-01 7.03687205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:127.55, Z:0.70 [[ 2.58530874e-02 -9.99665393e-01 -8.48892643e-04 2.07440314e+02] [ 9.99634887e-01 2.58589528e-02 -7.83625350e-03 1.27548558e+02] [ 7.85558290e-03 -6.45991355e-04 9.99968936e-01 7.03654556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:127.57, Z:0.70 [[ 2.61792442e-02 -9.99656885e-01 -8.71470099e-04 2.07442898e+02] [ 9.99624581e-01 2.61854278e-02 -8.06356046e-03 1.27573959e+02] [ 8.08361355e-03 -6.60045014e-04 9.99967109e-01 7.03700716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:127.60, Z:0.70 [[ 2.64065488e-02 -9.99650922e-01 -8.52986531e-04 2.07445240e+02] [ 9.99619819e-01 2.64124782e-02 -7.91186244e-03 1.27597844e+02] [ 7.93163007e-03 -6.43737261e-04 9.99968337e-01 7.03826732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:127.62, Z:0.70 [[ 2.89137304e-02 -9.99581606e-01 -7.80839899e-04 2.07449760e+02] [ 9.99555422e-01 2.89186422e-02 -7.25739788e-03 1.27621636e+02] [ 7.27694226e-03 -5.70654309e-04 9.99973360e-01 7.04996194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:127.65, Z:0.71 [[ 3.09954578e-02 -9.99519251e-01 -7.40586366e-04 2.07452768e+02] [ 9.99495569e-01 3.09998364e-02 -6.90061318e-03 1.27646118e+02] [ 6.92025377e-03 -5.26325127e-04 9.99975916e-01 7.06327684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:127.67, Z:0.71 [[ 3.35536950e-02 -9.99436684e-01 -6.81861184e-04 2.07453932e+02] [ 9.99416503e-01 3.35573623e-02 -6.36847543e-03 1.27671868e+02] [ 6.38776942e-03 -4.67777438e-04 9.99979489e-01 7.07274600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:127.70, Z:0.71 [[ 3.68598576e-02 -9.99320230e-01 -6.54125488e-04 2.07452829e+02] [ 9.99301557e-01 3.68631774e-02 -6.12403833e-03 1.27697822e+02] [ 6.14398854e-03 -4.27937438e-04 9.99981034e-01 7.07911397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:127.72, Z:0.71 [[ 4.07005047e-02 -9.99171212e-01 -5.99106278e-04 2.07450925e+02] [ 9.99155458e-01 4.07032345e-02 -5.62293852e-03 1.27722728e+02] [ 5.64266386e-03 -3.69743872e-04 9.99984012e-01 7.08231189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:127.75, Z:0.71 [[ 4.43025399e-02 -9.99018031e-01 -5.08209591e-04 2.07449611e+02] [ 9.99006636e-01 4.43044666e-02 -4.78080069e-03 1.27748421e+02] [ 4.79862205e-03 -2.95903141e-04 9.99988443e-01 7.07915892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.661400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.45, Y:127.77, Z:0.71 [[ 5.04848804e-02 -9.98724778e-01 -3.06882563e-04 2.07445509e+02] [ 9.98720598e-01 5.04855583e-02 -2.89389501e-03 1.27774413e+02] [ 2.90569778e-03 -1.60391994e-04 9.99995766e-01 7.08477369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:127.80, Z:0.71 [[ 5.21676769e-02 -9.98638305e-01 -2.61566036e-04 2.07443394e+02] [ 9.98635253e-01 5.21681651e-02 -2.47280198e-03 1.27799472e+02] [ 2.48308020e-03 -1.32208729e-04 9.99996908e-01 7.08834393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.721400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.44, Y:127.83, Z:0.71 [[ 5.29222320e-02 -9.98598575e-01 -3.51506433e-04 2.07440620e+02] [ 9.98593034e-01 5.29231110e-02 -3.33126827e-03 1.27825314e+02] [ 3.34520256e-03 -1.74713723e-04 9.99994390e-01 7.09040996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:127.85, Z:0.71 [[ 5.25862193e-02 -9.98616303e-01 -4.11243551e-04 2.07438659e+02] [ 9.98608680e-01 5.25874270e-02 -3.90734336e-03 1.27851408e+02] [ 3.92356302e-03 -2.05198964e-04 9.99992282e-01 7.08842675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:127.88, Z:0.71 [[ 5.10961489e-02 -9.98693651e-01 -4.19427471e-04 2.07437182e+02] [ 9.98685680e-01 5.10974192e-02 -3.99569471e-03 1.27875716e+02] [ 4.01190660e-03 -2.14711597e-04 9.99991929e-01 7.08842242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:127.90, Z:0.71 [[ 4.86574757e-02 -9.98815462e-01 -3.51743662e-04 2.07436800e+02] [ 9.98809831e-01 4.86583844e-02 -3.35914103e-03 1.27901560e+02] [ 3.37227728e-03 -1.87877705e-04 9.99994296e-01 7.09132942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:127.93, Z:0.71 [[ 4.21256975e-02 -9.99112302e-01 -1.80738412e-04 2.07432334e+02] [ 9.99110810e-01 4.21259476e-02 -1.73030045e-03 1.27927713e+02] [ 1.73637824e-03 -1.07687587e-04 9.99998487e-01 7.10641713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.43, Y:127.95, Z:0.71 [[ 3.87425087e-02 -9.99249204e-01 -2.15323242e-04 2.07429733e+02] [ 9.99247076e-01 3.87428715e-02 -2.06667562e-03 1.27952413e+02] [ 2.07346621e-03 -1.35092921e-04 9.99997841e-01 7.10736560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:127.98, Z:0.71 [[ 3.58543164e-02 -9.99356980e-01 -3.08410081e-04 2.07427184e+02] [ 9.99352595e-01 3.58550749e-02 -2.96739930e-03 1.27978063e+02] [ 2.97654927e-03 -2.01816341e-04 9.99995550e-01 7.11107697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.00, Z:0.71 [[ 3.22097178e-02 -9.99481001e-01 -5.13029801e-04 2.07421688e+02] [ 9.99468814e-01 3.22118650e-02 -4.94833523e-03 1.28004071e+02] [ 4.96229270e-03 -3.53372805e-04 9.99987625e-01 7.09911317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.03, Z:0.71 [[ 3.08211438e-02 -9.99524779e-01 -5.23023579e-04 2.07420336e+02] [ 9.99512050e-01 3.08233978e-02 -5.05767195e-03 1.28029071e+02] [ 5.07138981e-03 -3.66885135e-04 9.99987073e-01 7.09505521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.05, Z:0.71 [[ 2.99292638e-02 -9.99551911e-01 -4.65819100e-04 2.07418975e+02] [ 9.99541765e-01 2.99310644e-02 -4.51577077e-03 1.28054463e+02] [ 4.52768977e-03 -3.30451950e-04 9.99989695e-01 7.09067403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.08, Z:0.71 [[ 2.89212558e-02 -9.99581628e-01 -3.60192348e-04 2.07417465e+02] [ 9.99575531e-01 2.89223409e-02 -3.50091537e-03 1.28079443e+02] [ 3.50986829e-03 -2.58788589e-04 9.99993807e-01 7.09236678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.42, Y:128.10, Z:0.71 [[ 2.76253890e-02 -9.99618310e-01 -2.67990814e-04 2.07416169e+02] [ 9.99614919e-01 2.76259953e-02 -2.61122889e-03 1.28104926e+02] [ 2.61763573e-03 -1.95751402e-04 9.99996555e-01 7.09375667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.081400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.41, Y:128.13, Z:0.71 [[ 2.38967462e-02 -9.99714374e-01 -3.40534525e-04 2.07414811e+02] [ 9.99708874e-01 2.38977478e-02 -3.32653349e-03 1.28130762e+02] [ 3.33372136e-03 -2.60942059e-04 9.99994409e-01 7.09743924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11140051300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.42, Y:128.16, Z:0.71 [[ 2.08514520e-02 -9.99782476e-01 -4.65759561e-04 2.07415870e+02] [ 9.99772137e-01 2.08533616e-02 -4.56186576e-03 1.28155030e+02] [ 4.57058610e-03 -3.70531907e-04 9.99989486e-01 7.09363642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.18, Z:0.71 [[ 1.78960222e-02 -9.99839687e-01 -5.77247811e-04 2.07416883e+02] [ 9.99823747e-01 1.78990079e-02 -5.66578447e-03 1.28179658e+02] [ 5.67520834e-03 -4.75751065e-04 9.99983783e-01 7.09419465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.21, Z:0.71 [[ 1.51125144e-02 -9.99885586e-01 -6.53105449e-04 2.07417384e+02] [ 9.99865090e-01 1.51164021e-02 -6.42624965e-03 1.28205304e+02] [ 6.43538701e-03 -5.55900547e-04 9.99979138e-01 7.10168368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.23, Z:0.71 [[ 1.28090231e-02 -9.99917717e-01 -6.98640860e-04 2.07418171e+02] [ 9.99894150e-01 1.28135367e-02 -6.89214682e-03 1.28230239e+02] [ 6.90053177e-03 -6.10285242e-04 9.99976005e-01 7.10253833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.26, Z:0.71 [[ 1.10913936e-02 -9.99938212e-01 -7.44177884e-04 2.07419954e+02] [ 9.99911348e-01 1.10965727e-02 -7.35949799e-03 1.28255879e+02] [ 7.36730108e-03 -6.62484823e-04 9.99972642e-01 7.10135849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.28, Z:0.71 [[ 9.67960477e-03 -9.99952835e-01 -7.95835678e-04 2.07421676e+02] [ 9.99921965e-01 9.68558541e-03 -7.89002501e-03 1.28280912e+02] [ 7.89736101e-03 -7.19401252e-04 9.99968557e-01 7.09665220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.31, Z:0.71 [[ 8.66986109e-03 -9.99962134e-01 -7.50549515e-04 2.07422209e+02] [ 9.99934545e-01 8.67522090e-03 -7.45959986e-03 1.28306507e+02] [ 7.46582858e-03 -6.85826694e-04 9.99971895e-01 7.08974287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.33, Z:0.71 [[ 8.53500823e-03 -9.99963304e-01 -7.38087684e-04 2.07423527e+02] [ 9.99936488e-01 8.54020766e-03 -7.35430454e-03 1.28331793e+02] [ 7.36033808e-03 -6.75271757e-04 9.99972684e-01 7.09423577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:128.36, Z:0.71 [[ 8.56099642e-03 -9.99963057e-01 -7.70533969e-04 2.07424310e+02] [ 9.99933676e-01 8.56667652e-03 -7.69782370e-03 1.28356336e+02] [ 7.70414023e-03 -7.04581822e-04 9.99970074e-01 7.09598149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.42, Y:128.38, Z:0.71 [[ 8.40467385e-03 -9.99964334e-01 -8.32191394e-04 2.07424573e+02] [ 9.99929890e-01 8.41132053e-03 -8.33454001e-03 1.28381863e+02] [ 8.34124258e-03 -7.62083959e-04 9.99964921e-01 7.09151498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.411400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.43, Y:128.41, Z:0.71 [[ 8.16890458e-03 -9.99966289e-01 -8.30226140e-04 2.07426915e+02] [ 9.99931844e-01 8.17554313e-03 -8.33473601e-03 1.28407692e+02] [ 8.34124259e-03 -7.62083892e-04 9.99964921e-01 7.09151659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:128.43, Z:0.71 [[ 9.77714528e-03 -9.99951757e-01 -9.43578639e-04 2.07425351e+02] [ 9.99907020e-01 9.78566938e-03 -9.49692312e-03 1.28433174e+02] [ 9.50569851e-03 -8.50638108e-04 9.99954458e-01 7.10028711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:128.46, Z:0.71 [[ 1.16369853e-02 -9.99931889e-01 -8.92983386e-04 2.07426445e+02] [ 9.99891591e-01 1.16445641e-02 -9.01165717e-03 1.28457144e+02] [ 9.02144178e-03 -7.88018057e-04 9.99958995e-01 7.10184106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.43, Y:128.48, Z:0.71 [[ 1.40305044e-02 -9.99901238e-01 -8.12097403e-04 2.07428172e+02] [ 9.99867718e-01 1.40367076e-02 -8.21684661e-03 1.28481908e+02] [ 8.22743427e-03 -6.96703475e-04 9.99965911e-01 7.09568819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.531400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.43, Y:128.51, Z:0.71 [[ 1.64683054e-02 -9.99864112e-01 -7.42769016e-04 2.07429600e+02] [ 9.99835919e-01 1.64734378e-02 -7.53399171e-03 1.28507255e+02] [ 7.54520389e-03 -6.18575065e-04 9.99971343e-01 7.09833520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.561400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.43, Y:128.53, Z:0.71 [[ 1.89388765e-02 -9.99820360e-01 -7.52424422e-04 2.07429187e+02] [ 9.99791270e-01 1.89440834e-02 -7.65106977e-03 1.28532764e+02] [ 7.66394933e-03 -6.07364702e-04 9.99970447e-01 7.09668597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.591400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.43, Y:128.56, Z:0.71 [[ 2.10539552e-02 -9.99777950e-01 -8.84068877e-04 2.07427253e+02] [ 9.99737600e-01 2.10610718e-02 -9.00899336e-03 1.28557702e+02] [ 9.02561235e-03 -6.94161955e-04 9.99959027e-01 7.08894896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.621400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.42, Y:128.58, Z:0.71 [[ 2.50218067e-02 -9.99686274e-01 -1.12339049e-03 2.07422606e+02] [ 9.99620737e-01 2.50330638e-02 -1.14772368e-02 1.28583809e+02] [ 1.15017580e-02 -8.35783232e-04 9.99933503e-01 7.07150743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.42, Y:128.61, Z:0.71 [[ 2.63498626e-02 -9.99652197e-01 -1.08164413e-03 2.07421654e+02] [ 9.99591097e-01 2.63602413e-02 -1.10804156e-02 1.28608848e+02] [ 1.11050742e-02 -7.89234418e-04 9.99938025e-01 7.07508359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.681400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:207.42, Y:128.64, Z:0.71 [[ 2.71684569e-02 -9.99630437e-01 -9.29673887e-04 2.07419828e+02] [ 9.99585073e-01 2.71761026e-02 -9.54678891e-03 1.28635113e+02] [ 9.56852568e-03 -6.69916617e-04 9.99953996e-01 7.08468698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.711400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:207.42, Y:128.66, Z:0.71 [[ 2.76254091e-02 -9.99618064e-01 -7.49946347e-04 2.07416648e+02] [ 9.99588397e-01 2.76303810e-02 -7.71999470e-03 1.28661528e+02] [ 7.73776746e-03 -5.36369655e-04 9.99969919e-01 7.09355013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74140051300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.41, Y:128.69, Z:0.71 [[ 2.79318338e-02 -9.99609667e-01 -5.71992929e-04 2.07413637e+02] [ 9.99592310e-01 2.79347276e-02 -5.90469138e-03 1.28685924e+02] [ 5.91836504e-03 -4.06830875e-04 9.99982404e-01 7.10178140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.771400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.41, Y:128.71, Z:0.71 [[ 2.77600729e-02 -9.99614560e-01 -3.30588949e-04 2.07410260e+02] [ 9.99608732e-01 2.77610426e-02 -3.42174141e-03 1.28711750e+02] [ 3.42960003e-03 -2.35471810e-04 9.99994091e-01 7.10150245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80140051300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.41, Y:128.74, Z:0.71 [[ 2.64840958e-02 -9.99649193e-01 -2.90123597e-04 2.07411079e+02] [ 9.99644680e-01 2.64848501e-02 -3.01121354e-03 1.28736376e+02] [ 3.01784107e-03 -2.10271242e-04 9.99995424e-01 7.09716985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.831400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.41, Y:128.76, Z:0.71 [[ 2.43778351e-02 -9.99702774e-01 -2.91041176e-04 2.07411304e+02] [ 9.99698210e-01 2.43786055e-02 -3.02845704e-03 1.28761410e+02] [ 3.03465208e-03 -2.17126116e-04 9.99995372e-01 7.10190402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86140051300004 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:207.41, Y:128.79, Z:0.71 [[ 2.20830291e-02 -9.99756104e-01 -2.67329466e-04 2.07410948e+02] [ 9.99752237e-01 2.20836893e-02 -2.78851878e-03 1.28787430e+02] [ 2.79374229e-03 -2.05684290e-04 9.99996076e-01 7.10602015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.891400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.41, Y:128.81, Z:0.71 [[ 2.01525332e-02 -9.99796898e-01 -1.97779532e-04 2.07410929e+02] [ 9.99794770e-01 2.01528996e-02 -2.06858688e-03 1.28813096e+02] [ 2.07215258e-03 -1.56051675e-04 9.99997841e-01 7.11172798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92140051300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.41, Y:128.84, Z:0.71 [[ 1.86424286e-02 -9.99826205e-01 -1.38483031e-04 2.07411021e+02] [ 9.99825156e-01 1.86426102e-02 -1.45245852e-03 1.28837290e+02] [ 1.45478778e-03 -1.11381464e-04 9.99998936e-01 7.11154691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.951400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.41, Y:128.86, Z:0.71 [[ 1.75500463e-02 -9.99845951e-01 -2.65097834e-04 2.07408192e+02] [ 9.99842088e-01 1.75507176e-02 -2.78761230e-03 1.28863228e+02] [ 2.79183553e-03 -2.16133247e-04 9.99996079e-01 7.11299891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.981400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.41, Y:128.89, Z:0.71 [[ 1.76788655e-02 -9.99843645e-01 -3.77367032e-04 2.07406384e+02] [ 9.99835777e-01 1.76802280e-02 -3.97842868e-03 1.28889341e+02] [ 3.98447857e-03 -3.06970954e-04 9.99992015e-01 7.11213341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.011400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:207.41, Y:128.92, Z:0.71 [[ 1.83553198e-02 -9.99831402e-01 -4.99814205e-04 2.07405151e+02] [ 9.99817530e-01 1.83577057e-02 -5.28225680e-03 1.28915634e+02] [ 5.29054166e-03 -4.02765491e-04 9.99985924e-01 7.11371989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.041400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.40, Y:128.94, Z:0.71 [[ 1.89669479e-02 -9.99819968e-01 -5.35200747e-04 2.07404799e+02] [ 9.99803970e-01 1.89696807e-02 -5.67219120e-03 1.28940424e+02] [ 5.68132261e-03 -4.27511677e-04 9.99983770e-01 7.11326083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:128.97, Z:0.71 [[ 1.94980336e-02 -9.99809773e-01 -4.95382253e-04 2.07405811e+02] [ 9.99795989e-01 1.95003733e-02 -5.26466846e-03 1.28965186e+02] [ 5.27332712e-03 -3.92630507e-04 9.99986019e-01 7.11238352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.101400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:207.41, Y:128.99, Z:0.71 [[ 1.94385847e-02 -9.99810941e-01 -4.72185364e-04 2.07406896e+02] [ 9.99798353e-01 1.94407160e-02 -5.03117560e-03 1.28990569e+02] [ 5.03940404e-03 -3.74291216e-04 9.99987232e-01 7.11191134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.41, Y:129.02, Z:0.71 [[ 1.70657783e-02 -9.99854248e-01 -4.91776037e-04 2.07406441e+02] [ 9.99840520e-01 1.70681285e-02 -5.25486319e-03 1.29015299e+02] [ 5.26249098e-03 -4.02019279e-04 9.99986072e-01 7.10687946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.161400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.41, Y:129.04, Z:0.71 [[ 1.50579607e-02 -9.99886481e-01 -5.31615694e-04 2.07407974e+02] [ 9.99870356e-01 1.50607463e-02 -5.69598545e-03 1.29040379e+02] [ 5.70334538e-03 -4.45776848e-04 9.99983636e-01 7.10544507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.191400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:207.41, Y:129.06, Z:0.71 [[ 1.29011046e-02 -9.99916638e-01 -5.28467771e-04 2.07410029e+02] [ 9.99900618e-01 1.29038990e-02 -5.67827682e-03 1.29064660e+02] [ 5.68462276e-03 -4.55159207e-04 9.99983739e-01 7.10643266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.221400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.41, Y:129.09, Z:0.71 [[ 9.29335461e-03 -9.99956695e-01 -4.92549870e-04 2.07412808e+02] [ 9.99942724e-01 9.29583758e-03 -5.30443610e-03 1.29088720e+02] [ 5.30878505e-03 -4.43225653e-04 9.99985810e-01 7.10888894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.251400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.41, Y:129.11, Z:0.71 [[ 8.25304709e-03 -9.99965814e-01 -5.08730070e-04 2.07414795e+02] [ 9.99950831e-01 8.25571825e-03 -5.49354823e-03 1.29113581e+02] [ 5.49756036e-03 -4.63366544e-04 9.99984781e-01 7.10227298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.281400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:207.42, Y:129.14, Z:0.71 [[ 8.15015108e-03 -9.99966596e-01 -6.17656577e-04 2.07416501e+02] [ 9.99944385e-01 8.15410148e-03 -6.68866919e-03 1.29138309e+02] [ 6.69348219e-03 -5.63108561e-04 9.99977440e-01 7.09885730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.311400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.42, Y:129.16, Z:0.71 [[ 8.87707907e-03 -9.99960333e-01 -7.28134212e-04 2.07417814e+02] [ 9.99929294e-01 8.88256045e-03 -7.90609084e-03 1.29163778e+02] [ 7.91224492e-03 -6.57899736e-04 9.99968481e-01 7.09301815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.341400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.42, Y:129.19, Z:0.71 [[ 1.00251968e-02 -9.99949437e-01 -7.87353867e-04 2.07419164e+02] [ 9.99912942e-01 1.00315803e-02 -8.57175999e-03 1.29188549e+02] [ 8.57922497e-03 -7.01351741e-04 9.99962952e-01 7.09136181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.371400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.42, Y:129.21, Z:0.71 [[ 1.13069831e-02 -9.99935802e-01 -7.37453467e-04 2.07421166e+02] [ 9.99903600e-01 1.13125565e-02 -8.05092322e-03 1.29214126e+02] [ 8.05874885e-03 -6.46350724e-04 9.99967319e-01 7.09315531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.401400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.42, Y:129.24, Z:0.71 [[ 1.41546000e-02 -9.99899685e-01 -5.16819832e-04 2.07423689e+02] [ 9.99883769e-01 1.41572995e-02 -5.65861314e-03 1.29238800e+02] [ 5.66536227e-03 -4.36664356e-04 9.99983856e-01 7.09658757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.431400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.43, Y:129.26, Z:0.71 [[ 1.52060626e-02 -9.99884284e-01 -4.39802207e-04 2.07425118e+02] [ 9.99872691e-01 1.52080102e-02 -4.82884886e-03 1.29264583e+02] [ 4.83497861e-03 -3.66318438e-04 9.99988244e-01 7.09506818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.461400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.43, Y:129.29, Z:0.71 [[ 1.60808479e-02 -9.99870614e-01 -4.02315348e-04 2.07426317e+02] [ 9.99860854e-01 1.60824734e-02 -4.43014881e-03 1.29288905e+02] [ 4.43604583e-03 -3.31018818e-04 9.99990106e-01 7.08811425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49140051300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.43, Y:129.31, Z:0.71 [[ 1.64839157e-02 -9.99864020e-01 -4.71331880e-04 2.07427994e+02] [ 9.99850545e-01 1.64861473e-02 -5.20523606e-03 1.29312834e+02] [ 5.21229870e-03 -3.85458765e-04 9.99986342e-01 7.08559596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.521400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.43, Y:129.34, Z:0.71 [[ 1.66594106e-02 -9.99861063e-01 -5.63817549e-04 2.07430363e+02] [ 9.99841681e-01 1.66626078e-02 -6.24263333e-03 1.29338480e+02] [ 6.25116067e-03 -4.59729694e-04 9.99980356e-01 7.07881486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.43, Y:129.36, Z:0.71 [[ 1.71124171e-02 -9.99853350e-01 -6.65636582e-04 2.07432642e+02] [ 9.99826193e-01 1.71168713e-02 -7.38894566e-03 1.29364671e+02] [ 7.39925569e-03 -5.39078170e-04 9.99972480e-01 7.07807763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.581400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.43, Y:129.39, Z:0.71 [[ 1.92665298e-02 -9.99814084e-01 -7.74004865e-04 2.07433219e+02] [ 9.99777141e-01 1.92724882e-02 -8.61628280e-03 1.29390072e+02] [ 8.62959789e-03 -6.07826501e-04 9.99962580e-01 7.08910074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61140051300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.43, Y:129.42, Z:0.71 [[ 2.10319337e-02 -9.99778566e-01 -6.90837906e-04 2.07434417e+02] [ 9.99748973e-01 2.10366390e-02 -7.71038761e-03 1.29415902e+02] [ 7.72321317e-03 -5.28500127e-04 9.99970036e-01 7.09452136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:129.44, Z:0.71 [[ 2.55070134e-02 -9.99674576e-01 -3.66916212e-04 2.07436294e+02] [ 9.99666174e-01 2.55083064e-02 -4.10684431e-03 1.29441604e+02] [ 4.11486725e-03 -2.62040393e-04 9.99991500e-01 7.10418329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67140051300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.44, Y:129.47, Z:0.71 [[ 2.64765597e-02 -9.99649390e-01 -2.97999181e-04 2.07437710e+02] [ 9.99643815e-01 2.64774092e-02 -3.34504694e-03 1.29466737e+02] [ 3.35176438e-03 -2.09327703e-04 9.99994361e-01 7.10193368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.44, Y:129.49, Z:0.71 [[ 2.68453569e-02 -9.99639551e-01 -3.07809222e-04 2.07438577e+02] [ 9.99633567e-01 2.68462633e-02 -3.46553011e-03 1.29491009e+02] [ 3.47254449e-03 -2.14663037e-04 9.99993948e-01 7.10430192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:129.52, Z:0.71 [[ 2.71667481e-02 -9.99630856e-01 -3.46165418e-04 2.07439904e+02] [ 9.99623243e-01 2.71678947e-02 -3.90859914e-03 1.29516491e+02] [ 3.91656089e-03 -2.39851070e-04 9.99992302e-01 7.11558796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.761400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.44, Y:129.54, Z:0.71 [[ 2.76202255e-02 -9.99618429e-01 -3.46088342e-04 2.07441540e+02] [ 9.99610773e-01 2.76213710e-02 -3.91946314e-03 1.29541238e+02] [ 3.92752702e-03 -2.37697180e-04 9.99992259e-01 7.10956537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:129.57, Z:0.71 [[ 2.87211749e-02 -9.99587404e-01 -3.40494436e-04 2.07443863e+02] [ 9.99579953e-01 2.87222778e-02 -3.86632866e-03 1.29567092e+02] [ 3.87451320e-03 -2.29305911e-04 9.99992468e-01 7.11903798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.821400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:207.45, Y:129.59, Z:0.71 [[ 3.00142482e-02 -9.99548169e-01 -1.61330453e-03 2.07446041e+02] [ 9.99544433e-01 3.00191826e-02 -3.12667682e-03 1.29593172e+02] [ 3.17369418e-03 -1.51872471e-03 9.99993811e-01 7.11532871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.851400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.44, Y:129.62, Z:0.71 [[ 3.19398331e-02 -9.99489202e-01 1.08702135e-03 2.07440517e+02] [ 9.99485975e-01 3.19366859e-02 -2.79892146e-03 1.29620445e+02] [ 2.76277591e-03 1.17585968e-03 9.99995492e-01 7.13244587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.881400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.44, Y:129.65, Z:0.71 [[ 3.30870968e-02 -9.99452448e-01 -2.17963865e-04 2.07440245e+02] [ 9.99449347e-01 3.30875379e-02 -2.49338408e-03 1.29645262e+02] [ 2.49923071e-03 -1.35345002e-04 9.99996868e-01 7.12670593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.911400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.44, Y:129.67, Z:0.71 [[ 3.42684216e-02 -9.99412643e-01 -2.12134374e-04 2.07438774e+02] [ 9.99409689e-01 3.42688368e-02 -2.43324828e-03 1.29672023e+02] [ 2.43908869e-03 -1.28625571e-04 9.99997017e-01 7.11856562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:129.70, Z:0.71 [[ 3.53714430e-02 -9.99374214e-01 -2.05966905e-04 2.07436976e+02] [ 9.99371413e-01 3.53718321e-02 -2.36885818e-03 1.29698543e+02] [ 2.37466121e-03 -1.22047505e-04 9.99997173e-01 7.12419727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.73, Z:0.71 [[ 3.55394674e-02 -9.99368253e-01 -2.03642111e-04 2.07434230e+02] [ 9.99365501e-01 3.55398480e-02 -2.34850524e-03 1.29725598e+02] [ 2.35425899e-03 -1.20048274e-04 9.99997222e-01 7.13188127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.001400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.43, Y:129.75, Z:0.71 [[ 3.48892781e-02 -9.99391164e-01 -2.00370644e-04 2.07431116e+02] [ 9.99388484e-01 3.48896492e-02 -2.31737868e-03 1.29751351e+02] [ 2.32295864e-03 -1.19396445e-04 9.99997295e-01 7.13308338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.031400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.43, Y:129.78, Z:0.71 [[ 3.11111909e-02 -9.99515912e-01 -1.88819714e-04 2.07425660e+02] [ 9.99513519e-01 3.11115302e-02 -2.19025630e-03 1.29777599e+02] [ 2.19507050e-03 -1.20586375e-04 9.99997584e-01 7.12430327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.43, Y:129.80, Z:0.71 [[ 2.79882241e-02 -9.99608239e-01 -1.66631154e-04 2.07425319e+02] [ 9.99606365e-01 2.79884948e-02 -1.93882957e-03 1.29802491e+02] [ 1.94273377e-03 -1.12301165e-04 9.99998107e-01 7.11641738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.83, Z:0.71 [[ 2.43766020e-02 -9.99702837e-01 -1.35512162e-04 2.07425251e+02] [ 9.99701591e-01 2.43767860e-02 -1.58156078e-03 1.29827155e+02] [ 1.58439415e-03 -9.69186462e-05 9.99998740e-01 7.11631400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.85, Z:0.71 [[ 2.04151369e-02 -9.99791581e-01 -1.26248630e-04 2.07425097e+02] [ 9.99790494e-01 2.04153012e-02 -1.47746672e-03 1.29853195e+02] [ 1.47973619e-03 -9.60594953e-05 9.99998901e-01 7.11294915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.88, Z:0.71 [[ 1.28192789e-02 -9.99917792e-01 -2.75647129e-04 2.07424872e+02] [ 9.99912593e-01 1.28201035e-02 -3.23289153e-03 1.29878863e+02] [ 3.23615958e-03 -2.34179697e-04 9.99994736e-01 7.11115908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.181400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.43, Y:129.90, Z:0.71 [[ 9.22175053e-03 -9.99957407e-01 -3.79443471e-04 2.07427726e+02] [ 9.99947508e-01 9.22335249e-03 -4.46228190e-03 1.29904709e+02] [ 4.46559158e-03 -3.38273502e-04 9.99989972e-01 7.10544042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.93, Z:0.71 [[ 5.89717629e-03 -9.99982488e-01 -4.96575699e-04 2.07431211e+02] [ 9.99965450e-01 5.89998365e-03 -5.85568430e-03 1.29930988e+02] [ 5.85851154e-03 -4.62026540e-04 9.99982732e-01 7.10932613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.43, Y:129.96, Z:0.71 [[ 3.68780568e-03 -9.99993024e-01 -5.93238534e-04 2.07434276e+02] [ 9.99968609e-01 3.69187474e-03 -7.01078341e-03 1.29956556e+02] [ 7.01292466e-03 -5.67365505e-04 9.99975248e-01 7.10362378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.271400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.44, Y:129.98, Z:0.71 [[ 2.40438001e-03 -9.99996918e-01 -6.18924843e-04 2.07436580e+02] [ 9.99970191e-01 2.40885608e-03 -7.33583402e-03 1.29981352e+02] [ 7.33730231e-03 -6.01268261e-04 9.99972901e-01 7.10818207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:130.01, Z:0.71 [[ 2.32594306e-03 -9.99997144e-01 -5.49635523e-04 2.07439563e+02] [ 9.99975940e-01 2.32948504e-03 -6.53395827e-03 1.30007084e+02] [ 6.53521997e-03 -5.34424684e-04 9.99978502e-01 7.11227781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:130.03, Z:0.71 [[ 2.08882591e-03 -9.99997668e-01 -5.48086062e-04 2.07441510e+02] [ 9.99976464e-01 2.09236286e-03 -6.53408842e-03 1.30032917e+02] [ 6.53521998e-03 -5.34424589e-04 9.99978502e-01 7.11228000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36140051300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.45, Y:130.06, Z:0.71 [[ 3.98887498e-03 -9.99991944e-01 -4.47423659e-04 2.07448606e+02] [ 9.99977720e-01 3.99121225e-03 -5.35061977e-03 1.30057026e+02] [ 5.35236243e-03 -4.26070738e-04 9.99985585e-01 7.11129147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.391400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:207.45, Y:130.08, Z:0.71 [[ 5.38345370e-03 -9.99984886e-01 -1.11627333e-03 2.07454477e+02] [ 9.99972883e-01 5.38899182e-03 -5.01907658e-03 1.30082887e+02] [ 5.02501631e-03 -1.08922310e-03 9.99986781e-01 7.11116763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42140051300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.46, Y:130.11, Z:0.71 [[ 6.75953989e-03 -9.99977116e-01 2.76555948e-04 2.07457559e+02] [ 9.99964239e-01 6.75804672e-03 -5.08430353e-03 1.30108727e+02] [ 5.08231820e-03 3.10913611e-04 9.99987037e-01 7.11738032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.451400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:207.46, Y:130.13, Z:0.71 [[ 9.09962746e-03 -9.99958544e-01 -3.26329058e-04 2.07462091e+02] [ 9.99950846e-01 9.10084142e-03 -3.93456386e-03 1.30134442e+02] [ 3.93737062e-03 -2.90509952e-04 9.99992206e-01 7.11779310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.481400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:207.47, Y:130.16, Z:0.71 [[ 1.21567670e-02 -9.99922239e-01 -2.78026760e-03 2.07467764e+02] [ 9.99925063e-01 1.21607198e-02 -1.40926618e-03 1.30158850e+02] [ 1.44296665e-03 -2.76292713e-03 9.99995142e-01 7.12061772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.511400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.47, Y:130.19, Z:0.71 [[ 1.78176794e-02 -9.99837941e-01 2.57335556e-03 2.07466362e+02] [ 9.99838778e-01 1.78118505e-02 -2.27054558e-03 1.30185705e+02] [ 2.22434139e-03 2.61339653e-03 9.99994111e-01 7.14696006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.541400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.47, Y:130.21, Z:0.71 [[ 1.96468222e-02 -9.99806926e-01 -3.36853325e-04 2.07470046e+02] [ 9.99798560e-01 1.96480385e-02 -4.09794309e-03 1.30210801e+02] [ 4.10377039e-03 -2.56273910e-04 9.99991547e-01 7.12967825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.571400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.47, Y:130.24, Z:0.71 [[ 2.12952343e-02 -9.99773124e-01 -4.62906763e-04 2.07471710e+02] [ 9.99757225e-01 2.12975110e-02 -5.64866931e-03 1.30235893e+02] [ 5.65724652e-03 -3.42504644e-04 9.99983939e-01 7.12186973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.601400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.47, Y:130.26, Z:0.71 [[ 2.25981323e-02 -9.99744529e-01 -4.47935004e-04 2.07474042e+02] [ 9.99729561e-01 2.26002494e-02 -5.48022522e-03 1.30260381e+02] [ 5.48894863e-03 -3.23971010e-04 9.99984883e-01 7.11442727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.631400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.48, Y:130.29, Z:0.71 [[ 2.33363645e-02 -9.99727615e-01 -3.31562116e-04 2.07476881e+02] [ 9.99719364e-01 2.33375213e-02 -4.06865917e-03 1.30285526e+02] [ 4.07528877e-03 -2.36521354e-04 9.99991668e-01 7.11899553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:130.31, Z:0.71 [[ 2.38997516e-02 -9.99714346e-01 -1.70685738e-04 2.07479568e+02] [ 9.99712145e-01 2.39000577e-02 -2.10088386e-03 1.30311105e+02] [ 2.10436313e-03 -1.20426003e-04 9.99997779e-01 7.13003238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.48, Y:130.34, Z:0.71 [[ 2.30555284e-02 -9.99734186e-01 -1.40074777e-05 2.07479259e+02] [ 9.99734171e-01 2.30555305e-02 -1.72586324e-04 1.30336897e+02] [ 1.72863398e-04 -1.00246852e-05 9.99999985e-01 7.13720002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:130.36, Z:0.71 [[ 2.26653699e-02 -9.99743105e-01 -7.53011359e-05 2.07478868e+02] [ 9.99742671e-01 2.26654303e-02 -9.32257686e-04 1.30363114e+02] [ 9.33724926e-04 -5.41517935e-05 9.99999563e-01 7.13583031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.751400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.48, Y:130.39, Z:0.71 [[ 2.22390119e-02 -9.99752664e-01 -1.91073783e-04 2.07478649e+02] [ 9.99749857e-01 2.22394031e-02 -2.37333089e-03 1.30388471e+02] [ 2.37699325e-03 -1.38245453e-04 9.99997165e-01 7.12125580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.781400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.48, Y:130.41, Z:0.71 [[ 2.22713437e-02 -9.99751923e-01 -2.82465944e-04 2.07479495e+02] [ 9.99745751e-01 2.22722005e-02 -3.51890403e-03 1.30414961e+02] [ 3.52432221e-03 -2.04023406e-04 9.99993769e-01 7.11252437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:130.44, Z:0.71 [[ 2.33793216e-02 -9.99726608e-01 -3.40749724e-04 2.07478803e+02] [ 9.99717565e-01 2.33805618e-02 -4.25914872e-03 1.30439461e+02] [ 4.26595122e-03 -2.41077477e-04 9.99990872e-01 7.12590445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.841400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.48, Y:130.46, Z:0.71 [[ 2.36679381e-02 -9.99719819e-01 -3.34983260e-04 2.07478041e+02] [ 9.99711023e-01 2.36691373e-02 -4.20025458e-03 1.30464923e+02] [ 4.20700652e-03 -2.35475092e-04 9.99991123e-01 7.13041974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:130.49, Z:0.71 [[ 2.37012168e-02 -9.99719048e-01 -2.77900185e-04 2.07476620e+02] [ 9.99712959e-01 2.37020439e-02 -3.49469679e-03 1.30491373e+02] [ 3.50030175e-03 -1.94991850e-04 9.99993855e-01 7.14216108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.901400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.47, Y:130.52, Z:0.71 [[ 2.30770436e-02 -9.99733664e-01 -2.27383623e-04 2.07474766e+02] [ 9.99729562e-01 2.30776013e-02 -2.86814022e-03 1.30517147e+02] [ 2.87262379e-03 -1.61133933e-04 9.99995861e-01 7.14736013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:130.54, Z:0.72 [[ 2.23071715e-02 -9.99751146e-01 -1.91271093e-04 2.07472514e+02] [ 9.99748226e-01 2.23075693e-02 -2.42004650e-03 1.30542941e+02] [ 2.42371105e-03 -1.37238543e-04 9.99997053e-01 7.15413208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.961400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.47, Y:130.57, Z:0.71 [[ 2.13190426e-02 -9.99772709e-01 -1.70837303e-04 2.07469954e+02] [ 9.99770365e-01 2.13193631e-02 -2.16845378e-03 1.30567857e+02] [ 2.17160305e-03 -1.24568715e-04 9.99997634e-01 7.14884260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.47, Y:130.59, Z:0.71 [[ 1.97246754e-02 -9.99805422e-01 -2.34073645e-04 2.07465728e+02] [ 9.99800995e-01 1.97252859e-02 -2.98060056e-03 1.30593755e+02] [ 2.98463777e-03 -1.75235685e-04 9.99995531e-01 7.13227643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.021400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.47, Y:130.62, Z:0.71 [[ 1.83901867e-02 -9.99830846e-01 -2.83052402e-04 2.07465586e+02] [ 9.99824331e-01 1.83910905e-02 -3.61590179e-03 1.30619331e+02] [ 3.62049579e-03 -2.16505570e-04 9.99993423e-01 7.12675595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.47, Y:130.65, Z:0.71 [[ 1.65553423e-02 -9.99862896e-01 -3.31326425e-04 2.07465515e+02] [ 9.99853918e-01 1.65566004e-02 -4.24520723e-03 1.30646113e+02] [ 4.25011084e-03 -2.60997165e-04 9.99990934e-01 7.12068010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.081400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:207.47, Y:130.67, Z:0.71 [[ 1.43505792e-02 -9.99896946e-01 -3.97245885e-04 2.07465220e+02] [ 9.99883965e-01 1.43524212e-02 -5.10538656e-03 1.30672597e+02] [ 5.11056187e-03 -3.23934536e-04 9.99986889e-01 7.12014204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.46, Y:130.70, Z:0.71 [[ 1.21531794e-02 -9.99926044e-01 -4.53843133e-04 2.07464414e+02] [ 9.99908997e-01 1.21556280e-02 -5.85139471e-03 1.30697532e+02] [ 5.85647871e-03 -3.82688782e-04 9.99982777e-01 7.12410501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.141400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.46, Y:130.72, Z:0.71 [[ 1.03824225e-02 -9.99945987e-01 -4.78035789e-04 2.07464370e+02] [ 9.99926964e-01 1.03851803e-02 -6.18186575e-03 1.30723829e+02] [ 6.18649634e-03 -4.13818133e-04 9.99980778e-01 7.12517657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:130.75, Z:0.71 [[ 8.51731429e-03 -9.99963633e-01 -4.34760440e-04 2.07462060e+02] [ 9.99947806e-01 8.51963130e-03 -5.63925847e-03 1.30750646e+02] [ 5.64275739e-03 -3.86706412e-04 9.99984005e-01 7.13403994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:130.78, Z:0.71 [[ 8.20956523e-03 -9.99966223e-01 -3.94072749e-04 2.07460823e+02] [ 9.99953157e-01 8.21147723e-03 -5.12396592e-03 1.30776210e+02] [ 5.12702877e-03 -3.51988757e-04 9.99986795e-01 7.13586734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.46, Y:130.80, Z:0.71 [[ 8.41341066e-03 -9.99964555e-01 -3.21560206e-04 2.07459871e+02] [ 9.99955800e-01 8.41468570e-03 -4.19411007e-03 1.30801678e+02] [ 4.19666723e-03 -2.86259223e-04 9.99991153e-01 7.13057317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:130.83, Z:0.71 [[ 8.99803414e-03 -9.99959483e-01 -2.61744112e-04 2.07459308e+02] [ 9.99953646e-01 8.99887792e-03 -3.42421341e-03 1.30827598e+02] [ 3.42643007e-03 -2.30920790e-04 9.99994103e-01 7.13836409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.291400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.46, Y:130.85, Z:0.71 [[ 9.80529388e-03 -9.99951900e-01 -2.30819568e-04 2.07459383e+02] [ 9.99947332e-01 9.80594831e-03 -3.02918085e-03 1.30853012e+02] [ 3.03129855e-03 -2.01105403e-04 9.99995385e-01 7.13268358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:130.88, Z:0.71 [[ 1.07168637e-02 -9.99942550e-01 -2.15300792e-04 2.07457306e+02] [ 9.99938550e-01 1.07174311e-02 -2.83419755e-03 1.30879136e+02] [ 2.83634219e-03 -1.84913853e-04 9.99995960e-01 7.14452569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.351400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.46, Y:130.90, Z:0.71 [[ 1.07628517e-02 -9.99942059e-01 -1.98914318e-04 2.07456505e+02] [ 9.99938623e-01 1.07633373e-02 -2.62687880e-03 1.30904309e+02] [ 2.62886757e-03 -1.70629403e-04 9.99996530e-01 7.14143585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.46, Y:130.93, Z:0.71 [[ 1.05971219e-02 -9.99943835e-01 -1.64477863e-04 2.07455855e+02] [ 9.99941471e-01 1.05974553e-02 -2.17914567e-03 1.30930247e+02] [ 2.18076633e-03 -1.41375564e-04 9.99997612e-01 7.13947618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.411400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.46, Y:130.96, Z:0.71 [[ 1.02105259e-02 -9.99947858e-01 -1.63740514e-04 2.07456381e+02] [ 9.99945500e-01 1.02108582e-02 -2.17602132e-03 1.30956436e+02] [ 2.17757979e-03 -1.41513268e-04 9.99997619e-01 7.13747433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:130.98, Z:0.71 [[ 9.46484227e-03 -9.99955183e-01 -2.22437180e-04 2.07457361e+02] [ 9.99950805e-01 9.46546045e-03 -2.96530052e-03 1.30982788e+02] [ 2.96727310e-03 -1.94360135e-04 9.99995579e-01 7.14238527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:131.01, Z:0.71 [[ 8.60850699e-03 -9.99962915e-01 -2.48637139e-04 2.07458709e+02] [ 9.99957411e-01 8.60928641e-03 -3.32525262e-03 1.31007486e+02] [ 3.32726990e-03 -2.20001090e-04 9.99994440e-01 7.13457826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:131.03, Z:0.71 [[ 7.24095620e-03 -9.99973771e-01 -1.57945469e-04 2.07459637e+02] [ 9.99971537e-01 7.24127467e-03 -2.11875259e-03 1.31033392e+02] [ 2.11984075e-03 -1.42599179e-04 9.99997743e-01 7.13457593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:131.06, Z:0.71 [[ 6.51464265e-03 -9.99978778e-01 -5.37923845e-05 2.07461659e+02] [ 9.99978517e-01 6.51467987e-03 -7.23656712e-04 1.31058224e+02] [ 7.23991794e-04 -4.90768641e-05 9.99999737e-01 7.14088595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:131.08, Z:0.71 [[ 5.78773340e-03 -9.99983251e-01 1.83266368e-05 2.07465314e+02] [ 9.99983220e-01 5.78773776e-03 2.47824042e-04 1.31084343e+02] [-2.47925960e-04 1.68919898e-05 9.99999969e-01 7.14408372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:131.11, Z:0.71 [[ 5.19211062e-03 -9.99986521e-01 2.39073012e-05 2.07469635e+02] [ 9.99986468e-01 5.19211809e-03 3.24222870e-04 1.31109249e+02] [-3.24342629e-04 2.22235767e-05 9.99999947e-01 7.14717145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.621400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.47, Y:131.13, Z:0.71 [[ 4.79599738e-03 -9.99988499e-01 -4.69256262e-06 2.07473557e+02] [ 9.99988497e-01 4.79599766e-03 -6.33482243e-05 1.31133950e+02] [ 6.33700013e-05 -4.38869071e-06 9.99999998e-01 7.14177028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:131.16, Z:0.71 [[ 4.82139371e-03 -9.99988375e-01 -6.03704545e-05 2.07476125e+02] [ 9.99988038e-01 4.82144174e-03 -8.22563834e-04 1.31160252e+02] [ 8.22845345e-04 -5.64038283e-05 9.99999660e-01 7.14937745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:131.19, Z:0.71 [[ 6.69000360e-03 -9.99977620e-01 -6.59613938e-05 2.07479516e+02] [ 9.99977215e-01 6.69006036e-03 -9.01672059e-04 1.31185435e+02] [ 9.02093165e-04 -5.99277015e-05 9.99999591e-01 7.13592345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:131.21, Z:0.71 [[ 8.69296582e-03 -9.99962214e-01 -4.94674591e-05 2.07483172e+02] [ 9.99961985e-01 8.69299738e-03 -6.78186196e-04 1.31211386e+02] [ 6.78590591e-04 -4.35701292e-05 9.99999769e-01 7.13048395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:131.24, Z:0.71 [[ 1.05848450e-02 -9.99943978e-01 -3.76355536e-05 2.07486120e+02] [ 9.99943845e-01 1.05848630e-02 -5.17582185e-04 1.31236375e+02] [ 5.17951556e-04 -3.21549129e-05 9.99999865e-01 7.12744978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.771400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.49, Y:131.26, Z:0.71 [[ 1.29871887e-02 -9.99915640e-01 -2.14215757e-04 2.07487645e+02] [ 9.99911283e-01 1.29877656e-02 -2.95694957e-03 1.31263055e+02] [ 2.95948231e-03 -1.75794290e-04 9.99995605e-01 7.13161198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:131.29, Z:0.71 [[ 1.32373620e-02 -9.99912327e-01 -3.32904215e-04 2.07487888e+02] [ 9.99901733e-01 1.32387569e-02 -4.61082613e-03 1.31288166e+02] [ 4.61482912e-03 -2.71836327e-04 9.99989315e-01 7.13713211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:131.31, Z:0.71 [[ 1.27694143e-02 -9.99918407e-01 -3.48332679e-04 2.07488835e+02] [ 9.99906728e-01 1.27709517e-02 -4.84124636e-03 1.31313325e+02] [ 4.84529989e-03 -2.86480309e-04 9.99988220e-01 7.13099600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86140051300004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:207.49, Y:131.34, Z:0.71 [[ 1.12522440e-02 -9.99936644e-01 -3.07159991e-04 2.07491462e+02] [ 9.99927502e-01 1.12534570e-02 -4.28382945e-03 1.31338873e+02] [ 4.28701465e-03 -2.58935029e-04 9.99990777e-01 7.11741321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:131.36, Z:0.71 [[ 8.73429383e-03 -9.99961828e-01 -2.32028967e-04 2.07494288e+02] [ 9.99956582e-01 8.73500109e-03 -3.24553561e-03 1.31362700e+02] [ 3.24743850e-03 -2.03671431e-04 9.99994706e-01 7.12053846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:131.39, Z:0.71 [[ 5.78162983e-03 -9.99983265e-01 -2.03897709e-04 2.07496907e+02] [ 9.99979188e-01 5.78218978e-03 -2.86187093e-03 1.31387635e+02] [ 2.86300201e-03 -1.87347188e-04 9.99995884e-01 7.11936455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:131.41, Z:0.71 [[ 6.31343674e-04 -9.99999770e-01 -2.46069748e-04 2.07499731e+02] [ 9.99993796e-01 6.32192586e-04 -3.46523432e-03 1.31413401e+02] [ 3.46538909e-03 -2.43880467e-04 9.99993966e-01 7.12719510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.981400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.50, Y:131.44, Z:0.71 [[-1.11591329e-03 -9.99999350e-01 -2.33522528e-04 2.07503266e+02] [ 9.99993934e-01 -1.11513669e-03 -3.29976866e-03 1.31438928e+02] [ 3.29950610e-03 -2.37203367e-04 9.99994529e-01 7.12144889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:131.47, Z:0.71 [[-2.77211628e-03 -9.99996137e-01 -2.02784853e-04 2.07506912e+02] [ 9.99992027e-01 -2.77152193e-03 -2.87478577e-03 1.31465392e+02] [ 2.87421264e-03 -2.10752477e-04 9.99995847e-01 7.12793004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.041400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.51, Y:131.49, Z:0.71 [[-4.62699127e-03 -9.99989275e-01 -2.03820848e-04 2.07509987e+02] [ 9.99985095e-01 -4.62638099e-03 -2.89930922e-03 1.31490841e+02] [ 2.89833517e-03 -2.17232888e-04 9.99995776e-01 7.12412536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:131.51, Z:0.71 [[-6.37999951e-03 -9.99979621e-01 -2.32489141e-04 2.07512355e+02] [ 9.99974144e-01 -6.37919285e-03 -3.31930947e-03 1.31514924e+02] [ 3.31775873e-03 -2.53660323e-04 9.99994464e-01 7.13261282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:131.54, Z:0.71 [[-7.93809588e-03 -9.99968459e-01 -2.59920646e-04 2.07514456e+02] [ 9.99961570e-01 -7.93707345e-03 -3.72312521e-03 1.31541121e+02] [ 3.72094477e-03 -2.89465183e-04 9.99993035e-01 7.13769783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:131.57, Z:0.71 [[-9.59732239e-03 -9.99953912e-01 -2.54985685e-04 2.07519800e+02] [ 9.99947234e-01 -9.59632349e-03 -3.66594960e-03 1.31565365e+02] [ 3.66333372e-03 -2.90155530e-04 9.99993248e-01 7.14217992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:131.59, Z:0.71 [[-9.91593654e-03 -9.99950801e-01 -2.65855547e-04 2.07524067e+02] [ 9.99943493e-01 -9.91484449e-03 -3.83493655e-03 1.31591596e+02] [ 3.83211195e-03 -3.03867512e-04 9.99992611e-01 7.14428246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:131.62, Z:0.71 [[-9.88662550e-03 -9.99951090e-01 -2.67293537e-04 2.07527014e+02] [ 9.99943652e-01 -9.88551775e-03 -3.86901593e-03 1.31616493e+02] [ 3.86618436e-03 -3.05529987e-04 9.99992480e-01 7.14184592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:131.64, Z:0.71 [[-1.01067268e-02 -9.99948890e-01 -2.66439622e-04 2.07528548e+02] [ 9.99941452e-01 -1.01056207e-02 -3.86907482e-03 1.31642354e+02] [ 3.86618454e-03 -3.05527705e-04 9.99992480e-01 7.14187900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.251400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:207.53, Y:131.67, Z:0.71 [[-9.97301962e-03 -9.99950234e-01 -2.63085485e-04 2.07529950e+02] [ 9.99942932e-01 -9.97193832e-03 -3.83312303e-03 1.31668188e+02] [ 3.83030879e-03 -3.01298282e-04 9.99992619e-01 7.14051696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:131.69, Z:0.72 [[-9.13592872e-03 -9.99958241e-01 -2.25582152e-04 2.07531072e+02] [ 9.99952836e-01 -9.13513542e-03 -3.29766695e-03 1.31694453e+02] [ 3.29546852e-03 -2.55698763e-04 9.99994537e-01 7.15068250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:131.72, Z:0.72 [[-8.13994644e-03 -9.99966852e-01 -1.90894412e-04 2.07532278e+02] [ 9.99962954e-01 -8.13938013e-03 -2.80032060e-03 1.31719870e+02] [ 2.79867401e-03 -2.13681799e-04 9.99996061e-01 7.15883590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:131.74, Z:0.72 [[-5.36946388e-03 -9.99985569e-01 -1.73068949e-04 2.07533908e+02] [ 9.99982339e-01 -5.36900546e-03 -2.54850680e-03 1.31744062e+02] [ 2.54754082e-03 -1.86750008e-04 9.99996738e-01 7.16228736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.371400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.53, Y:131.77, Z:0.72 [[-3.92197009e-03 -9.99992291e-01 -1.92081072e-04 2.07534886e+02] [ 9.99988286e-01 -3.92140938e-03 -2.83738550e-03 1.31768331e+02] [ 2.83661040e-03 -2.03206963e-04 9.99995956e-01 7.15476494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.401400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.54, Y:131.79, Z:0.71 [[-2.55461232e-03 -9.99996715e-01 -2.09633515e-04 2.07535757e+02] [ 9.99991909e-01 -2.55394853e-03 -3.10786538e-03 1.31793412e+02] [ 3.10731978e-03 -2.17571210e-04 9.99995149e-01 7.14931239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.431400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.54, Y:131.82, Z:0.71 [[ 1.04178815e-03 -9.99999449e-01 -1.33168795e-04 2.07535638e+02] [ 9.99997494e-01 1.04204996e-03 -1.98136356e-03 1.31819093e+02] [ 1.98150123e-03 -1.31104301e-04 9.99998028e-01 7.13715132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:131.85, Z:0.71 [[ 2.70703619e-03 -9.99996331e-01 -9.59370141e-05 2.07535992e+02] [ 9.99995310e-01 2.70717082e-03 -1.43222090e-03 1.31845505e+02] [ 1.43247536e-03 -9.20594904e-05 9.99998970e-01 7.14633768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.54, Y:131.87, Z:0.72 [[ 4.26203391e-03 -9.99990914e-01 -8.68250005e-05 2.07536123e+02] [ 9.99990071e-01 4.26214325e-03 -1.30079711e-03 1.31871177e+02] [ 1.30115535e-03 -8.12800970e-05 9.99999150e-01 7.15040432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:131.90, Z:0.72 [[ 5.72377528e-03 -9.99983615e-01 -8.63995486e-05 2.07536312e+02] [ 9.99982775e-01 5.72388272e-03 -1.29918227e-03 1.31896269e+02] [ 1.29965552e-03 -7.89618330e-05 9.99999152e-01 7.16156717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:131.92, Z:0.72 [[ 7.03192230e-03 -9.99975269e-01 -1.19745201e-04 2.07537039e+02] [ 9.99973641e-01 7.03212729e-03 -1.80746665e-03 1.31921603e+02] [ 1.80826401e-03 -1.07032080e-04 9.99998359e-01 7.15832259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:131.95, Z:0.71 [[ 9.61747543e-03 -9.99953729e-01 -2.10050217e-04 2.07537928e+02] [ 9.99948679e-01 9.61809546e-03 -3.18287232e-03 1.31947245e+02] [ 3.18474533e-03 -1.79428241e-04 9.99994913e-01 7.14651706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:131.97, Z:0.71 [[ 1.05705401e-02 -9.99944110e-01 -2.03862844e-04 2.07537574e+02] [ 9.99939316e-01 1.05711216e-02 -3.10096735e-03 1.31972231e+02] [ 3.10294909e-03 -1.71071573e-04 9.99995171e-01 7.14561932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:132.00, Z:0.71 [[ 1.14037941e-02 -9.99934958e-01 -1.84331926e-04 2.07536500e+02] [ 9.99931008e-01 1.14042679e-02 -2.81462347e-03 1.31997697e+02] [ 2.81654257e-03 -1.52221822e-04 9.99996022e-01 7.14724949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:132.02, Z:0.71 [[ 1.16392470e-02 -9.99932251e-01 -1.47679573e-04 2.07535429e+02] [ 9.99929698e-01 1.16395515e-02 -2.26288019e-03 1.32023632e+02] [ 2.26444581e-03 -1.21330969e-04 9.99997429e-01 7.14788997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:132.05, Z:0.71 [[ 1.12415252e-02 -9.99936803e-01 -1.36278902e-04 2.07534703e+02] [ 9.99934613e-01 1.12417863e-02 -2.09589486e-03 1.32049453e+02] [ 2.09729443e-03 -1.12708936e-04 9.99997794e-01 7.14189321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.53, Y:132.08, Z:0.71 [[ 1.00939839e-02 -9.99949037e-01 -1.85357196e-04 2.07534054e+02] [ 9.99944954e-01 1.00944731e-02 -2.86188975e-03 1.32075431e+02] [ 2.86361499e-03 -1.56459124e-04 9.99995888e-01 7.13346946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.53, Y:132.10, Z:0.71 [[ 5.54414244e-03 -9.99984598e-01 -2.55706291e-04 2.07532429e+02] [ 9.99976775e-01 5.54511234e-03 -3.96260077e-03 1.32101994e+02] [ 3.96395766e-03 -2.33731129e-04 9.99992116e-01 7.11912522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.791400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.53, Y:132.13, Z:0.71 [[ 2.01565253e-03 -9.99997931e-01 -2.74432975e-04 2.07533065e+02] [ 9.99988857e-01 2.01680558e-03 -4.26821260e-03 1.32128027e+02] [ 4.26875725e-03 -2.65826683e-04 9.99990854e-01 7.11457822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:132.15, Z:0.71 [[-1.91516714e-03 -9.99998123e-01 -2.94251343e-04 2.07534258e+02] [ 9.99987617e-01 -1.91379531e-03 -4.59374213e-03 1.32153461e+02] [ 4.59317037e-03 -3.03045483e-04 9.99989405e-01 7.11756281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:132.18, Z:0.71 [[-5.79557565e-03 -9.99983158e-01 -3.09305712e-04 2.07536128e+02] [ 9.99971468e-01 -5.79400872e-03 -4.84686564e-03 1.32178621e+02] [ 4.84499189e-03 -3.37387264e-04 9.99988206e-01 7.11398473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.881400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.54, Y:132.20, Z:0.71 [[-9.46013854e-03 -9.99955199e-01 -3.25337258e-04 2.07538964e+02] [ 9.99942167e-01 -9.45834985e-03 -5.11877198e-03 1.32202435e+02] [ 5.11546550e-03 -3.73742735e-04 9.99986846e-01 7.10612566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:132.23, Z:0.71 [[-1.43002261e-02 -9.99897695e-01 -3.22139470e-04 2.07543178e+02] [ 9.99884827e-01 -1.42984029e-02 -5.08799619e-03 1.32227687e+02] [ 5.08286958e-03 -3.94861864e-04 9.99987004e-01 7.10105409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.941400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.55, Y:132.25, Z:0.71 [[-1.48956008e-02 -9.99889005e-01 -3.13143428e-04 2.07546326e+02] [ 9.99876760e-01 -1.48938638e-02 -4.96372045e-03 1.32253447e+02] [ 4.95850559e-03 -3.87042434e-04 9.99987632e-01 7.09812508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.55, Y:132.28, Z:0.71 [[-1.44551555e-02 -9.99895480e-01 -2.77927896e-04 2.07549446e+02] [ 9.99885777e-01 -1.44537872e-02 -4.41816070e-03 1.32278362e+02] [ 4.41368180e-03 -3.41761351e-04 9.99990201e-01 7.10464530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.55, Y:132.30, Z:0.71 [[-1.28746864e-02 -9.99917093e-01 -2.22230384e-04 2.07552049e+02] [ 9.99910841e-01 -1.28738178e-02 -3.54624097e-03 1.32303541e+02] [ 3.54308601e-03 -2.67867310e-04 9.99993687e-01 7.10707294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.33, Z:0.71 [[-1.02372367e-02 -9.99947585e-01 -1.64083769e-04 2.07553407e+02] [ 9.99944148e-01 -1.02367702e-02 -2.62852088e-03 1.32329268e+02] [ 2.62670342e-03 -1.90983395e-04 9.99996532e-01 7.11595724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.36, Z:0.71 [[-6.86109312e-03 -9.99976450e-01 -1.60100994e-04 2.07553577e+02] [ 9.99973152e-01 -6.86065838e-03 -2.57407732e-03 1.32355342e+02] [ 2.57291830e-03 -1.77757680e-04 9.99996674e-01 7.12106884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.55, Y:132.38, Z:0.71 [[ 4.02958375e-04 -9.99999866e-01 -3.26114709e-04 2.07552651e+02] [ 9.99986074e-01 4.04668838e-04 -5.26203151e-03 1.32381243e+02] [ 5.26216277e-03 -3.23989788e-04 9.99986102e-01 7.11393025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.41, Z:0.71 [[ 2.97772275e-03 -9.99995493e-01 -3.84900827e-04 2.07553931e+02] [ 9.99976127e-01 2.98006461e-03 -6.23412214e-03 1.32407812e+02] [ 6.23524107e-03 -3.66328151e-04 9.99980494e-01 7.11234002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.151400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.55, Y:132.43, Z:0.71 [[ 4.20596232e-03 -9.99991072e-01 -4.08440221e-04 2.07554808e+02] [ 9.99969087e-01 4.20858260e-03 -6.64167979e-03 1.32433094e+02] [ 6.64333945e-03 -3.80492940e-04 9.99977860e-01 7.10914948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.46, Z:0.71 [[ 3.95750348e-03 -9.99992099e-01 -3.74995073e-04 2.07554106e+02] [ 9.99973416e-01 3.95972552e-03 -6.12265689e-03 1.32458431e+02] [ 6.12409339e-03 -3.50754669e-04 9.99981186e-01 7.11800285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.211400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.55, Y:132.48, Z:0.71 [[ 2.52652437e-03 -9.99996753e-01 -3.33745779e-04 2.07552646e+02] [ 9.99981836e-01 2.52831272e-03 -5.47136887e-03 1.32484050e+02] [ 5.47219492e-03 -3.19916170e-04 9.99984976e-01 7.11630192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.51, Z:0.71 [[-2.65492378e-03 -9.99996456e-01 -1.99690579e-04 2.07549236e+02] [ 9.99991078e-01 -2.65425331e-03 -3.28605066e-03 1.32510717e+02] [ 3.28550898e-03 -2.08413011e-04 9.99994581e-01 7.12363214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.271400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.55, Y:132.54, Z:0.71 [[-5.93037932e-03 -9.99982397e-01 -1.89234286e-04 2.07549190e+02] [ 9.99977532e-01 -5.92975885e-03 -3.12636189e-03 1.32535821e+02] [ 3.12518475e-03 -2.07770546e-04 9.99995095e-01 7.12321415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.56, Z:0.71 [[-9.18720260e-03 -9.99957777e-01 -1.98121552e-04 2.07548566e+02] [ 9.99952405e-01 -9.18650222e-03 -3.28582689e-03 1.32562065e+02] [ 3.28386811e-03 -2.28299679e-04 9.99994582e-01 7.13066068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.59, Z:0.71 [[-1.18869673e-02 -9.99929323e-01 -2.20952019e-04 2.07547377e+02] [ 9.99922589e-01 -1.18860743e-02 -3.67926529e-03 1.32587046e+02] [ 3.67637900e-03 -2.64670221e-04 9.99993207e-01 7.13457217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.61, Z:0.71 [[-1.33888055e-02 -9.99910343e-01 -2.13095918e-04 2.07546934e+02] [ 9.99904033e-01 -1.33879619e-02 -3.56179039e-03 1.32613127e+02] [ 3.55861813e-03 -2.60763587e-04 9.99993634e-01 7.13227075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.391400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.55, Y:132.64, Z:0.71 [[-1.42909450e-02 -9.99897865e-01 -1.70147459e-04 2.07547781e+02] [ 9.99893812e-01 -1.42904013e-02 -2.85467838e-03 1.32639206e+02] [ 2.85195534e-03 -2.10925443e-04 9.99995911e-01 7.12387671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42140051300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:207.55, Y:132.67, Z:0.71 [[-1.52559433e-02 -9.99883620e-01 -4.98776584e-05 2.07548854e+02] [ 9.99883269e-01 -1.52558961e-02 -8.39718055e-04 1.32665510e+02] [ 8.38859401e-04 -6.26825272e-05 9.99999646e-01 7.10698613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.55, Y:132.69, Z:0.71 [[-1.53544391e-02 -9.99882110e-01 -9.05439775e-05 2.07548498e+02] [ 9.99880944e-01 -1.53542826e-02 -1.53091107e-03 1.32691149e+02] [ 1.52934036e-03 -1.14039479e-04 9.99998824e-01 7.10519960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.481400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.55, Y:132.72, Z:0.71 [[-1.50600987e-02 -9.99886571e-01 -1.94073336e-04 2.07547177e+02] [ 9.99881170e-01 -1.50593777e-02 -3.29559603e-03 1.32716390e+02] [ 3.29229959e-03 -2.43682276e-04 9.99994551e-01 7.11026067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.74, Z:0.71 [[-1.43319285e-02 -9.99897250e-01 -2.93114682e-04 2.07546277e+02] [ 9.99884829e-01 -1.43302856e-02 -4.99719529e-03 1.32742954e+02] [ 4.99248141e-03 -3.64700369e-04 9.99987471e-01 7.11632333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.541400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:207.55, Y:132.77, Z:0.71 [[-1.34040399e-02 -9.99910088e-01 -3.84951293e-04 2.07546661e+02] [ 9.99888484e-01 -1.34012133e-02 -6.58994218e-03 1.32768258e+02] [ 6.58419085e-03 -4.73240212e-04 9.99978212e-01 7.11617972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.79, Z:0.71 [[-1.25531871e-02 -9.99921125e-01 -4.01868257e-04 2.07547966e+02] [ 9.99897394e-01 -1.25501136e-02 -6.90617114e-03 1.32793958e+02] [ 6.90058292e-03 -4.88521481e-04 9.99976071e-01 7.11455303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.82, Z:0.71 [[-1.15182220e-02 -9.99933604e-01 -3.42389874e-04 2.07547044e+02] [ 9.99916223e-01 -1.15159981e-02 -5.91005978e-03 1.32818235e+02] [ 5.90572442e-03 -4.10434570e-04 9.99982477e-01 7.11668082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.55, Y:132.84, Z:0.71 [[-1.15991354e-02 -9.99932694e-01 -2.58643200e-04 2.07545693e+02] [ 9.99922692e-01 -1.15978598e-02 -4.48332533e-03 1.32843623e+02] [ 4.48002387e-03 -3.10625903e-04 9.99989916e-01 7.11685990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.661400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.54, Y:132.87, Z:0.71 [[-1.19191970e-02 -9.99928946e-01 -1.89378511e-04 2.07544503e+02] [ 9.99923536e-01 -1.19185081e-02 -3.29706250e-03 1.32867798e+02] [ 3.29457112e-03 -2.28662367e-04 9.99994547e-01 7.12684948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:132.89, Z:0.71 [[-1.27097010e-02 -9.99919219e-01 -1.41525952e-04 2.07544614e+02] [ 9.99916174e-01 -1.27093122e-02 -2.47356940e-03 1.32894031e+02] [ 2.47157088e-03 -1.72952416e-04 9.99996931e-01 7.13311513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:132.92, Z:0.71 [[-1.34243521e-02 -9.99909873e-01 -1.83259479e-04 2.07545454e+02] [ 9.99904726e-01 -1.34236936e-02 -3.21597500e-03 1.32919802e+02] [ 3.21322513e-03 -2.26414400e-04 9.99994812e-01 7.13469290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:132.95, Z:0.71 [[-1.24500307e-02 -9.99922450e-01 -3.01132704e-04 2.07544806e+02] [ 9.99908434e-01 -1.24482579e-02 -5.30706094e-03 1.32945372e+02] [ 5.30290080e-03 -3.67178202e-04 9.99985872e-01 7.12870766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.54, Y:132.97, Z:0.71 [[-1.15240138e-02 -9.99933536e-01 -3.48760220e-04 2.07544281e+02] [ 9.99914581e-01 -1.15216429e-02 -6.17117258e-03 1.32971259e+02] [ 6.16674413e-03 -4.19847106e-04 9.99980897e-01 7.12573764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.811400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:207.54, Y:133.00, Z:0.71 [[-1.06069032e-02 -9.99943670e-01 -3.86712153e-04 2.07543438e+02] [ 9.99920166e-01 -1.06039964e-02 -6.87149929e-03 1.32996205e+02] [ 6.86701152e-03 -4.59566608e-04 9.99976316e-01 7.12919057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.841400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.54, Y:133.02, Z:0.71 [[-9.96108433e-03 -9.99950290e-01 -4.40027368e-04 2.07542945e+02] [ 9.99919589e-01 -9.95732286e-03 -7.85285581e-03 1.33022077e+02] [ 7.84808395e-03 -5.18214944e-04 9.99969069e-01 7.13138343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:133.05, Z:0.71 [[-9.73279093e-03 -9.99952515e-01 -4.90950979e-04 2.07542688e+02] [ 9.99913979e-01 -9.72809646e-03 -8.79760891e-03 1.33048260e+02] [ 8.79241513e-03 -5.76534035e-04 9.99961180e-01 7.13318756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.901400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.54, Y:133.07, Z:0.71 [[-9.46384122e-03 -9.99955081e-01 -5.21541355e-04 2.07542316e+02] [ 9.99911305e-01 -9.45853645e-03 -9.37652661e-03 1.33073452e+02] [ 9.37117241e-03 -6.10233055e-04 9.99955903e-01 7.12841915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.931400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.54, Y:133.10, Z:0.71 [[-9.32698360e-03 -9.99956401e-01 -4.51678551e-04 2.07539912e+02] [ 9.99923297e-01 -9.32299184e-03 -8.15366024e-03 1.33099888e+02] [ 8.14909375e-03 -5.27692962e-04 9.99966656e-01 7.13469616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.961400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.54, Y:133.12, Z:0.71 [[-9.53970425e-03 -9.99954430e-01 -3.64269971e-04 2.07538365e+02] [ 9.99932713e-01 -9.53709133e-03 -6.60399262e-03 1.33124858e+02] [ 6.60021760e-03 -4.27245597e-04 9.99978127e-01 7.14076164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.54, Y:133.15, Z:0.71 [[-9.75199921e-03 -9.99952401e-01 -3.08075825e-04 2.07536677e+02] [ 9.99936725e-01 -9.75011773e-03 -5.61073910e-03 1.33149704e+02] [ 5.60746826e-03 -3.62772255e-04 9.99984212e-01 7.14690443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.021400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.54, Y:133.18, Z:0.71 [[-1.00968529e-02 -9.99948992e-01 -2.57397131e-04 2.07535286e+02] [ 9.99937961e-01 -1.00955299e-02 -4.70684397e-03 1.33176482e+02] [ 4.70400533e-03 -3.04905474e-04 9.99988890e-01 7.14468343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.20, Z:0.71 [[-1.10913610e-02 -9.99938466e-01 -2.16253967e-04 2.07533650e+02] [ 9.99930613e-01 -1.10904151e-02 -3.97127102e-03 1.33203133e+02] [ 3.96862830e-03 -2.60285762e-04 9.99992091e-01 7.14422403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.53, Y:133.23, Z:0.71 [[-1.25990755e-02 -9.99920610e-01 -1.92804852e-04 2.07532375e+02] [ 9.99914313e-01 -1.25983104e-02 -3.55645604e-03 1.33228946e+02] [ 3.55374468e-03 -2.37596389e-04 9.99993657e-01 7.14288101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.26, Z:0.71 [[-1.63240059e-02 -9.99866749e-01 -1.04232116e-04 2.07529116e+02] [ 9.99864895e-01 -1.63237743e-02 -1.93050594e-03 1.33255277e+02] [ 1.92854724e-03 -1.35731624e-04 9.99998131e-01 7.13663484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.28, Z:0.71 [[-1.65380894e-02 -9.99863231e-01 -1.03817245e-04 2.07530377e+02] [ 9.99861377e-01 -1.65378583e-02 -1.93052829e-03 1.33281972e+02] [ 1.92854734e-03 -1.35730103e-04 9.99998131e-01 7.13666898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17140051300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.53, Y:133.31, Z:0.71 [[-1.81595536e-02 -9.99835098e-01 -8.86109843e-05 2.07530288e+02] [ 9.99833735e-01 -1.81593822e-02 -1.65490531e-03 1.33306990e+02] [ 1.65302329e-03 -1.18648593e-04 9.99998627e-01 7.13216296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.33, Z:0.71 [[-1.96744694e-02 -9.99806435e-01 -8.68336424e-05 2.07530042e+02] [ 9.99805115e-01 -1.96743019e-02 -1.62885148e-03 1.33332509e+02] [ 1.62682780e-03 -1.18863508e-04 9.99998670e-01 7.13614423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.231400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.53, Y:133.36, Z:0.71 [[-2.04026041e-02 -9.99791835e-01 -1.43296268e-04 2.07530295e+02] [ 9.99788209e-01 -2.04021431e-02 -2.69981554e-03 1.33358576e+02] [ 2.69632998e-03 -1.98349187e-04 9.99996345e-01 7.13142676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.38, Z:0.71 [[-2.14376584e-02 -9.99770165e-01 -2.10922559e-04 2.07529745e+02] [ 9.99762239e-01 -2.14366463e-02 -3.99190467e-03 1.33384108e+02] [ 3.98646572e-03 -2.96449498e-04 9.99992010e-01 7.12920087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.41, Z:0.71 [[-2.21990886e-02 -9.99753528e-01 -2.89086440e-04 2.07529129e+02] [ 9.99738513e-01 -2.21971664e-02 -5.49462148e-03 1.33410284e+02] [ 5.48685031e-03 -4.10986437e-04 9.99984863e-01 7.12805183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.44, Z:0.71 [[-2.33081158e-02 -9.99728278e-01 -3.19343904e-04 2.07526286e+02] [ 9.99709794e-01 -2.33057374e-02 -6.09672920e-03 1.33435853e+02] [ 6.08763004e-03 -4.61354499e-04 9.99981364e-01 7.13470640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.46, Z:0.71 [[-2.36393357e-02 -9.99720523e-01 -2.40839983e-04 2.07525922e+02] [ 9.99709919e-01 -2.36379725e-02 -4.61775460e-03 1.33461839e+02] [ 4.61077107e-03 -3.49930771e-04 9.99989309e-01 7.14435822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.53, Y:133.49, Z:0.71 [[-2.37532558e-02 -9.99717842e-01 -1.37666582e-04 2.07526413e+02] [ 9.99714354e-01 -2.37528082e-02 -2.64855524e-03 1.33487465e+02] [ 2.64453796e-03 -2.00539068e-04 9.99996483e-01 7.14774710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.53, Y:133.51, Z:0.71 [[-2.37515979e-02 -9.99717890e-01 -4.59955909e-05 2.07527744e+02] [ 9.99717498e-01 -2.37515477e-02 -8.88354098e-04 1.33513328e+02] [ 8.87011018e-04 -6.70824263e-05 9.99999604e-01 7.14752048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.54, Z:0.71 [[-2.36466492e-02 -9.99720379e-01 -6.81229137e-06 2.07529251e+02] [ 9.99720370e-01 -2.36466481e-02 -1.31674522e-04 1.33538108e+02] [ 1.31476615e-04 -9.92404766e-06 9.99999991e-01 7.14356528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.471400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.53, Y:133.56, Z:0.71 [[-2.28801735e-02 -9.99738215e-01 -1.26124825e-05 2.07530874e+02] [ 9.99738185e-01 -2.28801697e-02 -2.45370485e-04 1.33564258e+02] [ 2.45017675e-04 -1.82232996e-05 9.99999970e-01 7.13985127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.59, Z:0.71 [[-1.90539300e-02 -9.99818453e-01 -9.02360516e-05 2.07531416e+02] [ 9.99816900e-01 -1.90537410e-02 -1.76649530e-03 1.33589992e+02] [ 1.76445526e-03 -1.23878207e-04 9.99998436e-01 7.14263468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.62, Z:0.71 [[-1.67453984e-02 -9.99859780e-01 -1.12776839e-04 2.07532433e+02] [ 9.99857332e-01 -1.67451073e-02 -2.21750257e-03 1.33616090e+02] [ 2.21530317e-03 -1.49893713e-04 9.99997535e-01 7.14351890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.53, Y:133.64, Z:0.72 [[-1.45289480e-02 -9.99894441e-01 -1.31373946e-04 2.07533704e+02] [ 9.99891088e-01 -1.45285584e-02 -2.59481404e-03 1.33642192e+02] [ 2.59263146e-03 -1.69059556e-04 9.99996625e-01 7.15023973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.67, Z:0.72 [[-1.29697812e-02 -9.99915884e-01 -9.66803278e-05 2.07533996e+02] [ 9.99914051e-01 -1.29695719e-02 -1.91836232e-03 1.33667352e+02] [ 1.91694706e-03 -1.21552758e-04 9.99998155e-01 7.15979823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.69, Z:0.72 [[-1.17947872e-02 -9.99930436e-01 -8.11085773e-05 2.07534627e+02] [ 9.99929135e-01 -1.17946408e-02 -1.61610372e-03 1.33694293e+02] [ 1.61503465e-03 -1.00164429e-04 9.99998691e-01 7.16698857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.54, Y:133.72, Z:0.72 [[-1.13979762e-02 -9.99935036e-01 -9.55347199e-05 2.07535867e+02] [ 9.99933214e-01 -1.13977727e-02 -1.91251768e-03 1.33720972e+02] [ 1.91130455e-03 -1.17327171e-04 9.99998167e-01 7.17033430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.681400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.54, Y:133.75, Z:0.72 [[-1.23927665e-02 -9.99923200e-01 -1.16109602e-04 2.07540064e+02] [ 9.99920488e-01 -1.23924619e-02 -2.33338562e-03 1.33746111e+02] [ 2.33176753e-03 -1.45017473e-04 9.99997271e-01 7.16372204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.711400513 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:207.55, Y:133.77, Z:0.71 [[-1.36864716e-02 -9.99901563e-01 -3.08934034e-03 2.07546102e+02] [ 9.99905605e-01 -1.36826615e-02 -1.25109239e-03 1.33770976e+02] [ 1.20869884e-03 -3.10617176e-03 9.99994445e-01 7.14398925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.55, Y:133.80, Z:0.72 [[-1.58149734e-02 -9.99874934e-01 -4.73648308e-05 2.07546266e+02] [ 9.99874220e-01 -1.58149054e-02 -1.19702797e-03 1.33796903e+02] [ 1.19612919e-03 -6.62898388e-05 9.99999282e-01 7.15951095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:133.82, Z:0.72 [[-1.95902401e-02 -9.99804035e-01 2.84852856e-03 2.07546004e+02] [ 9.99805117e-01 -1.95970534e-02 -2.38395919e-03 1.33822405e+02] [ 2.43931479e-03 2.80127110e-03 9.99993101e-01 7.17632839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80140051300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.55, Y:133.85, Z:0.72 [[-2.12213811e-02 -9.99774792e-01 -1.32092092e-04 2.07551123e+02] [ 9.99771154e-01 -2.12209466e-02 -2.70378813e-03 1.33846497e+02] [ 2.70037610e-03 -1.89439981e-04 9.99996336e-01 7.15703608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:133.87, Z:0.72 [[-2.30649158e-02 -9.99733960e-01 -1.37310051e-04 2.07553652e+02] [ 9.99729990e-01 -2.30644362e-02 -2.82470770e-03 1.33872016e+02] [ 2.82078923e-03 -2.02424621e-04 9.99996001e-01 7.15918878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:133.90, Z:0.72 [[-2.42247470e-02 -9.99706529e-01 -1.30534649e-04 2.07556751e+02] [ 9.99702909e-01 -2.42243070e-02 -2.69759020e-03 1.33898401e+02] [ 2.69363643e-03 -1.95844309e-04 9.99996353e-01 7.16072101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.891400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.56, Y:133.92, Z:0.72 [[-2.49873855e-02 -9.99687758e-01 -1.29076777e-04 2.07560195e+02] [ 9.99684185e-01 -2.49869501e-02 -2.68013972e-03 1.33924269e+02] [ 2.67607763e-03 -1.96005697e-04 9.99996400e-01 7.16275794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:133.95, Z:0.72 [[-2.57305197e-02 -9.99668909e-01 -1.11434282e-04 2.07567031e+02] [ 9.99666219e-01 -2.57301913e-02 -2.32532315e-03 1.33949648e+02] [ 2.32168603e-03 -1.71228861e-04 9.99997290e-01 7.15619626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:133.98, Z:0.72 [[-2.58136750e-02 -9.99666765e-01 -1.16535313e-04 2.07570093e+02] [ 9.99663794e-01 -2.58133134e-02 -2.44354150e-03 1.33975585e+02] [ 2.43971906e-03 -1.79572919e-04 9.99997008e-01 7.15893726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.981400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.57, Y:134.00, Z:0.72 [[-2.57021640e-02 -9.99669639e-01 -1.07168069e-04 2.07572274e+02] [ 9.99667102e-01 -2.57018566e-02 -2.25847079e-03 1.34000975e+02] [ 2.25497026e-03 -1.65179979e-04 9.99997444e-01 7.16572410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.57, Y:134.03, Z:0.72 [[-2.55082110e-02 -9.99674609e-01 -8.62844848e-05 2.07574086e+02] [ 9.99672948e-01 -2.55080109e-02 -1.82713516e-03 1.34026909e+02] [ 1.82433968e-03 -1.32863215e-04 9.99998327e-01 7.17083749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:134.05, Z:0.72 [[-2.51496946e-02 -9.99683694e-01 -7.39567171e-05 2.07576928e+02] [ 9.99682461e-01 -2.51495472e-02 -1.57397482e-03 1.34052115e+02] [ 1.57161698e-03 -1.13518219e-04 9.99998759e-01 7.16975761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:134.08, Z:0.72 [[-2.47023305e-02 -9.99694846e-01 -9.81343873e-05 2.07581136e+02] [ 9.99692654e-01 -2.47020703e-02 -2.09910372e-03 1.34078378e+02] [ 2.09603905e-03 -1.49956980e-04 9.99997792e-01 7.16215972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:134.10, Z:0.72 [[-2.42578926e-02 -9.99705723e-01 -1.50064264e-04 2.07589438e+02] [ 9.99700541e-01 -2.42572825e-02 -3.22687448e-03 1.34103039e+02] [ 3.22228473e-03 -2.28296501e-04 9.99994782e-01 7.15423364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.59, Y:134.13, Z:0.72 [[-2.44267192e-02 -9.99701612e-01 -1.51080894e-04 2.07593423e+02] [ 9.99696318e-01 -2.44260970e-02 -3.26142759e-03 1.34128088e+02] [ 3.25676410e-03 -2.30700989e-04 9.99994670e-01 7.15431424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.161400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.60, Y:134.15, Z:0.72 [[-2.49766794e-02 -9.99688024e-01 -1.44954525e-04 2.07596805e+02] [ 9.99683099e-01 -2.49761002e-02 -3.14564309e-03 1.34153405e+02] [ 3.14104132e-03 -2.23476308e-04 9.99995042e-01 7.16356829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:134.18, Z:0.72 [[-2.58429785e-02 -9.99666008e-01 -1.10590957e-04 2.07600391e+02] [ 9.99663111e-01 -2.58426366e-02 -2.41311623e-03 1.34178105e+02] [ 2.40945231e-03 -1.72915811e-04 9.99997082e-01 7.16696315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.221400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:207.60, Y:134.20, Z:0.72 [[-2.67449538e-02 -9.99642284e-01 -1.03317793e-04 2.07603726e+02] [ 9.99639731e-01 -2.67446513e-02 -2.26556801e-03 1.34204183e+02] [ 2.26199439e-03 -1.63873083e-04 9.99997428e-01 7.17132547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.251400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.61, Y:134.23, Z:0.72 [[-2.76936735e-02 -9.99616451e-01 -1.03224502e-04 2.07606993e+02] [ 9.99613876e-01 -2.76933673e-02 -2.27516590e-03 1.34229637e+02] [ 2.27143463e-03 -1.66192347e-04 9.99997407e-01 7.17491756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.281400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.61, Y:134.26, Z:0.72 [[-2.98790720e-02 -9.99553511e-01 -1.43093032e-04 2.07612517e+02] [ 9.99548512e-01 -2.98784688e-02 -3.16996522e-03 1.34255811e+02] [ 3.16427447e-03 -2.37744046e-04 9.99994965e-01 7.16768252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:134.28, Z:0.72 [[-3.13566293e-02 -9.99508251e-01 -1.31651184e-04 2.07616471e+02] [ 9.99503977e-01 -3.13561090e-02 -2.93179076e-03 1.34280838e+02] [ 2.92622099e-03 -2.23516958e-04 9.99995694e-01 7.16523225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:134.31, Z:0.72 [[-3.29919060e-02 -9.99455612e-01 -1.16187175e-04 2.07620845e+02] [ 9.99452249e-01 -3.29914926e-02 -2.60063900e-03 1.34306496e+02] [ 2.59539005e-03 -2.01923571e-04 9.99996612e-01 7.16530957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:134.33, Z:0.72 [[-3.48252670e-02 -9.99393413e-01 -8.33909674e-05 2.07625614e+02] [ 9.99391662e-01 -3.48250494e-02 -1.87643717e-03 1.34331703e+02] [ 1.87239485e-03 -1.48687663e-04 9.99998236e-01 7.16562894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.401400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.63, Y:134.36, Z:0.72 [[-3.67233256e-02 -9.99325468e-01 -8.55542319e-05 2.07630519e+02] [ 9.99323605e-01 -3.67230915e-02 -1.93549636e-03 1.34357062e+02] [ 1.93104899e-03 -1.56574227e-04 9.99998123e-01 7.16850082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:134.38, Z:0.72 [[-3.88785394e-02 -9.99243941e-01 -7.99606179e-05 2.07635071e+02] [ 9.99242296e-01 -3.88783299e-02 -1.81896532e-03 1.34382448e+02] [ 1.81448134e-03 -1.50618746e-04 9.99998343e-01 7.17131974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:134.41, Z:0.72 [[-4.17885671e-02 -9.99126468e-01 -1.25634032e-04 2.07644325e+02] [ 9.99122365e-01 -4.17880341e-02 -2.87416031e-03 1.34407128e+02] [ 2.86639964e-03 -2.45630812e-04 9.99995862e-01 7.17399265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.65, Y:134.43, Z:0.72 [[-4.25775450e-02 -9.99093152e-01 -1.63304940e-04 2.07649378e+02] [ 9.99086152e-01 -4.25766331e-02 -3.75392488e-03 1.34431284e+02] [ 3.74356767e-03 -3.22988609e-04 9.99992941e-01 7.17273130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.521400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.65, Y:134.46, Z:0.72 [[-4.27755316e-02 -9.99084693e-01 -1.75227426e-04 2.07654037e+02] [ 9.99076549e-01 -4.27744728e-02 -4.04902228e-03 1.34456961e+02] [ 4.03782092e-03 -3.48264692e-04 9.99991787e-01 7.17278164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:134.48, Z:0.72 [[-4.20401043e-02 -9.99115913e-01 -1.51006275e-04 2.07658059e+02] [ 9.99109797e-01 -4.20393167e-02 -3.50841085e-03 1.34481876e+02] [ 3.49896091e-03 -2.98365807e-04 9.99993834e-01 7.18093478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:134.51, Z:0.72 [[-3.70933291e-02 -9.99311804e-01 -6.45293064e-05 2.07665782e+02] [ 9.99310675e-01 -3.70931899e-02 -1.50694593e-03 1.34507352e+02] [ 1.50351526e-03 -1.20382466e-04 9.99998862e-01 7.19855586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61140051300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.67, Y:134.53, Z:0.72 [[-3.40257281e-02 -9.99420956e-01 -5.18174429e-05 2.07670698e+02] [ 9.99420219e-01 -3.40256399e-02 -1.21705513e-03 1.34531421e+02] [ 1.21458728e-03 -9.31985869e-05 9.99999258e-01 7.19908689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:134.56, Z:0.72 [[-3.14959561e-02 -9.99503878e-01 -4.37726021e-05 2.07674938e+02] [ 9.99503347e-01 -3.14958941e-02 -1.03365872e-03 1.34557600e+02] [ 1.03176725e-03 -7.63069321e-05 9.99999465e-01 7.19596954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:134.58, Z:0.72 [[-2.94901542e-02 -9.99565070e-01 -3.89727954e-05 2.07677908e+02] [ 9.99564644e-01 -2.94901055e-02 -9.25510522e-04 1.34582526e+02] [ 9.23958678e-04 -6.62492763e-05 9.99999571e-01 7.18990952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:134.61, Z:0.72 [[-2.82448438e-02 -9.99601034e-01 -3.45552430e-05 2.07679746e+02] [ 9.99600695e-01 -2.82448058e-02 -8.25062154e-04 1.34608713e+02] [ 8.23756977e-04 -5.78451967e-05 9.99999659e-01 7.19007590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.731400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.68, Y:134.63, Z:0.72 [[-2.66786150e-02 -9.99644062e-01 -1.15214792e-05 2.07680755e+02] [ 9.99644024e-01 -2.66786108e-02 -2.76346646e-04 1.34632800e+02] [ 2.75940907e-04 -1.88899236e-05 9.99999962e-01 7.19943100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:134.66, Z:0.72 [[-2.71625626e-02 -9.99631030e-01 1.47405633e-06 2.07681085e+02] [ 9.99631029e-01 -2.71625626e-02 3.63271260e-05 1.34657783e+02] [-3.62736831e-05 2.46025030e-06 9.99999999e-01 7.20658723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.791400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.68, Y:134.68, Z:0.72 [[-2.83855384e-02 -9.99597049e-01 -1.08479597e-05 2.07681537e+02] [ 9.99597015e-01 -2.83855346e-02 -2.63414980e-04 1.34682402e+02] [ 2.63000911e-04 -1.83207641e-05 9.99999965e-01 7.20959366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:134.71, Z:0.72 [[-3.03525195e-02 -9.99539256e-01 -2.91566479e-05 2.07682439e+02] [ 9.99539003e-01 -3.03524910e-02 -7.13264036e-04 1.34709064e+02] [ 7.12050427e-04 -5.07925673e-05 9.99999745e-01 7.20559039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.68, Y:134.73, Z:0.72 [[-3.26265508e-02 -9.99467610e-01 -7.43140264e-05 2.07683500e+02] [ 9.99465944e-01 -3.26263604e-02 -1.82969208e-03 1.34734749e+02] [ 1.82629337e-03 -1.33970880e-04 9.99998323e-01 7.19760389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:134.76, Z:0.72 [[-3.55815465e-02 -9.99366772e-01 -9.35453818e-05 2.07685017e+02] [ 9.99364099e-01 -3.55812344e-02 -2.31801232e-03 1.34759313e+02] [ 2.31321603e-03 -1.75964359e-04 9.99997309e-01 7.18716423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.911400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:207.69, Y:134.78, Z:0.72 [[-4.14798992e-02 -9.99139323e-01 -1.77338983e-04 2.07691916e+02] [ 9.99129599e-01 -4.14787105e-02 -4.42268503e-03 1.34783347e+02] [ 4.41152273e-03 -3.60637156e-04 9.99990204e-01 7.16745737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:134.81, Z:0.72 [[-4.38825709e-02 -9.99036681e-01 -1.74777530e-04 2.07695797e+02] [ 9.99027120e-01 -4.38813836e-02 -4.38615012e-03 1.34808580e+02] [ 4.37425538e-03 -3.67083036e-04 9.99990366e-01 7.16295746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:134.83, Z:0.72 [[-4.49793297e-02 -9.98987904e-01 -1.65960324e-04 2.07697996e+02] [ 9.98979191e-01 -4.49782418e-02 -4.18732548e-03 1.34832993e+02] [ 4.17562290e-03 -3.54134004e-04 9.99991219e-01 7.17048549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:134.86, Z:0.72 [[-4.46098739e-02 -9.99004472e-01 -1.54566554e-04 2.07698359e+02] [ 9.98996821e-01 -4.46089252e-02 -3.92358928e-03 1.34858247e+02] [ 3.91278818e-03 -3.29442319e-04 9.99992291e-01 7.17955995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:134.88, Z:0.72 [[-4.48254024e-02 -9.98994825e-01 -1.53717341e-04 2.07699149e+02] [ 9.98987174e-01 -4.48244553e-02 -3.92362263e-03 1.34884150e+02] [ 3.91278841e-03 -3.29439616e-04 9.99992291e-01 7.17958835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:134.91, Z:0.72 [[-4.30698429e-02 -9.99072051e-01 -1.57040706e-04 2.07699342e+02] [ 9.99063964e-01 -4.30688602e-02 -4.03343250e-03 1.34909665e+02] [ 4.02292611e-03 -3.30613014e-04 9.99991853e-01 7.18270191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:134.94, Z:0.72 [[-4.02766547e-02 -9.99188552e-01 -1.71216250e-04 2.07700472e+02] [ 9.99178811e-01 -4.02755037e-02 -4.42580045e-03 1.34935014e+02] [ 4.41531332e-03 -3.49332085e-04 9.99990191e-01 7.17971743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:134.96, Z:0.72 [[-3.50491532e-02 -9.99385571e-01 -1.92964244e-04 2.07704469e+02] [ 9.99373030e-01 -3.50477441e-02 -5.02016133e-03 1.34959757e+02] [ 5.01031384e-03 -3.68795665e-04 9.99987380e-01 7.16101456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.71, Y:134.98, Z:0.72 [[-3.34643197e-02 -9.99439893e-01 -1.99483144e-04 2.07705615e+02] [ 9.99426308e-01 -3.34628221e-02 -5.22440397e-03 1.34983768e+02] [ 5.21480247e-03 -3.74199827e-04 9.99986333e-01 7.15582094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:135.01, Z:0.72 [[-3.27063233e-02 -9.99464989e-01 -1.77665358e-04 2.07706583e+02] [ 9.99454080e-01 -3.27051341e-02 -4.68144918e-03 1.35009835e+02] [ 4.67313399e-03 -3.30681357e-04 9.99989026e-01 7.15266429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:135.03, Z:0.72 [[-3.24021538e-02 -9.99474901e-01 -1.47571104e-04 2.07707972e+02] [ 9.99467278e-01 -3.24013288e-02 -3.91328588e-03 1.35034575e+02] [ 3.90644952e-03 -2.74291380e-04 9.99992332e-01 7.15517576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:135.06, Z:0.72 [[-3.27646019e-02 -9.99463089e-01 -1.24920325e-04 2.07710506e+02] [ 9.99457558e-01 -3.27640040e-02 -3.33327594e-03 1.35061187e+02] [ 3.32739338e-03 -2.34066022e-04 9.99994437e-01 7.15533415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.271400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.71, Y:135.09, Z:0.72 [[-3.34632873e-02 -9.99439939e-01 -1.29317090e-04 2.07713536e+02] [ 9.99433934e-01 -3.34626368e-02 -3.47337177e-03 1.35086269e+02] [ 3.46709918e-03 -2.45474325e-04 9.99993959e-01 7.16258368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:135.11, Z:0.72 [[-3.57116863e-02 -9.99362120e-01 -1.70382673e-04 2.07717674e+02] [ 9.99351574e-01 -3.57105247e-02 -4.60319610e-03 1.35110817e+02] [ 4.59417536e-03 -3.34660088e-04 9.99989391e-01 7.17204602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:135.14, Z:0.72 [[-3.72342151e-02 -9.99306549e-01 -1.86435144e-04 2.07720691e+02] [ 9.99293778e-01 -3.72327941e-02 -5.06602799e-03 1.35135185e+02] [ 5.05557344e-03 -3.74933055e-04 9.99987150e-01 7.15811879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.73, Y:135.16, Z:0.72 [[-3.90683967e-02 -9.99236521e-01 -1.89334605e-04 2.07725212e+02] [ 9.99223168e-01 -3.90668931e-02 -5.18052320e-03 1.35159489e+02] [ 5.16917126e-03 -3.91582259e-04 9.99986563e-01 7.15020197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:135.19, Z:0.71 [[-4.11519371e-02 -9.99152891e-01 -1.34666383e-04 2.07730768e+02] [ 9.99146044e-01 -4.11511550e-02 -3.71015456e-03 1.35185153e+02] [ 3.70146998e-03 -2.87231431e-04 9.99993108e-01 7.13848101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:135.21, Z:0.71 [[-4.26810898e-02 -9.99088742e-01 -9.72228923e-05 2.07736340e+02] [ 9.99085122e-01 -4.26806726e-02 -2.69789675e-03 1.35209708e+02] [ 2.69128874e-03 -2.12283119e-04 9.99996356e-01 7.14089212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:135.24, Z:0.72 [[-4.34548562e-02 -9.99055387e-01 -9.77020636e-05 2.07743594e+02] [ 9.99051679e-01 -4.34544279e-02 -2.73033010e-03 1.35235245e+02] [ 2.72350540e-03 -2.16255512e-04 9.99996268e-01 7.15336108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:135.26, Z:0.72 [[-4.29499438e-02 -9.99077218e-01 -1.24307675e-04 2.07746709e+02] [ 9.99071130e-01 -4.29492468e-02 -3.49855775e-03 1.35260103e+02] [ 3.48999042e-03 -2.74455068e-04 9.99993872e-01 7.15548573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:135.28, Z:0.72 [[-4.18575036e-02 -9.99123582e-01 -1.31266220e-04 2.07750167e+02] [ 9.99116691e-01 -4.18567260e-02 -3.72174233e-03 1.35283994e+02] [ 3.71298615e-03 -2.86933114e-04 9.99993066e-01 7.16163641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:135.31, Z:0.72 [[-4.06004226e-02 -9.99175455e-01 -1.26029423e-04 2.07753177e+02] [ 9.99169012e-01 -4.05997069e-02 -3.59847894e-03 1.35309617e+02] [ 3.59039508e-03 -2.72024460e-04 9.99993518e-01 7.16238052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.34, Z:0.72 [[-3.90674582e-02 -9.99236565e-01 -1.41936635e-04 2.07755166e+02] [ 9.99228272e-01 -3.90665541e-02 -4.08222193e-03 1.35335269e+02] [ 4.07356044e-03 -3.01309133e-04 9.99991658e-01 7.16921956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.36, Z:0.72 [[-3.52876441e-02 -9.99377185e-01 -1.53603858e-04 2.07755897e+02] [ 9.99367319e-01 -3.52866115e-02 -4.45160411e-03 1.35360092e+02] [ 4.44341143e-03 -3.10593297e-04 9.99990080e-01 7.17010994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.39, Z:0.72 [[-3.31734735e-02 -9.99449599e-01 -1.42033866e-04 2.07757221e+02] [ 9.99441036e-01 -3.31726000e-02 -4.14669485e-03 1.35385286e+02] [ 4.13970088e-03 -2.79514746e-04 9.99991392e-01 7.16458955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.41, Z:0.72 [[-3.16192857e-02 -9.99499977e-01 -1.26490512e-04 2.07758362e+02] [ 9.99493079e-01 -3.16185965e-02 -3.72146846e-03 1.35409221e+02] [ 3.71560818e-03 -2.44096566e-04 9.99993067e-01 7.16303142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.43, Z:0.72 [[-3.09010954e-02 -9.99522441e-01 -1.11753698e-04 2.07759207e+02] [ 9.99516978e-01 -3.09005562e-02 -3.31166764e-03 1.35434796e+02] [ 3.30663287e-03 -2.14033876e-04 9.99994510e-01 7.16055658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.46, Z:0.72 [[-3.15221846e-02 -9.99503046e-01 -1.11038647e-04 2.07759231e+02] [ 9.99497571e-01 -3.15216436e-02 -3.31545743e-03 1.35460070e+02] [ 3.31030968e-03 -2.15493319e-04 9.99994498e-01 7.15887742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.48, Z:0.72 [[-3.30821598e-02 -9.99452628e-01 -1.22338030e-04 2.07759304e+02] [ 9.99445875e-01 -3.30814856e-02 -3.68207712e-03 1.35484704e+02] [ 3.67601453e-03 -2.44081303e-04 9.99993214e-01 7.15725200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.51, Z:0.72 [[-3.78355580e-02 -9.99283964e-01 -1.70684194e-04 2.07760453e+02] [ 9.99270617e-01 -3.78341682e-02 -5.17777687e-03 1.35510177e+02] [ 5.16761170e-03 -3.66463777e-04 9.99986581e-01 7.15227990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.53, Z:0.72 [[-4.15459508e-02 -9.99136578e-01 -1.82754464e-04 2.07761489e+02] [ 9.99121074e-01 -4.15442853e-02 -5.58132032e-03 1.35534610e+02] [ 5.56890888e-03 -4.14475095e-04 9.99984408e-01 7.15116494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.56, Z:0.72 [[-4.54990572e-02 -9.98964367e-01 -1.69716204e-04 2.07762239e+02] [ 9.98950794e-01 -4.54975516e-02 -5.22336208e-03 1.35560262e+02] [ 5.21023092e-03 -4.07196187e-04 9.99986344e-01 7.15888998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:135.58, Z:0.72 [[-4.90568543e-02 -9.98795978e-01 -1.39353654e-04 2.07762944e+02] [ 9.98786708e-01 -4.90557966e-02 -4.31755379e-03 1.35584435e+02] [ 4.30551926e-03 -3.50990184e-04 9.99990670e-01 7.16552846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:135.61, Z:0.72 [[-5.43569766e-02 -9.98521564e-01 -7.95281651e-05 2.07767230e+02] [ 9.98518500e-01 -5.43566121e-02 -2.48265150e-03 1.35610035e+02] [ 2.47465818e-03 -2.14359774e-04 9.99996915e-01 7.16667250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:135.63, Z:0.72 [[-5.61594744e-02 -9.98421809e-01 -7.41368150e-05 2.07771464e+02] [ 9.98419104e-01 -5.61591490e-02 -2.33300833e-03 1.35633871e+02] [ 2.32516294e-03 -2.05040134e-04 9.99997276e-01 7.15989023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:135.66, Z:0.72 [[-5.71573698e-02 -9.98365178e-01 -7.64372048e-05 2.07775351e+02] [ 9.98362258e-01 -5.71570170e-02 -2.42433234e-03 1.35658864e+02] [ 2.41600007e-03 -2.14880481e-04 9.99997058e-01 7.15429720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:135.68, Z:0.72 [[-5.68390254e-02 -9.98383353e-01 -7.87292764e-05 2.07777948e+02] [ 9.98380212e-01 -5.68386483e-02 -2.51404223e-03 1.35682730e+02] [ 2.50550305e-03 -2.21497462e-04 9.99996837e-01 7.15728252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:135.71, Z:0.72 [[-5.34084142e-02 -9.98572751e-01 -3.93130551e-05 2.07779884e+02] [ 9.98571956e-01 -5.34083219e-02 -1.26486944e-03 1.35707798e+02] [ 1.26096451e-03 -1.06811585e-04 9.99999199e-01 7.17917755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:135.73, Z:0.72 [[-5.10075282e-02 -9.98698269e-01 -9.76860062e-06 2.07782203e+02] [ 9.98698219e-01 -5.10075226e-02 -3.16178253e-04 1.35732795e+02] [ 3.15268402e-04 -2.58833552e-05 9.99999950e-01 7.18476866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.76, Z:0.72 [[-4.84617149e-02 -9.98825041e-01 -1.19050523e-05 2.07785359e+02] [ 9.98824966e-01 -4.84617066e-02 -3.88704573e-04 1.35758277e+02] [ 3.87670922e-04 -3.07283536e-05 9.99999924e-01 7.18669523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.78, Z:0.72 [[-4.54687501e-02 -9.98965761e-01 -3.75532037e-05 2.07788502e+02] [ 9.98964997e-01 -4.54686687e-02 -1.23870463e-03 1.35782379e+02] [ 1.23571602e-03 -9.38366871e-05 9.99999232e-01 7.18398275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.81, Z:0.72 [[-4.25463995e-02 -9.99094490e-01 -6.90823993e-05 2.07790495e+02] [ 9.99091860e-01 -4.25461286e-02 -2.29832825e-03 1.35807157e+02] [ 2.29330790e-03 -1.66805255e-04 9.99997356e-01 7.18484187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.83, Z:0.72 [[-4.00246413e-02 -9.99198690e-01 -7.18307480e-05 2.07791080e+02] [ 9.99195800e-01 -4.00243523e-02 -2.40936990e-03 1.35832651e+02] [ 2.40456427e-03 -1.68207147e-04 9.99997095e-01 7.18348151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.86, Z:0.72 [[-3.83563362e-02 -9.99264123e-01 -5.93265822e-05 2.07791140e+02] [ 9.99262119e-01 -3.83561402e-02 -2.00620479e-03 1.35858357e+02] [ 2.00245293e-03 -1.36233472e-04 9.99997986e-01 7.18322861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.231400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.79, Y:135.88, Z:0.72 [[-3.59943795e-02 -9.99351992e-01 -1.74311702e-05 2.07791323e+02] [ 9.99351817e-01 -3.59943628e-02 -5.93761853e-04 1.35883995e+02] [ 5.92749667e-04 -3.87919611e-05 9.99999824e-01 7.18672842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.91, Z:0.72 [[-3.59095331e-02 -9.99355045e-01 -1.29152899e-05 2.07791128e+02] [ 9.99354947e-01 -3.59095239e-02 -4.43428884e-04 1.35909486e+02] [ 4.42679110e-04 -2.88302830e-05 9.99999902e-01 7.18884234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.93, Z:0.72 [[-3.64488894e-02 -9.99335518e-01 -3.39310901e-05 2.07790861e+02] [ 9.99334828e-01 -3.64488243e-02 -1.17685127e-03 1.35934358e+02] [ 1.17483253e-03 -7.68034419e-05 9.99999307e-01 7.18321475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.96, Z:0.72 [[-3.76747116e-02 -9.99290054e-01 -6.18687772e-05 2.07790711e+02] [ 9.99287718e-01 -3.76744895e-02 -2.16534201e-03 1.35959785e+02] [ 2.16147386e-03 -1.43403345e-04 9.99997654e-01 7.17764958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:135.98, Z:0.72 [[-3.93551941e-02 -9.99225281e-01 -8.43102837e-05 2.07791034e+02] [ 9.99220869e-01 -3.93547692e-02 -2.97619673e-03 1.35984934e+02] [ 2.97057300e-03 -2.01373395e-04 9.99995568e-01 7.17126486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:136.01, Z:0.72 [[-4.17470092e-02 -9.99128210e-01 -8.94241072e-05 2.07792016e+02] [ 9.99123157e-01 -4.17465130e-02 -3.18521824e-03 1.36010758e+02] [ 3.17870825e-03 -2.22319031e-04 9.99994923e-01 7.16414183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:136.04, Z:0.72 [[-4.79223594e-02 -9.98851061e-01 -7.90850717e-05 2.07794288e+02] [ 9.98847037e-01 -4.79219413e-02 -2.84335395e-03 1.36035357e+02] [ 2.83629719e-03 -2.15254119e-04 9.99995955e-01 7.16032024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.80, Y:136.06, Z:0.72 [[-5.09127853e-02 -9.98703101e-01 -7.19654795e-05 2.07796111e+02] [ 9.98699707e-01 -5.09124241e-02 -2.61169147e-03 1.36059900e+02] [ 2.60464043e-03 -2.04840390e-04 9.99996587e-01 7.15934717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:136.09, Z:0.72 [[-5.36248506e-02 -9.98561151e-01 -5.89189441e-05 2.07797771e+02] [ 9.98558835e-01 -5.36245989e-02 -2.15748151e-03 1.36085575e+02] [ 2.15121771e-03 -1.74528656e-04 9.99997671e-01 7.15969949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.501400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.80, Y:136.11, Z:0.72 [[-5.49257593e-02 -9.98490439e-01 -6.98628100e-05 2.07799912e+02] [ 9.98487121e-01 -5.49253961e-02 -2.58267015e-03 1.36110381e+02] [ 2.57493421e-03 -2.11612235e-04 9.99996662e-01 7.16231796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.80, Y:136.14, Z:0.72 [[-5.54489270e-02 -9.98461521e-01 -8.70240905e-05 2.07801888e+02] [ 9.98456275e-01 -5.54483526e-02 -3.24771667e-03 1.36135409e+02] [ 3.23789478e-03 -2.66972154e-04 9.99994722e-01 7.16087585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.81, Y:136.16, Z:0.72 [[-5.49934626e-02 -9.98484809e-01 -1.95071370e-03 2.07805942e+02] [ 9.98481847e-01 -5.49869890e-02 -3.23005081e-03 1.36159379e+02] [ 3.11789279e-03 -2.12538390e-03 9.99992881e-01 7.15623567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.19, Z:0.72 [[-5.25313806e-02 -9.98617664e-01 1.79285251e-03 2.07806141e+02] [ 9.98614771e-01 -5.25364503e-02 -2.90856654e-03 1.36186131e+02] [ 2.99873603e-03 1.63757798e-03 9.99994163e-01 7.17085714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.621400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.81, Y:136.21, Z:0.72 [[-5.03283443e-02 -9.98732724e-01 -5.68336877e-05 2.07808861e+02] [ 9.98730354e-01 -5.03281007e-02 -2.18246550e-03 1.36211032e+02] [ 2.17683938e-03 -1.66601404e-04 9.99997617e-01 7.17221729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.651400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.81, Y:136.24, Z:0.72 [[-4.81800315e-02 -9.98838667e-01 -4.84573390e-05 2.07809250e+02] [ 9.98836908e-01 -4.81798555e-02 -1.87949706e-03 1.36235891e+02] [ 1.87497967e-03 -1.38955206e-04 9.99998233e-01 7.17645457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.681400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.81, Y:136.26, Z:0.72 [[-4.61588086e-02 -9.98934112e-01 -6.60829008e-05 2.07809245e+02] [ 9.98930774e-01 -4.61584831e-02 -2.58921733e-03 1.36260864e+02] [ 2.58340723e-03 -1.85527430e-04 9.99996646e-01 7.17158068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.711400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.81, Y:136.29, Z:0.72 [[-4.43317412e-02 -9.99016862e-01 -8.25889626e-05 2.07810278e+02] [ 9.99011535e-01 -4.43312346e-02 -3.27013339e-03 1.36285224e+02] [ 3.26325713e-03 -2.27478034e-04 9.99994650e-01 7.16355207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.31, Z:0.72 [[-4.17173431e-02 -9.99129447e-01 -1.11149285e-04 2.07812294e+02] [ 9.99119595e-01 -4.17164371e-02 -4.44672740e-03 1.36310749e+02] [ 4.43821954e-03 -2.96557082e-04 9.99990107e-01 7.15643052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.771400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.81, Y:136.33, Z:0.72 [[-4.08112660e-02 -9.99166868e-01 -1.01140504e-04 2.07812802e+02] [ 9.99158533e-01 -4.08105115e-02 -4.09003658e-03 1.36334704e+02] [ 4.08250144e-03 -2.67974969e-04 9.99991631e-01 7.16358249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.36, Z:0.72 [[-4.05955236e-02 -9.99175659e-01 -7.09548935e-05 2.07812607e+02] [ 9.99171472e-01 -4.05951476e-02 -2.89900010e-03 1.36360169e+02] [ 2.89372991e-03 -1.88582532e-04 9.99995795e-01 7.16825065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.39, Z:0.72 [[-4.02481195e-02 -9.99189716e-01 -2.81047501e-05 2.07812032e+02] [ 9.99189046e-01 -4.02480598e-02 -1.15965720e-03 1.36385895e+02] [ 1.15758639e-03 -7.47559801e-05 9.99999327e-01 7.17041348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.41, Z:0.72 [[-4.06408641e-02 -9.99173819e-01 -1.65691931e-05 2.07812390e+02] [ 9.99173581e-01 -4.06408429e-02 -6.90714258e-04 1.36410532e+02] [ 6.89470217e-04 -4.46267242e-05 9.99999761e-01 7.16485032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.44, Z:0.72 [[-4.12949540e-02 -9.99146999e-01 -1.82486118e-05 2.07812719e+02] [ 9.99146705e-01 -4.12949278e-02 -7.69042136e-04 1.36436259e+02] [ 7.67632567e-04 -4.99905999e-05 9.99999704e-01 7.15946471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.81, Y:136.46, Z:0.71 [[-4.22505380e-02 -9.99107047e-01 -3.12663724e-05 2.07812464e+02] [ 9.99106162e-01 -4.22504588e-02 -1.33285933e-03 1.36461579e+02] [ 1.33034813e-03 -8.75524489e-05 9.99999111e-01 7.14725424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.951400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.81, Y:136.49, Z:0.71 [[-4.24925016e-02 -9.99096785e-01 -3.09421689e-05 2.07812837e+02] [ 9.99095900e-01 -4.24924227e-02 -1.33286689e-03 1.36487500e+02] [ 1.33034821e-03 -8.75510424e-05 9.99999111e-01 7.14728756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.51, Z:0.71 [[-4.41740057e-02 -9.99023851e-01 -3.91033830e-05 2.07812540e+02] [ 9.99022405e-01 -4.41738751e-02 -1.70405427e-03 1.36512295e+02] [ 1.70066351e-03 -1.14340059e-04 9.99998547e-01 7.14339283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.011400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.81, Y:136.54, Z:0.71 [[-4.56905876e-02 -9.98955639e-01 -4.87385530e-05 2.07812844e+02] [ 9.98953338e-01 -4.56903775e-02 -2.14889092e-03 1.36536480e+02] [ 2.14441982e-03 -1.46871629e-04 9.99997690e-01 7.13722058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.56, Z:0.71 [[-4.80020216e-02 -9.98847237e-01 -5.75242920e-05 2.07812063e+02] [ 9.98843957e-01 -4.80017162e-02 -2.56594476e-03 1.36561195e+02] [ 2.56022557e-03 -1.80628327e-04 9.99996706e-01 7.14763230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.59, Z:0.71 [[-4.87257098e-02 -9.98812196e-01 -5.56694750e-05 2.07810899e+02] [ 9.98809055e-01 -4.87254166e-02 -2.51103816e-03 1.36586189e+02] [ 2.50534302e-03 -1.77955292e-04 9.99996846e-01 7.14947837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.101400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:207.81, Y:136.61, Z:0.71 [[-4.94495553e-02 -9.98776620e-01 -6.76311831e-05 2.07809690e+02] [ 9.98771877e-01 -4.94491115e-02 -3.08590484e-03 1.36611145e+02] [ 3.07878531e-03 -2.20144746e-04 9.99995236e-01 7.14595336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.131400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.81, Y:136.64, Z:0.71 [[-5.03581317e-02 -9.98731221e-01 -7.78344830e-05 2.07808606e+02] [ 9.98724786e-01 -5.03575271e-02 -3.59456819e-03 1.36635785e+02] [ 3.58608793e-03 -2.58750966e-04 9.99993537e-01 7.13712215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.161400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.81, Y:136.66, Z:0.71 [[-5.12839465e-02 -9.98684108e-01 -9.80820328e-05 2.07808514e+02] [ 9.98673642e-01 -5.12829589e-02 -4.58415934e-03 1.36661046e+02] [ 4.57309715e-03 -3.33045724e-04 9.99989488e-01 7.12827615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:136.69, Z:0.71 [[-5.26861676e-02 -9.98611113e-01 -1.09772097e-04 2.07808567e+02] [ 9.98597674e-01 -5.26848875e-02 -5.19503795e-03 1.36685478e+02] [ 5.18203930e-03 -3.83324801e-04 9.99986500e-01 7.12533222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.221400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.81, Y:136.71, Z:0.71 [[-5.54308312e-02 -9.98462525e-01 -9.85938896e-05 2.07806853e+02] [ 9.98451415e-01 -5.54297480e-02 -4.72376841e-03 1.36710536e+02] [ 4.71104070e-03 -3.60283618e-04 9.99988838e-01 7.13643139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.251400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.81, Y:136.73, Z:0.71 [[-5.72505744e-02 -9.98359837e-01 -8.70724577e-05 2.07806747e+02] [ 9.98350948e-01 -5.72496961e-02 -4.22585672e-03 1.36734740e+02] [ 4.21394076e-03 -3.28861595e-04 9.99991067e-01 7.14017060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.281400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.81, Y:136.76, Z:0.71 [[-5.92600432e-02 -9.98242576e-01 -8.51214763e-05 2.07808321e+02] [ 9.98233899e-01 -5.92591721e-02 -4.17522993e-03 1.36759566e+02] [ 4.16284805e-03 -3.32395449e-04 9.99991280e-01 7.13486087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.311400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.81, Y:136.79, Z:0.71 [[-6.10192225e-02 -9.98136588e-01 -8.10845181e-05 2.07811253e+02] [ 9.98128522e-01 -6.10184024e-02 -4.02585015e-03 1.36785089e+02] [ 4.01340068e-03 -3.26587016e-04 9.99991893e-01 7.12934303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.341400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:207.81, Y:136.81, Z:0.71 [[-6.24554907e-02 -9.98047747e-01 -8.15400144e-05 2.07813878e+02] [ 9.98039388e-01 -6.24546328e-02 -4.09861678e-03 1.36810337e+02] [ 4.08552269e-03 -3.37361268e-04 9.99991597e-01 7.12723142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:136.84, Z:0.71 [[-6.32244136e-02 -9.97999333e-01 -7.09087303e-05 2.07815452e+02] [ 9.97992850e-01 -6.32237465e-02 -3.60955191e-03 1.36836146e+02] [ 3.59784728e-03 -2.98978209e-04 9.99993483e-01 7.13150069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.401400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.82, Y:136.86, Z:0.71 [[-6.10991914e-02 -9.98131696e-01 -7.96961687e-05 2.07819538e+02] [ 9.98123291e-01 -6.10983488e-02 -4.10937744e-03 1.36860312e+02] [ 4.09683057e-03 -3.30626241e-04 9.99991553e-01 7.12955612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.431400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.82, Y:136.89, Z:0.71 [[-5.88506286e-02 -9.98266796e-01 -9.01030837e-05 2.07822476e+02] [ 9.98255768e-01 -5.88495537e-02 -4.70650706e-03 1.36885662e+02] [ 4.69304719e-03 -3.66926822e-04 9.99988920e-01 7.12657083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.461400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.83, Y:136.91, Z:0.71 [[-5.58885131e-02 -9.98437011e-01 -9.68252400e-05 2.07825585e+02] [ 9.98423930e-01 -5.58872839e-02 -5.12509018e-03 1.36911512e+02] [ 5.11166842e-03 -3.83106306e-04 9.99986862e-01 7.12220422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49140051300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.83, Y:136.94, Z:0.71 [[-4.79103003e-02 -9.98851639e-01 -8.12216870e-05 2.07829543e+02] [ 9.98842168e-01 -4.79094915e-02 -4.35941794e-03 1.36936003e+02] [ 4.35052046e-03 -2.89988668e-04 9.99990494e-01 7.12857600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.521400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.83, Y:136.96, Z:0.71 [[-4.32339610e-02 -9.99064974e-01 -5.48311423e-05 2.07831234e+02] [ 9.99060538e-01 -4.32336054e-02 -2.98260148e-03 1.36961186e+02] [ 2.97744213e-03 -1.83729307e-04 9.99995551e-01 7.13486322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.83, Y:136.99, Z:0.71 [[-3.84601638e-02 -9.99260134e-01 -2.98424706e-05 2.07832760e+02] [ 9.99258784e-01 -3.84600627e-02 -1.64523295e-03 1.36986850e+02] [ 1.64286795e-03 -9.30962795e-05 9.99998646e-01 7.14499979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.01, Z:0.72 [[-3.45682746e-02 -9.99402339e-01 -1.35704472e-05 2.07833330e+02] [ 9.99402052e-01 -3.45682544e-02 -7.58166150e-04 1.37011278e+02] [ 7.57243916e-04 -3.97708284e-05 9.99999713e-01 7.15178613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.04, Z:0.72 [[-3.09567785e-02 -9.99520724e-01 -1.18383846e-05 2.07833388e+02] [ 9.99520499e-01 -3.09567636e-02 -6.70822065e-04 1.37036537e+02] [ 6.70134078e-04 -3.25991981e-05 9.99999775e-01 7.15052631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.06, Z:0.71 [[-2.77342940e-02 -9.99615330e-01 -1.24500445e-05 2.07833625e+02] [ 9.99615075e-01 -2.77342780e-02 -7.15954643e-04 1.37060878e+02] [ 7.15333944e-04 -3.23017486e-05 9.99999744e-01 7.14531528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.09, Z:0.71 [[-2.33927640e-02 -9.99726352e-01 3.51048549e-06 2.07835426e+02] [ 9.99726330e-01 -2.33927628e-02 2.07450326e-04 1.37085970e+02] [-2.07311437e-04 8.36236132e-06 9.99999978e-01 7.13619723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.84, Y:137.11, Z:0.71 [[-2.17224267e-02 -9.99764040e-01 1.04117328e-05 2.07836532e+02] [ 9.99763847e-01 -2.17224160e-02 6.21339838e-04 1.37110639e+02] [-6.20967058e-04 2.39062831e-05 9.99999807e-01 7.13397514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.731400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.84, Y:137.14, Z:0.71 [[-2.07813002e-02 -9.99784045e-01 1.48012882e-05 2.07836583e+02] [ 9.99783644e-01 -2.07812786e-02 8.96033928e-04 1.37136111e+02] [-8.95532836e-04 3.34188360e-05 9.99999598e-01 7.14193826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.761400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.84, Y:137.16, Z:0.71 [[-2.00172692e-02 -9.99799634e-01 1.05733135e-05 2.07835996e+02] [ 9.99799423e-01 -2.00172581e-02 6.51242249e-04 1.37160873e+02] [-6.50900114e-04 2.36072842e-05 9.99999788e-01 7.14190251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.791400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.84, Y:137.19, Z:0.71 [[-1.93596913e-02 -9.99812584e-01 2.17798218e-06 2.07835481e+02] [ 9.99812574e-01 -1.93596908e-02 1.37951029e-04 1.37185850e+02] [-1.37883009e-04 4.84826331e-06 9.99999991e-01 7.13891856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.21, Z:0.71 [[-1.88182009e-02 -9.99822922e-01 -2.82884681e-06 2.07835668e+02] [ 9.99822906e-01 -1.88182001e-02 -1.77307827e-04 1.37210212e+02] [ 1.77223196e-04 -6.16496012e-06 9.99999984e-01 7.13639286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.23, Z:0.71 [[-1.64798224e-02 -9.99864199e-01 -6.13164409e-06 2.07836763e+02] [ 9.99864121e-01 -1.64798187e-02 -3.93585999e-04 1.37234498e+02] [ 3.93431501e-04 -1.26170383e-05 9.99999923e-01 7.12897468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.26, Z:0.71 [[-1.48825889e-02 -9.99889248e-01 -1.04558869e-05 2.07837127e+02] [ 9.99889014e-01 -1.48825782e-02 -6.84506056e-04 1.37259232e+02] [ 6.84274635e-04 -2.06419486e-05 9.99999766e-01 7.13119233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.911400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:207.84, Y:137.29, Z:0.71 [[-1.29470934e-02 -9.99916183e-01 -2.01229056e-05 2.07837160e+02] [ 9.99915283e-01 -1.29470547e-02 -1.34218516e-03 1.37285029e+02] [ 1.34181212e-03 -3.74985974e-05 9.99999099e-01 7.12327995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.31, Z:0.71 [[-1.14281857e-02 -9.99934696e-01 -2.38466378e-05 2.07837156e+02] [ 9.99933382e-01 -1.14281321e-02 -1.62125716e-03 1.37309627e+02] [ 1.62087876e-03 -4.23730772e-05 9.99998686e-01 7.12776436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.33, Z:0.71 [[-9.83550975e-03 -9.99951630e-01 -2.16450541e-05 2.07837086e+02] [ 9.99950507e-01 -9.83546626e-03 -1.49892009e-03 1.37334111e+02] [ 1.49863470e-03 -3.63866259e-05 9.99998876e-01 7.12675947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.001400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.84, Y:137.36, Z:0.71 [[-6.16225972e-03 -9.99981013e-01 -1.88314338e-05 2.07836841e+02] [ 9.99980132e-01 -6.16222931e-03 -1.32736911e-03 1.37359952e+02] [ 1.32722786e-03 -2.70106528e-05 9.99999119e-01 7.13017162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.38, Z:0.71 [[-4.42349194e-03 -9.99990216e-01 -2.12921794e-05 2.07836198e+02] [ 9.99989047e-01 -4.42345420e-03 -1.52967762e-03 1.37384285e+02] [ 1.52956847e-03 -2.80584628e-05 9.99998830e-01 7.13645572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.41, Z:0.71 [[-2.23275113e-03 -9.99997507e-01 -2.90902035e-05 2.07835339e+02] [ 9.99995237e-01 -2.23268407e-03 -2.13108015e-03 1.37409879e+02] [ 2.13100989e-03 -3.38482365e-05 9.99997729e-01 7.13916083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.43, Z:0.71 [[ 2.68750709e-04 -9.99999963e-01 -3.40323271e-05 2.07834590e+02] [ 9.99996727e-01 2.68836423e-04 -2.54432300e-03 1.37434449e+02] [ 2.54433206e-03 -3.33484271e-05 9.99996763e-01 7.14071051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.46, Z:0.71 [[ 2.82094239e-03 -9.99996021e-01 -3.04352015e-05 2.07833711e+02] [ 9.99993326e-01 2.82100544e-03 -2.32141655e-03 1.37459811e+02] [ 2.32149317e-03 -2.38864160e-05 9.99997305e-01 7.13587530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.48, Z:0.71 [[ 8.84964767e-03 -9.99960841e-01 -1.83517893e-05 2.07831665e+02] [ 9.99959820e-01 8.84966486e-03 -1.42889359e-03 1.37484740e+02] [ 1.42900005e-03 -5.70584709e-06 9.99998979e-01 7.12702056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.51, Z:0.71 [[ 1.14992583e-02 -9.99933881e-01 -1.91570849e-05 2.07830005e+02] [ 9.99932720e-01 1.14992742e-02 -1.52397579e-03 1.37508983e+02] [ 1.52409532e-03 -1.63120461e-06 9.99998839e-01 7.12511339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.53, Z:0.71 [[ 1.41941449e-02 -9.99899258e-01 -2.52317254e-05 2.07827951e+02] [ 9.99897166e-01 1.41941668e-02 -2.04518956e-03 1.37533867e+02] [ 2.04534167e-03 3.80058627e-06 9.99997908e-01 7.12955442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.83, Y:137.56, Z:0.71 [[ 1.71598649e-02 -9.99852758e-01 -3.85672761e-05 2.07825932e+02] [ 9.99847652e-01 1.71599005e-02 -3.19533656e-03 1.37559764e+02] [ 3.19552788e-03 1.62701431e-05 9.99994894e-01 7.13411856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:137.58, Z:0.71 [[ 1.94247216e-02 -9.99811322e-01 -3.71880868e-05 2.07823238e+02] [ 9.99806352e-01 1.94247423e-02 -3.15250935e-03 1.37584067e+02] [ 3.15263691e-03 2.40557310e-05 9.99995030e-01 7.13772328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.82, Y:137.61, Z:0.71 [[ 2.18398535e-02 -9.99761482e-01 -2.93342525e-05 2.07822269e+02] [ 9.99758239e-01 2.18398574e-02 -2.54634137e-03 1.37608996e+02] [ 2.54637468e-03 2.62845618e-05 9.99996758e-01 7.13252569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.331400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.82, Y:137.63, Z:0.71 [[ 2.44651288e-02 -9.99700684e-01 -6.12960726e-06 2.07823424e+02] [ 9.99700537e-01 2.44651285e-02 -5.42450799e-04 1.37634847e+02] [ 5.42438396e-04 7.14335702e-06 9.99999853e-01 7.11747024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:137.66, Z:0.71 [[ 2.42629034e-02 -9.99705612e-01 -2.32449952e-06 2.07823877e+02] [ 9.99705591e-01 2.42629033e-02 -2.08904857e-04 1.37659328e+02] [ 2.08899757e-04 2.74482321e-06 9.99999978e-01 7.10731779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:137.68, Z:0.71 [[ 2.41517395e-02 -9.99708304e-01 -1.21421687e-05 2.07824173e+02] [ 9.99707661e-01 2.41517377e-02 -1.13377903e-03 1.37684234e+02] [ 1.13374156e-03 1.52441166e-05 9.99999357e-01 7.09858262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:137.71, Z:0.71 [[ 2.38568964e-02 -9.99715384e-01 -2.18945486e-05 2.07824284e+02] [ 9.99713180e-01 2.38568897e-02 -2.09922893e-03 1.37709476e+02] [ 2.09915379e-03 2.81928183e-05 9.99997796e-01 7.09589885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.73, Z:0.71 [[ 2.35759374e-02 -9.99722048e-01 -3.19991925e-05 2.07825047e+02] [ 9.99717078e-01 2.35759211e-02 -3.15282372e-03 1.37733489e+02] [ 3.15270179e-03 4.23406353e-05 9.99995029e-01 7.09320906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.76, Z:0.71 [[ 2.34589356e-02 -9.99724801e-01 -3.61584063e-05 2.07826889e+02] [ 9.99718109e-01 2.34589108e-02 -3.65804894e-03 1.37758867e+02] [ 3.65789049e-03 4.96657209e-05 9.99993309e-01 7.09030490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.78, Z:0.71 [[ 2.53253826e-02 -9.99679261e-01 -2.36218531e-05 2.07831132e+02] [ 9.99676244e-01 2.53253642e-02 -2.45633985e-03 1.37782894e+02] [ 2.45615023e-03 3.85935410e-05 9.99996983e-01 7.10027385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.81, Z:0.71 [[ 2.65863839e-02 -9.99646520e-01 -1.23504140e-05 2.07832456e+02] [ 9.99645650e-01 2.65863771e-02 -1.31876604e-03 1.37808130e+02] [ 1.31862824e-03 2.27151827e-05 9.99999130e-01 7.10868984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:137.83, Z:0.71 [[ 2.95324563e-02 -9.99563822e-01 -7.25723702e-06 2.07834612e+02] [ 9.99563505e-01 2.95324527e-02 -7.96671074e-04 1.37832101e+02] [ 7.96537908e-04 1.62735845e-05 9.99999683e-01 7.11226436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.86, Z:0.71 [[ 3.05681478e-02 -9.99532685e-01 -1.05293736e-05 2.07836833e+02] [ 9.99531974e-01 3.05681386e-02 -1.19239785e-03 1.37857415e+02] [ 1.19216249e-03 2.59249480e-05 9.99999289e-01 7.10838048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.88, Z:0.71 [[ 3.12257059e-02 -9.99512359e-01 -8.09830808e-06 2.07839553e+02] [ 9.99511912e-01 3.12256996e-02 -9.45487291e-04 1.37881352e+02] [ 9.45279108e-04 2.14291528e-05 9.99999553e-01 7.10805409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:137.91, Z:0.71 [[ 3.19777407e-02 -9.99488478e-01 4.54374166e-04 2.07842252e+02] [ 9.99485828e-01 3.19787164e-02 2.33274363e-03 1.37906398e+02] [-2.34608069e-03 3.79544669e-04 9.99997176e-01 7.08949626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:137.93, Z:0.71 [[ 3.16635867e-02 -9.99498490e-01 -4.30049403e-04 2.07845762e+02] [ 9.99498458e-01 3.16633650e-02 5.12986844e-04 1.37931693e+02] [-4.99112765e-04 -4.46076719e-04 9.99999776e-01 7.11057484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:137.96, Z:0.71 [[ 3.11957851e-02 -9.99513293e-01 2.42154077e-06 2.07848555e+02] [ 9.99513243e-01 3.11957843e-02 3.14972940e-04 1.37955864e+02] [-3.14895182e-04 -7.40546605e-06 9.99999950e-01 7.11270732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:137.98, Z:0.71 [[ 3.01574748e-02 -9.99545160e-01 -9.19864347e-06 2.07856022e+02] [ 9.99544420e-01 3.01574636e-02 -1.21649642e-03 1.37981008e+02] [ 1.21622052e-03 2.74920073e-05 9.99999260e-01 7.09936390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:138.01, Z:0.71 [[ 2.93819876e-02 -9.99568256e-01 -7.56696969e-06 2.07859293e+02] [ 9.99567717e-01 2.93819796e-02 -1.03837407e-03 1.38005131e+02] [ 1.03814809e-03 2.29457954e-05 9.99999461e-01 7.09646513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:138.03, Z:0.71 [[ 2.85665933e-02 -9.99591892e-01 7.80029765e-07 2.07862159e+02] [ 9.99591885e-01 2.85665932e-02 1.16412410e-04 1.38030303e+02] [-1.16387184e-04 -2.54579452e-06 9.99999993e-01 7.10167549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:138.06, Z:0.71 [[ 2.83159441e-02 -9.99599023e-01 7.52501900e-07 2.07862048e+02] [ 9.99599017e-01 2.83159440e-02 1.16412595e-04 1.38056236e+02] [-1.16387223e-04 -2.54413234e-06 9.99999993e-01 7.10170857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:138.08, Z:0.71 [[ 2.75561341e-02 -9.99620258e-01 1.10861088e-05 2.07864980e+02] [ 9.99618782e-01 2.75561125e-02 1.71811650e-03 1.38081891e+02] [-1.71776955e-03 -3.62627662e-05 9.99998524e-01 7.10420777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:138.11, Z:0.71 [[ 2.70432611e-02 -9.99634264e-01 1.90640316e-05 2.07869015e+02] [ 9.99629526e-01 2.70431916e-02 3.07856139e-03 1.38107233e+02] [-3.07795100e-03 -6.41973705e-05 9.99995261e-01 7.10586294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:138.13, Z:0.71 [[ 2.64584486e-02 -9.99649914e-01 1.58104130e-05 2.07876473e+02] [ 9.99646338e-01 2.64583963e-02 2.67420834e-03 1.38131242e+02] [-2.67369046e-03 -5.49505825e-05 9.99996424e-01 7.10253129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:138.15, Z:0.71 [[ 2.65302147e-02 -9.99648012e-01 4.95498882e-06 2.07878868e+02] [ 9.99647623e-01 2.65302087e-02 8.82152865e-04 1.38154524e+02] [-8.81973814e-04 -1.84504621e-05 9.99999611e-01 7.10045979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:138.18, Z:0.71 [[ 2.70781596e-02 -9.99633319e-01 -7.38814552e-06 2.07881299e+02] [ 9.99632383e-01 2.70781444e-02 -1.36867511e-03 1.38179089e+02] [ 1.36837330e-03 2.96757736e-05 9.99999063e-01 7.09106754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:138.20, Z:0.71 [[ 2.81911801e-02 -9.99602550e-01 -2.00080023e-05 2.07884414e+02] [ 9.99594905e-01 2.81910428e-02 -3.91041630e-03 1.38204213e+02] [ 3.90942615e-03 9.02393529e-05 9.99992354e-01 7.08215419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:138.23, Z:0.71 [[ 3.11876772e-02 -9.99513546e-01 -3.03235236e-05 2.07890826e+02] [ 9.99493977e-01 3.11872564e-02 -6.25665220e-03 1.38229997e+02] [ 6.25455433e-03 1.64822270e-04 9.99980427e-01 7.07323788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.081400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:207.89, Y:138.26, Z:0.71 [[ 3.29387033e-02 -9.99457373e-01 -2.46298299e-05 2.07893347e+02] [ 9.99442923e-01 3.29383596e-02 -5.37669503e-03 1.38255653e+02] [ 5.37458876e-03 1.52485253e-04 9.99985545e-01 7.07510023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:138.28, Z:0.71 [[ 3.45756395e-02 -9.99402084e-01 -1.55654934e-05 2.07894425e+02] [ 9.99395565e-01 3.45754702e-02 -3.61121946e-03 1.38279035e+02] [ 3.60959843e-03 1.09304137e-04 9.99993479e-01 7.08287555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.30, Z:0.71 [[ 3.70871230e-02 -9.99312036e-01 -1.05986351e-05 2.07895181e+02] [ 9.99308573e-01 3.70870224e-02 -2.63229919e-03 1.38303609e+02] [ 2.63088133e-03 8.70330968e-05 9.99996535e-01 7.08422619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.33, Z:0.71 [[ 4.06665986e-02 -9.99172772e-01 -1.04584057e-05 2.07895672e+02] [ 9.99168836e-01 4.06664678e-02 -2.80629785e-03 1.38327268e+02] [ 2.80440171e-03 1.03672875e-04 9.99996062e-01 7.08496058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.35, Z:0.71 [[ 4.45047718e-02 -9.99009172e-01 -1.22438237e-05 2.07895448e+02] [ 9.99002808e-01 4.45045320e-02 -3.56881017e-03 1.38352201e+02] [ 3.56581900e-03 1.46597468e-04 9.99993632e-01 7.08317372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:138.38, Z:0.71 [[ 5.17187365e-02 -9.98661691e-01 -1.45696447e-05 2.07894198e+02] [ 9.98650839e-01 5.17182425e-02 -4.66106189e-03 1.38375332e+02] [ 4.65557747e-03 2.26514244e-04 9.99989137e-01 7.08201662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:138.40, Z:0.71 [[ 5.39127881e-02 -9.98545648e-01 -1.25111621e-05 2.07893758e+02] [ 9.98536058e-01 5.39123253e-02 -4.38203430e-03 1.38398871e+02] [ 4.37633578e-03 2.23754840e-04 9.99990399e-01 7.08345334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:138.42, Z:0.71 [[ 5.49458362e-02 -9.98489336e-01 -9.12137613e-06 2.07893872e+02] [ 9.98483027e-01 5.49455215e-02 -3.55446681e-03 1.38422502e+02] [ 3.54959839e-03 1.86195612e-04 9.99993683e-01 7.08256605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:138.45, Z:0.71 [[ 5.47583832e-02 -9.98499634e-01 -5.66242831e-06 2.07894250e+02] [ 9.98496568e-01 5.47582292e-02 -2.47776036e-03 1.38446967e+02] [ 2.47435288e-03 1.30024236e-04 9.99996930e-01 7.08050886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:138.47, Z:0.71 [[ 5.40726677e-02 -9.98537003e-01 -4.20579087e-06 2.07894937e+02] [ 9.98534804e-01 5.40725574e-02 -2.09830424e-03 1.38471794e+02] [ 2.09546184e-03 1.09261279e-04 9.99997799e-01 7.07381713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.50, Z:0.71 [[ 5.30020730e-02 -9.98594402e-01 -3.48095048e-06 2.07895692e+02] [ 9.98592358e-01 5.30019715e-02 -2.02325949e-03 1.38496168e+02] [ 2.02060010e-03 1.03760896e-04 9.99997953e-01 7.07094080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.52, Z:0.71 [[ 5.12370394e-02 -9.98686520e-01 -1.89519068e-06 2.07897384e+02] [ 9.98685659e-01 5.12369977e-02 -1.31298281e-03 1.38520744e+02] [ 1.31135534e-03 6.53806525e-05 9.99999138e-01 7.07009920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.90, Y:138.55, Z:0.71 [[ 5.08007431e-02 -9.98708809e-01 -1.32281369e-06 2.07898126e+02] [ 9.98708179e-01 5.08007125e-02 -1.12300839e-03 1.38546141e+02] [ 1.12162557e-03 5.57285556e-05 9.99999369e-01 7.07872546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.471400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.90, Y:138.57, Z:0.71 [[ 4.99245546e-02 -9.98752992e-01 -5.72657840e-07 2.07898296e+02] [ 9.98752801e-01 4.99245455e-02 -6.17547223e-04 1.38570723e+02] [ 6.16805726e-04 3.02588265e-05 9.99999809e-01 7.07948223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.60, Z:0.71 [[ 4.79789194e-02 -9.98848349e-01 2.76889121e-07 2.07897771e+02] [ 9.98848208e-01 4.79789127e-02 5.31209149e-04 1.38595819e+02] [-5.30610666e-04 -2.52102707e-05 9.99999859e-01 7.07614044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.62, Z:0.71 [[ 4.62546662e-02 -9.98929680e-01 3.85327732e-07 2.07898609e+02] [ 9.98928787e-01 4.62546253e-02 1.33738501e-03 1.38620914e+02] [-1.33597140e-03 -6.14753822e-05 9.99999106e-01 7.07170521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:138.65, Z:0.71 [[ 4.38475005e-02 -9.99038236e-01 2.57179532e-08 2.07903129e+02] [ 9.99035739e-01 4.38473910e-02 2.23588135e-03 1.38645889e+02] [-2.23373209e-03 -9.80121154e-05 9.99997500e-01 7.06925998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:138.67, Z:0.71 [[ 4.25302202e-02 -9.99095181e-01 -3.94853522e-07 2.07906058e+02] [ 9.99094110e-01 4.25301741e-02 1.46391036e-03 1.38671560e+02] [-1.46256900e-03 -6.26549259e-05 9.99998929e-01 7.06746664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:138.67, Z:0.71 [[ 4.17471396e-02 -9.99128208e-01 8.78230940e-08 2.07909654e+02] [ 9.99128147e-01 4.17471371e-02 3.50379364e-04 1.38670849e+02] [-3.50077573e-04 -1.45395897e-05 9.99999939e-01 7.06261156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:138.70, Z:0.71 [[ 4.01823905e-02 -9.99192362e-01 1.00356517e-08 2.07913474e+02] [ 9.99192323e-01 4.01823889e-02 -2.78589843e-04 1.38695953e+02] [ 2.78364440e-04 1.12044334e-05 9.99999961e-01 7.05424419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:138.70, Z:0.70 [[ 3.93582861e-02 -9.99225163e-01 8.19626556e-08 2.07918062e+02] [ 9.99225147e-01 3.93582855e-02 1.73645225e-04 1.38704091e+02] [-1.73513904e-04 -6.75247929e-06 9.99999985e-01 7.04673848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:138.73, Z:0.70 [[ 3.96604037e-02 -9.99213217e-01 -1.37610174e-07 2.07926586e+02] [ 9.99212693e-01 3.96603828e-02 1.02394444e-03 1.38728051e+02] [-1.02313336e-03 -4.07475518e-05 9.99999476e-01 7.04692414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:138.71, Z:0.71 [[ 4.20115922e-02 -9.99117123e-01 -1.22025293e-07 2.07930781e+02] [ 9.99116926e-01 4.20115840e-02 -6.28222112e-04 1.38709785e+02] [ 6.27672596e-04 2.62706937e-05 9.99999803e-01 7.05001606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:138.73, Z:0.70 [[ 4.45141825e-02 -9.99008753e-01 6.08835149e-08 2.07934540e+02] [ 9.99004902e-01 4.45140108e-02 -2.77643289e-03 1.38733282e+02] [ 2.77367804e-03 1.23651463e-04 9.99996146e-01 7.04866212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:138.74, Z:0.70 [[ 4.79822332e-02 -9.98848189e-01 -1.62744566e-06 2.07937973e+02] [ 9.98834802e-01 4.79815986e-02 -5.17725896e-03 1.38740431e+02] [ 5.17137382e-03 2.46790897e-04 9.99986598e-01 7.04455044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:138.76, Z:0.70 [[ 5.11066466e-02 -9.98693202e-01 -1.86897418e-07 2.07941529e+02] [ 9.98675503e-01 5.11057420e-02 -5.95330966e-03 1.38763636e+02] [ 5.94553944e-03 3.04067043e-04 9.99982279e-01 7.04154847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:138.79, Z:0.70 [[ 5.45803529e-02 -9.98509382e-01 1.46246956e-06 2.07945185e+02] [ 9.98492402e-01 5.45794162e-02 -5.83177226e-03 1.38788040e+02] [ 5.82299949e-03 3.19760453e-04 9.99982995e-01 7.04352831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:138.76, Z:0.70 [[ 6.20562418e-02 -9.98072654e-01 -4.18857271e-07 2.07952910e+02] [ 9.98059800e-01 6.20554448e-02 -5.07511037e-03 1.38760133e+02] [ 5.06535487e-03 3.14524232e-04 9.99987122e-01 7.04527316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:138.78, Z:0.70 [[ 6.47571233e-02 -9.97901055e-01 1.00561528e-06 2.07955759e+02] [ 9.97887553e-01 6.47562418e-02 -5.20206078e-03 1.38783969e+02] [ 5.19107681e-03 3.37873982e-04 9.99986469e-01 7.04579707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:138.79, Z:0.70 [[ 6.76252353e-02 -9.97710794e-01 -7.59557549e-07 2.07958681e+02] [ 9.97695330e-01 6.76241914e-02 -5.56759276e-03 1.38794025e+02] [ 5.55489876e-03 3.75751964e-04 9.99984501e-01 7.04484596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:138.82, Z:0.70 [[ 7.30109878e-02 -9.97331136e-01 7.84982944e-07 2.07964580e+02] [ 9.97313480e-01 7.30096906e-02 -5.95036707e-03 1.38817667e+02] [ 5.93442904e-03 4.35225052e-04 9.99982296e-01 7.04723286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:138.81, Z:0.71 [[ 7.68379045e-02 -9.97043598e-01 -1.11886453e-06 2.07965912e+02] [ 9.97026702e-01 7.68366089e-02 -5.82158205e-03 1.38808490e+02] [ 5.80445708e-03 4.46202627e-04 9.99983054e-01 7.05363191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:138.83, Z:0.71 [[ 8.03004867e-02 -9.96770702e-01 4.27090455e-07 2.07964251e+02] [ 9.96753505e-01 8.02990988e-02 -5.87411282e-03 1.38833160e+02] [ 5.85510927e-03 4.72119823e-04 9.99982747e-01 7.05789126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:138.84, Z:0.71 [[ 8.41297270e-02 -9.96454810e-01 -1.42057596e-06 2.07961028e+02] [ 9.96438321e-01 8.41283430e-02 -5.75283671e-03 1.38844212e+02] [ 5.73256133e-03 4.82569066e-04 9.99983452e-01 7.06109065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:138.87, Z:0.71 [[ 8.70327012e-02 -9.96205455e-01 7.79402468e-08 2.07957733e+02] [ 9.96192470e-01 8.70315664e-02 -5.10581668e-03 1.38869151e+02] [ 5.08643565e-03 4.44450661e-04 9.99986965e-01 7.05883342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:138.85, Z:0.71 [[ 8.94856479e-02 -9.95988112e-01 -1.33402871e-06 2.07955500e+02] [ 9.95978083e-01 8.94847528e-02 -4.48744935e-03 1.38854818e+02] [ 4.46956558e-03 4.00233649e-04 9.99989931e-01 7.05839410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:138.88, Z:0.71 [[ 8.95574014e-02 -9.95981662e-01 -2.12117282e-07 2.07952281e+02] [ 9.95974487e-01 8.95567571e-02 -3.79577693e-03 1.38879790e+02] [ 3.78054322e-03 3.39728655e-04 9.99992796e-01 7.05202308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:138.90, Z:0.71 [[ 8.74453006e-02 -9.96169323e-01 7.41344781e-07 2.07950162e+02] [ 9.96163302e-01 8.74447695e-02 -3.47689316e-03 1.38903925e+02] [ 3.46350948e-03 3.04776468e-04 9.99993956e-01 7.05180699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:138.92, Z:0.70 [[ 8.49609293e-02 -9.96384284e-01 -2.54409391e-07 2.07947973e+02] [ 9.96380392e-01 8.49605982e-02 -2.79473976e-03 1.38922875e+02] [ 2.78465639e-03 2.37190199e-04 9.99996095e-01 7.04756015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.95, Y:138.95, Z:0.70 [[ 8.18395530e-02 -9.96645518e-01 2.93193944e-07 2.07946737e+02] [ 9.96643168e-01 8.18393594e-02 -2.17139367e-03 1.38948441e+02] [ 2.16408578e-03 1.77998097e-04 9.99997643e-01 7.04731236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:138.97, Z:0.71 [[ 7.66319864e-02 -9.97059446e-01 -4.40340037e-07 2.07946797e+02] [ 9.97056011e-01 7.66317236e-02 -2.62470831e-03 1.38971543e+02] [ 2.61702395e-03 2.00697568e-04 9.99996555e-01 7.05186099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:139.00, Z:0.71 [[ 7.37410901e-02 -9.97277420e-01 2.10661503e-07 2.07947745e+02] [ 9.97273997e-01 7.37408364e-02 -2.62004828e-03 1.38996609e+02] [ 2.61289946e-03 1.93415304e-04 9.99996568e-01 7.05306541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:138.99, Z:0.71 [[ 7.17691032e-02 -9.97421273e-01 -5.01049966e-07 2.07948570e+02] [ 9.97418809e-01 7.17689270e-02 -2.22276173e-03 1.38994386e+02] [ 2.21706579e-03 1.59025859e-04 9.99997530e-01 7.05796446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:139.02, Z:0.71 [[ 6.95873611e-02 -9.97575861e-01 -9.38887929e-09 2.07948316e+02] [ 9.97574462e-01 6.95872635e-02 -1.67521822e-03 1.39017598e+02] [ 1.67115791e-03 1.16564649e-04 9.99998597e-01 7.06531586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:139.02, Z:0.71 [[ 6.87364363e-02 -9.97634854e-01 -2.66542659e-07 2.07948227e+02] [ 9.97634404e-01 6.87364055e-02 -9.49660639e-04 1.39017933e+02] [ 9.47432874e-04 6.50103759e-05 9.99999549e-01 7.06850208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:139.04, Z:0.71 [[ 6.89655943e-02 -9.97619039e-01 -5.01687637e-08 2.07949889e+02] [ 9.97618969e-01 6.89655895e-02 -3.74734418e-04 1.39041218e+02] [ 3.73845650e-04 2.57937326e-05 9.99999930e-01 7.07031123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:139.06, Z:0.71 [[ 6.97380290e-02 -9.97565340e-01 3.08070249e-07 2.07951216e+02] [ 9.97564419e-01 6.97379642e-02 -1.35901008e-03 1.39064996e+02] [ 1.35567987e-03 9.50820044e-05 9.99999077e-01 7.06652266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:139.07, Z:0.71 [[ 7.12278041e-02 -9.97460074e-01 -1.88884349e-07 2.07952844e+02] [ 9.97456424e-01 7.12275440e-02 -2.70523951e-03 1.39074081e+02] [ 2.69838186e-03 1.92499866e-04 9.99996341e-01 7.06308609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:139.10, Z:0.71 [[ 7.18409256e-02 -9.97416102e-01 5.93221778e-07 2.07953637e+02] [ 9.97409511e-01 7.18404487e-02 -3.63556590e-03 1.39097656e+02] [ 3.62612936e-03 2.61774105e-04 9.99993391e-01 7.06058549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:139.09, Z:0.70 [[ 7.32377193e-02 -9.97314512e-01 -6.02253811e-07 2.07957413e+02] [ 9.97307022e-01 7.32371716e-02 -3.87569160e-03 1.39085555e+02] [ 3.86532759e-03 2.83246182e-04 9.99992490e-01 7.04952085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:139.11, Z:0.70 [[ 7.35578833e-02 -9.97290949e-01 3.71826138e-07 2.07959907e+02] [ 9.97283513e-01 7.35573334e-02 -3.86181280e-03 1.39109904e+02] [ 3.85132361e-03 2.84437592e-04 9.99992543e-01 7.04406032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:139.09, Z:0.70 [[ 7.43584176e-02 -9.97231581e-01 -7.84692698e-07 2.07962218e+02] [ 9.97225256e-01 7.43579488e-02 -3.56155796e-03 1.39088047e+02] [ 3.55175643e-03 2.64049299e-04 9.99993658e-01 7.04347658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:139.11, Z:0.70 [[ 7.43758487e-02 -9.97230281e-01 1.05128279e-07 2.07963070e+02] [ 9.97225512e-01 7.43754926e-02 -3.09277261e-03 1.39112892e+02] [ 3.08419868e-03 2.30132424e-04 9.99995217e-01 7.04796116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:139.12, Z:0.71 [[ 7.52408192e-02 -9.97165392e-01 -9.31847652e-07 2.07963580e+02] [ 9.97159852e-01 7.52404043e-02 -3.33342301e-03 1.39122465e+02] [ 3.32404417e-03 2.49880277e-04 9.99994444e-01 7.05388433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:139.15, Z:0.70 [[ 7.55460582e-02 -9.97142313e-01 -2.00097052e-07 2.07964356e+02] [ 9.97129415e-01 7.55450820e-02 -5.08630725e-03 1.39147655e+02] [ 5.07178729e-03 3.84050941e-04 9.99987065e-01 7.04860234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:139.17, Z:0.70 [[ 7.52987325e-02 -9.97161021e-01 1.06296088e-06 2.07964076e+02] [ 9.97148122e-01 7.52977531e-02 -5.08630714e-03 1.39173615e+02] [ 5.07178718e-03 3.84052410e-04 9.99987065e-01 7.04863542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:139.16, Z:0.70 [[ 7.65794185e-02 -9.97063485e-01 -9.84749390e-07 2.07967256e+02] [ 9.97028360e-01 7.65767290e-02 -8.39365258e-03 1.39157150e+02] [ 8.36907990e-03 6.41799210e-04 9.99964773e-01 7.03986048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:139.18, Z:0.70 [[ 7.65975057e-02 -9.97062095e-01 1.07422930e-06 2.07967840e+02] [ 9.97030975e-01 7.65951065e-02 -7.90089142e-03 1.39182220e+02] [ 7.87759708e-03 6.06259616e-04 9.99968787e-01 7.04642205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:139.17, Z:0.71 [[ 7.73922009e-02 -9.97000726e-01 -1.21950966e-06 2.07968743e+02] [ 9.96980060e-01 7.73906046e-02 -6.43849308e-03 1.39170131e+02] [ 6.41927665e-03 4.97073323e-04 9.99979273e-01 7.05919573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:139.20, Z:0.71 [[ 7.75330137e-02 -9.96989785e-01 2.98968006e-07 2.07970111e+02] [ 9.96975803e-01 7.75319247e-02 -5.29616579e-03 1.39195262e+02] [ 5.28020001e-03 4.10925758e-04 9.99985975e-01 7.06449056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:139.20, Z:0.71 [[ 7.81262872e-02 -9.96943470e-01 -1.11393934e-06 2.07975178e+02] [ 9.96934324e-01 7.81255752e-02 -4.28344508e-03 1.39200001e+02] [ 4.27043963e-03 3.33539136e-04 9.99990826e-01 7.05781684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:139.22, Z:0.71 [[ 7.76168139e-02 -9.96983265e-01 -3.03742974e-09 2.07976472e+02] [ 9.96972565e-01 7.76159809e-02 -4.63300803e-03 1.39224425e+02] [ 4.61903170e-03 3.59596293e-04 9.99989268e-01 7.05377913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:139.24, Z:0.70 [[ 7.78010830e-02 -9.96968902e-01 -1.59310756e-06 2.07976433e+02] [ 9.96956322e-01 7.78001094e-02 -5.02343772e-03 1.39239585e+02] [ 5.00833514e-03 3.89240637e-04 9.99987382e-01 7.04525434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:139.26, Z:0.70 [[ 7.77175440e-02 -9.96975418e-01 -5.82632045e-07 2.07975853e+02] [ 9.96960399e-01 7.77163764e-02 -5.48882024e-03 1.39264542e+02] [ 5.47226413e-03 4.25996767e-04 9.99984936e-01 7.04439017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:139.29, Z:0.70 [[ 7.69078589e-02 -9.97038205e-01 8.23067508e-07 2.07976073e+02] [ 9.97023167e-01 7.69066945e-02 -5.49217038e-03 1.39290190e+02] [ 5.47584040e-03 4.23211682e-04 9.99984918e-01 7.04824634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:139.28, Z:0.71 [[ 7.60231142e-02 -9.97106056e-01 -8.33285068e-07 2.07977893e+02] [ 9.97093955e-01 7.60221957e-02 -4.92657173e-03 1.39278250e+02] [ 4.91237786e-03 3.73702462e-04 9.99987864e-01 7.05616932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:139.30, Z:0.71 [[ 7.22019674e-02 -9.97390032e-01 2.06428948e-07 2.07982775e+02] [ 9.97386290e-01 7.22016959e-02 -2.73930707e-03 1.39304056e+02] [ 2.73214266e-03 1.97989249e-04 9.99996248e-01 7.06765905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:139.30, Z:0.71 [[ 7.14373865e-02 -9.97445086e-01 -3.58784789e-07 2.07985158e+02] [ 9.97443789e-01 7.14372942e-02 -1.61248428e-03 1.39295581e+02] [ 1.60839016e-03 1.14833795e-04 9.99998700e-01 7.06632071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:139.32, Z:0.71 [[ 7.06548986e-02 -9.97500820e-01 -3.21715591e-09 2.07987581e+02] [ 9.97499718e-01 7.06548206e-02 -1.48613097e-03 1.39320250e+02] [ 1.48241709e-03 1.04999224e-04 9.99998896e-01 7.06025114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:139.33, Z:0.71 [[ 7.24979662e-02 -9.97368560e-01 -8.59000556e-07 2.07992165e+02] [ 9.97364393e-01 7.24976658e-02 -2.89056406e-03 1.39326152e+02] [ 2.88301999e-03 2.08703279e-04 9.99995822e-01 7.05331245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:139.35, Z:0.70 [[ 7.42019258e-02 -9.97243237e-01 -2.21256490e-07 2.07993461e+02] [ 9.97237020e-01 7.42014639e-02 -3.53118790e-03 1.39351746e+02] [ 3.52146967e-03 2.61800297e-04 9.99993765e-01 7.04833939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:139.38, Z:0.71 [[ 7.64162389e-02 -9.97076004e-01 8.74232274e-07 2.07993777e+02] [ 9.97068775e-01 7.64156815e-02 -3.80799232e-03 1.39375779e+02] [ 3.79679097e-03 2.91864121e-04 9.99992750e-01 7.05135068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:139.37, Z:0.71 [[ 7.90038208e-02 -9.96874313e-01 -2.87876523e-07 2.07993515e+02] [ 9.96867795e-01 7.90033052e-02 -3.61634323e-03 1.39368685e+02] [ 3.60506242e-03 2.85417958e-04 9.99993461e-01 7.05340767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:139.39, Z:0.71 [[ 8.06862132e-02 -9.96739552e-01 6.44634436e-07 2.07993055e+02] [ 9.96732902e-01 8.06856725e-02 -3.65286205e-03 1.39393197e+02] [ 3.64090008e-03 2.95378135e-04 9.99993328e-01 7.05417033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.00, Y:139.38, Z:0.70 [[ 8.30358394e-02 -9.96546562e-01 -7.89317025e-07 2.07995473e+02] [ 9.96529780e-01 8.30344457e-02 -5.80336204e-03 1.39380482e+02] [ 5.78338602e-03 4.81100460e-04 9.99983160e-01 7.04812852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:139.40, Z:0.70 [[ 8.20534628e-02 -9.96627929e-01 5.05777156e-07 2.07997173e+02] [ 9.96606901e-01 8.20517282e-02 -6.49603161e-03 1.39404601e+02] [ 6.47408503e-03 5.33525949e-04 9.99978901e-01 7.03897447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.00, Y:139.42, Z:0.70 [[ 8.04280612e-02 -9.96760416e-01 -2.48376417e-07 2.07999058e+02] [ 9.96740099e-01 8.04264234e-02 -6.38481313e-03 1.39418050e+02] [ 6.36414897e-03 5.13270574e-04 9.99979617e-01 7.03532910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:139.44, Z:0.70 [[ 7.75280503e-02 -9.96990171e-01 9.84220020e-07 2.08000480e+02] [ 9.96979545e-01 7.75272194e-02 -4.61707956e-03 1.39441239e+02] [ 4.60310664e-03 3.58934423e-04 9.99989341e-01 7.03855428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:139.48, Z:0.71 [[ 7.10976776e-02 -9.97469358e-01 6.86362912e-07 2.08006410e+02] [ 9.97468360e-01 7.10976055e-02 -1.41498534e-03 1.39475528e+02] [ 1.41135572e-03 1.01286797e-04 9.99998999e-01 7.05610407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:139.47, Z:0.71 [[ 6.84277568e-02 -9.97656074e-01 2.12423774e-07 2.08009021e+02] [ 9.97655610e-01 6.84277248e-02 -9.64141892e-04 1.39467903e+02] [ 9.61867479e-04 6.61859926e-05 9.99999535e-01 7.05772226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:139.47, Z:0.71 [[ 6.56194628e-02 -9.97844720e-01 8.86502828e-08 2.08010921e+02] [ 9.97843675e-01 6.56193939e-02 -1.44785123e-03 1.39470138e+02] [ 1.44472489e-03 9.50956790e-05 9.99998952e-01 7.05786104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:139.48, Z:0.71 [[ 6.30061750e-02 -9.98013137e-01 -1.59879478e-07 2.08013187e+02] [ 9.98010458e-01 6.30060063e-02 -2.31699239e-03 1.39475622e+02] [ 2.31239891e-03 1.45825266e-04 9.99997316e-01 7.05302163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:139.50, Z:0.70 [[ 6.04821656e-02 -9.98169278e-01 5.70161518e-07 2.08016601e+02] [ 9.98164897e-01 6.04818984e-02 -2.96292932e-03 1.39500106e+02] [ 2.95747053e-03 1.79773497e-04 9.99995611e-01 7.04431655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:139.51, Z:0.70 [[ 5.91783648e-02 -9.98247425e-01 1.84742205e-06 2.08021290e+02] [ 9.98240358e-01 5.91779388e-02 -3.76297168e-03 1.39510487e+02] [ 3.75626747e-03 2.24530682e-04 9.99992920e-01 7.04290572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:139.51, Z:0.70 [[ 5.88044626e-02 -9.98269520e-01 2.59200009e-06 2.08027148e+02] [ 9.98258117e-01 5.88037784e-02 -4.77993295e-03 1.39507281e+02] [ 4.77150895e-03 2.83668873e-04 9.99988576e-01 7.04822060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:139.51, Z:0.71 [[ 5.96629869e-02 -9.98218577e-01 4.93495235e-06 2.08028224e+02] [ 9.98202752e-01 5.96620132e-02 -5.63121373e-03 1.39511303e+02] [ 5.62088773e-03 3.40901114e-04 9.99984145e-01 7.05076647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:139.49, Z:0.71 [[ 6.17814945e-02 -9.98089699e-01 4.70343357e-06 2.08029475e+02] [ 9.98070537e-01 6.17802791e-02 -6.19674989e-03 1.39491195e+02] [ 6.18462166e-03 3.87538828e-04 9.99980800e-01 7.05126443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:139.49, Z:0.71 [[ 6.36478802e-02 -9.97972418e-01 7.68341733e-06 2.08031556e+02] [ 9.97947464e-01 6.36462342e-02 -7.07216296e-03 1.39485784e+02] [ 7.05733455e-03 4.57795827e-04 9.99974992e-01 7.05262661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.721400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:208.03, Y:139.47, Z:0.70 [[ 6.56285107e-02 -9.97844125e-01 1.04775854e-05 2.08034273e+02] [ 9.97817009e-01 6.56266499e-02 -7.37293200e-03 1.39470519e+02] [ 7.35634927e-03 4.94329260e-04 9.99972820e-01 7.04392867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:139.47, Z:0.70 [[ 6.69876421e-02 -9.97753805e-01 1.34310281e-05 2.08035848e+02] [ 9.97724573e-01 6.69855765e-02 -7.65562159e-03 1.39468223e+02] [ 7.63752589e-03 5.26232506e-04 9.99970695e-01 7.04762521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:139.47, Z:0.70 [[ 6.92974551e-02 -9.97596042e-01 1.64900060e-05 2.08036773e+02] [ 9.97564939e-01 6.92951641e-02 -7.89759098e-03 1.39468982e+02] [ 7.87746283e-03 5.63732809e-04 9.99968813e-01 7.04080911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.811400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.04, Y:139.46, Z:0.70 [[ 7.06917160e-02 -9.97498211e-01 1.93397692e-05 2.08038050e+02] [ 9.97466407e-01 7.06893072e-02 -7.98684162e-03 1.39462936e+02] [ 7.96549311e-03 5.83894310e-04 9.99968105e-01 7.03391223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:139.44, Z:0.70 [[ 7.17678502e-02 -9.97421363e-01 1.99134333e-05 2.08040239e+02] [ 9.97389930e-01 7.17654299e-02 -7.94046488e-03 1.39435326e+02] [ 7.91856021e-03 5.89731552e-04 9.99968474e-01 7.03813476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.44, Z:0.71 [[ 7.33096569e-02 -9.97309227e-01 1.67063116e-05 2.08045124e+02] [ 9.97291867e-01 7.33082820e-02 -5.90147651e-03 1.39444675e+02] [ 5.88437227e-03 4.49296287e-04 9.99982586e-01 7.05633645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.43, Z:0.71 [[ 7.36036043e-02 -9.97287576e-01 1.30761891e-05 2.08046357e+02] [ 9.97279024e-01 7.36029188e-02 -4.14229545e-03 1.39430889e+02] [ 4.13009734e-03 3.17928484e-04 9.99991421e-01 7.07057076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.05, Y:139.42, Z:0.71 [[ 7.41213339e-02 -9.97249231e-01 6.64933554e-06 2.08047208e+02] [ 9.97247402e-01 7.41211852e-02 -1.91540706e-03 1.39415091e+02] [ 1.90964536e-03 1.48603558e-04 9.99998166e-01 7.07352768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.961400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:208.05, Y:139.40, Z:0.71 [[ 7.45376267e-02 -9.97218202e-01 2.81604313e-06 2.08047891e+02] [ 9.97217923e-01 7.45376037e-02 -7.48608778e-04 1.39396899e+02] [ 7.46316399e-04 5.86077304e-05 9.99999720e-01 7.08136377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.41, Z:0.71 [[ 7.51849929e-02 -9.97169603e-01 1.89676441e-06 2.08048169e+02] [ 9.97169494e-01 7.51849837e-02 -4.68109280e-04 1.39406256e+02] [ 4.66641736e-04 3.70861885e-05 9.99999890e-01 7.07700035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.40, Z:0.71 [[ 7.60687375e-02 -9.97102576e-01 7.96990512e-06 2.08048276e+02] [ 9.97100971e-01 7.60686007e-02 -1.79465655e-03 1.39401566e+02] [ 1.78885041e-03 1.44464058e-04 9.99998390e-01 7.07647498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.41, Z:0.71 [[ 7.74457962e-02 -9.96996564e-01 2.09416025e-05 2.08047644e+02] [ 9.96987001e-01 7.74449613e-02 -4.38146684e-03 1.39411824e+02] [ 4.36668556e-03 3.60204693e-04 9.99990401e-01 7.07225599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.39, Z:0.71 [[ 7.74029929e-02 -9.96999888e-01 2.35072567e-05 2.08047241e+02] [ 9.96988457e-01 7.74019925e-02 -4.79038352e-03 1.39389026e+02] [ 4.77419232e-03 3.94226485e-04 9.99988526e-01 7.07255293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.38, Z:0.71 [[ 7.68940813e-02 -9.97039267e-01 2.27131937e-05 2.08047148e+02] [ 9.97029845e-01 7.68932556e-02 -4.34914164e-03 1.39377761e+02] [ 4.33451850e-03 3.57068983e-04 9.99990542e-01 7.07248440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.38, Z:0.71 [[ 7.57245306e-02 -9.97128776e-01 2.34450246e-05 2.08047250e+02] [ 9.97119864e-01 7.57237544e-02 -4.22969385e-03 1.39376151e+02] [ 4.21577410e-03 3.43669081e-04 9.99991055e-01 7.07243293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.41, Z:0.71 [[ 7.13232755e-02 -9.97453252e-01 2.63161664e-05 2.08047218e+02] [ 9.97443229e-01 7.13224405e-02 -4.48496742e-03 1.39408448e+02] [ 4.47166840e-03 3.46131449e-04 9.99989942e-01 7.05774171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.40, Z:0.70 [[ 6.86499493e-02 -9.97640809e-01 2.88114259e-05 2.08048014e+02] [ 9.97630030e-01 6.86490733e-02 -4.65057292e-03 1.39402025e+02] [ 4.63762345e-03 3.48004739e-04 9.99989186e-01 7.04806089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.40, Z:0.70 [[ 6.60880875e-02 -9.97813792e-01 3.39744536e-05 2.08049248e+02] [ 9.97800270e-01 6.60870146e-02 -5.20842842e-03 1.39397679e+02] [ 5.19479644e-03 3.78114792e-04 9.99986435e-01 7.04611266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.42, Z:0.70 [[ 6.42373034e-02 -9.97934651e-01 3.14678183e-05 2.08051144e+02] [ 9.97924135e-01 6.42364817e-02 -4.59290958e-03 1.39423397e+02] [ 4.58140224e-03 3.26438622e-04 9.99989452e-01 7.03933683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:139.40, Z:0.70 [[ 6.23374230e-02 -9.98055131e-01 3.19606733e-05 2.08053228e+02] [ 9.98045257e-01 6.23366638e-02 -4.45039400e-03 1.39402220e+02] [ 4.43974624e-03 3.09324292e-04 9.99990096e-01 7.04320098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:139.41, Z:0.70 [[ 6.07389035e-02 -9.98153688e-01 4.19444144e-05 2.08055468e+02] [ 9.98138148e-01 6.07377233e-02 -5.58267321e-03 1.39412358e+02] [ 5.56981824e-03 3.80951770e-04 9.99984416e-01 7.04582402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:139.41, Z:0.70 [[ 6.08997201e-02 -9.98143888e-01 5.01595624e-05 2.08056234e+02] [ 9.98123506e-01 6.08981552e-02 -6.39385667e-03 1.39405273e+02] [ 6.37893433e-03 4.39449520e-04 9.99979558e-01 7.03813785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:139.41, Z:0.70 [[ 6.12946852e-02 -9.98119711e-01 6.39498993e-05 2.08057089e+02] [ 9.98089222e-01 6.12923118e-02 -7.82033789e-03 1.39411829e+02] [ 7.80171376e-03 5.43172855e-04 9.99969419e-01 7.03272981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:139.43, Z:0.70 [[ 6.17133159e-02 -9.98093914e-01 7.55423964e-05 2.08058227e+02] [ 9.98054650e-01 6.17102164e-02 -8.87496126e-03 1.39425390e+02] [ 8.85338309e-03 6.23098728e-04 9.99960614e-01 7.02519285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:139.41, Z:0.70 [[ 6.15593962e-02 -9.98103419e-01 8.01383908e-05 2.08059613e+02] [ 9.98062511e-01 6.15561458e-02 -9.05901862e-03 1.39410908e+02] [ 9.03690444e-03 6.37650840e-04 9.99958963e-01 7.02212715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:139.41, Z:0.70 [[ 6.08075913e-02 -9.98149503e-01 7.88661759e-05 2.08061542e+02] [ 9.98112702e-01 6.08046705e-02 -8.59226614e-03 1.39405415e+02] [ 8.57157075e-03 6.01192340e-04 9.99963083e-01 7.02399572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:139.40, Z:0.70 [[ 5.82741332e-02 -9.98300618e-01 4.83372420e-05 2.08065993e+02] [ 9.98287732e-01 5.82731349e-02 -5.08389334e-03 1.39404598e+02] [ 5.07243709e-03 3.44513953e-04 9.99987076e-01 7.04260037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:139.39, Z:0.70 [[ 5.62400174e-02 -9.98417277e-01 3.66321252e-05 2.08068589e+02] [ 9.98410362e-01 5.62394912e-02 -3.72419470e-03 1.39388428e+02] [ 3.71624016e-03 2.46022668e-04 9.99993065e-01 7.04769928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:139.39, Z:0.70 [[ 5.40244758e-02 -9.98539611e-01 4.17724693e-05 2.08071047e+02] [ 9.98531194e-01 5.40238486e-02 -4.10833801e-03 1.39390487e+02] [ 4.10008153e-03 2.63661921e-04 9.99991560e-01 7.04640530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.591400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:208.07, Y:139.40, Z:0.70 [[ 5.23663610e-02 -9.98627939e-01 6.11153758e-05 2.08073894e+02] [ 9.98611052e-01 5.23651193e-02 -5.81903503e-03 1.39399139e+02] [ 5.80785064e-03 3.65752178e-04 9.99983067e-01 7.03479159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:139.41, Z:0.70 [[ 5.09775882e-02 -9.98699794e-01 8.82174507e-05 2.08079069e+02] [ 9.98666755e-01 5.09751829e-02 -8.13898319e-03 1.39406739e+02] [ 8.12390393e-03 5.03005569e-04 9.99966874e-01 7.02386996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:139.40, Z:0.70 [[ 5.06428228e-02 -9.98716825e-01 9.09455735e-05 2.08079171e+02] [ 9.98683787e-01 5.06404064e-02 -8.13895316e-03 1.39404237e+02] [ 8.12390394e-03 5.03005432e-04 9.99966874e-01 7.02386676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:139.39, Z:0.70 [[ 5.06359977e-02 -9.98717171e-01 9.25444867e-05 2.08081515e+02] [ 9.98684919e-01 5.06336174e-02 -8.04171320e-03 1.39389330e+02] [ 8.02671120e-03 4.99622955e-04 9.99967661e-01 7.02402381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:139.40, Z:0.70 [[ 5.11324356e-02 -9.98691877e-01 9.57637654e-05 2.08083080e+02] [ 9.98659264e-01 5.11299904e-02 -8.08696466e-03 1.39395873e+02] [ 8.07148951e-03 5.09141571e-04 9.99967295e-01 7.03174888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:139.35, Z:0.70 [[ 5.21924199e-02 -9.98637043e-01 9.28730976e-05 2.08084749e+02] [ 9.98608014e-01 5.21901932e-02 -7.63013258e-03 1.39353837e+02] [ 7.61488597e-03 4.90978903e-04 9.99970886e-01 7.03491392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:139.34, Z:0.70 [[ 5.36168852e-02 -9.98561576e-01 9.28482034e-05 2.08085406e+02] [ 9.98534058e-01 5.36147168e-02 -7.42944854e-03 1.39342515e+02] [ 7.41378381e-03 4.91055983e-04 9.99972397e-01 7.04003364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:139.34, Z:0.70 [[ 5.52864699e-02 -9.98470529e-01 9.26902899e-05 2.08085064e+02] [ 9.98444480e-01 5.52843564e-02 -7.22913397e-03 1.39339686e+02] [ 7.21295290e-03 4.92219406e-04 9.99973865e-01 7.03952185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:139.37, Z:0.70 [[ 5.61763128e-02 -9.98420861e-01 7.49528778e-05 2.08083177e+02] [ 9.98404663e-01 5.61749735e-02 -5.70092765e-03 1.39365066e+02] [ 5.68771462e-03 3.95090398e-04 9.99983747e-01 7.03182854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:139.35, Z:0.70 [[ 5.49786937e-02 -9.98487526e-01 6.74981991e-05 2.08084651e+02] [ 9.98475020e-01 5.49776665e-02 -5.00913570e-03 1.39346768e+02] [ 4.99784862e-03 3.42791003e-04 9.99987452e-01 7.03133097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:139.34, Z:0.70 [[ 5.29843238e-02 -9.98595343e-01 5.83842491e-05 2.08087317e+02] [ 9.98586421e-01 5.29836031e-02 -4.23063779e-03 1.39342892e+02] [ 4.22160179e-03 2.82459201e-04 9.99991049e-01 7.03144128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:139.34, Z:0.70 [[ 5.07253398e-02 -9.98712640e-01 5.06802949e-05 2.08090170e+02] [ 9.98706222e-01 5.07248318e-02 -3.58790930e-03 1.39340542e+02] [ 3.58071962e-03 2.32612645e-04 9.99993562e-01 7.03681845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:139.34, Z:0.70 [[ 4.61527189e-02 -9.98934395e-01 3.40064308e-05 2.08093064e+02] [ 9.98931631e-01 4.61525110e-02 -2.35406157e-03 1.39337389e+02] [ 2.34998359e-03 1.42616441e-04 9.99997229e-01 7.04509637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:139.34, Z:0.70 [[ 4.38234619e-02 -9.99039290e-01 2.45462053e-05 2.08094219e+02] [ 9.99037912e-01 4.38233606e-02 -1.66238107e-03 1.39341785e+02] [ 1.65970831e-03 9.73738832e-05 9.99998618e-01 7.04229753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:139.34, Z:0.70 [[ 4.17869442e-02 -9.99126544e-01 2.09779654e-05 2.08096765e+02] [ 9.99125580e-01 4.17868747e-02 -1.39028627e-03 1.39342125e+02] [ 1.38819531e-03 7.90554367e-05 9.99999033e-01 7.04229503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:139.36, Z:0.70 [[ 4.00847517e-02 -9.99196283e-01 2.72779693e-05 2.08100026e+02] [ 9.99194723e-01 4.00846408e-02 -1.76834063e-03 1.39358934e+02] [ 1.76582596e-03 9.81394980e-05 9.99998436e-01 7.04128179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:139.37, Z:0.70 [[ 3.86970712e-02 -9.99250987e-01 3.97073102e-05 2.08103997e+02] [ 9.99247823e-01 3.86968485e-02 -2.51846142e-03 1.39368022e+02] [ 2.51503851e-03 1.37134524e-04 9.99996828e-01 7.03799082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:139.36, Z:0.70 [[ 3.71109280e-02 -9.99311149e-01 7.84528683e-05 2.08110930e+02] [ 9.99299315e-01 3.71101062e-02 -4.87012732e-03 1.39359658e+02] [ 4.86386113e-03 2.59132842e-04 9.99988138e-01 7.03838875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:139.36, Z:0.70 [[ 3.63038303e-02 -9.99340795e-01 8.85669442e-05 2.08114283e+02] [ 9.99326321e-01 3.63028272e-02 -5.38598277e-03 1.39360447e+02] [ 5.37921708e-03 2.84039083e-04 9.99985492e-01 7.03730826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:139.35, Z:0.70 [[ 3.53692980e-02 -9.99374307e-01 8.46338712e-05 2.08118657e+02] [ 9.99361610e-01 3.53684214e-02 -5.04449379e-03 1.39354537e+02] [ 5.03834412e-03 2.63000046e-04 9.99987273e-01 7.03970896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:139.32, Z:0.70 [[ 3.61797392e-02 -9.99345296e-01 7.11213322e-05 2.08128562e+02] [ 9.99336673e-01 3.61791312e-02 -4.15754822e-03 1.39324203e+02] [ 4.15225315e-03 2.21493166e-04 9.99991355e-01 7.04280889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:139.32, Z:0.70 [[ 3.73433975e-02 -9.99302489e-01 8.29484313e-05 2.08132212e+02] [ 9.99291199e-01 3.73425807e-02 -4.75730779e-03 1.39324019e+02] [ 4.75089201e-03 2.60543673e-04 9.99988681e-01 7.04095149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:139.32, Z:0.70 [[ 3.87608948e-02 -9.99248509e-01 1.05924150e-04 2.08135906e+02] [ 9.99230779e-01 3.87595751e-02 -5.96210041e-03 1.39323413e+02] [ 5.95351437e-03 3.36939018e-04 9.99982221e-01 7.03435426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:139.30, Z:0.70 [[ 4.09086539e-02 -9.99162881e-01 1.40707408e-04 2.08140343e+02] [ 9.99132725e-01 4.09063241e-02 -7.77631649e-03 1.39298878e+02] [ 7.76405097e-03 4.58704016e-04 9.99969754e-01 7.03064508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:139.30, Z:0.70 [[ 4.40401495e-02 -9.99029748e-01 1.64899312e-04 2.08144520e+02] [ 9.98989794e-01 4.40369105e-02 -8.95223492e-03 1.39303031e+02] [ 8.93628734e-03 5.58990494e-04 9.99959914e-01 7.03019154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:139.29, Z:0.70 [[ 4.76752160e-02 -9.98862876e-01 1.67616909e-04 2.08148497e+02] [ 9.98823024e-01 4.76718132e-02 -8.94236112e-03 1.39287727e+02] [ 8.92420195e-03 5.93748625e-04 9.99960002e-01 7.03185572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:139.25, Z:0.70 [[ 5.56536926e-02 -9.98450124e-01 1.27419793e-04 2.08151912e+02] [ 9.98427873e-01 5.56515993e-02 -6.68439386e-03 1.39251052e+02] [ 6.66694276e-03 4.99230674e-04 9.99977651e-01 7.04659924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:139.24, Z:0.70 [[ 5.92347809e-02 -9.98244071e-01 1.26479445e-04 2.08152880e+02] [ 9.98222863e-01 5.92326954e-02 -6.52710008e-03 1.39239329e+02] [ 6.50814724e-03 5.12886017e-04 9.99978690e-01 7.04335884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:139.22, Z:0.70 [[ 6.21911710e-02 -9.98064246e-01 1.36176221e-04 2.08154520e+02] [ 9.98040447e-01 6.21887445e-02 -6.91560149e-03 1.39222687e+02] [ 6.89374596e-03 5.65998732e-04 9.99976078e-01 7.03651851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.22, Z:0.70 [[ 6.40642031e-02 -9.97945770e-01 1.35293626e-04 2.08156816e+02] [ 9.97923010e-01 6.40618250e-02 -6.76384234e-03 1.39215958e+02] [ 6.74128070e-03 5.68332792e-04 9.99977116e-01 7.02660023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.22, Z:0.70 [[ 6.46182281e-02 -9.97910052e-01 1.12594821e-04 2.08158535e+02] [ 9.97894767e-01 6.46166129e-02 -5.54314493e-03 1.39215438e+02] [ 5.52428455e-03 4.70545987e-04 9.99984630e-01 7.01951582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.20, Z:0.70 [[ 6.16428256e-02 -9.98098272e-01 4.35968209e-05 2.08162270e+02] [ 9.98096046e-01 6.16425957e-02 -2.11521188e-03 1.39199049e+02] [ 2.10850190e-03 1.73901452e-04 9.99997762e-01 7.03038941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.21, Z:0.70 [[ 5.78577536e-02 -9.98324836e-01 3.90196441e-05 2.08164284e+02] [ 9.98323105e-01 5.78575804e-02 -1.86527372e-03 1.39213190e+02] [ 1.85989150e-03 1.46874760e-04 9.99998260e-01 7.04107995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.21, Z:0.70 [[ 5.31246556e-02 -9.98587887e-01 5.11595633e-05 2.08166182e+02] [ 9.98584997e-01 5.31243784e-02 -2.40912912e-03 1.39211594e+02] [ 2.40300934e-03 1.79071327e-04 9.99997097e-01 7.03744699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.24, Z:0.70 [[ 4.87074057e-02 -9.98813088e-01 6.43384414e-05 2.08166348e+02] [ 9.98808649e-01 4.87069970e-02 -2.98507128e-03 1.39236179e+02] [ 2.97839453e-03 2.09656870e-04 9.99995543e-01 7.03651278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.24, Z:0.70 [[ 4.34425893e-02 -9.99055922e-01 7.71388348e-05 2.08165924e+02] [ 9.99049724e-01 4.34420474e-02 -3.52668002e-03 1.39237307e+02] [ 3.51999949e-03 2.30273643e-04 9.99993778e-01 7.02688971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.25, Z:0.70 [[ 4.21032522e-02 -9.99113262e-01 7.65506793e-05 2.08165455e+02] [ 9.99107332e-01 4.21027380e-02 -3.44947946e-03 1.39250086e+02] [ 3.44319768e-03 2.21716649e-04 9.99994048e-01 7.02815585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.22, Z:0.70 [[ 4.14697759e-02 -9.99139756e-01 7.20926737e-05 2.08165539e+02] [ 9.99134644e-01 4.14693327e-02 -3.20274864e-03 1.39223574e+02] [ 3.19700386e-03 2.04847556e-04 9.99994869e-01 7.03295274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.23, Z:0.70 [[ 4.07926617e-02 -9.99167630e-01 7.18009486e-05 2.08164327e+02] [ 9.99162699e-01 4.07922343e-02 -3.14551133e-03 1.39229553e+02] [ 3.13996418e-03 2.00054609e-04 9.99995050e-01 7.03726972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.23, Z:0.70 [[ 3.97634463e-02 -9.99209118e-01 8.10826389e-05 2.08163180e+02] [ 9.99203002e-01 3.97629186e-02 -3.50312122e-03 1.39229333e+02] [ 3.49712658e-03 2.20314189e-04 9.99993861e-01 7.04117890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.25, Z:0.70 [[ 3.81217825e-02 -9.99273095e-01 1.07184447e-04 2.08161790e+02] [ 9.99262698e-01 3.81208960e-02 -4.56697864e-03 1.39254781e+02] [ 4.55957291e-03 2.81206786e-04 9.99989566e-01 7.03962251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.26, Z:0.70 [[ 3.35911030e-02 -9.99435647e-01 1.57065898e-04 2.08161375e+02] [ 9.99413925e-01 3.35893357e-02 -6.60028257e-03 1.39261368e+02] [ 6.59128194e-03 3.78684617e-04 9.99978206e-01 7.03226328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.25, Z:0.70 [[ 3.04287281e-02 -9.99536926e-01 1.60136604e-04 2.08161491e+02] [ 9.99514946e-01 3.04269953e-02 -6.63864708e-03 1.39252846e+02] [ 6.63070042e-03 3.62064516e-04 9.99977951e-01 7.03078865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.26, Z:0.70 [[ 2.67618250e-02 -9.99641828e-01 1.42641522e-04 2.08160849e+02] [ 9.99624844e-01 2.67605377e-02 -5.83476665e-03 1.39264377e+02] [ 5.82885964e-03 2.98737013e-04 9.99982967e-01 7.03398062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.28, Z:0.70 [[ 2.27738556e-02 -9.99740635e-01 1.20669622e-04 2.08160358e+02] [ 9.99728796e-01 2.27729980e-02 -4.87080586e-03 1.39275567e+02] [ 4.86679453e-03 2.31563925e-04 9.99988130e-01 7.03715448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.28, Z:0.70 [[ 1.46678465e-02 -9.99892416e-01 1.06919124e-04 2.08161596e+02] [ 9.99883359e-01 1.46672582e-02 -4.25905974e-03 1.39283312e+02] [ 4.25703332e-03 1.69377888e-04 9.99990924e-01 7.04343734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.31, Z:0.70 [[ 1.01188222e-02 -9.99948797e-01 1.12991031e-04 2.08162022e+02] [ 9.99938946e-01 1.01182207e-02 -4.44147721e-03 1.39314231e+02] [ 4.44010652e-03 1.57926650e-04 9.99990130e-01 7.04224771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:139.31, Z:0.70 [[ 5.39065325e-03 -9.99985464e-01 1.08510630e-04 2.08163825e+02] [ 9.99976614e-01 5.39014876e-03 -4.20936799e-03 1.39308245e+02] [ 4.20872192e-03 1.31199336e-04 9.99991135e-01 7.03961692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.34, Z:0.70 [[ 4.03998693e-04 -9.99999915e-01 8.57008854e-05 2.08165058e+02] [ 9.99994535e-01 4.03715304e-04 -3.28129120e-03 1.39342164e+02] [ 3.28125632e-03 8.70260544e-05 9.99994613e-01 7.03991099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.34, Z:0.70 [[-4.56031094e-03 -9.99989601e-01 4.43064052e-05 2.08167463e+02] [ 9.99988199e-01 -4.56037876e-03 -1.67498820e-03 1.39339923e+02] [ 1.67517283e-03 3.66674154e-05 9.99998596e-01 7.04230012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:139.33, Z:0.70 [[-9.09585505e-03 -9.99958632e-01 1.95147012e-06 2.08171068e+02] [ 9.99958629e-01 -9.09585518e-03 -7.43911248e-05 1.39325387e+02] [ 7.44057977e-05 1.27473852e-06 9.99999997e-01 7.04332740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.121400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:208.18, Y:139.35, Z:0.70 [[-1.57707719e-02 -9.99875633e-01 -2.92316139e-05 2.08177990e+02] [ 9.99875056e-01 -1.57707942e-02 1.07424537e-03 1.39346262e+02] [-1.07457278e-03 -1.22862829e-05 9.99999423e-01 7.04738552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:139.34, Z:0.71 [[-1.76486956e-02 -9.99844249e-01 -2.76744728e-05 2.08181844e+02] [ 9.99843745e-01 -1.76487145e-02 1.00401354e-03 1.39343541e+02] [-1.00434558e-03 -9.95061920e-06 9.99999496e-01 7.05657984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:139.35, Z:0.71 [[-1.81622629e-02 -9.99835053e-01 -2.16268607e-06 2.08184892e+02] [ 9.99835050e-01 -1.81622630e-02 7.59954669e-05 1.39354465e+02] [-7.60222108e-05 -7.82079666e-07 9.99999997e-01 7.06180856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:139.34, Z:0.71 [[-1.70309655e-02 -9.99854962e-01 3.06706635e-05 2.08188754e+02] [ 9.99854370e-01 -1.70309888e-02 -1.08836881e-03 1.39339320e+02] [ 1.08873331e-03 1.21302252e-05 9.99999407e-01 7.06206763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:139.34, Z:0.71 [[-1.49587371e-02 -9.99888110e-01 6.36562526e-05 2.08192534e+02] [ 9.99885625e-01 -1.49588419e-02 -2.22956642e-03 1.39336608e+02] [ 2.23026917e-03 3.02974739e-05 9.99997513e-01 7.05881224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:139.33, Z:0.71 [[-1.20786678e-02 -9.99927045e-01 9.90703114e-05 2.08196368e+02] [ 9.99921173e-01 -1.20789365e-02 -3.42726399e-03 1.39326963e+02] [ 3.42821062e-03 5.76657187e-05 9.99994122e-01 7.05367076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:139.31, Z:0.70 [[-5.30285170e-03 -9.99985929e-01 1.44838050e-04 2.08201208e+02] [ 9.99973682e-01 -5.30350381e-03 -4.95064637e-03 1.39307582e+02] [ 4.95134486e-03 1.18581694e-04 9.99987735e-01 7.04041143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:139.29, Z:0.70 [[-2.61617179e-03 -9.99996566e-01 1.53903990e-04 2.08203466e+02] [ 9.99983057e-01 -2.61693671e-03 -5.19970845e-03 1.39286047e+02] [ 5.20009335e-03 1.40298052e-04 9.99986470e-01 7.04075207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:139.28, Z:0.70 [[-3.67150732e-04 -9.99999919e-01 1.67088098e-04 2.08205775e+02] [ 9.99984358e-01 -3.68077556e-04 -5.58107839e-03 1.39279750e+02] [ 5.58113944e-03 1.65036388e-04 9.99984412e-01 7.04515307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:139.27, Z:0.70 [[ 1.15217407e-03 -9.99999320e-01 1.77794079e-04 2.08209594e+02] [ 9.99982096e-01 1.15111017e-03 -5.87223268e-03 1.39274157e+02] [ 5.87202403e-03 1.84556730e-04 9.99982743e-01 7.04523152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:139.26, Z:0.70 [[ 2.24893154e-03 -9.99997457e-01 1.68136887e-04 2.08217187e+02] [ 9.99982391e-01 2.24797420e-03 -5.49225488e-03 1.39261338e+02] [ 5.49186295e-03 1.80485631e-04 9.99984903e-01 7.03912781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:139.25, Z:0.70 [[ 2.39758207e-03 -9.99997115e-01 1.48759408e-04 2.08220020e+02] [ 9.99985575e-01 2.39683933e-03 -4.80684978e-03 1.39252143e+02] [ 4.80647936e-03 1.60282078e-04 9.99988436e-01 7.03788564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:139.25, Z:0.70 [[ 2.66578751e-03 -9.99996439e-01 1.27202504e-04 2.08222312e+02] [ 9.99988180e-01 2.66524821e-03 -4.06655657e-03 1.39250737e+02] [ 4.06620306e-03 1.38041576e-04 9.99991723e-01 7.02811024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.23, Z:0.70 [[ 3.15098911e-03 -9.99995026e-01 1.37080667e-04 2.08225414e+02] [ 9.99985637e-01 3.15036512e-03 -4.33609401e-03 1.39234306e+02] [ 4.33564059e-03 1.50741683e-04 9.99990590e-01 7.02258770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.23, Z:0.70 [[ 2.81978650e-03 -9.99996015e-01 1.38516994e-04 2.08225567e+02] [ 9.99986625e-01 2.81915940e-03 -4.33604835e-03 1.39231852e+02] [ 4.33564057e-03 1.50741872e-04 9.99990590e-01 7.02258449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.22, Z:0.70 [[ 3.81653322e-03 -9.99992703e-01 1.69603010e-04 2.08229020e+02] [ 9.99978916e-01 3.81558942e-03 -5.25446872e-03 1.39221426e+02] [ 5.25378324e-03 1.89653289e-04 9.99986181e-01 7.01578708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.601400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:208.23, Y:139.26, Z:0.70 [[ 8.51499145e-03 -9.99962641e-01 -1.48726627e-03 2.08233307e+02] [ 9.99933862e-01 8.52622632e-03 -7.71853101e-03 1.39258650e+02] [ 7.73092343e-03 -1.42144468e-03 9.99969106e-01 7.03482948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.20, Z:0.70 [[ 1.02474847e-02 -9.99945632e-01 1.92908220e-03 2.08231721e+02] [ 9.99929674e-01 1.02357659e-02 -5.98970955e-03 1.39198214e+02] [ 5.96963827e-03 1.99032599e-03 9.99980201e-01 7.01814783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.19, Z:0.70 [[ 1.24026819e-02 -9.99923068e-01 1.77084762e-04 2.08232738e+02] [ 9.99908712e-01 1.24015539e-02 -5.36375267e-03 1.39192463e+02] [ 5.36114390e-03 2.43593514e-04 9.99985599e-01 7.02257949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.19, Z:0.70 [[ 1.44935057e-02 -9.99894950e-01 1.65625715e-04 2.08232412e+02] [ 9.99882637e-01 1.44925043e-02 -4.96789339e-03 1.39185411e+02] [ 4.96497118e-03 2.37608468e-04 9.99987646e-01 7.02542260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.18, Z:0.70 [[ 1.65301862e-02 -9.99863356e-01 1.51435604e-04 2.08232569e+02] [ 9.99853261e-01 1.65293380e-02 -4.49867436e-03 1.39179756e+02] [ 4.49555651e-03 2.25777307e-04 9.99989869e-01 7.02643549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.16, Z:0.70 [[ 2.00175513e-02 -9.99799619e-01 1.40312123e-04 2.08233707e+02] [ 9.99791118e-01 2.00168016e-02 -4.12888641e-03 1.39156424e+02] [ 4.12525046e-03 2.22933009e-04 9.99991466e-01 7.02587821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:139.14, Z:0.70 [[ 2.08541774e-02 -9.99782520e-01 1.28570406e-04 2.08234342e+02] [ 9.99775514e-01 2.08535493e-02 -3.74834953e-03 1.39142824e+02] [ 3.74485319e-03 2.06710290e-04 9.99992967e-01 7.02712642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:139.14, Z:0.70 [[ 2.07646362e-02 -9.99784385e-01 1.18073282e-04 2.08235172e+02] [ 9.99778584e-01 2.07641129e-02 -3.41082889e-03 1.39144594e+02] [ 3.40764178e-03 1.88871760e-04 9.99994176e-01 7.02563942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:139.14, Z:0.70 [[ 1.99588373e-02 -9.99800796e-01 1.17838852e-04 2.08236444e+02] [ 9.99795123e-01 1.99583265e-02 -3.37308357e-03 1.39139704e+02] [ 3.37005977e-03 1.85137536e-04 9.99994304e-01 7.02678432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:139.16, Z:0.70 [[ 1.87767598e-02 -9.99823693e-01 1.24312027e-04 2.08237598e+02] [ 9.99817494e-01 1.87762049e-02 -3.52605885e-03 1.39156261e+02] [ 3.52310307e-03 1.90497299e-04 9.99993776e-01 7.02390161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:139.16, Z:0.70 [[ 1.72655238e-02 -9.99850930e-01 1.42723244e-04 2.08239800e+02] [ 9.99842905e-01 1.72648126e-02 -4.01150937e-03 1.39156157e+02] [ 4.00844728e-03 2.11961633e-04 9.99991944e-01 7.02276654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:139.15, Z:0.70 [[ 1.53376060e-02 -9.99882361e-01 1.50589591e-04 2.08243426e+02] [ 9.99873585e-01 1.53368396e-02 -4.19467366e-03 1.39146622e+02] [ 4.19187063e-03 2.14906807e-04 9.99991191e-01 7.03251574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:139.15, Z:0.70 [[ 1.56512050e-02 -9.99877504e-01 1.33423155e-04 2.08244409e+02] [ 9.99870736e-01 1.56506075e-02 -3.68369370e-03 1.39151220e+02] [ 3.68115430e-03 1.91060154e-04 9.99993206e-01 7.03787343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:139.14, Z:0.70 [[ 1.67443570e-02 -9.99859794e-01 1.38760594e-04 2.08246629e+02] [ 9.99852603e-01 1.67437096e-02 -3.79739424e-03 1.39136395e+02] [ 3.79453846e-03 2.02325066e-04 9.99992780e-01 7.04357754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:139.12, Z:0.70 [[ 1.81497826e-02 -9.99835265e-01 1.66410198e-04 2.08249489e+02] [ 9.99825104e-01 1.81488467e-02 -4.51453673e-03 1.39117841e+02] [ 4.51077288e-03 2.48318953e-04 9.99989796e-01 7.04697593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:139.11, Z:0.70 [[ 1.97072649e-02 -9.99805776e-01 1.84323174e-04 2.08252139e+02] [ 9.99793523e-01 1.97061093e-02 -4.95790798e-03 1.39108400e+02] [ 4.95331274e-03 2.81991921e-04 9.99987693e-01 7.04602590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:139.11, Z:0.70 [[ 2.11413640e-02 -9.99776481e-01 1.76750947e-04 2.08253938e+02] [ 9.99765404e-01 2.11402963e-02 -4.71430624e-03 1.39108434e+02] [ 4.70951593e-03 2.76376346e-04 9.99988872e-01 7.04596465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.10, Z:0.71 [[ 2.36504230e-02 -9.99720279e-01 1.43339956e-04 2.08256651e+02] [ 9.99713117e-01 2.36497099e-02 -3.79152195e-03 1.39103344e+02] [ 3.78707144e-03 2.32969932e-04 9.99992802e-01 7.05030446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.09, Z:0.71 [[ 2.42374492e-02 -9.99706220e-01 1.41159506e-04 2.08258212e+02] [ 9.99699388e-01 2.42367607e-02 -3.70307732e-03 1.39094609e+02] [ 3.69856818e-03 2.30870220e-04 9.99993134e-01 7.05725081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.09, Z:0.71 [[ 2.42695077e-02 -9.99705441e-01 1.51050036e-04 2.08259849e+02] [ 9.99697746e-01 2.42687270e-02 -3.93015570e-03 1.39087668e+02] [ 3.92533225e-03 2.46387324e-04 9.99992266e-01 7.05899893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.09, Z:0.71 [[ 2.35817206e-02 -9.99721898e-01 1.71111416e-04 2.08260638e+02] [ 9.99712182e-01 2.35807356e-02 -4.41600618e-03 1.39087125e+02] [ 4.41074315e-03 2.75199191e-04 9.99990235e-01 7.05962527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.08, Z:0.71 [[ 2.17166542e-02 -9.99764140e-01 2.27851347e-04 2.08260683e+02] [ 9.99747187e-01 2.17149566e-02 -5.83288012e-03 1.39078956e+02] [ 5.82655659e-03 3.54464384e-04 9.99982963e-01 7.05761133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.10, Z:0.71 [[ 2.02114248e-02 -9.99795699e-01 2.42916711e-04 2.08259602e+02] [ 9.99776735e-01 2.02095426e-02 -6.16888146e-03 1.39096102e+02] [ 6.16271191e-03 3.67544360e-04 9.99980943e-01 7.05349687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.10, Z:0.71 [[ 1.80324836e-02 -9.99837376e-01 2.25053442e-04 2.08259788e+02] [ 9.99821354e-01 1.80309184e-02 -5.66971962e-03 1.39103266e+02] [ 5.66473967e-03 3.27252363e-04 9.99983902e-01 7.05502707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.09, Z:0.71 [[ 1.53538393e-02 -9.99882104e-01 1.94301834e-04 2.08261721e+02] [ 9.99870347e-01 1.53527150e-02 -4.85635838e-03 1.39094150e+02] [ 4.85280277e-03 2.68840388e-04 9.99988189e-01 7.05806144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.11, Z:0.71 [[ 1.20168574e-02 -9.99927780e-01 1.71780160e-04 2.08262643e+02] [ 9.99918732e-01 1.20160169e-02 -4.25973122e-03 1.39107741e+02] [ 4.25735947e-03 2.22954782e-04 9.99990913e-01 7.05886610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.11, Z:0.71 [[ 6.85852720e-03 -9.99976456e-01 2.19426864e-04 2.08264930e+02] [ 9.99961918e-01 6.85724296e-03 -5.39814173e-03 1.39107822e+02] [ 5.39650997e-03 2.56441809e-04 9.99985406e-01 7.05871499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:139.13, Z:0.71 [[ 5.56489102e-03 -9.99984484e-01 2.53948752e-04 2.08264981e+02] [ 9.99965316e-01 5.56321032e-03 -6.19813600e-03 1.39125952e+02] [ 6.19662706e-03 2.88431896e-04 9.99980759e-01 7.06134318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:139.12, Z:0.71 [[ 5.15944524e-03 -9.99986651e-01 2.78823375e-04 2.08265597e+02] [ 9.99963906e-01 5.15744529e-03 -6.75181915e-03 1.39118594e+02] [ 6.75029101e-03 3.13648952e-04 9.99977167e-01 7.06469734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.471400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.27, Y:139.10, Z:0.71 [[ 5.67025252e-03 -9.99983883e-01 2.85694179e-04 2.08265839e+02] [ 9.99960373e-01 5.66815796e-03 -6.86471193e-03 1.39100132e+02] [ 6.86298194e-03 3.24607508e-04 9.99976397e-01 7.06557587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:139.10, Z:0.71 [[ 6.35470229e-03 -9.99979776e-01 2.55883959e-04 2.08265357e+02] [ 9.99961204e-01 6.35302292e-03 -6.10161980e-03 1.39097402e+02] [ 6.09987076e-03 2.94648009e-04 9.99981352e-01 7.07026931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:139.09, Z:0.71 [[ 7.31516948e-03 -9.99973219e-01 2.21995972e-04 2.08265737e+02] [ 9.99959452e-01 7.31390245e-03 -5.25362270e-03 1.39093894e+02] [ 5.25185835e-03 2.60418111e-04 9.99986175e-01 7.06802360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:139.08, Z:0.71 [[ 8.88399313e-03 -9.99960512e-01 2.20039053e-04 2.08270160e+02] [ 9.99947191e-01 8.88273748e-03 -5.16838052e-03 1.39076624e+02] [ 5.16622189e-03 2.65943290e-04 9.99986620e-01 7.06327477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:139.10, Z:0.71 [[ 8.25883054e-03 -9.99965861e-01 2.62821544e-04 2.08271797e+02] [ 9.99947138e-01 8.25706550e-03 -6.12715729e-03 1.39096265e+02] [ 6.12477797e-03 3.13410805e-04 9.99981194e-01 7.06270406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:139.08, Z:0.71 [[ 6.98975678e-03 -9.99975528e-01 2.94996585e-04 2.08274214e+02] [ 9.99952287e-01 6.98758056e-03 -6.82623284e-03 1.39080606e+02] [ 6.82400448e-03 3.42696218e-04 9.99976658e-01 7.06178576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.651400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:208.27, Y:139.18, Z:0.71 [[ 6.16780126e-03 -9.99980265e-01 -1.19462212e-03 2.08272035e+02] [ 9.99939024e-01 6.17848132e-03 -9.15286994e-03 1.39184882e+02] [ 9.16007026e-03 -1.13809619e-03 9.99957398e-01 7.07892143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:139.09, Z:0.71 [[ 4.31627690e-03 -9.99988943e-01 1.86653739e-03 2.08273585e+02] [ 9.99966840e-01 4.30327636e-03 -6.91386779e-03 1.39094982e+02] [ 6.90575911e-03 1.89631766e-03 9.99974357e-01 7.06440270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:139.09, Z:0.71 [[ 3.72239734e-03 -9.99993041e-01 2.50036023e-04 2.08277159e+02] [ 9.99976897e-01 3.72091485e-03 -5.68868220e-03 1.39090830e+02] [ 5.68771224e-03 2.71205782e-04 9.99983788e-01 7.07720188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.28, Y:139.08, Z:0.71 [[ 6.21329131e-03 -9.99980680e-01 1.85186036e-04 2.08282588e+02] [ 9.99971954e-01 6.21246244e-03 -4.18299653e-03 1.39075699e+02] [ 4.18176525e-03 2.11171018e-04 9.99991234e-01 7.09638059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:139.08, Z:0.71 [[ 8.55641105e-03 -9.99963376e-01 1.86338665e-04 2.08284369e+02] [ 9.99954669e-01 8.55555783e-03 -4.17885894e-03 1.39075682e+02] [ 4.17711166e-03 2.22086253e-04 9.99991251e-01 7.09817906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:139.05, Z:0.71 [[ 1.13884576e-02 -9.99935132e-01 1.88035205e-04 2.08286677e+02] [ 9.99926393e-01 1.13875707e-02 -4.18710057e-03 1.39047500e+02] [ 4.18468770e-03 2.35705982e-04 9.99991216e-01 7.09420353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:139.04, Z:0.71 [[ 1.44603829e-02 -9.99895428e-01 1.74458398e-04 2.08287241e+02] [ 9.99888012e-01 1.44596026e-02 -3.85780745e-03 1.39043927e+02] [ 3.85488143e-03 2.30224233e-04 9.99992543e-01 7.09038972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:139.04, Z:0.71 [[ 1.70190068e-02 -9.99855156e-01 1.43211676e-04 2.08288373e+02] [ 9.99850229e-01 1.70184725e-02 -3.14513660e-03 1.39041136e+02] [ 3.14224380e-03 1.96717329e-04 9.99995044e-01 7.08575351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:139.01, Z:0.71 [[ 2.02223675e-02 -9.99795492e-01 1.72080107e-04 2.08293303e+02] [ 9.99788478e-01 2.02215796e-02 -3.75321206e-03 1.39012327e+02] [ 3.74896477e-03 2.47942541e-04 9.99992942e-01 7.07902042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:139.02, Z:0.71 [[ 2.11030604e-02 -9.99777284e-01 2.08710100e-04 2.08294762e+02] [ 9.99767107e-01 2.11019017e-02 -4.52130440e-03 1.39021358e+02] [ 4.51589325e-03 3.04074852e-04 9.99989757e-01 7.07615739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:139.01, Z:0.71 [[ 2.20782298e-02 -9.99756215e-01 2.47812481e-04 2.08297047e+02] [ 9.99742062e-01 2.20765955e-02 -5.33227752e-03 1.39011967e+02] [ 5.32550673e-03 3.65475809e-04 9.99985753e-01 7.07863679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.98, Z:0.71 [[ 2.34912619e-02 -9.99724014e-01 2.38357578e-04 2.08300177e+02] [ 9.99711094e-01 2.34897435e-02 -5.09512991e-03 1.38978431e+02] [ 5.08812477e-03 3.57979746e-04 9.99986991e-01 7.08274190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.98, Z:0.71 [[ 2.57820765e-02 -9.99667565e-01 2.10450988e-04 2.08301571e+02] [ 9.99657626e-01 2.57808792e-02 -4.46954388e-03 1.38979764e+02] [ 4.46263243e-03 3.25613057e-04 9.99989989e-01 7.09133272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.93, Z:0.71 [[ 3.20091782e-02 -9.99487570e-01 9.66395507e-05 2.08303837e+02] [ 9.99485502e-01 3.20089147e-02 -2.03983812e-03 1.38928265e+02] [ 2.03569952e-03 1.61883372e-04 9.99997915e-01 7.09744418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.93, Z:0.71 [[ 3.51072587e-02 -9.99383548e-01 6.49398808e-05 2.08303128e+02] [ 9.99382626e-01 3.51071378e-02 -1.36246310e-03 1.38925103e+02] [ 1.35934336e-03 1.12732133e-04 9.99999070e-01 7.09503745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.91, Z:0.71 [[ 3.81786084e-02 -9.99270929e-01 6.88087149e-05 2.08303027e+02] [ 9.99269907e-01 3.81784706e-02 -1.43467764e-03 1.38910082e+02] [ 1.43100465e-03 1.23532474e-04 9.99998969e-01 7.09070422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.91, Z:0.71 [[ 4.09727354e-02 -9.99160258e-01 1.17195264e-04 2.08302035e+02] [ 9.99157331e-01 4.09723306e-02 -2.42801373e-03 1.38914444e+02] [ 2.42117306e-03 2.16578871e-04 9.99997046e-01 7.08125450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.90, Z:0.71 [[ 4.32583112e-02 -9.99063906e-01 1.74659067e-04 2.08301663e+02] [ 9.99057488e-01 4.32574046e-02 -3.59613404e-03 1.38903101e+02] [ 3.58521242e-03 3.30057134e-04 9.99993519e-01 7.07580667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.89, Z:0.71 [[ 4.45674845e-02 -9.99006351e-01 2.24615071e-04 2.08301211e+02] [ 9.98995868e-01 4.45659833e-02 -4.59669917e-03 1.38886661e+02] [ 4.58212147e-03 4.29252847e-04 9.99989410e-01 7.07287360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.89, Z:0.71 [[ 4.38643963e-02 -9.99037459e-01 2.64826907e-04 2.08296855e+02] [ 9.99023060e-01 4.38623360e-02 -5.38716729e-03 1.38894742e+02] [ 5.37036599e-03 5.00873028e-04 9.99985454e-01 7.07068454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.89, Z:0.71 [[ 4.19572654e-02 -9.99119377e-01 2.43523982e-04 2.08294676e+02] [ 9.99107342e-01 4.19555598e-02 -4.92444126e-03 1.38891093e+02] [ 4.90988750e-03 4.49922687e-04 9.99987845e-01 7.06947892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.88, Z:0.71 [[ 3.99332652e-02 -9.99202324e-01 2.23555927e-04 2.08293153e+02] [ 9.99192299e-01 3.99318591e-02 -4.49405226e-03 1.38883294e+02] [ 4.48154046e-03 4.02837542e-04 9.99989877e-01 7.06847679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.311400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:208.29, Y:138.91, Z:0.71 [[ 3.76655051e-02 -9.99290375e-01 2.36087922e-04 2.08289654e+02] [ 9.99279324e-01 3.76639739e-02 -4.71789714e-03 1.38913595e+02] [ 4.70565719e-03 4.13619758e-04 9.99988843e-01 7.06519904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.92, Z:0.71 [[ 3.55329853e-02 -9.99368462e-01 2.89584908e-04 2.08288306e+02] [ 9.99352029e-01 3.55307342e-02 -5.75237409e-03 1.38921753e+02] [ 5.73845208e-03 4.93796289e-04 9.99983413e-01 7.06501745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.92, Z:0.71 [[ 3.34724616e-02 -9.99439577e-01 3.54957528e-04 2.08287832e+02] [ 9.99415174e-01 3.34691550e-02 -7.00890543e-03 1.38923963e+02] [ 6.99309735e-03 5.89355257e-04 9.99975374e-01 7.05854782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.91, Z:0.71 [[ 3.09445732e-02 -9.99521033e-01 3.70216050e-04 2.08289560e+02] [ 9.99494792e-01 3.09410691e-02 -7.26713094e-03 1.38907171e+02] [ 7.25219534e-03 5.94907279e-04 9.99973526e-01 7.05539177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.90, Z:0.71 [[ 3.02116072e-02 -9.99543471e-01 3.30479121e-04 2.08290968e+02] [ 9.99522801e-01 3.02088501e-02 -6.44941718e-03 1.38901558e+02] [ 6.43648944e-03 5.25168675e-04 9.99979148e-01 7.06431527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.90, Z:0.71 [[ 2.99143217e-02 -9.99552411e-01 3.32397367e-04 2.08291168e+02] [ 9.99531743e-01 2.99115585e-02 -6.44931859e-03 1.38899115e+02] [ 6.43648943e-03 5.25168711e-04 9.99979148e-01 7.06431187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.92, Z:0.71 [[ 2.98006418e-02 -9.99555823e-01 2.78928084e-04 2.08291114e+02] [ 9.99541437e-01 2.97987114e-02 -5.38069835e-03 1.38917860e+02] [ 5.36999668e-03 4.39148442e-04 9.99985485e-01 7.07069527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.89, Z:0.71 [[ 3.00615666e-02 -9.99548022e-01 2.32534050e-04 2.08292655e+02] [ 9.99538138e-01 3.00602318e-02 -4.46009811e-03 1.38887909e+02] [ 4.45109222e-03 3.66504188e-04 9.99990027e-01 7.07071104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.89, Z:0.71 [[ 3.04336096e-02 -9.99536767e-01 2.15705567e-04 2.08291052e+02] [ 9.99528359e-01 3.04324658e-02 -4.11387743e-03 1.38893737e+02] [ 4.10540729e-03 3.40803971e-04 9.99991515e-01 7.07092298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.88, Z:0.71 [[ 3.11381650e-02 -9.99515066e-01 2.17226014e-04 2.08289555e+02] [ 9.99506637e-01 3.11370071e-02 -4.11947512e-03 1.38882247e+02] [ 4.11071368e-03 3.45391739e-04 9.99991491e-01 7.06646388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.87, Z:0.71 [[ 3.41586576e-02 -9.99416388e-01 2.63948588e-04 2.08287248e+02] [ 9.99404088e-01 3.41569227e-02 -4.97739071e-03 1.38871105e+02] [ 4.96547017e-03 4.33812283e-04 9.99987578e-01 7.06783936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.88, Z:0.71 [[ 3.56394677e-02 -9.99364673e-01 2.82269803e-04 2.08285911e+02] [ 9.99350765e-01 3.56374766e-02 -5.29325624e-03 1.38877527e+02] [ 5.27983391e-03 4.70735378e-04 9.99985951e-01 7.07125800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.86, Z:0.71 [[ 3.71345893e-02 -9.99310215e-01 3.40727588e-04 2.08281407e+02] [ 9.99290180e-01 3.71316783e-02 -6.35408274e-03 1.38859947e+02] [ 6.33704800e-03 5.76441985e-04 9.99979755e-01 7.06111985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.87, Z:0.71 [[ 3.68694197e-02 -9.99320029e-01 3.53141978e-04 2.08277782e+02] [ 9.99298743e-01 3.68663199e-02 -6.54948652e-03 1.38866187e+02] [ 6.53201401e-03 5.94370102e-04 9.99978490e-01 7.05480688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.86, Z:0.71 [[ 3.57030228e-02 -9.99362398e-01 3.02041536e-04 2.08275931e+02] [ 9.99346994e-01 3.57007886e-02 -5.57127646e-03 1.38863351e+02] [ 5.55694108e-03 5.00755712e-04 9.99984435e-01 7.05290908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.86, Z:0.71 [[ 3.40564840e-02 -9.99419891e-01 1.91847342e-04 2.08275837e+02] [ 9.99413742e-01 3.40555988e-02 -3.51974663e-03 1.38861130e+02] [ 3.51117132e-03 3.11605065e-04 9.99993787e-01 7.06213283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.86, Z:0.71 [[ 3.17488991e-02 -9.99495873e-01 8.69105773e-05 2.08275962e+02] [ 9.99494623e-01 3.17487215e-02 -1.58629380e-03 1.38860211e+02] [ 1.58273481e-03 1.37229737e-04 9.99998738e-01 7.07850704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.87, Z:0.71 [[ 2.88537653e-02 -9.99583642e-01 4.57286803e-05 2.08275703e+02] [ 9.99583300e-01 2.88537174e-02 -8.30486582e-04 1.38866430e+02] [ 8.28821361e-04 6.96722901e-05 9.99999654e-01 7.09387219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.89, Z:0.71 [[ 2.24177902e-02 -9.99748681e-01 1.35602532e-04 2.08274198e+02] [ 9.99745702e-01 2.24173914e-02 -2.44796287e-03 1.38886358e+02] [ 2.44430780e-03 1.90445967e-04 9.99996995e-01 7.08652076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.92, Z:0.71 [[ 1.88402992e-02 -9.99822479e-01 2.31320444e-04 2.08273273e+02] [ 9.99813904e-01 1.88391768e-02 -4.15254101e-03 1.38922098e+02] [ 4.14744596e-03 3.09512511e-04 9.99991351e-01 7.07580400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.93, Z:0.71 [[ 1.54895352e-02 -9.99879988e-01 2.90153679e-04 2.08274449e+02] [ 9.99866640e-01 1.54878253e-02 -5.17971422e-03 1.38932683e+02] [ 5.17459875e-03 3.70346350e-04 9.99986543e-01 7.06574444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.92, Z:0.71 [[ 1.32529061e-02 -9.99912138e-01 2.76206596e-04 2.08277551e+02] [ 9.99900172e-01 1.32513930e-02 -4.90367055e-03 1.38916240e+02] [ 4.89957958e-03 3.41166908e-04 9.99987939e-01 7.06412396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.92, Z:0.71 [[ 1.18036625e-02 -9.99930309e-01 2.26989803e-04 2.08279086e+02] [ 9.99922313e-01 1.18026582e-02 -4.00804655e-03 1.38919770e+02] [ 4.00508814e-03 2.74281798e-04 9.99991942e-01 7.06895967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.91, Z:0.71 [[ 1.12352776e-02 -9.99936865e-01 1.85285423e-04 2.08281285e+02] [ 9.99931595e-01 1.12346154e-02 -3.25404503e-03 1.38911885e+02] [ 3.25175797e-03 2.21832848e-04 9.99994688e-01 7.07556413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.92, Z:0.71 [[ 1.17493537e-02 -9.99930956e-01 1.87556774e-04 2.08284567e+02] [ 9.99925615e-01 1.17486765e-02 -3.27614652e-03 1.38917543e+02] [ 3.27371678e-03 2.26035427e-04 9.99994616e-01 7.07812898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.91, Z:0.71 [[ 1.24302806e-02 -9.99922725e-01 1.79910181e-04 2.08286178e+02] [ 9.99917863e-01 1.24296578e-02 -3.12572587e-03 1.38908616e+02] [ 3.12324810e-03 2.18749054e-04 9.99995099e-01 7.07157289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.89, Z:0.71 [[ 1.37670428e-02 -9.99905218e-01 1.55925384e-04 2.08288240e+02] [ 9.99901605e-01 1.37665729e-02 -2.69473366e-03 1.38888837e+02] [ 2.69233169e-03 1.93008555e-04 9.99996357e-01 7.06948776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.89, Z:0.71 [[ 1.56937614e-02 -9.99876837e-01 1.30364082e-04 2.08288638e+02] [ 9.99874339e-01 1.56934299e-02 -2.24124009e-03 1.38892125e+02] [ 2.23891819e-03 1.65521187e-04 9.99997480e-01 7.06944404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.86, Z:0.71 [[ 2.00396283e-02 -9.99799180e-01 1.14515801e-04 2.08291234e+02] [ 9.99797273e-01 2.00393657e-02 -1.95861785e-03 1.38862611e+02] [ 1.95592969e-03 1.53742559e-04 9.99998075e-01 7.07162847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.84, Z:0.71 [[ 2.18728980e-02 -9.99760751e-01 1.31670494e-04 2.08292337e+02] [ 9.99758257e-01 2.18725484e-02 -2.24041099e-03 1.38840443e+02] [ 2.23699501e-03 1.80642944e-04 9.99997482e-01 7.07363914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.86, Z:0.71 [[ 2.31134383e-02 -9.99732832e-01 1.83620198e-04 2.08290432e+02] [ 9.99728033e-01 2.31127564e-02 -3.10820840e-03 1.38857902e+02] [ 3.10313402e-03 2.55411643e-04 9.99995153e-01 7.07250364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.86, Z:0.71 [[ 2.36459597e-02 -9.99720369e-01 2.27405981e-04 2.08289668e+02] [ 9.99713085e-01 2.36449162e-02 -3.82963372e-03 1.38860231e+02] [ 3.82318584e-03 3.17896099e-04 9.99992641e-01 7.06613981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.86, Z:0.71 [[ 2.30547827e-02 -9.99734166e-01 2.73682134e-04 2.08289281e+02] [ 9.99723722e-01 2.30532866e-02 -4.58540580e-03 1.38862056e+02] [ 4.57787757e-03 3.79322056e-04 9.99989450e-01 7.06154745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.84, Z:0.71 [[ 1.94136160e-02 -9.99811488e-01 3.17595803e-04 2.08290822e+02] [ 9.99797559e-01 1.94116638e-02 -5.29426718e-03 1.38841537e+02] [ 5.28710408e-03 4.20312379e-04 9.99985935e-01 7.06608452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.85, Z:0.71 [[ 1.67436155e-02 -9.99859774e-01 2.90412418e-04 2.08289776e+02] [ 9.99848239e-01 1.67420232e-02 -4.81696292e-03 1.38854503e+02] [ 4.81142537e-03 3.71021720e-04 9.99988356e-01 7.06729206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.87, Z:0.71 [[ 1.46145366e-02 -9.99893176e-01 2.29731828e-04 2.08289201e+02] [ 9.99886028e-01 1.46135610e-02 -3.79147304e-03 1.38869201e+02] [ 3.78771082e-03 2.85116267e-04 9.99992786e-01 7.06769779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.86, Z:0.71 [[ 1.28839650e-02 -9.99916986e-01 1.54234691e-04 2.08291033e+02] [ 9.99913796e-01 1.28835332e-02 -2.53293917e-03 1.38857462e+02] [ 2.53074182e-03 1.86855695e-04 9.99996780e-01 7.07022738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.86, Z:0.71 [[ 1.11546416e-02 -9.99937780e-01 1.01536093e-04 2.08292673e+02] [ 9.99936410e-01 1.11544578e-02 -1.65941849e-03 1.38857492e+02] [ 1.65818266e-03 1.20039855e-04 9.99998618e-01 7.07648696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.451400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.29, Y:138.85, Z:0.71 [[ 9.20183436e-03 -9.99957656e-01 1.10641521e-04 2.08293942e+02] [ 9.99956046e-01 9.20162045e-03 -1.79921842e-03 1.38851319e+02] [ 1.79812415e-03 1.27192768e-04 9.99998375e-01 7.08151539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.86, Z:0.71 [[ 7.02135271e-03 -9.99975335e-01 1.72833792e-04 2.08294764e+02] [ 9.99971444e-01 7.02084208e-03 -2.79631717e-03 1.38861716e+02] [ 2.79503476e-03 1.92462785e-04 9.99996075e-01 7.08329432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.88, Z:0.71 [[ 6.10859561e-03 -9.99981323e-01 1.98737213e-04 2.08295191e+02] [ 9.99976228e-01 6.10792864e-03 -3.19937136e-03 1.38877963e+02] [ 3.19809773e-03 2.18276155e-04 9.99994862e-01 7.08017396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.87, Z:0.71 [[ 5.02362834e-03 -9.99987368e-01 1.62070794e-04 2.08298330e+02] [ 9.99984013e-01 5.02319069e-03 -2.59630833e-03 1.38866364e+02] [ 2.59546142e-03 1.75111092e-04 9.99996616e-01 7.08189104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.86, Z:0.71 [[ 3.95966317e-03 -9.99992156e-01 9.09144581e-05 2.08301444e+02] [ 9.99991110e-01 3.95952724e-03 -1.44955800e-03 1.38859038e+02] [ 1.44918665e-03 9.66534114e-05 9.99998945e-01 7.08464038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.86, Z:0.71 [[ 3.03420681e-03 -9.99995396e-01 3.85969294e-05 2.08303938e+02] [ 9.99995209e-01 3.03418259e-03 -6.12770703e-04 1.38864677e+02] [ 6.12650771e-04 4.04560175e-05 9.99999812e-01 7.08806510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.85, Z:0.71 [[ 1.81515837e-03 -9.99998350e-01 7.89764913e-05 2.08311593e+02] [ 9.99997575e-01 1.81505847e-03 -1.24706319e-03 1.38854439e+02] [ 1.24691779e-03 8.12399170e-05 9.99999219e-01 7.08133281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.85, Z:0.71 [[ 1.03884858e-03 -9.99999451e-01 1.38663165e-04 2.08315485e+02] [ 9.99997088e-01 1.03854405e-03 -2.17846787e-03 1.38854407e+02] [ 2.17832267e-03 1.40925860e-04 9.99997618e-01 7.07440399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.85, Z:0.71 [[ 4.66172207e-04 -9.99999882e-01 1.38159670e-04 2.08319365e+02] [ 9.99997558e-01 4.65872674e-04 -2.16014355e-03 1.38845536e+02] [ 2.16007893e-03 1.39166331e-04 9.99997657e-01 7.07370618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.85, Z:0.71 [[ 5.04939234e-04 -9.99999872e-01 3.78230037e-05 2.08322264e+02] [ 9.99999699e-01 5.04916863e-04 -5.89010736e-04 1.38849127e+02] [ 5.88991563e-04 3.81204069e-05 9.99999826e-01 7.07817236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.751400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.33, Y:138.83, Z:0.71 [[ 8.89677129e-04 -9.99999602e-01 -6.54184839e-05 2.08326555e+02] [ 9.99999092e-01 8.89610455e-04 1.01217850e-03 1.38828924e+02] [-1.01211990e-03 -6.63189365e-05 9.99999486e-01 7.08573035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.81, Z:0.71 [[ 2.60327330e-03 -9.99996600e-01 -1.49745098e-04 2.08335781e+02] [ 9.99993951e-01 2.60292095e-03 2.30693196e-03 1.38807696e+02] [-2.30653434e-03 -1.55749766e-04 9.99997328e-01 7.09841065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.81, Z:0.71 [[ 3.42562575e-03 -9.99994129e-01 -8.29739727e-05 2.08339544e+02] [ 9.99993324e-01 3.42551743e-03 1.27209140e-03 1.38808705e+02] [-1.27179971e-03 -8.73311277e-05 9.99999187e-01 7.09117443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.79, Z:0.71 [[ 4.25097147e-03 -9.99990964e-01 3.77770450e-05 2.08344941e+02] [ 9.99990798e-01 4.25094894e-03 -5.77412641e-04 1.38792625e+02] [ 5.77246835e-04 4.02312621e-05 9.99999833e-01 7.07959311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.79, Z:0.71 [[ 5.00490756e-03 -9.99987467e-01 1.28988148e-04 2.08349516e+02] [ 9.99985554e-01 5.00464502e-03 -1.96108974e-03 1.38794129e+02] [ 1.96041962e-03 1.38801358e-04 9.99998069e-01 7.06875626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.79, Z:0.71 [[ 5.38276685e-03 -9.99985490e-01 2.12504460e-04 2.08354778e+02] [ 9.99980346e-01 5.38205577e-03 -3.21580641e-03 1.38788011e+02] [ 3.21461604e-03 2.29810220e-04 9.99994807e-01 7.06412962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.78, Z:0.71 [[ 5.11071145e-03 -9.99986910e-01 2.44304242e-04 2.08360204e+02] [ 9.99980173e-01 5.10977788e-03 -3.68031004e-03 1.38779764e+02] [ 3.67901353e-03 2.63108401e-04 9.99993198e-01 7.05942276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.79, Z:0.71 [[ 3.49207123e-03 -9.99993839e-01 3.58342831e-04 2.08368649e+02] [ 9.99979471e-01 3.49009539e-03 -5.37375514e-03 1.38788894e+02] [ 5.37247138e-03 3.77101010e-04 9.99985497e-01 7.05327792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.79, Z:0.71 [[ 3.02373011e-03 -9.99995344e-01 4.10347589e-04 2.08372986e+02] [ 9.99976672e-01 3.02115986e-03 -6.12594846e-03 1.38791080e+02] [ 6.12468022e-03 4.28861231e-04 9.99981152e-01 7.05110552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.77, Z:0.71 [[ 3.19423121e-03 -9.99994807e-01 4.26639083e-04 2.08378503e+02] [ 9.99974804e-01 3.19146207e-03 -6.34078179e-03 1.38774939e+02] [ 6.33938726e-03 4.46882256e-04 9.99979806e-01 7.05163814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.78, Z:0.71 [[ 3.91634002e-03 -9.99992253e-01 3.95983347e-04 2.08381626e+02] [ 9.99975175e-01 3.91395296e-03 -5.85922010e-03 1.38775096e+02] [ 5.85762485e-03 4.18920215e-04 9.99982756e-01 7.05725789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.77, Z:0.71 [[ 5.03634654e-03 -9.99987261e-01 3.35712441e-04 2.08384044e+02] [ 9.99975096e-01 5.03462493e-03 -4.94566639e-03 1.38769253e+02] [ 4.94391321e-03 3.60612170e-04 9.99987714e-01 7.05971003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.76, Z:0.71 [[ 6.54876428e-03 -9.99978519e-01 2.74599639e-04 2.08386886e+02] [ 9.99970452e-01 6.54760538e-03 -4.02783006e-03 1.38756717e+02] [ 4.02594556e-03 3.00968835e-04 9.99991851e-01 7.06012637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.73, Z:0.71 [[ 1.07176389e-02 -9.99942519e-01 3.01108257e-04 2.08393856e+02] [ 9.99932910e-01 1.07162117e-02 -4.39758997e-03 1.38734123e+02] [ 4.39411046e-03 3.48219837e-04 9.99990285e-01 7.05983422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.73, Z:0.71 [[ 1.22563712e-02 -9.99924844e-01 2.96387193e-04 2.08396705e+02] [ 9.99915615e-01 1.22549805e-02 -4.31021339e-03 1.38729337e+02] [ 4.30625723e-03 3.49189757e-04 9.99990667e-01 7.06613356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.71, Z:0.71 [[ 1.32553898e-02 -9.99912107e-01 2.69818785e-04 2.08398455e+02] [ 9.99904524e-01 1.32542349e-02 -3.90733537e-03 1.38711830e+02] [ 3.90341570e-03 3.21586277e-04 9.99992330e-01 7.06989386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.71, Z:0.71 [[ 1.34001852e-02 -9.99910198e-01 1.76519452e-04 2.08396336e+02] [ 9.99906979e-01 1.33996926e-02 -2.54574319e-03 1.38705748e+02] [ 2.54314927e-03 2.10616463e-04 9.99996744e-01 7.07300177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.70, Z:0.71 [[ 1.23093371e-02 -9.99924230e-01 1.24080522e-04 2.08396498e+02] [ 9.99922652e-01 1.23090965e-02 -1.78219666e-03 1.38704350e+02] [ 1.78053431e-03 1.46008584e-04 9.99998404e-01 7.06940002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.71, Z:0.71 [[ 1.06465313e-02 -9.99943315e-01 1.32218208e-04 2.08397113e+02] [ 9.99941539e-01 1.06462623e-02 -1.89115976e-03 1.38708792e+02] [ 1.88964493e-03 1.52344770e-04 9.99998203e-01 7.07024668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.321400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:208.40, Y:138.71, Z:0.71 [[ 8.54503127e-03 -9.99963472e-01 1.92973268e-04 2.08397130e+02] [ 9.99959718e-01 8.54446880e-03 -2.74844760e-03 1.38713087e+02] [ 2.74669835e-03 2.16451065e-04 9.99996204e-01 7.06834557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.351400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:208.40, Y:138.71, Z:0.71 [[ 8.25448039e-03 -9.99965912e-01 1.93771790e-04 2.08397375e+02] [ 9.99962159e-01 8.25391682e-03 -2.74839141e-03 1.38710673e+02] [ 2.74669835e-03 2.16451000e-04 9.99996204e-01 7.06834217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.72, Z:0.71 [[ 6.59059512e-03 -9.99978254e-01 2.36917292e-04 2.08396605e+02] [ 9.99972688e-01 6.58976561e-03 -3.34633381e-03 1.38718207e+02] [ 3.34469981e-03 2.58965152e-04 9.99994373e-01 7.06433405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.74, Z:0.71 [[ 4.74320281e-03 -9.99988706e-01 2.98746703e-04 2.08394504e+02] [ 9.99979929e-01 4.74190583e-03 -4.20197155e-03 1.38736755e+02] [ 4.20050747e-03 3.18671510e-04 9.99991127e-01 7.05986887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.73, Z:0.71 [[ 1.77622554e-03 -9.99998369e-01 3.26843378e-04 2.08396428e+02] [ 9.99987946e-01 1.77471072e-03 -4.57801654e-03 1.38726961e+02] [ 4.57742902e-03 3.34971028e-04 9.99989467e-01 7.06656003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.75, Z:0.71 [[ 4.79776615e-04 -9.99999834e-01 3.18279725e-04 2.08395779e+02] [ 9.99990031e-01 4.78358880e-04 -4.43957092e-03 1.38746284e+02] [ 4.43941794e-03 3.20406554e-04 9.99990094e-01 7.08178883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.72, Z:0.71 [[-4.42338805e-04 -9.99999849e-01 3.26796459e-04 2.08396775e+02] [ 9.99989598e-01 -4.43817763e-04 -4.53948412e-03 1.38724443e+02] [ 4.53962847e-03 3.24785070e-04 9.99989643e-01 7.09178228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.72, Z:0.71 [[-8.35646356e-04 -9.99999589e-01 3.52858505e-04 2.08395461e+02] [ 9.99987735e-01 -8.37358895e-04 -4.88138466e-03 1.38719004e+02] [ 4.88167812e-03 3.48775066e-04 9.99988024e-01 7.09055953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.73, Z:0.71 [[-7.95041989e-04 -9.99999618e-01 3.63975448e-04 2.08392295e+02] [ 9.99987110e-01 -7.96857227e-04 -5.01456109e-03 1.38728591e+02] [ 5.01484921e-03 3.59983970e-04 9.99987361e-01 7.08370452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.73, Z:0.71 [[-4.92813306e-04 -9.99999832e-01 3.06706731e-04 2.08390874e+02] [ 9.99991023e-01 -4.94099705e-04 -4.20836718e-03 1.38727231e+02] [ 4.20851801e-03 3.04630039e-04 9.99991098e-01 7.08269700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.71, Z:0.71 [[ 1.36520783e-03 -9.99999068e-01 3.00543882e-05 2.08391948e+02] [ 9.99998984e-01 1.36519535e-03 -4.11199519e-04 1.38713154e+02] [ 4.11158106e-04 3.06157305e-05 9.99999915e-01 7.10016871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.70, Z:0.71 [[ 2.37940560e-03 -9.99997169e-01 -1.50692050e-05 2.08392280e+02] [ 9.99997148e-01 2.37940246e-03 2.04531469e-04 1.38698591e+02] [-2.04495034e-04 -1.55558253e-05 9.99999979e-01 7.10528272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.69, Z:0.71 [[ 3.46427590e-03 -9.99993999e-01 -5.83165472e-06 2.08390682e+02] [ 9.99993996e-01 3.46427542e-03 7.85093507e-05 1.38689034e+02] [-7.84886770e-05 -6.10359774e-06 9.99999997e-01 7.10214650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.67, Z:0.71 [[ 5.39061445e-03 -9.99985467e-01 7.85428559e-05 2.08386197e+02] [ 9.99984908e-01 5.39052810e-03 -1.06094856e-03 1.38673406e+02] [ 1.06050975e-03 8.42608352e-05 9.99999434e-01 7.08748935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.69, Z:0.71 [[ 5.39083310e-03 -9.99985465e-01 9.41558904e-05 2.08382291e+02] [ 9.99984668e-01 5.39070953e-03 -1.26673548e-03 1.38692455e+02] [ 1.26620950e-03 1.00983206e-04 9.99999193e-01 7.08200119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.69, Z:0.71 [[ 4.89825641e-03 -9.99987999e-01 9.39501116e-05 2.08380412e+02] [ 9.99987212e-01 4.89813427e-03 -1.25898935e-03 1.38686089e+02] [ 1.25851407e-03 1.00115763e-04 9.99999203e-01 7.07850648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.68, Z:0.71 [[ 3.43673095e-03 -9.99994091e-01 7.80307903e-05 2.08378380e+02] [ 9.99993552e-01 3.43664781e-03 -1.04165028e-03 1.38681350e+02] [ 1.04137596e-03 8.16101589e-05 9.99999454e-01 7.07848030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.69, Z:0.71 [[ 1.15275494e-03 -9.99999335e-01 2.62146321e-05 2.08375448e+02] [ 9.99999275e-01 1.15274572e-03 -3.48924436e-04 1.38694868e+02] [ 3.48893985e-04 2.66168375e-05 9.99999939e-01 7.08178547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.70, Z:0.71 [[-1.74983696e-03 -9.99998469e-01 -1.89678515e-05 2.08373782e+02] [ 9.99998438e-01 -1.74984166e-03 2.50562858e-04 1.38704251e+02] [-2.50595665e-04 -1.85293777e-05 9.99999968e-01 7.08702052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.71, Z:0.71 [[-9.41184633e-03 -9.99955708e-01 1.15449757e-06 2.08371856e+02] [ 9.99955707e-01 -9.41184635e-03 -1.57542757e-05 1.38712506e+02] [ 1.57644440e-05 1.00616963e-06 1.00000000e+00 7.09474128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.73, Z:0.71 [[-1.43038793e-02 -9.99897694e-01 1.01045239e-05 2.08369013e+02] [ 9.99897685e-01 -1.43038805e-02 -1.33240147e-04 1.38728199e+02] [ 1.33371050e-04 8.19763913e-06 9.99999991e-01 7.09029971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.76, Z:0.71 [[-1.91336137e-02 -9.99816936e-01 1.43419905e-05 2.08364402e+02] [ 9.99816918e-01 -1.91336161e-02 -1.88143620e-04 1.38757679e+02] [ 1.88383592e-04 1.07394974e-05 9.99999982e-01 7.08660695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.76, Z:0.71 [[-2.35533246e-02 -9.99722582e-01 1.22921465e-05 2.08362305e+02] [ 9.99722569e-01 -2.35533263e-02 -1.60685417e-04 1.38759125e+02] [ 1.60930361e-04 8.50406051e-06 9.99999987e-01 7.08231203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.77, Z:0.71 [[-2.73785944e-02 -9.99625135e-01 4.12142358e-05 2.08360803e+02] [ 9.99624992e-01 -2.73786126e-02 -5.35318506e-04 1.38765968e+02] [ 5.36246223e-04 2.65425119e-05 9.99999856e-01 7.08248838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.79, Z:0.71 [[-3.20947590e-02 -9.99484818e-01 1.56508775e-04 2.08357938e+02] [ 9.99482775e-01 -3.20950101e-02 -2.02309275e-03 1.38786725e+02] [ 2.02707364e-03 9.14971506e-05 9.99997941e-01 7.09595051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.79, Z:0.71 [[-3.35913671e-02 -9.99435633e-01 1.86463262e-04 2.08355919e+02] [ 9.99432756e-01 -3.35917182e-02 -2.40038732e-03 1.38786695e+02] [ 2.40529625e-03 1.05725200e-04 9.99997102e-01 7.10041785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.81, Z:0.71 [[-3.45552526e-02 -9.99402775e-01 1.64963266e-04 2.08351476e+02] [ 9.99400542e-01 -3.45555245e-02 -2.11499510e-03 1.38811067e+02] [ 2.11943237e-03 9.17801873e-05 9.99997750e-01 7.10572887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.81, Z:0.71 [[-3.48570831e-02 -9.99392301e-01 1.09350033e-04 2.08349194e+02] [ 9.99391328e-01 -3.48572019e-02 -1.39640442e-03 1.38811184e+02] [ 1.39936747e-03 6.06088893e-05 9.99999019e-01 7.11126593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.78, Z:0.71 [[-3.48872521e-02 -9.99391254e-01 1.67547958e-05 2.08349582e+02] [ 9.99391232e-01 -3.48872549e-02 -2.13552976e-04 1.38780180e+02] [ 2.14007506e-04 9.29431950e-06 9.99999977e-01 7.10869715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.81, Z:0.71 [[-3.52517949e-02 -9.99378462e-01 -2.80886927e-05 2.08343492e+02] [ 9.99378399e-01 -3.52518026e-02 3.55102420e-04 1.38811144e+02] [-3.55871888e-04 -1.55532350e-05 9.99999937e-01 7.10210105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.79, Z:0.71 [[-3.63825980e-02 -9.99337934e-01 2.84930776e-06 2.08343256e+02] [ 9.99337933e-01 -3.63825981e-02 -3.64761347e-05 1.38785955e+02] [ 3.65556504e-05 1.52032480e-06 9.99999999e-01 7.09906866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.80, Z:0.71 [[-3.71585931e-02 -9.99309378e-01 8.13703421e-05 2.08338960e+02] [ 9.99308856e-01 -3.71586570e-02 -1.02251752e-03 1.38801606e+02] [ 1.02483496e-03 4.33187909e-05 9.99999474e-01 7.09532376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.80, Z:0.71 [[-3.78081609e-02 -9.99284995e-01 2.05191971e-04 2.08335843e+02] [ 9.99281703e-01 -3.78085635e-02 -2.56726974e-03 1.38797700e+02] [ 2.57319214e-03 1.07980835e-04 9.99996684e-01 7.09034184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.81, Z:0.71 [[-3.90077415e-02 -9.99238847e-01 3.51826207e-04 2.08332174e+02] [ 9.99229247e-01 -3.90089102e-02 -4.38376475e-03 1.38807092e+02] [ 4.39415239e-03 1.80554274e-04 9.99990329e-01 7.08133230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.83, Z:0.71 [[-4.35637889e-02 -9.99050548e-01 4.45588539e-04 2.08326604e+02] [ 9.99035267e-01 -4.35655888e-02 -5.52938684e-03 1.38826625e+02] [ 5.54354928e-03 2.04277624e-04 9.99984614e-01 7.08298203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.82, Z:0.71 [[-4.68516873e-02 -9.98901783e-01 3.82862400e-04 2.08325335e+02] [ 9.98890589e-01 -4.68529759e-02 -4.73178904e-03 1.38818555e+02] [ 4.74453076e-03 1.60745347e-04 9.99988732e-01 7.08887630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.81, Z:0.71 [[-5.03918170e-02 -9.98729485e-01 2.85510035e-04 2.08323900e+02] [ 9.98723307e-01 -5.03925100e-02 -3.51451495e-03 1.38812597e+02] [ 3.52443727e-03 1.08042732e-04 9.99993783e-01 7.09166902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.83, Z:0.71 [[-5.37813676e-02 -9.98552715e-01 1.98008834e-04 2.08321171e+02] [ 9.98549766e-01 -5.37816902e-02 -2.42772684e-03 1.38832445e+02] [ 2.43486247e-03 6.71552056e-05 9.99997033e-01 7.09447483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.84, Z:0.71 [[-5.98692404e-02 -9.98206221e-01 1.22477024e-04 2.08318689e+02] [ 9.98205101e-01 -5.98693568e-02 -1.49576481e-03 1.38835989e+02] [ 1.50041436e-03 3.27068874e-05 9.99998874e-01 7.09529818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.85, Z:0.71 [[-6.21356528e-02 -9.98067703e-01 1.47934247e-04 2.08315637e+02] [ 9.98066081e-01 -6.21358185e-02 -1.79918924e-03 1.38851459e+02] [ 1.80490469e-03 3.58543558e-05 9.99998371e-01 7.09063002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.86, Z:0.71 [[-6.38196788e-02 -9.97961419e-01 2.33882603e-04 2.08313070e+02] [ 9.97957401e-01 -6.38200857e-02 -2.83253676e-03 1.38857320e+02] [ 2.84168882e-03 5.26332881e-05 9.99995961e-01 7.08887942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.31, Y:138.87, Z:0.71 [[-6.51671474e-02 -9.97874297e-01 3.59863034e-04 2.08309327e+02] [ 9.97864862e-01 -6.51680964e-02 -4.34008604e-03 1.38867621e+02] [ 4.35431190e-03 7.62636496e-05 9.99990517e-01 7.08553914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.86, Z:0.71 [[-6.58599093e-02 -9.97828791e-01 4.19017120e-04 2.08307584e+02] [ 9.97816103e-01 -6.58611853e-02 -5.03270135e-03 1.38858565e+02] [ 5.04937127e-03 8.66487750e-05 9.99987248e-01 7.08544282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.86, Z:0.71 [[-6.67398056e-02 -9.97770308e-01 4.60177899e-04 2.08304480e+02] [ 9.97755128e-01 -6.67413290e-02 -5.50447791e-03 1.38858234e+02] [ 5.52291750e-03 9.17770736e-05 9.99984744e-01 7.08855534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.87, Z:0.71 [[-6.92380371e-02 -9.97600114e-01 3.27185797e-04 2.08295523e+02] [ 9.97592501e-01 -6.92387871e-02 -3.89786277e-03 1.38868350e+02] [ 3.91116229e-03 5.65177300e-05 9.99992350e-01 7.09705856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.87, Z:0.71 [[-7.14708935e-02 -9.97442663e-01 2.11297951e-04 2.08291379e+02] [ 9.97439513e-01 -7.14711989e-02 -2.50715100e-03 1.38872767e+02] [ 2.51584108e-03 3.15686032e-05 9.99996835e-01 7.10627974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.95, Z:0.71 [[-7.44691900e-02 -9.97222923e-01 -8.84657431e-04 2.08282737e+02] [ 9.97221998e-01 -7.44676206e-02 -1.69125680e-03 1.38947412e+02] [ 1.62068172e-03 -1.00814638e-03 9.99998179e-01 7.11137680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.87, Z:0.71 [[-7.79749462e-02 -9.96954728e-01 1.08512282e-03 2.08284062e+02] [ 9.96954928e-01 -7.79758334e-02 -8.00717837e-04 1.38870207e+02] [ 8.82892790e-04 1.01938261e-03 9.99999091e-01 7.10990340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.88, Z:0.71 [[-8.19721435e-02 -9.96634617e-01 8.53707692e-05 2.08280591e+02] [ 9.96634115e-01 -8.19721879e-02 -1.00074520e-03 1.38876780e+02] [ 1.00437534e-03 3.05019185e-06 9.99999496e-01 7.10957528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.91, Z:0.71 [[-8.63060357e-02 -9.96268666e-01 1.17379812e-04 2.08273515e+02] [ 9.96267724e-01 -8.63061155e-02 -1.37009692e-03 1.38912903e+02] [ 1.37511522e-03 -1.30591466e-06 9.99999055e-01 7.10958896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.92, Z:0.71 [[-9.39713428e-02 -9.95574887e-01 1.76019613e-04 2.08267690e+02] [ 9.95572785e-01 -9.39715061e-02 -2.04572735e-03 1.38916019e+02] [ 2.05321561e-03 -1.69994105e-05 9.99997892e-01 7.10764397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.92, Z:0.71 [[-9.65169409e-02 -9.95331315e-01 2.31683820e-04 2.08265879e+02] [ 9.95327704e-01 -9.65172149e-02 -2.68125616e-03 1.38923086e+02] [ 2.69109970e-03 -2.81853185e-05 9.99996379e-01 7.11222213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:138.93, Z:0.71 [[-9.87033738e-02 -9.95116865e-01 2.62025731e-04 2.08263742e+02] [ 9.95112284e-01 -9.87037145e-02 -3.01962753e-03 1.38934308e+02] [ 3.03074519e-03 -3.73024012e-05 9.99995407e-01 7.11553771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:138.95, Z:0.71 [[-1.00793294e-01 -9.94907363e-01 2.24834836e-04 2.08257365e+02] [ 9.94904018e-01 -1.00793538e-01 -2.58019412e-03 1.38948648e+02] [ 2.58971603e-03 -3.63771826e-05 9.99996646e-01 7.12315801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:138.94, Z:0.71 [[-1.00900801e-01 -9.94896459e-01 2.51677302e-04 2.08255409e+02] [ 9.94892303e-01 -1.00901107e-01 -2.87601264e-03 1.38935758e+02] [ 2.88672932e-03 -3.98001695e-05 9.99995833e-01 7.11931837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.95, Z:0.71 [[-1.00358448e-01 -9.94951299e-01 3.09134430e-04 2.08252814e+02] [ 9.94945081e-01 -1.00358913e-01 -3.51764746e-03 1.38945390e+02] [ 3.53091230e-03 -4.54538576e-05 9.99993765e-01 7.11285957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.92, Z:0.71 [[-9.99880881e-02 -9.94988573e-01 3.47721656e-04 2.08254423e+02] [ 9.94980773e-01 -9.99886812e-02 -3.94017042e-03 1.38923480e+02] [ 3.95519277e-03 -4.79937452e-05 9.99992177e-01 7.10844794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.93, Z:0.71 [[-1.00013172e-01 -9.94986061e-01 3.23036558e-04 2.08254211e+02] [ 9.94979384e-01 -1.00013685e-01 -3.64537035e-03 1.38926465e+02] [ 3.65940076e-03 -4.31703369e-05 9.99993303e-01 7.10858898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:138.91, Z:0.71 [[-1.00252441e-01 -9.94961995e-01 2.77524803e-04 2.08255502e+02] [ 9.94957107e-01 -1.00252819e-01 -3.11900878e-03 1.38911877e+02] [ 3.13111784e-03 -3.65629702e-05 9.99995097e-01 7.11150406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.92, Z:0.71 [[-1.00677899e-01 -9.94919028e-01 2.98896382e-04 2.08252639e+02] [ 9.94913404e-01 -1.00678335e-01 -3.34544655e-03 1.38916721e+02] [ 3.35854081e-03 -3.94365137e-05 9.99994359e-01 7.12806869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.93, Z:0.71 [[-1.00706330e-01 -9.94916126e-01 3.70541890e-04 2.08249820e+02] [ 9.94907554e-01 -1.00707001e-01 -4.13024534e-03 1.38926756e+02] [ 4.14656385e-03 -4.72869264e-05 9.99991402e-01 7.13068347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.89, Z:0.71 [[-1.00983529e-01 -9.94887987e-01 4.68663214e-04 2.08250389e+02] [ 9.94874386e-01 -1.00984599e-01 -5.20264318e-03 1.38893170e+02] [ 5.22337497e-03 -5.91202401e-05 9.99986356e-01 7.13378335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.24, Y:138.91, Z:0.71 [[-1.01243909e-01 -9.94861517e-01 4.82011588e-04 2.08239886e+02] [ 9.94847245e-01 -1.01245039e-01 -5.32932052e-03 1.38907063e+02] [ 5.35073718e-03 -6.00333431e-05 9.99985683e-01 7.13790611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:138.92, Z:0.71 [[-1.01043090e-01 -9.94881979e-01 3.77235968e-04 2.08234113e+02] [ 9.94873307e-01 -1.01043784e-01 -4.15412366e-03 1.38920354e+02] [ 4.17098011e-03 -4.44434946e-05 9.99991300e-01 7.13666922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:138.91, Z:0.71 [[-1.01247110e-01 -9.94861278e-01 2.46358781e-04 2.08231191e+02] [ 9.94857609e-01 -1.01247406e-01 -2.70211912e-03 1.38912815e+02] [ 2.71317687e-03 -2.84898436e-05 9.99996319e-01 7.13644296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:138.91, Z:0.71 [[-1.01610516e-01 -9.94824227e-01 2.47345913e-04 2.08231488e+02] [ 9.94820558e-01 -1.01610814e-01 -2.70202893e-03 1.38910374e+02] [ 2.71317686e-03 -2.84897565e-05 9.99996319e-01 7.13643953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:138.91, Z:0.71 [[-1.02644984e-01 -9.94718041e-01 1.63587872e-04 2.08229238e+02] [ 9.94716448e-01 -1.02645113e-01 -1.78006974e-03 1.38908566e+02] [ 1.78745898e-03 -1.99916832e-05 9.99998402e-01 7.13679283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:138.91, Z:0.71 [[-1.04576995e-01 -9.94516782e-01 1.48174235e-04 2.08225970e+02] [ 9.94515486e-01 -1.04577098e-01 -1.60594407e-03 1.38912411e+02] [ 1.61263397e-03 -2.05832347e-05 9.99998700e-01 7.13950549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:138.92, Z:0.71 [[-1.07527536e-01 -9.94202084e-01 2.14471375e-04 2.08221767e+02] [ 9.94199389e-01 -1.07527744e-01 -2.31493187e-03 1.38917635e+02] [ 2.32457171e-03 -3.56916111e-05 9.99997298e-01 7.13554203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.91, Z:0.71 [[-1.14748974e-01 -9.93394391e-01 5.07217568e-04 2.08214332e+02] [ 9.93379437e-01 -1.14750030e-01 -5.45211913e-03 1.38909101e+02] [ 5.47430779e-03 -1.21765571e-04 9.99985008e-01 7.12455102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.99, Z:0.71 [[-1.19033348e-01 -9.92890150e-01 -4.60265402e-04 2.08205196e+02] [ 9.92867767e-01 -1.19027519e-01 -6.78584279e-03 1.38987141e+02] [ 6.68281222e-03 -1.26472427e-03 9.99976870e-01 7.12062578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.90, Z:0.71 [[-1.23081453e-01 -9.92395141e-01 1.68531750e-03 2.08209077e+02] [ 9.92374922e-01 -1.23089808e-01 -6.39639183e-03 1.38900059e+02] [ 6.55519358e-03 8.85189619e-04 9.99978123e-01 7.11684847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.87, Z:0.71 [[-1.26085274e-01 -9.92019207e-01 6.29286028e-04 2.08210869e+02] [ 9.91996721e-01 -1.26086655e-01 -6.68294191e-03 1.38866874e+02] [ 6.70895131e-03 -2.18370885e-04 9.99977471e-01 7.12483524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.88, Z:0.71 [[-1.27266005e-01 -9.91868419e-01 6.35511180e-04 2.08205532e+02] [ 9.91845659e-01 -1.27267392e-01 -6.72304981e-03 1.38877135e+02] [ 6.74926064e-03 -2.25286683e-04 9.99977198e-01 7.13584865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.88, Z:0.71 [[-1.26405035e-01 -9.91978554e-01 5.62573239e-04 2.08202760e+02] [ 9.91960856e-01 -1.26406142e-01 -5.92851394e-03 1.38881005e+02] [ 5.95207139e-03 -1.91343381e-04 9.99982268e-01 7.14056579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.87, Z:0.71 [[-1.24508251e-01 -9.92218466e-01 4.60493678e-04 2.08200538e+02] [ 9.92206700e-01 -1.24509018e-01 -4.83423512e-03 1.38865584e+02] [ 4.85395297e-03 -1.44997247e-04 9.99988209e-01 7.14412929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.86, Z:0.71 [[-1.21714530e-01 -9.92565087e-01 3.48283345e-04 2.08196107e+02] [ 9.92558408e-01 -1.21714989e-01 -3.64245370e-03 1.38862885e+02] [ 3.65776368e-03 -9.76479785e-05 9.99993306e-01 7.14760830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.631400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:208.19, Y:138.89, Z:0.71 [[-1.18104829e-01 -9.93001080e-01 3.23189634e-04 2.08188405e+02] [ 9.92995374e-01 -1.18105246e-01 -3.36710650e-03 1.38886727e+02] [ 3.38171078e-03 -7.67457243e-05 9.99994279e-01 7.14988666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.88, Z:0.71 [[-1.13108114e-01 -9.93582631e-01 3.32124371e-04 2.08184118e+02] [ 9.93576654e-01 -1.13108586e-01 -3.44685181e-03 1.38882838e+02] [ 3.46229821e-03 -5.98758858e-05 9.99994004e-01 7.14587270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.90, Z:0.71 [[-1.02900916e-01 -9.94691484e-01 5.03195080e-04 2.08173318e+02] [ 9.94677883e-01 -1.02902140e-01 -5.20183547e-03 1.38896088e+02] [ 5.22600129e-03 -3.47566162e-05 9.99986344e-01 7.13663076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.89, Z:0.71 [[-9.98218681e-02 -9.95005218e-01 4.59722657e-04 2.08169226e+02] [ 9.94993956e-01 -9.98229256e-02 -4.73413448e-03 1.38889123e+02] [ 4.75637937e-03 -1.51488826e-05 9.99988688e-01 7.13110370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.88, Z:0.71 [[-9.85374616e-02 -9.95133277e-01 3.59167627e-04 2.08165868e+02] [ 9.95126456e-01 -9.85381160e-02 -3.68459102e-03 1.38877476e+02] [ 3.70205084e-03 -5.65303894e-06 9.99993147e-01 7.13454981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.87, Z:0.71 [[-9.88244190e-02 -9.95104849e-01 2.70311175e-04 2.08163681e+02] [ 9.95101014e-01 -9.88247886e-02 -2.76264271e-03 1.38869330e+02] [ 2.77583260e-03 -4.02963569e-06 9.99996147e-01 7.14099051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.89, Z:0.72 [[-1.01489339e-01 -9.94836576e-01 3.17053678e-04 2.08159348e+02] [ 9.94831340e-01 -1.01489834e-01 -3.22793322e-03 1.38892070e+02] [ 3.24344376e-03 -1.21858753e-05 9.99994740e-01 7.15167718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.88, Z:0.71 [[-1.03342088e-01 -9.94645790e-01 4.05859071e-04 2.08159754e+02] [ 9.94637274e-01 -1.03342883e-01 -4.11613401e-03 1.38883397e+02] [ 4.13603801e-03 -2.16873245e-05 9.99991446e-01 7.14935235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.88, Z:0.71 [[-1.04240117e-01 -9.94552052e-01 4.62561639e-04 2.08159546e+02] [ 9.94541073e-01 -1.04241140e-01 -4.67330726e-03 1.38880710e+02] [ 4.69606528e-03 -2.71095492e-05 9.99988973e-01 7.14144102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.89, Z:0.71 [[-1.04273867e-01 -9.94548514e-01 4.62426124e-04 2.08157557e+02] [ 9.94537624e-01 -1.04274890e-01 -4.65418310e-03 1.38890893e+02] [ 4.67703032e-03 -2.54094919e-05 9.99989062e-01 7.13795038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.87, Z:0.71 [[-1.02981742e-01 -9.94683177e-01 3.70844376e-04 2.08158671e+02] [ 9.94676227e-01 -1.02982409e-01 -3.71843023e-03 1.38871981e+02] [ 3.73685044e-03 -1.40603378e-05 9.99993018e-01 7.14123010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.85, Z:0.72 [[-9.76744834e-02 -9.95218370e-01 3.00738188e-04 2.08160717e+02] [ 9.95213836e-01 -9.76749462e-02 -3.00434078e-03 1.38853924e+02] [ 3.01934972e-03 5.85137234e-06 9.99995442e-01 7.15687192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.91, Z:0.72 [[-9.48206654e-02 -9.95493735e-01 -1.12442581e-03 2.08157007e+02] [ 9.95484937e-01 -9.48147893e-02 -4.46044144e-03 1.38907538e+02] [ 4.33372932e-03 -1.54229099e-03 9.99989420e-01 7.15631595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:138.83, Z:0.72 [[-9.07639056e-02 -9.95870407e-01 2.01149849e-03 2.08162538e+02] [ 9.95862343e-01 -9.07718950e-02 -4.31934420e-03 1.38828028e+02] [ 4.48409460e-03 1.61113505e-03 9.99988649e-01 7.15183831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.81, Z:0.71 [[-8.72882378e-02 -9.96182957e-01 5.29571043e-04 2.08166211e+02] [ 9.96169147e-01 -8.72898165e-02 -5.24586313e-03 1.38811808e+02] [ 5.27206561e-03 6.96401848e-05 9.99986100e-01 7.14866895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.82, Z:0.71 [[-8.36596559e-02 -9.96494225e-01 5.67034342e-04 2.08166787e+02] [ 9.96478512e-01 -8.36615215e-02 -5.59682258e-03 1.38815640e+02] [ 5.62464033e-03 9.68092869e-05 9.99984177e-01 7.14421315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.78, Z:0.71 [[-7.60237954e-02 -9.97105878e-01 5.00639811e-04 2.08171006e+02] [ 9.97093727e-01 -7.60253413e-02 -4.92409641e-03 1.38776814e+02] [ 4.94790678e-03 1.24836318e-04 9.99987751e-01 7.13256542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.77, Z:0.71 [[-7.26648766e-02 -9.97356316e-01 4.40232639e-04 2.08170080e+02] [ 9.97346990e-01 -7.26661018e-02 -4.31496716e-03 1.38774071e+02] [ 4.33554974e-03 1.25518142e-04 9.99990594e-01 7.13080873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.74, Z:0.71 [[-7.00903972e-02 -9.97540556e-01 4.19013355e-04 2.08172274e+02] [ 9.97532168e-01 -7.00915270e-02 -4.09292729e-03 1.38740869e+02] [ 4.11223025e-03 1.31104402e-04 9.99991536e-01 7.13499277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.76, Z:0.71 [[-6.80229312e-02 -9.97683643e-01 4.78326343e-04 2.08169568e+02] [ 9.97672790e-01 -6.80244237e-02 -4.65630699e-03 1.38760271e+02] [ 4.67805920e-03 1.60477528e-04 9.99989045e-01 7.13685812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:138.73, Z:0.71 [[-6.47741805e-02 -9.97899806e-01 5.31485109e-04 2.08173054e+02] [ 9.97886504e-01 -6.47760633e-02 -5.15620175e-03 1.38728876e+02] [ 5.17980024e-03 1.96373075e-04 9.99986565e-01 7.14729580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.71, Z:0.71 [[-6.41360926e-02 -9.97941062e-01 4.46391597e-04 2.08175324e+02] [ 9.97931741e-01 -6.41374243e-02 -4.31632139e-03 1.38713649e+02] [ 4.33606476e-03 1.68636355e-04 9.99990585e-01 7.14937032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.73, Z:0.71 [[-6.39576302e-02 -9.97952550e-01 3.60086234e-04 2.08175174e+02] [ 9.97946525e-01 -6.39584962e-02 -3.47033847e-03 1.38726062e+02] [ 3.48626370e-03 1.37392182e-04 9.99993914e-01 7.14850974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.71, Z:0.71 [[-6.42083344e-02 -9.97936478e-01 2.75957001e-04 2.08177930e+02] [ 9.97932963e-01 -6.42088413e-02 -2.65083960e-03 1.38714526e+02] [ 2.66308841e-03 1.05180593e-04 9.99996448e-01 7.14689772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.70, Z:0.71 [[-6.48233221e-02 -9.97896731e-01 2.27603731e-04 2.08181062e+02] [ 9.97894355e-01 -6.48236648e-02 -2.17926456e-03 1.38701043e+02] [ 2.18943509e-03 8.58573095e-05 9.99997600e-01 7.14300070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.70, Z:0.71 [[-6.55273360e-02 -9.97850740e-01 2.62544311e-04 2.08183157e+02] [ 9.97847599e-01 -6.55277890e-02 -2.50553570e-03 1.38698736e+02] [ 2.51735460e-03 9.77981305e-05 9.99996827e-01 7.14067497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.70, Z:0.71 [[-6.59911928e-02 -9.97820093e-01 4.74800087e-04 2.08184837e+02] [ 9.97809889e-01 -6.59926669e-02 -4.51598968e-03 1.38702861e+02] [ 4.53747856e-03 1.75744676e-04 9.99989690e-01 7.13238693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.71, Z:0.71 [[-6.61219480e-02 -9.97811421e-01 5.05964425e-04 2.08184591e+02] [ 9.97799910e-01 -6.61236174e-02 -4.79665080e-03 1.38712226e+02] [ 4.81960915e-03 1.87687363e-04 9.99988368e-01 7.13179530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:138.71, Z:0.71 [[-6.62590862e-02 -9.97802332e-01 4.89642192e-04 2.08186323e+02] [ 9.97791622e-01 -6.62606454e-02 -4.62675794e-03 1.38709712e+02] [ 4.64903387e-03 1.81996123e-04 9.99989177e-01 7.13132528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:138.70, Z:0.71 [[-6.63497077e-02 -9.97796329e-01 4.49373123e-04 2.08189437e+02] [ 9.97787366e-01 -6.63510179e-02 -4.23247272e-03 1.38702938e+02] [ 4.25296211e-03 1.67555497e-04 9.99990942e-01 7.13025023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.69, Z:0.71 [[-6.49282728e-02 -9.97889799e-01 5.17714479e-04 2.08195452e+02] [ 9.97877983e-01 -6.49300256e-02 -4.86035659e-03 1.38687427e+02] [ 4.88371548e-03 2.01041321e-04 9.99988054e-01 7.12827465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.69, Z:0.71 [[-6.46157880e-02 -9.97910022e-01 6.23645099e-04 2.08196005e+02] [ 9.97892987e-01 -6.46183322e-02 -5.83598031e-03 1.38688915e+02] [ 5.86408214e-03 2.45234604e-04 9.99982776e-01 7.12136387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:138.81, Z:0.71 [[-6.53838081e-02 -9.97859992e-01 -6.28287650e-04 2.08184359e+02] [ 9.97834705e-01 -6.53776255e-02 -7.18795026e-03 1.38808487e+02] [ 7.13149203e-03 -1.09690278e-03 9.99973969e-01 7.11385268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.68, Z:0.71 [[-6.62605302e-02 -9.97800090e-01 2.12652024e-03 2.08195717e+02] [ 9.97778382e-01 -6.62735614e-02 -6.79089636e-03 1.38676422e+02] [ 6.91688907e-03 1.67182753e-03 9.99974681e-01 7.10624709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.69, Z:0.71 [[-6.79259779e-02 -9.97690091e-01 7.37850975e-04 2.08195677e+02] [ 9.97666585e-01 -6.79294464e-02 -6.85388574e-03 1.38692057e+02] [ 6.88817570e-03 2.70572371e-04 9.99976240e-01 7.10529559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.67, Z:0.71 [[-6.97416224e-02 -9.97564859e-01 6.76335077e-04 2.08198546e+02] [ 9.97545230e-01 -6.97444960e-02 -6.26253891e-03 1.38673796e+02] [ 6.29445940e-03 2.37915205e-04 9.99980161e-01 7.10803813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.69, Z:0.71 [[-7.27109602e-02 -9.97352753e-01 7.76642569e-04 2.08200033e+02] [ 9.97327023e-01 -7.27146665e-02 -7.16845328e-03 1.38690243e+02] [ 7.20594992e-03 2.53341500e-04 9.99974005e-01 7.11205719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.69, Z:0.71 [[-7.43598882e-02 -9.97231084e-01 8.79060456e-04 2.08201522e+02] [ 9.97198324e-01 -7.43645748e-02 -8.08786606e-03 1.38692777e+02] [ 8.13084240e-03 2.75184797e-04 9.99966906e-01 7.11104699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:138.69, Z:0.71 [[-7.59287833e-02 -9.97112798e-01 9.41953969e-04 2.08203799e+02] [ 9.97075414e-01 -7.59340976e-02 -8.63893634e-03 1.38688651e+02] [ 8.68552041e-03 2.83255219e-04 9.99962240e-01 7.11332202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.69, Z:0.71 [[-7.75112089e-02 -9.96991182e-01 7.71472074e-04 2.08208305e+02] [ 9.96966259e-01 -7.75147289e-02 -7.05306514e-03 1.38688117e+02] [ 7.09164420e-03 2.22440023e-04 9.99974829e-01 7.12883218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.69, Z:0.71 [[-7.70201497e-02 -9.97029306e-01 6.78504469e-04 2.08211041e+02] [ 9.97010150e-01 -7.70228780e-02 -6.18357424e-03 1.38687106e+02] [ 6.21746510e-03 2.00216029e-04 9.99980651e-01 7.13888980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:138.68, Z:0.71 [[-7.58410650e-02 -9.97119703e-01 6.56262412e-04 2.08214110e+02] [ 9.97101899e-01 -7.58436348e-02 -5.96204890e-03 1.38681147e+02] [ 5.99464976e-03 2.02192359e-04 9.99982012e-01 7.14611936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:138.67, Z:0.71 [[-7.42096640e-02 -9.97242442e-01 6.61186272e-04 2.08217506e+02] [ 9.97224488e-01 -7.42122980e-02 -5.98801908e-03 1.38666184e+02] [ 6.02057493e-03 2.14982257e-04 9.99981853e-01 7.14928882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:138.66, Z:0.72 [[-7.26669630e-02 -9.97356047e-01 6.54397809e-04 2.08220075e+02] [ 9.97338572e-01 -7.26695664e-02 -5.90821651e-03 1.38655397e+02] [ 5.94015027e-03 2.23324025e-04 9.99982332e-01 7.15018451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:138.63, Z:0.72 [[-7.10804556e-02 -9.97470409e-01 5.93951299e-04 2.08223982e+02] [ 9.97456104e-01 -7.10826196e-02 -5.34613314e-03 1.38633889e+02] [ 5.37482922e-03 2.12434769e-04 9.99985533e-01 7.15009045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:138.64, Z:0.72 [[-6.76872811e-02 -9.97706543e-01 2.94654316e-04 2.08227571e+02] [ 9.97703045e-01 -6.76878247e-02 -2.64436710e-03 1.38638948e+02] [ 2.65824687e-03 1.14987489e-04 9.99996460e-01 7.15465796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:138.62, Z:0.72 [[-6.57662158e-02 -9.97835047e-01 1.55878702e-04 2.08232713e+02] [ 9.97834074e-01 -6.57663696e-02 -1.39493771e-03 1.38617902e+02] [ 1.40216931e-03 6.38013061e-05 9.99999015e-01 7.16138319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:138.61, Z:0.72 [[-6.35635842e-02 -9.97977787e-01 8.10703344e-05 2.08235850e+02] [ 9.97977526e-01 -6.35636263e-02 -7.23549370e-04 1.38611820e+02] [ 7.27239324e-04 3.49149805e-05 9.99999735e-01 7.16059652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:138.57, Z:0.72 [[-5.86699729e-02 -9.98277412e-01 2.06199784e-04 2.08243670e+02] [ 9.98275732e-01 -5.86702530e-02 -1.83418736e-03 1.38569778e+02] [ 1.84312561e-03 9.82325175e-05 9.99998297e-01 7.15354445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:138.58, Z:0.71 [[-5.61018138e-02 -9.98425008e-01 3.00094554e-04 2.08243792e+02] [ 9.98421472e-01 -5.61024151e-02 -2.66144252e-03 1.38578482e+02] [ 2.67408679e-03 1.50309094e-04 9.99996413e-01 7.14617931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.56, Z:0.71 [[-5.32917353e-02 -9.98578912e-01 3.84383227e-04 2.08247117e+02] [ 9.98573148e-01 -5.32927361e-02 -3.39899650e-03 1.38561548e+02] [ 3.41465106e-03 2.02696347e-04 9.99994150e-01 7.14817575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.56, Z:0.71 [[-5.36124169e-02 -9.98561746e-01 3.85474991e-04 2.08247470e+02] [ 9.98555982e-01 -5.36134195e-02 -3.39887285e-03 1.38559098e+02] [ 3.41465104e-03 2.02696570e-04 9.99994150e-01 7.14817172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.55, Z:0.71 [[-5.07454473e-02 -9.98711529e-01 4.26548795e-04 2.08250575e+02] [ 9.98704515e-01 -5.07466927e-02 -3.75026628e-03 1.38546640e+02] [ 3.76708011e-03 2.35687268e-04 9.99992877e-01 7.14964876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.52, Z:0.72 [[-4.83773392e-02 -9.98829009e-01 4.93705590e-04 2.08254554e+02] [ 9.98819671e-01 -4.83790264e-02 -4.32841923e-03 1.38523388e+02] [ 4.34723568e-03 2.83725450e-04 9.99990511e-01 7.15347796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:138.52, Z:0.72 [[-4.56576428e-02 -9.98956921e-01 6.70899275e-04 2.08256105e+02] [ 9.98939783e-01 -4.56607987e-02 -5.86533940e-03 1.38521532e+02] [ 5.88985518e-03 4.02390405e-04 9.99982574e-01 7.15306681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:138.57, Z:0.71 [[-4.61216460e-02 -9.98935748e-01 4.07537281e-04 2.08252060e+02] [ 9.98919326e-01 -4.61232254e-02 -5.72964606e-03 1.38570924e+02] [ 5.74234520e-03 1.42836158e-04 9.99983502e-01 7.13488564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:138.53, Z:0.71 [[-4.61292961e-02 -9.98934907e-01 1.06782366e-03 2.08259914e+02] [ 9.98910067e-01 -4.61357209e-02 -7.08336789e-03 1.38527594e+02] [ 7.12508826e-03 7.39909031e-04 9.99974343e-01 7.14112667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:138.52, Z:0.71 [[-4.74832280e-02 -9.98871653e-01 8.74487717e-04 2.08264513e+02] [ 9.98842893e-01 -4.74885119e-02 -7.59706663e-03 1.38520489e+02] [ 7.63002262e-03 5.12742594e-04 9.99970760e-01 7.14040626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.371400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:208.27, Y:138.52, Z:0.71 [[-4.93645578e-02 -9.98780423e-01 8.98927715e-04 2.08267259e+02] [ 9.98750193e-01 -4.93700729e-02 -7.78771359e-03 1.38518115e+02] [ 7.82259600e-03 5.13367191e-04 9.99969271e-01 7.13431157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.55, Z:0.71 [[-5.20023874e-02 -9.98646566e-01 8.88211733e-04 2.08267742e+02] [ 9.98617204e-01 -5.20076833e-02 -7.67339220e-03 1.38548656e+02] [ 7.70920060e-03 4.87948803e-04 9.99970165e-01 7.14165364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:138.53, Z:0.71 [[-5.28028793e-02 -9.98604600e-01 8.42500475e-04 2.08272604e+02] [ 9.98578327e-01 -5.28076136e-02 -7.25812463e-03 1.38531507e+02] [ 7.29248708e-03 4.58052836e-04 9.99973305e-01 7.14317281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.51, Z:0.71 [[-5.25056387e-02 -9.98620268e-01 8.48037332e-04 2.08279241e+02] [ 9.98593798e-01 -5.25104341e-02 -7.28563094e-03 1.38508387e+02] [ 7.32010952e-03 4.64308114e-04 9.99973100e-01 7.14975322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.52, Z:0.72 [[-5.08013128e-02 -9.98708384e-01 8.88911133e-04 2.08281685e+02] [ 9.98679472e-01 -5.08066206e-02 -7.61577623e-03 1.38519129e+02] [ 7.65110215e-03 5.00845870e-04 9.99970604e-01 7.15587370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.51, Z:0.72 [[-4.82705528e-02 -9.98833826e-01 9.70376269e-04 2.08284817e+02] [ 9.98799578e-01 -4.82769523e-02 -8.29088487e-03 1.38506930e+02] [ 8.32806306e-03 5.69005812e-04 9.99965159e-01 7.15394859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:138.51, Z:0.71 [[-4.54414702e-02 -9.98966487e-01 1.01493405e-03 2.08284921e+02] [ 9.98929248e-01 -4.54485624e-02 -8.64789781e-03 1.38506264e+02] [ 8.68508739e-03 6.20874117e-04 9.99962091e-01 7.14985131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.47, Z:0.71 [[-4.06256713e-02 -9.99174231e-01 6.40962879e-04 2.08288384e+02] [ 9.99159473e-01 -4.06285654e-02 -5.44684243e-03 1.38472395e+02] [ 5.46838600e-03 4.19142502e-04 9.99984960e-01 7.14443634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.46, Z:0.72 [[-3.87106685e-02 -9.99250379e-01 4.06233051e-04 2.08290364e+02] [ 9.99244484e-01 -3.87118399e-02 -3.44310283e-03 1.38461276e+02] [ 3.45624784e-03 2.72641323e-04 9.99993990e-01 7.15682533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.45, Z:0.72 [[-3.70405835e-02 -9.99313718e-01 2.98569894e-04 2.08292575e+02] [ 9.99310551e-01 -3.70412203e-02 -2.52401871e-03 1.38448994e+02] [ 2.53334592e-03 2.04872919e-04 9.99996770e-01 7.16935643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.44, Z:0.72 [[-3.48186011e-02 -9.99393472e-01 5.95008088e-04 2.08293378e+02] [ 9.99380970e-01 -3.48211522e-02 -5.01644029e-03 1.38437542e+02] [ 5.03411654e-03 4.19974327e-04 9.99987241e-01 7.17142415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.43, Z:0.72 [[-3.49871933e-02 -9.99387446e-01 7.93248904e-04 2.08293877e+02] [ 9.99365342e-01 -3.49917139e-02 -6.67025492e-03 1.38431801e+02] [ 6.69392617e-03 5.59371965e-04 9.99977439e-01 7.16673795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.731400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:208.29, Y:138.44, Z:0.72 [[-3.62548082e-02 -9.99342236e-01 8.26915623e-04 2.08292142e+02] [ 9.99318337e-01 -3.62596798e-02 -6.93523568e-03 1.38444495e+02] [ 6.96065763e-03 5.74916306e-04 9.99975609e-01 7.16280667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.44, Z:0.72 [[-3.72297908e-02 -9.99306434e-01 7.70895662e-04 2.08294240e+02] [ 9.99285768e-01 -3.72339956e-02 -6.44859239e-03 1.38438614e+02] [ 6.47282339e-03 5.30265317e-04 9.99978910e-01 7.17270703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.45, Z:0.72 [[-4.13176023e-02 -9.99145923e-01 5.28686474e-04 2.08294198e+02] [ 9.99136246e-01 -4.13195361e-02 -4.41109047e-03 1.38453415e+02] [ 4.42916814e-03 3.45974138e-04 9.99990131e-01 7.18872691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.45, Z:0.72 [[-4.38932359e-02 -9.99036129e-01 4.43028441e-04 2.08295635e+02] [ 9.99029366e-01 -4.38945737e-02 -3.68680575e-03 1.38451285e+02] [ 3.70269869e-03 2.80772588e-04 9.99993106e-01 7.19770480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.46, Z:0.72 [[-4.65810129e-02 -9.98914409e-01 4.61907944e-04 2.08295933e+02] [ 9.98907092e-01 -4.65824445e-02 -3.83383291e-03 1.38462734e+02] [ 3.85118774e-03 2.82819301e-04 9.99992544e-01 7.20396215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.45, Z:0.72 [[-4.92030876e-02 -9.98788675e-01 4.88223915e-04 2.08299501e+02] [ 9.98780540e-01 -4.92046624e-02 -4.04164676e-03 1.38445960e+02] [ 4.06077391e-03 2.88767045e-04 9.99991713e-01 7.20467240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.46, Z:0.72 [[-5.17276842e-02 -9.98661097e-01 5.10744046e-04 2.08298076e+02] [ 9.98652236e-01 -5.17293820e-02 -4.21701769e-03 1.38464989e+02] [ 4.23779199e-03 2.91919124e-04 9.99990978e-01 7.20049946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.46, Z:0.72 [[-5.42742344e-02 -9.98525970e-01 4.40318831e-04 2.08299071e+02] [ 9.98519416e-01 -5.42754771e-02 -3.62608411e-03 1.38458426e+02] [ 3.64463767e-03 2.42863963e-04 9.99993329e-01 7.19501232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.48, Z:0.72 [[-5.89384804e-02 -9.98261603e-01 1.67207537e-04 2.08298002e+02] [ 9.98260661e-01 -5.89386549e-02 -1.37362029e-03 1.38478389e+02] [ 1.38108738e-03 8.59576142e-05 9.99999043e-01 7.18195664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.48, Z:0.72 [[-6.16035004e-02 -9.98100683e-01 1.89181807e-04 2.08300150e+02] [ 9.98099484e-01 -6.16037202e-02 -1.54998445e-03 1.38482312e+02] [ 1.55869484e-03 9.33377962e-05 9.99998781e-01 7.18771812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:138.57, Z:0.72 [[-6.43862717e-02 -9.97925032e-01 -1.98817457e-04 2.08293210e+02] [ 9.97920544e-01 -6.43853808e-02 -3.01834405e-03 1.38566821e+02] [ 2.99928014e-03 -3.92743944e-04 9.99995425e-01 7.19269653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.49, Z:0.72 [[-6.56605854e-02 -9.97841408e-01 1.10067588e-03 2.08304335e+02] [ 9.97832202e-01 -6.56647918e-02 -4.36261622e-03 1.38488062e+02] [ 4.42547477e-03 8.11837904e-04 9.99989878e-01 7.19065503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.48, Z:0.72 [[-6.58547165e-02 -9.97828911e-01 7.87975563e-04 2.08309985e+02] [ 9.97808350e-01 -6.58584261e-02 -6.41594314e-03 1.38475943e+02] [ 6.45390839e-03 3.63728480e-04 9.99979107e-01 7.18136590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.47, Z:0.72 [[-6.43416442e-02 -9.97927637e-01 7.64788560e-04 2.08311332e+02] [ 9.97908375e-01 -6.43451622e-02 -6.21082814e-03 1.38473062e+02] [ 6.24716750e-03 3.63574015e-04 9.99980420e-01 7.17954480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.46, Z:0.72 [[-6.24857509e-02 -9.98045567e-01 7.59510559e-04 2.08314254e+02] [ 9.98026677e-01 -6.24892498e-02 -6.15190583e-03 1.38456304e+02] [ 6.18734358e-03 3.73605344e-04 9.99980788e-01 7.17753774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.46, Z:0.72 [[-6.04775723e-02 -9.98169172e-01 8.75692466e-04 2.08314759e+02] [ 9.98144201e-01 -6.04822659e-02 -7.07454511e-03 1.38455950e+02] [ 7.11455671e-03 4.46216043e-04 9.99974592e-01 7.17799065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.47, Z:0.72 [[-5.82810484e-02 -9.98299691e-01 1.02260832e-03 2.08314256e+02] [ 9.98265831e-01 -5.82875122e-02 -8.23996075e-03 1.38466917e+02] [ 8.28555557e-03 5.40601389e-04 9.99965528e-01 7.17801093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:138.61, Z:0.72 [[-5.57959912e-02 -9.98441477e-01 1.19371974e-03 2.08300591e+02] [ 9.98416257e-01 -5.58031192e-02 -7.14074861e-03 1.38608537e+02] [ 7.19623287e-03 7.93404044e-04 9.99973792e-01 7.16245729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.42, Z:0.72 [[-5.48331080e-02 -9.98495237e-01 7.69261687e-04 2.08327326e+02] [ 9.98458555e-01 -5.48376914e-02 -8.56402589e-03 1.38422360e+02] [ 8.59332359e-03 2.98483756e-04 9.99963032e-01 7.18435821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.53, Z:0.72 [[-5.60497684e-02 -9.98427374e-01 1.09696489e-03 2.08315937e+02] [ 9.98407334e-01 -5.60556408e-02 -6.36874629e-03 1.38525858e+02] [ 6.42022170e-03 7.38251033e-04 9.99979118e-01 7.16906597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.51, Z:0.72 [[-5.66506849e-02 -9.98393531e-01 1.02834378e-03 2.08320135e+02] [ 9.98376153e-01 -5.66558078e-02 -5.93105615e-03 1.38509687e+02] [ 5.97978974e-03 6.90675518e-04 9.99981882e-01 7.16523425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.56, Z:0.72 [[-5.57664273e-02 -9.98443774e-01 3.69804490e-04 2.08319241e+02] [ 9.98420620e-01 -5.57676526e-02 -6.79957121e-03 1.38558870e+02] [ 6.80961267e-03 -9.96736575e-06 9.99976814e-01 7.17488046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.56, Z:0.72 [[-5.41605132e-02 -9.98530268e-01 1.98549464e-03 2.08318245e+02] [ 9.98512546e-01 -5.41718268e-02 -6.17318116e-03 1.38561483e+02] [ 6.27166611e-03 1.64819865e-03 9.99978975e-01 7.17987059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.38, Z:0.72 [[-5.10607793e-02 -9.98695516e-01 -2.50351250e-04 2.08342583e+02] [ 9.98660078e-01 -5.10568515e-02 -8.44081515e-03 1.38381058e+02] [ 8.41702210e-03 -6.81010398e-04 9.99964344e-01 7.20616954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.49, Z:0.72 [[-4.91425565e-02 -9.98791775e-01 -1.40915806e-05 2.08327545e+02] [ 9.98764643e-01 -4.91411176e-02 -7.37140080e-03 1.38491749e+02] [ 7.36180201e-03 -3.76323653e-04 9.99972831e-01 7.19481065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.38, Z:0.72 [[-4.59464488e-02 -9.98942229e-01 1.82972518e-03 2.08339828e+02] [ 9.98919106e-01 -4.59581373e-02 -6.96198489e-03 1.38381764e+02] [ 7.03871146e-03 1.50786896e-03 9.99974091e-01 7.19899260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.39, Z:0.72 [[-4.51175269e-02 -9.98981670e-01 -1.78471184e-04 2.08341800e+02] [ 9.98963047e-01 -4.51155930e-02 -6.11668705e-03 1.38388968e+02] [ 6.10240641e-03 -4.54255910e-04 9.99981277e-01 7.20053444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.46, Z:0.72 [[-4.41396968e-02 -9.99020445e-01 3.13650689e-03 2.08333070e+02] [ 9.99018645e-01 -4.41507004e-02 -3.53010712e-03 1.38455719e+02] [ 3.66512816e-03 2.97761100e-03 9.99988850e-01 7.19606427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.49, Z:0.72 [[-4.52811216e-02 -9.98974184e-01 4.45958781e-04 2.08331698e+02] [ 9.98966728e-01 -4.52825109e-02 -3.86927947e-03 1.38485647e+02] [ 3.88550444e-03 2.70292670e-04 9.99992415e-01 7.20277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:138.56, Z:0.72 [[-4.90841570e-02 -9.98794622e-01 2.20906321e-04 2.08320946e+02] [ 9.98792743e-01 -4.90844940e-02 -1.94118289e-03 1.38559081e+02] [ 1.94968611e-03 1.25358304e-04 9.99998092e-01 7.19184722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.38, Z:0.72 [[-4.99637009e-02 -9.98750366e-01 -1.15519428e-03 2.08344593e+02] [ 9.98746162e-01 -4.99598107e-02 -3.18150245e-03 1.38380995e+02] [ 3.11981345e-03 -1.31270549e-03 9.99994272e-01 7.20696562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.35, Z:0.72 [[-5.04275933e-02 -9.98727633e-01 4.16328094e-04 2.08346407e+02] [ 9.98722379e-01 -5.04286825e-02 -3.24930895e-03 1.38353751e+02] [ 3.26616952e-03 2.51941354e-04 9.99994634e-01 7.20250831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:138.47, Z:0.72 [[-5.06116500e-02 -9.98717915e-01 9.93281116e-04 2.08329521e+02] [ 9.98714696e-01 -5.06141490e-02 -2.67665915e-03 1.38474803e+02] [ 2.72350153e-03 8.56534311e-04 9.99995924e-01 7.18631696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.38, Z:0.72 [[-4.92363177e-02 -9.98787153e-01 9.19250616e-05 2.08342156e+02] [ 9.98771129e-01 -4.92360488e-02 -5.66064870e-03 1.38381355e+02] [ 5.65830922e-03 -1.86897400e-04 9.99983974e-01 7.21024307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.36, Z:0.72 [[-4.86789206e-02 -9.98814213e-01 7.27950833e-04 2.08343337e+02] [ 9.98798333e-01 -4.86822648e-02 -5.65046679e-03 1.38361884e+02] [ 5.67920484e-03 4.52017454e-04 9.99983771e-01 7.20837179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:138.35, Z:0.72 [[-4.85970529e-02 -9.98818298e-01 5.77572971e-04 2.08344215e+02] [ 9.98808349e-01 -4.85991551e-02 -4.47253368e-03 1.38345239e+02] [ 4.49531804e-03 3.59532750e-04 9.99989831e-01 7.20648571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:138.63, Z:0.72 [[-4.99148378e-02 -9.98750966e-01 2.23972404e-03 2.08306458e+02] [ 9.98752542e-01 -4.99177353e-02 -1.25695938e-03 1.38625933e+02] [ 1.36719135e-03 2.17418916e-03 9.99996702e-01 7.18310441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.35, Z:0.72 [[-5.06463858e-02 -9.98715538e-01 -1.48940252e-03 2.08347244e+02] [ 9.98707364e-01 -5.06394282e-02 -4.38743096e-03 1.38348564e+02] [ 4.30637298e-03 -1.70968479e-03 9.99989266e-01 7.20547099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.35, Z:0.72 [[-5.24765418e-02 -9.98621945e-01 6.51530688e-04 2.08346150e+02] [ 9.98609418e-01 -5.24791567e-02 -5.01691020e-03 1.38353606e+02] [ 5.04418840e-03 3.87354583e-04 9.99987203e-01 7.20254722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.37, Z:0.72 [[-5.51815945e-02 -9.98475909e-01 9.22565871e-04 2.08346163e+02] [ 9.98450900e-01 -5.51867603e-02 -7.08676125e-03 1.38369365e+02] [ 7.12687380e-03 5.30077939e-04 9.99974463e-01 7.20096012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.36, Z:0.72 [[-5.59368457e-02 -9.98433928e-01 8.71883043e-04 2.08348297e+02] [ 9.98411696e-01 -5.59414347e-02 -6.68136890e-03 1.38359650e+02] [ 6.71967979e-03 4.96763527e-04 9.99977299e-01 7.20587176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.36, Z:0.72 [[-5.60273275e-02 -9.98428954e-01 7.50585941e-04 2.08348555e+02] [ 9.98412556e-01 -5.60307211e-02 -5.73813622e-03 1.38358813e+02] [ 5.77117721e-03 4.27901991e-04 9.99983255e-01 7.21016955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.35, Z:0.72 [[-5.57096402e-02 -9.98446822e-01 6.15514652e-04 2.08349044e+02] [ 9.98435849e-01 -5.57119219e-02 -4.69436543e-03 1.38352931e+02] [ 4.72136575e-03 3.53030485e-04 9.99988792e-01 7.21315217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.34, Z:0.72 [[-5.53817849e-02 -9.98465092e-01 5.64219952e-04 2.08350224e+02] [ 9.98455916e-01 -5.53837019e-02 -4.29298129e-03 1.38340293e+02] [ 4.31764055e-03 3.25595783e-04 9.99990626e-01 7.20652605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.33, Z:0.72 [[-5.50729980e-02 -9.98482133e-01 6.28321888e-04 2.08351107e+02] [ 9.98470809e-01 -5.50753747e-02 -4.76942065e-03 1.38333816e+02] [ 4.79678636e-03 3.64694770e-04 9.99988429e-01 7.19675344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.33, Z:0.72 [[-5.53771518e-02 -9.98465310e-01 6.29774771e-04 2.08351503e+02] [ 9.98453986e-01 -5.53795319e-02 -4.76922901e-03 1.38331393e+02] [ 4.79678635e-03 3.64694812e-04 9.99988429e-01 7.19675016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.34, Z:0.72 [[-5.52375281e-02 -9.98472916e-01 8.07309055e-04 2.08354762e+02] [ 9.98454397e-01 -5.52414351e-02 -6.09922764e-03 1.38342483e+02] [ 6.13451052e-03 4.69155017e-04 9.99981074e-01 7.18725052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.33, Z:0.72 [[-5.61327728e-02 -9.98423015e-01 7.70918290e-04 2.08358841e+02] [ 9.98406205e-01 -5.61363143e-02 -5.81062812e-03 1.38333620e+02] [ 5.84474136e-03 4.43522937e-04 9.99982821e-01 7.19563930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.40, Z:0.72 [[-5.73253677e-02 -9.98355189e-01 8.47799633e-04 2.08351745e+02] [ 9.98345391e-01 -5.73285946e-02 -4.46241440e-03 1.38403973e+02] [ 4.50367773e-03 5.90587310e-04 9.99989684e-01 7.19501683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.32, Z:0.72 [[-5.76069843e-02 -9.98339215e-01 4.96917851e-04 2.08365854e+02] [ 9.98323445e-01 -5.76088687e-02 -5.61404090e-03 1.38316654e+02] [ 5.63334407e-03 1.72676775e-04 9.99984118e-01 7.20677598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.231400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.37, Y:138.33, Z:0.72 [[-5.80863077e-02 -9.98311220e-01 8.30108085e-04 2.08365296e+02] [ 9.98291931e-01 -5.80903601e-02 -6.22331162e-03 1.38331327e+02] [ 6.26102310e-03 4.67201010e-04 9.99980290e-01 7.20329731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.32, Z:0.72 [[-5.71820370e-02 -9.98363476e-01 7.64061570e-04 2.08370631e+02] [ 9.98347215e-01 -5.71854793e-02 -5.71484986e-03 1.38324488e+02] [ 5.74919060e-03 4.36011984e-04 9.99983378e-01 7.20093046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.30, Z:0.72 [[-5.54789985e-02 -9.98459769e-01 4.13883334e-04 2.08381130e+02] [ 9.98455021e-01 -5.54800150e-02 -3.08867030e-03 1.38299125e+02] [ 3.10687529e-03 2.41887558e-04 9.99995144e-01 7.20013520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.29, Z:0.72 [[-5.40445526e-02 -9.98538503e-01 2.09700892e-04 2.08385683e+02] [ 9.98537290e-01 -5.40448149e-02 -1.56150638e-03 1.38287237e+02] [ 1.57055749e-03 1.25003247e-04 9.99998759e-01 7.20146760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.29, Z:0.72 [[-5.17363128e-02 -9.98660769e-01 1.50547574e-04 2.08387872e+02] [ 9.98660147e-01 -5.17364492e-02 -1.11856968e-03 1.38289147e+02] [ 1.12486045e-03 9.24751914e-05 9.99999363e-01 7.20113707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.39, Y:138.28, Z:0.72 [[-4.92328255e-02 -9.98787283e-01 3.03382982e-04 2.08390816e+02] [ 9.98784770e-01 -4.92333847e-02 -2.24875430e-03 1.38276099e+02] [ 2.26096376e-03 1.92301774e-04 9.99997426e-01 7.19088621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.411400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:208.39, Y:138.26, Z:0.72 [[-4.64713352e-02 -9.98919485e-01 5.27716596e-04 2.08394610e+02] [ 9.98911921e-01 -4.64730450e-02 -3.90260674e-03 1.38260323e+02] [ 3.92291451e-03 3.45783052e-04 9.99992246e-01 7.18727623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.24, Z:0.72 [[-4.22647008e-02 -9.99106107e-01 8.26308869e-04 2.08399541e+02] [ 9.99087664e-01 -4.22689632e-02 -6.09707637e-03 1.38244042e+02] [ 6.12655345e-03 5.67863890e-04 9.99981071e-01 7.18031260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.22, Z:0.72 [[-4.14719700e-02 -9.99139325e-01 8.27374391e-04 2.08402041e+02] [ 9.99120920e-01 -4.14762504e-02 -6.09156814e-03 1.38222124e+02] [ 6.12064167e-03 5.74017731e-04 9.99981104e-01 7.17905814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.22, Z:0.72 [[-4.08421621e-02 -9.99165394e-01 6.57881667e-04 2.08401777e+02] [ 9.99153810e-01 -4.08448709e-02 -4.83320135e-03 1.38220322e+02] [ 4.85603863e-03 4.59926581e-04 9.99988104e-01 7.17942676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.22, Z:0.72 [[-4.05580130e-02 -9.99177065e-01 4.89544412e-04 2.08401622e+02] [ 9.99170680e-01 -4.05595121e-02 -3.58875107e-03 1.38223127e+02] [ 3.60565344e-03 3.43585810e-04 9.99993441e-01 7.18192628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.27, Z:0.72 [[-4.17732650e-02 -9.99126645e-01 9.70395707e-04 2.08395676e+02] [ 9.99122396e-01 -4.17760335e-02 -3.03336999e-03 1.38270612e+02] [ 3.07126006e-03 8.42830315e-04 9.99994929e-01 7.17126863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.21, Z:0.72 [[-4.26450585e-02 -9.99090266e-01 1.99717250e-04 2.08403337e+02] [ 9.99075201e-01 -4.26455123e-02 -5.48661549e-03 1.38214215e+02] [ 5.49014117e-03 -3.44444875e-05 9.99984928e-01 7.17230982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.22, Z:0.72 [[-4.42528192e-02 -9.99019966e-01 8.92175032e-04 2.08400953e+02] [ 9.98998950e-01 -4.42577002e-02 -6.50795252e-03 1.38216842e+02] [ 6.54106012e-03 6.03286674e-04 9.99978425e-01 7.15999773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.22, Z:0.72 [[-4.64135775e-02 -9.98921858e-01 9.49650767e-04 2.08398404e+02] [ 9.98898140e-01 -4.64190468e-02 -6.91218638e-03 1.38222600e+02] [ 6.94881594e-03 6.27785087e-04 9.99975660e-01 7.16068537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.23, Z:0.72 [[-4.91187186e-02 -9.98792501e-01 9.43973257e-04 2.08395354e+02] [ 9.98769155e-01 -4.91240500e-02 -6.85591655e-03 1.38233926e+02] [ 6.89400983e-03 6.06057536e-04 9.99976052e-01 7.16771724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.36, Z:0.72 [[-5.25610164e-02 -9.98617587e-01 5.05335397e-04 2.08378001e+02] [ 9.98593186e-01 -5.25632654e-02 -6.98221498e-03 1.38356751e+02] [ 6.99912475e-03 1.37632168e-04 9.99975496e-01 7.17427362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.26, Z:0.72 [[-5.70977479e-02 -9.98367497e-01 1.47892164e-03 2.08390450e+02] [ 9.98340811e-01 -5.71071473e-02 -7.37551335e-03 1.38258542e+02] [ 7.44792980e-03 1.05534263e-03 9.99971707e-01 7.17192069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.26, Z:0.72 [[-5.85936788e-02 -9.98281376e-01 1.03656888e-03 2.08391122e+02] [ 9.98253446e-01 -5.85998180e-02 -7.49122083e-03 1.38259733e+02] [ 7.53908898e-03 5.95820272e-04 9.99971403e-01 7.16836041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.25, Z:0.72 [[-5.91757151e-02 -9.98247092e-01 9.89112534e-04 2.08392379e+02] [ 9.98221771e-01 -5.91812813e-02 -7.13248749e-03 1.38253908e+02] [ 7.17852184e-03 5.65283618e-04 9.99974074e-01 7.16587124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.26, Z:0.72 [[-5.92653505e-02 -9.98241816e-01 9.45782348e-04 2.08392158e+02] [ 9.98218768e-01 -5.92704295e-02 -6.80501659e-03 1.38255836e+02] [ 6.84910905e-03 5.40795996e-04 9.99976398e-01 7.16438572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.24, Z:0.72 [[-5.88085541e-02 -9.98268827e-01 9.50305320e-04 2.08393738e+02] [ 9.98245663e-01 -5.88136843e-02 -6.82255168e-03 1.38241859e+02] [ 6.86663162e-03 5.47413764e-04 9.99976275e-01 7.16903909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.25, Z:0.72 [[-5.79997478e-02 -9.98316105e-01 9.92141011e-04 2.08392038e+02] [ 9.98290972e-01 -5.80053510e-02 -7.10731001e-03 1.38247005e+02] [ 7.15289153e-03 5.78223227e-04 9.99974251e-01 7.17545402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.35, Z:0.72 [[-5.52648151e-02 -9.98468954e-01 -2.35544730e-03 2.08379532e+02] [ 9.98442490e-01 -5.52449881e-02 -7.78370266e-03 1.38347977e+02] [ 7.64165880e-03 -2.78194355e-03 9.99966932e-01 7.18307367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.23, Z:0.72 [[-5.31064294e-02 -9.98580101e-01 4.18201290e-03 2.08388476e+02] [ 9.98573848e-01 -5.31281273e-02 -5.26042647e-03 1.38230050e+02] [ 5.47513970e-03 3.89668625e-03 9.99977419e-01 7.16739808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.15497280e-02 -9.98670133e-01 7.68205105e-04 2.08391553e+02] [ 9.98655240e-01 -5.15531712e-02 -5.47553129e-03 1.38214799e+02] [ 5.50785297e-03 4.84909906e-04 9.99984714e-01 7.17615747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.29, Z:0.72 [[-4.97550177e-02 -9.98761426e-01 -2.28001965e-04 2.08379226e+02] [ 9.98750154e-01 -4.97533677e-02 -4.76790898e-03 1.38292266e+02] [ 4.75065971e-03 -4.64944393e-04 9.99988607e-01 7.17916171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.041400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.00301574e-02 -9.98746675e-01 1.43592728e-03 2.08389466e+02] [ 9.98740145e-01 -5.00353219e-02 -3.81965507e-03 1.38207215e+02] [ 3.88671489e-03 1.24302028e-03 9.99991674e-01 7.17729532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.08573767e-02 -9.98705808e-01 4.87032569e-04 2.08391365e+02] [ 9.98699881e-01 -5.08587596e-02 -3.45455183e-03 1.38214303e+02] [ 3.47485085e-03 3.10709925e-04 9.99993914e-01 7.19172071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.24, Z:0.72 [[-5.28772447e-02 -9.98600920e-01 4.45877805e-04 2.08388898e+02] [ 9.98595973e-01 -5.28783918e-02 -3.15584059e-03 1.38236517e+02] [ 3.17500262e-03 2.78379625e-04 9.99994921e-01 7.19384256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.23, Z:0.72 [[-5.53922023e-02 -9.98464594e-01 3.97685668e-04 2.08389845e+02] [ 9.98460673e-01 -5.53931034e-02 -2.80868259e-03 1.38229555e+02] [ 2.82639917e-03 2.41494386e-04 9.99995977e-01 7.19692757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.161400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.75948266e-02 -9.98339995e-01 3.00673902e-04 2.08392157e+02] [ 9.98337762e-01 -5.75953360e-02 -2.11904173e-03 1.38209768e+02] [ 2.13284152e-03 1.78128270e-04 9.99997710e-01 7.19538839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.91362934e-02 -9.98249880e-01 2.76862784e-04 2.08392028e+02] [ 9.98247994e-01 -5.91367217e-02 -1.94708369e-03 1.38213295e+02] [ 1.96004882e-03 1.61234406e-04 9.99998066e-01 7.19531212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.23, Z:0.72 [[-5.90444279e-02 -9.98255273e-01 4.06422483e-04 2.08390108e+02] [ 9.98251227e-01 -5.90453498e-02 -2.85194738e-03 1.38233892e+02] [ 2.87096887e-03 2.37320141e-04 9.99995851e-01 7.19503840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.251400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.90490648e-02 -9.98254938e-01 5.36284752e-04 2.08393871e+02] [ 9.98247924e-01 -5.90506672e-02 -3.75504668e-03 1.38207021e+02] [ 3.78016186e-03 3.13613145e-04 9.99992806e-01 7.19970169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.19, Z:0.72 [[-5.83405056e-02 -9.98296618e-01 4.98314487e-04 2.08395947e+02] [ 9.98290589e-01 -5.83418913e-02 -3.48180400e-03 1.38194014e+02] [ 3.50494577e-03 2.94332456e-04 9.99993814e-01 7.19835959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.79847375e-02 -9.98317332e-01 5.23968197e-04 2.08392259e+02] [ 9.98310696e-01 -5.79862695e-02 -3.65326869e-03 1.38213001e+02] [ 3.67750442e-03 3.11249229e-04 9.99993190e-01 7.19782182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.29, Z:0.72 [[-5.80666460e-02 -9.98312703e-01 -1.10047829e-04 2.08381655e+02] [ 9.98302572e-01 -5.80655592e-02 -4.51282830e-03 1.38286404e+02] [ 4.49882382e-03 -3.71905834e-04 9.99989811e-01 7.19445511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.18, Z:0.72 [[-5.70716392e-02 -9.98368929e-01 1.52002913e-03 2.08393723e+02] [ 9.98355872e-01 -5.70788847e-02 -5.24912267e-03 1.38183852e+02] [ 5.32732254e-03 1.21795398e-03 9.99985068e-01 7.18284466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-5.74047886e-02 -9.98350701e-01 7.53194054e-04 2.08389692e+02] [ 9.98337128e-01 -5.74079505e-02 -5.22560372e-03 1.38208847e+02] [ 5.26022447e-03 4.51966911e-04 9.99986063e-01 7.17995813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.32, Z:0.72 [[-5.85603568e-02 -9.98283852e-01 -1.88855499e-04 2.08373432e+02] [ 9.98269793e-01 -5.85585253e-02 -5.32163831e-03 1.38318668e+02] [ 5.30144650e-03 -5.00165778e-04 9.99985822e-01 7.17517544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.461400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.38, Y:138.22, Z:0.72 [[-5.94335936e-02 -9.98230730e-01 1.74837562e-03 2.08384459e+02] [ 9.98216705e-01 -5.94423545e-02 -5.47876260e-03 1.38216850e+02] [ 5.57299676e-03 1.41963520e-03 9.99983463e-01 7.16384384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.21, Z:0.72 [[-6.08211019e-02 -9.98148334e-01 8.35295266e-04 2.08385961e+02] [ 9.98131835e-01 -6.08249162e-02 -5.75925873e-03 1.38214162e+02] [ 5.79940127e-03 4.83450335e-04 9.99983066e-01 7.16737012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.22, Z:0.72 [[-6.44306668e-02 -9.97921708e-01 9.77030514e-04 2.08384063e+02] [ 9.97899214e-01 -6.44357959e-02 -6.72208566e-03 1.38222938e+02] [ 6.77107094e-03 5.41869521e-04 9.99976929e-01 7.17468291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.21, Z:0.72 [[-6.59165315e-02 -9.97824580e-01 1.05789413e-03 2.08384596e+02] [ 9.97798314e-01 -6.59224965e-02 -7.26289660e-03 1.38214187e+02] [ 7.31683577e-03 5.76820026e-04 9.99973065e-01 7.17635220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.21, Z:0.72 [[-6.73076675e-02 -9.97731702e-01 1.06256790e-03 2.08383916e+02] [ 9.97705309e-01 -6.73136395e-02 -7.27949029e-03 1.38211546e+02] [ 7.33450355e-03 5.70164127e-04 9.99972940e-01 7.17734774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.22, Z:0.72 [[-6.89730421e-02 -9.97618093e-01 9.27074992e-04 2.08382813e+02] [ 9.97598080e-01 -6.89775481e-02 -6.33780084e-03 1.38216746e+02] [ 6.38665215e-03 4.87710829e-04 9.99979486e-01 7.17773082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.22, Z:0.72 [[-7.10017847e-02 -9.97475841e-01 8.33042218e-04 2.08382917e+02] [ 9.97459744e-01 -7.10053850e-02 -5.68287074e-03 1.38220653e+02] [ 5.72767675e-03 4.27432112e-04 9.99983505e-01 7.18404366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.24, Z:0.72 [[-7.51472739e-02 -9.97172107e-01 8.22546649e-04 2.08383905e+02] [ 9.97156466e-01 -7.51507139e-02 -5.59926381e-03 1.38239985e+02] [ 5.64524466e-03 3.99438299e-04 9.99983986e-01 7.18306898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.25, Z:0.71 [[-7.86615959e-02 -9.96894443e-01 3.71789705e-03 2.08381363e+02] [ 9.96898658e-01 -7.86695432e-02 -2.04175764e-03 1.38252997e+02] [ 2.32790211e-03 3.54575867e-03 9.99991004e-01 7.14697178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.24, Z:0.72 [[-7.85712609e-02 -9.96905336e-01 -2.51155118e-03 2.08392884e+02] [ 9.96891975e-01 -7.85552036e-02 -5.95561551e-03 1.38235621e+02] [ 5.73988946e-03 -2.97168544e-03 9.99979111e-01 7.19058888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.33, Z:0.72 [[-7.99788068e-02 -9.96796554e-01 -1.44719365e-04 2.08378377e+02] [ 9.96785206e-01 -7.99772015e-02 -4.78553430e-03 1.38330808e+02] [ 4.75862984e-03 -5.26995445e-04 9.99988539e-01 7.18939509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.23, Z:0.72 [[-7.92331892e-02 -9.96855300e-01 1.26971845e-03 2.08392720e+02] [ 9.96851890e-01 -7.92364954e-02 -2.80856400e-03 1.38225936e+02] [ 2.90033995e-03 1.04318975e-03 9.99995250e-01 7.18788540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.21, Z:0.72 [[-7.72825739e-02 -9.97009230e-01 1.10277060e-05 2.08397020e+02] [ 9.97009227e-01 -7.72825745e-02 -7.46910731e-05 1.38211251e+02] [ 7.53199389e-05 5.22240632e-06 9.99999997e-01 7.19585620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.19, Z:0.72 [[-7.62621550e-02 -9.97087795e-01 -1.16511652e-04 2.08402789e+02] [ 9.97087488e-01 -7.62622232e-02 7.83989654e-04 1.38187877e+02] [-7.90591952e-04 -5.63835700e-05 9.99999686e-01 7.19573481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.20, Z:0.72 [[-7.54260163e-02 -9.97151390e-01 -1.43599758e-04 2.08404084e+02] [ 9.97150927e-01 -7.54261201e-02 9.64315339e-04 1.38202013e+02] [-9.72399553e-04 -7.04561678e-05 9.99999525e-01 7.20018666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.26, Z:0.72 [[-7.67759106e-02 -9.97048364e-01 -1.41553348e-04 2.08398252e+02] [ 9.97045352e-01 -7.67760267e-02 2.45098990e-03 1.38260857e+02] [-2.45462337e-03 4.70418731e-05 9.99996986e-01 7.17998990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.18, Z:0.72 [[-7.42919784e-02 -9.97236521e-01 -1.52320099e-04 2.08414791e+02] [ 9.97236390e-01 -7.42918852e-02 -5.46427488e-04 1.38175961e+02] [ 5.33601300e-04 -1.92494325e-04 9.99999839e-01 7.20777638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:138.17, Z:0.72 [[-7.45923322e-02 -9.97214108e-01 7.65957032e-05 2.08415033e+02] [ 9.97213978e-01 -7.45923617e-02 -5.12249185e-04 1.38173526e+02] [ 5.16535569e-04 3.81724445e-05 9.99999866e-01 7.20721508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:138.18, Z:0.72 [[-7.42352427e-02 -9.97240728e-01 2.42994135e-04 2.08417111e+02] [ 9.97239418e-01 -7.42355402e-02 -1.62109892e-03 1.38176703e+02] [ 1.63466467e-03 1.21980658e-04 9.99998657e-01 7.20591477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:138.17, Z:0.72 [[-7.34969303e-02 -9.97295434e-01 1.37424113e-04 2.08422417e+02] [ 9.97295017e-01 -7.34970257e-02 -9.15044855e-04 1.38174992e+02] [ 9.22670319e-04 6.97993955e-05 9.99999572e-01 7.20087548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.15, Z:0.72 [[-7.27055019e-02 -9.97353453e-01 -2.64601109e-05 2.08429369e+02] [ 9.97353437e-01 -7.27055054e-02 1.75483299e-04 1.38149042e+02] [-1.76942670e-04 -1.36314812e-05 9.99999984e-01 7.20227774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:138.22, Z:0.72 [[-7.23352465e-02 -9.97380060e-01 -7.92743127e-04 2.08422528e+02] [ 9.97380218e-01 -7.23356583e-02 5.03650665e-04 1.38221581e+02] [-5.59674727e-04 -7.54234618e-04 9.99999559e-01 7.20162679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:138.12, Z:0.72 [[-7.06325403e-02 -9.97502228e-01 5.91712670e-04 2.08439240e+02] [ 9.97502103e-01 -7.06320462e-02 8.17968193e-04 1.38122753e+02] [-7.74131217e-04 6.48009803e-04 9.99999490e-01 7.19463068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:138.14, Z:0.72 [[-6.94174164e-02 -9.97587701e-01 3.08529180e-05 2.08440632e+02] [ 9.97587680e-01 -6.94174213e-02 -2.04025142e-04 1.38136466e+02] [ 2.05674702e-04 1.66155928e-05 9.99999979e-01 7.18925666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:138.11, Z:0.72 [[-6.62287270e-02 -9.97804417e-01 3.19569253e-04 2.08448603e+02] [ 9.97802209e-01 -6.62292552e-02 -2.10631755e-03 1.38113466e+02] [ 2.12285779e-03 1.79368177e-04 9.99997731e-01 7.17865293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:138.10, Z:0.72 [[-6.51721171e-02 -9.97873997e-01 2.86670209e-04 2.08452468e+02] [ 9.97872228e-01 -6.51725434e-02 -1.88578948e-03 1.38098554e+02] [ 1.90046332e-03 1.63159347e-04 9.99998181e-01 7.18091770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:138.10, Z:0.72 [[-6.40070271e-02 -9.97949433e-01 1.69702701e-04 2.08453053e+02] [ 9.97948816e-01 -6.40071770e-02 -1.11427805e-03 1.38102854e+02] [ 1.12285534e-03 9.80329844e-05 9.99999365e-01 7.18200310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:138.09, Z:0.72 [[-6.23503254e-02 -9.98054317e-01 1.30515284e-04 2.08455906e+02] [ 9.98053954e-01 -6.23504146e-02 -8.55363625e-04 1.38090056e+02] [ 8.61837041e-04 7.69290944e-05 9.99999626e-01 7.18262993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:138.08, Z:0.72 [[-6.06110849e-02 -9.98161441e-01 1.83049433e-04 2.08457413e+02] [ 9.98160729e-01 -6.06112612e-02 -1.19721668e-03 1.38078930e+02] [ 1.20611038e-03 1.10148154e-04 9.99999267e-01 7.17784388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:138.08, Z:0.72 [[-5.90021346e-02 -9.98257831e-01 2.26846247e-04 2.08456355e+02] [ 9.98256742e-01 -5.90024067e-02 -1.48073228e-03 1.38076393e+02] [ 1.49153707e-03 1.39084430e-04 9.99998878e-01 7.16689639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:138.06, Z:0.72 [[-5.78582596e-02 -9.98324799e-01 1.32029418e-04 2.08454173e+02] [ 9.98324432e-01 -5.78583521e-02 -8.60280628e-04 1.38061016e+02] [ 8.66478490e-04 8.20338540e-05 9.99999621e-01 7.16517419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:138.07, Z:0.72 [[-5.88031347e-02 -9.98269582e-01 1.81953860e-04 2.08451650e+02] [ 9.98268887e-01 -5.88033095e-02 -1.18320176e-03 1.38068273e+02] [ 1.19185382e-03 1.12062905e-04 9.99999283e-01 7.17069870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:138.07, Z:0.72 [[-6.04398411e-02 -9.98171798e-01 2.94580448e-04 2.08450086e+02] [ 9.98169984e-01 -6.04402954e-02 -1.91173553e-03 1.38070298e+02] [ 1.92604502e-03 1.78496369e-04 9.99998129e-01 7.17236010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:138.07, Z:0.72 [[-6.27379110e-02 -9.98029950e-01 4.17094825e-04 2.08449047e+02] [ 9.98026324e-01 -6.27388121e-02 -2.70150414e-03 1.38069044e+02] [ 2.72235008e-03 2.46784888e-04 9.99996264e-01 7.17806453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.16, Z:0.72 [[-6.75360362e-02 -9.97714508e-01 2.15496606e-03 2.08430758e+02] [ 9.97715707e-01 -6.75390507e-02 -1.35808707e-03 1.38161571e+02] [ 1.50052753e-03 2.05832367e-03 9.99996756e-01 7.15911079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:138.09, Z:0.72 [[-6.81306923e-02 -9.97675473e-01 -1.36391168e-03 2.08443576e+02] [ 9.97670519e-01 -6.81255308e-02 -3.52806886e-03 1.38093509e+02] [ 3.42695056e-03 -1.60110425e-03 9.99992846e-01 7.18431874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:138.10, Z:0.72 [[-7.30230892e-02 -9.97330145e-01 4.59521910e-04 2.08439815e+02] [ 9.97325770e-01 -7.30241345e-02 -2.96390820e-03 1.38100055e+02] [ 2.98955119e-03 2.41859310e-04 9.99995502e-01 7.18014543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:138.11, Z:0.72 [[-7.52803331e-02 -9.97162352e-01 3.40439876e-04 2.08438034e+02] [ 9.97159959e-01 -7.52809007e-02 -2.19161718e-03 1.38108754e+02] [ 2.21102676e-03 1.74487341e-04 9.99997540e-01 7.17662838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.44, Y:138.10, Z:0.72 [[-7.72303057e-02 -9.97013255e-01 2.21906656e-04 2.08437810e+02] [ 9.97012242e-01 -7.72305446e-02 -1.42586146e-03 1.38101070e+02] [ 1.43874074e-03 1.11123936e-04 9.99998959e-01 7.16839570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:138.09, Z:0.72 [[-7.83416891e-02 -9.96926558e-01 1.33005596e-04 2.08439124e+02] [ 9.96926195e-01 -7.83417744e-02 -8.53090316e-04 1.38087564e+02] [ 8.60888287e-04 6.57642261e-05 9.99999627e-01 7.18010268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.11, Z:0.72 [[-7.95437175e-02 -9.96831357e-01 2.05775107e-04 2.08432978e+02] [ 9.96830492e-01 -7.95439203e-02 -1.31709097e-03 1.38106983e+02] [ 1.32928573e-03 1.00356590e-04 9.99999111e-01 7.18277164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.10, Z:0.72 [[-7.93127172e-02 -9.96849734e-01 3.17466497e-04 2.08433046e+02] [ 9.96847684e-01 -7.93131998e-02 -2.02784982e-03 1.38100010e+02] [ 2.04664083e-03 1.55631464e-04 9.99997894e-01 7.18110758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.10, Z:0.72 [[-7.87657628e-02 -9.96893092e-01 3.42298929e-04 2.08432592e+02] [ 9.96890718e-01 -7.87663246e-02 -2.18218565e-03 1.38099421e+02] [ 2.20236743e-03 1.69353108e-04 9.99997560e-01 7.17952921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.09, Z:0.72 [[-7.81599270e-02 -9.96940774e-01 3.45012486e-04 2.08433050e+02] [ 9.96938372e-01 -7.81604984e-02 -2.19520937e-03 1.38091549e+02] [ 2.21546008e-03 1.72378782e-04 9.99997531e-01 7.17665446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.781400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:208.43, Y:138.10, Z:0.72 [[-7.74281197e-02 -9.96997862e-01 3.86816093e-04 2.08431228e+02] [ 9.96994855e-01 -7.74288392e-02 -2.45638134e-03 1.38095828e+02] [ 2.47895766e-03 1.95460666e-04 9.99996908e-01 7.16287560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.08, Z:0.72 [[-7.66016350e-02 -9.97061685e-01 4.30243136e-04 2.08433048e+02] [ 9.97057981e-01 -7.66025271e-02 -2.72683390e-03 1.38083363e+02] [ 2.75177932e-03 2.20097418e-04 9.99996190e-01 7.16468709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.07, Z:0.72 [[-7.54968435e-02 -9.97145981e-01 3.46020429e-04 2.08434307e+02] [ 9.97143594e-01 -7.54974225e-02 -2.18888893e-03 1.38069681e+02] [ 2.20876545e-03 1.79777849e-04 9.99997545e-01 7.15956638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.07, Z:0.72 [[-7.48282121e-02 -9.97196400e-01 2.78858139e-04 2.08434748e+02] [ 9.97194857e-01 -7.48285886e-02 -1.76071660e-03 1.38067836e+02] [ 1.77664681e-03 1.46324627e-04 9.99998411e-01 7.16382305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:138.07, Z:0.72 [[-7.36110129e-02 -9.97287009e-01 2.01053526e-04 2.08435673e+02] [ 9.97286210e-01 -7.36112094e-02 -1.26712092e-03 1.38065355e+02] [ 1.27848303e-03 1.07233854e-04 9.99999177e-01 7.16988381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.05, Z:0.72 [[-7.05703293e-02 -9.97506805e-01 -5.29301218e-05 2.08434972e+02] [ 9.97506750e-01 -7.05703431e-02 3.32569557e-04 1.38051356e+02] [-3.35475693e-04 -2.93286106e-05 9.99999943e-01 7.17322877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.04, Z:0.72 [[-6.78989842e-02 -9.97692192e-01 -1.37742253e-04 2.08434141e+02] [ 9.97691820e-01 -6.78990783e-02 8.64317422e-04 1.38041065e+02] [-8.71675315e-04 -7.87380437e-05 9.99999617e-01 7.17153942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.02, Z:0.72 [[-6.50689484e-02 -9.97880757e-01 -1.64790112e-04 2.08434178e+02] [ 9.97880228e-01 -6.50690844e-02 1.03216890e-03 1.38022898e+02] [-1.04070422e-03 -9.72786499e-05 9.99999454e-01 7.16706481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.00, Z:0.72 [[-6.21335468e-02 -9.98067840e-01 -9.63648368e-05 2.08434242e+02] [ 9.98067660e-01 -6.21335937e-02 6.02347190e-04 1.38003866e+02] [-6.07170852e-04 -5.87526598e-05 9.99999814e-01 7.16396869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.00, Z:0.72 [[-5.99815411e-02 -9.98199486e-01 -2.83525326e-05 2.08430866e+02] [ 9.98199471e-01 -5.99815452e-02 1.76689843e-04 1.38000961e+02] [-1.78072339e-04 -1.77033540e-05 9.99999984e-01 7.16069648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.00, Z:0.72 [[-5.85525656e-02 -9.98284326e-01 3.39477134e-05 2.08427225e+02] [ 9.98284304e-01 -5.85525715e-02 -2.11816684e-04 1.37996481e+02] [ 2.13441002e-04 2.14870592e-05 9.99999977e-01 7.15098747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.02, Z:0.71 [[-6.06320429e-02 -9.98157951e-01 2.11196464e-03 2.08412004e+02] [ 9.98160174e-01 -6.06315904e-02 2.77718205e-04 1.38018860e+02] [-1.49154859e-04 2.12491761e-03 9.99997731e-01 7.13359484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.01, Z:0.71 [[-6.03898418e-02 -9.98172952e-01 -1.95550159e-03 2.08412940e+02] [ 9.98174396e-01 -6.03877917e-02 -1.09099763e-03 1.38009222e+02] [ 9.70915900e-04 -2.01781679e-03 9.99997493e-01 7.14573336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.02, Z:0.71 [[-6.33249690e-02 -9.97992955e-01 1.00878828e-04 2.08406222e+02] [ 9.97992760e-01 -6.33250199e-02 -6.26356484e-04 1.38015736e+02] [ 6.31487512e-04 6.10123349e-05 9.99999799e-01 7.14225282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.04, Z:0.71 [[-6.68091028e-02 -9.97765768e-01 1.26276416e-04 2.08398409e+02] [ 9.97765464e-01 -6.68091815e-02 -7.82510377e-04 1.38043510e+02] [ 7.89198491e-04 7.37154305e-05 9.99999686e-01 7.14817255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.04, Z:0.72 [[-7.02546979e-02 -9.97529079e-01 1.15397774e-04 2.08395905e+02] [ 9.97528826e-01 -7.02547626e-02 -7.13783548e-04 1.38035887e+02] [ 7.20127089e-04 6.49659588e-05 9.99999739e-01 7.15191097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.07, Z:0.72 [[-7.34385117e-02 -9.97299743e-01 8.41178674e-05 2.08385698e+02] [ 9.97299609e-01 -7.34385457e-02 -5.19408431e-04 1.38069535e+02] [ 5.24183389e-04 4.57461341e-05 9.99999862e-01 7.15531679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:138.05, Z:0.72 [[-7.72893029e-02 -9.97008698e-01 1.41086190e-04 2.08375819e+02] [ 9.97008322e-01 -7.72893967e-02 -8.69302085e-04 1.38054244e+02] [ 8.77606207e-04 7.34763538e-05 9.99999612e-01 7.15085315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.08, Z:0.71 [[-7.88253161e-02 -9.96888411e-01 2.56664540e-04 2.08366405e+02] [ 9.96887170e-01 -7.88256243e-02 -1.57815575e-03 1.38079120e+02] [ 1.59347692e-03 1.31466961e-04 9.99998722e-01 7.14519860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.13, Z:0.71 [[-8.25586991e-02 -9.96580975e-01 3.22832367e-03 2.08351134e+02] [ 9.96585975e-01 -8.25604400e-02 -4.09550280e-04 1.38130426e+02] [ 6.74681840e-04 3.18349016e-03 9.99994705e-01 7.13402434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.08, Z:0.71 [[-8.23925656e-02 -9.96596320e-01 -2.69061332e-03 2.08362004e+02] [ 9.96596882e-01 -8.23853102e-02 -2.70459533e-03 1.38079054e+02] [ 2.47372275e-03 -2.90429539e-03 9.99992723e-01 7.14940470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.09, Z:0.72 [[-8.52454200e-02 -9.96359930e-01 3.29632532e-04 2.08355719e+02] [ 9.96357899e-01 -8.52459138e-02 -2.01790255e-03 1.38088394e+02] [ 2.03865707e-03 1.56415026e-04 9.99997910e-01 7.15029659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.11, Z:0.72 [[-9.25831391e-02 -9.95704957e-01 4.40427741e-05 2.08349499e+02] [ 9.95704920e-01 -9.25831476e-02 -2.69378540e-04 1.38110632e+02] [ 2.72299166e-04 1.89136961e-05 9.99999963e-01 7.16612534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.11, Z:0.72 [[-9.65609365e-02 -9.95327069e-01 -1.05760760e-04 2.08350264e+02] [ 9.95326861e-01 -9.65609848e-02 6.44465729e-04 1.38107478e+02] [-6.51666548e-04 -4.30363114e-05 9.99999787e-01 7.16815692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.12, Z:0.72 [[-1.00592338e-01 -9.94927701e-01 -2.27852932e-04 2.08349623e+02] [ 9.94926739e-01 -1.00592559e-01 1.38610753e-03 1.38117955e+02] [-1.40199709e-03 -8.72651765e-05 9.99999013e-01 7.16454173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:138.13, Z:0.72 [[-1.03790305e-01 -9.94599160e-01 -2.88924982e-04 2.08349993e+02] [ 9.94597619e-01 -1.03790654e-01 1.75424850e-03 1.38127475e+02] [-1.77476180e-03 -1.05290111e-04 9.99998420e-01 7.16116708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.13, Z:0.72 [[-1.07844919e-01 -9.94167720e-01 -1.34861196e-04 2.08355839e+02] [ 9.94167385e-01 -1.07844994e-01 8.17028983e-04 1.38126693e+02] [-8.26807946e-04 -4.59621776e-05 9.99999657e-01 7.15096283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.12, Z:0.72 [[-1.08783626e-01 -9.94065451e-01 4.80176397e-05 2.08360698e+02] [ 9.94065408e-01 -1.08783635e-01 -2.90787840e-04 1.38116521e+02] [ 2.94285678e-04 1.60997191e-05 9.99999957e-01 7.15150419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:138.12, Z:0.72 [[-1.09417306e-01 -9.93995896e-01 1.09719309e-04 2.08363060e+02] [ 9.93995676e-01 -1.09417355e-01 -6.62708640e-04 1.38119673e+02] [ 6.70734865e-04 3.65487247e-05 9.99999774e-01 7.15181411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.10, Z:0.72 [[-1.09241834e-01 -9.94015200e-01 5.76776987e-05 2.08368269e+02] [ 9.94015140e-01 -1.09241847e-01 -3.47851968e-04 1.38104839e+02] [ 3.52070963e-04 1.93325188e-05 9.99999938e-01 7.15791765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.11, Z:0.72 [[-1.08276866e-01 -9.94120775e-01 -6.78608613e-05 2.08370144e+02] [ 9.94120692e-01 -1.08276885e-01 4.07744453e-04 1.38111935e+02] [-4.12694994e-04 -2.33125947e-05 9.99999915e-01 7.16594311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.711400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.38, Y:138.10, Z:0.72 [[-1.07091648e-01 -9.94249109e-01 -2.97174508e-04 2.08375245e+02] [ 9.94247515e-01 -1.07092010e-01 1.78323309e-03 1.38098527e+02] [-1.80480292e-03 -1.04495645e-04 9.99998366e-01 7.16367962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:138.15, Z:0.71 [[-1.02907795e-01 -9.94690477e-01 9.17345354e-04 2.08371395e+02] [ 9.94684242e-01 -1.02903689e-01 3.75351610e-03 1.38146976e+02] [-3.63918849e-03 1.29873503e-03 9.99992535e-01 7.14921316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.07, Z:0.72 [[-9.97548327e-02 -9.95010384e-01 -1.81907131e-03 2.08388888e+02] [ 9.95010441e-01 -9.97577896e-02 1.61423341e-03 1.38072065e+02] [-1.78764554e-03 -1.64896736e-03 9.99997043e-01 7.16202967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.06, Z:0.72 [[-9.81381294e-02 -9.95172736e-01 -3.65668959e-04 2.08391279e+02] [ 9.95170349e-01 -9.81386968e-02 2.18468870e-03 1.38056164e+02] [-2.21002891e-03 -1.49501643e-04 9.99997547e-01 7.15517513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:138.06, Z:0.72 [[-9.69371086e-02 -9.95290378e-01 -5.10344567e-04 2.08391238e+02] [ 9.95285748e-01 -9.69382181e-02 3.04341618e-03 1.38061510e+02] [-3.07855474e-03 -2.12918709e-04 9.99995239e-01 7.15556161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.04, Z:0.72 [[-9.66498667e-02 -9.95318265e-01 -5.95103780e-04 2.08395255e+02] [ 9.95311993e-01 -9.66513756e-02 3.54225887e-03 1.38040087e+02] [-3.58319255e-03 -2.49955081e-04 9.99993549e-01 7.16031244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.04, Z:0.72 [[-9.69535790e-02 -9.95288726e-01 -5.96184396e-04 2.08395737e+02] [ 9.95282455e-01 -9.69550898e-02 3.54207717e-03 1.38037677e+02] [-3.58319258e-03 -2.49954810e-04 9.99993549e-01 7.16030842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.05, Z:0.72 [[-9.69642636e-02 -9.95287740e-01 -4.96729918e-04 2.08395034e+02] [ 9.95283403e-01 -9.69653112e-02 2.94563252e-03 1.38048169e+02] [-2.97991750e-03 -2.08765956e-04 9.99995538e-01 7.16191411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.06, Z:0.71 [[-9.82173805e-02 -9.95164973e-01 1.50526689e-04 2.08395269e+02] [ 9.95164576e-01 -9.82174762e-02 -8.91336770e-04 1.38062690e+02] [ 9.01811484e-04 6.22540657e-05 9.99999591e-01 7.14643652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.05, Z:0.71 [[-9.96892913e-02 -9.95018578e-01 2.72057545e-04 2.08398128e+02] [ 9.95017286e-01 -9.96896014e-02 -1.60770911e-03 1.38049000e+02] [ 1.62682174e-03 1.10430578e-04 9.99998671e-01 7.13852630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.07, Z:0.71 [[-1.01720352e-01 -9.94813010e-01 2.12893006e-04 2.08395124e+02] [ 9.94812221e-01 -1.01720540e-01 -1.25577763e-03 1.38065729e+02] [ 1.27091951e-03 8.40504224e-05 9.99999189e-01 7.13792382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.07, Z:0.71 [[-1.04363074e-01 -9.94539264e-01 2.88310247e-05 2.08395085e+02] [ 9.94539250e-01 -1.04363077e-01 -1.69999639e-04 1.38065608e+02] [ 1.72080211e-04 1.09319008e-05 9.99999985e-01 7.13935122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.07, Z:0.71 [[-1.09077134e-01 -9.94033288e-01 -2.62504209e-05 2.08397784e+02] [ 9.94033276e-01 -1.09077136e-01 1.53923100e-04 1.38066643e+02] [-1.55868006e-04 -9.30430126e-06 9.99999988e-01 7.14956136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.06, Z:0.72 [[-1.10969594e-01 -9.93823797e-01 1.01946256e-04 2.08400044e+02] [ 9.93823617e-01 -1.10969635e-01 -5.98097730e-04 1.38063788e+02] [ 6.05716695e-04 3.49459345e-05 9.99999816e-01 7.15157043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.07, Z:0.71 [[-1.12398163e-01 -9.93663233e-01 1.81229807e-04 2.08399458e+02] [ 9.93662668e-01 -1.12398292e-01 -1.06099748e-03 1.38073987e+02] [ 1.07464411e-03 6.08271262e-05 9.99999421e-01 7.14623022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:138.06, Z:0.71 [[-1.13295237e-01 -9.93561356e-01 1.42548617e-04 2.08402971e+02] [ 9.93561008e-01 -1.13295317e-01 -8.33026993e-04 1.38064412e+02] [ 8.43813520e-04 4.72527570e-05 9.99999643e-01 7.14870121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.06, Z:0.72 [[-1.13481868e-01 -9.93540067e-01 -2.52074858e-05 2.08405352e+02] [ 9.93540056e-01 -1.13481870e-01 1.46681070e-04 1.38064888e+02] [-1.48594113e-04 -8.39900505e-06 9.99999989e-01 7.15546734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.07, Z:0.72 [[-1.12230902e-01 -9.93682134e-01 -2.01961587e-04 2.08410847e+02] [ 9.93681442e-01 -1.12231062e-01 1.17506489e-03 1.38065980e+02] [-1.19030735e-03 -6.88068891e-05 9.99999289e-01 7.16599030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.06, Z:0.72 [[-1.11711573e-01 -9.93740670e-01 -7.63105438e-05 2.08414480e+02] [ 9.93740571e-01 -1.11711596e-01 4.42977376e-04 1.38055471e+02] [-4.48729407e-04 -2.63471839e-05 9.99999899e-01 7.16044433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:138.05, Z:0.72 [[-1.10567519e-01 -9.93868610e-01 1.01599270e-04 2.08416923e+02] [ 9.93868436e-01 -1.10567560e-01 -5.89362119e-04 1.38047847e+02] [ 5.96982093e-04 3.58119999e-05 9.99999821e-01 7.15227507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:138.02, Z:0.71 [[-1.08756159e-01 -9.94068436e-01 2.05914375e-04 2.08422858e+02] [ 9.94067724e-01 -1.08756328e-01 -1.19196880e-03 1.38022798e+02] [ 1.20729306e-03 7.50588857e-05 9.99999268e-01 7.14544516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:138.09, Z:0.71 [[-1.03407311e-01 -9.94638871e-01 6.66463572e-04 2.08413551e+02] [ 9.94639050e-01 -1.03407483e-01 -2.29174846e-04 1.38089338e+02] [ 2.96863531e-04 6.39192339e-04 9.99999752e-01 7.14877196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.99, Z:0.72 [[-9.91827428e-02 -9.95069021e-01 -6.53231008e-04 2.08433641e+02] [ 9.95069215e-01 -9.91828533e-02 1.38893000e-04 1.37985981e+02] [-2.02997436e-04 -6.36234278e-04 9.99999777e-01 7.16184384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:138.00, Z:0.72 [[-9.55597765e-02 -9.95423672e-01 -2.03667948e-04 2.08429871e+02] [ 9.95422985e-01 -9.55599506e-02 1.17344768e-03 1.38004043e+02] [-1.18754010e-03 -9.06013588e-05 9.99999291e-01 7.16500905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.96, Z:0.72 [[-9.18530268e-02 -9.95772560e-01 -1.76495398e-04 2.08437315e+02] [ 9.95772046e-01 -9.18531593e-02 1.01503904e-03 1.37958312e+02] [-1.02695968e-03 -8.25147750e-05 9.99999469e-01 7.16338191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.95, Z:0.72 [[-8.84919756e-02 -9.96076890e-01 -5.43490077e-06 2.08437784e+02] [ 9.96076889e-01 -8.84919758e-02 3.09451857e-05 1.37953033e+02] [-3.13047293e-05 -2.67517841e-06 1.00000000e+00 7.15410506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.94, Z:0.71 [[-8.58852032e-02 -9.96305015e-01 2.21735698e-04 2.08440550e+02] [ 9.96304210e-01 -8.58854168e-02 -1.27134634e-03 1.37938262e+02] [ 1.28569259e-03 1.11726371e-04 9.99999167e-01 7.14446268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.92, Z:0.71 [[-8.42419916e-02 -9.96445289e-01 2.70242724e-04 2.08442556e+02] [ 9.96444098e-01 -8.42423105e-02 -1.54671913e-03 1.37923922e+02] [ 1.56398686e-03 1.38983068e-04 9.99998767e-01 7.14148068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.93, Z:0.71 [[-8.51464153e-02 -9.96368431e-01 1.93199686e-04 2.08441729e+02] [ 9.96367825e-01 -8.51465775e-02 -1.10392993e-03 1.37925548e+02] [ 1.11637122e-03 9.85022746e-05 9.99999372e-01 7.14042717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.93, Z:0.71 [[-8.66010950e-02 -9.96243060e-01 1.23257158e-04 2.08440433e+02] [ 9.96242814e-01 -8.66011606e-02 -7.03158626e-04 1.37929392e+02] [ 7.11191114e-04 6.18997508e-05 9.99999745e-01 7.14161223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.93, Z:0.71 [[-8.97303100e-02 -9.95966099e-01 4.58812474e-05 2.08439205e+02] [ 9.95966064e-01 -8.97303190e-02 -2.61453807e-04 1.37932938e+02] [ 2.64516067e-04 2.22358343e-05 9.99999965e-01 7.14038077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.94, Z:0.71 [[-9.15785267e-02 -9.95797856e-01 6.21180937e-05 2.08437697e+02] [ 9.95797794e-01 -9.15785430e-02 -3.53273195e-04 1.37937298e+02] [ 3.57477374e-04 2.95048220e-05 9.99999936e-01 7.14034622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.94, Z:0.71 [[-9.32025648e-02 -9.95647163e-01 8.89286584e-05 2.08437474e+02] [ 9.95647036e-01 -9.32025979e-02 -5.04756933e-04 1.37935494e+02] [ 5.10848190e-04 4.14969145e-05 9.99999869e-01 7.14097203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.94, Z:0.71 [[-9.41617909e-02 -9.95556901e-01 1.20678142e-04 2.08436971e+02] [ 9.95556668e-01 -9.41618518e-02 -6.83682077e-04 1.37939597e+02] [ 6.92007687e-04 5.57651997e-05 9.99999759e-01 7.14269484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.96, Z:0.71 [[-9.49802692e-02 -9.95479150e-01 1.01427269e-04 2.08435641e+02] [ 9.95478986e-01 -9.49803120e-02 -5.73657555e-04 1.37956621e+02] [ 5.80697729e-04 4.64825655e-05 9.99999830e-01 7.13948452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.96, Z:0.71 [[-9.61458805e-02 -9.95367251e-01 6.65650041e-05 2.08438107e+02] [ 9.95367181e-01 -9.61458988e-02 -3.75911867e-04 1.37956695e+02] [ 3.80570314e-04 3.01142431e-05 9.99999927e-01 7.13928813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:137.95, Z:0.71 [[-9.98937420e-02 -9.94998101e-01 -1.37122606e-04 2.08445166e+02] [ 9.94997803e-01 -9.98938186e-02 7.72206877e-04 1.37951033e+02] [-7.82042077e-04 -5.92980572e-05 9.99999692e-01 7.14202901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:137.97, Z:0.71 [[-1.02006245e-01 -9.94783751e-01 -1.20066414e-04 2.08445097e+02] [ 9.94783523e-01 -1.02006304e-01 6.74930358e-04 1.37972821e+02] [-6.83657284e-04 -5.05929787e-05 9.99999765e-01 7.14410102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.94, Z:0.71 [[-1.03630671e-01 -9.94615847e-01 -3.50652203e-05 2.08455082e+02] [ 9.94615828e-01 -1.03630676e-01 1.96580022e-04 1.37942430e+02] [-1.99155437e-04 -1.45047034e-05 9.99999980e-01 7.14528549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.94, Z:0.71 [[-1.04806402e-01 -9.94492639e-01 9.82575243e-05 2.08459468e+02] [ 9.94492487e-01 -1.04806440e-01 -5.50884474e-04 1.37944037e+02] [ 5.58148575e-04 3.99801503e-05 9.99999843e-01 7.14492371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.97, Z:0.71 [[-1.05454881e-01 -9.94424068e-01 2.02687038e-04 2.08459285e+02] [ 9.94423425e-01 -1.05455044e-01 -1.13410801e-03 1.37967725e+02] [ 1.14915867e-03 8.19595131e-05 9.99999336e-01 7.14283939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.93, Z:0.71 [[-1.05520243e-01 -9.94417136e-01 1.92585581e-04 2.08469369e+02] [ 9.94416558e-01 -1.05520390e-01 -1.07572005e-03 1.37932120e+02] [ 1.09003615e-03 7.80000499e-05 9.99999403e-01 7.13647240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.95, Z:0.71 [[-1.03963361e-01 -9.94581125e-01 6.89041315e-05 2.08473562e+02] [ 9.94581051e-01 -1.03963380e-01 -3.84376000e-04 1.37946304e+02] [ 3.89456621e-04 2.85697228e-05 9.99999924e-01 7.12995381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.94, Z:0.71 [[-1.03570722e-01 -9.94622079e-01 1.58680280e-04 2.08478908e+02] [ 9.94621689e-01 -1.03570823e-01 -8.83313233e-04 1.37937986e+02] [ 8.94997492e-04 6.63414590e-05 9.99999597e-01 7.13600080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.92, Z:0.71 [[-1.03366920e-01 -9.94643233e-01 3.44891674e-04 2.08486095e+02] [ 9.94641398e-01 -1.03367394e-01 -1.91627600e-03 1.37919474e+02] [ 1.94166151e-03 1.44963988e-04 9.99998104e-01 7.14038322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.92, Z:0.71 [[-1.03203075e-01 -9.94660122e-01 6.06695453e-04 2.08490314e+02] [ 9.94654463e-01 -1.03204540e-01 -3.36495286e-03 1.37915833e+02] [ 3.40959815e-03 2.56178858e-04 9.99994155e-01 7.14465440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.90, Z:0.71 [[-1.02028598e-01 -9.94781262e-01 6.36764323e-04 2.08499445e+02] [ 9.94775052e-01 -1.02030218e-01 -3.52571708e-03 1.37903476e+02] [ 3.57228649e-03 2.73713292e-04 9.99993582e-01 7.13660944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.89, Z:0.71 [[-1.01233432e-01 -9.94862629e-01 3.75183338e-04 2.08506060e+02] [ 9.94860481e-01 -1.01233996e-01 -2.07396840e-03 1.37889214e+02] [ 2.10129496e-03 1.63300137e-04 9.99997779e-01 7.14233604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.89, Z:0.71 [[-1.00438898e-01 -9.94943227e-01 5.69444066e-05 2.08508786e+02] [ 9.94943177e-01 -1.00438911e-01 -3.14467307e-04 1.37893832e+02] [ 3.18596552e-04 2.50716989e-05 9.99999949e-01 7.14568031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.86, Z:0.72 [[-9.96651156e-02 -9.95021035e-01 -7.15399354e-05 2.08517847e+02] [ 9.95020957e-01 -9.96651362e-02 3.93847110e-04 1.37858595e+02] [-3.99016196e-04 -3.19309173e-05 9.99999920e-01 7.15164036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.89, Z:0.72 [[-9.90698627e-02 -9.95080479e-01 4.44277572e-05 2.08512407e+02] [ 9.95080449e-01 -9.90698706e-02 -2.44584741e-04 1.37893705e+02] [ 2.47782954e-04 1.99782159e-05 9.99999969e-01 7.15047069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.87, Z:0.71 [[-9.84140729e-02 -9.95145527e-01 2.24060367e-04 2.08517010e+02] [ 9.95144772e-01 -9.84142752e-02 -1.23044176e-03 1.37869165e+02] [ 1.24651935e-03 1.01879717e-04 9.99999218e-01 7.14000054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.86, Z:0.71 [[-9.69983880e-02 -9.95284487e-01 3.20696536e-04 2.08519940e+02] [ 9.95282945e-01 -9.69988042e-02 -1.75810957e-03 1.37861038e+02] [ 1.78092636e-03 1.48649999e-04 9.99998403e-01 7.12961820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.86, Z:0.71 [[-9.64014801e-02 -9.95342512e-01 1.98701544e-04 2.08520928e+02] [ 9.95341922e-01 -9.64016401e-02 -1.08761361e-03 1.37863062e+02] [ 1.10170322e-03 9.29284142e-05 9.99999389e-01 7.13657306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:137.84, Z:0.71 [[-9.62113510e-02 -9.95360926e-01 6.20177554e-05 2.08525642e+02] [ 9.95360868e-01 -9.62113666e-02 -3.39073850e-04 1.37838003e+02] [ 3.43467674e-04 2.91072936e-05 9.99999941e-01 7.14124052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.85, Z:0.71 [[-9.61018547e-02 -9.95371502e-01 8.66384182e-05 2.08521850e+02] [ 9.95371390e-01 -9.61018851e-02 -4.72814082e-04 1.37851539e+02] [ 4.78951778e-04 4.07990926e-05 9.99999884e-01 7.14638516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.84, Z:0.71 [[-9.56207859e-02 -9.95417823e-01 1.53790716e-04 2.08521510e+02] [ 9.95417473e-01 -9.56208817e-02 -8.37728602e-04 1.37838485e+02] [ 8.48595585e-04 7.29816983e-05 9.99999637e-01 7.14715172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.84, Z:0.71 [[-9.51620725e-02 -9.95461775e-01 1.87592004e-04 2.08518607e+02] [ 9.95461256e-01 -9.51622151e-02 -1.02013622e-03 1.37839012e+02] [ 1.03335829e-03 8.96622941e-05 9.99999462e-01 7.13816710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.83, Z:0.71 [[-9.20713885e-02 -9.95752404e-01 9.48544421e-05 2.08515722e+02] [ 9.95752272e-01 -9.20714253e-02 -5.15107707e-04 1.37830588e+02] [ 5.21653122e-04 4.70248444e-05 9.99999863e-01 7.13806437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.83, Z:0.71 [[-9.06799235e-02 -9.95880086e-01 8.16221200e-05 2.08512509e+02] [ 9.95879988e-01 -9.06799509e-02 -4.42565405e-04 1.37834464e+02] [ 4.48143564e-04 4.11540388e-05 9.99999899e-01 7.14188568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.80, Z:0.71 [[-9.00918344e-02 -9.95933450e-01 1.56934632e-04 2.08515623e+02] [ 9.95933091e-01 -9.00919358e-02 -8.49326099e-04 1.37803030e+02] [ 8.60010817e-04 7.97790472e-05 9.99999627e-01 7.13563097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.81, Z:0.71 [[-9.12595387e-02 -9.95826978e-01 5.70846487e-04 2.08508287e+02] [ 9.95822245e-01 -9.12608727e-02 -3.08383195e-03 1.37812943e+02] [ 3.12305901e-03 2.87032548e-04 9.99995082e-01 7.13065993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.82, Z:0.71 [[-9.25035294e-02 -9.95712143e-01 6.51484008e-04 2.08505750e+02] [ 9.95705996e-01 -9.25052574e-02 -3.51377343e-03 1.37815223e+02] [ 3.55897256e-03 3.23650090e-04 9.99993614e-01 7.13054021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.84, Z:0.71 [[-9.36651795e-02 -9.95603505e-01 7.03205951e-04 2.08499057e+02] [ 9.95596364e-01 -9.36671822e-02 -3.78658209e-03 1.37843245e+02] [ 3.83580172e-03 3.45438397e-04 9.99992584e-01 7.13125395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.82, Z:0.71 [[-9.44345909e-02 -9.95530797e-01 7.34493607e-04 2.08501454e+02] [ 9.95523031e-01 -9.44367675e-02 -3.94863911e-03 1.37820741e+02] [ 4.00035505e-03 3.58317183e-04 9.99991934e-01 7.13174367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.83, Z:0.71 [[-9.46777860e-02 -9.95507703e-01 7.28237378e-04 2.08497397e+02] [ 9.95500093e-01 -9.46799215e-02 -3.90868483e-03 1.37830406e+02] [ 3.96007531e-03 3.54894752e-04 9.99992096e-01 7.13005701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.82, Z:0.71 [[-9.46899516e-02 -9.95506567e-01 6.98736183e-04 2.08496952e+02] [ 9.95499584e-01 -9.46919154e-02 -3.74429973e-03 1.37818239e+02] [ 3.79363964e-03 3.41044019e-04 9.99992746e-01 7.13039401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.82, Z:0.71 [[-9.55315785e-02 -9.95426152e-01 7.01809145e-04 2.08491272e+02] [ 9.95419129e-01 -9.55335516e-02 -3.75471336e-03 1.37819639e+02] [ 3.80458619e-03 3.39900554e-04 9.99992705e-01 7.12492629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.84, Z:0.71 [[-9.70117467e-02 -9.95282924e-01 7.88973734e-04 2.08485964e+02] [ 9.95274073e-01 -9.70142247e-02 -4.21419257e-03 1.37835756e+02] [ 4.27085557e-03 3.76418920e-04 9.99990809e-01 7.12247161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.83, Z:0.71 [[-9.73045883e-02 -9.95254336e-01 7.90213420e-04 2.08486488e+02] [ 9.95245486e-01 -9.73070688e-02 -4.21396028e-03 1.37833367e+02] [ 4.27085559e-03 3.76418669e-04 9.99990809e-01 7.12246778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.84, Z:0.71 [[-9.91057736e-02 -9.95076514e-01 8.81629660e-04 2.08483649e+02] [ 9.95065529e-01 -9.91088382e-02 -4.69378540e-03 1.37838584e+02] [ 4.75805290e-03 4.12098050e-04 9.99988596e-01 7.12044807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.84, Z:0.71 [[-1.03036246e-01 -9.94677371e-01 6.77410993e-04 2.08478901e+02] [ 9.94670900e-01 -1.03038028e-01 -3.60070739e-03 1.37842233e+02] [ 3.65134125e-03 3.02797631e-04 9.99993288e-01 7.12454604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.85, Z:0.71 [[-1.05415812e-01 -9.94428114e-01 4.81712594e-04 2.08475059e+02] [ 9.94424851e-01 -1.05416704e-01 -2.55637249e-03 1.37854407e+02] [ 2.59290923e-03 2.09544892e-04 9.99996616e-01 7.13316346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.87, Z:0.71 [[-1.08224057e-01 -9.94126452e-01 3.88897096e-04 2.08470415e+02] [ 9.94124330e-01 -1.08224632e-01 -2.06045499e-03 1.37873523e+02] [ 2.09044105e-03 1.63621266e-04 9.99997802e-01 7.14093504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.87, Z:0.71 [[-1.11146516e-01 -9.93803936e-01 4.34313977e-04 2.08470754e+02] [ 9.93801297e-01 -1.11147225e-01 -2.29723698e-03 1.37868826e+02] [ 2.33127594e-03 1.76291906e-04 9.99997267e-01 7.14552914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.87, Z:0.71 [[-1.17040745e-01 -9.93127021e-01 4.29757753e-04 2.08469586e+02] [ 9.93124441e-01 -1.17041423e-01 -2.26937120e-03 1.37871213e+02] [ 2.30407332e-03 1.61194032e-04 9.99997333e-01 7.13772863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.89, Z:0.71 [[-1.20314622e-01 -9.92735801e-01 1.46799450e-04 2.08466528e+02] [ 9.92735500e-01 -1.20314700e-01 -7.74059606e-04 1.37887326e+02] [ 7.86098814e-04 5.26023369e-05 9.99999690e-01 7.13543519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.90, Z:0.71 [[-1.24004959e-01 -9.92281582e-01 -1.77173126e-04 2.08464284e+02] [ 9.92281147e-01 -1.24005071e-01 9.32091807e-04 1.37903378e+02] [-9.46867900e-04 -6.02215468e-05 9.99999550e-01 7.14315185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.90, Z:0.71 [[-1.27563381e-01 -9.91830274e-01 -5.39204516e-04 2.08465908e+02] [ 9.91826245e-01 -1.27564402e-01 2.83242807e-03 1.37901144e+02] [-2.87807121e-03 -1.73483091e-04 9.99995843e-01 7.14535736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.92, Z:0.71 [[-1.30695787e-01 -9.91422261e-01 -7.14783057e-04 2.08463832e+02] [ 9.91415199e-01 -1.30697559e-01 3.74845257e-03 1.37915693e+02] [-3.80971972e-03 -2.18739827e-04 9.99992719e-01 7.14726060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.91, Z:0.71 [[-1.34705142e-01 -9.90885618e-01 -4.65348403e-04 2.08465626e+02] [ 9.90882632e-01 -1.34705880e-01 2.43613129e-03 1.37912559e+02] [-2.47661262e-03 -1.32946239e-04 9.99996924e-01 7.13979550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.92, Z:0.71 [[-1.35456526e-01 -9.90783267e-01 -2.18929179e-04 2.08465989e+02] [ 9.90782608e-01 -1.35456689e-01 1.14402453e-03 1.37917417e+02] [-1.16313579e-03 -6.19456341e-05 9.99999322e-01 7.13391607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.91, Z:0.71 [[-1.35295342e-01 -9.90805308e-01 1.08771962e-04 2.08468527e+02] [ 9.90805146e-01 -1.35295382e-01 -5.67808187e-04 1.37909557e+02] [ 5.77303710e-04 3.09500173e-05 9.99999833e-01 7.13644350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.91, Z:0.71 [[-1.34497775e-01 -9.90913859e-01 2.71231891e-04 2.08469117e+02] [ 9.90912854e-01 -1.34498025e-01 -1.41309719e-03 1.37909452e+02] [ 1.43673775e-03 7.87087395e-05 9.99998965e-01 7.13854238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.90, Z:0.71 [[-1.31051309e-01 -9.91375573e-01 1.68026445e-04 2.08469608e+02] [ 9.91375189e-01 -1.31051406e-01 -8.74022854e-04 1.37897044e+02] [ 8.88505009e-04 5.20354096e-05 9.99999604e-01 7.14206322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.90, Z:0.71 [[-1.29175533e-01 -9.91621709e-01 2.59457663e-04 2.08468657e+02] [ 9.91620798e-01 -1.29175767e-01 -1.34721190e-03 1.37898433e+02] [ 1.36944021e-03 8.32567987e-05 9.99999059e-01 7.14146732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.89, Z:0.71 [[-1.27549961e-01 -9.91832059e-01 4.16922450e-04 2.08469187e+02] [ 9.91829715e-01 -1.27550568e-01 -2.16104324e-03 1.37894051e+02] [ 2.19657066e-03 1.37875094e-04 9.99997578e-01 7.13508239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.86, Z:0.71 [[-1.26341230e-01 -9.91986655e-01 6.07729764e-04 2.08473748e+02] [ 9.91981692e-01 -1.26342524e-01 -3.14470023e-03 1.37864560e+02] [ 3.19628277e-03 2.05551506e-04 9.99994871e-01 7.13325830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.86, Z:0.71 [[-1.25879983e-01 -9.92045239e-01 6.87648476e-04 2.08473169e+02] [ 9.92038907e-01 -1.25881642e-01 -3.55235056e-03 1.37856760e+02] [ 3.61065478e-03 2.35004215e-04 9.99993454e-01 7.12593078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.87, Z:0.71 [[-1.25795385e-01 -9.92056008e-01 6.31098407e-04 2.08468537e+02] [ 9.92050692e-01 -1.25796781e-01 -3.25486442e-03 1.37868860e+02] [ 3.30839795e-03 2.16634689e-04 9.99994504e-01 7.12065943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.88, Z:0.71 [[-1.26640476e-01 -9.91948669e-01 1.69750582e-04 2.08467081e+02] [ 9.91948285e-01 -1.26640576e-01 -8.74212431e-04 1.37876146e+02] [ 8.88671168e-04 5.76731210e-05 9.99999603e-01 7.13082332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.86, Z:0.71 [[-1.28267047e-01 -9.91739662e-01 8.60145347e-05 2.08470936e+02] [ 9.91739564e-01 -1.28267072e-01 -4.42362513e-04 1.37863288e+02] [ 4.49741282e-04 2.85634841e-05 9.99999898e-01 7.13304276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.87, Z:0.71 [[-1.30253491e-01 -9.91480696e-01 2.42005084e-04 2.08469962e+02] [ 9.91479921e-01 -1.30253692e-01 -1.24209946e-03 1.37870300e+02] [ 1.26303969e-03 7.81553920e-05 9.99999199e-01 7.13119240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.87, Z:0.71 [[-1.32330880e-01 -9.91205504e-01 4.31773054e-04 2.08468663e+02] [ 9.91203045e-01 -1.32331516e-01 -2.21222765e-03 1.37873113e+02] [ 2.24990941e-03 1.35228733e-04 9.99997460e-01 7.12903291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.88, Z:0.71 [[-1.33656498e-01 -9.91027686e-01 2.58777514e-04 2.08468823e+02] [ 9.91026805e-01 -1.33656724e-01 -1.32377064e-03 1.37875521e+02] [ 1.34648070e-03 7.95249058e-05 9.99999090e-01 7.12750384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.87, Z:0.71 [[-1.33509533e-01 -9.91047527e-01 6.45866236e-05 2.08472672e+02] [ 9.91047472e-01 -1.33509547e-01 -3.30030569e-04 1.37866729e+02] [ 3.35698910e-04 1.99461829e-05 9.99999943e-01 7.13970990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.86, Z:0.71 [[-1.33057258e-01 -9.91108350e-01 -7.26581412e-05 2.08476140e+02] [ 9.91108281e-01 -1.33057276e-01 3.70139373e-04 1.37858184e+02] [-3.76515918e-04 -2.27623554e-05 9.99999929e-01 7.14926170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.85, Z:0.71 [[-1.32085138e-01 -9.91238364e-01 -1.50524892e-04 2.08477945e+02] [ 9.91238069e-01 -1.32085216e-01 7.65820543e-04 1.37852935e+02] [-7.78992815e-04 -4.80524906e-05 9.99999695e-01 7.14888786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.85, Z:0.71 [[-1.30718015e-01 -9.91419577e-01 -1.53503669e-04 2.08478138e+02] [ 9.91419271e-01 -1.30718096e-01 7.79703588e-04 1.37851596e+02] [-7.93079109e-04 -5.02651900e-05 9.99999684e-01 7.14487927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.81, Z:0.71 [[-1.27464986e-01 -9.91843065e-01 -1.10596543e-04 2.08485524e+02] [ 9.91842907e-01 -1.27465028e-01 5.60788691e-04 1.37813055e+02] [-5.70311565e-04 -3.82134739e-05 9.99999837e-01 7.13207776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.80, Z:0.71 [[-1.25773480e-01 -9.92058973e-01 -1.59676826e-04 2.08487158e+02] [ 9.92058645e-01 -1.25773568e-01 8.08475803e-04 1.37801641e+02] [-8.22138799e-04 -5.67239608e-05 9.99999660e-01 7.12658614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.81, Z:0.71 [[-1.24100632e-01 -9.92269634e-01 -8.47589171e-05 2.08484895e+02] [ 9.92269542e-01 -1.24100658e-01 4.28357959e-04 1.37806619e+02] [-4.35565232e-04 -3.09441982e-05 9.99999905e-01 7.12838390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.80, Z:0.71 [[-1.22888841e-01 -9.92420439e-01 7.18923176e-05 2.08484177e+02] [ 9.92420373e-01 -1.22888860e-01 -3.63193970e-04 1.37801692e+02] [ 3.69275884e-04 2.67149145e-05 9.99999931e-01 7.12648044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.80, Z:0.71 [[-1.21976077e-01 -9.92532898e-01 5.32443270e-04 2.08483271e+02] [ 9.92529289e-01 -1.21977073e-01 -2.68407469e-03 1.37796051e+02] [ 2.72897831e-03 2.01072639e-04 9.99996256e-01 7.12551569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.78, Z:0.71 [[-1.22282026e-01 -9.92495182e-01 6.48514811e-04 2.08485900e+02] [ 9.92489845e-01 -1.22283501e-01 -3.26399268e-03 1.37782952e+02] [ 3.31879967e-03 2.44516726e-04 9.99994463e-01 7.12790283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.79, Z:0.71 [[-1.22750393e-01 -9.92437420e-01 5.56237478e-04 2.08485047e+02] [ 9.92433505e-01 -1.22751475e-01 -2.79519107e-03 1.37787330e+02] [ 2.84233119e-03 2.08917908e-04 9.99995939e-01 7.13714536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.81, Z:0.71 [[-1.23502282e-01 -9.92344232e-01 3.34667886e-04 2.08480017e+02] [ 9.92342819e-01 -1.23502672e-01 -1.67919635e-03 1.37810097e+02] [ 1.70767319e-03 1.24720692e-04 9.99998534e-01 7.13966140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.78, Z:0.71 [[-1.24419770e-01 -9.92229653e-01 1.89485808e-04 2.08485039e+02] [ 9.92229202e-01 -1.24419895e-01 -9.49344998e-04 1.37778417e+02] [ 9.65544063e-04 6.98960660e-05 9.99999531e-01 7.14319299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.78, Z:0.71 [[-1.25080939e-01 -9.92146538e-01 7.97799654e-05 2.08482864e+02] [ 9.92146458e-01 -1.25080961e-01 -3.99215015e-04 1.37783125e+02] [ 4.06058750e-04 2.92192213e-05 9.99999917e-01 7.13750676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.78, Z:0.71 [[-1.24121336e-01 -9.92267005e-01 2.90127141e-04 2.08482212e+02] [ 9.92265953e-01 -1.24121628e-01 -1.44888774e-03 1.37779801e+02] [ 1.47369455e-03 1.08045402e-04 9.99998908e-01 7.11929088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.77, Z:0.71 [[-1.23523458e-01 -9.92341477e-01 5.90598015e-04 2.08483077e+02] [ 9.92337133e-01 -1.23524670e-01 -2.94457437e-03 1.37773601e+02] [ 2.99497671e-03 2.22348332e-04 9.99995490e-01 7.11431809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.041400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:208.48, Y:137.77, Z:0.71 [[-1.23118883e-01 -9.92391588e-01 8.22960188e-04 2.08483217e+02] [ 9.92383182e-01 -1.23121237e-01 -4.09657929e-03 1.37771020e+02] [ 4.16673470e-03 3.12325583e-04 9.99991270e-01 7.11385291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.80, Z:0.71 [[-1.22483513e-01 -9.92470204e-01 8.26664880e-04 2.08479051e+02] [ 9.92461750e-01 -1.22485892e-01 -4.10855877e-03 1.37795677e+02] [ 4.17887695e-03 3.17202563e-04 9.99991218e-01 7.12627514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.78, Z:0.71 [[-1.22428951e-01 -9.92477051e-01 6.74137897e-04 2.08482318e+02] [ 9.92471448e-01 -1.22430532e-01 -3.34525624e-03 1.37784141e+02] [ 3.40262512e-03 2.59506402e-04 9.99994177e-01 7.12959470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.75, Z:0.71 [[-1.22160142e-01 -9.92510225e-01 5.94210806e-04 2.08489249e+02] [ 9.92505885e-01 -1.22161371e-01 -2.94406950e-03 1.37754877e+02] [ 2.99460869e-03 2.30109773e-04 9.99995490e-01 7.13266719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.75, Z:0.71 [[-1.21750906e-01 -9.92560557e-01 5.08136160e-04 2.08491770e+02] [ 9.92557393e-01 -1.21751805e-01 -2.51376034e-03 1.37745778e+02] [ 2.55692585e-03 1.98301703e-04 9.99996711e-01 7.13430406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.76, Z:0.71 [[-1.21253970e-01 -9.92621445e-01 3.76801446e-04 2.08488272e+02] [ 9.92619711e-01 -1.21254465e-01 -1.86122697e-03 1.37764667e+02] [ 1.89318267e-03 1.48339382e-04 9.99998197e-01 7.13154109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.75, Z:0.71 [[-1.20663436e-01 -9.92693448e-01 2.29223014e-04 2.08490568e+02] [ 9.92692809e-01 -1.20663620e-01 -1.13059534e-03 1.37754288e+02] [ 1.14999347e-03 9.11265191e-05 9.99999335e-01 7.12965808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.50, Y:137.74, Z:0.71 [[-1.19525744e-01 -9.92831090e-01 1.51230833e-04 2.08495374e+02] [ 9.92830813e-01 -1.19525824e-01 -7.44846120e-04 1.37740478e+02] [ 7.57582375e-04 6.11183444e-05 9.99999711e-01 7.12694396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.72, Z:0.71 [[-1.18930825e-01 -9.92902478e-01 3.58900046e-04 2.08499904e+02] [ 9.92900920e-01 -1.18931276e-01 -1.76465590e-03 1.37722937e+02] [ 1.79481566e-03 1.46480204e-04 9.99998379e-01 7.12792336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.72, Z:0.71 [[-1.18204395e-01 -9.92989067e-01 6.58738981e-04 2.08500818e+02] [ 9.92983838e-01 -1.18205918e-01 -3.23382939e-03 1.37716797e+02] [ 3.28902407e-03 2.71864315e-04 9.99994554e-01 7.12394252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.71, Z:0.71 [[-1.16812031e-01 -9.93153537e-01 1.00040595e-03 2.08500601e+02] [ 9.93141521e-01 -1.16815557e-01 -4.90359216e-03 1.37713177e+02] [ 4.98688288e-03 4.20746131e-04 9.99987477e-01 7.11172301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.70, Z:0.71 [[-1.17462047e-01 -9.93076949e-01 9.16903338e-04 2.08504014e+02] [ 9.93066884e-01 -1.17465000e-01 -4.48756613e-03 1.37702034e+02] [ 4.56420254e-03 3.83427637e-04 9.99989510e-01 7.11295916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.72, Z:0.71 [[-1.19057565e-01 -9.92887034e-01 7.95722561e-04 2.08501391e+02] [ 9.92879473e-01 -1.19059775e-01 -3.88864389e-03 1.37722901e+02] [ 3.95572265e-03 3.27084124e-04 9.99992123e-01 7.11923066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.71, Z:0.71 [[-1.20815494e-01 -9.92674750e-01 6.75960713e-04 2.08506175e+02] [ 9.92669308e-01 -1.20817077e-01 -3.29843173e-03 1.37706399e+02] [ 3.35593749e-03 2.72503795e-04 9.99994332e-01 7.12425896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.74, Z:0.71 [[-1.24097778e-01 -9.92269951e-01 2.92805158e-04 2.08499902e+02] [ 9.92268932e-01 -1.24098071e-01 -1.42674508e-03 1.37736619e+02] [ 1.45205283e-03 1.13485567e-04 9.99998939e-01 7.13009902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.72, Z:0.71 [[-1.24980334e-01 -9.92159219e-01 2.04028015e-05 2.08503144e+02] [ 9.92159214e-01 -1.24980336e-01 -9.94764635e-05 1.37718444e+02] [ 1.01246439e-04 7.81022582e-06 9.99999995e-01 7.13465246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.72, Z:0.71 [[-1.25184289e-01 -9.92133463e-01 -2.91510583e-04 2.08502595e+02] [ 9.92132460e-01 -1.25184578e-01 1.41568746e-03 1.37719599e+02] [-1.44104353e-03 -1.11995284e-04 9.99998955e-01 7.13482427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.72, Z:0.71 [[-1.25054269e-01 -9.92149808e-01 -4.34857467e-04 2.08502946e+02] [ 9.92147581e-01 -1.25054912e-01 2.10875472e-03 1.37718681e+02] [-2.14658166e-03 -1.67734005e-04 9.99997682e-01 7.13974000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.72, Z:0.71 [[-1.24928763e-01 -9.92165648e-01 -3.61976909e-04 2.08503703e+02] [ 9.92164110e-01 -1.24929208e-01 1.75264683e-03 1.37716529e+02] [-1.78413746e-03 -1.40184498e-04 9.99998399e-01 7.14647240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.70, Z:0.71 [[-1.24497087e-01 -9.92219973e-01 2.17552830e-05 2.08505528e+02] [ 9.92219967e-01 -1.24497089e-01 -1.05416114e-04 1.37703983e+02] [ 1.07304444e-04 8.46202703e-06 9.99999994e-01 7.13637711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.71, Z:0.71 [[-1.24718848e-01 -9.92192104e-01 1.92264250e-04 2.08502189e+02] [ 9.92191673e-01 -1.24718973e-01 -9.28467105e-04 1.37714583e+02] [ 9.45196731e-04 7.49656407e-05 9.99999551e-01 7.12682110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.70, Z:0.71 [[-1.24850639e-01 -9.92175517e-01 2.48884916e-04 2.08504456e+02] [ 9.92174796e-01 -1.24850850e-01 -1.20002346e-03 1.37703669e+02] [ 1.22170739e-03 9.71136437e-05 9.99999249e-01 7.12090119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.70, Z:0.71 [[-1.25146419e-01 -9.92138252e-01 2.49242762e-04 2.08505027e+02] [ 9.92137531e-01 -1.25146629e-01 -1.19994918e-03 1.37701288e+02] [ 1.22170738e-03 9.71137553e-05 9.99999249e-01 7.12089735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.69, Z:0.71 [[-1.25146000e-01 -9.92138312e-01 2.19288065e-04 2.08508292e+02] [ 9.92137756e-01 -1.25146163e-01 -1.05418816e-03 1.37690463e+02] [ 1.07334352e-03 8.56365372e-05 9.99999420e-01 7.12271684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.69, Z:0.71 [[-1.25034951e-01 -9.92152299e-01 2.77400234e-04 2.08510357e+02] [ 9.92151411e-01 -1.25035212e-01 -1.33151259e-03 1.37686855e+02] [ 1.35574807e-03 1.08737422e-04 9.99999075e-01 7.12883236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.69, Z:0.71 [[-1.23359411e-01 -9.92361818e-01 6.90772198e-04 2.08508195e+02] [ 9.92356335e-01 -1.23361034e-01 -3.31043150e-03 1.37691331e+02] [ 3.37036020e-03 2.77119285e-04 9.99994282e-01 7.12442267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.68, Z:0.71 [[-1.21418911e-01 -9.92601061e-01 7.62055024e-04 2.08508572e+02] [ 9.92594413e-01 -1.21420898e-01 -3.64660679e-03 1.37680949e+02] [ 3.71215518e-03 3.13644532e-04 9.99993061e-01 7.11781310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.66, Z:0.71 [[-1.17044570e-01 -9.93126368e-01 7.65543883e-04 2.08509921e+02] [ 9.93119687e-01 -1.17046602e-01 -3.65791166e-03 1.37662188e+02] [ 3.72237283e-03 3.32138003e-04 9.99993017e-01 7.11729683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.65, Z:0.71 [[-1.15529348e-01 -9.93303825e-01 6.94097210e-04 2.08511138e+02] [ 9.93298351e-01 -1.15531026e-01 -3.31170802e-03 1.37651013e+02] [ 3.36972200e-03 3.06846146e-04 9.99994275e-01 7.12025232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.63, Z:0.71 [[-1.14509124e-01 -9.93421900e-01 7.67241456e-04 2.08513699e+02] [ 9.93415235e-01 -1.14511179e-01 -3.65538229e-03 1.37629313e+02] [ 3.71919454e-03 3.43614727e-04 9.99993025e-01 7.11937868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.67, Z:0.71 [[-1.14580632e-01 -9.93413546e-01 8.97028901e-04 2.08503943e+02] [ 9.93404462e-01 -1.14583437e-01 -4.26748957e-03 1.37666292e+02] [ 4.34216660e-03 4.02140862e-04 9.99990492e-01 7.11126024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.66, Z:0.71 [[-1.15817501e-01 -9.93270027e-01 9.79669135e-04 2.08504756e+02] [ 9.93259220e-01 -1.15820831e-01 -4.65380123e-03 1.37655446e+02] [ 4.73594737e-03 4.34073771e-04 9.99988691e-01 7.10727094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.66, Z:0.71 [[-1.18208039e-01 -9.92988356e-01 9.92059093e-04 2.08502962e+02] [ 9.92977298e-01 -1.18211424e-01 -4.70577655e-03 1.37657307e+02] [ 4.79005404e-03 4.28831539e-04 9.99988436e-01 7.10621968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.67, Z:0.71 [[-1.24631726e-01 -9.92202912e-01 5.60897622e-04 2.08495940e+02] [ 9.92199380e-01 -1.24632785e-01 -2.65677770e-03 1.37673169e+02] [ 2.70596880e-03 2.25403482e-04 9.99996313e-01 7.10290524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.68, Z:0.71 [[-1.28114470e-01 -9.91759324e-01 3.55698951e-04 2.08493373e+02] [ 9.91757906e-01 -1.28114890e-01 -1.68241530e-03 1.37679113e+02] [ 1.71412140e-03 1.37225502e-04 9.99998522e-01 7.10545578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.70, Z:0.71 [[-1.30923158e-01 -9.91392508e-01 1.45918849e-04 2.08488467e+02] [ 9.91392270e-01 -1.30923228e-01 -6.89283173e-04 1.37700511e+02] [ 7.02454341e-04 5.44196893e-05 9.99999752e-01 7.11033470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.70, Z:0.71 [[-1.33358499e-01 -9.91067855e-01 1.33351188e-04 2.08487911e+02] [ 9.91067656e-01 -1.33358557e-01 -6.28993487e-04 1.37698888e+02] [ 6.41158748e-04 4.82784223e-05 9.99999793e-01 7.11497572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.70, Z:0.71 [[-1.35560578e-01 -9.90768965e-01 4.33413687e-04 2.08483482e+02] [ 9.90766875e-01 -1.35561185e-01 -2.04076570e-03 1.37702736e+02] [ 2.08068139e-03 1.52764546e-04 9.99997824e-01 7.11369750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.70, Z:0.71 [[-1.36166919e-01 -9.90685799e-01 4.67400308e-04 2.08482171e+02] [ 9.90683375e-01 -1.36167623e-01 -2.19746949e-03 1.37704886e+02] [ 2.24064661e-03 1.63823064e-04 9.99997476e-01 7.11796859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.71, Z:0.71 [[-1.36709525e-01 -9.90611148e-01 2.44862434e-04 2.08480999e+02] [ 9.90610484e-01 -1.36709717e-01 -1.14958529e-03 1.37713002e+02] [ 1.17226708e-03 8.54040355e-05 9.99999309e-01 7.11957614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24140051300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:208.48, Y:137.70, Z:0.71 [[-1.37668224e-01 -9.90478399e-01 -2.58744672e-05 2.08484460e+02] [ 9.90478392e-01 -1.37668226e-01 1.21044475e-04 1.37702189e+02] [-1.23454029e-04 -8.96412281e-06 9.99999992e-01 7.12842646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.69, Z:0.71 [[-1.38580294e-01 -9.90351185e-01 -1.78003404e-04 2.08488007e+02] [ 9.90350837e-01 -1.38580395e-01 8.32799034e-04 1.37692755e+02] [-8.49431292e-04 -6.08762854e-05 9.99999637e-01 7.13268386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.70, Z:0.71 [[-1.39589282e-01 -9.90209484e-01 -9.79165869e-05 2.08487423e+02] [ 9.90209379e-01 -1.39589312e-01 4.57322125e-04 1.37700550e+02] [-4.66512814e-04 -3.31206557e-05 9.99999891e-01 7.13422629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.67, Z:0.71 [[-1.40324946e-01 -9.90105474e-01 2.45077257e-04 2.08495103e+02] [ 9.90104817e-01 -1.40325136e-01 -1.14371787e-03 1.37670776e+02] [ 1.16679183e-03 8.21600241e-05 9.99999316e-01 7.12348485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.67, Z:0.71 [[-1.40146201e-01 -9.90130786e-01 2.63361370e-04 2.08496488e+02] [ 9.90130029e-01 -1.40146420e-01 -1.22721786e-03 1.37667681e+02] [ 1.25201534e-03 8.87720791e-05 9.99999212e-01 7.12185767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.68, Z:0.71 [[-1.39261070e-01 -9.90255686e-01 1.76071550e-04 2.08494484e+02] [ 9.90255349e-01 -1.39261168e-01 -8.19325740e-04 1.37677607e+02] [ 8.35861902e-04 6.02556149e-05 9.99999649e-01 7.11942839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.67, Z:0.71 [[-1.37428305e-01 -9.90511692e-01 2.23299219e-04 2.08496967e+02] [ 9.90511151e-01 -1.37428464e-01 -1.03750228e-03 1.37667116e+02] [ 1.05834581e-03 7.85981865e-05 9.99999437e-01 7.11713008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.63, Z:0.71 [[-1.31505094e-01 -9.91315294e-01 6.31245879e-04 2.08504860e+02] [ 9.91310998e-01 -1.31506388e-01 -2.92824712e-03 1.37633810e+02] [ 2.98582902e-03 2.40681572e-04 9.99995513e-01 7.10926858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.63, Z:0.71 [[-1.28956716e-01 -9.91649833e-01 8.79689580e-04 2.08506925e+02] [ 9.91641522e-01 -1.28959250e-01 -4.07477459e-03 1.37628071e+02] [ 4.15419365e-03 3.46867164e-04 9.99991311e-01 7.10788992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.64, Z:0.71 [[-1.26983462e-01 -9.91904381e-01 9.47926791e-04 2.08504135e+02] [ 9.91894765e-01 -1.26986421e-01 -4.38450466e-03 1.37640194e+02] [ 4.46938321e-03 3.83484043e-04 9.99989939e-01 7.10511482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.63, Z:0.71 [[-1.25418615e-01 -9.92103487e-01 9.17631049e-04 2.08505657e+02] [ 9.92094506e-01 -1.25421400e-01 -4.23825930e-03 1.37628793e+02] [ 4.31988240e-03 3.78820109e-04 9.99990598e-01 7.10514985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.61, Z:0.71 [[-1.24613691e-01 -9.92205035e-01 7.72237749e-04 2.08509027e+02] [ 9.92198695e-01 -1.24615667e-01 -3.56166506e-03 1.37607505e+02] [ 3.63013493e-03 3.22381058e-04 9.99993359e-01 7.10371459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.61, Z:0.71 [[-1.25587228e-01 -9.92082436e-01 5.37741721e-04 2.08506320e+02] [ 9.92079369e-01 -1.25588182e-01 -2.47667268e-03 1.37611745e+02] [ 2.52459747e-03 2.22444009e-04 9.99996788e-01 7.11472279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.61, Z:0.71 [[-1.27276000e-01 -9.91867180e-01 5.62760536e-04 2.08506238e+02] [ 9.91863830e-01 -1.27277038e-01 -2.58820070e-03 1.37609422e+02] [ 2.63877782e-03 2.28765988e-04 9.99996492e-01 7.11686476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.63, Z:0.71 [[-1.29182501e-01 -9.91620593e-01 6.93137561e-04 2.08501579e+02] [ 9.91615522e-01 -1.29184066e-01 -3.18320935e-03 1.37628218e+02] [ 3.24607827e-03 2.76111020e-04 9.99994693e-01 7.11753888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.64, Z:0.71 [[-1.31294742e-01 -9.91343146e-01 6.77162070e-04 2.08497147e+02] [ 9.91338317e-01 -1.31296224e-01 -3.10535364e-03 1.37643356e+02] [ 3.16737987e-03 2.63580101e-04 9.99994949e-01 7.11574515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.63, Z:0.71 [[-1.33649408e-01 -9.91028479e-01 6.23803298e-04 2.08497165e+02] [ 9.91024391e-01 -1.33650654e-01 -2.85653175e-03 1.37634969e+02] [ 2.91427603e-03 2.36430506e-04 9.99995726e-01 7.11261081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.751400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.49, Y:137.66, Z:0.71 [[-1.38899557e-01 -9.90306361e-01 4.73121217e-04 2.08488122e+02] [ 9.90304012e-01 -1.38900261e-01 -2.16342052e-03 1.37663515e+02] [ 2.20816577e-03 1.68035687e-04 9.99997548e-01 7.10182204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.66, Z:0.71 [[-1.41823298e-01 -9.89891890e-01 4.44746881e-04 2.08490138e+02] [ 9.89889819e-01 -1.41823913e-01 -2.03070481e-03 1.37656008e+02] [ 2.07325397e-03 1.52249157e-04 9.99997839e-01 7.10983435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.65, Z:0.71 [[-1.45536342e-01 -9.89352784e-01 4.91999992e-04 2.08490665e+02] [ 9.89350254e-01 -1.45537085e-01 -2.24315140e-03 1.37652514e+02] [ 2.29087232e-03 1.60300269e-04 9.99997363e-01 7.11651494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.67, Z:0.71 [[-1.49464522e-01 -9.88766919e-01 5.80447674e-04 2.08485514e+02] [ 9.88763404e-01 -1.49465542e-01 -2.64247850e-03 1.37671536e+02] [ 2.69955225e-03 1.78968632e-04 9.99996340e-01 7.11992626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.68, Z:0.71 [[-1.53106107e-01 -9.88209513e-01 6.91573895e-04 2.08481766e+02] [ 9.88204533e-01 -1.53107535e-01 -3.14366376e-03 1.37684964e+02] [ 3.21248361e-03 2.02102339e-04 9.99994820e-01 7.12231554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.69, Z:0.71 [[-1.59527790e-01 -9.87193212e-01 6.67733272e-04 2.08480516e+02] [ 9.87188576e-01 -1.59529090e-01 -3.03076495e-03 1.37692822e+02] [ 3.09847347e-03 1.75687425e-04 9.99995184e-01 7.11295206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.69, Z:0.71 [[-1.62633483e-01 -9.86686357e-01 6.19092800e-04 2.08481788e+02] [ 9.86682380e-01 -1.62634588e-01 -2.80579766e-03 1.37693356e+02] [ 2.86912818e-03 1.54531311e-04 9.99995872e-01 7.11114633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.71, Z:0.71 [[-1.65700876e-01 -9.86175924e-01 5.16754696e-04 2.08479463e+02] [ 9.86173159e-01 -1.65701636e-01 -2.33850312e-03 1.37706672e+02] [ 2.39180257e-03 1.22117597e-04 9.99997132e-01 7.11223654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.71, Z:0.71 [[-1.68409318e-01 -9.85717072e-01 3.93453147e-04 2.08479850e+02] [ 9.85715473e-01 -1.68409754e-01 -1.77788267e-03 1.37706230e+02] [ 1.81875065e-03 8.84208479e-05 9.99998342e-01 7.11383888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.71, Z:0.71 [[-1.72369499e-01 -9.85032339e-01 2.17201957e-04 2.08480980e+02] [ 9.85031852e-01 -1.72369630e-01 -9.80080704e-04 1.37705635e+02] [ 1.00285021e-03 4.50148262e-05 9.99999496e-01 7.12181880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.73, Z:0.71 [[-1.73752945e-01 -9.84789260e-01 1.64887456e-04 2.08476446e+02] [ 9.84788980e-01 -1.73753020e-01 -7.42945597e-04 1.37729524e+02] [ 7.60294539e-04 3.32903637e-05 9.99999710e-01 7.12224056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.73, Z:0.71 [[-1.74888919e-01 -9.84588136e-01 2.62580133e-04 2.08476553e+02] [ 9.84587429e-01 -1.74889108e-01 -1.18118027e-03 1.37729577e+02] [ 1.20889848e-03 5.19577584e-05 9.99999268e-01 7.12102186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.72, Z:0.71 [[-1.76210396e-01 -9.84352438e-01 4.17655190e-04 2.08478783e+02] [ 9.84350654e-01 -1.76210872e-01 -1.87575793e-03 1.37717676e+02] [ 1.92000227e-03 8.05911128e-05 9.99998154e-01 7.11688380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.72, Z:0.71 [[-1.77863510e-01 -9.84054997e-01 5.77881796e-04 2.08478801e+02] [ 9.84051591e-01 -1.77864416e-01 -2.59132491e-03 1.37715440e+02] [ 2.65279083e-03 1.07763358e-04 9.99996476e-01 7.11152715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.72, Z:0.71 [[-1.81095610e-01 -9.83465202e-01 7.59170283e-04 2.08477050e+02] [ 9.83459337e-01 -1.81097154e-01 -3.39899842e-03 1.37720730e+02] [ 3.48028025e-03 1.31069411e-04 9.99993935e-01 7.11226444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.73, Z:0.71 [[-1.83073417e-01 -9.83098899e-01 8.23870992e-04 2.08474310e+02] [ 9.83092009e-01 -1.83075220e-01 -3.68301565e-03 1.37730349e+02] [ 3.77159900e-03 1.35678730e-04 9.99992878e-01 7.11643342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.74, Z:0.71 [[-1.85356406e-01 -9.82671082e-01 7.39784478e-04 2.08470859e+02] [ 9.82665541e-01 -1.85357847e-01 -3.30204571e-03 1.37740179e+02] [ 3.38194969e-03 1.14905388e-04 9.99994275e-01 7.12248778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.74, Z:0.71 [[-1.87874353e-01 -9.82192981e-01 4.18921957e-04 2.08470407e+02] [ 9.82191208e-01 -1.87874811e-01 -1.86708166e-03 1.37735114e+02] [ 1.91253938e-03 6.06847042e-05 9.99998169e-01 7.12349301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.76, Z:0.71 [[-1.91717951e-01 -9.81450059e-01 -9.20815696e-05 2.08462263e+02] [ 9.81449974e-01 -1.91717973e-01 4.09477182e-04 1.37755441e+02] [-4.19535096e-04 -1.18693278e-05 9.99999912e-01 7.12953639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.74, Z:0.71 [[-1.93469613e-01 -9.81106266e-01 -5.82459570e-05 2.08463526e+02] [ 9.81106232e-01 -1.93469622e-01 2.58525011e-04 1.37740866e+02] [-2.64909332e-04 -7.12873755e-06 9.99999965e-01 7.13008237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.75, Z:0.71 [[-1.95471986e-01 -9.80709277e-01 1.30121283e-04 2.08458360e+02] [ 9.80709107e-01 -1.95472029e-01 -5.77393535e-04 1.37753983e+02] [ 5.91690267e-04 1.47468663e-05 9.99999825e-01 7.12971053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.45, Y:137.77, Z:0.71 [[-1.98057986e-01 -9.80190217e-01 4.16505161e-04 2.08452346e+02] [ 9.80188482e-01 -1.98058420e-01 -1.84477048e-03 1.37766681e+02] [ 1.89071833e-03 4.28820356e-05 9.99998212e-01 7.12717003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:137.77, Z:0.71 [[-2.00820407e-01 -9.79627979e-01 4.32939258e-04 2.08448811e+02] [ 9.79626109e-01 -2.00820869e-01 -1.91452407e-03 1.37769439e+02] [ 1.96246458e-03 3.96430978e-05 9.99998074e-01 7.12404082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:137.76, Z:0.71 [[-2.04314252e-01 -9.78905309e-01 2.86199809e-04 2.08447878e+02] [ 9.78904494e-01 -2.04314451e-01 -1.26370332e-03 1.37761199e+02] [ 1.29552065e-03 2.19696810e-05 9.99999161e-01 7.12371378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.79, Z:0.71 [[-2.12080279e-01 -9.77252236e-01 1.48785524e-04 2.08437311e+02] [ 9.77252016e-01 -2.12080331e-01 -6.56026627e-04 1.37791164e+02] [ 6.72657972e-04 6.27064327e-06 9.99999774e-01 7.12980839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.80, Z:0.71 [[-2.16157228e-01 -9.76358500e-01 3.63010966e-04 2.08432551e+02] [ 9.76357193e-01 -2.16157533e-01 -1.59767250e-03 1.37803694e+02] [ 1.63836868e-03 9.07990920e-06 9.99998658e-01 7.13114666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.82, Z:0.71 [[-2.20209209e-01 -9.75452531e-01 5.13428839e-04 2.08427195e+02] [ 9.75449923e-01 -2.20209808e-01 -2.25590980e-03 1.37816756e+02] [ 2.31359499e-03 4.05200816e-06 9.99997324e-01 7.12539665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.82, Z:0.71 [[-2.26990028e-01 -9.73897005e-01 3.88030081e-04 2.08420488e+02] [ 9.73895518e-01 -2.26990359e-01 -1.70219883e-03 1.37818713e+02] [ 1.74584543e-03 -8.48140239e-06 9.99998476e-01 7.12023094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.82, Z:0.71 [[-2.27336591e-01 -9.73816165e-01 3.88635698e-04 2.08421107e+02] [ 9.73814678e-01 -2.27336923e-01 -1.70206065e-03 1.37816336e+02] [ 1.74584542e-03 -8.48151900e-06 9.99998476e-01 7.12022710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.83, Z:0.71 [[-2.30059529e-01 -9.73176535e-01 2.12137205e-04 2.08415717e+02] [ 9.73176093e-01 -2.30059627e-01 -9.27654704e-04 1.37827975e+02] [ 9.51575997e-04 -6.96894768e-06 9.99999547e-01 7.11987902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.84, Z:0.71 [[-2.32064236e-01 -9.72700444e-01 1.89682746e-04 2.08411830e+02] [ 9.72700092e-01 -2.32064313e-01 -8.28117074e-04 1.37835353e+02] [ 8.49528442e-04 -7.67193152e-06 9.99999639e-01 7.11781966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.85, Z:0.71 [[-2.33894981e-01 -9.72261826e-01 2.81257415e-04 2.08406191e+02] [ 9.72261054e-01 -2.33895150e-01 -1.22574727e-03 1.37847232e+02] [ 1.25753203e-03 -1.32405050e-05 9.99999209e-01 7.11656735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.84, Z:0.71 [[-2.35359787e-01 -9.71908235e-01 3.92307517e-04 2.08404487e+02] [ 9.71906736e-01 -2.35360113e-01 -1.70675661e-03 1.37839950e+02] [ 1.75114434e-03 -2.04155524e-05 9.99998467e-01 7.11463518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.85, Z:0.71 [[-2.37054275e-01 -9.71496262e-01 5.31894906e-04 2.08396077e+02] [ 9.71493516e-01 -2.37054870e-01 -2.31007625e-03 1.37847158e+02] [ 2.37031872e-03 -3.08809976e-05 9.99997190e-01 7.11082870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.85, Z:0.71 [[-2.37946121e-01 -9.71278202e-01 5.45128911e-04 2.08393432e+02] [ 9.71275327e-01 -2.37946743e-01 -2.36357034e-03 1.37845131e+02] [ 2.42539600e-03 -3.29321328e-05 9.99997058e-01 7.11311072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.85, Z:0.71 [[-2.38689205e-01 -9.71095875e-01 5.15413322e-04 2.08390049e+02] [ 9.71093312e-01 -2.38689760e-01 -2.23098815e-03 1.37845886e+02] [ 2.28952727e-03 -3.19983598e-05 9.99997379e-01 7.11637301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.86, Z:0.71 [[-2.39560284e-01 -9.70881353e-01 5.17577092e-04 2.08382912e+02] [ 9.70878778e-01 -2.39560841e-01 -2.23656400e-03 1.37862802e+02] [ 2.29542948e-03 -3.32872925e-05 9.99997365e-01 7.11719517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.38, Y:137.85, Z:0.71 [[-2.40640654e-01 -9.70614176e-01 4.43788617e-04 2.08381844e+02] [ 9.70612288e-01 -2.40641061e-01 -1.91448736e-03 1.37854132e+02] [ 1.96502234e-03 -2.99568062e-05 9.99998069e-01 7.11678324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.84, Z:0.71 [[-2.41664985e-01 -9.70359683e-01 3.45855136e-04 2.08383399e+02] [ 9.70358540e-01 -2.41665232e-01 -1.48954642e-03 1.37838244e+02] [ 1.52897695e-03 -2.43677285e-05 9.99998831e-01 7.11202438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.83, Z:0.71 [[-2.43484823e-01 -9.69904470e-01 6.77934093e-04 2.08382162e+02] [ 9.69900092e-01 -2.43485761e-01 -2.91463268e-03 1.37834897e+02] [ 2.99198256e-03 -5.21404834e-05 9.99995523e-01 7.09654534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.951400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:208.35, Y:137.96, Z:0.71 [[-2.44068590e-01 -9.69757586e-01 -8.64833515e-04 2.08354228e+02] [ 9.69748292e-01 -2.44062072e-01 -4.68571170e-03 1.37959130e+02] [ 4.33293140e-03 -1.98230587e-03 9.99988648e-01 7.09341192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.85, Z:0.71 [[-2.44006240e-01 -9.69769504e-01 2.83987488e-03 2.08375945e+02] [ 9.69763200e-01 -2.44016164e-01 -3.93040196e-03 1.37849046e+02] [ 4.50455933e-03 1.79496354e-03 9.99988243e-01 7.09291953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.85, Z:0.71 [[-2.43480673e-01 -9.69905337e-01 8.94170495e-04 2.08375308e+02] [ 9.69897800e-01 -2.43482306e-01 -3.82422997e-03 1.37853844e+02] [ 3.92685575e-03 -6.38720893e-05 9.99992288e-01 7.10225761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.83, Z:0.71 [[-2.42178869e-01 -9.70231430e-01 6.05536276e-04 2.08379630e+02] [ 9.70227986e-01 -2.42179623e-01 -2.58550020e-03 1.37831576e+02] [ 2.65518211e-03 -3.86452733e-05 9.99996474e-01 7.10836502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.83, Z:0.71 [[-2.37061809e-01 -9.71494545e-01 2.18323775e-04 2.08378748e+02] [ 9.71494099e-01 -2.37061910e-01 -9.30783633e-04 1.37829574e+02] [ 9.56007473e-04 -8.55299261e-06 9.99999543e-01 7.11686490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.80, Z:0.71 [[-2.34286145e-01 -9.72167671e-01 1.44958876e-04 2.08384766e+02] [ 9.72167476e-01 -2.34286189e-01 -6.17060338e-04 1.37802246e+02] [ 6.33847975e-04 -3.64438346e-06 9.99999799e-01 7.11325056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.80, Z:0.71 [[-2.31457508e-01 -9.72844972e-01 2.86336716e-04 2.08385066e+02] [ 9.72844211e-01 -2.31457685e-01 -1.21665873e-03 1.37797215e+02] [ 1.24989516e-03 -3.04378093e-06 9.99999219e-01 7.10037857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.80, Z:0.71 [[-2.28798808e-01 -9.73473594e-01 5.16283797e-04 2.08383941e+02] [ 9.73471131e-01 -2.28799390e-01 -2.18994959e-03 1.37800079e+02] [ 2.24998351e-03 1.52951823e-06 9.99997469e-01 7.09025682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.76, Z:0.71 [[-2.26105091e-01 -9.74102711e-01 6.28737508e-04 2.08393197e+02] [ 9.74099073e-01 -2.26105965e-01 -2.66259379e-03 1.37763892e+02] [ 2.73580113e-03 1.04266106e-05 9.99996258e-01 7.09188797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.76, Z:0.71 [[-2.21406801e-01 -9.75181448e-01 4.15439428e-04 2.08397679e+02] [ 9.75179866e-01 -2.21407190e-01 -1.75659006e-03 1.37755913e+02] [ 1.80497532e-03 1.62071804e-05 9.99998371e-01 7.11049190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.73, Z:0.71 [[-2.19777213e-01 -9.75550032e-01 3.33205984e-04 2.08404408e+02] [ 9.75549018e-01 -2.19777465e-01 -1.40671321e-03 1.37729807e+02] [ 1.44555029e-03 1.58952611e-05 9.99998955e-01 7.12097416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.74, Z:0.71 [[-2.18018212e-01 -9.75944596e-01 4.53201581e-04 2.08401633e+02] [ 9.75942726e-01 -2.18018682e-01 -1.91023658e-03 1.37739341e+02] [ 1.96309148e-03 2.58324227e-05 9.99998073e-01 7.12235744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.72, Z:0.71 [[-2.15860436e-01 -9.76424068e-01 5.58663415e-04 2.08404317e+02] [ 9.76421238e-01 -2.15861156e-01 -2.35103352e-03 1.37722935e+02] [ 2.41619945e-03 3.79957017e-05 9.99997080e-01 7.11940799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.341400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.41, Y:137.69, Z:0.71 [[-2.09557796e-01 -9.77796158e-01 4.50841643e-04 2.08408815e+02] [ 9.77794324e-01 -2.09558276e-01 -1.89441006e-03 1.37692915e+02] [ 1.94682448e-03 4.38420025e-05 9.99998104e-01 7.12436521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.68, Z:0.71 [[-2.05874883e-01 -9.78578266e-01 3.32536938e-04 2.08409624e+02] [ 9.78577272e-01 -2.05875148e-01 -1.39523753e-03 1.37680665e+02] [ 1.43381021e-03 3.81687265e-05 9.99998971e-01 7.13284365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.68, Z:0.71 [[-2.02248935e-01 -9.79334076e-01 3.69653665e-04 2.08406860e+02] [ 9.79332852e-01 -2.02249267e-01 -1.54860636e-03 1.37677587e+02] [ 1.59136516e-03 4.88099916e-05 9.99998733e-01 7.13716666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.65, Z:0.71 [[-1.98650805e-01 -9.80070217e-01 4.77250797e-04 2.08408769e+02] [ 9.80068186e-01 -1.98651365e-01 -1.99631605e-03 1.37652304e+02] [ 2.05133643e-03 7.11685327e-05 9.99997894e-01 7.13425271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.461400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:208.41, Y:137.64, Z:0.71 [[-1.95659691e-01 -9.80671658e-01 6.19762306e-04 2.08406394e+02] [ 9.80668247e-01 -1.95660647e-01 -2.58853370e-03 1.37644078e+02] [ 2.65976473e-03 1.01309509e-04 9.99996458e-01 7.13146636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.63, Z:0.71 [[-1.90430338e-01 -9.81700353e-01 8.38099608e-04 2.08403096e+02] [ 9.81694144e-01 -1.90432118e-01 -3.49522705e-03 1.37632343e+02] [ 3.59086671e-03 1.57160208e-04 9.99993540e-01 7.13525500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.63, Z:0.71 [[-1.89350555e-01 -9.81909239e-01 7.83433709e-04 2.08400355e+02] [ 9.81903831e-01 -1.89352115e-01 -3.26246905e-03 1.37629414e+02] [ 3.35179333e-03 1.51506235e-04 9.99994371e-01 7.13490587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.62, Z:0.71 [[-1.89122582e-01 -9.81953265e-01 6.58962400e-04 2.08398437e+02] [ 9.81949450e-01 -1.89123686e-01 -2.74015030e-03 1.37620693e+02] [ 2.81532493e-03 1.28843468e-04 9.99996029e-01 7.13692481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.64, Z:0.71 [[-1.89796407e-01 -9.81823381e-01 4.15006546e-04 2.08390262e+02] [ 9.81821872e-01 -1.89796844e-01 -1.72325895e-03 1.37635920e+02] [ 1.77070286e-03 8.03941472e-05 9.99998429e-01 7.13972462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.64, Z:0.71 [[-1.91934934e-01 -9.81407652e-01 -3.44271468e-05 2.08382516e+02] [ 9.81407642e-01 -1.91934937e-01 1.42521139e-04 1.37636098e+02] [-1.46479109e-04 -6.43227947e-06 9.99999989e-01 7.14990828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.63, Z:0.71 [[-1.92909426e-01 -9.81216564e-01 -9.28859576e-05 2.08381225e+02] [ 9.81216489e-01 -1.92909448e-01 3.84309887e-04 1.37626371e+02] [-3.95009805e-04 -1.70042334e-05 9.99999922e-01 7.14844562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.63, Z:0.71 [[-1.93505588e-01 -9.81099173e-01 2.59295174e-05 2.08376355e+02] [ 9.81099167e-01 -1.93505590e-01 -1.07385453e-04 1.37631672e+02] [ 1.10373286e-04 4.65974273e-06 9.99999994e-01 7.14954587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.63, Z:0.71 [[-1.93721527e-01 -9.81056546e-01 1.54066459e-04 2.08374506e+02] [ 9.81056340e-01 -1.93721586e-01 -6.36107855e-04 1.37626016e+02] [ 6.53903774e-04 2.79200912e-05 9.99999786e-01 7.14658963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.62, Z:0.71 [[-1.93842296e-01 -9.81032674e-01 2.38309475e-04 2.08373009e+02] [ 9.81032183e-01 -1.93842438e-01 -9.82372149e-04 1.37621546e+02] [ 1.00993367e-03 4.33639907e-05 9.99999489e-01 7.14354446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.62, Z:0.71 [[-1.93944695e-01 -9.81012408e-01 3.32725763e-04 2.08370783e+02] [ 9.81011454e-01 -1.93944971e-01 -1.36948535e-03 1.37622607e+02] [ 1.40801261e-03 6.08033658e-05 9.99999007e-01 7.14574357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.61, Z:0.72 [[-1.92667955e-01 -9.81263957e-01 3.26784652e-04 2.08370148e+02] [ 9.81263039e-01 -1.92668222e-01 -1.34306533e-03 1.37612438e+02] [ 1.38086262e-03 6.18960503e-05 9.99999045e-01 7.15195253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.61, Z:0.72 [[-1.91500315e-01 -9.81492510e-01 2.88162659e-04 2.08370379e+02] [ 9.81491799e-01 -1.91500524e-01 -1.18262776e-03 1.37606269e+02] [ 1.21592359e-03 5.63556970e-05 9.99999259e-01 7.15108887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.61, Z:0.72 [[-1.89833557e-01 -9.81816271e-01 1.72443547e-04 2.08368136e+02] [ 9.81816018e-01 -1.89833632e-01 -7.06763155e-04 1.37610197e+02] [ 7.26647150e-04 3.51404733e-05 9.99999735e-01 7.15076578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.57, Z:0.72 [[-1.85068404e-01 -9.82725600e-01 2.83222921e-04 2.08373662e+02] [ 9.82724919e-01 -1.85068610e-01 -1.15898768e-03 1.37574141e+02] [ 1.19138254e-03 6.38382213e-05 9.99999288e-01 7.15064637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.58, Z:0.72 [[-1.83025131e-01 -9.83108144e-01 4.22661749e-04 2.08370260e+02] [ 9.83106632e-01 -1.83025592e-01 -1.72701802e-03 1.37579071e+02] [ 1.77520339e-03 9.94338703e-05 9.99998419e-01 7.15036396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.56, Z:0.72 [[-1.81004023e-01 -9.83482146e-01 6.41595362e-04 2.08372083e+02] [ 9.83478675e-01 -1.81005092e-01 -2.61775202e-03 1.37563242e+02] [ 2.69064440e-03 1.57171709e-04 9.99996368e-01 7.15090414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.56, Z:0.71 [[-1.79013814e-01 -9.83846173e-01 8.73267585e-04 2.08371251e+02] [ 9.83839765e-01 -1.79015806e-01 -3.55786613e-03 1.37560895e+02] [ 3.65672168e-03 2.22248190e-04 9.99993290e-01 7.14680042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.56, Z:0.71 [[-1.78073264e-01 -9.84016757e-01 9.66452092e-04 2.08371708e+02] [ 9.84008934e-01 -1.78075710e-01 -3.93192458e-03 1.37556115e+02] [ 4.04118131e-03 2.50826850e-04 9.99991803e-01 7.14664933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.54, Z:0.71 [[-1.77957196e-01 -9.84037833e-01 8.83022701e-04 2.08374375e+02] [ 9.84031321e-01 -1.77959238e-01 -3.58746121e-03 1.37540827e+02] [ 3.68733960e-03 2.30507457e-04 9.99993175e-01 7.14973623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.56, Z:0.71 [[-1.79233021e-01 -9.83806472e-01 5.92064914e-04 2.08365807e+02] [ 9.83803551e-01 -1.79233935e-01 -2.40206293e-03 1.37556442e+02] [ 2.46928318e-03 1.51946568e-04 9.99996940e-01 7.14890657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.55, Z:0.71 [[-1.80418391e-01 -9.83589791e-01 5.72492722e-04 2.08364825e+02] [ 9.83587067e-01 -1.80419241e-01 -2.31937996e-03 1.37551726e+02] [ 2.38460715e-03 1.44637637e-04 9.99997146e-01 7.14557517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.56, Z:0.71 [[-1.81563656e-01 -9.83379013e-01 5.96101123e-04 2.08362523e+02] [ 9.83376067e-01 -1.81564574e-01 -2.41159981e-03 1.37558293e+02] [ 2.47974749e-03 1.48332700e-04 9.99996914e-01 7.14623071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.55, Z:0.71 [[-1.82856780e-01 -9.83139354e-01 6.39248031e-04 2.08364590e+02] [ 9.83135975e-01 -1.82857830e-01 -2.58247964e-03 1.37551615e+02] [ 2.65582887e-03 1.56243827e-04 9.99996461e-01 7.14535664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.58, Z:0.71 [[-1.85358624e-01 -9.82670892e-01 3.14564213e-04 2.08359663e+02] [ 9.82670075e-01 -1.85358877e-01 -1.26908731e-03 1.37579993e+02] [ 1.30540243e-03 7.38765604e-05 9.99999145e-01 7.14956191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.57, Z:0.72 [[-1.87272272e-01 -9.82308039e-01 1.11171754e-04 2.08364089e+02] [ 9.82307937e-01 -1.87272303e-01 -4.48000816e-04 1.37566249e+02] [ 4.60894193e-04 2.53067659e-05 9.99999893e-01 7.15571185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.55, Z:0.72 [[-1.89696083e-01 -9.81842856e-01 5.21470971e-05 2.08369773e+02] [ 9.81842833e-01 -1.89696090e-01 -2.09948291e-04 1.37549213e+02] [ 2.16028330e-04 1.13738851e-05 9.99999977e-01 7.15292977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.58, Z:0.71 [[-1.92285761e-01 -9.81338962e-01 1.69575337e-04 2.08365210e+02] [ 9.81338726e-01 -1.92285833e-01 -6.81309496e-04 1.37575720e+02] [ 7.01202488e-04 3.54047300e-05 9.99999754e-01 7.14833961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.58, Z:0.71 [[-1.94836556e-01 -9.80835660e-01 3.51717817e-04 2.08365649e+02] [ 9.80834648e-01 -1.94836861e-01 -1.41086562e-03 1.37584372e+02] [ 1.45235491e-03 7.00888215e-05 9.99998943e-01 7.14915152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.58, Z:0.72 [[-1.97034790e-01 -9.80396412e-01 4.09368694e-04 2.08370622e+02] [ 9.80395044e-01 -1.97035200e-01 -1.63972588e-03 1.37575863e+02] [ 1.68824141e-03 7.82599950e-05 9.99998572e-01 7.15098495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.57, Z:0.72 [[-1.99261800e-01 -9.79946180e-01 4.68288438e-04 2.08376391e+02] [ 9.79944394e-01 -1.99262332e-01 -1.87300735e-03 1.37574805e+02] [ 1.92875864e-03 8.56778148e-05 9.99998136e-01 7.15756915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.58, Z:0.72 [[-1.99611526e-01 -9.79874950e-01 5.65938824e-04 2.08378653e+02] [ 9.79872349e-01 -1.99612302e-01 -2.26028798e-03 1.37577261e+02] [ 2.32776792e-03 1.03368270e-04 9.99997285e-01 7.16313101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.56, Z:0.72 [[-1.98946494e-01 -9.80010113e-01 6.86103450e-04 2.08386146e+02] [ 9.80006302e-01 -1.98947636e-01 -2.73625546e-03 1.37558929e+02] [ 2.81805668e-03 1.28017274e-04 9.99996021e-01 7.16102749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.57, Z:0.72 [[-1.97115939e-01 -9.80379876e-01 7.78479532e-04 2.08386985e+02] [ 9.80374986e-01 -1.97117417e-01 -3.10022001e-03 1.37565152e+02] [ 3.19284519e-03 1.52099082e-04 9.99994891e-01 7.15996508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.56, Z:0.72 [[-1.97446144e-01 -9.80313426e-01 7.79523594e-04 2.08387664e+02] [ 9.80308536e-01 -1.97447624e-01 -3.09995765e-03 1.37562755e+02] [ 3.19284519e-03 1.52098947e-04 9.99994891e-01 7.15996149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.54, Z:0.72 [[-1.94861512e-01 -9.80830445e-01 7.93352345e-04 2.08394314e+02] [ 9.80825399e-01 -1.94863058e-01 -3.15048482e-03 1.37543088e+02] [ 3.24468649e-03 1.64231894e-04 9.99994723e-01 7.16132387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.53, Z:0.72 [[-1.91789774e-01 -9.81435829e-01 6.29332876e-04 2.08398967e+02] [ 9.81432666e-01 -1.91790756e-01 -2.49568790e-03 1.37530508e+02] [ 2.57005775e-03 1.39000425e-04 9.99996688e-01 7.16460168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.51, Z:0.72 [[-1.85893270e-01 -9.82569901e-01 2.86191788e-04 2.08408625e+02] [ 9.82569250e-01 -1.85893477e-01 -1.13345891e-03 1.37507163e+02] [ 1.16690380e-03 7.05008671e-05 9.99999317e-01 7.17387361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.50, Z:0.72 [[-1.83711828e-01 -9.82980101e-01 2.90988879e-04 2.08413517e+02] [ 9.82979431e-01 -1.83712043e-01 -1.15087675e-03 1.37496136e+02] [ 1.18474711e-03 7.46064106e-05 9.99999295e-01 7.17196901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.50, Z:0.72 [[-1.81485931e-01 -9.83393454e-01 4.13492949e-04 2.08414891e+02] [ 9.83392104e-01 -1.81486369e-01 -1.63307690e-03 1.37498170e+02] [ 1.68100047e-03 1.10245219e-04 9.99998581e-01 7.16856944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.48, Z:0.72 [[-1.78979338e-01 -9.83852640e-01 6.15151675e-04 2.08419831e+02] [ 9.83849664e-01 -1.78980314e-01 -2.42612909e-03 1.37482770e+02] [ 2.49705356e-03 1.70989788e-04 9.99996868e-01 7.16282248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.46, Z:0.72 [[-1.76709478e-01 -9.84262796e-01 7.12923981e-04 2.08424526e+02] [ 9.84258812e-01 -1.76710797e-01 -2.80792748e-03 1.37464711e+02] [ 2.88971992e-03 2.05514310e-04 9.99995804e-01 7.15965155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.45, Z:0.72 [[-1.74300378e-01 -9.84692313e-01 6.53334393e-04 2.08427755e+02] [ 9.84688979e-01 -1.74301493e-01 -2.56981628e-03 1.37451336e+02] [ 2.64435549e-03 1.95411228e-04 9.99996485e-01 7.15736715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.43, Z:0.72 [[-1.69577980e-01 -9.85516648e-01 4.94452138e-04 2.08430626e+02] [ 9.85514747e-01 -1.69578627e-01 -1.94234882e-03 1.37434069e+02] [ 1.99806561e-03 1.57910285e-04 9.99997991e-01 7.15685094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.42, Z:0.72 [[-1.67925025e-01 -9.85799530e-01 6.87343364e-04 2.08433228e+02] [ 9.85795868e-01 -1.67926281e-01 -2.69647675e-03 1.37421460e+02] [ 2.77360853e-03 2.24774322e-04 9.99996128e-01 7.15824696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.42, Z:0.72 [[-1.67054671e-01 -9.85947217e-01 9.07117943e-04 2.08432905e+02] [ 9.85940857e-01 -1.67056864e-01 -3.55396837e-03 1.37419103e+02] [ 3.65556551e-03 3.00657623e-04 9.99993273e-01 7.15719873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.41, Z:0.72 [[-1.66249126e-01 -9.86083060e-01 1.19484717e-03 2.08431988e+02] [ 9.86072059e-01 -1.66252936e-01 -4.67511358e-03 1.37411855e+02] [ 4.80869715e-03 4.00971866e-04 9.99988358e-01 7.15356675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.41, Z:0.72 [[-1.66810032e-01 -9.85988468e-01 1.07399445e-03 2.08429549e+02] [ 9.85979602e-01 -1.66813104e-01 -4.19681171e-03 1.37414263e+02] [ 4.31716430e-03 3.58866322e-04 9.99990617e-01 7.15409611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.41, Z:0.72 [[-1.67641225e-01 -9.85847746e-01 8.00219094e-04 2.08427826e+02] [ 9.85842836e-01 -1.67642925e-01 -3.12297152e-03 1.37413659e+02] [ 3.21292551e-03 2.65351488e-04 9.99994803e-01 7.15906033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.40, Z:0.72 [[-1.68290441e-01 -9.85737293e-01 5.62153064e-04 2.08429824e+02] [ 9.85734876e-01 -1.68291277e-01 -2.19109778e-03 1.37398302e+02] [ 2.25445225e-03 1.85393069e-04 9.99997442e-01 7.16151342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.40, Z:0.72 [[-1.68429829e-01 -9.85713606e-01 2.82229465e-04 2.08427900e+02] [ 9.85712998e-01 -1.68430039e-01 -1.09871375e-03 1.37397618e+02] [ 1.13055302e-03 9.31410828e-05 9.99999357e-01 7.16361770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.41, Z:0.72 [[-1.67865874e-01 -9.85809810e-01 2.58067602e-04 2.08421297e+02] [ 9.85809303e-01 -1.67866050e-01 -1.00336701e-03 1.37413622e+02] [ 1.03244983e-03 8.59743628e-05 9.99999463e-01 7.17007038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.40, Z:0.72 [[-1.64791543e-01 -9.86328279e-01 5.23069202e-04 2.08418665e+02] [ 9.86326205e-01 -1.64792274e-01 -2.03087116e-03 1.37398767e+02] [ 2.08930342e-03 1.81246468e-04 9.99997801e-01 7.16815696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.39, Z:0.72 [[-1.63333023e-01 -9.86570744e-01 7.00082918e-04 2.08418437e+02] [ 9.86567041e-01 -1.63334336e-01 -2.71458180e-03 1.37387458e+02] [ 2.79247457e-03 2.47297882e-04 9.99996070e-01 7.16628908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.38, Z:0.72 [[-1.62404131e-01 -9.86724038e-01 7.56205918e-04 2.08417792e+02] [ 9.86719729e-01 -1.62405666e-01 -2.92842680e-03 1.37378675e+02] [ 3.01236124e-03 2.70574689e-04 9.99995426e-01 7.15776731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.40, Z:0.72 [[-1.62393871e-01 -9.86725631e-01 8.71416384e-04 2.08409704e+02] [ 9.86719925e-01 -1.62395908e-01 -3.37021307e-03 1.37399208e+02] [ 3.46699007e-03 3.12541964e-04 9.99993941e-01 7.15103646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.39, Z:0.71 [[-1.62860927e-01 -9.86648595e-01 9.32273988e-04 2.08408412e+02] [ 9.86642080e-01 -1.62863254e-01 -3.60090496e-03 1.37392706e+02] [ 3.70466100e-03 3.33374026e-04 9.99993082e-01 7.14627673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.39, Z:0.71 [[-1.63512060e-01 -9.86540815e-01 1.01289177e-03 2.08406684e+02] [ 9.86533144e-01 -1.63514800e-01 -3.90722735e-03 1.37387487e+02] [ 4.02026205e-03 3.60372511e-04 9.99991854e-01 7.14713188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.37, Z:0.71 [[-1.65249946e-01 -9.86251065e-01 1.13708694e-03 2.08404055e+02] [ 9.86241416e-01 -1.65253380e-01 -4.38065281e-03 1.37374894e+02] [ 4.50833096e-03 3.97539589e-04 9.99989758e-01 7.14528261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.39, Z:0.71 [[-1.66017068e-01 -9.86122265e-01 1.10061377e-03 2.08397929e+02] [ 9.86113247e-01 -1.66020276e-01 -4.23469332e-03 1.37388042e+02] [ 4.35864957e-03 3.82298448e-04 9.99990428e-01 7.14214926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.37, Z:0.71 [[-1.67125322e-01 -9.85935266e-01 8.81864734e-04 2.08395653e+02] [ 9.85929489e-01 -1.67127374e-01 -3.38871029e-03 1.37372985e+02] [ 3.48843272e-03 3.03117147e-04 9.99993869e-01 7.13271335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.40, Z:0.71 [[-1.67706175e-01 -9.85836726e-01 7.67833719e-04 2.08386132e+02] [ 9.85832357e-01 -1.67707727e-01 -2.94674072e-03 1.37396773e+02] [ 3.03377687e-03 2.62768711e-04 9.99995364e-01 7.13196328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.38, Z:0.71 [[-1.68457095e-01 -9.85708659e-01 8.04173864e-04 2.08387818e+02] [ 9.85703878e-01 -1.68458792e-01 -3.08220017e-03 1.37379251e+02] [ 3.17362156e-03 2.73458811e-04 9.99994927e-01 7.13501689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.39, Z:0.71 [[-1.69645115e-01 -9.85504737e-01 9.73671542e-04 2.08382483e+02] [ 9.85497744e-01 -1.69647593e-01 -3.72697679e-03 1.37391416e+02] [ 3.83813432e-03 3.27287702e-04 9.99992581e-01 7.13819727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.40, Z:0.71 [[-1.71174071e-01 -9.85240001e-01 1.25587460e-03 2.08377429e+02] [ 9.85228392e-01 -1.71178174e-01 -4.80085888e-03 1.37403758e+02] [ 4.94497653e-03 4.15540757e-04 9.99987687e-01 7.14168240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.39, Z:0.71 [[-1.73180953e-01 -9.84888884e-01 1.49761544e-03 2.08380134e+02] [ 9.84872408e-01 -1.73186750e-01 -5.71747087e-03 1.37385793e+02] [ 5.89044066e-03 4.84803067e-04 9.99982534e-01 7.13548128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.42, Z:0.71 [[-1.77645366e-01 -9.84093194e-01 1.64631421e-03 2.08365347e+02] [ 9.84073305e-01 -1.77652276e-01 -6.27689250e-03 1.37424065e+02] [ 6.46951865e-03 5.05033003e-04 9.99978945e-01 7.12702252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.44, Z:0.71 [[-1.80084302e-01 -9.83650107e-01 1.45316314e-03 2.08358866e+02] [ 9.83634640e-01 -1.80089644e-01 -5.53308181e-03 1.37440446e+02] [ 5.70431615e-03 4.32960428e-04 9.99983637e-01 7.12705326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.42, Z:0.71 [[-1.83038679e-01 -9.83104901e-01 1.26330620e-03 2.08363025e+02] [ 9.83093231e-01 -1.83042679e-01 -4.80378067e-03 1.37417295e+02] [ 4.95385927e-03 3.62670111e-04 9.99987664e-01 7.13021147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.43, Z:0.71 [[-1.85980967e-01 -9.82552733e-01 1.09819644e-03 2.08357365e+02] [ 9.82543930e-01 -1.85983962e-01 -4.17039703e-03 1.37434330e+02] [ 4.30188193e-03 3.03411769e-04 9.99990701e-01 7.13240182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:137.45, Z:0.71 [[-1.91673829e-01 -9.81458298e-01 8.67046099e-04 2.08353773e+02] [ 9.81452815e-01 -1.91675663e-01 -3.28820611e-03 1.37448651e+02] [ 3.39342881e-03 2.20701778e-04 9.99994218e-01 7.13905370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.44, Z:0.71 [[-1.94686595e-01 -9.80865272e-01 6.68693573e-04 2.08358111e+02] [ 9.80862016e-01 -1.94687675e-01 -2.53259066e-03 1.37436165e+02] [ 2.61431662e-03 1.62834674e-04 9.99996569e-01 7.14218798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.621400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.36, Y:137.44, Z:0.71 [[-1.96942793e-01 -9.80414880e-01 4.47004632e-04 2.08359485e+02] [ 9.80413428e-01 -1.96943272e-01 -1.69075717e-03 1.37437587e+02] [ 1.74567804e-03 1.05266905e-04 9.99998471e-01 7.14609998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.44, Z:0.71 [[-1.98472799e-01 -9.80106389e-01 1.18478202e-04 2.08360052e+02] [ 9.80106287e-01 -1.98472832e-01 -4.47666723e-04 1.37443681e+02] [ 4.62275720e-04 2.72715632e-05 9.99999893e-01 7.14964157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.45, Z:0.72 [[-1.99426882e-01 -9.79912706e-01 -8.41403398e-05 2.08360786e+02] [ 9.79912655e-01 -1.99426898e-01 3.17172442e-04 1.37449499e+02] [-3.27581153e-04 -1.91974727e-05 9.99999946e-01 7.15486619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:137.45, Z:0.72 [[-1.99675208e-01 -9.79862121e-01 -1.88711656e-04 2.08362784e+02] [ 9.79861864e-01 -1.99675293e-01 7.10626753e-04 1.37451512e+02] [-7.33997292e-04 -4.30168100e-05 9.99999730e-01 7.15355246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:137.43, Z:0.71 [[-1.97982460e-01 -9.80205562e-01 3.28990426e-05 2.08374582e+02] [ 9.80205555e-01 -1.97982463e-01 -1.23938993e-04 1.37426994e+02] [ 1.27999124e-04 7.71007757e-06 9.99999992e-01 7.13883991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:137.42, Z:0.71 [[-1.96242302e-01 -9.80555412e-01 2.07828485e-04 2.08379471e+02] [ 9.80555102e-01 -1.96242405e-01 -7.80909176e-04 1.37418886e+02] [ 8.06509481e-04 5.05398675e-05 9.99999674e-01 7.13039728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.41, Z:0.71 [[-1.93960746e-01 -9.81009244e-01 3.04064704e-04 2.08385035e+02] [ 9.81008583e-01 -1.93960970e-01 -1.14091466e-03 1.37409052e+02] [ 1.17822451e-03 7.69974258e-05 9.99999303e-01 7.13245656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:137.41, Z:0.71 [[-1.91325723e-01 -9.81526546e-01 3.27019940e-04 2.08386625e+02] [ 9.81525785e-01 -1.91325983e-01 -1.22541087e-03 1.37414736e+02] [ 1.26534071e-03 8.65258822e-05 9.99999196e-01 7.13676672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.38, Z:0.71 [[-1.85392722e-01 -9.82664381e-01 5.02152443e-04 2.08401896e+02] [ 9.82662595e-01 -1.85393345e-01 -1.87910736e-03 1.37376199e+02] [ 1.93962759e-03 1.45073594e-04 9.99998108e-01 7.14338257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:137.37, Z:0.71 [[-1.82981399e-01 -9.83116179e-01 6.21080835e-04 2.08404956e+02] [ 9.83113457e-01 -1.82982358e-01 -2.32110863e-03 1.37369414e+02] [ 2.39556629e-03 1.85873222e-04 9.99997113e-01 7.14090563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.34, Z:0.71 [[-1.81054416e-01 -9.83472863e-01 6.52255524e-04 2.08412589e+02] [ 9.83469871e-01 -1.81055479e-01 -2.43449415e-03 1.37342339e+02] [ 2.51235337e-03 2.00697741e-04 9.99996824e-01 7.13013450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.79336108e-01 -9.83787633e-01 6.73748811e-04 2.08415525e+02] [ 9.83784450e-01 -1.79337248e-01 -2.51153558e-03 1.37332621e+02] [ 2.59164590e-03 2.12414587e-04 9.99996619e-01 7.12393610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:137.35, Z:0.71 [[-1.77813184e-01 -9.84063968e-01 7.60975084e-04 2.08410695e+02] [ 9.84059920e-01 -1.77814644e-01 -2.83307489e-03 1.37353606e+02] [ 2.92323943e-03 2.45087012e-04 9.99995697e-01 7.12086180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.74997746e-01 -9.84568033e-01 1.25584080e-03 2.08418066e+02] [ 9.84557050e-01 -1.75001749e-01 -4.66940684e-03 1.37329140e+02] [ 4.81712304e-03 4.19311240e-04 9.99988310e-01 7.12911904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.74395794e-01 -9.84674442e-01 1.53313186e-03 2.08417592e+02] [ 9.84658119e-01 -1.74401767e-01 -5.69321514e-03 1.37329145e+02] [ 5.87334434e-03 5.16737956e-04 9.99982618e-01 7.13130491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.74473748e-01 -9.84660367e-01 1.69476132e-03 2.08417190e+02] [ 9.84640472e-01 -1.74481041e-01 -6.28549422e-03 1.37326880e+02] [ 6.48478077e-03 5.72076850e-04 9.99978810e-01 7.12591638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.42, Y:137.32, Z:0.71 [[-1.75053145e-01 -9.84557470e-01 1.72768285e-03 2.08418259e+02] [ 9.84536843e-01 -1.75060707e-01 -6.39955587e-03 1.37321536e+02] [ 6.60317992e-03 5.80705036e-04 9.99978030e-01 7.12470126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.76413838e-01 -9.84314987e-01 1.47123771e-03 2.08416401e+02] [ 9.84300059e-01 -1.76419298e-01 -5.44283851e-03 1.37327904e+02] [ 5.61702224e-03 4.87947335e-04 9.99984105e-01 7.12545503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.32, Z:0.71 [[-1.78315333e-01 -9.83972625e-01 1.23065671e-03 2.08419983e+02] [ 9.83962200e-01 -1.78319131e-01 -4.54713167e-03 1.37316180e+02] [ 4.69370273e-03 4.00096383e-04 9.99988905e-01 7.12555379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.82494067e-01 -9.83206300e-01 1.13473130e-03 2.08415518e+02] [ 9.83197445e-01 -1.82497256e-01 -4.18744716e-03 1.37333520e+02] [ 4.32420978e-03 3.51480654e-04 9.99990589e-01 7.13313791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.84204407e-01 -9.82887308e-01 1.12994634e-03 2.08417382e+02] [ 9.82878545e-01 -1.84207552e-01 -4.16453190e-03 1.37328543e+02] [ 4.30141019e-03 3.43474886e-04 9.99990690e-01 7.13573197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.32, Z:0.71 [[-1.85321707e-01 -9.82677162e-01 1.20844821e-03 2.08421466e+02] [ 9.82667161e-01 -1.85325292e-01 -4.44825304e-03 1.37318196e+02] [ 4.59515269e-03 3.63144522e-04 9.99989376e-01 7.13551262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.33, Z:0.71 [[-1.85983100e-01 -9.82552000e-01 1.36178662e-03 2.08419722e+02] [ 9.82539330e-01 -1.85987640e-01 -5.00636708e-03 1.37329694e+02] [ 5.17229147e-03 4.06909247e-04 9.99986541e-01 7.13330827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.31, Z:0.71 [[-1.85178822e-01 -9.82704305e-01 1.02645668e-03 2.08425185e+02] [ 9.82697126e-01 -1.85181406e-01 -3.76889751e-03 1.37310739e+02] [ 3.89379250e-03 3.10776031e-04 9.99992371e-01 7.11992912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:137.32, Z:0.71 [[-1.84382278e-01 -9.82854355e-01 7.02114185e-04 2.08423574e+02] [ 9.82851006e-01 -1.84383489e-01 -2.57482535e-03 1.37316433e+02] [ 2.66013657e-03 2.15321470e-04 9.99996439e-01 7.12297535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.30, Z:0.71 [[-1.83606294e-01 -9.82999727e-01 5.15891812e-04 2.08428787e+02] [ 9.82997924e-01 -1.83606949e-01 -1.88959259e-03 1.37298198e+02] [ 1.95219032e-03 1.60179487e-04 9.99998082e-01 7.12733768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.30, Z:0.71 [[-1.83915712e-01 -9.82941882e-01 5.16486797e-04 2.08429519e+02] [ 9.82940079e-01 -1.83916368e-01 -1.88943004e-03 1.37295804e+02] [ 1.95219029e-03 1.60179702e-04 9.99998082e-01 7.12733408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.30, Z:0.71 [[-1.83511754e-01 -9.83017287e-01 6.70582393e-04 2.08428851e+02] [ 9.83014256e-01 -1.83512859e-01 -2.45005817e-03 1.37301490e+02] [ 2.53151003e-03 2.09577580e-04 9.99996774e-01 7.13187531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.32, Z:0.71 [[-1.83471571e-01 -9.83024479e-01 1.02787273e-03 2.08425530e+02] [ 9.83017376e-01 -1.83474167e-01 -3.75068814e-03 1.37317946e+02] [ 3.87560635e-03 3.22272112e-04 9.99992438e-01 7.13024732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.30, Z:0.71 [[-1.84064767e-01 -9.82913240e-01 1.31286402e-03 2.08430007e+02] [ 9.82901681e-01 -1.84068993e-01 -4.78458303e-03 1.37304573e+02] [ 4.94448757e-03 4.09743087e-04 9.99987692e-01 7.12447435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.30, Z:0.71 [[-1.86885261e-01 -9.82381366e-01 8.66797790e-04 2.08432549e+02] [ 9.82376334e-01 -1.86887088e-01 -3.15507485e-03 1.37302050e+02] [ 3.26148005e-03 2.61884649e-04 9.99994647e-01 7.12528721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.31, Z:0.71 [[-1.89130753e-01 -9.81951798e-01 4.74038286e-04 2.08431314e+02] [ 9.81950296e-01 -1.89131295e-01 -1.72338851e-03 1.37312469e+02] [ 1.78193992e-03 1.39536269e-04 9.99998403e-01 7.13531223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.30, Z:0.71 [[-1.91412724e-01 -9.81509598e-01 2.79384003e-04 2.08436203e+02] [ 9.81509077e-01 -1.91412911e-01 -1.01451782e-03 1.37301982e+02] [ 1.04923668e-03 8.00263160e-05 9.99999446e-01 7.13930174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:137.32, Z:0.71 [[-1.95289097e-01 -9.80745595e-01 4.96288967e-04 2.08433888e+02] [ 9.80743953e-01 -1.95289681e-01 -1.79977108e-03 1.37321212e+02] [ 1.86203768e-03 1.35256733e-04 9.99998257e-01 7.14380725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.32, Z:0.71 [[-1.96496489e-01 -9.80504379e-01 5.41383093e-04 2.08435865e+02] [ 9.80502429e-01 -1.96497181e-01 -1.96081860e-03 1.37320828e+02] [ 2.02897148e-03 1.45533468e-04 9.99997931e-01 7.14223671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.33, Z:0.71 [[-1.97580376e-01 -9.80286568e-01 4.89796533e-04 2.08436418e+02] [ 9.80284975e-01 -1.97580940e-01 -1.77175874e-03 1.37327706e+02] [ 1.83360575e-03 1.30075426e-04 9.99998311e-01 7.14141673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:137.32, Z:0.71 [[-1.98915173e-01 -9.80016618e-01 4.26102571e-04 2.08440934e+02] [ 9.80015416e-01 -1.98915598e-01 -1.53943435e-03 1.37322826e+02] [ 1.59342969e-03 1.11370238e-04 9.99998724e-01 7.14220496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:137.30, Z:0.71 [[-2.00597332e-01 -9.79673665e-01 4.69478769e-04 2.08449499e+02] [ 9.79672208e-01 -2.00597845e-01 -1.69400302e-03 1.37303384e+02] [ 1.75374657e-03 1.20122817e-04 9.99998455e-01 7.14159398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:137.31, Z:0.71 [[-2.02533951e-01 -9.79275101e-01 5.24461971e-04 2.08449528e+02] [ 9.79273286e-01 -2.02534588e-01 -1.89001447e-03 1.37313388e+02] [ 1.95706580e-03 1.30799501e-04 9.99998076e-01 7.14352220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:137.33, Z:0.71 [[-2.05494155e-01 -9.78658194e-01 5.39073917e-04 2.08451919e+02] [ 9.78656280e-01 -2.05494822e-01 -1.94022405e-03 1.37329818e+02] [ 2.00959307e-03 1.28863371e-04 9.99997972e-01 7.14498982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.33, Z:0.71 [[-2.07240961e-01 -9.78289787e-01 5.26378128e-04 2.08457194e+02] [ 9.78287965e-01 -2.07241593e-01 -1.89214131e-03 1.37326800e+02] [ 1.96014997e-03 1.22820203e-04 9.99998071e-01 7.14569538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:137.32, Z:0.71 [[-2.08877534e-01 -9.77941680e-01 4.96332133e-04 2.08462643e+02] [ 9.77940063e-01 -2.08878093e-01 -1.78189967e-03 1.37320923e+02] [ 1.84626687e-03 1.13184269e-04 9.99998289e-01 7.14465556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.31, Z:0.71 [[-2.09912343e-01 -9.77720014e-01 6.18762406e-04 2.08468512e+02] [ 9.77717507e-01 -2.09913209e-01 -2.21861468e-03 1.37310687e+02] [ 2.29907038e-03 1.39260231e-04 9.99997347e-01 7.14384919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:137.32, Z:0.71 [[-2.09492025e-01 -9.77809833e-01 1.01053778e-03 2.08472286e+02] [ 9.77803164e-01 -2.09494336e-01 -3.61870864e-03 1.37319287e+02] [ 3.75011084e-03 2.30016441e-04 9.99992942e-01 7.13800889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.32, Z:0.71 [[-2.08750171e-01 -9.77968298e-01 1.17263808e-03 2.08475023e+02] [ 9.77959343e-01 -2.08753288e-01 -4.19388793e-03 1.37320094e+02] [ 4.34628149e-03 2.71317547e-04 9.99990518e-01 7.14017964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.31, Z:0.71 [[-2.07681799e-01 -9.78195680e-01 1.21726415e-03 2.08480509e+02] [ 9.78186059e-01 -2.07685167e-01 -4.34804092e-03 1.37307904e+02] [ 4.50604255e-03 2.87701861e-04 9.99989806e-01 7.13958818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:137.29, Z:0.71 [[-2.06736525e-01 -9.78395782e-01 1.30485908e-03 2.08484880e+02] [ 9.78384758e-01 -2.06740404e-01 -4.65513240e-03 1.37294850e+02] [ 4.82432900e-03 3.14268340e-04 9.99988314e-01 7.14092432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.29, Z:0.71 [[-2.06041674e-01 -9.78542385e-01 1.27682682e-03 2.08485195e+02] [ 9.78531858e-01 -2.06045394e-01 -4.54949872e-03 1.37294916e+02] [ 4.71496161e-03 3.12029386e-04 9.99988836e-01 7.13383023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.29, Z:0.71 [[-2.05478587e-01 -9.78660823e-01 1.24262321e-03 2.08487212e+02] [ 9.78650880e-01 -2.05482115e-01 -4.42216551e-03 1.37290183e+02] [ 4.58313698e-03 3.07433981e-04 9.99989450e-01 7.12573321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.28, Z:0.71 [[-2.03917188e-01 -9.78987391e-01 1.21231865e-03 2.08492359e+02] [ 9.78977956e-01 -2.03920558e-01 -4.30901269e-03 1.37284553e+02] [ 4.46568579e-03 3.08151481e-04 9.99989981e-01 7.11425195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.28, Z:0.71 [[-2.03751146e-01 -9.79021895e-01 1.26450279e-03 2.08494973e+02] [ 9.79011657e-01 -2.03754813e-01 -4.48897159e-03 1.37280882e+02] [ 4.65245000e-03 3.23329867e-04 9.99989125e-01 7.12229359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:137.29, Z:0.71 [[-2.03588452e-01 -9.79055427e-01 1.48730228e-03 2.08494053e+02] [ 9.79041300e-01 -2.03593526e-01 -5.27339236e-03 1.37287028e+02] [ 5.46574853e-03 3.82528570e-04 9.99984990e-01 7.13016239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.27, Z:0.71 [[-2.03836051e-01 -9.79003659e-01 1.64313295e-03 2.08499916e+02] [ 9.78986458e-01 -2.03842235e-01 -5.81875970e-03 1.37266951e+02] [ 6.03152694e-03 4.22531912e-04 9.99981721e-01 7.13055893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.27, Z:0.71 [[-2.04335173e-01 -9.78899420e-01 1.74972931e-03 2.08499972e+02] [ 9.78879960e-01 -2.04342173e-01 -6.18868936e-03 1.37270293e+02] [ 6.41564792e-03 4.48208041e-04 9.99979319e-01 7.12163079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.28, Z:0.71 [[-2.04726486e-01 -9.78817432e-01 1.87120201e-03 2.08499948e+02] [ 9.78795228e-01 -2.04734479e-01 -6.61023821e-03 1.37275578e+02] [ 6.85331596e-03 4.78232759e-04 9.99976401e-01 7.11539187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.271400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:208.48, Y:137.34, Z:0.71 [[-2.05065492e-01 -9.78745670e-01 2.24901947e-03 2.08482095e+02] [ 9.78725495e-01 -2.05075852e-01 -6.34821476e-03 1.37340768e+02] [ 6.67450729e-03 8.99372920e-04 9.99977321e-01 7.10917676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.26, Z:0.71 [[-2.04426530e-01 -9.78881000e-01 1.33454388e-03 2.08506195e+02] [ 9.78860869e-01 -2.04430885e-01 -6.27790238e-03 1.37262121e+02] [ 6.41814135e-03 2.29629809e-05 9.99979403e-01 7.10949025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.24, Z:0.71 [[-2.03909136e-01 -9.78989069e-01 1.21103387e-03 2.08516137e+02] [ 9.78979824e-01 -2.03912488e-01 -4.26630726e-03 1.37239912e+02] [ 4.42361310e-03 3.15638696e-04 9.99990166e-01 7.12237156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.25, Z:0.71 [[-2.03708424e-01 -9.79031059e-01 1.03108289e-03 2.08516476e+02] [ 9.79024374e-01 -2.03710854e-01 -3.62802872e-03 1.37248473e+02] [ 3.76199558e-03 2.70395271e-04 9.99992887e-01 7.12753203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.25, Z:0.71 [[-2.03424645e-01 -9.79090029e-01 1.06218967e-03 2.08518580e+02] [ 9.79082953e-01 -2.03427224e-01 -3.73298023e-03 1.37249279e+02] [ 3.87100202e-03 2.80591622e-04 9.99992468e-01 7.12993785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.25, Z:0.71 [[-2.02644873e-01 -9.79251613e-01 1.15459012e-03 2.08521426e+02] [ 9.79243276e-01 -2.02647926e-01 -4.05281992e-03 1.37245429e+02] [ 4.20270574e-03 3.09341433e-04 9.99991121e-01 7.12598591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:137.23, Z:0.71 [[-1.99516853e-01 -9.79893482e-01 1.33801166e-03 2.08529059e+02] [ 9.79882325e-01 -1.99520987e-01 -4.69101502e-03 1.37233564e+02] [ 4.86365645e-03 3.75157420e-04 9.99988102e-01 7.11625208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.481400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.53, Y:137.22, Z:0.71 [[-1.97744702e-01 -9.80252673e-01 1.31508396e-03 2.08534678e+02] [ 9.80241929e-01 -1.97748713e-01 -4.60515726e-03 1.37221225e+02] [ 4.77427387e-03 3.78454989e-04 9.99988532e-01 7.11301828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:137.20, Z:0.71 [[-1.95864466e-01 -9.80630191e-01 1.24081431e-03 2.08542813e+02] [ 9.80620656e-01 -1.95868053e-01 -4.33998226e-03 1.37198142e+02] [ 4.49895352e-03 3.66719838e-04 9.99989812e-01 7.12056197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.19, Z:0.71 [[-1.93783966e-01 -9.81043613e-01 1.09717891e-03 2.08547074e+02] [ 9.81036181e-01 -1.93786785e-01 -3.83314652e-03 1.37185401e+02] [ 3.97310268e-03 3.33569876e-04 9.99992052e-01 7.13055254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.17, Z:0.71 [[-1.91385773e-01 -9.81514424e-01 9.59707175e-04 2.08550577e+02] [ 9.81508757e-01 -1.91387943e-01 -3.34902005e-03 1.37172403e+02] [ 3.47078786e-03 3.01006205e-04 9.99993932e-01 7.13590764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.55, Y:137.17, Z:0.71 [[-1.85989281e-01 -9.82551227e-01 1.03606336e-03 2.08549602e+02] [ 9.82544652e-01 -1.85991844e-01 -3.61130159e-03 1.37174210e+02] [ 3.74098814e-03 3.46315128e-04 9.99992943e-01 7.13134191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:137.15, Z:0.71 [[-1.84123323e-01 -9.82902589e-01 1.04987541e-03 2.08555942e+02] [ 9.82895858e-01 -1.84125966e-01 -3.65525721e-03 1.37150137e+02] [ 3.78607110e-03 3.58900086e-04 9.99992768e-01 7.12849023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.15, Z:0.71 [[-1.82991372e-01 -9.83113938e-01 1.06898119e-03 2.08554780e+02] [ 9.83106979e-01 -1.82994119e-01 -3.71754607e-03 1.37148673e+02] [ 3.85038862e-03 3.70644019e-04 9.99992519e-01 7.12606089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:137.14, Z:0.71 [[-1.82720738e-01 -9.83164148e-01 1.17941304e-03 2.08555154e+02] [ 9.83155697e-01 -1.82724082e-01 -4.09693012e-03 1.37137565e+02] [ 4.24346197e-03 4.10952557e-04 9.99990912e-01 7.12084376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.14, Z:0.71 [[-1.83045985e-01 -9.83103471e-01 1.31599778e-03 2.08551787e+02] [ 9.83092974e-01 -1.83050143e-01 -4.56620205e-03 1.37138640e+02] [ 4.72994267e-03 4.57923214e-04 9.99988709e-01 7.12003988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.14, Z:0.71 [[-1.84372661e-01 -9.82855549e-01 1.30048977e-03 2.08547028e+02] [ 9.82845316e-01 -1.84376705e-01 -4.50729166e-03 1.37137273e+02] [ 4.66979664e-03 4.47158929e-04 9.99988996e-01 7.12650879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:137.16, Z:0.71 [[-1.86284813e-01 -9.82495005e-01 1.23818350e-03 2.08538928e+02] [ 9.82485743e-01 -1.86288459e-01 -4.28647132e-03 1.37156252e+02] [ 4.44209596e-03 4.17993130e-04 9.99990047e-01 7.13669116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:137.17, Z:0.71 [[-1.88839913e-01 -9.82007080e-01 1.25750233e-03 2.08532721e+02] [ 9.81997540e-01 -1.88843646e-01 -4.34834557e-03 1.37166970e+02] [ 4.50757747e-03 4.13723000e-04 9.99989755e-01 7.14289644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:137.16, Z:0.71 [[-1.91974900e-01 -9.81398657e-01 1.52130691e-03 2.08532839e+02] [ 9.81384710e-01 -1.91980317e-01 -5.25447645e-03 1.37155278e+02] [ 5.44879711e-03 4.84259751e-04 9.99985038e-01 7.14803818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.18, Z:0.71 [[-1.95521328e-01 -9.80697714e-01 1.84521469e-03 2.08523467e+02] [ 9.80677215e-01 -1.95529219e-01 -6.36582784e-03 1.37180303e+02] [ 6.60374620e-03 5.64904891e-04 9.99978035e-01 7.14478975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.18, Z:0.71 [[-2.03317386e-01 -9.79110701e-01 2.06756183e-03 2.08521237e+02] [ 9.79084949e-01 -2.03327084e-01 -7.12457572e-03 1.37177660e+02] [ 7.39613964e-03 5.75768554e-04 9.99972482e-01 7.14907093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.21, Z:0.72 [[-2.07202937e-01 -9.78296471e-01 1.71984855e-03 2.08510447e+02] [ 9.78278668e-01 -2.07209573e-01 -5.91945033e-03 1.37209255e+02] [ 6.14734645e-03 4.55963652e-04 9.99981001e-01 7.15546141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.20, Z:0.72 [[-2.10926157e-01 -9.77500954e-01 1.42861753e-03 2.08511191e+02] [ 9.77488683e-01 -2.10930687e-01 -4.91127510e-03 1.37199201e+02] [ 5.10211537e-03 3.60541085e-04 9.99986919e-01 7.16301006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.22, Z:0.72 [[-2.14017878e-01 -9.76828804e-01 1.35504484e-03 2.08503166e+02] [ 9.76817777e-01 -2.14021917e-01 -4.65280801e-03 1.37221180e+02] [ 4.83500618e-03 3.27847787e-04 9.99988258e-01 7.16868589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.22, Z:0.72 [[-2.16891291e-01 -9.76194401e-01 1.63083773e-03 2.08502640e+02] [ 9.76178452e-01 -2.16897091e-01 -5.59304653e-03 1.37218605e+02] [ 5.81362467e-03 3.78905571e-04 9.99983029e-01 7.17062556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.22, Z:0.72 [[-2.17063718e-01 -9.76155966e-01 1.69501652e-03 2.08501302e+02] [ 9.76138778e-01 -2.17069978e-01 -5.80616722e-03 1.37220627e+02] [ 6.03566197e-03 3.94263113e-04 9.99981708e-01 7.16999848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.21, Z:0.72 [[-2.16573314e-01 -9.76265057e-01 1.59303112e-03 2.08504280e+02] [ 9.76249915e-01 -2.16578849e-01 -5.45030346e-03 1.37206594e+02] [ 5.66595766e-03 3.74806210e-04 9.99983878e-01 7.17646313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.20, Z:0.72 [[-2.15259011e-01 -9.76556434e-01 1.04379373e-03 2.08504075e+02] [ 9.76549952e-01 -2.15261395e-01 -3.56698432e-03 1.37197620e+02] [ 3.70804998e-03 2.51491194e-04 9.99993094e-01 7.17594494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.20, Z:0.72 [[-2.15523739e-01 -9.76498289e-01 7.80343681e-04 2.08504080e+02] [ 9.76494675e-01 -2.15525070e-01 -2.66356763e-03 1.37196216e+02] [ 2.76915286e-03 1.87939394e-04 9.99996148e-01 7.17718998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.20, Z:0.72 [[-2.16177930e-01 -9.76353855e-01 5.02868366e-04 2.08502470e+02] [ 9.76352357e-01 -2.16178481e-01 -1.71447254e-03 1.37201379e+02] [ 1.78264119e-03 1.20345590e-04 9.99998404e-01 7.17703952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.20, Z:0.72 [[-2.17279219e-01 -9.76109427e-01 3.56845988e-04 2.08504283e+02] [ 9.76108674e-01 -2.17279496e-01 -1.21522689e-03 1.37196401e+02] [ 1.26372974e-03 8.42769144e-05 9.99999198e-01 7.17626611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:137.20, Z:0.72 [[-2.18389851e-01 -9.75861503e-01 4.47986613e-04 2.08503405e+02] [ 9.75860319e-01 -2.18390285e-01 -1.52374691e-03 1.37204233e+02] [ 1.58480187e-03 1.04401499e-04 9.99998739e-01 7.17361324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.19, Z:0.72 [[-2.19536998e-01 -9.75603794e-01 8.62420787e-04 2.08508880e+02] [ 9.75599415e-01 -2.19538602e-01 -2.92973292e-03 1.37194633e+02] [ 3.04759320e-03 1.98192447e-04 9.99995336e-01 7.16912674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.19, Z:0.72 [[-2.19850686e-01 -9.75533152e-01 8.63362886e-04 2.08509655e+02] [ 9.75528774e-01 -2.19852292e-01 -2.92945542e-03 1.37192267e+02] [ 3.04759319e-03 1.98192554e-04 9.99995336e-01 7.16912319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:137.20, Z:0.72 [[-2.22683411e-01 -9.74889611e-01 1.53151148e-03 2.08514279e+02] [ 9.74875853e-01 -2.22688422e-01 -5.19024423e-03 1.37197483e+02] [ 5.40096505e-03 3.37252270e-04 9.99985358e-01 7.16375620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.20, Z:0.72 [[-2.24573457e-01 -9.74456211e-01 1.36218298e-03 2.08515413e+02] [ 9.74445345e-01 -2.24577399e-01 -4.61092126e-03 1.37201160e+02] [ 4.79905636e-03 2.91882336e-04 9.99988442e-01 7.16363545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.19, Z:0.72 [[-2.26052324e-01 -9.74114431e-01 1.19256056e-03 2.08520998e+02] [ 9.74106119e-01 -2.26055332e-01 -4.03198710e-03 1.37189453e+02] [ 4.19720149e-03 2.50240486e-04 9.99991160e-01 7.16258597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.20, Z:0.72 [[-2.26555380e-01 -9.73997509e-01 1.22994482e-03 2.08519763e+02] [ 9.73988687e-01 -2.26558573e-01 -4.15343710e-03 1.37203273e+02] [ 4.32409193e-03 2.56968816e-04 9.99990618e-01 7.15805126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:137.21, Z:0.71 [[-2.25224205e-01 -9.74305299e-01 1.80041713e-03 2.08524923e+02] [ 9.74286452e-01 -2.25231069e-01 -6.07253786e-03 1.37211782e+02] [ 6.32201570e-03 3.86439502e-04 9.99979941e-01 7.14864584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:137.19, Z:0.71 [[-2.24310063e-01 -9.74515834e-01 1.97082916e-03 2.08534732e+02] [ 9.74493312e-01 -2.24318307e-01 -6.63938924e-03 1.37188135e+02] [ 6.91228300e-03 4.31278013e-04 9.99976017e-01 7.14403305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:137.19, Z:0.71 [[-2.23855050e-01 -9.74620143e-01 2.11982110e-03 2.08534923e+02] [ 9.74594154e-01 -2.23864595e-01 -7.13285572e-03 1.37194641e+02] [ 7.42637775e-03 4.69239480e-04 9.99972314e-01 7.14267982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.17, Z:0.71 [[-2.23598999e-01 -9.74679280e-01 1.94655196e-03 2.08546263e+02] [ 9.74657421e-01 -2.23607050e-01 -6.54213708e-03 1.37172170e+02] [ 6.81174819e-03 4.34406011e-04 9.99976705e-01 7.14100783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.17, Z:0.71 [[-2.24210653e-01 -9.74538901e-01 1.87442062e-03 2.08549262e+02] [ 9.74518675e-01 -2.24218103e-01 -6.29235941e-03 1.37170796e+02] [ 6.55242805e-03 4.15843884e-04 9.99978446e-01 7.14232221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.18, Z:0.71 [[-2.24754028e-01 -9.74413878e-01 1.79466906e-03 2.08549016e+02] [ 9.74395377e-01 -2.24760844e-01 -6.01758904e-03 1.37179598e+02] [ 6.26699361e-03 3.96239861e-04 9.99980284e-01 7.14547072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.17, Z:0.71 [[-2.25051706e-01 -9.74345170e-01 1.79417860e-03 2.08553520e+02] [ 9.74326722e-01 -2.25058510e-01 -6.00889833e-03 1.37171151e+02] [ 6.25853623e-03 3.95803332e-04 9.99980337e-01 7.14924155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:137.17, Z:0.72 [[-2.25134558e-01 -9.74325829e-01 1.89986602e-03 2.08554852e+02] [ 9.74305192e-01 -2.25142182e-01 -6.35541129e-03 1.37171938e+02] [ 6.61998136e-03 4.20226621e-04 9.99977999e-01 7.15105247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:137.16, Z:0.72 [[-2.25054688e-01 -9.74343922e-01 2.07603586e-03 2.08561238e+02] [ 9.74319339e-01 -2.25063790e-01 -6.93664074e-03 1.37155288e+02] [ 7.22591424e-03 4.61598369e-04 9.99973786e-01 7.15171403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:137.16, Z:0.71 [[-2.23840377e-01 -9.74623242e-01 2.24114217e-03 2.08562470e+02] [ 9.74594674e-01 -2.23851015e-01 -7.47961966e-03 1.37158984e+02] [ 7.79149310e-03 5.09964337e-04 9.99969516e-01 7.14624086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:137.16, Z:0.71 [[-2.23347325e-01 -9.74735914e-01 2.42308667e-03 2.08563457e+02] [ 9.74702604e-01 -2.23359772e-01 -8.07744475e-03 1.37160556e+02] [ 8.41459558e-03 5.57713211e-04 9.99964441e-01 7.14768359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:137.18, Z:0.72 [[-2.22953592e-01 -9.74825724e-01 2.55005979e-03 2.08559663e+02] [ 9.74788926e-01 -2.22967387e-01 -8.49078052e-03 1.37177479e+02] [ 8.84561144e-03 5.92720029e-04 9.99960701e-01 7.15340189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:137.16, Z:0.72 [[-2.22502413e-01 -9.74928996e-01 2.47564726e-03 2.08566725e+02] [ 9.74894403e-01 -2.22515425e-01 -8.23339543e-03 1.37157677e+02] [ 8.57784564e-03 5.81544307e-04 9.99963041e-01 7.15866088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.13, Z:0.72 [[-2.19798307e-01 -9.75543717e-01 1.77764219e-03 2.08576349e+02] [ 9.75525942e-01 -2.19805063e-01 -5.90524582e-03 1.37129979e+02] [ 6.15156021e-03 4.36173041e-04 9.99980984e-01 7.16847594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.11, Z:0.72 [[-2.17946077e-01 -9.75959947e-01 1.29997552e-03 2.08583120e+02] [ 9.75950469e-01 -2.17949706e-01 -4.31360689e-03 1.37108522e+02] [ 4.49323684e-03 3.28578022e-04 9.99989851e-01 7.16973686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.13, Z:0.72 [[-2.16114570e-01 -9.76367459e-01 1.03781292e-03 2.08578022e+02] [ 9.76361437e-01 -2.16116893e-01 -3.43982494e-03 1.37127116e+02] [ 3.58282204e-03 2.69884231e-04 9.99993545e-01 7.17355890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:137.09, Z:0.72 [[-2.14243440e-01 -9.76779760e-01 1.02408007e-03 2.08589390e+02] [ 9.76773914e-01 -2.14245712e-01 -3.39048282e-03 1.37092447e+02] [ 3.53115976e-03 2.73906001e-04 9.99993728e-01 7.17197813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:137.11, Z:0.72 [[-2.12427870e-01 -9.77176046e-01 1.17237227e-03 2.08586379e+02] [ 9.77168408e-01 -2.12430862e-01 -3.87707050e-03 1.37107014e+02] [ 4.03762847e-03 3.22007317e-04 9.99991797e-01 7.16975472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:137.08, Z:0.72 [[-2.09194743e-01 -9.77873123e-01 1.30939576e-03 2.08597482e+02] [ 9.77863629e-01 -2.09198504e-01 -4.32535473e-03 1.37083570e+02] [ 4.50357177e-03 3.75569016e-04 9.99989788e-01 7.17074393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:137.06, Z:0.72 [[-2.08141518e-01 -9.78097834e-01 1.31720692e-03 2.08606329e+02] [ 9.78088253e-01 -2.08145332e-01 -4.34636337e-03 1.37058460e+02] [ 4.52533907e-03 3.83685945e-04 9.99989687e-01 7.17650406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:137.07, Z:0.72 [[-2.07163629e-01 -9.78305365e-01 1.35791415e-03 2.08604226e+02] [ 9.78295209e-01 -2.07167691e-01 -4.47576867e-03 1.37066391e+02] [ 4.65998444e-03 4.01224427e-04 9.99989062e-01 7.17283136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:137.05, Z:0.72 [[-2.06374234e-01 -9.78471930e-01 1.53578177e-03 2.08608923e+02] [ 9.78458972e-01 -2.06379437e-01 -5.05647519e-03 1.37050287e+02] [ 5.26457281e-03 4.59173256e-04 9.99986037e-01 7.17047484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:137.05, Z:0.72 [[-2.05381851e-01 -9.78680303e-01 1.77767449e-03 2.08608038e+02] [ 9.78662988e-01 -2.05388837e-01 -5.84648915e-03 1.37053863e+02] [ 6.08695826e-03 5.38981464e-04 9.99981329e-01 7.16550904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:137.03, Z:0.72 [[-2.01677581e-01 -9.79450446e-01 1.72533561e-03 2.08616190e+02] [ 9.79434197e-01 -2.01684220e-01 -5.66820487e-03 1.37031414e+02] [ 5.89969876e-03 5.46702854e-04 9.99982447e-01 7.16593860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:137.03, Z:0.72 [[-1.99659608e-01 -9.79863875e-01 1.68123766e-03 2.08614417e+02] [ 9.79848494e-01 -1.99665941e-01 -5.51737674e-03 1.37034723e+02] [ 5.74196405e-03 5.45760906e-04 9.99983366e-01 7.16447248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:137.02, Z:0.72 [[-1.97710999e-01 -9.80258729e-01 1.78448908e-03 2.08615282e+02] [ 9.80241453e-01 -1.97718164e-01 -5.84990266e-03 1.37024606e+02] [ 6.08724405e-03 5.92640069e-04 9.99981297e-01 7.16040310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:137.02, Z:0.72 [[-1.96615545e-01 -9.80478609e-01 2.00639774e-03 2.08613959e+02] [ 9.80456827e-01 -1.96624622e-01 -6.57028473e-03 1.37018971e+02] [ 6.83653083e-03 6.75366246e-04 9.99976403e-01 7.15032701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:137.01, Z:0.71 [[-1.96482954e-01 -9.80504856e-01 2.16256699e-03 2.08613414e+02] [ 9.80479609e-01 -1.96493497e-01 -7.07409744e-03 1.37011460e+02] [ 7.36111724e-03 7.30413269e-04 9.99972640e-01 7.14141508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:137.01, Z:0.71 [[-1.98534684e-01 -9.80091630e-01 2.09200936e-03 2.08608473e+02] [ 9.80068035e-01 -1.98544495e-01 -6.83598243e-03 1.37011331e+02] [ 7.11524611e-03 6.93131891e-04 9.99974446e-01 7.14153663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:137.03, Z:0.71 [[-2.00625933e-01 -9.79665634e-01 2.11661642e-03 2.08601169e+02] [ 9.79641513e-01 -2.00635920e-01 -6.90895015e-03 1.37028041e+02] [ 7.19313032e-03 6.87410742e-04 9.99973893e-01 7.14324810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:137.05, Z:0.71 [[-2.03260414e-01 -9.79121506e-01 2.50620003e-03 2.08594162e+02] [ 9.79087726e-01 -2.03274318e-01 -8.17168817e-03 1.37045227e+02] [ 8.51052173e-03 7.92808966e-04 9.99963471e-01 7.14147772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:137.05, Z:0.71 [[-2.06143607e-01 -9.78517979e-01 2.71627452e-03 2.08592112e+02] [ 9.78478340e-01 -2.06159814e-01 -8.84694824e-03 1.37047405e+02] [ 9.21688457e-03 8.34073965e-04 9.99957176e-01 7.13362534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:137.06, Z:0.71 [[-2.09572929e-01 -9.77789140e-01 2.75416696e-03 2.08587965e+02] [ 9.77748421e-01 -2.09589441e-01 -8.96049715e-03 1.37057358e+02] [ 9.33872112e-03 8.15004759e-04 9.99956061e-01 7.13106472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:137.06, Z:0.71 [[-2.13489139e-01 -9.76942258e-01 2.49251028e-03 2.08587206e+02] [ 9.76908931e-01 -2.13502522e-01 -8.10027903e-03 1.37056274e+02] [ 8.44566212e-03 7.05633964e-04 9.99964086e-01 7.13090892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.08, Z:0.71 [[-2.21342607e-01 -9.75194441e-01 1.80335489e-03 2.08578910e+02] [ 9.75176979e-01 -2.21349470e-01 -5.85415245e-03 1.37079970e+02] [ 6.10810858e-03 4.62816810e-04 9.99981238e-01 7.14108405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.07, Z:0.71 [[-2.25316663e-01 -9.74283872e-01 1.82687115e-03 2.08583079e+02] [ 9.74265965e-01 -2.25323629e-01 -5.92385938e-03 1.37071910e+02] [ 6.18315789e-03 4.45114161e-04 9.99980785e-01 7.14245745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.10, Z:0.71 [[-2.28839487e-01 -9.73461639e-01 2.21952566e-03 2.08576813e+02] [ 9.73435230e-01 -2.28849670e-01 -7.18896250e-03 1.37098753e+02] [ 7.50611693e-03 5.15445987e-04 9.99971696e-01 7.14379716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.10, Z:0.71 [[-2.31689885e-01 -9.72786169e-01 2.62041727e-03 2.08576266e+02] [ 9.72749403e-01 -2.31703965e-01 -8.47775987e-03 1.37103506e+02] [ 8.85420861e-03 5.84798125e-04 9.99960630e-01 7.14702447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.10, Z:0.72 [[-2.34815618e-01 -9.72036731e-01 2.49398459e-03 2.08577047e+02] [ 9.72003463e-01 -2.34828260e-01 -8.05954385e-03 1.37099163e+02] [ 8.41983072e-03 5.31654887e-04 9.99964411e-01 7.15791256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:137.11, Z:0.72 [[-2.35999040e-01 -9.71750931e-01 2.14034311e-03 2.08574806e+02] [ 9.71726475e-01 -2.36008318e-01 -6.90885476e-03 1.37108776e+02] [ 7.21882482e-03 4.49344974e-04 9.99973843e-01 7.16848380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.10, Z:0.72 [[-2.37221441e-01 -9.71454100e-01 1.70885234e-03 2.08580845e+02] [ 9.71438539e-01 -2.37227333e-01 -5.50978280e-03 1.37096052e+02] [ 5.75788758e-03 3.53006408e-04 9.99983361e-01 7.17783143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.10, Z:0.72 [[-2.40034356e-01 -9.70763091e-01 1.59050316e-03 2.08583664e+02] [ 9.70749627e-01 -2.40039419e-01 -5.12237238e-03 1.37102845e+02] [ 5.35439350e-03 3.14434998e-04 9.99985616e-01 7.18672107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:137.11, Z:0.72 [[-2.41609388e-01 -9.70372047e-01 1.73015097e-03 2.08584921e+02] [ 9.70356143e-01 -2.41615352e-01 -5.56574847e-03 1.37108521e+02] [ 5.81887777e-03 3.34125537e-04 9.99983014e-01 7.18701634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.59, Y:137.11, Z:0.72 [[-2.42947103e-01 -9.70037633e-01 1.92264598e-03 2.08588186e+02] [ 9.70018028e-01 -2.42954438e-01 -6.17789247e-03 1.37110944e+02] [ 6.45990356e-03 3.64100179e-04 9.99979068e-01 7.18348298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.761400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.59, Y:137.12, Z:0.72 [[-2.44469860e-01 -9.69654829e-01 2.00017715e-03 2.08591464e+02] [ 9.69633648e-01 -2.44477763e-01 -6.41963628e-03 1.37116771e+02] [ 6.71383015e-03 3.70031486e-04 9.99977394e-01 7.18190316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.791400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.60, Y:137.12, Z:0.72 [[-2.45515848e-01 -9.69390863e-01 1.82289161e-03 2.08596722e+02] [ 9.69373305e-01 -2.45522390e-01 -5.84392424e-03 1.37116231e+02] [ 6.11260747e-03 3.32286445e-04 9.99981263e-01 7.18220036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.61, Y:137.09, Z:0.72 [[-2.45629859e-01 -9.69362950e-01 1.20173877e-03 2.08611207e+02] [ 9.69355336e-01 -2.45632701e-01 -3.84825993e-03 1.37093087e+02] [ 4.02554693e-03 2.19664345e-04 9.99991873e-01 7.17409587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:137.08, Z:0.72 [[-2.45332056e-01 -9.69438551e-01 1.03820708e-03 2.08618008e+02] [ 9.69432882e-01 -2.45334178e-01 -3.32086616e-03 1.37081648e+02] [ 3.47408336e-03 1.91757163e-04 9.99993947e-01 7.17738433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.881400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.62, Y:137.09, Z:0.72 [[-2.44126836e-01 -9.69742711e-01 1.07825246e-03 2.08619621e+02] [ 9.69736613e-01 -2.44129132e-01 -3.44507150e-03 1.37089483e+02] [ 3.60406581e-03 2.04586482e-04 9.99993484e-01 7.17386814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:137.08, Z:0.72 [[-2.42502329e-01 -9.70149855e-01 1.37063196e-03 2.08627411e+02] [ 9.70140031e-01 -2.42506054e-01 -4.37427708e-03 1.37078181e+02] [ 4.57609082e-03 2.68932549e-04 9.99989494e-01 7.17987454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:137.06, Z:0.72 [[-2.36439037e-01 -9.71644490e-01 1.88869184e-03 2.08638527e+02] [ 9.71625922e-01 -2.36446223e-01 -6.02085940e-03 1.37061917e+02] [ 6.29670891e-03 4.11535751e-04 9.99980091e-01 7.17913745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:137.03, Z:0.72 [[-2.33525303e-01 -9.72348947e-01 1.85942284e-03 2.08649051e+02] [ 9.72331012e-01 -2.33532318e-01 -5.92104576e-03 1.37034414e+02] [ 6.19155794e-03 4.25260492e-04 9.99980742e-01 7.17646645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.001400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.65, Y:137.03, Z:0.72 [[-2.31030138e-01 -9.72945485e-01 1.46900046e-03 2.08651736e+02] [ 9.72934327e-01 -2.31034544e-01 -4.67274449e-03 1.37032705e+02] [ 4.88571550e-03 3.49696171e-04 9.99988004e-01 7.16455327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:137.03, Z:0.72 [[-2.29582790e-01 -9.73288219e-01 1.33619379e-03 2.08653976e+02] [ 9.73279013e-01 -2.29586447e-01 -4.24568632e-03 1.37034875e+02] [ 4.43904846e-03 3.25752864e-04 9.99990094e-01 7.17824541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:137.03, Z:0.72 [[-2.29174449e-01 -9.73383999e-01 1.63196949e-03 2.08662023e+02] [ 9.73370299e-01 -2.29179908e-01 -5.17982616e-03 1.37031558e+02] [ 5.41597452e-03 4.01426831e-04 9.99985253e-01 7.17353109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:137.02, Z:0.72 [[-2.30428445e-01 -9.73087278e-01 1.97016050e-03 2.08668363e+02] [ 9.73067346e-01 -2.30436373e-01 -6.24643319e-03 1.37020907e+02] [ 6.53232131e-03 4.77742954e-04 9.99978550e-01 7.17436396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:137.02, Z:0.72 [[-2.31638374e-01 -9.72799713e-01 2.09336386e-03 2.08670637e+02] [ 9.72777249e-01 -2.31647292e-01 -6.62988518e-03 1.37018337e+02] [ 6.93447247e-03 5.00640915e-04 9.99975831e-01 7.17582390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:137.02, Z:0.72 [[-2.32156584e-01 -9.72676342e-01 2.01372176e-03 2.08669180e+02] [ 9.72655596e-01 -2.32164821e-01 -6.37076965e-03 1.37023887e+02] [ 6.66421227e-03 4.79641621e-04 9.99977679e-01 7.17929062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:137.01, Z:0.72 [[-2.31549833e-01 -9.72821479e-01 1.74519904e-03 2.08673158e+02] [ 9.72805935e-01 -2.31556028e-01 -5.51531691e-03 1.37010623e+02] [ 5.76953011e-03 4.20669276e-04 9.99983268e-01 7.18826045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:137.01, Z:0.72 [[-2.31850416e-01 -9.72749882e-01 1.74690332e-03 2.08673971e+02] [ 9.72734340e-01 -2.31856615e-01 -5.51477733e-03 1.37008301e+02] [ 5.76953009e-03 4.20669433e-04 9.99983268e-01 7.18825690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.99, Z:0.72 [[-2.27832700e-01 -9.73699202e-01 1.45768947e-03 2.08680464e+02] [ 9.73688422e-01 -2.27837060e-01 -4.59687928e-03 1.36987022e+02] [ 4.80809337e-03 3.72015939e-04 9.99988372e-01 7.19725063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.98, Z:0.72 [[-2.25131207e-01 -9.74327291e-01 1.50650842e-03 2.08683229e+02] [ 9.74315815e-01 -2.25135893e-01 -4.74580534e-03 1.36977628e+02] [ 4.96313678e-03 3.99386092e-04 9.99987604e-01 7.19571948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.97, Z:0.72 [[-2.22480766e-01 -9.74935510e-01 1.74925916e-03 2.08685438e+02] [ 9.74920088e-01 -2.22487124e-01 -5.50469751e-03 1.36970044e+02] [ 5.75591272e-03 4.80698575e-04 9.99983319e-01 7.19213103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.97, Z:0.72 [[-2.20596534e-01 -9.75363040e-01 2.02690887e-03 2.08684844e+02] [ 9.75342396e-01 -2.20605106e-01 -6.37170216e-03 1.36971716e+02] [ 6.66186923e-03 5.71354735e-04 9.99977646e-01 7.18547471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.97, Z:0.72 [[-2.19949145e-01 -9.75507894e-01 2.59283592e-03 2.08686438e+02] [ 9.75474193e-01 -2.19963187e-01 -8.14212478e-03 1.36966881e+02] [ 8.51303545e-03 7.38391145e-04 9.99963491e-01 7.17748493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.391400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.69, Y:136.97, Z:0.72 [[-2.21182450e-01 -9.75228579e-01 2.74654556e-03 2.08685498e+02] [ 9.75190826e-01 -2.21198152e-01 -8.61574956e-03 1.36967031e+02] [ 9.00985600e-03 7.72753439e-04 9.99959112e-01 7.16710115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.96, Z:0.72 [[-2.22666252e-01 -9.74890602e-01 2.83789680e-03 2.08686428e+02] [ 9.74850358e-01 -2.22682947e-01 -8.89297312e-03 1.36961899e+02] [ 9.30162714e-03 7.86359726e-04 9.99956430e-01 7.18297325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.97, Z:0.72 [[-2.24396064e-01 -9.74494512e-01 2.61792314e-03 2.08683387e+02] [ 9.74460313e-01 -2.24410205e-01 -8.19505402e-03 1.36967274e+02] [ 8.57352383e-03 7.12124335e-04 9.99962993e-01 7.18837602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.26113180e-01 -9.74099749e-01 1.58403995e-03 2.08684940e+02] [ 9.74087246e-01 -2.26118333e-01 -4.95347983e-03 1.36954774e+02] [ 5.18336393e-03 4.22946036e-04 9.99986477e-01 7.19445900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.98, Z:0.72 [[-2.26031909e-01 -9.74119163e-01 1.19708198e-03 2.08675689e+02] [ 9.74112038e-01 -2.26034851e-01 -3.73951032e-03 1.36978834e+02] [ 3.91331090e-03 3.20843312e-04 9.99992292e-01 7.19632084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.94, Z:0.72 [[-2.25578482e-01 -9.74224556e-01 9.29259538e-04 2.08685625e+02] [ 9.74220272e-01 -2.25580256e-01 -2.89985552e-03 1.36942746e+02] [ 3.03473306e-03 2.51158474e-04 9.99995364e-01 7.19394171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.25501692e-01 -9.74242310e-01 9.52808634e-04 2.08683261e+02] [ 9.74237817e-01 -2.25503557e-01 -2.97024392e-03 1.36947083e+02] [ 3.10859903e-03 2.58467173e-04 9.99995135e-01 7.19777108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.26350712e-01 -9.74045253e-01 1.09537958e-03 2.08684200e+02] [ 9.74039325e-01 -2.26353171e-01 -3.41110863e-03 1.36946247e+02] [ 3.57051681e-03 2.94835915e-04 9.99993582e-01 7.20637210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.27452688e-01 -9.73788465e-01 1.14067222e-03 2.08682089e+02] [ 9.73782047e-01 -2.27455346e-01 -3.54843521e-03 1.36954425e+02] [ 3.71487726e-03 3.03664999e-04 9.99993054e-01 7.21156597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.28512878e-01 -9.73540215e-01 1.14619864e-03 2.08683365e+02] [ 9.73533746e-01 -2.28515553e-01 -3.56189478e-03 1.36948512e+02] [ 3.72957203e-03 3.01924231e-04 9.99993000e-01 7.21503655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.29182238e-01 -9.73382805e-01 1.19029240e-03 2.08682217e+02] [ 9.73375842e-01 -2.29185117e-01 -3.69504790e-03 1.36947064e+02] [ 3.86949339e-03 3.11762524e-04 9.99992465e-01 7.21422747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.94, Z:0.72 [[-2.29244648e-01 -9.73367976e-01 1.29382356e-03 2.08683822e+02] [ 9.73359766e-01 -2.29248047e-01 -4.01224114e-03 1.36937971e+02] [ 4.20199356e-03 3.39570989e-04 9.99991114e-01 7.20407794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.28437655e-01 -9.73556772e-01 1.85716087e-03 2.08684731e+02] [ 9.73539898e-01 -2.28444671e-01 -5.75315084e-03 1.36930384e+02] [ 6.02527747e-03 4.93783919e-04 9.99981726e-01 7.20172263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.28020328e-01 -9.73654041e-01 2.13054690e-03 2.08678534e+02] [ 9.73631885e-01 -2.28029567e-01 -6.59315568e-03 1.36946850e+02] [ 6.90528036e-03 5.70994875e-04 9.99975995e-01 7.20517482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.27549777e-01 -9.73763621e-01 2.34731973e-03 2.08684079e+02] [ 9.73736790e-01 -2.27560999e-01 -7.25639686e-03 1.36927694e+02] [ 7.60017371e-03 6.34480096e-04 9.99970917e-01 7.20657921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.92, Z:0.72 [[-2.27333600e-01 -9.73813758e-01 2.48973267e-03 2.08685106e+02] [ 9.73783640e-01 -2.27346227e-01 -7.68867251e-03 1.36922030e+02] [ 8.05336640e-03 6.76567342e-04 9.99967342e-01 7.21242533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.27435038e-01 -9.73790468e-01 2.32991897e-03 2.08678851e+02] [ 9.73764147e-01 -2.27446088e-01 -7.18768858e-03 1.36933245e+02] [ 7.52923358e-03 6.34059337e-04 9.99971454e-01 7.20776038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.92, Z:0.72 [[-2.27914986e-01 -9.73677854e-01 2.48906735e-03 2.08682600e+02] [ 9.73647873e-01 -2.27927577e-01 -7.67068081e-03 1.36919023e+02] [ 8.03609912e-03 6.75212027e-04 9.99967482e-01 7.20528143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.28859787e-01 -9.73455732e-01 2.67115289e-03 2.08676881e+02] [ 9.73421264e-01 -2.28874248e-01 -8.22326261e-03 1.36934978e+02] [ 8.61634024e-03 7.18182897e-04 9.99962621e-01 7.20281436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.29920951e-01 -9.73206139e-01 2.48326217e-03 2.08679312e+02] [ 9.73176399e-01 -2.29933412e-01 -7.63688157e-03 1.36926159e+02] [ 8.00324497e-03 6.60773058e-04 9.99967755e-01 7.20264574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.31457375e-01 -9.72842168e-01 2.36654783e-03 2.08677893e+02] [ 9.72815197e-01 -2.31468644e-01 -7.27038263e-03 1.36927472e+02] [ 7.62071642e-03 6.19430011e-04 9.99970770e-01 7.20668442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.34251120e-01 -9.72174079e-01 1.99336307e-03 2.08675041e+02] [ 9.72154962e-01 -2.34259057e-01 -6.11753883e-03 1.36933127e+02] [ 6.41427603e-03 5.04817477e-04 9.99979301e-01 7.20891917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.36047887e-01 -9.71739407e-01 1.97968184e-03 2.08677470e+02] [ 9.71720578e-01 -2.36055678e-01 -6.06920984e-03 1.36928434e+02] [ 6.36500551e-03 4.91073423e-04 9.99979623e-01 7.21252198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.93, Z:0.72 [[-2.38148158e-01 -9.71226514e-01 2.12443424e-03 2.08678587e+02] [ 9.71204858e-01 -2.38157079e-01 -6.50618021e-03 1.36929043e+02] [ 6.82492378e-03 5.13826026e-04 9.99976578e-01 7.21760841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:136.95, Z:0.72 [[-2.39907709e-01 -9.70793647e-01 1.99636600e-03 2.08672997e+02] [ 9.70774550e-01 -2.39915549e-01 -6.10755160e-03 1.36950198e+02] [ 6.40813154e-03 4.72772600e-04 9.99979356e-01 7.21596360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.94, Z:0.72 [[-2.41114452e-01 -9.70494868e-01 1.87923702e-03 2.08680734e+02] [ 9.70477974e-01 -2.41121376e-01 -5.74316685e-03 1.36937400e+02] [ 6.02683817e-03 4.38997610e-04 9.99981742e-01 7.22731744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.95, Z:0.72 [[-2.41002993e-01 -9.70522524e-01 1.89440819e-03 2.08678461e+02] [ 9.70505393e-01 -2.41010028e-01 -5.78343001e-03 1.36950664e+02] [ 6.06952046e-03 4.44709424e-04 9.99981481e-01 7.22624865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.94, Z:0.72 [[-2.40417415e-01 -9.70667470e-01 2.03214760e-03 2.08685113e+02] [ 9.70647805e-01 -2.40425519e-01 -6.19738765e-03 1.36935752e+02] [ 6.50418273e-03 4.82539690e-04 9.99978731e-01 7.22656415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:136.94, Z:0.72 [[-2.39841610e-01 -9.70809797e-01 2.08318381e-03 2.08684463e+02] [ 9.70789182e-01 -2.39850135e-01 -6.34635438e-03 1.36940862e+02] [ 6.66075493e-03 5.00212452e-04 9.99977692e-01 7.22608131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.91, Z:0.72 [[-2.36458373e-01 -9.71640094e-01 1.72228428e-03 2.08695383e+02] [ 9.71626053e-01 -2.36464246e-01 -5.24143109e-03 1.36914313e+02] [ 5.50004325e-03 4.34036017e-04 9.99984780e-01 7.22788387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.89, Z:0.72 [[-2.33694662e-01 -9.72308536e-01 1.70736349e-03 2.08703328e+02] [ 9.72294784e-01 -2.33700471e-01 -5.19067639e-03 1.36892373e+02] [ 5.44595062e-03 4.47027253e-04 9.99985071e-01 7.23140266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.91, Z:0.72 [[-2.30085127e-01 -9.73168715e-01 1.86724531e-03 2.08698423e+02] [ 9.73152327e-01 -2.30092133e-01 -5.67090237e-03 1.36906832e+02] [ 5.94838322e-03 5.12323823e-04 9.99982177e-01 7.22991124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:136.87, Z:0.72 [[-2.26597162e-01 -9.73986232e-01 2.13202518e-03 2.08709579e+02] [ 9.73964945e-01 -2.26606369e-01 -6.46842148e-03 1.36869843e+02] [ 6.78328395e-03 6.10791837e-04 9.99976807e-01 7.22644449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:136.87, Z:0.72 [[-2.24053539e-01 -9.74574137e-01 2.29434076e-03 2.08706551e+02] [ 9.74549563e-01 -2.24064260e-01 -6.95382371e-03 1.36874853e+02] [ 7.29109650e-03 6.77919975e-04 9.99973190e-01 7.22476446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:136.85, Z:0.72 [[-2.22764779e-01 -9.74869520e-01 2.29637913e-03 2.08712375e+02] [ 9.74844968e-01 -2.22775547e-01 -6.95298709e-03 1.36854997e+02] [ 7.28983230e-03 6.89733009e-04 9.99973191e-01 7.22534234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:136.86, Z:0.72 [[-2.23947342e-01 -9.74600109e-01 1.48844383e-03 2.08711144e+02] [ 9.74589810e-01 -2.23951851e-01 -4.50224344e-03 1.36856265e+02] [ 4.72122670e-03 4.42356742e-04 9.99988757e-01 7.23830976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:136.85, Z:0.72 [[-2.26400695e-01 -9.74033560e-01 1.16150055e-03 2.08711885e+02] [ 9.74027295e-01 -2.26403424e-01 -3.50981228e-03 1.36851585e+02] [ 3.68164266e-03 3.36709301e-04 9.99993166e-01 7.23530054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.87, Z:0.72 [[-2.33883584e-01 -9.72263167e-01 1.67421058e-03 2.08703428e+02] [ 9.72250134e-01 -2.33889151e-01 -5.05395273e-03 1.36874190e+02] [ 5.30535178e-03 4.45714887e-04 9.99985827e-01 7.22627137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.88, Z:0.72 [[-2.38697088e-01 -9.71091828e-01 2.08841890e-03 2.08701831e+02] [ 9.71071548e-01 -2.38705647e-01 -6.29786747e-03 1.36884146e+02] [ 6.61432502e-03 5.24721553e-04 9.99977987e-01 7.21933419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.91, Z:0.72 [[-2.43745112e-01 -9.69836614e-01 2.29388661e-03 2.08696776e+02] [ 9.69812145e-01 -2.43755307e-01 -6.91034222e-03 1.36907124e+02] [ 7.26104994e-03 5.40276959e-04 9.99973492e-01 7.21595761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.91, Z:0.72 [[-2.48551026e-01 -9.68616058e-01 2.30634663e-03 2.08697045e+02] [ 9.68591325e-01 -2.48561206e-01 -6.94065608e-03 1.36913071e+02] [ 7.29609924e-03 5.08800148e-04 9.99973254e-01 7.20997633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.92, Z:0.72 [[-2.53100973e-01 -9.67437354e-01 2.20558298e-03 2.08697229e+02] [ 9.67414739e-01 -2.53110173e-01 -6.63050426e-03 1.36917083e+02] [ 6.97285298e-03 4.55526401e-04 9.99975586e-01 7.20836724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.651400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.69, Y:136.95, Z:0.72 [[-2.60859910e-01 -9.65374340e-01 2.11906860e-03 2.08689638e+02] [ 9.65353442e-01 -2.60868232e-01 -6.36370955e-03 1.36947147e+02] [ 6.69615959e-03 3.85613471e-04 9.99977506e-01 7.20698431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.95, Z:0.72 [[-2.64039302e-01 -9.64509511e-01 2.15659128e-03 2.08690413e+02] [ 9.64487885e-01 -2.64047847e-01 -6.46948342e-03 1.36952286e+02] [ 6.80932157e-03 3.71808282e-04 9.99976747e-01 7.21706641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:136.96, Z:0.72 [[-2.66659563e-01 -9.63788364e-01 2.16054246e-03 2.08689870e+02] [ 9.63766683e-01 -2.66668078e-01 -6.47438473e-03 1.36963364e+02] [ 6.81608437e-03 3.55802240e-04 9.99976707e-01 7.22049204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:136.95, Z:0.72 [[-2.69168058e-01 -9.63091080e-01 2.03176629e-03 2.08695787e+02] [ 9.63071929e-01 -2.69175536e-01 -6.08196128e-03 1.36953980e+02] [ 6.40438444e-03 3.19667381e-04 9.99979441e-01 7.22666657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.771400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.69, Y:136.98, Z:0.72 [[-2.71900360e-01 -9.62323966e-01 1.66709075e-03 2.08686954e+02] [ 9.62311087e-01 -2.71905356e-01 -4.98496188e-03 1.36984199e+02] [ 5.25043919e-03 2.48846986e-04 9.99986185e-01 7.21439579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.69, Y:136.97, Z:0.72 [[-2.77029216e-01 -9.60860337e-01 1.49208178e-03 2.08694122e+02] [ 9.60850021e-01 -2.77033163e-01 -4.45681250e-03 1.36971340e+02] [ 4.69573050e-03 1.98999534e-04 9.99988955e-01 7.20629515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.831400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.69, Y:136.99, Z:0.72 [[-2.79499162e-01 -9.60144225e-01 1.81253775e-03 2.08691618e+02] [ 9.60129021e-01 -2.79504946e-01 -5.40808550e-03 1.36985485e+02] [ 5.69915533e-03 2.28714727e-04 9.99983734e-01 7.19929500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.69, Y:136.99, Z:0.72 [[-2.81868271e-01 -9.59450849e-01 2.08479128e-03 2.08693769e+02] [ 9.59430761e-01 -2.81875871e-01 -6.21358745e-03 1.36986426e+02] [ 6.54928412e-03 2.48799726e-04 9.99978522e-01 7.20460922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:137.00, Z:0.72 [[-2.84394503e-01 -9.58705019e-01 2.11014358e-03 2.08692635e+02] [ 9.58684465e-01 -2.84402233e-01 -6.28224504e-03 1.36995522e+02] [ 6.62294940e-03 2.36325915e-04 9.99978040e-01 7.22726507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.921400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.69, Y:137.00, Z:0.72 [[-2.88790342e-01 -9.57390933e-01 1.65516533e-03 2.08692259e+02] [ 9.57378293e-01 -2.88795039e-01 -4.92230153e-03 1.36997929e+02] [ 5.19057039e-03 1.63106221e-04 9.99986516e-01 7.23173185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.69, Y:137.00, Z:0.72 [[-2.90818457e-01 -9.56777421e-01 1.26160777e-03 2.08690666e+02] [ 9.56770088e-01 -2.90821170e-01 -3.74778411e-03 1.37004914e+02] [ 3.95269746e-03 1.17143785e-04 9.99992181e-01 7.23026545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.981400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.69, Y:137.00, Z:0.72 [[-2.92333914e-01 -9.56315799e-01 9.87909784e-04 2.08694502e+02] [ 9.56311309e-01 -2.92335570e-01 -2.93151044e-03 1.36997296e+02] [ 3.09225092e-03 8.77693777e-05 9.99995215e-01 7.23201993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.011400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.70, Y:137.00, Z:0.72 [[-2.92999146e-01 -9.56112550e-01 5.40166624e-04 2.08695671e+02] [ 9.56111211e-01 -2.92999641e-01 -1.60117769e-03 1.37001683e+02] [ 1.68917471e-03 4.73156690e-05 9.99998572e-01 7.24774436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.041400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.70, Y:136.99, Z:0.73 [[-2.93182727e-01 -9.56056255e-01 5.71046501e-04 2.08700055e+02] [ 9.56054761e-01 -2.93183278e-01 -1.69083628e-03 1.36990273e+02] [ 1.78395589e-03 5.02277355e-05 9.99998408e-01 7.25057440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.66, Y:137.09, Z:0.73 [[-2.93702943e-01 -9.55896742e-01 -2.54484439e-05 2.08664940e+02] [ 9.55894622e-01 -2.93702235e-01 -2.11367010e-03 1.37094354e+02] [ 2.01297610e-03 -6.45117160e-04 9.99997766e-01 7.25175651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.67, Y:137.09, Z:0.73 [[-2.94045273e-01 -9.55791282e-01 6.33935363e-04 2.08665239e+02] [ 9.55789411e-01 -2.94045952e-01 -1.89225902e-03 1.37091877e+02] [ 1.99501080e-03 4.94988862e-05 9.99998009e-01 7.25035368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.131400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.70, Y:136.99, Z:0.72 [[-2.94739523e-01 -9.55576896e-01 1.18707362e-03 2.08697080e+02] [ 9.55576234e-01 -2.94740990e-01 -1.34548599e-03 1.36993242e+02] [ 1.63559458e-03 7.37771441e-04 9.99998390e-01 7.24432163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.161400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:208.70, Y:137.00, Z:0.72 [[-2.95718908e-01 -9.55274877e-01 4.87059111e-04 2.08695524e+02] [ 9.55273799e-01 -2.95719306e-01 -1.43559845e-03 1.36998367e+02] [ 1.51542391e-03 4.07412021e-05 9.99998851e-01 7.24332251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.191400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.70, Y:136.98, Z:0.72 [[-2.97165919e-01 -9.54825739e-01 4.74444490e-04 2.08701327e+02] [ 9.54824718e-01 -2.97166296e-01 -1.39687713e-03 1.36983576e+02] [ 1.47476315e-03 3.79070493e-05 9.99998912e-01 7.24080799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:137.00, Z:0.72 [[-3.02065916e-01 -9.53286650e-01 8.63690080e-04 2.08700646e+02] [ 9.53283267e-01 -3.02067146e-01 -2.53998309e-03 1.36995680e+02] [ 2.68222437e-03 5.60989798e-05 9.99996401e-01 7.24321946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.251400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.70, Y:137.00, Z:0.72 [[-3.05228606e-01 -9.52278511e-01 1.06604127e-03 2.08699941e+02] [ 9.52273363e-01 -3.05230462e-01 -3.13155396e-03 1.37001332e+02] [ 3.30749980e-03 5.93228528e-05 9.99994528e-01 7.22096728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.281400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:208.70, Y:137.01, Z:0.72 [[-3.08590924e-01 -9.51194171e-01 1.13581492e-03 2.08699122e+02] [ 9.51188334e-01 -3.08593010e-01 -3.33278704e-03 1.37009225e+02] [ 3.52063215e-03 5.19060685e-05 9.99993801e-01 7.22076546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.311400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:208.70, Y:137.02, Z:0.72 [[-3.11419835e-01 -9.50271847e-01 1.05014316e-03 2.08698422e+02] [ 9.50266863e-01 -3.11421604e-01 -3.07795844e-03 1.37017457e+02] [ 3.25193452e-03 3.93789358e-05 9.99994712e-01 7.22075620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.70, Y:137.02, Z:0.72 [[-3.14579908e-01 -9.49230669e-01 7.86371359e-04 2.08702253e+02] [ 9.49227877e-01 -3.14580890e-01 -2.30229061e-03 1.37016884e+02] [ 2.43278226e-03 2.21912468e-05 9.99997041e-01 7.23141182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.371400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.70, Y:137.02, Z:0.72 [[-3.15660017e-01 -9.48872099e-01 7.02230570e-04 2.08700913e+02] [ 9.48869877e-01 -3.15660798e-01 -2.05364794e-03 1.37021287e+02] [ 2.17031589e-03 1.80708905e-05 9.99997645e-01 7.22614790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.401400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.70, Y:137.02, Z:0.72 [[-3.16256288e-01 -9.48673396e-01 8.65087950e-04 2.08701980e+02] [ 9.48670030e-01 -3.16257471e-01 -2.52703077e-03 1.37016259e+02] [ 2.67091738e-03 2.14936415e-05 9.99996433e-01 7.22495484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.431400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.69, Y:137.03, Z:0.72 [[-3.16648658e-01 -9.48542107e-01 1.22403551e-03 2.08694860e+02] [ 9.48535384e-01 -3.16651022e-01 -3.57144606e-03 1.37034357e+02] [ 3.77525907e-03 3.01473916e-05 9.99992873e-01 7.22298771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.461400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.70, Y:137.02, Z:0.72 [[-3.17139259e-01 -9.48377940e-01 1.40461712e-03 2.08697784e+02] [ 9.48369106e-01 -3.17142368e-01 -4.09365430e-03 1.37024299e+02] [ 4.32779503e-03 3.38369926e-05 9.99990635e-01 7.21678072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49140051300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.69, Y:137.06, Z:0.72 [[-3.19161045e-01 -9.47696125e-01 -2.87770335e-03 2.08687684e+02] [ 9.47681535e-01 -3.19133982e-01 -7.29447380e-03 1.37062993e+02] [ 5.99457163e-03 -5.05525821e-03 9.99969254e-01 7.22829392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.521400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.69, Y:137.04, Z:0.72 [[-3.21318636e-01 -9.46952887e-01 5.87901647e-03 2.08686464e+02] [ 9.46964773e-01 -3.21333045e-01 -1.67120681e-03 1.37036330e+02] [ 3.47167638e-03 5.03023161e-03 9.99981322e-01 7.22367678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.69, Y:137.03, Z:0.72 [[-3.23953090e-01 -9.46072532e-01 1.07645972e-03 2.08690404e+02] [ 9.46067358e-01 -3.23954879e-01 -3.12909008e-03 1.37031466e+02] [ 3.30907056e-03 4.72500407e-06 9.99994525e-01 7.23397972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.581400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.68, Y:137.08, Z:0.72 [[-3.26551574e-01 -9.45173694e-01 -3.27990747e-03 2.08677246e+02] [ 9.45159751e-01 -3.26520459e-01 -7.57858077e-03 1.37079031e+02] [ 6.09211829e-03 -5.57483401e-03 9.99965903e-01 7.23272407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61140051300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.68, Y:137.04, Z:0.72 [[-3.32638208e-01 -9.43030009e-01 6.79884204e-03 2.08676687e+02] [ 9.43041298e-01 -3.32663074e-01 -2.89663603e-03 1.37043073e+02] [ 4.99333839e-03 5.44805700e-03 9.99972692e-01 7.21725805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.641400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.66, Y:137.09, Z:0.72 [[-3.35337623e-01 -9.42097819e-01 6.14697918e-04 2.08662975e+02] [ 9.42082324e-01 -3.35335731e-01 -5.55362652e-03 1.37093667e+02] [ 5.43818961e-03 -1.28324387e-03 9.99984390e-01 7.23362352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.671400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.67, Y:137.05, Z:0.72 [[-3.37393429e-01 -9.41360147e-01 2.59784322e-03 2.08671644e+02] [ 9.41353129e-01 -3.37401441e-01 -3.81489532e-03 1.37053170e+02] [ 4.46770646e-03 1.15836723e-03 9.99989349e-01 7.22097341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.67, Y:137.06, Z:0.72 [[-3.38616371e-01 -9.40923656e-01 1.27584840e-03 2.08666836e+02] [ 9.40916421e-01 -3.38618771e-01 -3.69003046e-03 1.37060778e+02] [ 3.90406316e-03 -4.90380058e-05 9.99992378e-01 7.22272757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.65, Y:137.10, Z:0.72 [[-3.39439162e-01 -9.40623496e-01 -2.91459448e-03 2.08651994e+02] [ 9.40611662e-01 -3.39413364e-01 -6.94768816e-03 1.37098369e+02] [ 5.54590640e-03 -5.09981901e-03 9.99971617e-01 7.23493408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.761400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.66, Y:137.06, Z:0.72 [[-3.41212788e-01 -9.39969175e-01 5.63764556e-03 2.08655032e+02] [ 9.39981519e-01 -3.41223681e-01 -1.06911210e-03 1.37055341e+02] [ 2.92863058e-03 4.93448792e-03 9.99983537e-01 7.22140197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.791400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.64, Y:137.12, Z:0.72 [[-3.42142209e-01 -9.39637465e-01 -4.48805610e-03 2.08640015e+02] [ 9.39635311e-01 -3.42108619e-01 -6.86844167e-03 1.37118423e+02] [ 4.91844244e-03 -6.56711980e-03 9.99966340e-01 7.23171043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.65, Y:137.06, Z:0.72 [[-3.44868594e-01 -9.38628911e-01 6.43584149e-03 2.08648339e+02] [ 9.38650161e-01 -3.44869220e-01 1.04725575e-03 1.37055226e+02] [ 1.23653911e-03 6.40216927e-03 9.99978741e-01 7.21372531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:137.07, Z:0.72 [[-3.48766420e-01 -9.37209634e-01 2.94177587e-04 2.08646106e+02] [ 9.37209251e-01 -3.48766544e-01 -8.47334564e-04 1.37073500e+02] [ 8.96729416e-04 -1.98158872e-05 9.99999598e-01 7.23946353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:137.07, Z:0.72 [[-3.50623761e-01 -9.36516227e-01 5.78191008e-04 2.08645529e+02] [ 9.36514751e-01 -3.50624235e-01 -1.66330037e-03 1.37072213e+02] [ 1.76043557e-03 -4.17082241e-05 9.99998450e-01 7.24168777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:137.07, Z:0.72 [[-3.51991010e-01 -9.36002939e-01 9.10081789e-04 2.08643949e+02] [ 9.35999289e-01 -3.51992179e-01 -2.61486487e-03 1.37072593e+02] [ 2.76786287e-03 -6.85730180e-05 9.99996167e-01 7.24377641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.941400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:208.64, Y:137.07, Z:0.72 [[-3.51738642e-01 -9.36098176e-01 3.65059496e-04 2.08643919e+02] [ 9.36090577e-01 -3.51737312e-01 -3.91079756e-03 1.37068101e+02] [ 3.78929551e-03 -1.03384987e-03 9.99992286e-01 7.22870340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.971400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.64, Y:137.06, Z:0.72 [[-3.51671730e-01 -9.36121389e-01 1.93384243e-03 2.08643155e+02] [ 9.36117850e-01 -3.51676005e-01 -2.71254886e-03 1.37061664e+02] [ 3.21936098e-03 8.56377667e-04 9.99994451e-01 7.22268183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.65, Y:137.05, Z:0.72 [[-3.48670716e-01 -9.37245246e-01 2.85535314e-04 2.08645788e+02] [ 9.37244889e-01 -3.48670832e-01 -8.18290586e-04 1.37052169e+02] [ 8.66496797e-04 -1.76974507e-05 9.99999624e-01 7.22680252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.031400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.63, Y:137.09, Z:0.72 [[-3.46087237e-01 -9.38200946e-01 -1.61536231e-03 2.08633810e+02] [ 9.38201741e-01 -3.46084564e-01 -1.72268711e-03 1.37087911e+02] [ 1.05717472e-03 -2.11173575e-03 9.99997212e-01 7.22783868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.061400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.65, Y:137.04, Z:0.72 [[-3.44324897e-01 -9.38847802e-01 2.27390011e-03 2.08646109e+02] [ 9.38850060e-01 -3.44326193e-01 -1.92944721e-04 1.37039517e+02] [ 9.64109094e-04 2.06841558e-03 9.99997396e-01 7.22377937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.64, Y:137.07, Z:0.72 [[-3.41257169e-01 -9.39968390e-01 -1.72330766e-03 2.08638766e+02] [ 9.39962751e-01 -3.41246790e-01 -4.54482708e-03 1.37072059e+02] [ 3.68392059e-03 -3.17079983e-03 9.99988187e-01 7.22478298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.121400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.65, Y:137.03, Z:0.72 [[-3.39024529e-01 -9.40766781e-01 4.49813089e-03 2.08649872e+02] [ 9.40765479e-01 -3.39040514e-01 -3.44141437e-03 1.37027288e+02] [ 4.76261692e-03 3.06496238e-03 9.99983962e-01 7.21877645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.151400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.66, Y:137.02, Z:0.72 [[-3.38978570e-01 -9.40792854e-01 1.52783331e-03 2.08656145e+02] [ 9.40782752e-01 -3.38982011e-01 -4.36009578e-03 1.37016459e+02] [ 4.61985496e-03 -4.06198088e-05 9.99989328e-01 7.21581327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.181400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:208.65, Y:137.05, Z:0.72 [[-3.38347389e-01 -9.41020735e-01 -1.01007881e-03 2.08647993e+02] [ 9.41004693e-01 -3.38334859e-01 -6.30007281e-03 1.37045372e+02] [ 5.58675428e-03 -3.08210208e-03 9.99979644e-01 7.22077580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.211400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.66, Y:137.01, Z:0.72 [[-3.37672175e-01 -9.41254203e-01 4.24584614e-03 2.08655787e+02] [ 9.41254083e-01 -3.37685736e-01 -3.01584693e-03 1.37014451e+02] [ 4.27244028e-03 2.97805242e-03 9.99986439e-01 7.21400991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24140051300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.67, Y:137.01, Z:0.72 [[-3.36501832e-01 -9.41681679e-01 1.46055105e-03 2.08665007e+02] [ 9.41672503e-01 -3.36505001e-01 -4.15718674e-03 1.37005094e+02] [ 4.40622932e-03 -2.35401879e-05 9.99990292e-01 7.22478439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.271400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:208.67, Y:136.99, Z:0.72 [[-3.34924392e-01 -9.42243793e-01 1.51207332e-03 2.08671520e+02] [ 9.42233986e-01 -3.34927805e-01 -4.29889216e-03 1.36993366e+02] [ 4.55703985e-03 -1.50769745e-05 9.99989617e-01 7.22839325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30140051300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.68, Y:136.98, Z:0.72 [[-3.33261629e-01 -9.42833280e-01 1.44690301e-03 2.08676042e+02] [ 9.42824326e-01 -3.33264769e-01 -4.10893210e-03 1.36982736e+02] [ 4.35623973e-03 -5.17405364e-06 9.99990512e-01 7.23027274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.331400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.67, Y:136.99, Z:0.72 [[-3.30875041e-01 -9.43673532e-01 1.40447883e-03 2.08673542e+02] [ 9.43665122e-01 -3.30878022e-01 -3.98392301e-03 1.36989459e+02] [ 4.22423388e-03 7.17699400e-06 9.99991078e-01 7.23774322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36140051300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.68, Y:136.96, Z:0.73 [[-3.25168937e-01 -9.45655081e-01 1.27694629e-03 2.08684591e+02] [ 9.45648160e-01 -3.25171443e-01 -3.61808795e-03 1.36959630e+02] [ 3.83668972e-03 3.10520983e-05 9.99992639e-01 7.25139212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.391400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.69, Y:136.94, Z:0.72 [[-3.22881244e-01 -9.46438742e-01 1.18727838e-03 2.08692897e+02] [ 9.46432778e-01 -3.22883425e-01 -3.36029918e-03 1.36938460e+02] [ 3.56366984e-03 3.87015990e-05 9.99993649e-01 7.24976501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.421400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.70, Y:136.93, Z:0.73 [[-3.21206798e-01 -9.47008292e-01 1.21969615e-03 2.08696521e+02] [ 9.47002015e-01 -3.21209110e-01 -3.44825388e-03 1.36929333e+02] [ 3.65730254e-03 4.74521210e-05 9.99993311e-01 7.25199146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.451400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.70, Y:136.93, Z:0.72 [[-3.19953861e-01 -9.47432358e-01 1.20610776e-03 2.08698101e+02] [ 9.47426237e-01 -3.19956129e-01 -3.40610725e-03 1.36926481e+02] [ 3.61295779e-03 5.29009736e-05 9.99993472e-01 7.24924730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.481400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.70, Y:136.92, Z:0.73 [[-3.18368404e-01 -9.47966296e-01 1.20856995e-03 2.08701755e+02] [ 9.47960167e-01 -3.18370693e-01 -3.40933229e-03 1.36922584e+02] [ 3.61670535e-03 6.02524933e-05 9.99993458e-01 7.26320580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.511400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.70, Y:136.92, Z:0.73 [[-3.17190876e-01 -9.48361280e-01 9.11127117e-04 2.08704070e+02] [ 9.48357806e-01 -3.17192180e-01 -2.56748663e-03 1.36918851e+02] [ 2.72390730e-03 4.96911812e-05 9.99996289e-01 7.26292100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:136.91, Z:0.73 [[-3.16059342e-01 -9.48739205e-01 6.42425410e-04 2.08708467e+02] [ 9.48737483e-01 -3.16059992e-01 -1.80837935e-03 1.36906884e+02] [ 1.91872536e-03 3.79378792e-05 9.99998159e-01 7.27494398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.571400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:208.71, Y:136.90, Z:0.73 [[-3.13560393e-01 -9.49567873e-01 8.56721513e-04 2.08709703e+02] [ 9.49564819e-01 -3.13561558e-01 -2.40895933e-03 1.36903972e+02] [ 2.55610532e-03 5.81583732e-05 9.99996731e-01 7.26681339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:136.88, Z:0.73 [[-3.09337637e-01 -9.50951906e-01 8.36260336e-04 2.08719387e+02] [ 9.50949007e-01 -3.09338760e-01 -2.34891173e-03 1.36878580e+02] [ 2.49238982e-03 6.86341324e-05 9.99996892e-01 7.26256558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.72, Y:136.87, Z:0.73 [[-3.07039227e-01 -9.51696530e-01 7.92794601e-04 2.08721937e+02] [ 9.51693933e-01 -3.07040243e-01 -2.22447061e-03 1.36872135e+02] [ 2.36044081e-03 7.14980725e-05 9.99997212e-01 7.25338343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:136.85, Z:0.73 [[-3.05692506e-01 -9.52129959e-01 7.96192617e-04 2.08728678e+02] [ 9.52127346e-01 -3.05693533e-01 -2.23165495e-03 1.36854385e+02] [ 2.36821647e-03 7.58765694e-05 9.99997193e-01 7.25868332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:136.86, Z:0.73 [[-3.04158793e-01 -9.52620700e-01 1.10915948e-03 2.08728569e+02] [ 9.52615645e-01 -3.04160795e-01 -3.10556799e-03 1.36858784e+02] [ 3.29579118e-03 1.12016864e-04 9.99994563e-01 7.25636679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.721400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.74, Y:136.85, Z:0.72 [[-3.01038440e-01 -9.53610663e-01 1.60028068e-03 2.08737154e+02] [ 9.53600176e-01 -3.01042640e-01 -4.47593451e-03 1.36848825e+02] [ 4.75005160e-03 1.78599596e-04 9.99988703e-01 7.23747796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:136.84, Z:0.72 [[-3.00632729e-01 -9.53738873e-01 1.45729557e-03 2.08743393e+02] [ 9.53730196e-01 -3.00636215e-01 -4.07179081e-03 1.36836538e+02] [ 4.32154100e-03 1.65753207e-04 9.99990648e-01 7.24852180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.75, Y:136.83, Z:0.72 [[-2.98547540e-01 -9.54393726e-01 1.40792234e-03 2.08748683e+02] [ 9.54385650e-01 -2.98550811e-01 -3.92978896e-03 1.36826530e+02] [ 4.17090229e-03 1.70472052e-04 9.99991287e-01 7.23790598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:136.83, Z:0.72 [[-2.96941907e-01 -9.54894810e-01 1.18520025e-03 2.08749880e+02] [ 9.54889104e-01 -2.96944235e-01 -3.30474744e-03 1.36826790e+02] [ 3.50762456e-03 1.50416800e-04 9.99993837e-01 7.24794886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.841400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.76, Y:136.81, Z:0.72 [[-2.94219965e-01 -9.55737008e-01 1.17650001e-03 2.08757211e+02] [ 9.55731403e-01 -2.94222274e-01 -3.27713422e-03 1.36810862e+02] [ 3.47823096e-03 1.60219693e-04 9.99993938e-01 7.24392405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.871400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.77, Y:136.78, Z:0.72 [[-2.88124998e-01 -9.57592086e-01 1.17560229e-03 2.08771369e+02] [ 9.57586516e-01 -2.88127339e-01 -3.27133419e-03 1.36779366e+02] [ 3.47132689e-03 1.83187740e-04 9.99993958e-01 7.23849347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:136.77, Z:0.73 [[-2.85823412e-01 -9.58281464e-01 1.27017388e-03 2.08774302e+02] [ 9.58274981e-01 -2.85826159e-01 -3.53097084e-03 1.36771938e+02] [ 3.74671283e-03 2.07941716e-04 9.99992959e-01 7.25046218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:136.77, Z:0.72 [[-2.82726365e-01 -9.59199879e-01 1.18095784e-03 2.08776670e+02] [ 9.59194294e-01 -2.82728757e-01 -3.27971072e-03 1.36766724e+02] [ 3.47978887e-03 2.05507328e-04 9.99993924e-01 7.24739395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.73, Z:0.72 [[-2.79563266e-01 -9.60126628e-01 1.11276196e-03 2.08790877e+02] [ 9.60121686e-01 -2.79565405e-01 -3.08730074e-03 1.36730018e+02] [ 3.27528940e-03 2.05291008e-04 9.99994615e-01 7.24315214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.74, Z:0.72 [[-2.74753215e-01 -9.61514132e-01 1.11547992e-03 2.08789593e+02] [ 9.61509187e-01 -2.74755389e-01 -3.09183797e-03 1.36737421e+02] [ 3.27933002e-03 2.23051773e-04 9.99994598e-01 7.24216121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.74, Z:0.72 [[-2.75051906e-01 -9.61428730e-01 1.11644028e-03 2.08790497e+02] [ 9.61423785e-01 -2.75054081e-01 -3.09149131e-03 1.36735137e+02] [ 3.27933002e-03 2.23051658e-04 9.99994598e-01 7.24215807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.73, Z:0.72 [[-2.74225635e-01 -9.61664724e-01 1.12261258e-03 2.08792723e+02] [ 9.61659736e-01 -2.74227839e-01 -3.10556627e-03 1.36728231e+02] [ 3.29436515e-03 2.27945430e-04 9.99994548e-01 7.24500596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.71, Z:0.72 [[-2.74350004e-01 -9.61629371e-01 1.01412911e-03 2.08798748e+02] [ 9.61625309e-01 -2.74351801e-01 -2.80276574e-03 1.36712786e+02] [ 2.97345000e-03 2.06273425e-04 9.99995558e-01 7.24091482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.71, Z:0.72 [[-2.75564344e-01 -9.61282019e-01 1.08298440e-03 2.08798718e+02] [ 9.61277393e-01 -2.75566387e-01 -2.99017889e-03 1.36714766e+02] [ 3.17283929e-03 2.17061736e-04 9.99994943e-01 7.24775731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.71, Z:0.73 [[-2.77166245e-01 -9.60821446e-01 1.01049455e-03 2.08799699e+02] [ 9.60817424e-01 -2.77168016e-01 -2.78735589e-03 1.36713548e+02] [ 2.95822809e-03 1.98339801e-04 9.99995605e-01 7.25185665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.72, Z:0.73 [[-2.79034151e-01 -9.60280878e-01 7.59722234e-04 2.08798487e+02] [ 9.60278607e-01 -2.79035147e-01 -2.09363436e-03 1.36716535e+02] [ 2.22246625e-03 1.45349521e-04 9.99997520e-01 7.25779621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.73, Z:0.73 [[-2.81105119e-01 -9.59676952e-01 2.42824760e-04 2.08794020e+02] [ 9.59676721e-01 -2.81105221e-01 -6.68603692e-04 1.36729080e+02] [ 7.09902861e-04 4.50853491e-05 9.99999747e-01 7.26362953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.72, Z:0.73 [[-2.81319870e-01 -9.59613963e-01 4.15661366e-04 2.08796306e+02] [ 9.59613285e-01 -2.81320166e-01 -1.14330803e-03 1.36722469e+02] [ 1.21406828e-03 7.72389016e-05 9.99999260e-01 7.26246767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.71, Z:0.73 [[-2.81240834e-01 -9.59636997e-01 6.54192352e-04 2.08798492e+02] [ 9.59635321e-01 -2.81241568e-01 -1.79760111e-03 1.36712232e+02] [ 1.90903061e-03 1.22227253e-04 9.99998170e-01 7.25777517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.72, Z:0.73 [[-2.80931406e-01 -9.59727345e-01 9.84362093e-04 2.08792132e+02] [ 9.59723559e-01 -2.80933069e-01 -2.70217464e-03 1.36721491e+02] [ 2.86989076e-03 1.85589769e-04 9.99995865e-01 7.25095496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.71, Z:0.72 [[-2.80464812e-01 -9.59863412e-01 1.31147504e-03 2.08790856e+02] [ 9.59856706e-01 -2.80467767e-01 -3.59660670e-03 1.36714915e+02] [ 3.82007765e-03 2.50106489e-04 9.99992672e-01 7.24225060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.70, Z:0.72 [[-2.78928375e-01 -9.60310756e-01 1.48754347e-03 2.08791737e+02] [ 9.60302153e-01 -2.78932189e-01 -4.07550710e-03 1.36702383e+02] [ 4.32867706e-03 2.91716628e-04 9.99990589e-01 7.24149480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.70, Z:0.72 [[-2.78282333e-01 -9.60498377e-01 1.34567225e-03 2.08793422e+02] [ 9.60491352e-01 -2.78285458e-01 -3.68328566e-03 1.36695235e+02] [ 3.91227091e-03 2.67513235e-04 9.99992311e-01 7.24578318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.69, Z:0.73 [[-2.77614871e-01 -9.60691729e-01 1.17747571e-03 2.08792660e+02] [ 9.60686362e-01 -2.77617266e-01 -3.21983687e-03 1.36690962e+02] [ 3.42015824e-03 2.37310260e-04 9.99994123e-01 7.25360886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.70, Z:0.73 [[-2.76845197e-01 -9.60913955e-01 1.05294144e-03 2.08786553e+02] [ 9.60909673e-01 -2.76847115e-01 -2.87654448e-03 1.36696640e+02] [ 3.05561553e-03 2.15424091e-04 9.99995308e-01 7.25431154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:136.69, Z:0.72 [[-2.75430070e-01 -9.61320418e-01 1.15328895e-03 2.08782464e+02] [ 9.61315295e-01 -2.75432379e-01 -3.14765029e-03 1.36686270e+02] [ 3.34355361e-03 2.41716772e-04 9.99994381e-01 7.24881558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:136.68, Z:0.72 [[-2.75238645e-01 -9.61375357e-01 1.05379555e-03 2.08784228e+02] [ 9.61371089e-01 -2.75240573e-01 -2.87336748e-03 1.36675299e+02] [ 3.05243198e-03 2.22226810e-04 9.99995317e-01 7.24523070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:136.68, Z:0.72 [[-2.75325497e-01 -9.61350738e-01 7.92981326e-04 2.08778989e+02] [ 9.61348326e-01 -2.75326588e-01 -2.16017156e-03 1.36683463e+02] [ 2.29501137e-03 1.67580963e-04 9.99997352e-01 7.24017887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.78, Y:136.67, Z:0.72 [[-2.75280577e-01 -9.61363835e-01 4.25246343e-04 2.08781689e+02] [ 9.61363143e-01 -2.75280890e-01 -1.15736551e-03 1.36669447e+02] [ 1.22971154e-03 9.02159150e-05 9.99999240e-01 7.22511055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.591400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.78, Y:136.67, Z:0.72 [[-2.75620726e-01 -9.61266416e-01 3.03355913e-04 2.08780059e+02] [ 9.61266065e-01 -2.75620886e-01 -8.24870871e-04 1.36666944e+02] [ 8.76531892e-04 6.42542359e-05 9.99999614e-01 7.21768598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.621400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.78, Y:136.67, Z:0.72 [[-2.75697963e-01 -9.61243915e-01 8.77358993e-04 2.08776402e+02] [ 9.61240978e-01 -2.75699296e-01 -2.38318784e-03 1.36673942e+02] [ 2.53271207e-03 1.86313382e-04 9.99996775e-01 7.21930196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:136.68, Z:0.72 [[-2.76674941e-01 -9.60961853e-01 1.81516996e-03 2.08775816e+02] [ 9.60949304e-01 -2.76680633e-01 -4.92574584e-03 1.36676265e+02] [ 5.23567623e-03 3.81455871e-04 9.99986221e-01 7.22698833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:136.68, Z:0.72 [[-2.77177476e-01 -9.60816949e-01 1.85399918e-03 2.08773472e+02] [ 9.60803880e-01 -2.77183405e-01 -5.02628100e-03 1.36682989e+02] [ 5.34323378e-03 3.88157722e-04 9.99985650e-01 7.23144879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.711400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.79, Y:136.65, Z:0.72 [[-2.77191740e-01 -9.60813440e-01 1.50734172e-03 2.08786753e+02] [ 9.60804819e-01 -2.77195657e-01 -4.08260571e-03 1.36646713e+02] [ 4.34045102e-03 3.16596612e-04 9.99990530e-01 7.21900316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:136.67, Z:0.72 [[-2.77632321e-01 -9.60686735e-01 1.13653674e-03 2.08776490e+02] [ 9.60681842e-01 -2.77634545e-01 -3.07539078e-03 1.36673723e+02] [ 3.27002899e-03 2.38022334e-04 9.99994625e-01 7.23221005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.65, Z:0.72 [[-2.75995191e-01 -9.61158807e-01 6.33881669e-04 2.08786639e+02] [ 9.61157289e-01 -2.75995885e-01 -1.71365703e-03 1.36651802e+02] [ 1.82204528e-03 1.36298887e-04 9.99998331e-01 7.22685176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.66, Z:0.72 [[-2.74909964e-01 -9.61469579e-01 8.71803645e-04 2.08785201e+02] [ 9.61466715e-01 -2.74911280e-01 -2.35458726e-03 1.36658311e+02] [ 2.50353268e-03 1.90910688e-04 9.99996848e-01 7.22916158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.65, Z:0.72 [[-2.73846065e-01 -9.61772725e-01 1.24804388e-03 2.08787941e+02] [ 9.61766870e-01 -2.73848768e-01 -3.36750271e-03 1.36649564e+02] [ 3.58054754e-03 2.78149896e-04 9.99993551e-01 7.22106465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.63, Z:0.72 [[-2.72168151e-01 -9.62248454e-01 1.55235755e-03 2.08794116e+02] [ 9.62239421e-01 -2.72172347e-01 -4.18464308e-03 1.36629490e+02] [ 4.44917513e-03 3.54813061e-04 9.99990039e-01 7.21235678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.63, Z:0.72 [[-2.70354479e-01 -9.62759605e-01 1.54908060e-03 2.08793202e+02] [ 9.62750634e-01 -2.70358673e-01 -4.17190387e-03 1.36629848e+02] [ 4.43534790e-03 3.63485435e-04 9.99990098e-01 7.20675525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.62, Z:0.72 [[-2.68526011e-01 -9.63271997e-01 9.17032667e-04 2.08797361e+02] [ 9.63268862e-01 -2.68527486e-01 -2.46744736e-03 1.36615801e+02] [ 2.62307143e-03 2.20775216e-04 9.99996535e-01 7.22259809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.61, Z:0.72 [[-2.69269683e-01 -9.63064376e-01 9.19929416e-04 2.08796733e+02] [ 9.63061226e-01 -2.69271165e-01 -2.47294265e-03 1.36613556e+02] [ 2.62931343e-03 2.20059867e-04 9.99996519e-01 7.23075449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.63, Z:0.72 [[-2.70922815e-01 -9.62600158e-01 1.32809316e-03 2.08789616e+02] [ 9.62593601e-01 -2.70925891e-01 -3.56678555e-03 1.36626910e+02] [ 3.79320316e-03 3.12090395e-04 9.99992757e-01 7.23072583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.62, Z:0.72 [[-2.73067741e-01 -9.61993156e-01 1.78223699e-03 2.08790574e+02] [ 9.61981358e-01 -2.73073251e-01 -4.78193636e-03 1.36622605e+02] [ 5.08687130e-03 4.08686197e-04 9.99986978e-01 7.22778045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.63, Z:0.72 [[-2.77437720e-01 -9.60742093e-01 1.71552708e-03 2.08790000e+02] [ 9.60731159e-01 -2.77442774e-01 -4.59863089e-03 1.36633600e+02] [ 4.89405886e-03 3.72326652e-04 9.99987955e-01 7.21121810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.64, Z:0.72 [[-2.79194595e-01 -9.60233731e-01 1.24899965e-03 2.08789328e+02] [ 9.60227942e-01 -2.79197263e-01 -3.34492994e-03 1.36641276e+02] [ 3.56063184e-03 2.65438000e-04 9.99993626e-01 7.21556536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.64, Z:0.72 [[-2.80455425e-01 -9.59866836e-01 6.41176906e-04 2.08790782e+02] [ 9.59865313e-01 -2.80456126e-01 -1.71555684e-03 1.36639023e+02] [ 1.82652810e-03 1.34306250e-04 9.99998323e-01 7.21840773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.63, Z:0.72 [[-2.80797022e-01 -9.59767103e-01 3.74090898e-04 2.08794860e+02] [ 9.59766586e-01 -2.80797260e-01 -1.00003331e-03 1.36628764e+02] [ 1.06484277e-03 7.82335681e-05 9.99999430e-01 7.22197834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.62, Z:0.72 [[-2.80475638e-01 -9.59860988e-01 5.48424148e-04 2.08799146e+02] [ 9.59859877e-01 -2.80476150e-01 -1.46464088e-03 1.36617299e+02] [ 1.55967153e-03 1.15614252e-04 9.99998777e-01 7.22094895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.62, Z:0.72 [[-2.79651345e-01 -9.60101004e-01 1.08990195e-03 2.08797897e+02] [ 9.60096628e-01 -2.79653372e-01 -2.90789697e-03 1.36622281e+02] [ 3.09666956e-03 2.33213889e-04 9.99995178e-01 7.21867595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.62, Z:0.72 [[-2.75851399e-01 -9.61198330e-01 1.94312556e-03 2.08800208e+02] [ 9.61184476e-01 -2.75857894e-01 -5.17938621e-03 1.36616480e+02] [ 5.51444390e-03 4.38961185e-04 9.99984699e-01 7.20477842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:136.60, Z:0.72 [[-2.73717875e-01 -9.61808570e-01 1.67330626e-03 2.08805412e+02] [ 9.61798326e-01 -2.73722712e-01 -4.45604761e-03 1.36600224e+02] [ 4.74388670e-03 3.89683283e-04 9.99988672e-01 7.20216003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:136.60, Z:0.72 [[-2.71799952e-01 -9.62353190e-01 1.05982392e-03 2.08803279e+02] [ 9.62349093e-01 -2.71801900e-01 -2.81975245e-03 1.36603598e+02] [ 3.00165993e-03 2.53512006e-04 9.99995463e-01 7.20796219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.57, Z:0.72 [[-2.69994472e-01 -9.62861772e-01 4.38192166e-04 2.08815713e+02] [ 9.62861074e-01 -2.69994807e-01 -1.16483758e-03 1.36570858e+02] [ 1.23988718e-03 1.07418472e-04 9.99999226e-01 7.21966469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.57, Z:0.72 [[-2.67664488e-01 -9.63512165e-01 1.73141094e-04 2.08817875e+02] [ 9.63512056e-01 -2.67664540e-01 -4.59902358e-04 1.36567980e+02] [ 4.89465248e-04 4.37240024e-05 9.99999879e-01 7.21733773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.57, Z:0.72 [[-2.67436123e-01 -9.63575484e-01 4.54162742e-04 2.08815827e+02] [ 9.63574738e-01 -2.67436484e-01 -1.20508750e-03 1.36572429e+02] [ 1.28265246e-03 1.15335815e-04 9.99999171e-01 7.20723916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.55, Z:0.72 [[-2.67079761e-01 -9.63674167e-01 7.07879528e-04 2.08821614e+02] [ 9.63672357e-01 -2.67080638e-01 -1.87653970e-03 1.36554137e+02] [ 1.99743375e-03 1.80978159e-04 9.99997989e-01 7.19298585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:136.57, Z:0.72 [[-2.66666577e-01 -9.63788486e-01 8.31640853e-04 2.08814957e+02] [ 9.63785993e-01 -2.66667788e-01 -2.20260061e-03 1.36569153e+02] [ 2.34461293e-03 2.14163840e-04 9.99997228e-01 7.19001165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.55, Z:0.72 [[-2.66249426e-01 -9.63903772e-01 8.73025877e-04 2.08820319e+02] [ 9.63901030e-01 -2.66250761e-01 -2.31010052e-03 1.36553873e+02] [ 2.45915841e-03 2.26447607e-04 9.99996951e-01 7.18935421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.55, Z:0.72 [[-2.65733865e-01 -9.64045881e-01 1.02634573e-03 2.08824233e+02] [ 9.64042100e-01 -2.65735711e-01 -2.71332403e-03 1.36546877e+02] [ 2.88850556e-03 2.68418409e-04 9.99995792e-01 7.20018332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.55, Z:0.72 [[-2.66392074e-01 -9.63864290e-01 9.45571051e-04 2.08822419e+02] [ 9.63861085e-01 -2.66393639e-01 -2.49753065e-03 1.36552531e+02] [ 2.65917472e-03 2.46076768e-04 9.99996434e-01 7.20539560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:136.54, Z:0.72 [[-2.67598945e-01 -9.63530015e-01 8.45130127e-04 2.08826110e+02] [ 9.63527459e-01 -2.67600191e-01 -2.23023031e-03 1.36543683e+02] [ 2.37505083e-03 2.17498806e-04 9.99997156e-01 7.19437902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.56, Z:0.72 [[-2.70987927e-01 -9.62582611e-01 5.11336965e-04 2.08821195e+02] [ 9.62581675e-01 -2.70988379e-01 -1.34819510e-03 1.36563529e+02] [ 1.43631553e-03 1.26858998e-04 9.99998960e-01 7.17848803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:136.55, Z:0.72 [[-2.73166740e-01 -9.61966661e-01 2.75111667e-04 2.08829064e+02] [ 9.61966390e-01 -2.73166870e-01 -7.24751376e-04 1.36549554e+02] [ 7.72338054e-04 6.66702062e-05 9.99999700e-01 7.17957019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.57, Z:0.72 [[-2.74970290e-01 -9.61452690e-01 2.53956675e-04 2.08824903e+02] [ 9.61452460e-01 -2.74970401e-01 -6.68420369e-04 1.36566135e+02] [ 7.12485131e-04 6.03715265e-05 9.99999744e-01 7.18817032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:136.56, Z:0.72 [[-2.76066110e-01 -9.61138548e-01 4.42000034e-04 2.08827658e+02] [ 9.61137851e-01 -2.76066444e-01 -1.16221357e-03 1.36563369e+02] [ 1.23906964e-03 1.03975185e-04 9.99999227e-01 7.20260840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:136.56, Z:0.72 [[-2.76400002e-01 -9.61042446e-01 6.74693207e-04 2.08829455e+02] [ 9.61040825e-01 -2.76400780e-01 -1.77238944e-03 1.36563735e+02] [ 1.88982721e-03 1.58519271e-04 9.99998202e-01 7.20922251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:136.56, Z:0.72 [[-2.76078848e-01 -9.61134683e-01 7.68663347e-04 2.08832285e+02] [ 9.61132583e-01 -2.76079858e-01 -2.01738504e-03 1.36562087e+02] [ 2.15119120e-03 1.81830051e-04 9.99997670e-01 7.20466423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:136.55, Z:0.72 [[-2.75557388e-01 -9.61284176e-01 9.26360120e-04 2.08839511e+02] [ 9.61281133e-01 -2.75558857e-01 -2.42903135e-03 1.36549519e+02] [ 2.59025613e-03 2.21154972e-04 9.99996621e-01 7.19495262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:136.55, Z:0.72 [[-2.73840426e-01 -9.61774420e-01 1.17733465e-03 2.08843369e+02] [ 9.61769518e-01 -2.73842805e-01 -3.08428946e-03 1.36550034e+02] [ 3.28879533e-03 2.87721439e-04 9.99994551e-01 7.17030920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:136.54, Z:0.72 [[-2.73730707e-01 -9.61805453e-01 1.33053269e-03 2.08848304e+02] [ 9.61799204e-01 -2.73733746e-01 -3.48245954e-03 1.36540614e+02] [ 3.71366027e-03 3.26449167e-04 9.99993051e-01 7.16897155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:136.56, Z:0.72 [[-2.74441698e-01 -9.61602746e-01 1.38298465e-03 2.08843017e+02] [ 9.61596005e-01 -2.74444976e-01 -3.61645716e-03 1.36557983e+02] [ 3.85714833e-03 3.37365870e-04 9.99992504e-01 7.17102947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:136.55, Z:0.72 [[-2.75815448e-01 -9.61209473e-01 1.47927118e-03 2.08849591e+02] [ 9.61201769e-01 -2.75819185e-01 -3.86472040e-03 1.36545161e+02] [ 4.12281723e-03 3.55928481e-04 9.99991438e-01 7.17256820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:136.54, Z:0.72 [[-2.76106125e-01 -9.61126015e-01 1.48044001e-03 2.08850541e+02] [ 9.61118312e-01 -2.76109864e-01 -3.86427281e-03 1.36542889e+02] [ 4.12281721e-03 3.55928610e-04 9.99991438e-01 7.17256505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:136.54, Z:0.72 [[-2.80223819e-01 -9.59934295e-01 8.72144233e-04 2.08855957e+02] [ 9.59931621e-01 -2.80225105e-01 -2.27447358e-03 1.36539801e+02] [ 2.42774190e-03 1.99837154e-04 9.99997033e-01 7.17538036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:136.56, Z:0.72 [[-2.82462658e-01 -9.59278257e-01 2.68049297e-04 2.08850749e+02] [ 9.59278005e-01 -2.82462779e-01 -6.98487038e-04 1.36558787e+02] [ 7.45757378e-04 5.98372890e-05 9.99999720e-01 7.17563961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.79, Y:136.73, Z:0.72 [[-2.83714497e-01 -9.58908515e-01 -7.38108110e-04 2.08789094e+02] [ 9.58908555e-01 -2.83713793e-01 -9.30737363e-04 1.36729142e+02] [ 6.83080531e-04 -9.71841865e-04 9.99999294e-01 7.18268999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:136.55, Z:0.72 [[-2.85377210e-01 -9.58414709e-01 1.04574157e-03 2.08860368e+02] [ 9.58415262e-01 -2.85377244e-01 1.19487971e-04 1.36545804e+02] [ 1.83911817e-04 1.03635382e-03 9.99999446e-01 7.17153618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:136.55, Z:0.72 [[-2.86206296e-01 -9.58167995e-01 2.21450000e-04 2.08868799e+02] [ 9.58167824e-01 -2.86206377e-01 -5.75871367e-04 1.36545461e+02] [ 6.15161915e-04 4.73682537e-05 9.99999810e-01 7.17138361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.53, Z:0.72 [[-2.85942928e-01 -9.58246634e-01 1.76895924e-04 2.08876687e+02] [ 9.58246524e-01 -2.85942980e-01 -4.59617094e-04 1.36531569e+02] [ 4.91008680e-04 3.80856467e-05 9.99999879e-01 7.17504857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.54, Z:0.72 [[-2.85119012e-01 -9.58492046e-01 3.83428012e-04 2.08875615e+02] [ 9.58491533e-01 -2.85119258e-01 -9.95210812e-04 1.36538905e+02] [ 1.06322436e-03 8.37589797e-05 9.99999431e-01 7.17303541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.52, Z:0.72 [[-2.83871371e-01 -9.58861983e-01 8.61498213e-04 2.08885164e+02] [ 9.58859400e-01 -2.83872614e-01 -2.23392821e-03 1.36518048e+02] [ 2.38658458e-03 1.91907395e-04 9.99997134e-01 7.16843355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.53, Z:0.72 [[-2.82320137e-01 -9.59319547e-01 1.16094205e-03 2.08883789e+02] [ 9.59314868e-01 -2.82322400e-01 -3.00767761e-03 1.36527656e+02] [ 3.21308387e-03 2.64581017e-04 9.99994803e-01 7.16154651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.50, Z:0.72 [[-2.80371731e-01 -9.59890758e-01 1.19384592e-03 2.08896157e+02] [ 9.59885825e-01 -2.80374134e-01 -3.09016397e-03 1.36503735e+02] [ 3.30094335e-03 2.79561155e-04 9.99994513e-01 7.16655790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.48, Z:0.72 [[-2.75610471e-01 -9.61269108e-01 7.54940103e-04 2.08908653e+02] [ 9.61267144e-01 -2.75611441e-01 -1.95241735e-03 1.36481814e+02] [ 2.08486862e-03 1.87592451e-04 9.99997809e-01 7.17967370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.47, Z:0.72 [[-2.72777706e-01 -9.62076921e-01 5.66725490e-04 2.08914371e+02] [ 9.62075818e-01 -2.72778256e-01 -1.46441014e-03 1.36469152e+02] [ 1.56346559e-03 1.45774451e-04 9.99998767e-01 7.18263148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.46, Z:0.72 [[-2.69844083e-01 -9.62903915e-01 4.70709985e-04 2.08919066e+02] [ 9.62903156e-01 -2.69844465e-01 -1.21527383e-03 1.36458753e+02] [ 1.29721041e-03 1.25313677e-04 9.99999151e-01 7.17713966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.44, Z:0.72 [[-2.67249903e-01 -9.63627079e-01 5.84756411e-04 2.08927997e+02] [ 9.63625912e-01 -2.67250494e-01 -1.50839817e-03 1.36438303e+02] [ 1.60980976e-03 1.60367166e-04 9.99998691e-01 7.17404461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.42, Z:0.72 [[-2.63564384e-01 -9.64641064e-01 1.19674673e-03 2.08934479e+02] [ 9.64636194e-01 -2.63566880e-01 -3.08431923e-03 1.36423325e+02] [ 3.29068379e-03 3.41508508e-04 9.99994527e-01 7.17070641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.43, Z:0.72 [[-2.62516579e-01 -9.64926447e-01 1.41335044e-03 2.08929554e+02] [ 9.64919670e-01 -2.62520066e-01 -3.63945515e-03 1.36434611e+02] [ 3.88283938e-03 4.08352325e-04 9.99992378e-01 7.16945783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.43, Z:0.72 [[-2.62186864e-01 -9.65016237e-01 1.30818437e-03 2.08930629e+02] [ 9.65010442e-01 -2.62189852e-01 -3.36579206e-03 1.36428526e+02] [ 3.59103665e-03 3.79945109e-04 9.99993480e-01 7.17025214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.42, Z:0.72 [[-2.62574123e-01 -9.64911292e-01 1.01439277e-03 2.08931170e+02] [ 9.64907813e-01 -2.62575918e-01 -2.60771427e-03 1.36422544e+02] [ 2.78256806e-03 2.94077224e-04 9.99996085e-01 7.16950686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.42, Z:0.72 [[-2.63867247e-01 -9.64558591e-01 8.95094956e-04 2.08926238e+02] [ 9.64555885e-01 -2.63868640e-01 -2.29909484e-03 1.36424340e+02] [ 2.45379917e-03 2.56713280e-04 9.99996957e-01 7.16886727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.42, Z:0.72 [[-2.65082751e-01 -9.64225297e-01 8.44240264e-04 2.08925959e+02] [ 9.64222892e-01 -2.65083987e-01 -2.16663877e-03 1.36419376e+02] [ 2.31292249e-03 2.39697224e-04 9.99997296e-01 7.16263913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.42, Z:0.72 [[-2.66265272e-01 -9.63899434e-01 8.28404605e-04 2.08922548e+02] [ 9.63897121e-01 -2.66266459e-01 -2.12419640e-03 1.36422604e+02] [ 2.26808807e-03 2.32897081e-04 9.99997401e-01 7.16290973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.43, Z:0.72 [[-2.67357993e-01 -9.63597103e-01 5.72243602e-04 2.08916804e+02] [ 9.63596001e-01 -2.67358557e-01 -1.46612904e-03 1.36431318e+02] [ 1.56575192e-03 1.59430328e-04 9.99998762e-01 7.16216820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.42, Z:0.72 [[-2.68193630e-01 -9.63365011e-01 1.81361536e-04 2.08920422e+02] [ 9.63364900e-01 -2.68193686e-01 -4.64335917e-04 1.36415892e+02] [ 4.95964995e-04 5.01854026e-05 9.99999876e-01 7.16611124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.43, Z:0.72 [[-2.68625293e-01 -9.63244683e-01 -3.63269813e-04 2.08911818e+02] [ 9.63244241e-01 -2.68625520e-01 9.28968844e-04 1.36427329e+02] [-9.92407842e-04 -1.00373027e-04 9.99999503e-01 7.16642693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.43, Z:0.72 [[-2.68725607e-01 -9.63216741e-01 -2.42209477e-04 2.08910261e+02] [ 9.63216544e-01 -2.68725708e-01 6.18823047e-04 1.36426317e+02] [-6.61148631e-04 -6.70065766e-05 9.99999779e-01 7.16164729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.42, Z:0.72 [[-2.68863252e-01 -9.63178354e-01 9.67311389e-05 2.08911663e+02] [ 9.63178323e-01 -2.68863268e-01 -2.47073036e-04 1.36418057e+02] [ 2.63982850e-04 2.67404763e-05 9.99999965e-01 7.15456359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.721400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.91, Y:136.42, Z:0.71 [[-2.68934839e-01 -9.63158331e-01 2.86077228e-04 2.08910280e+02] [ 9.63158058e-01 -2.68934980e-01 -7.29878960e-04 1.36418564e+02] [ 7.79925175e-04 7.92477065e-05 9.99999693e-01 7.14448980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.42, Z:0.71 [[-2.69599447e-01 -9.62972444e-01 4.59272751e-04 2.08907429e+02] [ 9.62971740e-01 -2.69599808e-01 -1.17069539e-03 1.36417388e+02] [ 1.25116724e-03 1.26647852e-04 9.99999209e-01 7.14967603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.42, Z:0.72 [[-2.69846000e-01 -9.62903411e-01 3.95914197e-04 2.08904237e+02] [ 9.62902890e-01 -2.69846268e-01 -1.00834357e-03 1.36421911e+02] [ 1.07777344e-03 1.09129445e-04 9.99999413e-01 7.15560103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.41, Z:0.72 [[-2.69910493e-01 -9.62885347e-01 3.66925954e-04 2.08905509e+02] [ 9.62884900e-01 -2.69910723e-01 -9.33721416e-04 1.36414387e+02] [ 9.98103919e-04 1.01286253e-04 9.99999497e-01 7.15410525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.40, Z:0.71 [[-2.69983723e-01 -9.62864772e-01 4.69368013e-04 2.08908847e+02] [ 9.62864041e-01 -2.69984099e-01 -1.19336002e-03 1.36400251e+02] [ 1.27576623e-03 1.29749801e-04 9.99999178e-01 7.14808073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.40, Z:0.71 [[-2.69817614e-01 -9.62911254e-01 6.10111420e-04 2.08905668e+02] [ 9.62910022e-01 -2.69818250e-01 -1.54984808e-03 1.36402831e+02] [ 1.65698536e-03 1.69306090e-04 9.99998613e-01 7.14314479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.41, Z:0.71 [[-2.70142097e-01 -9.62820026e-01 9.19551989e-04 2.08901556e+02] [ 9.62817231e-01 -2.70143542e-01 -2.33386801e-03 1.36405097e+02] [ 2.49550588e-03 2.54884502e-04 9.99996854e-01 7.13870204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.71 [[-2.70938114e-01 -9.62596279e-01 9.70518248e-04 2.08903890e+02] [ 9.62593170e-01 -2.70939720e-01 -2.46111945e-03 1.36396372e+02] [ 2.63201636e-03 2.67403176e-04 9.99996501e-01 7.14106786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.71 [[-2.72168009e-01 -9.62249096e-01 1.11893997e-03 2.08899540e+02] [ 9.62244968e-01 -2.72170138e-01 -2.83506548e-03 1.36403945e+02] [ 3.03258124e-03 3.05080224e-04 9.99995355e-01 7.14938893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.42, Z:0.72 [[-2.73582968e-01 -9.61847543e-01 1.29009808e-03 2.08892187e+02] [ 9.61842061e-01 -2.73585790e-01 -3.26590686e-03 1.36419308e+02] [ 3.49425699e-03 3.47374103e-04 9.99993835e-01 7.15052330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.72 [[-2.75229307e-01 -9.61377345e-01 1.55855349e-03 2.08898538e+02] [ 9.61369352e-01 -2.75233409e-01 -3.94209501e-03 1.36401389e+02] [ 4.21880683e-03 4.13365483e-04 9.99991015e-01 7.15006370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.42, Z:0.71 [[-2.79766261e-01 -9.60066229e-01 1.91678197e-03 2.08890943e+02] [ 9.60054132e-01 -2.79772407e-01 -4.84397758e-03 1.36421793e+02] [ 5.18680200e-03 4.85032953e-04 9.99986431e-01 7.14500762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.44, Z:0.71 [[-2.82779400e-01 -9.59183342e-01 1.76825491e-03 2.08885995e+02] [ 9.59173049e-01 -2.82784596e-01 -4.46474986e-03 1.36436181e+02] [ 4.78254894e-03 4.33523166e-04 9.99988470e-01 7.14751447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.45, Z:0.71 [[-2.85660496e-01 -9.58329572e-01 1.58530981e-03 2.08880709e+02] [ 9.58321301e-01 -2.85664647e-01 -3.99931852e-03 1.36450867e+02] [ 4.28553217e-03 3.76788845e-04 9.99990746e-01 7.14679367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.45, Z:0.71 [[-2.89956198e-01 -9.57038946e-01 1.36359460e-03 2.08883397e+02] [ 9.57032824e-01 -2.89959240e-01 -3.43697153e-03 1.36446021e+02] [ 3.68470246e-03 3.08433590e-04 9.99993164e-01 7.14583885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.44, Z:0.71 [[-2.91305105e-01 -9.56629199e-01 1.38227394e-03 2.08887169e+02] [ 9.56622916e-01 -2.91308221e-01 -3.48099011e-03 1.36436962e+02] [ 3.73268454e-03 3.08284736e-04 9.99992986e-01 7.14225677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:136.60, Z:0.72 [[-2.90644111e-01 -9.56824244e-01 -3.65616269e-03 2.08832002e+02] [ 9.56728071e-01 -2.90554546e-01 -1.57941494e-02 1.36599739e+02] [ 1.40499103e-02 -8.08842998e-03 9.99868580e-01 7.23838561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:136.46, Z:0.71 [[-2.91833635e-01 -9.56412282e-01 1.04247663e-02 2.08868922e+02] [ 9.56457830e-01 -2.91865762e-01 -1.67234490e-03 1.36459910e+02] [ 4.64208355e-03 9.48280283e-03 9.99944262e-01 7.12474057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.261400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.88, Y:136.45, Z:0.71 [[-2.91430245e-01 -9.56589631e-01 2.16588379e-03 2.08879107e+02] [ 9.56574269e-01 -2.91437889e-01 -5.44281305e-03 1.36451459e+02] [ 5.83775912e-03 4.85628368e-04 9.99982842e-01 7.13097452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.44, Z:0.71 [[-2.91148478e-01 -9.56674926e-01 2.37684993e-03 2.08878595e+02] [ 9.56656464e-01 -2.91157685e-01 -5.96767213e-03 1.36444008e+02] [ 6.40116042e-03 5.36350189e-04 9.99979369e-01 7.14604072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.43, Z:0.72 [[-2.89852021e-01 -9.57069939e-01 1.71395344e-03 2.08878558e+02] [ 9.57060363e-01 -2.89856821e-01 -4.29952639e-03 1.36430442e+02] [ 4.61174855e-03 3.94130490e-04 9.99989288e-01 7.15727191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.43, Z:0.72 [[-2.89656371e-01 -9.57130115e-01 1.06298200e-03 2.08876909e+02] [ 9.57126438e-01 -2.89658217e-01 -2.66421027e-03 1.36430745e+02] [ 2.85789735e-03 2.45702695e-04 9.99995886e-01 7.16415470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.43, Z:0.72 [[-2.89886111e-01 -9.57060990e-01 5.52015044e-04 2.08875619e+02] [ 9.57060000e-01 -2.89886609e-01 -1.38235120e-03 1.36429534e+02] [ 1.48301618e-03 1.27587104e-04 9.99998892e-01 7.16748789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.42, Z:0.72 [[-2.90506053e-01 -9.56873093e-01 3.41030851e-04 2.08875859e+02] [ 9.56872716e-01 -2.90506243e-01 -8.53273978e-04 1.36423040e+02] [ 9.15546502e-04 7.84418613e-05 9.99999578e-01 7.16806364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:136.43, Z:0.72 [[-2.91963489e-01 -9.56429322e-01 5.22717736e-04 2.08868214e+02] [ 9.56428437e-01 -2.91963932e-01 -1.30668553e-03 1.36433290e+02] [ 1.40236708e-03 1.18437641e-04 9.99999010e-01 7.16861942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:136.42, Z:0.72 [[-2.93820443e-01 -9.55860453e-01 5.84819812e-04 2.08869522e+02] [ 9.55859346e-01 -2.93820997e-01 -1.46063311e-03 1.36421285e+02] [ 1.56799376e-03 1.29841616e-04 9.99998762e-01 7.16390972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:136.47, Z:0.72 [[-2.98189145e-01 -9.54506679e-01 4.84087891e-04 2.08846453e+02] [ 9.54505920e-01 -2.98189520e-01 -1.20797666e-03 1.36466622e+02] [ 1.29737173e-03 1.01859229e-04 9.99999153e-01 7.16651790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:136.53, Z:0.72 [[-2.99430184e-01 -9.54104843e-01 -5.05106134e-03 2.08823859e+02] [ 9.54112253e-01 -2.99405405e-01 -5.11976354e-03 1.36534705e+02] [ 3.37247613e-03 -6.35229125e-03 9.99974137e-01 7.17136128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:136.46, Z:0.72 [[-3.01787632e-01 -9.53353034e-01 6.49757815e-03 2.08842770e+02] [ 9.53374969e-01 -3.01785042e-01 1.39887091e-03 1.36456883e+02] [ 6.27254071e-04 6.61679031e-03 9.99977912e-01 7.16090154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:136.62, Z:0.72 [[-3.02926979e-01 -9.53003658e-01 -4.39003889e-03 2.08791002e+02] [ 9.52944206e-01 -3.02845997e-01 -1.34775134e-02 1.36616993e+02] [ 1.15146139e-02 -8.26616456e-03 9.99899537e-01 7.24179439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:136.46, Z:0.71 [[-3.04341280e-01 -9.52513038e-01 9.76201308e-03 2.08836548e+02] [ 9.52558001e-01 -3.04357084e-01 -1.40268173e-04 1.36459412e+02] [ 3.10474510e-03 9.25619427e-03 9.99952341e-01 7.14293710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:136.44, Z:0.72 [[-3.04144492e-01 -9.52624716e-01 1.50946445e-03 2.08853256e+02] [ 9.52617373e-01 -3.04148093e-01 -3.75212490e-03 1.36440508e+02] [ 4.03346765e-03 2.96753935e-04 9.99991822e-01 7.15605360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:136.44, Z:0.72 [[-3.03420731e-01 -9.52855553e-01 1.46820284e-03 2.08854634e+02] [ 9.52848621e-01 -3.03424142e-01 -3.64629082e-03 1.36441483e+02] [ 3.91987664e-03 2.92614822e-04 9.99992274e-01 7.15765152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:136.44, Z:0.72 [[-3.02094933e-01 -9.53277174e-01 1.13207546e-03 2.08856142e+02] [ 9.53273063e-01 -3.02096967e-01 -2.80900863e-03 1.36441318e+02] [ 3.01976037e-03 2.30589764e-04 9.99995414e-01 7.16422228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:136.41, Z:0.72 [[-2.98855834e-01 -9.54298061e-01 6.34098383e-04 2.08870325e+02] [ 9.54296775e-01 -2.98856476e-01 -1.57201150e-03 1.36406920e+02] [ 1.68967194e-03 1.35313233e-04 9.99998563e-01 7.16408988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:136.42, Z:0.72 [[-2.97206681e-01 -9.54813038e-01 5.01772661e-04 2.08864896e+02] [ 9.54812235e-01 -2.97207084e-01 -1.24287301e-03 1.36421724e+02] [ 1.33584174e-03 1.09708515e-04 9.99999102e-01 7.16199613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:136.49, Z:0.72 [[-2.95327203e-01 -9.55389440e-01 -3.58630042e-03 2.08842022e+02] [ 9.55388099e-01 -2.95307197e-01 -5.21915346e-03 1.36493377e+02] [ 3.92726377e-03 -4.96766674e-03 9.99979949e-01 7.16184591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:136.49, Z:0.72 [[-2.95617111e-01 -9.55305657e-01 1.27496058e-03 2.08838888e+02] [ 9.55300107e-01 -2.95619752e-01 -3.26612548e-03 1.36489458e+02] [ 3.49705167e-03 2.52447405e-04 9.99993853e-01 7.15401729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:136.40, Z:0.71 [[-2.95259270e-01 -9.55399594e-01 5.79472743e-03 2.08871111e+02] [ 9.55415073e-01 -2.95265891e-01 -3.02906988e-04 1.36403335e+02] [ 2.00038257e-03 5.44693383e-03 9.99983165e-01 7.14757734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.39, Z:0.71 [[-2.96002867e-01 -9.55185864e-01 1.50618771e-03 2.08884640e+02] [ 9.55178680e-01 -2.96006506e-01 -3.71984596e-03 1.36393438e+02] [ 3.99898564e-03 3.37593320e-04 9.99991947e-01 7.14438864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.40, Z:0.71 [[-2.97097182e-01 -9.54845984e-01 1.55302725e-03 2.08885138e+02] [ 9.54838356e-01 -2.97101042e-01 -3.83217188e-03 1.36397737e+02] [ 4.12053994e-03 3.44362513e-04 9.99991451e-01 7.14446154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:136.41, Z:0.71 [[-2.97991705e-01 -9.54567349e-01 1.45579961e-03 2.08883629e+02] [ 9.54560656e-01 -2.97995089e-01 -3.58910897e-03 1.36408616e+02] [ 3.85986737e-03 3.20124334e-04 9.99992499e-01 7.14558508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.40, Z:0.72 [[-2.98653694e-01 -9.54360548e-01 1.38380176e-03 2.08891852e+02] [ 9.54354509e-01 -2.98656746e-01 -3.40861560e-03 1.36396107e+02] [ 3.66632999e-03 3.02641805e-04 9.99993233e-01 7.15237184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.39, Z:0.72 [[-2.99183130e-01 -9.54194916e-01 1.23151281e-03 2.08896442e+02] [ 9.54190141e-01 -2.99185544e-01 -3.03085474e-03 1.36390986e+02] [ 3.26047702e-03 2.68316778e-04 9.99994649e-01 7.15461702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.40, Z:0.72 [[-2.99597163e-01 -9.54064963e-01 1.25926520e-03 2.08893621e+02] [ 9.54059978e-01 -2.99599685e-01 -3.09644214e-03 1.36402080e+02] [ 3.33148241e-03 2.73729247e-04 9.99994413e-01 7.15888893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.38, Z:0.72 [[-2.99679976e-01 -9.54038970e-01 1.24734770e-03 2.08901521e+02] [ 9.54034087e-01 -2.99682449e-01 -3.06445872e-03 1.36384042e+02] [ 3.29742125e-03 2.71655312e-04 9.99994527e-01 7.15732933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.101400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:208.90, Y:136.39, Z:0.71 [[-2.99529250e-01 -9.54086676e-01 9.18605517e-04 2.08900342e+02] [ 9.54084032e-01 -2.99530591e-01 -2.25487026e-03 1.36387375e+02] [ 2.42649212e-03 2.01027258e-04 9.99997036e-01 7.14493707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.72 [[-2.99851452e-01 -9.53985270e-01 1.10059128e-03 2.08896297e+02] [ 9.53981482e-01 -2.99853376e-01 -2.69920526e-03 1.36396452e+02] [ 2.90501807e-03 2.40583081e-04 9.99995752e-01 7.15307674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.38, Z:0.72 [[-3.00664148e-01 -9.53729002e-01 1.43576591e-03 2.08901640e+02] [ 9.53722564e-01 -3.00667415e-01 -3.51811650e-03 1.36384861e+02] [ 3.78701776e-03 3.11550840e-04 9.99992781e-01 7.15424482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.72 [[-3.03983113e-01 -9.52675422e-01 1.95134032e-03 2.08898336e+02] [ 9.52663531e-01 -3.03989104e-01 -4.77723010e-03 1.36400565e+02] [ 5.14433590e-03 4.06773476e-04 9.99986685e-01 7.16133791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.72 [[-3.06837677e-01 -9.51760120e-01 1.82069560e-03 2.08897582e+02] [ 9.51749771e-01 -3.06842860e-01 -4.45346572e-03 1.36403648e+02] [ 4.79729851e-03 3.66355546e-04 9.99988426e-01 7.16589174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.72 [[-3.09952265e-01 -9.50751508e-01 1.07846931e-03 2.08899166e+02] [ 9.50747878e-01 -3.09954071e-01 -2.63567201e-03 1.36399718e+02] [ 2.84014509e-03 2.08419898e-04 9.99995945e-01 7.16462200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.41, Z:0.72 [[-3.12953420e-01 -9.49768467e-01 1.28441073e-04 2.08895931e+02] [ 9.49768415e-01 -3.12953445e-01 -3.13698989e-04 1.36408536e+02] [ 3.38137484e-04 2.38161032e-05 9.99999943e-01 7.16590707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.41, Z:0.72 [[-3.16943604e-01 -9.48443927e-01 -9.32314443e-04 2.08899117e+02] [ 9.48441214e-01 -3.16944933e-01 2.27428412e-03 1.36406018e+02] [-2.45252330e-03 -1.63425636e-04 9.99996979e-01 7.16814617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.40, Z:0.72 [[-3.17984933e-01 -9.48095565e-01 -6.18408583e-04 2.08900418e+02] [ 9.48094373e-01 -3.17985516e-01 1.50717713e-03 1.36404650e+02] [-1.62559292e-03 -1.07050080e-04 9.99998673e-01 7.16697475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.42, Z:0.72 [[-3.18545075e-01 -9.47907708e-01 1.11180517e-04 2.08895807e+02] [ 9.47907669e-01 -3.18545094e-01 -2.70833321e-04 1.36416110e+02] [ 2.92141001e-04 1.91162438e-05 9.99999957e-01 7.16130273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:136.42, Z:0.72 [[-3.18250749e-01 -9.48006192e-01 8.49103559e-04 2.08893081e+02] [ 9.48003952e-01 -3.18251847e-01 -2.06594686e-03 1.36423681e+02] [ 2.22875919e-03 1.47464396e-04 9.99997505e-01 7.16462009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.39, Z:0.72 [[-3.17039185e-01 -9.48411698e-01 1.18592185e-03 2.08906514e+02] [ 9.48407340e-01 -3.17041333e-01 -2.88285357e-03 1.36393781e+02] [ 3.11011829e-03 2.10759437e-04 9.99995141e-01 7.16936921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.39, Z:0.72 [[-3.12722780e-01 -9.49844212e-01 6.60146502e-04 2.08911588e+02] [ 9.49842867e-01 -3.12723452e-01 -1.60337580e-03 1.36386891e+02] [ 1.72940052e-03 1.25623308e-04 9.99998497e-01 7.17598108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.37, Z:0.72 [[-3.10478255e-01 -9.50580335e-01 5.28286133e-04 2.08917049e+02] [ 9.50579477e-01 -3.10478687e-01 -1.28200689e-03 1.36371656e+02] [ 1.38267212e-03 1.04142694e-04 9.99999039e-01 7.17580298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.521400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.91, Y:136.38, Z:0.72 [[-3.07846322e-01 -9.51435840e-01 6.96691885e-04 2.08913886e+02] [ 9.51434351e-01 -3.07847077e-01 -1.68917931e-03 1.36376986e+02] [ 1.82162030e-03 1.42848953e-04 9.99998331e-01 7.16599380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.37, Z:0.72 [[-3.05280375e-01 -9.52262008e-01 9.80827064e-04 2.08916480e+02] [ 9.52259066e-01 -3.05281879e-01 -2.37597653e-03 1.36366102e+02] [ 2.56198091e-03 2.08662458e-04 9.99996696e-01 7.16417410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.35, Z:0.72 [[-3.00165068e-01 -9.53886577e-01 1.15298140e-03 2.08921835e+02] [ 9.53882532e-01 -3.00167168e-01 -2.79057766e-03 1.36345550e+02] [ 3.00798174e-03 2.62174880e-04 9.99995442e-01 7.16367397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.32, Z:0.72 [[-2.97962385e-01 -9.54576949e-01 1.12516675e-03 2.08929856e+02] [ 9.54573107e-01 -2.97964393e-01 -2.72093553e-03 1.36320636e+02] [ 2.93260197e-03 2.63317477e-04 9.99995665e-01 7.16822623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.32, Z:0.72 [[-2.96470958e-01 -9.55041227e-01 1.10706192e-03 2.08928598e+02] [ 9.55037518e-01 -2.96472908e-01 -2.67488772e-03 1.36316810e+02] [ 2.88284191e-03 2.64259140e-04 9.99995810e-01 7.16749941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.32, Z:0.72 [[-2.96017544e-01 -9.55181652e-01 1.27463850e-03 2.08926477e+02] [ 9.55176745e-01 -2.96020130e-01 -3.07716643e-03 1.36316084e+02] [ 3.31657157e-03 3.06609804e-04 9.99994453e-01 7.16772456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.33, Z:0.72 [[-2.97798161e-01 -9.54627190e-01 1.78407893e-03 2.08919740e+02] [ 9.54617584e-01 -2.97803206e-01 -4.30333517e-03 1.36325925e+02] [ 4.63938519e-03 4.21587820e-04 9.99989149e-01 7.16694097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.33, Z:0.72 [[-3.00001878e-01 -9.53937009e-01 1.74807111e-03 2.08916187e+02] [ 9.53927792e-01 -3.00006700e-01 -4.21287826e-03 1.36330465e+02] [ 4.54325353e-03 4.03662219e-04 9.99989598e-01 7.16305591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.35, Z:0.72 [[-3.02258517e-01 -9.53224329e-01 1.77994320e-03 2.08906434e+02] [ 9.53214778e-01 -3.02263491e-01 -4.28599168e-03 1.36348222e+02] [ 4.62352339e-03 4.01190678e-04 9.99989231e-01 7.16354117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.34, Z:0.72 [[-3.04258633e-01 -9.52588093e-01 1.61528909e-03 2.08906793e+02] [ 9.52580233e-01 -3.04262712e-01 -3.88615550e-03 1.36339200e+02] [ 4.19337769e-03 3.56296097e-04 9.99991144e-01 7.15762990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.35, Z:0.72 [[-3.05792147e-01 -9.52097070e-01 1.52721947e-03 2.08901627e+02] [ 9.52090050e-01 -3.05795781e-01 -3.67109404e-03 1.36345291e+02] [ 3.96225515e-03 3.31458736e-04 9.99992095e-01 7.16210483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.33, Z:0.72 [[-3.07990210e-01 -9.51388715e-01 1.24248226e-03 2.08905664e+02] [ 9.51384071e-01 -3.07992604e-01 -2.98408210e-03 1.36329939e+02] [ 3.22169738e-03 2.63009759e-04 9.99994776e-01 7.16743671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.33, Z:0.72 [[-3.09372907e-01 -9.50939987e-01 1.24330942e-03 2.08904647e+02] [ 9.50935342e-01 -3.09375297e-01 -2.98349500e-03 1.36329598e+02] [ 3.22177392e-03 2.59294347e-04 9.99994776e-01 7.17356040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.911400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:208.89, Y:136.36, Z:0.72 [[-3.10698055e-01 -9.50507769e-01 1.30367744e-03 2.08892856e+02] [ 9.50502668e-01 -3.10700675e-01 -3.12563173e-03 1.36355232e+02] [ 3.37599070e-03 2.68021190e-04 9.99994265e-01 7.16925394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.33, Z:0.72 [[-3.11303232e-01 -9.50309846e-01 1.22251757e-03 2.08901910e+02] [ 9.50305367e-01 -3.11305532e-01 -2.92849918e-03 1.36330721e+02] [ 3.16355809e-03 2.50113751e-04 9.99994965e-01 7.16428663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.34, Z:0.72 [[-3.11564807e-01 -9.50224006e-01 1.30734932e-03 2.08896247e+02] [ 9.50218892e-01 -3.11567435e-01 -3.12898342e-03 1.36343897e+02] [ 3.38056264e-03 2.67386912e-04 9.99994250e-01 7.16181657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:136.33, Z:0.72 [[-3.10959453e-01 -9.50422500e-01 1.13565765e-03 2.08900582e+02] [ 9.50418649e-01 -3.10961438e-01 -2.71570745e-03 1.36331303e+02] [ 2.93421520e-03 2.34875303e-04 9.99995668e-01 7.16303428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.031400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:208.90, Y:136.33, Z:0.72 [[-3.09653584e-01 -9.50848942e-01 9.73065851e-04 2.08900592e+02] [ 9.50846122e-01 -3.09655045e-01 -2.32489715e-03 1.36327674e+02] [ 2.51194074e-03 2.05323157e-04 9.99996824e-01 7.16333508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.31, Z:0.72 [[-3.07607107e-01 -9.51513027e-01 9.09965859e-04 2.08906667e+02] [ 9.51510567e-01 -3.07608389e-01 -2.17226849e-03 1.36308586e+02] [ 2.34685490e-03 1.97636905e-04 9.99997227e-01 7.16856748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:136.30, Z:0.72 [[-3.05315227e-01 -9.52251098e-01 6.76979048e-04 2.08911696e+02] [ 9.52249741e-01 -3.05315940e-01 -1.61472538e-03 1.36295729e+02] [ 1.74431651e-03 1.51652875e-04 9.99998467e-01 7.16563825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.28, Z:0.72 [[-3.02507880e-01 -9.53146786e-01 4.33224140e-04 2.08919847e+02] [ 9.53146232e-01 -3.02508173e-01 -1.03247837e-03 1.36282662e+02] [ 1.11515729e-03 1.00593114e-04 9.99999373e-01 7.16307735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.28, Z:0.72 [[-3.02785947e-01 -9.53058560e-01 2.28973210e-04 2.08923382e+02] [ 9.53058405e-01 -3.02786028e-01 -5.45279160e-04 1.36277290e+02] [ 5.89012860e-04 5.31219761e-05 9.99999825e-01 7.16008749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.28, Z:0.72 [[-3.04117847e-01 -9.52634386e-01 2.50061001e-04 2.08924400e+02] [ 9.52634201e-01 -3.04117945e-01 -5.94988787e-04 1.36277546e+02] [ 6.42854815e-04 5.72699528e-05 9.99999792e-01 7.15850177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:136.28, Z:0.72 [[-3.05898136e-01 -9.52063974e-01 7.20502803e-04 2.08923621e+02] [ 9.52062447e-01 -3.05898942e-01 -1.71273948e-03 1.36284706e+02] [ 1.85103860e-03 1.62039847e-04 9.99998274e-01 7.15311412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.29, Z:0.72 [[-3.10352097e-01 -9.50620702e-01 1.36276317e-03 2.08927471e+02] [ 9.50615236e-01 -3.10354952e-01 -3.23666384e-03 1.36292429e+02] [ 3.49977995e-03 2.90958020e-04 9.99993833e-01 7.15013852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.30, Z:0.72 [[-3.12621190e-01 -9.49877092e-01 1.22505190e-03 2.08927546e+02] [ 9.49872678e-01 -3.12623487e-01 -2.90712136e-03 1.36299166e+02] [ 3.14438798e-03 2.54815585e-04 9.99995024e-01 7.15392062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.92, Y:136.31, Z:0.71 [[-3.14615301e-01 -9.49218334e-01 1.32916551e-03 2.08924268e+02] [ 9.49213141e-01 -3.14617992e-01 -3.15147912e-03 1.36313071e+02] [ 3.40962114e-03 2.70157818e-04 9.99994151e-01 7.14745385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.31, Z:0.71 [[-3.15954566e-01 -9.48773102e-01 1.52069370e-03 2.08928960e+02] [ 9.48766312e-01 -3.15958079e-01 -3.60248509e-03 1.36307982e+02] [ 3.89841642e-03 3.04561337e-04 9.99992355e-01 7.14815698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:136.32, Z:0.71 [[-3.16768483e-01 -9.48501023e-01 1.88104648e-03 2.08926390e+02] [ 9.48490647e-01 -3.16773847e-01 -4.45228662e-03 1.36324371e+02] [ 4.81886474e-03 3.73810913e-04 9.99988319e-01 7.14253674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:136.31, Z:0.71 [[-3.17205756e-01 -9.48354494e-01 2.06443065e-03 2.08935182e+02] [ 9.48342016e-01 -3.17212210e-01 -4.88211024e-03 1.36313828e+02] [ 5.28483380e-03 4.09152848e-04 9.99985951e-01 7.14848764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:136.30, Z:0.72 [[-3.16408083e-01 -9.48621866e-01 1.57493211e-03 2.08943123e+02] [ 9.48614620e-01 -3.16411844e-01 -3.72133350e-03 1.36302728e+02] [ 4.02846551e-03 3.16543624e-04 9.99991836e-01 7.15809333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.28, Z:0.72 [[-3.16212007e-01 -9.48687397e-01 1.47937286e-03 2.08951281e+02] [ 9.48681016e-01 -3.16215326e-01 -3.49257435e-03 1.36281808e+02] [ 3.78116164e-03 2.99059007e-04 9.99992807e-01 7.15303608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.29, Z:0.71 [[-3.16153686e-01 -9.48706640e-01 1.59976165e-03 2.08946205e+02] [ 9.48699190e-01 -3.16157566e-01 -3.77358236e-03 1.36294289e+02] [ 4.08579939e-03 3.24660613e-04 9.99991600e-01 7.14474202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.30, Z:0.71 [[-3.16194772e-01 -9.48692642e-01 1.77131110e-03 2.08947308e+02] [ 9.48683525e-01 -3.16199528e-01 -4.17466764e-03 1.36296554e+02] [ 4.52056421e-03 3.60405576e-04 9.99989717e-01 7.13794662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.29, Z:0.71 [[-3.16856903e-01 -9.48472213e-01 1.47113594e-03 2.08954862e+02] [ 9.48465933e-01 -3.16860178e-01 -3.46426989e-03 1.36288084e+02] [ 3.75190812e-03 2.97644492e-04 9.99992917e-01 7.13568678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:136.28, Z:0.71 [[-3.18145992e-01 -9.48040828e-01 1.31013470e-03 2.08955976e+02] [ 9.48035852e-01 -3.18148582e-01 -3.08253124e-03 1.36283618e+02] [ 3.33918297e-03 2.61359712e-04 9.99994391e-01 7.13827001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.29, Z:0.71 [[-3.19747071e-01 -9.47502111e-01 1.24897477e-03 2.08952791e+02] [ 9.47497593e-01 -3.19749417e-01 -2.93614135e-03 1.36286860e+02] [ 3.18135908e-03 2.44577991e-04 9.99994910e-01 7.14121610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.29, Z:0.71 [[-3.22559285e-01 -9.46547851e-01 1.63506758e-03 2.08949817e+02] [ 9.46540110e-01 -3.22563281e-01 -3.84048336e-03 1.36290270e+02] [ 4.16261403e-03 3.08873477e-04 9.99991289e-01 7.14197851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.29, Z:0.71 [[-3.23538438e-01 -9.46213595e-01 1.64657986e-03 2.08948733e+02] [ 9.46205755e-01 -3.23542482e-01 -3.86421767e-03 1.36293785e+02] [ 4.18911382e-03 3.07780389e-04 9.99991178e-01 7.14908513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.28, Z:0.72 [[-3.24018820e-01 -9.46049828e-01 1.23592832e-03 2.08954199e+02] [ 9.46045417e-01 -3.24021095e-01 -2.89804356e-03 1.36279395e+02] [ 3.14216046e-03 2.30223668e-04 9.99995037e-01 7.15099476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:136.28, Z:0.72 [[-3.24308755e-01 -9.45950475e-01 1.23681659e-03 2.08955235e+02] [ 9.45946065e-01 -3.24311032e-01 -2.89766457e-03 1.36277157e+02] [ 3.14216045e-03 2.30223793e-04 9.99995037e-01 7.15099200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.29, Z:0.72 [[-3.24215366e-01 -9.45982804e-01 9.64556552e-04 2.08947837e+02] [ 9.45980127e-01 -3.24216750e-01 -2.25789508e-03 1.36290750e+02] [ 2.44865531e-03 1.80407051e-04 9.99996986e-01 7.15923685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.27, Z:0.72 [[-3.23494786e-01 -9.46229602e-01 8.14909493e-04 2.08953153e+02] [ 9.46227695e-01 -3.23495775e-01 -1.90597853e-03 1.36273595e+02] [ 2.06711309e-03 1.54515814e-04 9.99997852e-01 7.15671297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.27, Z:0.72 [[-3.21559690e-01 -9.46888525e-01 1.21969039e-03 2.08948556e+02] [ 9.46884265e-01 -3.21561915e-01 -2.85024693e-03 1.36274854e+02] [ 3.09107209e-03 2.38381123e-04 9.99995194e-01 7.15001964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.28, Z:0.71 [[-3.20598541e-01 -9.47214327e-01 1.26287868e-03 2.08946368e+02] [ 9.47209770e-01 -3.20600930e-01 -2.94865557e-03 1.36275333e+02] [ 3.19788888e-03 2.50876349e-04 9.99994855e-01 7.14896232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.26, Z:0.71 [[-3.19937787e-01 -9.47437660e-01 1.30094862e-03 2.08951191e+02] [ 9.47432835e-01 -3.19940325e-01 -3.03496297e-03 1.36259817e+02] [ 3.29166414e-03 2.61562098e-04 9.99994548e-01 7.14843626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.26, Z:0.71 [[-3.19333883e-01 -9.47641397e-01 1.28585551e-03 2.08950467e+02] [ 9.47636694e-01 -3.19336365e-01 -2.99721781e-03 1.36258875e+02] [ 3.25090810e-03 2.61410662e-04 9.99994682e-01 7.14722877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.25, Z:0.72 [[-3.18941680e-01 -9.47773351e-01 1.37123960e-03 2.08949992e+02] [ 9.47768012e-01 -3.18944504e-01 -3.19353417e-03 1.36254941e+02] [ 3.46409592e-03 2.81065874e-04 9.99993961e-01 7.15711250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.25, Z:0.72 [[-3.19530488e-01 -9.47574812e-01 1.49796454e-03 2.08951770e+02] [ 9.47568450e-01 -3.19533853e-01 -3.48572076e-03 1.36247049e+02] [ 3.78163157e-03 3.05629888e-04 9.99992803e-01 7.15851813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.25, Z:0.72 [[-3.20062597e-01 -9.47395266e-01 1.46430810e-03 2.08948694e+02] [ 9.47389195e-01 -3.20065808e-01 -3.40453440e-03 1.36249849e+02] [ 3.69411473e-03 2.97605550e-04 9.99993132e-01 7.15457706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.25, Z:0.72 [[-3.20390596e-01 -9.47284508e-01 1.38819162e-03 2.08946893e+02] [ 9.47279061e-01 -3.20393479e-01 -3.22484072e-03 1.36251292e+02] [ 3.49960920e-03 2.81796219e-04 9.99993837e-01 7.15407540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.23, Z:0.72 [[-3.20527548e-01 -9.47238830e-01 8.30889757e-04 2.08954878e+02] [ 9.47236881e-01 -3.20528581e-01 -1.92861104e-03 1.36230965e+02] [ 2.09317918e-03 1.68876454e-04 9.99997795e-01 7.15683208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.25, Z:0.72 [[-3.20606737e-01 -9.47212019e-01 8.42941561e-04 2.08946392e+02] [ 9.47210017e-01 -3.20607800e-01 -1.95493767e-03 1.36250679e+02] [ 2.12199410e-03 1.71676502e-04 9.99997734e-01 7.15891814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:136.26, Z:0.72 [[-3.20864830e-01 -9.47124222e-01 1.21203616e-03 2.08943558e+02] [ 9.47120090e-01 -3.20867024e-01 -2.80851365e-03 1.36257107e+02] [ 3.04891374e-03 2.46790545e-04 9.99995322e-01 7.15813035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.25, Z:0.71 [[-3.22218128e-01 -9.46663828e-01 1.75374730e-03 2.08946551e+02] [ 9.46655186e-01 -3.22222708e-01 -4.06027073e-03 1.36247717e+02] [ 4.40880863e-03 3.51901144e-04 9.99990219e-01 7.14958062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:136.26, Z:0.72 [[-3.23604931e-01 -9.46191235e-01 1.41258633e-03 2.08940446e+02] [ 9.46185634e-01 -3.23607893e-01 -3.26764789e-03 1.36263016e+02] [ 3.54894388e-03 2.79141919e-04 9.99993664e-01 7.15642521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.25, Z:0.72 [[-3.25482883e-01 -9.45547392e-01 1.01133158e-03 2.08948969e+02] [ 9.45544523e-01 -3.25484395e-01 -2.33748194e-03 1.36247179e+02] [ 2.53937259e-03 1.95448676e-04 9.99996757e-01 7.16449514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.24, Z:0.72 [[-3.27502785e-01 -9.44849951e-01 7.04201941e-04 2.08953885e+02] [ 9.44848561e-01 -3.27503515e-01 -1.62626394e-03 1.36241420e+02] [ 1.76720402e-03 1.32758220e-04 9.99998430e-01 7.16852643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:136.24, Z:0.72 [[-3.29259226e-01 -9.44239356e-01 6.33085475e-04 2.08959047e+02] [ 9.44238233e-01 -3.29259814e-01 -1.46080465e-03 1.36236349e+02] [ 1.58779885e-03 1.16800101e-04 9.99998733e-01 7.16931826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:136.26, Z:0.72 [[-3.31041759e-01 -9.43615334e-01 1.20674736e-03 2.08954915e+02] [ 9.43611258e-01 -3.31043887e-01 -2.78205727e-03 1.36255041e+02] [ 3.02467823e-03 2.17723265e-04 9.99995402e-01 7.16127252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:136.25, Z:0.72 [[-3.31130578e-01 -9.43583781e-01 1.47964323e-03 2.08958494e+02] [ 9.43577663e-01 -3.31133776e-01 -3.40827412e-03 1.36249553e+02] [ 3.70595203e-03 2.67574523e-04 9.99993097e-01 7.15567127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:136.24, Z:0.72 [[-3.30738137e-01 -9.43721164e-01 1.62777749e-03 2.08962505e+02] [ 9.43713775e-01 -3.30742009e-01 -3.74630327e-03 1.36242907e+02] [ 4.07384008e-03 2.97110672e-04 9.99991658e-01 7.15492000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:136.24, Z:0.72 [[-3.30190536e-01 -9.43913202e-01 1.44153417e-03 2.08963780e+02] [ 9.43907418e-01 -3.30193575e-01 -3.31486676e-03 1.36243112e+02] [ 3.60493182e-03 2.66137168e-04 9.99993467e-01 7.15818596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:136.24, Z:0.72 [[-3.28352908e-01 -9.44554285e-01 1.25328276e-03 2.08967327e+02] [ 9.44549926e-01 -3.28355213e-01 -2.87954471e-03 1.36242093e+02] [ 3.13140823e-03 2.38281258e-04 9.99995069e-01 7.16962530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:136.22, Z:0.72 [[-3.27055700e-01 -9.45004226e-01 1.25771007e-03 2.08977111e+02] [ 9.44999847e-01 -3.27058027e-01 -2.88728329e-03 1.36222360e+02] [ 3.13983909e-03 2.44233366e-04 9.99995041e-01 7.16787554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:136.22, Z:0.72 [[-3.25541294e-01 -9.45526807e-01 1.38679309e-03 2.08977258e+02] [ 9.45521496e-01 -3.25544131e-01 -3.18093956e-03 1.36223191e+02] [ 3.45912598e-03 2.75715498e-04 9.99993979e-01 7.16630745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:136.21, Z:0.72 [[-3.23342938e-01 -9.46280859e-01 1.37137437e-03 2.08983939e+02] [ 9.46275681e-01 -3.23345724e-01 -3.14294953e-03 1.36208436e+02] [ 3.41754102e-03 2.81447677e-04 9.99994121e-01 7.16014836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.72 [[-3.21147958e-01 -9.47028124e-01 1.31200362e-03 2.08991254e+02] [ 9.47023399e-01 -3.21150518e-01 -3.00439982e-03 1.36191381e+02] [ 3.26660177e-03 2.77641264e-04 9.99994626e-01 7.15991544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.18, Z:0.72 [[-3.16817340e-01 -9.48486203e-01 8.34383062e-04 2.08996691e+02] [ 9.48484300e-01 -3.16818384e-01 -1.90914440e-03 1.36178568e+02] [ 2.07514501e-03 1.86549185e-04 9.99997830e-01 7.16459553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.16, Z:0.72 [[-3.15409974e-01 -9.48955025e-01 9.52990400e-04 2.09003544e+02] [ 9.48952549e-01 -3.15411339e-01 -2.17874477e-03 1.36160473e+02] [ 2.36811478e-03 2.17144838e-04 9.99997172e-01 7.16508061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.16, Z:0.72 [[-3.14350993e-01 -9.49305872e-01 1.34693079e-03 2.09003350e+02] [ 9.49300937e-01 -3.14353724e-01 -3.07685663e-03 1.36156309e+02] [ 3.34429078e-03 3.11429725e-04 9.99994359e-01 7.15373383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.17, Z:0.71 [[-3.13576880e-01 -9.49560828e-01 1.94281884e-03 2.08996660e+02] [ 9.49550582e-01 -3.13582569e-01 -4.43443812e-03 1.36167364e+02] [ 4.82000286e-03 4.54267495e-04 9.99988281e-01 7.14691277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.16, Z:0.71 [[-3.13035121e-01 -9.49738886e-01 2.24960716e-03 2.08998672e+02] [ 9.49725177e-01 -3.13042755e-01 -5.13048695e-03 1.36162515e+02] [ 5.57684619e-03 5.30485954e-04 9.99984309e-01 7.14232140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.17, Z:0.71 [[-3.14908285e-01 -9.49120324e-01 1.83896298e-03 2.08998653e+02] [ 9.49111169e-01 -3.14913367e-01 -4.19057023e-03 1.36165706e+02] [ 4.55646940e-03 4.25735014e-04 9.99989529e-01 7.14919938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.18, Z:0.72 [[-3.17481678e-01 -9.48263504e-01 1.30830331e-03 2.08991933e+02] [ 9.48258871e-01 -3.17484237e-01 -2.97890356e-03 1.36181269e+02] [ 3.24015121e-03 2.94862918e-04 9.99994707e-01 7.15473937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.17, Z:0.72 [[-3.20857748e-01 -9.47126883e-01 9.86093529e-04 2.08998363e+02] [ 9.47124251e-01 -3.20859192e-01 -2.24343739e-03 1.36166622e+02] [ 2.44121703e-03 2.14128826e-04 9.99996997e-01 7.15526960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.72 [[-3.24512536e-01 -9.45881014e-01 8.49032246e-04 2.08990293e+02] [ 9.45879062e-01 -3.24513599e-01 -1.93003696e-03 1.36186608e+02] [ 2.10110783e-03 1.76760635e-04 9.99997777e-01 7.15525598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.18, Z:0.72 [[-3.30404476e-01 -9.43839239e-01 6.10369020e-04 2.08994152e+02] [ 9.43838228e-01 -3.30405019e-01 -1.38637991e-03 1.36184141e+02] [ 1.51018875e-03 1.18023487e-04 9.99998853e-01 7.15524766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.72 [[-3.32416304e-01 -9.43132573e-01 5.91809274e-04 2.08990712e+02] [ 9.43131624e-01 -3.32416812e-01 -1.34311278e-03 1.36192155e+02] [ 1.46346076e-03 1.11681456e-04 9.99998923e-01 7.15721816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.72 [[-3.33639644e-01 -9.42700489e-01 6.13215280e-04 2.08993012e+02] [ 9.42699470e-01 -3.33640189e-01 -1.39053614e-03 1.36185558e+02] [ 1.51545236e-03 1.14139737e-04 9.99998845e-01 7.15780034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.20, Z:0.72 [[-3.34416106e-01 -9.42424940e-01 1.04952639e-03 2.08985672e+02] [ 9.42421960e-01 -3.34417697e-01 -2.37788036e-03 1.36201018e+02] [ 2.59195395e-03 1.93895227e-04 9.99996622e-01 7.15575279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.71 [[-3.34446920e-01 -9.42412436e-01 2.01442966e-03 2.08988285e+02] [ 9.42401477e-01 -3.34452778e-01 -4.56014117e-03 1.36193215e+02] [ 4.97126534e-03 3.73276323e-04 9.99987574e-01 7.14380666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.71 [[-3.34654319e-01 -9.42338558e-01 2.12823014e-03 2.08988962e+02] [ 9.42326345e-01 -3.34660853e-01 -4.81373411e-03 1.36190143e+02] [ 5.24840257e-03 3.94550416e-04 9.99986149e-01 7.14338257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.71 [[-3.34900367e-01 -9.42251018e-01 2.18239308e-03 2.08989635e+02] [ 9.42238197e-01 -3.34907233e-01 -4.93212726e-03 1.36187946e+02] [ 5.37820116e-03 4.04562889e-04 9.99985456e-01 7.14662625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.18, Z:0.71 [[-3.35594269e-01 -9.42004217e-01 2.13106311e-03 2.08991993e+02] [ 9.41992008e-01 -3.35600806e-01 -4.81211832e-03 1.36182953e+02] [ 5.24822225e-03 3.92525086e-04 9.99986151e-01 7.14592459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.71 [[-3.36731295e-01 -9.41598702e-01 1.97988131e-03 2.08989559e+02] [ 9.41588175e-01 -3.36736923e-01 -4.46701780e-03 1.36189996e+02] [ 4.87283730e-03 3.60048143e-04 9.99988063e-01 7.14856146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.18, Z:0.72 [[-3.39549526e-01 -9.40587306e-01 1.28059790e-03 2.08993065e+02] [ 9.40582902e-01 -3.39551867e-01 -2.88691099e-03 1.36183723e+02] [ 3.15022124e-03 2.24259233e-04 9.99995013e-01 7.15038900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.20, Z:0.71 [[-3.40849565e-01 -9.40117201e-01 1.10582213e-03 2.08985625e+02] [ 9.40113920e-01 -3.40851306e-01 -2.49083035e-03 1.36199262e+02] [ 2.71859338e-03 1.90600332e-04 9.99996286e-01 7.14778692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:136.20, Z:0.71 [[-3.41840727e-01 -9.39757269e-01 1.09181150e-03 2.08984954e+02] [ 9.39754075e-01 -3.41842420e-01 -2.45720150e-03 1.36200188e+02] [ 2.68240046e-03 1.86062762e-04 9.99996385e-01 7.14915972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.20, Z:0.72 [[-3.42711028e-01 -9.39440139e-01 1.17325514e-03 2.08985849e+02] [ 9.39436455e-01 -3.42712979e-01 -2.63826343e-03 1.36199553e+02] [ 2.88058033e-03 1.98036679e-04 9.99995832e-01 7.15234776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.19, Z:0.72 [[-3.42275448e-01 -9.39598076e-01 1.72457181e-03 2.08991749e+02] [ 9.39590132e-01 -3.42279666e-01 -3.87469255e-03 1.36187509e+02] [ 4.23093953e-03 2.94178529e-04 9.99991006e-01 7.15112287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.17, Z:0.72 [[-3.41119202e-01 -9.40018342e-01 1.79062677e-03 2.08996554e+02] [ 9.40009799e-01 -3.41123759e-01 -4.01974118e-03 1.36173548e+02] [ 4.38945577e-03 3.11995805e-04 9.99990318e-01 7.15111685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:136.17, Z:0.72 [[-3.39629485e-01 -9.40557814e-01 1.67687448e-03 2.08994600e+02] [ 9.40550341e-01 -3.39633492e-01 -3.76125520e-03 1.36173892e+02] [ 4.10720070e-03 2.99751695e-04 9.99991521e-01 7.15200629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:136.17, Z:0.72 [[-3.35515605e-01 -9.42033969e-01 1.13149785e-03 2.08997041e+02] [ 9.42030580e-01 -3.35517444e-01 -2.53588505e-03 1.36166894e+02] [ 2.76852712e-03 2.15076572e-04 9.99996145e-01 7.16997303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:136.14, Z:0.72 [[-3.33344288e-01 -9.42804531e-01 1.09688566e-03 2.09008969e+02] [ 9.42801355e-01 -3.33346023e-01 -2.45629049e-03 1.36142851e+02] [ 2.68144428e-03 2.15354885e-04 9.99996382e-01 7.17425741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:136.13, Z:0.72 [[-3.31474346e-01 -9.43463356e-01 1.28616088e-03 2.09014659e+02] [ 9.43459003e-01 -3.31476740e-01 -2.87777889e-03 1.36131939e+02] [ 3.14141134e-03 2.59530188e-04 9.99995032e-01 7.17221608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:136.13, Z:0.72 [[-3.29928456e-01 -9.44004435e-01 1.68539018e-03 2.09017045e+02] [ 9.43996979e-01 -3.29932578e-01 -3.76796757e-03 1.36126488e+02] [ 4.11304322e-03 3.47843513e-04 9.99991481e-01 7.16845800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:136.12, Z:0.72 [[-3.28409629e-01 -9.44533583e-01 1.85099692e-03 2.09018842e+02] [ 9.44524613e-01 -3.28414614e-01 -4.13485136e-03 1.36121401e+02] [ 4.51340040e-03 3.90387148e-04 9.99989738e-01 7.16285132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:136.12, Z:0.72 [[-3.25077554e-01 -9.45686138e-01 1.52028443e-03 2.09019920e+02] [ 9.45680110e-01 -3.25080937e-01 -3.39335911e-03 1.36117906e+02] [ 3.70326816e-03 3.34597867e-04 9.99993087e-01 7.16178732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.10, Z:0.72 [[-3.23794844e-01 -9.46126413e-01 1.30783241e-03 2.09025992e+02] [ 9.46121962e-01 -3.23797352e-01 -2.91681737e-03 1.36104383e+02] [ 3.18315063e-03 2.92918543e-04 9.99994891e-01 7.16620773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.10, Z:0.72 [[-3.23066947e-01 -9.46375254e-01 1.27511680e-03 2.09026438e+02] [ 9.46371032e-01 -3.23069334e-01 -2.84157541e-03 1.36103072e+02] [ 3.10114779e-03 2.88714511e-04 9.99995150e-01 7.16834894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.10, Z:0.72 [[-3.22879251e-01 -9.46439225e-01 1.33513022e-03 2.09026076e+02] [ 9.46434605e-01 -3.22881868e-01 -2.97292486e-03 1.36103187e+02] [ 3.24478204e-03 3.03717693e-04 9.99994690e-01 7.16501763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.11, Z:0.72 [[-3.24165659e-01 -9.45998492e-01 1.86524449e-03 2.09025330e+02] [ 9.45989482e-01 -3.24170754e-01 -4.14995847e-03 1.36106121e+02] [ 4.53051216e-03 4.19227652e-04 9.99989649e-01 7.15394938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.11, Z:0.72 [[-3.25681572e-01 -9.45476869e-01 2.23697717e-03 2.09025974e+02] [ 9.45463920e-01 -3.25688878e-01 -4.97299960e-03 1.36107262e+02] [ 5.43041467e-03 4.95366875e-04 9.99985133e-01 7.15043906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.11, Z:0.72 [[-3.25966554e-01 -9.45378652e-01 2.23847608e-03 2.09027055e+02] [ 9.45365705e-01 -3.25973864e-01 -4.97232507e-03 1.36105042e+02] [ 5.43041467e-03 4.95366848e-04 9.99985133e-01 7.15043629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.10, Z:0.71 [[-3.27799582e-01 -9.44743633e-01 2.62727610e-03 2.09031970e+02] [ 9.44725809e-01 -3.27809614e-01 -5.83126490e-03 1.36097087e+02] [ 6.37029675e-03 5.70569344e-04 9.99979547e-01 7.14904021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.11, Z:0.71 [[-3.30049681e-01 -9.43959465e-01 2.78151661e-03 2.09028685e+02] [ 9.43939493e-01 -3.30060875e-01 -6.16863318e-03 1.36107922e+02] [ 6.74100948e-03 5.89627964e-04 9.99977105e-01 7.14809534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:136.13, Z:0.71 [[-3.35294474e-01 -9.42110379e-01 2.37669921e-03 2.09021772e+02] [ 9.42095778e-01 -3.35302564e-01 -5.26658657e-03 1.36131101e+02] [ 5.75861921e-03 4.73220918e-04 9.99983307e-01 7.14723959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:136.13, Z:0.71 [[-3.37950700e-01 -9.41162009e-01 1.84301590e-03 2.09024248e+02] [ 9.41153230e-01 -3.37955538e-01 -4.08065835e-03 1.36129462e+02] [ 4.46341804e-03 3.55499022e-04 9.99989976e-01 7.14921162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.12, Z:0.72 [[-3.39687328e-01 -9.40537422e-01 1.37040105e-03 2.09031292e+02] [ 9.40532571e-01 -3.39689993e-01 -3.03177744e-03 1.36117286e+02] [ 3.31701166e-03 2.59050448e-04 9.99994465e-01 7.15649432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.12, Z:0.72 [[-3.40806934e-01 -9.40132598e-01 1.15369052e-03 2.09030398e+02] [ 9.40129164e-01 -3.40808819e-01 -2.55027751e-03 1.36120429e+02] [ 2.79078693e-03 2.15465840e-04 9.99996083e-01 7.16128426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.12, Z:0.72 [[-3.40039035e-01 -9.40409638e-01 1.77985904e-03 2.09031845e+02] [ 9.40401481e-01 -3.40043526e-01 -3.93119811e-03 1.36116970e+02] [ 4.30216614e-03 3.37021263e-04 9.99990689e-01 7.15764729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.11, Z:0.72 [[-3.39185338e-01 -9.40717309e-01 2.06188430e-03 2.09036581e+02] [ 9.40706387e-01 -3.39191373e-01 -4.55040086e-03 1.36106480e+02] [ 4.98001421e-03 3.96198475e-04 9.99987521e-01 7.15042580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.13, Z:0.71 [[-3.38661997e-01 -9.40905781e-01 2.08896013e-03 2.09027423e+02] [ 9.40894592e-01 -3.38668197e-01 -4.60639628e-03 1.36127431e+02] [ 5.04164925e-03 4.05479927e-04 9.99987209e-01 7.14696955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.10, Z:0.72 [[-3.38852750e-01 -9.40837891e-01 1.69619886e-03 2.09038961e+02] [ 9.40830526e-01 -3.38856835e-01 -3.73727883e-03 1.36103510e+02] [ 4.09094211e-03 3.29448451e-04 9.99991578e-01 7.15209441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.11, Z:0.72 [[-3.40143772e-01 -9.40373317e-01 4.89104406e-04 2.09039332e+02] [ 9.40372705e-01 -3.40144110e-01 -1.07684078e-03 1.36106484e+02] [ 1.17899832e-03 9.36597475e-05 9.99999301e-01 7.17153695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.11, Z:0.72 [[-3.41515856e-01 -9.39876009e-01 8.99928988e-05 2.09040343e+02] [ 9.39875988e-01 -3.41515868e-01 -1.98039158e-04 1.36105740e+02] [ 2.16866257e-04 1.69486521e-05 9.99999976e-01 7.17454775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.11, Z:0.72 [[-3.43533794e-01 -9.39140294e-01 2.00698188e-04 2.09038074e+02] [ 9.39140191e-01 -3.43533851e-01 -4.41199489e-04 1.36111314e+02] [ 4.83294839e-04 3.69167999e-05 9.99999883e-01 7.16910528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.12, Z:0.72 [[-3.45906793e-01 -9.38268699e-01 5.82911158e-04 2.09035205e+02] [ 9.38267831e-01 -3.45907269e-01 -1.28022545e-03 1.36118788e+02] [ 1.40282867e-03 1.04088109e-04 9.99999011e-01 7.15984853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.12, Z:0.72 [[-3.49941723e-01 -9.36771245e-01 6.52342095e-04 2.09037650e+02] [ 9.36770157e-01 -3.49942314e-01 -1.43153008e-03 1.36119171e+02] [ 1.56929832e-03 1.10142503e-04 9.99998763e-01 7.15967077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.12, Z:0.72 [[-3.51583919e-01 -9.36156317e-01 3.14107193e-04 2.09037755e+02] [ 9.36156065e-01 -3.51584055e-01 -6.88768156e-04 1.36123798e+02] [ 7.55229741e-04 5.18935467e-05 9.99999713e-01 7.16883073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.12, Z:0.72 [[-3.53017417e-01 -9.35616683e-01 3.56062848e-04 2.09039033e+02] [ 9.35616359e-01 -3.53017591e-01 -7.80114370e-04 1.36124101e+02] [ 8.55584468e-04 5.77442660e-05 9.99999632e-01 7.17418028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.14, Z:0.72 [[-3.54240526e-01 -9.35154062e-01 7.27810768e-04 2.09032010e+02] [ 9.35152712e-01 -3.54241254e-01 -1.59318797e-03 1.36140739e+02] [ 1.74769680e-03 1.16242470e-04 9.99998466e-01 7.17445265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.12, Z:0.72 [[-3.55835998e-01 -9.34547314e-01 1.43527084e-03 2.09038823e+02] [ 9.34542069e-01 -3.55838822e-01 -3.13914319e-03 1.36124056e+02] [ 3.44440292e-03 2.24300831e-04 9.99994043e-01 7.15539978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.12, Z:0.72 [[-3.56391385e-01 -9.34335655e-01 1.43703201e-03 2.09039817e+02] [ 9.34330404e-01 -3.56394213e-01 -3.14040225e-03 1.36122770e+02] [ 3.44633968e-03 2.23450393e-04 9.99994036e-01 7.15223054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:136.14, Z:0.72 [[-3.56792003e-01 -9.34182952e-01 1.29576199e-03 2.09034089e+02] [ 9.34178689e-01 -3.56794299e-01 -2.82933896e-03 1.36139259e+02] [ 3.10544072e-03 2.00987724e-04 9.99995158e-01 7.15482591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:136.11, Z:0.72 [[-3.57426315e-01 -9.33940747e-01 1.05352296e-03 2.09048625e+02] [ 9.33937933e-01 -3.57427831e-01 -2.29851503e-03 1.36111880e+02] [ 2.52323527e-03 1.62375298e-04 9.99996803e-01 7.16227163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:136.12, Z:0.72 [[-3.58460241e-01 -9.33544398e-01 1.05497366e-03 2.09048220e+02] [ 9.33541579e-01 -3.58461758e-01 -2.29978966e-03 1.36115766e+02] [ 2.52512347e-03 1.60478620e-04 9.99996799e-01 7.16670780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.13, Z:0.72 [[-3.60080502e-01 -9.32920088e-01 1.46377906e-03 2.09043341e+02] [ 9.32914665e-01 -3.60083411e-01 -3.18829568e-03 1.36132165e+02] [ 3.50150765e-03 2.17537841e-04 9.99993846e-01 7.16631964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:136.13, Z:0.72 [[-3.60841155e-01 -9.32626101e-01 1.48913532e-03 2.09044482e+02] [ 9.32620495e-01 -3.60844161e-01 -3.24082517e-03 1.36133579e+02] [ 3.55982392e-03 2.19375025e-04 9.99993640e-01 7.15916242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:136.12, Z:0.72 [[-3.60956124e-01 -9.32581398e-01 1.61604549e-03 2.09054847e+02] [ 9.32574808e-01 -3.60959663e-01 -3.51410160e-03 1.36116201e+02] [ 3.86051302e-03 2.38646815e-04 9.99992520e-01 7.15714276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:136.11, Z:0.72 [[-3.60480306e-01 -9.32765655e-01 1.47694421e-03 2.09058483e+02] [ 9.32760162e-01 -3.60483264e-01 -3.20898933e-03 1.36112860e+02] [ 3.52564871e-03 2.20857265e-04 9.99993761e-01 7.15193011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:136.10, Z:0.72 [[-3.59386267e-01 -9.33187962e-01 1.31830370e-03 2.09064112e+02] [ 9.33183596e-01 -3.59388628e-01 -2.86196792e-03 1.36104457e+02] [ 3.14453737e-03 2.01667416e-04 9.99995036e-01 7.15492137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:136.11, Z:0.72 [[-3.55879433e-01 -9.34531185e-01 1.13744044e-03 2.09061762e+02] [ 9.34527946e-01 -3.55881203e-01 -2.46730831e-03 1.36113732e+02] [ 2.71057023e-03 1.84905597e-04 9.99996309e-01 7.16290941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:136.10, Z:0.72 [[-3.54190941e-01 -9.35172080e-01 1.39916274e-03 2.09067731e+02] [ 9.35167193e-01 -3.54193627e-01 -3.03252256e-03 1.36099994e+02] [ 3.33150495e-03 2.34359070e-04 9.99994423e-01 7.16446680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:136.07, Z:0.72 [[-3.52462227e-01 -9.35824877e-01 1.47604066e-03 2.09078754e+02] [ 9.35819452e-01 -3.52465226e-01 -3.19654882e-03 1.36074000e+02] [ 3.51166291e-03 2.54644847e-04 9.99993802e-01 7.15692994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:136.08, Z:0.71 [[-3.49105419e-01 -9.37082028e-01 1.63678313e-03 2.09076255e+02] [ 9.37075382e-01 -3.49109130e-01 -3.54179406e-03 1.36075231e+02] [ 3.89036750e-03 2.97329676e-04 9.99992388e-01 7.14461474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:136.06, Z:0.71 [[-3.47951251e-01 -9.37511479e-01 1.46794673e-03 2.09084013e+02] [ 9.37506145e-01 -3.47954241e-01 -3.17391455e-03 1.36058135e+02] [ 3.48635961e-03 2.71841544e-04 9.99993886e-01 7.14825647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:136.05, Z:0.72 [[-3.47686558e-01 -9.37610059e-01 1.19752516e-03 2.09086121e+02] [ 9.37606517e-01 -3.47688548e-01 -2.58717420e-03 1.36054398e+02] [ 2.84212633e-03 2.23281701e-04 9.99995936e-01 7.15229639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:136.05, Z:0.72 [[-3.48355410e-01 -9.37361895e-01 1.08915776e-03 2.09089694e+02] [ 9.37358968e-01 -3.48357054e-01 -2.35118920e-03 1.36048560e+02] [ 2.58333096e-03 2.01882312e-04 9.99996643e-01 7.16278478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:136.06, Z:0.72 [[-3.50030035e-01 -9.36737891e-01 1.04753735e-03 2.09083107e+02] [ 9.36735186e-01 -3.50031551e-01 -2.25954073e-03 1.36063249e+02] [ 2.48326854e-03 1.90357967e-04 9.99996899e-01 7.16543720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:136.07, Z:0.72 [[-3.54425494e-01 -9.35083140e-01 1.44613286e-03 2.09080880e+02] [ 9.35077978e-01 -3.54428358e-01 -3.11677465e-03 1.36069006e+02] [ 3.42699392e-03 2.47582599e-04 9.99994097e-01 7.16100067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:136.07, Z:0.72 [[-3.57142663e-01 -9.34048258e-01 1.72338749e-03 2.09081686e+02] [ 9.34040928e-01 -3.57146708e-01 -3.71131676e-03 1.36070006e+02] [ 4.08205112e-03 2.84244904e-04 9.99991628e-01 7.15440841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:136.09, Z:0.72 [[-3.61461432e-01 -9.32385160e-01 1.88343441e-03 2.09079595e+02] [ 9.32376397e-01 -3.61466222e-01 -4.05268132e-03 1.36086170e+02] [ 4.45945784e-03 2.91181793e-04 9.99990014e-01 7.16113792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:136.07, Z:0.72 [[-3.62614072e-01 -9.31938733e-01 1.11044703e-03 2.09089760e+02] [ 9.31935690e-01 -3.62615733e-01 -2.38750088e-03 1.36069925e+02] [ 2.62767011e-03 1.69123799e-04 9.99996533e-01 7.16377739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:136.07, Z:0.72 [[-3.62671702e-01 -9.31916845e-01 4.79747172e-04 2.09089635e+02] [ 9.31916278e-01 -3.62672012e-01 -1.03068596e-03 1.36073256e+02] [ 1.13450448e-03 7.32835664e-05 9.99999354e-01 7.17338341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:136.07, Z:0.72 [[-3.61242634e-01 -9.32471853e-01 5.68554013e-05 2.09094270e+02] [ 9.32471845e-01 -3.61242638e-01 -1.22120108e-04 1.36066140e+02] [ 1.34412159e-04 8.90107163e-06 9.99999991e-01 7.17416443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:209.10, Y:136.07, Z:0.72 [[-3.58996261e-01 -9.33338979e-01 1.87696447e-04 2.09095978e+02] [ 9.33338892e-01 -3.58996309e-01 -4.02644503e-04 1.36065941e+02] [ 4.43186141e-04 3.06365224e-05 9.99999901e-01 7.17007742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:136.05, Z:0.72 [[-3.53720351e-01 -9.35351092e-01 4.98651379e-04 2.09105093e+02] [ 9.35350485e-01 -3.53720692e-01 -1.06870972e-03 1.36054211e+02] [ 1.17600212e-03 8.83894302e-05 9.99999305e-01 7.16042700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:136.04, Z:0.72 [[-3.51712373e-01 -9.36108011e-01 4.45642464e-04 2.09113089e+02] [ 9.36107528e-01 -3.51712646e-01 -9.54348213e-04 1.36040485e+02] [ 1.05011110e-03 8.15131901e-05 9.99999445e-01 7.15523273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:136.02, Z:0.72 [[-3.50373841e-01 -9.36609884e-01 3.12383561e-04 2.09123911e+02] [ 9.36609647e-01 -3.50373976e-01 -6.68468401e-04 1.36020086e+02] [ 7.35545182e-04 5.83676149e-05 9.99999728e-01 7.16050486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:136.02, Z:0.72 [[-3.49194616e-01 -9.37050221e-01 5.36275268e-05 2.09126196e+02] [ 9.37050214e-01 -3.49194620e-01 -1.14731985e-04 1.36019052e+02] [ 1.26236076e-04 1.01878940e-05 9.99999992e-01 7.15963400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:136.02, Z:0.72 [[-3.48791923e-01 -9.37200155e-01 2.53984710e-04 2.09127857e+02] [ 9.37199999e-01 -3.48792012e-01 -5.42663878e-04 1.36019868e+02] [ 5.97172509e-04 4.87576932e-05 9.99999821e-01 7.16496433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.00, Z:0.72 [[-3.48452222e-01 -9.37325998e-01 1.01136694e-03 2.09136567e+02] [ 9.37323532e-01 -3.48453634e-01 -2.15896773e-03 1.36004983e+02] [ 2.37607106e-03 1.95680929e-04 9.99997158e-01 7.16490279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.00, Z:0.72 [[-3.48898178e-01 -9.37159974e-01 1.11523589e-03 2.09138800e+02] [ 9.37156980e-01 -3.48899894e-01 -2.37884094e-03 1.35999160e+02] [ 2.61846020e-03 2.15177829e-04 9.99996549e-01 7.16185393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.171400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:209.14, Y:135.99, Z:0.72 [[-3.50157240e-01 -9.36690421e-01 9.80816056e-04 2.09140395e+02] [ 9.36688107e-01 -3.50158564e-01 -2.09050722e-03 1.35994842e+02] [ 2.30159923e-03 1.86712497e-04 9.99997334e-01 7.15809940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:136.02, Z:0.72 [[-3.51272514e-01 -9.36273048e-01 6.33158411e-04 2.09130014e+02] [ 9.36272084e-01 -3.51273065e-01 -1.34848643e-03 1.36019401e+02] [ 1.48496300e-03 1.19122326e-04 9.99998890e-01 7.15711609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.01, Z:0.72 [[-3.54406726e-01 -9.35090938e-01 8.99779981e-04 2.09138006e+02] [ 9.35088992e-01 -3.54407831e-01 -1.91479562e-03 1.36012002e+02] [ 2.10939711e-03 1.62757908e-04 9.99997762e-01 7.16213088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.01, Z:0.72 [[-3.56482312e-01 -9.34301451e-01 1.07664708e-03 2.09139482e+02] [ 9.34298666e-01 -3.56483887e-01 -2.28937281e-03 1.36012021e+02] [ 2.52277168e-03 1.89789018e-04 9.99996800e-01 7.16585537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:136.03, Z:0.72 [[-3.58712832e-01 -9.33447212e-01 1.18577211e-03 2.09132878e+02] [ 9.33443834e-01 -3.58714735e-01 -2.51942419e-03 1.36026352e+02] [ 2.77710341e-03 2.03101877e-04 9.99996123e-01 7.16605346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.02, Z:0.72 [[-3.61205892e-01 -9.32485398e-01 1.13427416e-03 2.09135173e+02] [ 9.32482307e-01 -3.61207624e-01 -2.40810676e-03 1.36019080e+02] [ 2.65523287e-03 1.87868237e-04 9.99996457e-01 7.16210795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.01, Z:0.72 [[-3.61741815e-01 -9.32277628e-01 1.13326222e-03 2.09139306e+02] [ 9.32274547e-01 -3.61743541e-01 -2.40406647e-03 1.36010619e+02] [ 2.65120768e-03 1.86860155e-04 9.99996468e-01 7.15698591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:136.03, Z:0.72 [[-3.62014325e-01 -9.32171728e-01 1.22395683e-03 2.09131898e+02] [ 9.32168140e-01 -3.62016338e-01 -2.59440788e-03 1.36027882e+02] [ 2.86152605e-03 2.01720742e-04 9.99995886e-01 7.15353699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.01, Z:0.72 [[-3.61791352e-01 -9.32258189e-01 1.29869709e-03 2.09141220e+02] [ 9.32254156e-01 -3.61793619e-01 -2.75065585e-03 1.36009558e+02] [ 3.03418176e-03 2.15552258e-04 9.99995374e-01 7.15268051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.01, Z:0.72 [[-3.61043437e-01 -9.32548188e-01 1.23030825e-03 2.09143417e+02] [ 9.32544576e-01 -3.61045474e-01 -2.60376727e-03 1.36005031e+02] [ 2.87233568e-03 2.07244198e-04 9.99995853e-01 7.15212666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.99, Z:0.72 [[-3.59252652e-01 -9.33239276e-01 1.40916675e-03 2.09150928e+02] [ 9.33234550e-01 -3.59255332e-01 -2.97995820e-03 1.35987268e+02] [ 3.28726470e-03 2.44525216e-04 9.99994567e-01 7.15050550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.01, Z:0.72 [[-3.58607327e-01 -9.33487526e-01 1.35077200e-03 2.09137807e+02] [ 9.33483192e-01 -3.58609793e-01 -2.85423846e-03 1.36014755e+02] [ 3.14879606e-03 2.37372132e-04 9.99995014e-01 7.15356384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:136.01, Z:0.72 [[-3.58892652e-01 -9.33377864e-01 1.35164411e-03 2.09138922e+02] [ 9.33373531e-01 -3.58895119e-01 -2.85382556e-03 1.36012574e+02] [ 3.14879608e-03 2.37371811e-04 9.99995014e-01 7.15356107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.99, Z:0.72 [[-3.58259158e-01 -9.33621497e-01 1.12995620e-03 2.09149476e+02] [ 9.33618475e-01 -3.58260884e-01 -2.38389998e-03 1.35990826e+02] [ 2.63047937e-03 2.00893983e-04 9.99996520e-01 7.15114585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.98, Z:0.72 [[-3.57169945e-01 -9.34038984e-01 8.97868966e-04 2.09154890e+02] [ 9.34037080e-01 -3.57171037e-01 -1.89280219e-03 1.35980460e+02] [ 2.08864383e-03 1.62590852e-04 9.99997806e-01 7.15455525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.97, Z:0.72 [[-3.54893663e-01 -9.34906245e-01 8.95337883e-04 2.09160697e+02] [ 9.34904357e-01 -3.54894753e-01 -1.88600907e-03 1.35966069e+02] [ 2.08099238e-03 1.67722620e-04 9.99997821e-01 7.15773188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.98, Z:0.72 [[-3.54256387e-01 -9.35147811e-01 9.92244981e-04 2.09152658e+02] [ 9.35145497e-01 -3.54257727e-01 -2.08851847e-03 1.35980037e+02] [ 2.30458392e-03 1.88022419e-04 9.99997327e-01 7.15855771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.97, Z:0.72 [[-3.53965297e-01 -9.35257735e-01 1.24005900e-03 2.09157282e+02] [ 9.35254128e-01 -3.53967391e-01 -2.60808767e-03 1.35968315e+02] [ 2.87817461e-03 2.36597773e-04 9.99995830e-01 7.15898105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.98, Z:0.72 [[-3.53827864e-01 -9.35309133e-01 1.63374535e-03 2.09150426e+02] [ 9.35302883e-01 -3.53831497e-01 -3.43339788e-03 1.35982261e+02] [ 3.78935895e-03 3.13214896e-04 9.99992771e-01 7.15496159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.95, Z:0.72 [[-3.53473441e-01 -9.35442843e-01 1.79270364e-03 2.09165458e+02] [ 9.35435332e-01 -3.53477817e-01 -3.76453722e-03 1.35954656e+02] [ 4.15519037e-03 3.46294401e-04 9.99991307e-01 7.15329120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.95, Z:0.72 [[-3.53575102e-01 -9.35405095e-01 1.39857951e-03 2.09167699e+02] [ 9.35400531e-01 -3.53577764e-01 -2.93467362e-03 1.35953545e+02] [ 3.23961527e-03 2.70604489e-04 9.99994716e-01 7.15161798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.93, Z:0.72 [[-3.54035170e-01 -9.35231577e-01 9.98297608e-04 2.09180864e+02] [ 9.35229254e-01 -3.54036525e-01 -2.09318078e-03 1.35929073e+02] [ 2.31104258e-03 1.92577512e-04 9.99997311e-01 7.15562791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.95, Z:0.72 [[-3.54746537e-01 -9.34962200e-01 7.61584155e-04 2.09171948e+02] [ 9.34960849e-01 -3.54747324e-01 -1.59565566e-03 1.35950344e+02] [ 1.76204767e-03 1.45998049e-04 9.99998437e-01 7.15389217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.94, Z:0.72 [[-3.55575211e-01 -9.34647506e-01 5.55877510e-04 2.09176987e+02] [ 9.34646787e-01 -3.55575630e-01 -1.16379453e-03 1.35942715e+02] [ 1.28539415e-03 1.05732644e-04 9.99999168e-01 7.15055071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.94, Z:0.72 [[-3.55260534e-01 -9.34767222e-01 4.40380445e-04 2.09179089e+02] [ 9.34766772e-01 -3.55260797e-01 -9.21301462e-04 1.35937559e+02] [ 1.01765232e-03 8.43509568e-05 9.99999479e-01 7.15120818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.94, Z:0.72 [[-3.54225831e-01 -9.35159814e-01 4.28651933e-04 2.09179100e+02] [ 9.35159388e-01 -3.54226080e-01 -8.96084751e-04 1.35935226e+02] [ 9.89822142e-04 8.34415143e-05 9.99999507e-01 7.15855837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:135.92, Z:0.72 [[-3.52696131e-01 -9.35737845e-01 3.52782120e-04 2.09185720e+02] [ 9.35737557e-01 -3.52696301e-01 -7.36935896e-04 1.35918746e+02] [ 8.14003756e-04 7.01970396e-05 9.99999666e-01 7.16553526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.93, Z:0.72 [[-3.49630448e-01 -9.36887303e-01 8.55145925e-04 2.09177257e+02] [ 9.36885620e-01 -3.49631449e-01 -1.78487875e-03 1.35928387e+02] [ 1.97121614e-03 1.77125964e-04 9.99998041e-01 7.17077032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:135.90, Z:0.72 [[-3.48960939e-01 -9.37136506e-01 1.19669407e-03 2.09190777e+02] [ 9.37133216e-01 -3.48962901e-01 -2.49585588e-03 1.35896817e+02] [ 2.75655950e-03 2.50505553e-04 9.99996169e-01 7.17249255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.91, Z:0.72 [[-3.48892857e-01 -9.37161985e-01 1.09022705e-03 2.09182739e+02] [ 9.37159258e-01 -3.48894485e-01 -2.27210876e-03 1.35909755e+02] [ 2.50970816e-03 2.28993852e-04 9.99996824e-01 7.16720340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.90, Z:0.72 [[-3.49495411e-01 -9.36937930e-01 5.23339465e-04 2.09183890e+02] [ 9.36937302e-01 -3.49495786e-01 -1.08989485e-03 1.35903346e+02] [ 1.20406876e-03 1.09423019e-04 9.99999269e-01 7.17238949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.91, Z:0.72 [[-3.51828247e-01 -9.36063331e-01 -1.52483388e-03 2.09175168e+02] [ 9.36058005e-01 -3.51831414e-01 3.17289821e-03 1.35914861e+02] [-3.50651813e-03 -3.11017743e-04 9.99993804e-01 7.19043375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.90, Z:0.72 [[-3.53628573e-01 -9.35384261e-01 -1.76509227e-03 2.09180740e+02] [ 9.35377128e-01 -3.53632802e-01 3.67007198e-03 1.35900637e+02] [-4.05712209e-03 -3.53184623e-04 9.99991708e-01 7.19707303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.92, Z:0.72 [[-3.55209425e-01 -9.34785515e-01 -1.51846426e-03 2.09170817e+02] [ 9.34780239e-01 -3.55212545e-01 3.15487251e-03 1.35918127e+02] [-3.48850668e-03 -2.98789935e-04 9.99993871e-01 7.19517333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.91, Z:0.72 [[-3.56687941e-01 -9.34222785e-01 -1.22533676e-03 2.09172778e+02] [ 9.34219351e-01 -3.56689967e-01 2.54390127e-03 1.35910177e+02] [-2.81363586e-03 -2.37354404e-04 9.99996014e-01 7.19255261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.91, Z:0.72 [[-3.57940089e-01 -9.33743587e-01 -1.34380972e-03 2.09172458e+02] [ 9.33739461e-01 -3.57942519e-01 2.78775440e-03 1.35906718e+02] [-3.08405443e-03 -2.56919105e-04 9.99995211e-01 7.18901600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.94, Z:0.72 [[-3.59039746e-01 -9.33321087e-01 -1.48661445e-03 2.09155552e+02] [ 9.33316041e-01 -3.59042714e-01 3.08165184e-03 1.35936804e+02] [-3.40992873e-03 -2.81045617e-04 9.99994147e-01 7.19303148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.90, Z:0.72 [[-3.59372215e-01 -9.33193627e-01 -1.12541902e-03 2.09172301e+02] [ 9.33190739e-01 -3.59373914e-01 2.33111443e-03 1.35902254e+02] [-2.57982737e-03 -2.12492855e-04 9.99996650e-01 7.19861811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.92, Z:0.72 [[-3.59540765e-01 -9.33129158e-01 -6.42252684e-04 2.09165871e+02] [ 9.33128219e-01 -3.59541318e-01 1.32927293e-03 1.35916714e+02] [-1.47129971e-03 -1.21376297e-04 9.99998910e-01 7.19885099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.91, Z:0.72 [[-3.60245696e-01 -9.32857459e-01 4.53918490e-07 2.09169261e+02] [ 9.32857459e-01 -3.60245696e-01 -1.01432861e-06 1.35908077e+02] [ 1.10974632e-06 5.80337556e-08 1.00000000e+00 7.18067386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.90, Z:0.72 [[-3.61133461e-01 -9.32514116e-01 2.14287188e-04 2.09170686e+02] [ 9.32514012e-01 -3.61133523e-01 -4.42935854e-04 1.35903819e+02] [ 4.90430223e-04 3.98668472e-05 9.99999879e-01 7.17116491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.91, Z:0.72 [[-3.64087108e-01 -9.31364798e-01 4.37110882e-04 2.09168397e+02] [ 9.31364364e-01 -3.64087361e-01 -9.02750467e-04 1.35909691e+02] [ 9.99936554e-04 7.84296922e-05 9.99999497e-01 7.16599595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.94, Z:0.72 [[-3.65839019e-01 -9.30677941e-01 6.17612979e-04 2.09156481e+02] [ 9.30677075e-01 -3.65839525e-01 -1.27452194e-03 1.35938396e+02] [ 1.41211669e-03 1.08528385e-04 9.99998997e-01 7.16497431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.461400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:209.16, Y:135.94, Z:0.72 [[-3.67804966e-01 -9.29902544e-01 8.74867310e-04 2.09156582e+02] [ 9.29900806e-01 -3.67805976e-01 -1.80396034e-03 1.35943966e+02] [ 1.99928873e-03 1.50034247e-04 9.99997990e-01 7.16768448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.93, Z:0.72 [[-3.69250663e-01 -9.29329218e-01 1.07337388e-03 2.09166032e+02] [ 9.29326604e-01 -3.69252179e-01 -2.21153723e-03 1.35932664e+02] [ 2.45159181e-03 1.80903316e-04 9.99996979e-01 7.16893896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.93, Z:0.72 [[-3.70364732e-01 -9.28885442e-01 1.34227219e-03 2.09171404e+02] [ 9.28881358e-01 -3.70367097e-01 -2.76340382e-03 1.35928053e+02] [ 3.06401903e-03 2.23344302e-04 9.99995281e-01 7.16575135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.94, Z:0.72 [[-3.71423532e-01 -9.28462411e-01 1.45284265e-03 2.09170566e+02] [ 9.28457632e-01 -3.71426297e-01 -2.98871327e-03 1.35939863e+02] [ 3.31453190e-03 2.38824408e-04 9.99994478e-01 7.15349893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.93, Z:0.71 [[-3.71827292e-01 -9.28300984e-01 1.32228564e-03 2.09179376e+02] [ 9.28297030e-01 -3.71829580e-01 -2.71803369e-03 1.35928819e+02] [ 3.01481826e-03 2.16834724e-04 9.99995432e-01 7.14967189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.93, Z:0.72 [[-3.71909964e-01 -9.28268099e-01 1.14634099e-03 2.09182157e+02] [ 9.28265132e-01 -3.71911683e-01 -2.35455546e-03 1.35931855e+02] [ 2.61199633e-03 1.88425737e-04 9.99996571e-01 7.15118255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:135.91, Z:0.72 [[-3.71636162e-01 -9.28377790e-01 1.11435800e-03 2.09196064e+02] [ 9.28374991e-01 -3.71637787e-01 -2.28710379e-03 1.35910500e+02] [ 2.53743390e-03 1.84571620e-04 9.99996764e-01 7.15594105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:135.90, Z:0.72 [[-3.70055586e-01 -9.29009098e-01 9.79217232e-04 2.09202337e+02] [ 9.29006942e-01 -3.70056844e-01 -2.00821806e-03 1.35901239e+02] [ 2.22801889e-03 1.66547294e-04 9.99997504e-01 7.15990119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:135.90, Z:0.72 [[-3.68951664e-01 -9.29447757e-01 1.23962537e-03 2.09203312e+02] [ 9.29444310e-01 -3.68953684e-01 -2.54032094e-03 1.35899350e+02] [ 2.81845995e-03 2.14907109e-04 9.99996005e-01 7.15746790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.90, Z:0.72 [[-3.67493692e-01 -9.30024516e-01 1.66947249e-03 2.09205819e+02] [ 9.30018280e-01 -3.67497364e-01 -3.41856765e-03 1.35895161e+02] [ 3.79287846e-03 2.96337887e-04 9.99992763e-01 7.15637615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:135.91, Z:0.72 [[-3.66039470e-01 -9.30597704e-01 1.73755480e-03 2.09200675e+02] [ 9.30590967e-01 -3.66043458e-01 -3.55526617e-03 1.35907505e+02] [ 3.94454311e-03 3.15585060e-04 9.99992170e-01 7.15682463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.791400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.20, Y:135.90, Z:0.72 [[-3.65063195e-01 -9.30981664e-01 1.41609259e-03 2.09203618e+02] [ 9.30977199e-01 -3.65065848e-01 -2.89531227e-03 1.35902025e+02] [ 3.21244968e-03 2.61377965e-04 9.99994806e-01 7.16000955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.88, Z:0.72 [[-3.63131126e-01 -9.31737907e-01 5.08956886e-04 2.09213561e+02] [ 9.31737331e-01 -3.63131470e-01 -1.03986157e-03 1.35877074e+02] [ 1.15369671e-03 9.66080266e-05 9.99999330e-01 7.16894914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.87, Z:0.72 [[-3.62427654e-01 -9.32011733e-01 5.70077156e-04 2.09216746e+02] [ 9.32011013e-01 -3.62428086e-01 -1.16385390e-03 1.35868314e+02] [ 1.29133746e-03 1.09505349e-04 9.99999160e-01 7.16743610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.87, Z:0.72 [[-3.62443468e-01 -9.32005196e-01 1.02319449e-03 2.09217232e+02] [ 9.32002880e-01 -3.62444859e-01 -2.08730180e-03 1.35867800e+02] [ 2.31622770e-03 1.97091305e-04 9.99997298e-01 7.16356126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.87, Z:0.72 [[-3.63168243e-01 -9.31722478e-01 1.43203008e-03 2.09217968e+02] [ 9.31717946e-01 -3.63170963e-01 -2.91910075e-03 1.35868358e+02] [ 3.23986352e-03 2.74123436e-04 9.99994714e-01 7.16283271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.87, Z:0.72 [[-3.65452368e-01 -9.30829652e-01 8.51949474e-04 2.09215047e+02] [ 9.30828048e-01 -3.65453327e-01 -1.73536896e-03 1.35872673e+02] [ 1.92668066e-03 1.58823768e-04 9.99998131e-01 7.16213470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.86, Z:0.72 [[-3.66101041e-01 -9.30575101e-01 9.11054623e-05 2.09219752e+02] [ 9.30575083e-01 -3.66101052e-01 -1.85503105e-04 1.35859723e+02] [ 2.05978376e-04 1.68675935e-05 9.99999979e-01 7.15768618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.86, Z:0.72 [[-3.65699717e-01 -9.30732790e-01 -4.35800378e-04 2.09220490e+02] [ 9.30732372e-01 -3.65699968e-01 8.86257647e-04 1.35857151e+02] [-9.84241237e-04 -8.15093486e-05 9.99999512e-01 7.15278683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.85, Z:0.71 [[-3.63016403e-01 -9.31782735e-01 1.59767056e-04 2.09222745e+02] [ 9.31782679e-01 -3.63016437e-01 -3.24765540e-04 1.35850757e+02] [ 3.60608991e-04 3.09729572e-05 9.99999935e-01 7.14951608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.86, Z:0.71 [[-3.61803649e-01 -9.32254032e-01 7.34541263e-04 2.09218238e+02] [ 9.32252850e-01 -3.61804366e-01 -1.49175421e-03 1.35856388e+02] [ 1.65645411e-03 1.45056068e-04 9.99998618e-01 7.14406147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.85, Z:0.71 [[-3.60640803e-01 -9.32704183e-01 1.05773005e-03 2.09219279e+02] [ 9.32701737e-01 -3.60642292e-01 -2.14646781e-03 1.35850137e+02] [ 2.38348169e-03 2.12442777e-04 9.99997137e-01 7.14328251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.84, Z:0.71 [[-3.59845180e-01 -9.33011531e-01 9.63855615e-04 2.09222582e+02] [ 9.33009505e-01 -3.59846417e-01 -1.95451562e-03 1.35839595e+02] [ 2.17042560e-03 1.95963425e-04 9.99997625e-01 7.13995450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.82, Z:0.71 [[-3.59978005e-01 -9.32960619e-01 5.64962638e-04 2.09228654e+02] [ 9.32959924e-01 -3.59978430e-01 -1.14481871e-03 1.35823670e+02] [ 1.27144513e-03 1.14977946e-04 9.99999185e-01 7.13814496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.83, Z:0.71 [[-3.61274729e-01 -9.32459229e-01 5.96234655e-04 2.09225654e+02] [ 9.32458455e-01 -3.61275202e-01 -1.20729093e-03 1.35827737e+02] [ 1.34115437e-03 1.19800340e-04 9.99999094e-01 7.13416723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.84, Z:0.71 [[-3.63465393e-01 -9.31607408e-01 7.38745391e-04 2.09218181e+02] [ 9.31606220e-01 -3.63466115e-01 -1.49472675e-03 1.35840207e+02] [ 1.66100743e-03 1.44938357e-04 9.99998610e-01 7.12943302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.85, Z:0.71 [[-3.66180642e-01 -9.30543431e-01 8.13148894e-04 2.09213989e+02] [ 9.30541991e-01 -3.66181512e-01 -1.64403140e-03 1.35847148e+02] [ 1.82760272e-03 1.54656716e-04 9.99998318e-01 7.12571981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.86, Z:0.71 [[-3.68987649e-01 -9.29433885e-01 8.76313401e-04 2.09208055e+02] [ 9.29432213e-01 -3.68988654e-01 -1.77039739e-03 1.35859718e+02] [ 1.96881702e-03 1.61219134e-04 9.99998049e-01 7.12585113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.84, Z:0.71 [[-3.71392512e-01 -9.28475440e-01 9.79895899e-04 2.09219181e+02] [ 9.28473349e-01 -3.71393764e-01 -1.97816421e-03 1.35839787e+02] [ 2.20060411e-03 1.75131852e-04 9.99997563e-01 7.12722248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.85, Z:0.71 [[-3.74718766e-01 -9.27138070e-01 9.19951947e-04 2.09217186e+02] [ 9.27136226e-01 -3.74719862e-01 -1.85576299e-03 1.35849060e+02] [ 2.06527278e-03 1.57531558e-04 9.99997855e-01 7.12564185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.85, Z:0.71 [[-3.75601492e-01 -9.26780916e-01 8.08465540e-04 2.09217126e+02] [ 9.26779493e-01 -3.75602337e-01 -1.62964858e-03 1.35851195e+02] [ 1.81398875e-03 1.37170844e-04 9.99998345e-01 7.12552995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.86, Z:0.71 [[-3.75337318e-01 -9.26888031e-01 6.89468680e-04 2.09215529e+02] [ 9.26886998e-01 -3.75337932e-01 -1.38874367e-03 1.35856109e+02] [ 1.54599364e-03 1.17812230e-04 9.99998798e-01 7.12318448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.83, Z:0.71 [[-3.71771936e-01 -9.28323642e-01 9.17986699e-04 2.09231731e+02] [ 9.28321818e-01 -3.71773033e-01 -1.84761703e-03 1.35827254e+02] [ 2.05646927e-03 1.65294920e-04 9.99997872e-01 7.13494167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.83, Z:0.71 [[-3.72047174e-01 -9.28213368e-01 9.18534745e-04 2.09232890e+02] [ 9.28211545e-01 -3.72048271e-01 -1.84734463e-03 1.35825092e+02] [ 2.05646924e-03 1.65295207e-04 9.99997872e-01 7.13493890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.83, Z:0.71 [[-3.70040385e-01 -9.29015084e-01 1.04299396e-03 2.09229593e+02] [ 9.29012739e-01 -3.70041804e-01 -2.09608124e-03 1.35833519e+02] [ 2.33324245e-03 1.93319968e-04 9.99997259e-01 7.13839109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:135.82, Z:0.71 [[-3.68418410e-01 -9.29659660e-01 8.90181901e-04 2.09237369e+02] [ 9.29657956e-01 -3.68419447e-01 -1.78765645e-03 1.35819390e+02] [ 1.98987241e-03 1.68959140e-04 9.99998006e-01 7.13505770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.84, Z:0.71 [[-3.67902732e-01 -9.29863343e-01 1.32030996e-03 2.09224532e+02] [ 9.29864245e-01 -3.67902736e-01 2.48878886e-04 1.35842763e+02] [ 2.54322292e-04 1.31927224e-03 9.99999097e-01 7.11455932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.80, Z:0.71 [[-3.66117838e-01 -9.30568483e-01 -1.62198219e-04 2.09250634e+02] [ 9.30565566e-01 -3.66116242e-01 -2.57395342e-03 1.35796169e+02] [ 2.33585653e-03 -1.09330634e-03 9.99996674e-01 7.11996629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.79, Z:0.71 [[-3.65306668e-01 -9.30886439e-01 1.21515573e-03 2.09251592e+02] [ 9.30883282e-01 -3.65308609e-01 -2.43613086e-03 1.35792977e+02] [ 2.71166803e-03 2.41233302e-04 9.99996294e-01 7.11745576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.79, Z:0.71 [[-3.64598317e-01 -9.31163947e-01 1.33103686e-03 2.09252694e+02] [ 9.31160167e-01 -3.64600649e-01 -2.66648979e-03 1.35792252e+02] [ 2.96823606e-03 2.67210813e-04 9.99995559e-01 7.11482875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.79, Z:0.71 [[-3.64294282e-01 -9.31282866e-01 1.37860377e-03 2.09254866e+02] [ 9.31278818e-01 -3.64296784e-01 -2.75975966e-03 1.35789366e+02] [ 3.07233780e-03 2.78499825e-04 9.99995242e-01 7.11809699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.78, Z:0.71 [[-3.64411330e-01 -9.31237627e-01 9.29461582e-04 2.09256947e+02] [ 9.31235790e-01 -3.64412467e-01 -1.85930673e-03 1.35784415e+02] [ 2.07016377e-03 1.87995453e-04 9.99997840e-01 7.11234276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.77, Z:0.71 [[-3.64463790e-01 -9.31217323e-01 6.66247401e-04 2.09262028e+02] [ 9.31216380e-01 -3.64464374e-01 -1.33181869e-03 1.35773383e+02] [ 1.48303607e-03 1.35020807e-04 9.99998891e-01 7.11157845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.78, Z:0.71 [[-3.64134276e-01 -9.31346319e-01 5.12389728e-04 2.09256490e+02] [ 9.31345763e-01 -3.64134622e-01 -1.02352970e-03 1.35779952e+02] [ 1.13983946e-03 1.04509755e-04 9.99999345e-01 7.10405382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.77, Z:0.71 [[-3.64486810e-01 -9.31208252e-01 7.45689196e-04 2.09257318e+02] [ 9.31207075e-01 -3.64487541e-01 -1.48844502e-03 1.35774380e+02] [ 1.65784671e-03 1.51872477e-04 9.99998614e-01 7.10327526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.78, Z:0.71 [[-3.65465246e-01 -9.30824643e-01 7.98889393e-04 2.09253898e+02] [ 9.30823293e-01 -3.65466083e-01 -1.59346913e-03 1.35777580e+02] [ 1.77520731e-03 1.61267267e-04 9.99998411e-01 7.10156443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.77, Z:0.71 [[-3.67090242e-01 -9.30185138e-01 6.02118065e-04 2.09254711e+02] [ 9.30184372e-01 -3.67090716e-01 -1.20012783e-03 1.35773464e+02] [ 1.33737302e-03 1.19525600e-04 9.99999099e-01 7.10916243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.79, Z:0.71 [[-3.71875653e-01 -9.28282552e-01 5.54660602e-05 2.09245464e+02] [ 9.28282545e-01 -3.71875657e-01 -1.10532265e-04 1.35788603e+02] [ 1.23231651e-04 1.03839173e-05 9.99999992e-01 7.12223661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:135.80, Z:0.71 [[-3.74921961e-01 -9.27056371e-01 8.81067702e-05 2.09238718e+02] [ 9.27056355e-01 -3.74921971e-01 -1.75410455e-04 1.35799837e+02] [ 1.95648544e-04 1.59147095e-05 9.99999981e-01 7.11581672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.82, Z:0.71 [[-3.78086175e-01 -9.25770346e-01 3.32280903e-04 2.09228836e+02] [ 9.25770112e-01 -3.78086316e-01 -6.60855341e-04 1.35818486e+02] [ 7.37431140e-04 5.77554612e-05 9.99999726e-01 7.11675987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.82, Z:0.71 [[-3.81496180e-01 -9.24370327e-01 4.02453199e-04 2.09226625e+02] [ 9.24369984e-01 -3.81496387e-01 -7.99799586e-04 1.35823856e+02] [ 8.92845446e-04 6.68951698e-05 9.99999599e-01 7.11309099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.84, Z:0.71 [[-3.84928089e-01 -9.22946537e-01 2.36309825e-04 2.09217834e+02] [ 9.22946419e-01 -3.84928160e-01 -4.69291974e-04 1.35843469e+02] [ 5.24093708e-04 3.74576434e-05 9.99999862e-01 7.11839507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.85, Z:0.71 [[-3.91371374e-01 -9.20232800e-01 -2.06471560e-04 2.09212388e+02] [ 9.20232709e-01 -3.91371427e-01 4.09591761e-04 1.35852146e+02] [-4.57726842e-04 -2.96993926e-05 9.99999895e-01 7.12560839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.84, Z:0.71 [[-3.94194864e-01 -9.19026827e-01 -3.16280212e-04 2.09214712e+02] [ 9.19026614e-01 -3.94194988e-01 6.26979637e-04 1.35844795e+02] [-7.00887181e-04 -4.35177798e-05 9.99999753e-01 7.12813438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.85, Z:0.71 [[-3.96842657e-01 -9.17886610e-01 -2.77455760e-04 2.09212222e+02] [ 9.17886446e-01 -3.96842752e-01 5.49583471e-04 1.35847776e+02] [-6.14561616e-04 -3.65747170e-05 9.99999811e-01 7.12933703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.85, Z:0.71 [[-3.99342463e-01 -9.16801820e-01 1.40505640e-04 2.09208135e+02] [ 9.16801778e-01 -3.99342488e-01 -2.78201816e-04 1.35854625e+02] [ 3.11165803e-04 1.77180225e-05 9.99999951e-01 7.12608835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.86, Z:0.71 [[-4.01855251e-01 -9.15703034e-01 5.58128963e-04 2.09205736e+02] [ 9.15702371e-01 -4.01855633e-01 -1.10403328e-03 1.35858146e+02] [ 1.23525389e-03 6.74184426e-05 9.99999235e-01 7.12792092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.19, Y:135.88, Z:0.71 [[-4.07508052e-01 -9.13201393e-01 6.34577665e-04 2.09193389e+02] [ 9.13200534e-01 -4.07508541e-01 -1.25426201e-03 1.35877988e+02] [ 1.40398963e-03 6.83747945e-05 9.99999012e-01 7.12605723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:135.88, Z:0.71 [[-4.10579374e-01 -9.11824816e-01 2.86281552e-04 2.09193804e+02] [ 9.11824642e-01 -4.10579473e-01 -5.65435741e-04 1.35876726e+02] [ 6.33119669e-04 2.88823216e-05 9.99999799e-01 7.12826531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.89, Z:0.71 [[-4.13761616e-01 -9.10385259e-01 -6.72705486e-05 2.09184120e+02] [ 9.10385250e-01 -4.13761622e-01 1.32672707e-04 1.35894435e+02] [-1.48617248e-04 -6.34724127e-06 9.99999989e-01 7.13093893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.91, Z:0.71 [[-4.18104520e-01 -9.08398876e-01 3.03274249e-04 2.09174794e+02] [ 9.08398680e-01 -4.18104629e-01 -5.98035784e-04 1.35908533e+02] [ 6.70055402e-04 2.54524632e-05 9.99999775e-01 7.13595206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:135.90, Z:0.71 [[-4.19700476e-01 -9.07662403e-01 6.87216781e-04 2.09179666e+02] [ 9.07661395e-01 -4.19701035e-01 -1.35395797e-03 1.35895194e+02] [ 1.51736234e-03 5.55033378e-05 9.99998847e-01 7.13620678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.91, Z:0.71 [[-4.20970827e-01 -9.07073756e-01 8.74622812e-04 2.09168729e+02] [ 9.07072124e-01 -4.20971730e-01 -1.72177091e-03 1.35911974e+02] [ 1.92996468e-03 6.85306478e-05 9.99998135e-01 7.13816503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.91, Z:0.71 [[-4.22584345e-01 -9.06323047e-01 1.00310141e-03 2.09167828e+02] [ 9.06320902e-01 -4.22585528e-01 -1.97307154e-03 1.35909126e+02] [ 2.21213635e-03 7.53426316e-05 9.99997550e-01 7.14298287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.93, Z:0.71 [[-4.26754302e-01 -9.04366951e-01 1.08771198e-03 2.09154963e+02] [ 9.04364428e-01 -4.26755682e-01 -2.13773529e-03 1.35925901e+02] [ 2.39748441e-03 7.14002881e-05 9.99997124e-01 7.14159097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.91, Z:0.71 [[-4.29508441e-01 -9.03061861e-01 1.33208648e-03 2.09158819e+02] [ 9.03058076e-01 -4.29510499e-01 -2.61584190e-03 1.35914910e+02] [ 2.93441219e-03 7.94252799e-05 9.99995691e-01 7.13857234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.91, Z:0.71 [[-4.32501169e-01 -9.01632022e-01 1.56098349e-03 2.09157446e+02] [ 9.01626823e-01 -4.32503978e-01 -3.06279654e-03 1.35914957e+02] [ 3.43664700e-03 8.27615005e-05 9.99994091e-01 7.13360555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.93, Z:0.71 [[-4.36739576e-01 -8.99586770e-01 1.47881259e-03 2.09146496e+02] [ 8.99582100e-01 -4.36742075e-01 -2.89916836e-03 1.35933039e+02] [ 3.25391318e-03 6.41317799e-05 9.99994704e-01 7.14283381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:135.94, Z:0.71 [[-4.38208935e-01 -8.98872297e-01 1.23433406e-03 2.09141191e+02] [ 8.98869046e-01 -4.38210670e-01 -2.41785989e-03 1.35940735e+02] [ 2.71424563e-03 4.99768750e-05 9.99996315e-01 7.14860638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.531400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.14, Y:135.94, Z:0.71 [[-4.39721654e-01 -8.98133415e-01 1.11164830e-03 2.09138911e+02] [ 8.98130781e-01 -4.39723058e-01 -2.17571326e-03 1.35939538e+02] [ 2.44289817e-03 4.16973254e-05 9.99997015e-01 7.14921240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:135.93, Z:0.71 [[-4.40626915e-01 -8.97690107e-01 6.27717351e-04 2.09140912e+02] [ 8.97689268e-01 -4.40627361e-01 -1.22756560e-03 1.35931914e+02] [ 1.37856293e-03 2.25966886e-05 9.99999050e-01 7.14131019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:135.93, Z:0.71 [[-4.41804187e-01 -8.97111508e-01 5.49283599e-05 2.09138582e+02] [ 8.97111501e-01 -4.41804190e-01 -1.07396194e-04 1.35932311e+02] [ 1.20613941e-04 1.82877528e-06 9.99999993e-01 7.13564209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:135.93, Z:0.71 [[-4.43320590e-01 -8.96363066e-01 -3.30983238e-04 2.09139130e+02] [ 8.96362833e-01 -4.43320713e-01 6.46070558e-04 1.35927520e+02] [-7.25845511e-04 -1.02646916e-05 9.99999737e-01 7.13652845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:135.95, Z:0.71 [[-4.46036880e-01 -8.95014569e-01 1.51127703e-04 2.09124519e+02] [ 8.95014521e-01 -4.46036905e-01 -2.94857256e-04 1.35948059e+02] [ 3.31310073e-04 3.74427881e-06 9.99999945e-01 7.13800318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:135.96, Z:0.71 [[-4.47812243e-01 -8.94127095e-01 9.65448742e-04 2.09118043e+02] [ 8.94125116e-01 -4.47813284e-01 -1.88161512e-03 1.35957505e+02] [ 2.11474384e-03 2.06216785e-05 9.99997764e-01 7.13389882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:135.96, Z:0.71 [[-4.50192559e-01 -8.92930166e-01 1.54245397e-03 2.09117454e+02] [ 8.92925115e-01 -4.50195200e-01 -3.00353529e-03 1.35958416e+02] [ 3.37635264e-03 2.51266553e-05 9.99994300e-01 7.12467561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:135.96, Z:0.71 [[-4.53435311e-01 -8.91287239e-01 1.86443802e-03 2.09117704e+02] [ 8.91279858e-01 -4.53439143e-01 -3.62736481e-03 1.35959831e+02] [ 4.07843314e-03 1.69607659e-05 9.99991683e-01 7.12519740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.771400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.11, Y:135.97, Z:0.71 [[-4.60188795e-01 -8.87820109e-01 1.31418806e-03 2.09114091e+02] [ 8.87816433e-01 -4.60190672e-01 -2.55462803e-03 1.35968123e+02] [ 2.87282722e-03 -8.85344268e-06 9.99995873e-01 7.12708991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:135.99, Z:0.71 [[-4.62761017e-01 -8.86482328e-01 1.15023892e-03 2.09105001e+02] [ 8.86479514e-01 -4.62762446e-01 -2.23397867e-03 1.35986922e+02] [ 2.51266999e-03 -1.41349984e-05 9.99996843e-01 7.13144881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.99, Z:0.71 [[-4.64719541e-01 -8.85457021e-01 1.26940546e-03 2.09101646e+02] [ 8.85453595e-01 -4.64721275e-01 -2.46322850e-03 1.35992801e+02] [ 2.77100270e-03 -2.07107870e-05 9.99996161e-01 7.12733799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:135.99, Z:0.71 [[-4.66070341e-01 -8.84746275e-01 1.57028635e-03 2.09106433e+02] [ 8.84741038e-01 -4.66072985e-01 -3.04435182e-03 1.35987220e+02] [ 3.42534698e-03 -2.95853158e-05 9.99994133e-01 7.12536394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:135.99, Z:0.71 [[-4.66544490e-01 -8.84496280e-01 1.60320683e-03 2.09105434e+02] [ 8.84490829e-01 -4.66547244e-01 -3.10541529e-03 1.35989495e+02] [ 3.49470000e-03 -3.07926614e-05 9.99993893e-01 7.13098531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:135.99, Z:0.71 [[-4.66599788e-01 -8.84467013e-01 1.65575142e-03 2.09105156e+02] [ 8.84461209e-01 -4.66602724e-01 -3.20434189e-03 1.35987484e+02] [ 3.60671283e-03 -3.06973434e-05 9.99993495e-01 7.13317724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.99, Z:0.71 [[-4.66555058e-01 -8.84490170e-01 1.87509458e-03 2.09099831e+02] [ 8.84482740e-01 -4.66558825e-01 -3.62558640e-03 1.35993068e+02] [ 4.08163745e-03 -3.30468837e-05 9.99991670e-01 7.13434837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.98, Z:0.71 [[-4.66521547e-01 -8.84507811e-01 1.89160154e-03 2.09101867e+02] [ 8.84500263e-01 -4.66525381e-01 -3.65423911e-03 1.35984752e+02] [ 4.11468316e-03 -3.16592264e-05 9.99991534e-01 7.13477088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.98, Z:0.71 [[-4.66877951e-01 -8.84321111e-01 1.07334453e-03 2.09102066e+02] [ 8.84318684e-01 -4.66879184e-01 -2.07170185e-03 1.35977993e+02] [ 2.33317190e-03 -1.80532957e-05 9.99997278e-01 7.13669694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:135.97, Z:0.71 [[-4.67882822e-01 -8.83790259e-01 6.65153203e-04 2.09105883e+02] [ 8.83789328e-01 -4.67883295e-01 -1.28273064e-03 1.35966736e+02] [ 1.44487891e-03 -1.23123276e-05 9.99998956e-01 7.13820064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.97, Z:0.71 [[-4.69239863e-01 -8.83070693e-01 3.18747010e-04 2.09100165e+02] [ 8.83070480e-01 -4.69239972e-01 -6.14192740e-04 1.35972048e+02] [ 6.91944447e-04 -6.72764219e-06 9.99999761e-01 7.13891807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.98, Z:0.71 [[-4.70679258e-01 -8.82304389e-01 3.17441467e-05 2.09095142e+02] [ 8.82304387e-01 -4.70679259e-01 -6.11845917e-05 1.35976554e+02] [ 6.89247454e-05 -7.90318255e-07 9.99999998e-01 7.13724712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:135.99, Z:0.71 [[-4.73442255e-01 -8.80824857e-01 -4.40615728e-05 2.09082947e+02] [ 8.80824853e-01 -4.73442257e-01 8.46595577e-05 1.35993277e+02] [-9.54308532e-05 1.27088353e-06 9.99999995e-01 7.14067869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:135.98, Z:0.71 [[-4.74976512e-01 -8.79998472e-01 4.42002981e-05 2.09086331e+02] [ 8.79998468e-01 -4.74976514e-01 -8.50098117e-05 1.35984798e+02] [ 9.58026080e-05 -1.48146929e-06 9.99999995e-01 7.13665459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.191400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.08, Y:135.99, Z:0.71 [[-4.76606994e-01 -8.79116464e-01 1.28641539e-04 2.09083798e+02] [ 8.79116429e-01 -4.76607011e-01 -2.47037774e-04 1.35985551e+02] [ 2.78486434e-04 -4.64904017e-06 9.99999961e-01 7.13540555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.221400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.08, Y:135.99, Z:0.71 [[-4.77231230e-01 -8.78777740e-01 1.88787664e-04 2.09079128e+02] [ 8.78777268e-01 -4.77231179e-01 -9.56864964e-04 1.35994489e+02] [ 9.30966991e-04 -2.90743536e-04 9.99999524e-01 7.14138840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:135.97, Z:0.71 [[-4.76447021e-01 -8.79202828e-01 7.89432001e-04 2.09090939e+02] [ 8.79202382e-01 -4.76447607e-01 -9.21515551e-04 1.35968649e+02] [ 1.18632207e-03 2.55017156e-04 9.99999264e-01 7.13829254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:135.97, Z:0.71 [[-4.75283281e-01 -8.79832372e-01 8.93945806e-04 2.09092375e+02] [ 8.79830708e-01 -4.75284121e-01 -1.71158074e-03 1.35966435e+02] [ 1.93078239e-03 -2.69647397e-05 9.99998136e-01 7.13950238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.96, Z:0.71 [[-4.73363826e-01 -8.80866142e-01 1.23629523e-03 2.09096435e+02] [ 8.80862968e-01 -4.73365440e-01 -2.36491416e-03 1.35958716e+02] [ 2.66839225e-03 -3.04581298e-05 9.99996439e-01 7.13434398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:135.96, Z:0.71 [[-4.73685567e-01 -8.80693166e-01 1.23715910e-03 2.09097641e+02] [ 8.80689993e-01 -4.73687181e-01 -2.36446235e-03 1.35956570e+02] [ 2.66839224e-03 -3.04580527e-05 9.99996439e-01 7.13434142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:136.02, Z:0.71 [[-4.71134637e-01 -8.82061052e-01 6.74394869e-04 2.09067817e+02] [ 8.82051469e-01 -4.71132855e-01 -4.36341220e-03 1.36016681e+02] [ 4.16652553e-03 -1.46090364e-03 9.99990253e-01 7.13406070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.401400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.11, Y:135.92, Z:0.71 [[-4.63531820e-01 -8.86075703e-01 2.84606667e-03 2.09113172e+02] [ 8.86073734e-01 -4.63538348e-01 -2.35306703e-03 1.35924491e+02] [ 3.40425657e-03 1.43110348e-03 9.99993181e-01 7.13605952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:135.92, Z:0.71 [[-4.59588063e-01 -8.88131510e-01 1.11024265e-03 2.09118145e+02] [ 8.88128989e-01 -4.59589404e-01 -2.11623749e-03 1.35918239e+02] [ 2.38975296e-03 1.34411955e-05 9.99997144e-01 7.14721780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.461400513 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:209.07, Y:136.01, Z:0.72 [[-4.56424873e-01 -8.89761946e-01 1.17818458e-04 2.09067184e+02] [ 8.89759655e-01 -4.56423991e-01 -2.21291934e-03 1.36013341e+02] [ 2.02274659e-03 -9.05201320e-04 9.99997545e-01 7.15039285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49140051300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.14, Y:135.88, Z:0.71 [[-4.53364512e-01 -8.91323861e-01 1.54713208e-03 2.09135827e+02] [ 8.91323864e-01 -4.53366157e-01 -9.47279214e-04 1.35875737e+02] [ 1.54574989e-03 9.49532967e-04 9.99998355e-01 7.13849173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:135.87, Z:0.71 [[-4.47891676e-01 -8.94086708e-01 1.41610745e-03 2.09136093e+02] [ 8.94082657e-01 -4.47893910e-01 -2.69214280e-03 1.35872354e+02] [ 3.04127500e-03 6.03287658e-05 9.99995374e-01 7.12689916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.85, Z:0.71 [[-4.46423901e-01 -8.94820393e-01 1.47136584e-03 2.09147625e+02] [ 8.94816031e-01 -4.46426320e-01 -2.79485643e-03 1.35848757e+02] [ 3.15775097e-03 6.89110318e-05 9.99995012e-01 7.12582871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.581400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.14, Y:135.85, Z:0.71 [[-4.45198609e-01 -8.95430992e-01 1.24021610e-03 2.09144767e+02] [ 8.95427900e-01 -4.45200332e-01 -2.35385237e-03 1.35849316e+02] [ 2.65985699e-03 6.25923010e-05 9.99996461e-01 7.13665753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.15, Y:135.85, Z:0.71 [[-4.45763398e-01 -8.95150762e-01 3.25793452e-04 2.09145090e+02] [ 8.95145348e-01 -4.45761915e-01 -3.33488332e-03 1.35850161e+02] [ 3.13044965e-03 -1.19493643e-03 9.99994386e-01 7.14394202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.641400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:209.14, Y:135.85, Z:0.71 [[-4.46970993e-01 -8.94545488e-01 2.30237472e-03 2.09142954e+02] [ 8.94544878e-01 -4.46975002e-01 -1.67611672e-03 1.35849696e+02] [ 2.52846659e-03 1.31040196e-03 9.99995945e-01 7.13892858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:135.98, Z:0.71 [[-4.48465275e-01 -8.93800255e-01 -3.09644542e-05 2.09080511e+02] [ 8.93794239e-01 -4.48462129e-01 -3.68473127e-03 1.35976386e+02] [ 3.27952737e-03 -1.68014988e-03 9.99993211e-01 7.14174199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.84, Z:0.71 [[-4.50023629e-01 -8.93012525e-01 2.71361398e-03 2.09148388e+02] [ 8.93013166e-01 -4.50028282e-01 -1.42519386e-03 1.35844479e+02] [ 2.49391901e-03 1.78192209e-03 9.99995303e-01 7.13473662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.14, Y:135.87, Z:0.71 [[-4.52162859e-01 -8.91934512e-01 1.25469159e-03 2.09140370e+02] [ 8.91931362e-01 -4.52164598e-01 -2.37124350e-03 1.35868513e+02] [ 2.68232103e-03 4.69105342e-05 9.99996401e-01 7.13672220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:135.86, Z:0.71 [[-4.52004955e-01 -8.92014547e-01 1.25263238e-03 2.09145957e+02] [ 8.92011412e-01 -4.52006688e-01 -2.36535694e-03 1.35863608e+02] [ 2.67613102e-03 4.82093179e-05 9.99996418e-01 7.13873226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.85, Z:0.71 [[-4.51456387e-01 -8.92292380e-01 1.19986037e-03 2.09156351e+02] [ 8.92289509e-01 -4.51457979e-01 -2.26381502e-03 1.35847453e+02] [ 2.56167143e-03 4.86090722e-05 9.99996718e-01 7.14031323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.83, Z:0.71 [[-4.50201150e-01 -8.92926598e-01 1.00737154e-03 2.09166113e+02] [ 8.92924580e-01 -4.50202275e-01 -1.89908373e-03 1.35830947e+02] [ 2.14926334e-03 4.45371272e-05 9.99997689e-01 7.14284649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.83, Z:0.71 [[-4.48559195e-01 -8.93752794e-01 7.69220675e-04 2.09164535e+02] [ 8.93751620e-01 -4.48559853e-01 -1.44895397e-03 1.35834929e+02] [ 1.64004817e-03 3.75505989e-05 9.99998654e-01 7.14333456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:135.82, Z:0.71 [[-4.44687009e-01 -8.95685071e-01 1.31059232e-03 2.09171731e+02] [ 8.95681678e-01 -4.44688934e-01 -2.46661277e-03 1.35824551e+02] [ 2.79211413e-03 7.70028718e-05 9.99996099e-01 7.14920984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.911400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.18, Y:135.81, Z:0.71 [[-4.43392112e-01 -8.96325797e-01 1.87113394e-03 2.09181777e+02] [ 8.96318898e-01 -4.43396044e-01 -3.51866933e-03 1.35807516e+02] [ 3.98352748e-03 1.16982483e-04 9.99992059e-01 7.14252961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:135.91, Z:0.71 [[-4.42011657e-01 -8.97008705e-01 1.03839104e-03 2.09132270e+02] [ 8.96986526e-01 -4.42008386e-01 -6.61508259e-03 1.35908208e+02] [ 6.39276421e-03 -1.99252085e-03 9.99977581e-01 7.13956460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:135.79, Z:0.71 [[-4.40405339e-01 -8.97786726e-01 4.70451875e-03 2.09191132e+02] [ 8.97780084e-01 -4.40424050e-01 -4.19245918e-03 1.35791264e+02] [ 5.83591740e-03 2.37724183e-03 9.99980145e-01 7.13556257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:135.79, Z:0.71 [[-4.36911416e-01 -8.99503650e-01 1.26408064e-03 2.09195789e+02] [ 8.99500531e-01 -4.36913232e-01 -2.37124481e-03 1.35788034e+02] [ 2.68523692e-03 1.01017284e-04 9.99996390e-01 7.14822059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:135.78, Z:0.72 [[-4.35725158e-01 -9.00079476e-01 7.23641581e-04 2.09198179e+02] [ 9.00078456e-01 -4.35725755e-01 -1.35641457e-03 1.35784529e+02] [ 1.53619019e-03 6.03102455e-05 9.99998818e-01 7.15939401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:135.87, Z:0.72 [[-4.34940144e-01 -9.00459221e-01 -5.12278369e-04 2.09156678e+02] [ 9.00457399e-01 -4.34937933e-01 -2.33811802e-03 1.35865246e+02] [ 1.88257064e-03 -1.47822623e-03 9.99997135e-01 7.16455228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:135.77, Z:0.72 [[-4.34020921e-01 -9.00900188e-01 2.16595912e-03 2.09206657e+02] [ 9.00901329e-01 -4.34023294e-01 -7.58532713e-04 1.35765494e+02] [ 1.62343898e-03 1.62209638e-03 9.99997367e-01 7.16208165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:135.78, Z:0.71 [[-4.32823130e-01 -9.01478430e-01 8.82905625e-04 2.09204372e+02] [ 9.01476920e-01 -4.32824023e-01 -1.65189884e-03 1.35775306e+02] [ 1.87129394e-03 8.09390174e-05 9.99998246e-01 7.14303973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.75, Z:0.71 [[-4.32525469e-01 -9.01621336e-01 8.27585605e-04 2.09219272e+02] [ 9.01620012e-01 -4.32526254e-01 -1.54717983e-03 1.35750709e+02] [ 1.75292285e-03 7.69730602e-05 9.99998461e-01 7.13970759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.74, Z:0.71 [[-4.31931936e-01 -9.01905737e-01 9.18801439e-04 2.09225918e+02] [ 9.01904108e-01 -4.31932904e-01 -1.71635324e-03 1.35742031e+02] [ 1.94484941e-03 8.73230168e-05 9.99998105e-01 7.14359969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.75, Z:0.71 [[-4.31456696e-01 -9.02132985e-01 1.09370965e-03 2.09223285e+02] [ 9.02130682e-01 -4.31458069e-01 -2.04147032e-03 1.35748993e+02] [ 2.31356757e-03 1.05862991e-04 9.99997318e-01 7.14607253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24140051300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.22, Y:135.75, Z:0.71 [[-4.31393826e-01 -9.02162782e-01 1.29715942e-03 2.09221583e+02] [ 9.02159546e-01 -4.31395758e-01 -2.41930123e-03 1.35749961e+02] [ 2.74219260e-03 1.26573142e-04 9.99996232e-01 7.14376515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:135.73, Z:0.71 [[-4.30754675e-01 -9.02467947e-01 1.41944012e-03 2.09235287e+02] [ 9.02464081e-01 -4.30756990e-01 -2.64529132e-03 1.35725304e+02] [ 2.99872438e-03 1.41522124e-04 9.99995494e-01 7.14726154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:135.73, Z:0.71 [[-4.27880220e-01 -9.03834516e-01 1.29837190e-03 2.09231598e+02] [ 9.03831293e-01 -4.27882167e-01 -2.41780268e-03 1.35730375e+02] [ 2.74084370e-03 1.38979207e-04 9.99996234e-01 7.14966707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:135.72, Z:0.71 [[-4.25811360e-01 -9.04810960e-01 1.34615661e-03 2.09236769e+02] [ 9.04807506e-01 -4.25813461e-01 -2.50484311e-03 1.35719239e+02] [ 2.83962111e-03 1.51421947e-04 9.99995957e-01 7.14842980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.70, Z:0.71 [[-4.21018977e-01 -9.07049999e-01 1.82231966e-03 2.09246023e+02] [ 9.07043699e-01 -4.21022860e-01 -3.38821762e-03 1.35699174e+02] [ 3.84052102e-03 2.26419651e-04 9.99992600e-01 7.14930723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.391400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.25, Y:135.69, Z:0.71 [[-4.19348589e-01 -9.07823743e-01 1.67709344e-03 2.09250660e+02] [ 9.07818421e-01 -4.19351887e-01 -3.11584051e-03 1.35688136e+02] [ 3.53192630e-03 2.15872996e-04 9.99993739e-01 7.14719959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.68, Z:0.72 [[-4.18386569e-01 -9.08267571e-01 1.64275290e-03 2.09253085e+02] [ 9.08262476e-01 -4.18389738e-01 -3.04973357e-03 1.35684197e+02] [ 3.45728506e-03 2.16083250e-04 9.99994000e-01 7.15909113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.67, Z:0.72 [[-4.18314983e-01 -9.08300883e-01 1.44239145e-03 2.09260880e+02] [ 9.08296962e-01 -4.18317426e-01 -2.67576595e-03 1.35668571e+02] [ 3.03377805e-03 1.90806787e-04 9.99995380e-01 7.15956566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.69, Z:0.72 [[-4.19024904e-01 -9.07973686e-01 1.38384227e-03 2.09250835e+02] [ 9.07970080e-01 -4.19027150e-01 -2.56522263e-03 1.35685474e+02] [ 2.90902213e-03 1.81595216e-04 9.99995752e-01 7.15975339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.67, Z:0.72 [[-4.20264545e-01 -9.07400571e-01 1.38432350e-03 2.09257045e+02] [ 9.07396966e-01 -4.20266787e-01 -2.56417620e-03 1.35673228e+02] [ 2.90852014e-03 1.78498601e-04 9.99995754e-01 7.15995522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:135.69, Z:0.72 [[-4.23454869e-01 -9.05916262e-01 1.30420335e-03 2.09251797e+02] [ 9.05913059e-01 -4.23456847e-01 -2.41394771e-03 1.35689605e+02] [ 2.73910832e-03 1.59296936e-04 9.99996236e-01 7.15697331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:135.81, Z:0.72 [[-4.25537201e-01 -9.04940928e-01 8.74652910e-05 2.09189754e+02] [ 9.04936065e-01 -4.25535227e-01 -3.23861573e-03 1.35814340e+02] [ 2.96797549e-03 -1.29900098e-03 9.99994752e-01 7.16188994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.69, Z:0.72 [[-4.26670964e-01 -9.04404300e-01 2.17941936e-03 2.09255825e+02] [ 9.04405115e-01 -4.26673694e-01 -9.73027765e-04 1.35693687e+02] [ 1.80991140e-03 1.55591532e-03 9.99997152e-01 7.16351583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.69, Z:0.72 [[-4.27833708e-01 -9.03857205e-01 6.86688672e-04 2.09260054e+02] [ 9.03856317e-01 -4.27834252e-01 -1.26881383e-03 1.35694046e+02] [ 1.44061546e-03 7.78265675e-05 9.99998959e-01 7.16590494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:135.69, Z:0.72 [[-4.28625451e-01 -9.03481968e-01 7.46116118e-04 2.09264157e+02] [ 9.03480921e-01 -4.28626093e-01 -1.37755782e-03 1.35691340e+02] [ 1.56440349e-03 8.36453340e-05 9.99998773e-01 7.16525831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:135.68, Z:0.72 [[-4.28753780e-01 -9.03421017e-01 8.14210821e-04 2.09277086e+02] [ 9.03419772e-01 -4.28754543e-01 -1.50212893e-03 1.35682424e+02] [ 1.70615143e-03 9.15306970e-05 9.99998540e-01 7.15017797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.721400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.28, Y:135.68, Z:0.71 [[-4.28629974e-01 -9.03479891e-01 6.57214760e-04 2.09280166e+02] [ 9.03479081e-01 -4.28630472e-01 -1.21159167e-03 1.35683419e+02] [ 1.37635099e-03 7.44552802e-05 9.99999050e-01 7.14431443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:135.67, Z:0.71 [[-4.27715544e-01 -9.03913235e-01 5.26728513e-04 2.09293271e+02] [ 9.03912716e-01 -4.27715864e-01 -9.70327123e-04 1.35666662e+02] [ 1.10238167e-03 6.10926074e-05 9.99999391e-01 7.14719900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:135.69, Z:0.71 [[-4.26412598e-01 -9.04528464e-01 7.44392444e-04 2.09284180e+02] [ 9.04527431e-01 -4.26413238e-01 -1.37022356e-03 1.35687291e+02] [ 1.55682500e-03 8.90427974e-05 9.99998784e-01 7.14957858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:135.67, Z:0.71 [[-4.24600195e-01 -9.05380421e-01 9.83580712e-04 2.09297356e+02] [ 9.05378622e-01 -4.24601316e-01 -1.80910289e-03 1.35666934e+02] [ 2.05555600e-03 1.22367512e-04 9.99997880e-01 7.14897756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:135.66, Z:0.72 [[-4.22360527e-01 -9.06426804e-01 1.42645305e-03 2.09304580e+02] [ 9.06423031e-01 -4.22362895e-01 -2.62166752e-03 1.35659107e+02] [ 2.97883055e-03 1.85681016e-04 9.99995546e-01 7.15121232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:135.78, Z:0.72 [[-4.17857247e-01 -9.08512324e-01 8.23107530e-04 2.09244198e+02] [ 9.08497088e-01 -4.17855207e-01 -5.48334111e-03 1.35781967e+02] [ 5.32562274e-03 -1.54346303e-03 9.99984628e-01 7.15277380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:135.65, Z:0.71 [[-4.15536823e-01 -9.09566196e-01 4.29932072e-03 2.09311489e+02] [ 9.09560560e-01 -4.15552822e-01 -3.92933035e-03 1.35651230e+02] [ 5.36058091e-03 2.27771111e-03 9.99983038e-01 7.13856977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:135.64, Z:0.71 [[-4.12641310e-01 -9.10888902e-01 2.92527073e-03 2.09319236e+02] [ 9.10873202e-01 -4.12651433e-01 -5.36698350e-03 1.35640621e+02] [ 6.09584287e-03 4.49911614e-04 9.99981319e-01 7.12542874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:135.62, Z:0.71 [[-4.12210535e-01 -9.11084227e-01 2.82954865e-03 2.09333384e+02] [ 9.11069564e-01 -4.12220012e-01 -5.18756518e-03 1.35616932e+02] [ 5.89270539e-03 4.39546642e-04 9.99982541e-01 7.12452696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:135.62, Z:0.71 [[-4.12479344e-01 -9.10962787e-01 2.75518485e-03 2.09331380e+02] [ 9.10948903e-01 -4.12488324e-01 -5.04755514e-03 1.35621771e+02] [ 5.73461648e-03 4.27820381e-04 9.99983465e-01 7.12930713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:135.62, Z:0.71 [[-4.13078175e-01 -9.10692442e-01 2.38710822e-03 2.09330756e+02] [ 9.10682031e-01 -4.13084907e-01 -4.37005365e-03 1.35622775e+02] [ 4.96585321e-03 3.68722779e-04 9.99987602e-01 7.13321183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:135.62, Z:0.71 [[-4.14287069e-01 -9.10143460e-01 2.25972183e-03 2.09332935e+02] [ 9.10134137e-01 -4.14293089e-01 -4.13383581e-03 1.35616717e+02] [ 4.69857076e-03 3.44055257e-04 9.99988902e-01 7.13625499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:135.63, Z:0.71 [[-4.15083604e-01 -9.09780436e-01 2.27161010e-03 2.09326633e+02] [ 9.09771024e-01 -4.15089678e-01 -4.15254211e-03 1.35627042e+02] [ 4.72082347e-03 3.42992901e-04 9.99988798e-01 7.14085293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:135.63, Z:0.71 [[-4.14988238e-01 -9.09820277e-01 3.43888363e-03 2.09326489e+02] [ 9.09798741e-01 -4.15002158e-01 -6.28166021e-03 1.35627053e+02] [ 7.14232596e-03 5.21876896e-04 9.99974357e-01 7.13845629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:135.61, Z:0.71 [[-4.14226099e-01 -9.10166153e-01 3.78326048e-03 2.09333310e+02] [ 9.10140142e-01 -4.14242966e-01 -6.90564450e-03 1.35612863e+02] [ 7.85247293e-03 5.82799042e-04 9.99968999e-01 7.13742842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:135.61, Z:0.71 [[-4.13170761e-01 -9.10646903e-01 3.48427297e-03 2.09335173e+02] [ 9.10624891e-01 -4.13185090e-01 -6.35527480e-03 1.35605002e+02] [ 7.22706095e-03 5.47051965e-04 9.99973735e-01 7.13220193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.33, Y:135.60, Z:0.71 [[-4.12536791e-01 -9.10937656e-01 2.44590315e-03 2.09334058e+02] [ 9.10926831e-01 -4.12543858e-01 -4.45809055e-03 1.35600218e+02] [ 5.07008488e-03 3.88912439e-04 9.99987071e-01 7.12757024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:135.59, Z:0.71 [[-4.10797519e-01 -9.11726568e-01 2.50919572e-04 2.09338879e+02] [ 9.11726455e-01 -4.10797594e-01 -4.57111864e-04 1.35586511e+02] [ 5.19838187e-04 4.09895922e-05 9.99999864e-01 7.14482512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:135.59, Z:0.72 [[-4.10600246e-01 -9.11815455e-01 1.22785064e-04 2.09338602e+02] [ 9.11815427e-01 -4.10600263e-01 -2.23577139e-04 1.35586279e+02] [ 2.54276671e-04 2.01564873e-05 9.99999967e-01 7.15340936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:135.58, Z:0.72 [[-4.10878060e-01 -9.11690301e-01 1.22853137e-04 2.09339853e+02] [ 9.11690274e-01 -4.10878078e-01 -2.23539732e-04 1.35584159e+02] [ 2.54276666e-04 2.01564387e-05 9.99999967e-01 7.15340504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:135.58, Z:0.72 [[-4.10909189e-01 -9.11676122e-01 5.35461323e-04 2.09344268e+02] [ 9.11675607e-01 -4.10909529e-01 -9.73243382e-04 1.35575580e+02] [ 1.10730891e-03 8.82523775e-05 9.99999383e-01 7.15472039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:135.58, Z:0.72 [[-4.10836075e-01 -9.11708609e-01 1.06424716e-03 2.09343650e+02] [ 9.11706577e-01 -4.10837415e-01 -1.93285646e-03 1.35576784e+02] [ 2.19943442e-03 1.76193979e-04 9.99997566e-01 7.15537618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:135.56, Z:0.72 [[-4.09903304e-01 -9.12128140e-01 1.24004054e-03 2.09351884e+02] [ 9.12125388e-01 -4.09905126e-01 -2.25049604e-03 1.35562027e+02] [ 2.56103974e-03 2.08586692e-04 9.99996699e-01 7.15304797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:135.56, Z:0.72 [[-4.09435224e-01 -9.12338432e-01 1.17618349e-03 2.09350795e+02] [ 9.12335960e-01 -4.09436865e-01 -2.13308622e-03 1.35562807e+02] [ 2.42766942e-03 1.99713858e-04 9.99997033e-01 7.15220303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:135.56, Z:0.71 [[-4.08928721e-01 -9.12565966e-01 8.11592405e-04 2.09353315e+02] [ 9.12564791e-01 -4.08929503e-01 -1.47085955e-03 1.35556686e+02] [ 1.67414044e-03 1.39153940e-04 9.99998589e-01 7.14867868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:135.55, Z:0.71 [[-4.08888135e-01 -9.12584368e-01 5.13724932e-04 2.09355032e+02] [ 9.12583898e-01 -4.08888448e-01 -9.30406794e-04 1.35552907e+02] [ 1.05913089e-03 8.83848027e-05 9.99999435e-01 7.14482282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:135.54, Z:0.71 [[-4.09277669e-01 -9.12409820e-01 3.32589127e-04 2.09362845e+02] [ 9.12409623e-01 -4.09277800e-01 -6.01962152e-04 1.35540680e+02] [ 6.85357525e-04 5.70878532e-05 9.99999764e-01 7.14253254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:135.56, Z:0.71 [[-4.10548624e-01 -9.11838540e-01 5.51288773e-04 2.09357428e+02] [ 9.11838000e-01 -4.10548983e-01 -9.97014604e-04 1.35555937e+02] [ 1.13544739e-03 9.33630793e-05 9.99999351e-01 7.14314220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:135.56, Z:0.71 [[-4.14832328e-01 -9.09897083e-01 1.19910760e-03 2.09360625e+02] [ 9.09894523e-01 -4.14834017e-01 -2.16693029e-03 1.35564662e+02] [ 2.46911417e-03 1.92148702e-04 9.99996933e-01 7.14758182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:135.57, Z:0.71 [[-4.17353436e-01 -9.08743260e-01 1.34040899e-03 2.09361665e+02] [ 9.08740060e-01 -4.17355537e-01 -2.42052787e-03 1.35568008e+02] [ 2.75906550e-03 2.07867722e-04 9.99996172e-01 7.14340045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:135.57, Z:0.71 [[-4.19299720e-01 -9.07846986e-01 1.26301786e-03 2.09360016e+02] [ 9.07844145e-01 -4.19301579e-01 -2.27913742e-03 1.35574958e+02] [ 2.59869342e-03 1.90981685e-04 9.99996605e-01 7.13627791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.651400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.37, Y:135.57, Z:0.71 [[-4.20163818e-01 -9.07447498e-01 1.18470877e-03 2.09365477e+02] [ 9.07445001e-01 -4.20165451e-01 -2.13629193e-03 1.35571582e+02] [ 2.43634646e-03 1.77465478e-04 9.99997016e-01 7.12655626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:135.57, Z:0.71 [[-4.19066705e-01 -9.07953980e-01 1.63276902e-03 2.09370390e+02] [ 9.07949248e-01 -4.19069812e-01 -2.94208193e-03 1.35570200e+02] [ 3.35551920e-03 2.49542823e-04 9.99994339e-01 7.13058001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:135.58, Z:0.71 [[-4.18142364e-01 -9.08378357e-01 2.39238604e-03 2.09368730e+02] [ 9.08368220e-01 -4.18149043e-01 -4.30767087e-03 1.35579580e+02] [ 4.91336892e-03 3.71947769e-04 9.99987860e-01 7.13007872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:135.58, Z:0.71 [[-4.17208090e-01 -9.08805682e-01 3.10496305e-03 2.09372851e+02] [ 9.08788644e-01 -4.17219355e-01 -5.58663991e-03 1.35576861e+02] [ 6.37262078e-03 4.90963788e-04 9.99979574e-01 7.12582631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:135.56, Z:0.71 [[-4.15109555e-01 -9.09765188e-01 3.37052590e-03 2.09387686e+02] [ 9.09745171e-01 -4.15122873e-01 -6.06009111e-03 1.35555591e+02] [ 6.91244232e-03 5.50717937e-04 9.99975957e-01 7.12098569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:135.55, Z:0.71 [[-4.14769119e-01 -9.09922309e-01 2.82320382e-03 2.09390995e+02] [ 9.09908289e-01 -4.14778466e-01 -5.07242325e-03 1.35552219e+02] [ 5.78651522e-03 4.64972038e-04 9.99983150e-01 7.12245124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.831400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.40, Y:135.54, Z:0.71 [[-4.15410199e-01 -9.09631880e-01 2.05146308e-03 2.09400841e+02] [ 9.09624485e-01 -4.15415129e-01 -3.68326022e-03 1.35536371e+02] [ 4.20261972e-03 3.35997183e-04 9.99991113e-01 7.12884243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:135.54, Z:0.71 [[-4.15878808e-01 -9.09419069e-01 1.33216753e-03 2.09401400e+02] [ 9.09415954e-01 -4.15880885e-01 -2.39016231e-03 1.35540671e+02] [ 2.72768220e-03 2.17476553e-04 9.99996256e-01 7.14046958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.53, Z:0.71 [[-4.16790975e-01 -9.09001761e-01 1.03978080e-03 2.09408063e+02] [ 9.08999865e-01 -4.16792239e-01 -1.86427198e-03 1.35530435e+02] [ 2.12799908e-03 1.68148872e-04 9.99997722e-01 7.14880980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.53, Z:0.71 [[-4.17155657e-01 -9.08833255e-01 1.80872549e-03 2.09407244e+02] [ 9.08827525e-01 -4.17159476e-01 -3.24058666e-03 1.35534312e+02] [ 3.69967990e-03 2.91990448e-04 9.99993114e-01 7.13598040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.54, Z:0.71 [[-4.16968367e-01 -9.08917963e-01 2.34884068e-03 2.09407657e+02] [ 9.08908315e-01 -4.16974808e-01 -4.20527557e-03 1.35537039e+02] [ 4.80165790e-03 3.81413939e-04 9.99988399e-01 7.13096697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.53, Z:0.71 [[-4.16202809e-01 -9.09268232e-01 2.55013642e-03 2.09414940e+02] [ 9.09256883e-01 -4.16210410e-01 -4.56243956e-03 1.35526978e+02] [ 5.20987468e-03 4.19828934e-04 9.99986340e-01 7.12990682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.53, Z:0.71 [[-4.14970994e-01 -9.09830830e-01 2.63337815e-03 2.09416189e+02] [ 9.09818756e-01 -4.14979114e-01 -4.70805218e-03 1.35525160e+02] [ 5.37632795e-03 4.42191738e-04 9.99985450e-01 7.13265063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.52, Z:0.71 [[-4.12570279e-01 -9.10922321e-01 2.50802867e-03 2.09418143e+02] [ 9.10911405e-01 -4.12577671e-01 -4.48080887e-03 1.35515346e+02] [ 5.11642545e-03 4.35943355e-04 9.99986816e-01 7.13302167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.50, Z:0.71 [[-4.12027508e-01 -9.11167850e-01 2.54602463e-03 2.09427226e+02] [ 9.11156621e-01 -4.12035132e-01 -4.54552435e-03 1.35496974e+02] [ 5.19078724e-03 4.46946130e-04 9.99986428e-01 7.13031974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.51, Z:0.71 [[-4.12012815e-01 -9.11174527e-01 2.53397980e-03 2.09418298e+02] [ 9.11163421e-01 -4.12020366e-01 -4.52087104e-03 1.35513466e+02] [ 5.16335381e-03 4.46212904e-04 9.99986570e-01 7.13226206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.131400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.43, Y:135.48, Z:0.71 [[-4.12551372e-01 -9.10931822e-01 2.14035347e-03 2.09434742e+02] [ 9.10923907e-01 -4.12556753e-01 -3.81596773e-03 1.35484557e+02] [ 4.35910372e-03 3.75416425e-04 9.99990429e-01 7.13331781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.50, Z:0.71 [[-4.12747432e-01 -9.10844888e-01 1.07136326e-03 2.09429609e+02] [ 9.10842907e-01 -4.12748779e-01 -1.90883076e-03 1.35497808e+02] [ 2.18085262e-03 1.87978630e-04 9.99997604e-01 7.14114139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.51, Z:0.71 [[-4.13721501e-01 -9.10402725e-01 -1.18258330e-03 2.09423337e+02] [ 9.10403344e-01 -4.13720342e-01 -1.10894868e-03 1.35512146e+02] [ 5.20331137e-04 -1.53542371e-03 9.99998686e-01 7.14931169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.221400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.44, Y:135.47, Z:0.71 [[-4.12400195e-01 -9.11002287e-01 9.54899381e-04 2.09437775e+02] [ 9.11002256e-01 -4.12398597e-01 1.51205157e-03 1.35472086e+02] [-9.83683278e-04 1.49348586e-03 9.99998401e-01 7.14546483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:135.47, Z:0.71 [[-4.10335075e-01 -9.11934698e-01 -4.82188302e-04 2.09436622e+02] [ 9.11934299e-01 -4.10335349e-01 8.57217245e-04 1.35474884e+02] [-9.79585055e-04 -8.79777479e-05 9.99999516e-01 7.14741364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:135.46, Z:0.71 [[-4.08013677e-01 -9.12975737e-01 -3.77006899e-04 2.09441241e+02] [ 9.12975494e-01 -4.08013845e-01 6.69746844e-04 1.35462363e+02] [-7.65286653e-04 -7.09321871e-05 9.99999705e-01 7.14660308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.44, Z:0.71 [[-4.02695224e-01 -9.15334116e-01 1.14882896e-04 2.09450504e+02] [ 9.15334093e-01 -4.02695240e-01 -2.04090920e-04 1.35440069e+02] [ 2.33074177e-04 2.29697928e-05 9.99999973e-01 7.14778770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.44, Z:0.71 [[-4.01143177e-01 -9.16015158e-01 6.18539126e-04 2.09452380e+02] [ 9.16014509e-01 -4.01143634e-01 -1.09762689e-03 1.35435411e+02] [ 1.25356590e-03 1.26285277e-04 9.99999206e-01 7.14021082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.43, Z:0.71 [[-4.00858599e-01 -9.16139178e-01 1.17912422e-03 2.09454741e+02] [ 9.16136824e-01 -4.00860260e-01 -2.09090732e-03 1.35430237e+02] [ 2.38822615e-03 2.42080937e-04 9.99997119e-01 7.13864992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.44, Z:0.71 [[-4.01066142e-01 -9.16047928e-01 1.46385751e-03 2.09450952e+02] [ 9.16044305e-01 -4.01068701e-01 -2.59404368e-03 1.35435933e+02] [ 2.96337577e-03 3.00575241e-04 9.99995564e-01 7.13700532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:135.45, Z:0.71 [[-4.01810952e-01 -9.15721588e-01 1.38980099e-03 2.09441953e+02] [ 9.15718325e-01 -4.01813255e-01 -2.46114680e-03 1.35449613e+02] [ 2.81216572e-03 2.83750497e-04 9.99996006e-01 7.13245781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.43, Z:0.71 [[-4.03301407e-01 -9.15066631e-01 1.01754520e-03 2.09447871e+02] [ 9.15064883e-01 -4.03302638e-01 -1.80073905e-03 1.35432554e+02] [ 2.05817488e-03 2.04879288e-04 9.99997861e-01 7.12699138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.43, Z:0.71 [[-4.03972165e-01 -9.14770840e-01 8.93956269e-04 2.09447664e+02] [ 9.14769492e-01 -4.03973115e-01 -1.58096886e-03 1.35429686e+02] [ 1.80735851e-03 1.79096507e-04 9.99998351e-01 7.12169786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.43, Z:0.71 [[-4.04378643e-01 -9.14591293e-01 8.24215004e-04 2.09448481e+02] [ 9.14590148e-01 -4.04379449e-01 -1.45665504e-03 1.35425895e+02] [ 1.66553963e-03 1.64778735e-04 9.99998599e-01 7.11847078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:135.45, Z:0.71 [[-4.05359079e-01 -9.14157392e-01 5.28844255e-04 2.09437353e+02] [ 9.14155208e-01 -4.05359283e-01 -2.02673196e-03 1.35445586e+02] [ 2.06712393e-03 -3.38108473e-04 9.99997806e-01 7.11450823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.43, Z:0.71 [[-4.07574688e-01 -9.13170194e-01 1.75216096e-03 2.09445006e+02] [ 9.13168332e-01 -4.07577701e-01 -2.00381524e-03 1.35425733e+02] [ 2.54396609e-03 7.83313531e-04 9.99996457e-01 7.10865232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.44, Z:0.71 [[-4.09776732e-01 -9.12184772e-01 1.40409201e-03 2.09433665e+02] [ 9.12181449e-01 -4.09779051e-01 -2.47657100e-03 1.35442810e+02] [ 2.83445785e-03 2.65945517e-04 9.99995948e-01 7.10973776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.44, Z:0.71 [[-4.11748288e-01 -9.11296338e-01 1.52704842e-03 2.09433089e+02] [ 9.11292407e-01 -4.11751022e-01 -2.69159094e-03 1.35439714e+02] [ 3.08160072e-03 2.83329669e-04 9.99995212e-01 7.10693403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.47, Z:0.71 [[-4.13614526e-01 -9.10450366e-01 1.77624501e-03 2.09416659e+02] [ 9.10445048e-01 -4.13618214e-01 -3.12864717e-03 1.35465891e+02] [ 3.58316525e-03 3.23119558e-04 9.99993528e-01 7.10643703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.47, Z:0.71 [[-4.17707833e-01 -9.08577350e-01 2.71396355e-03 2.09412839e+02] [ 9.08564914e-01 -4.17716385e-01 -4.77692785e-03 1.35473557e+02] [ 5.47387549e-03 4.70451879e-04 9.99984908e-01 7.10592489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.48, Z:0.71 [[-4.20383807e-01 -9.07342975e-01 2.48602873e-03 2.09407253e+02] [ 9.07332535e-01 -4.20390951e-01 -4.37266137e-03 1.35483448e+02] [ 5.01260756e-03 4.17458718e-04 9.99987350e-01 7.10857172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:135.52, Z:0.71 [[-4.22912224e-01 -9.06170248e-01 8.55682486e-04 2.09386083e+02] [ 9.06164719e-01 -4.22912684e-01 -3.21926321e-03 1.35520083e+02] [ 3.27907952e-03 -5.86076487e-04 9.99994452e-01 7.11336184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.48, Z:0.71 [[-4.24089815e-01 -9.05619438e-01 1.12361913e-03 2.09406960e+02] [ 9.05619854e-01 -4.24090335e-01 -2.61993553e-04 1.35476071e+02] [ 7.13782465e-04 9.06462991e-04 9.99999334e-01 7.11582143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.47, Z:0.71 [[-4.24795521e-01 -9.05289286e-01 -2.72337107e-04 2.09407558e+02] [ 9.05289161e-01 -4.24795606e-01 4.78118042e-04 1.35473124e+02] [-5.48522747e-04 -4.34414277e-05 9.99999849e-01 7.11975173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.46, Z:0.71 [[-4.24693734e-01 -9.05337064e-01 -1.81769748e-04 2.09415450e+02] [ 9.05337008e-01 -4.24693772e-01 3.18855688e-04 1.35458093e+02] [-3.65868352e-04 -2.91468673e-05 9.99999933e-01 7.11897661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.47, Z:0.71 [[-4.23246367e-01 -9.06014517e-01 4.55519393e-04 2.09409619e+02] [ 9.06014168e-01 -4.23246606e-01 -7.98894152e-04 1.35469155e+02] [ 9.16606736e-04 7.45779759e-05 9.99999577e-01 7.12102293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.46, Z:0.71 [[-4.22358029e-01 -9.06428949e-01 5.05901351e-04 2.09415925e+02] [ 9.06428519e-01 -4.22358324e-01 -8.86618647e-04 1.35458029e+02] [ 1.01732845e-03 8.40929079e-05 9.99999479e-01 7.11861838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.45, Z:0.71 [[-4.21604586e-01 -9.06779739e-01 2.79591154e-04 2.09420583e+02] [ 9.06779608e-01 -4.21604676e-01 -4.89705583e-04 1.35448664e+02] [ 5.61932039e-04 4.70654370e-05 9.99999841e-01 7.11891028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.46, Z:0.71 [[-4.19974333e-01 -9.07535974e-01 -1.21920451e-04 2.09415542e+02] [ 9.07535950e-01 -4.19974350e-01 2.13233846e-04 1.35457484e+02] [-2.44720848e-04 -2.10944497e-05 9.99999970e-01 7.12496347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.44, Z:0.71 [[-4.19584677e-01 -9.07716181e-01 -1.80223959e-04 2.09428449e+02] [ 9.07716127e-01 -4.19584715e-01 3.15038424e-04 1.35436015e+02] [-3.61584694e-04 -3.14068981e-05 9.99999934e-01 7.12525173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.44, Z:0.71 [[-4.19376310e-01 -9.07812455e-01 -2.37496966e-04 2.09427098e+02] [ 9.07812362e-01 -4.19376375e-01 4.14901986e-04 1.35438021e+02] [-4.76253808e-04 -4.16026177e-05 9.99999886e-01 7.12085688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.42, Z:0.71 [[-4.19423399e-01 -9.07790701e-01 -2.37684543e-04 2.09434665e+02] [ 9.07790607e-01 -4.19423464e-01 4.14942884e-04 1.35422989e+02] [-4.76371766e-04 -4.17310406e-05 9.99999886e-01 7.11883046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.45, Z:0.71 [[-4.19412083e-01 -9.07795923e-01 -2.58407978e-04 2.09415779e+02] [ 9.07795812e-01 -4.19412160e-01 4.50816130e-04 1.35453658e+02] [-5.17628493e-04 -4.55039486e-05 9.99999865e-01 7.11187632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.42, Z:0.71 [[-4.18842538e-01 -9.08058808e-01 -3.59891560e-04 2.09430254e+02] [ 9.08058594e-01 -4.18842688e-01 6.27469259e-04 1.35422666e+02] [-7.20516936e-04 -6.39918073e-05 9.99999738e-01 7.11039180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.42, Z:0.71 [[-4.19113298e-01 -9.07933871e-01 -3.60078220e-04 2.09431545e+02] [ 9.07933656e-01 -4.19113448e-01 6.27362171e-04 1.35420567e+02] [-7.20516988e-04 -6.39913059e-05 9.99999738e-01 7.11038714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.41, Z:0.71 [[-4.18904659e-01 -9.08030187e-01 -2.57192068e-04 2.09433899e+02] [ 9.08030078e-01 -4.18904736e-01 4.47764093e-04 1.35411573e+02] [-5.14322289e-04 -4.59676684e-05 9.99999867e-01 7.11469540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.41, Z:0.71 [[-4.19000454e-01 -9.07985997e-01 2.19889263e-04 2.09431781e+02] [ 9.07985917e-01 -4.19000510e-01 -3.82762253e-04 1.35408452e+02] [ 4.39676479e-04 3.92787966e-05 9.99999903e-01 7.11429837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.40, Z:0.71 [[-4.19123084e-01 -9.07928606e-01 1.21919276e-03 2.09430943e+02] [ 9.07926157e-01 -4.19124800e-01 -2.12029517e-03 1.35403167e+02] [ 2.43607056e-03 2.18272351e-04 9.99997009e-01 7.10670030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.42, Z:0.71 [[-4.19589636e-01 -9.07711403e-01 2.13197697e-03 2.09417174e+02] [ 9.07703921e-01 -4.19594880e-01 -3.70506986e-03 1.35421566e+02] [ 4.25770078e-03 3.80594938e-04 9.99990864e-01 7.09469709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.42, Z:0.71 [[-4.21075157e-01 -9.07023278e-01 2.11762589e-03 2.09410835e+02] [ 9.07015899e-01 -4.21080318e-01 -3.67756437e-03 1.35421362e+02] [ 4.22732708e-03 3.72189356e-04 9.99990996e-01 7.09135768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.331400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:209.41, Y:135.42, Z:0.71 [[-4.22475472e-01 -9.06373223e-01 1.43412284e-03 2.09407280e+02] [ 9.06369840e-01 -4.22477833e-01 -2.48885773e-03 1.35418726e+02] [ 2.86171911e-03 2.48364342e-04 9.99995874e-01 7.09066194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:135.42, Z:0.71 [[-4.23365184e-01 -9.05958716e-01 8.51481940e-04 2.09402307e+02] [ 9.05957525e-01 -4.23366015e-01 -1.47672048e-03 1.35421930e+02] [ 1.69833630e-03 1.46214433e-04 9.99998547e-01 7.10337311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:135.43, Z:0.71 [[-4.25811711e-01 -9.04810932e-01 1.25062371e-03 2.09391804e+02] [ 9.04808360e-01 -4.25813496e-01 -2.16736948e-03 1.35429479e+02] [ 2.49359206e-03 2.08683484e-04 9.99996869e-01 7.09983926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:135.41, Z:0.71 [[-4.26881947e-01 -9.04306018e-01 1.55845090e-03 2.09398533e+02] [ 9.04302027e-01 -4.26884714e-01 -2.69891249e-03 1.35414482e+02] [ 3.10592167e-03 2.57193287e-04 9.99995144e-01 7.09093525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:135.44, Z:0.71 [[-4.27939737e-01 -9.03805606e-01 1.73442546e-03 2.09384692e+02] [ 9.03800666e-01 -4.27943158e-01 -3.00152689e-03 1.35435837e+02] [ 3.45503233e-03 2.83102259e-04 9.99993991e-01 7.08474479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:135.42, Z:0.71 [[-4.28888683e-01 -9.03355530e-01 1.81213987e-03 2.09394314e+02] [ 9.03350142e-01 -4.28892411e-01 -3.13378899e-03 1.35416446e+02] [ 3.60813865e-03 2.92950180e-04 9.99993448e-01 7.08508708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:135.42, Z:0.71 [[-4.29756167e-01 -9.02943419e-01 1.67892595e-03 2.09391533e+02] [ 9.02938798e-01 -4.29759362e-01 -2.90137721e-03 1.35417952e+02] [ 3.34131360e-03 2.69082630e-04 9.99994382e-01 7.08636018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:135.49, Z:0.71 [[-4.31076776e-01 -9.02315224e-01 2.21444468e-04 2.09349526e+02] [ 9.02308746e-01 -4.31074587e-01 -3.69150517e-03 1.35491195e+02] [ 3.42636040e-03 -1.39151086e-03 9.99993162e-01 7.08790633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:135.43, Z:0.71 [[-4.32753659e-01 -9.01506691e-01 3.15541934e-03 2.09384783e+02] [ 9.01506104e-01 -4.32760962e-01 -2.16671534e-03 1.35426436e+02] [ 3.31885069e-03 1.90697580e-03 9.99992674e-01 7.09257798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:135.45, Z:0.71 [[-4.34643438e-01 -9.00600026e-01 2.16246291e-03 2.09376200e+02] [ 9.00592356e-01 -4.34648695e-01 -3.73093511e-03 1.35446654e+02] [ 4.29999194e-03 3.25871112e-04 9.99990702e-01 7.09173388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:135.44, Z:0.71 [[-4.36574622e-01 -8.99664472e-01 2.53732284e-03 2.09381234e+02] [ 8.99653914e-01 -4.36581836e-01 -4.37451160e-03 1.35440141e+02] [ 5.04334173e-03 3.72911675e-04 9.99987213e-01 7.09010801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:135.45, Z:0.71 [[-4.38702670e-01 -8.98628848e-01 2.48226713e-03 2.09379060e+02] [ 8.98618742e-01 -4.38709549e-01 -4.27650623e-03 1.35445687e+02] [ 4.93198616e-03 3.54497065e-04 9.99987775e-01 7.08524339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:135.45, Z:0.71 [[-4.41935885e-01 -8.97044900e-01 1.76674025e-03 2.09382870e+02] [ 8.97039775e-01 -4.41939351e-01 -3.04161121e-03 1.35446374e+02] [ 3.50925386e-03 2.40639134e-04 9.99993814e-01 7.09221562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:135.45, Z:0.71 [[-4.43061872e-01 -8.96489929e-01 1.40868256e-03 2.09381944e+02] [ 8.96486674e-01 -4.43064071e-01 -2.42344512e-03 1.35453195e+02] [ 2.79673078e-03 1.89129004e-04 9.99996071e-01 7.09437514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:135.44, Z:0.71 [[-4.43783294e-01 -8.96133212e-01 1.28630105e-03 2.09394927e+02] [ 8.96130500e-01 -4.43785125e-01 -2.21131507e-03 1.35435025e+02] [ 2.55247415e-03 1.71348917e-04 9.99996728e-01 7.09589839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:135.44, Z:0.71 [[-4.43999280e-01 -8.96026542e-01 1.03729008e-03 2.09395540e+02] [ 8.96024780e-01 -4.44000470e-01 -1.78197256e-03 1.35437108e+02] [ 2.05725199e-03 1.38243080e-04 9.99997874e-01 7.09339376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:135.44, Z:0.71 [[-4.43782481e-01 -8.96134076e-01 9.09344124e-04 2.09397331e+02] [ 8.96132725e-01 -4.43783396e-01 -1.56106215e-03 1.35436877e+02] [ 1.80247281e-03 1.22120994e-04 9.99998368e-01 7.09440859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.42, Z:0.71 [[-4.42256006e-01 -8.96888732e-01 4.76596525e-04 2.09414635e+02] [ 8.96888362e-01 -4.42256258e-01 -8.17636337e-04 1.35415219e+02] [ 9.44106613e-04 6.58492957e-05 9.99999552e-01 7.09808192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.871400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.41, Y:135.43, Z:0.71 [[-4.41456962e-01 -8.97282414e-01 1.40470613e-04 2.09407449e+02] [ 8.97282382e-01 -4.41456984e-01 -2.40893775e-04 1.35430866e+02] [ 2.78161481e-04 1.96975727e-05 9.99999961e-01 7.09868841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:135.41, Z:0.71 [[-4.40219436e-01 -8.97890217e-01 -7.75491103e-05 2.09423335e+02] [ 8.97890208e-01 -4.40219442e-01 1.32723283e-04 1.35408222e+02] [-1.53309563e-04 -1.12032180e-05 9.99999988e-01 7.10567564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.41, Z:0.71 [[-4.38660902e-01 -8.98652601e-01 3.40772015e-04 2.09429062e+02] [ 8.98652413e-01 -4.38661031e-01 -5.83404940e-04 1.35406639e+02] [ 6.73761770e-04 5.03186569e-05 9.99999772e-01 7.10065622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:135.40, Z:0.71 [[-4.38501346e-01 -8.98730492e-01 2.67999826e-04 2.09433701e+02] [ 8.98730376e-01 -4.38501426e-01 -4.58518094e-04 1.35404492e+02] [ 5.29602498e-04 3.97987829e-05 9.99999859e-01 7.10196059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99140051300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:209.44, Y:135.39, Z:0.71 [[-4.38750754e-01 -8.98608780e-01 -1.89605757e-04 2.09444040e+02] [ 8.98608722e-01 -4.38750794e-01 3.23980958e-04 1.35391343e+02] [-3.74321810e-04 -2.82344972e-05 9.99999930e-01 7.09281420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:135.40, Z:0.71 [[-4.38806911e-01 -8.98581279e-01 -4.22928679e-04 2.09442545e+02] [ 8.98580991e-01 -4.38807111e-01 7.22289317e-04 1.35400192e+02] [-8.34619770e-04 -6.30901275e-05 9.99999650e-01 7.11043452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.39, Z:0.71 [[-4.39206520e-01 -8.98385751e-01 -8.22346941e-04 2.09452246e+02] [ 8.98384663e-01 -4.39207273e-01 1.40354680e-03 1.35387422e+02] [-1.62210720e-03 -1.22336973e-04 9.99998677e-01 7.11132929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.39, Z:0.71 [[-4.39523384e-01 -8.98229899e-01 -1.49796304e-03 2.09454711e+02] [ 8.98226292e-01 -4.39525881e-01 2.55496641e-03 1.35388620e+02] [-2.95334075e-03 -2.22542304e-04 9.99995614e-01 7.10410726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:135.39, Z:0.71 [[-4.39860742e-01 -8.98064357e-01 -1.71404349e-03 2.09454137e+02] [ 8.98059641e-01 -4.39864008e-01 2.92149071e-03 1.35394631e+02] [-3.37763272e-03 -2.54264207e-04 9.99994263e-01 7.10211307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:135.39, Z:0.71 [[-4.39878569e-01 -8.98055668e-01 -1.69183993e-03 2.09458652e+02] [ 8.98051080e-01 -4.39881750e-01 2.88162529e-03 1.35393430e+02] [-3.33206943e-03 -2.51793468e-04 9.99994417e-01 7.09667564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:135.38, Z:0.71 [[-4.39781290e-01 -8.98104739e-01 -5.42452622e-04 2.09474239e+02] [ 8.98104269e-01 -4.39781617e-01 9.23216318e-04 1.35375858e+02] [-1.06770564e-03 -8.11657529e-05 9.99999427e-01 7.09339117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:135.39, Z:0.71 [[-4.40322549e-01 -8.97839653e-01 9.98718470e-05 2.09469625e+02] [ 8.97839637e-01 -4.40322560e-01 -1.69984200e-04 1.35386725e+02] [ 1.96594382e-04 1.48210268e-05 9.99999981e-01 7.08830001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:135.39, Z:0.71 [[-4.40734477e-01 -8.97637227e-01 7.26941335e-04 2.09468698e+02] [ 8.97636383e-01 -4.40735064e-01 -1.23573342e-03 1.35391153e+02] [ 1.42962886e-03 1.07898668e-04 9.99998972e-01 7.08705489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:135.38, Z:0.71 [[-4.40616380e-01 -8.97694601e-01 1.26876401e-03 2.09478877e+02] [ 8.97692034e-01 -4.40618166e-01 -2.15519989e-03 1.35376726e+02] [ 2.49375177e-03 1.89342970e-04 9.99996873e-01 7.08797174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:135.38, Z:0.71 [[-4.40037367e-01 -8.97978201e-01 1.50539689e-03 2.09479465e+02] [ 8.97974594e-01 -4.40039884e-01 -2.55536495e-03 1.35377954e+02] [ 2.95709669e-03 2.27352100e-04 9.99995602e-01 7.08639432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:135.38, Z:0.71 [[-4.39355943e-01 -8.98311942e-01 1.41770261e-03 2.09478732e+02] [ 8.98308750e-01 -4.39358177e-01 -2.40484084e-03 1.35380619e+02] [ 2.78317648e-03 2.16953539e-04 9.99996103e-01 7.08287992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:135.38, Z:0.71 [[-4.37349118e-01 -8.99290622e-01 1.45797354e-03 2.09478525e+02] [ 8.99287256e-01 -4.37351488e-01 -2.47142735e-03 1.35380213e+02] [ 2.86017833e-03 2.30260450e-04 9.99995883e-01 7.07751990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.37, Z:0.71 [[-4.36605355e-01 -8.99651775e-01 1.56454597e-03 2.09486695e+02] [ 8.99647906e-01 -4.36608086e-01 -2.65023155e-03 1.35365827e+02] [ 3.06737894e-03 2.50435219e-04 9.99995264e-01 7.07450911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.37, Z:0.71 [[-4.36265157e-01 -8.99816770e-01 1.57910431e-03 2.09486972e+02] [ 8.99812835e-01 -4.36267941e-01 -2.67304266e-03 1.35365142e+02] [ 3.09416120e-03 2.54742949e-04 9.99995181e-01 7.07825827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.35, Z:0.71 [[-4.36421736e-01 -8.99740915e-01 1.53418988e-03 2.09498390e+02] [ 8.99737206e-01 -4.36424363e-01 -2.59523110e-03 1.35346160e+02] [ 3.00459345e-03 2.47752454e-04 9.99995456e-01 7.07914193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.36, Z:0.71 [[-4.38302794e-01 -8.98826328e-01 1.37571418e-03 2.09488858e+02] [ 8.98823346e-01 -4.38304900e-01 -2.32556509e-03 1.35364599e+02] [ 2.69326140e-03 2.17222346e-04 9.99996350e-01 7.08531428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.36, Z:0.71 [[-4.39633793e-01 -8.98176460e-01 1.08372046e-03 2.09492107e+02] [ 8.98174610e-01 -4.39635096e-01 -1.83072304e-03 1.35361121e+02] [ 2.12075389e-03 1.68522485e-04 9.99997737e-01 7.08335025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.36, Z:0.71 [[-4.40812207e-01 -8.97599001e-01 7.95003199e-04 2.09495917e+02] [ 8.97598005e-01 -4.40812908e-01 -1.34209554e-03 1.35358259e+02] [ 1.55511129e-03 1.21981188e-04 9.99998783e-01 7.07995590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.35, Z:0.71 [[-4.41636311e-01 -8.97193820e-01 7.86932563e-04 2.09500617e+02] [ 8.97192845e-01 -4.41636996e-01 -1.32755652e-03 1.35353996e+02] [ 1.53861404e-03 1.19733099e-04 9.99998809e-01 7.07840920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.37, Z:0.71 [[-4.41917524e-01 -8.97055436e-01 6.67594907e-04 2.09494867e+02] [ 8.97054736e-01 -4.41918017e-01 -1.12547154e-03 1.35366967e+02] [ 1.30463258e-03 1.01503575e-04 9.99999144e-01 7.07586560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:135.35, Z:0.71 [[-4.41795537e-01 -8.97115527e-01 6.59066771e-04 2.09506396e+02] [ 8.97114846e-01 -4.41796017e-01 -1.11032786e-03 1.35350046e+02] [ 1.28726544e-03 1.00720692e-04 9.99999166e-01 7.07581530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:135.35, Z:0.71 [[-4.39721558e-01 -8.98134141e-01 -1.29503599e-04 2.09509205e+02] [ 8.98134115e-01 -4.39721576e-01 2.17897328e-04 1.35349510e+02] [-2.52646556e-04 -2.04974479e-05 9.99999968e-01 7.08705550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.34, Z:0.71 [[-4.38026327e-01 -8.98961935e-01 -6.13787400e-04 2.09517097e+02] [ 8.98961347e-01 -4.38026746e-01 1.03242241e-03 1.35338637e+02] [-1.19696375e-03 -9.95429504e-05 9.99999279e-01 7.09110334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.33, Z:0.71 [[-4.35844395e-01 -9.00021802e-01 -6.48158722e-04 2.09520660e+02] [ 9.00021149e-01 -4.35844863e-01 1.08949955e-03 1.35334193e+02] [-1.26307000e-03 -1.08504284e-04 9.99999196e-01 7.09154281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.31, Z:0.71 [[-4.33407330e-01 -9.01198027e-01 -4.50500739e-04 2.09537570e+02] [ 9.01197713e-01 -4.33407557e-01 7.56710562e-04 1.35307384e+02] [-8.77196490e-04 -7.80263310e-05 9.99999612e-01 7.09249819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.771400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:209.54, Y:135.29, Z:0.71 [[-4.29958051e-01 -9.02848860e-01 -1.00501457e-04 2.09544649e+02] [ 9.02848845e-01 -4.29958062e-01 1.68620854e-04 1.35294044e+02] [-1.95450558e-04 -1.82377308e-05 9.99999981e-01 7.07348536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.30, Z:0.71 [[-4.28541476e-01 -9.03522110e-01 3.04579116e-05 2.09544048e+02] [ 9.03522108e-01 -4.28541477e-01 -5.12020155e-05 1.35295852e+02] [ 5.93146316e-05 5.57720922e-06 9.99999998e-01 7.09353214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.28, Z:0.71 [[-4.27966295e-01 -9.03794690e-01 -9.82834277e-05 2.09554824e+02] [ 9.03794675e-01 -4.27966305e-01 1.64678841e-04 1.35277809e+02] [-1.90897857e-04 -1.83510451e-05 9.99999982e-01 7.09357038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.28, Z:0.71 [[-4.28091386e-01 -9.03735446e-01 -9.31584872e-05 2.09552740e+02] [ 9.03735433e-01 -4.28091396e-01 1.55983602e-04 1.35281800e+02] [-1.80848257e-04 -1.74153892e-05 9.99999984e-01 7.09503548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.28, Z:0.71 [[-4.29520657e-01 -9.03056937e-01 -4.15687513e-04 2.09551993e+02] [ 9.03056672e-01 -4.29520852e-01 6.95914303e-04 1.35281291e+02] [-8.06996694e-04 -7.64798131e-05 9.99999671e-01 7.09490501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.28, Z:0.71 [[-4.30715477e-01 -9.02487709e-01 -3.37176173e-04 2.09553333e+02] [ 9.02487535e-01 -4.30715604e-01 5.64083130e-04 1.35278364e+02] [-6.54305131e-04 -6.13379586e-05 9.99999784e-01 7.08640892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.28, Z:0.71 [[-4.32371493e-01 -9.01695565e-01 1.54285417e-05 2.09552787e+02] [ 9.01695565e-01 -4.32371493e-01 -2.59010755e-05 1.35280000e+02] [ 3.00257467e-05 2.71296096e-06 1.00000000e+00 7.08610963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.30, Z:0.71 [[-4.34365336e-01 -9.00736746e-01 2.62206732e-04 2.09543799e+02] [ 9.00736641e-01 -4.34365413e-01 -4.38261151e-04 1.35296417e+02] [ 5.08651459e-04 4.58137588e-05 9.99999870e-01 7.08296320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.31, Z:0.71 [[-4.36867876e-01 -8.99525558e-01 4.77948999e-04 2.09537420e+02] [ 8.99525208e-01 -4.36868130e-01 -7.98238399e-04 1.35308427e+02] [ 9.26836527e-04 8.12024585e-05 9.99999567e-01 7.08598589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.30, Z:0.71 [[-4.39219063e-01 -8.98379760e-01 6.49376760e-04 2.09545065e+02] [ 8.98379112e-01 -4.39219530e-01 -1.08377704e-03 1.35297210e+02] [ 1.25886231e-03 1.07370980e-04 9.99999202e-01 7.08638995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.31, Z:0.71 [[-4.43951709e-01 -8.96050429e-01 7.13152378e-04 2.09538127e+02] [ 8.96049647e-01 -4.43952268e-01 -1.18940104e-03 1.35312307e+02] [ 1.38236893e-03 1.10983312e-04 9.99999038e-01 7.07752843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.31, Z:0.71 [[-4.44220245e-01 -8.95917332e-01 7.13508573e-04 2.09539453e+02] [ 8.95916549e-01 -4.44220804e-01 -1.18918739e-03 1.35310242e+02] [ 1.38236894e-03 1.10983026e-04 9.99999038e-01 7.07752391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.33, Z:0.71 [[-4.46430534e-01 -8.94818097e-01 5.93696698e-04 2.09526833e+02] [ 8.94817555e-01 -4.46430919e-01 -9.88840665e-04 1.35334504e+02] [ 1.14987709e-03 8.98015620e-05 9.99999335e-01 7.07478598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.34, Z:0.71 [[-4.47680074e-01 -8.94193639e-01 5.35631557e-04 2.09524693e+02] [ 8.94193199e-01 -4.47680387e-01 -8.91523156e-04 1.35341720e+02] [ 1.03698608e-03 7.98409431e-05 9.99999459e-01 7.07350602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.33, Z:0.71 [[-4.48306752e-01 -8.93879574e-01 6.03090185e-04 2.09533176e+02] [ 8.93879015e-01 -4.48307149e-01 -1.00309547e-03 1.35331256e+02] [ 1.16701619e-03 8.93951893e-05 9.99999315e-01 7.07444860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.31, Z:0.71 [[-4.46231178e-01 -8.94916734e-01 1.33212772e-03 2.09552256e+02] [ 8.94914019e-01 -4.46233120e-01 -2.21402864e-03 1.35307060e+02] [ 2.57581079e-03 2.04171161e-04 9.99996662e-01 7.07749072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:135.30, Z:0.71 [[-4.44496625e-01 -8.95779437e-01 1.39677980e-03 2.09556986e+02] [ 8.95776460e-01 -4.44498765e-01 -2.31990336e-03 1.35301133e+02] [ 2.69898862e-03 2.20013257e-04 9.99996334e-01 7.07447965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.281400513 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:209.56, Y:135.29, Z:0.71 [[-4.42370497e-01 -8.96831691e-01 1.12304326e-03 2.09562426e+02] [ 8.96829773e-01 -4.42371885e-01 -1.86401762e-03 1.35291667e+02] [ 2.16851284e-03 1.82592235e-04 9.99997632e-01 7.06274878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:135.30, Z:0.71 [[-4.40085470e-01 -8.97955354e-01 9.80775362e-04 2.09559822e+02] [ 8.97953895e-01 -4.40086532e-01 -1.62679836e-03 1.35295421e+02] [ 1.89241833e-03 1.64760736e-04 9.99998196e-01 7.07212360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.26, Z:0.71 [[-4.37790611e-01 -8.99076533e-01 8.77051863e-04 2.09578399e+02] [ 8.99075370e-01 -4.37791463e-01 -1.45379129e-03 1.35262978e+02] [ 1.69103545e-03 1.52079551e-04 9.99998559e-01 7.07383056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.25, Z:0.71 [[-4.35846122e-01 -9.00020425e-01 1.18030076e-03 2.09583144e+02] [ 9.00018326e-01 -4.35847669e-01 -1.95512475e-03 1.35252888e+02] [ 2.27408355e-03 2.10158773e-04 9.99997392e-01 7.07197693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.24, Z:0.71 [[-4.34252232e-01 -9.00790009e-01 1.53593339e-03 2.09587371e+02] [ 9.00786464e-01 -4.34254859e-01 -2.54251463e-03 1.35243617e+02] [ 2.95725831e-03 2.79455353e-04 9.99995588e-01 7.06689215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.24, Z:0.71 [[-4.31182290e-01 -9.02263944e-01 1.26802533e-03 2.09586786e+02] [ 9.02261538e-01 -4.31184088e-01 -2.09767403e-03 1.35238830e+02] [ 2.43940799e-03 2.39610594e-04 9.99996996e-01 7.07105462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.23, Z:0.71 [[-4.30398105e-01 -9.02638996e-01 5.60831302e-04 2.09591968e+02] [ 9.02638526e-01 -4.30398457e-01 -9.27224317e-04 1.35227685e+02] [ 1.07832975e-03 1.07152350e-04 9.99999413e-01 7.07571025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.23, Z:0.71 [[-4.30117120e-01 -9.02773095e-01 -5.28031336e-05 2.09591234e+02] [ 9.02773091e-01 -4.30117123e-01 8.71332267e-05 1.35225934e+02] [-1.01373064e-04 -1.01917556e-05 9.99999995e-01 7.07964147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.521400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.59, Y:135.22, Z:0.71 [[-4.31067591e-01 -9.02319592e-01 -2.92114207e-04 2.09589376e+02] [ 9.02319465e-01 -4.31067687e-01 4.82172062e-04 1.35223839e+02] [-5.60994294e-04 -5.57315855e-05 9.99999841e-01 7.07433613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.22, Z:0.71 [[-4.34326935e-01 -9.00755180e-01 4.68814741e-04 2.09582875e+02] [ 9.00754852e-01 -4.34327179e-01 -7.73594886e-04 1.35222231e+02] [ 9.00438585e-04 8.62940572e-05 9.99999591e-01 7.07090839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.24, Z:0.71 [[-4.37465776e-01 -8.99234539e-01 9.68787969e-04 2.09570464e+02] [ 8.99233137e-01 -4.37466815e-01 -1.59744824e-03 1.35236936e+02] [ 1.86029322e-03 1.72337309e-04 9.99998255e-01 7.06588285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.23, Z:0.71 [[-4.41028995e-01 -8.97492275e-01 1.02071372e-03 2.09570144e+02] [ 8.97490716e-01 -4.41030142e-01 -1.68195250e-03 1.35233693e+02] [ 1.95970489e-03 1.74291264e-04 9.99998065e-01 7.06787621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.27, Z:0.71 [[-4.44988674e-01 -8.95535953e-01 6.61040451e-04 2.09548723e+02] [ 8.95535298e-01 -4.44989152e-01 -1.08858477e-03 1.35265752e+02] [ 1.26902263e-03 1.07577161e-04 9.99999189e-01 7.07439850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.27, Z:0.71 [[-4.52244851e-01 -8.91893607e-01 -6.23789029e-04 2.09539889e+02] [ 8.91893021e-01 -4.52245271e-01 1.02634215e-03 1.35274354e+02] [-1.19749364e-03 -9.21951292e-05 9.99999279e-01 7.08210638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.27, Z:0.71 [[-4.55331818e-01 -8.90321168e-01 -1.07430734e-03 2.09539935e+02] [ 8.90319428e-01 -4.55333060e-01 1.76646636e-03 1.35271897e+02] [-2.06189004e-03 -1.52148357e-04 9.99997863e-01 7.08407234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.28, Z:0.71 [[-4.57180104e-01 -8.89372957e-01 -1.44813410e-03 2.09537000e+02] [ 8.89369796e-01 -4.57182353e-01 2.37955496e-03 1.35275592e+02] [-2.77837319e-03 -2.00041545e-04 9.99996120e-01 7.08360314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.29, Z:0.71 [[-4.58124015e-01 -8.88887297e-01 -1.32695126e-03 2.09527736e+02] [ 8.88884645e-01 -4.58125901e-01 2.17892003e-03 1.35289242e+02] [-2.54472508e-03 -1.81291010e-04 9.99996746e-01 7.08262402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.30, Z:0.71 [[-4.57982362e-01 -8.88960914e-01 -8.06348571e-04 2.09521142e+02] [ 8.88959936e-01 -4.57983059e-01 1.32310373e-03 1.35297147e+02] [-1.54548148e-03 -1.10853404e-04 9.99998800e-01 7.08158881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.28, Z:0.71 [[-4.57379733e-01 -8.89271412e-01 -3.68395271e-04 2.09524614e+02] [ 8.89271208e-01 -4.57379879e-01 6.04007073e-04 1.35284895e+02] [-7.05622807e-04 -5.13427137e-05 9.99999750e-01 7.07644429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.28, Z:0.71 [[-4.55048303e-01 -8.90466734e-01 -1.90945753e-04 2.09515870e+02] [ 8.90466680e-01 -4.55048343e-01 3.12799402e-04 1.35283237e+02] [-3.65427011e-04 -2.76919938e-05 9.99999933e-01 7.06479433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.27, Z:0.71 [[-4.54418741e-01 -8.90788186e-01 -1.19516734e-04 2.09524339e+02] [ 8.90788165e-01 -4.54418757e-01 1.95612835e-04 1.35265614e+02] [-2.28560248e-04 -1.75739539e-05 9.99999974e-01 7.06348013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.28, Z:0.71 [[-4.54764532e-01 -8.90611704e-01 1.10683863e-04 2.09516950e+02] [ 8.90611686e-01 -4.54764546e-01 -1.81234792e-04 1.35276977e+02] [ 2.11744924e-04 1.61571867e-05 9.99999977e-01 7.06463410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.26, Z:0.71 [[-4.57034045e-01 -8.89448443e-01 1.16168018e-03 2.09525036e+02] [ 8.89446429e-01 -4.57035492e-01 -1.89983039e-03 1.35260951e+02] [ 2.22073025e-03 1.64965119e-04 9.99997521e-01 7.06815254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:135.29, Z:0.71 [[-4.58520677e-01 -8.88682737e-01 1.33438983e-03 2.09507538e+02] [ 8.88680081e-01 -4.58522581e-01 -2.18075470e-03 1.35285066e+02] [ 2.54984693e-03 1.85924543e-04 9.99996732e-01 7.07011339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.26, Z:0.71 [[-4.59617957e-01 -8.88116390e-01 7.81863196e-04 2.09521098e+02] [ 8.88115479e-01 -4.59618610e-01 -1.27693410e-03 1.35258015e+02] [ 1.49342498e-03 1.07482965e-04 9.99998879e-01 7.06776957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.26, Z:0.71 [[-4.59909759e-01 -8.87965620e-01 2.67148814e-04 2.09515007e+02] [ 8.87965513e-01 -4.59909835e-01 -4.36074109e-04 1.35263339e+02] [ 5.10083184e-04 3.66641950e-05 9.99999869e-01 7.06804150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.25, Z:0.71 [[-4.59242896e-01 -8.88310711e-01 2.06595384e-04 2.09517584e+02] [ 8.88310648e-01 -4.59242942e-01 -3.37022344e-04 1.35254161e+02] [ 3.94258030e-04 2.87457619e-05 9.99999922e-01 7.07305848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.25, Z:0.71 [[-4.57348581e-01 -8.89287219e-01 7.19324163e-04 2.09516161e+02] [ 8.89286452e-01 -4.57349135e-01 -1.17237429e-03 1.35250265e+02] [ 1.37155976e-03 1.03501514e-04 9.99999054e-01 7.07324745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.23, Z:0.71 [[-4.51801628e-01 -8.92116196e-01 1.99540618e-03 2.09518548e+02] [ 8.92110332e-01 -4.51805926e-01 -3.24975088e-03 1.35231055e+02] [ 3.80069173e-03 3.11879728e-04 9.99992729e-01 7.06749796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:135.23, Z:0.71 [[-4.49776501e-01 -8.93138477e-01 2.18161933e-03 2.09512412e+02] [ 8.93131489e-01 -4.49781655e-01 -3.55057984e-03 1.35234903e+02] [ 4.15241182e-03 3.51505544e-04 9.99991317e-01 7.06897545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.21, Z:0.71 [[-4.48343129e-01 -8.93859435e-01 1.93647698e-03 2.09526066e+02] [ 8.93853943e-01 -4.48347198e-01 -3.14947885e-03 1.35207824e+02] [ 3.68340541e-03 3.18880381e-04 9.99993165e-01 7.07004133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.21, Z:0.71 [[-4.48458817e-01 -8.93802176e-01 1.53614827e-03 2.09519278e+02] [ 8.93798725e-01 -4.48461376e-01 -2.49671619e-03 1.35213804e+02] [ 2.92047353e-03 2.53332975e-04 9.99995703e-01 7.07360619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.21, Z:0.71 [[-4.49474406e-01 -8.93292738e-01 9.17692777e-04 2.09517989e+02] [ 8.93291507e-01 -4.49475318e-01 -1.49056429e-03 1.35210541e+02] [ 1.74399051e-03 1.49796666e-04 9.99998468e-01 7.07807454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:135.21, Z:0.71 [[-4.50949259e-01 -8.92549559e-01 2.26254817e-04 2.09513702e+02] [ 8.92549484e-01 -4.50949314e-01 -3.67323402e-04 1.35211106e+02] [ 4.29883795e-04 3.62994041e-05 9.99999907e-01 7.07825174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.22, Z:0.71 [[-4.54477475e-01 -8.90758230e-01 2.15270440e-05 2.09502080e+02] [ 8.90758229e-01 -4.54477475e-01 -3.50197673e-05 1.35219329e+02] [ 4.09777026e-05 3.25969621e-06 9.99999999e-01 7.08396861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.22, Z:0.71 [[-4.56045406e-01 -8.89956483e-01 2.13910389e-04 2.09500117e+02] [ 8.89956416e-01 -4.56045455e-01 -3.46813371e-04 1.35219107e+02] [ 4.06201669e-04 3.22082782e-05 9.99999917e-01 7.08585024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.23, Z:0.71 [[-4.57564055e-01 -8.89176580e-01 3.81587920e-04 2.09493721e+02] [ 8.89176367e-01 -4.57564211e-01 -6.18160686e-04 1.35225967e+02] [ 7.24254980e-04 5.64508502e-05 9.99999736e-01 7.08764656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.22, Z:0.71 [[-4.58891234e-01 -8.88492443e-01 1.17061561e-04 2.09495388e+02] [ 8.88492423e-01 -4.58891248e-01 -1.89578341e-04 1.35219821e+02] [ 2.22157450e-04 1.70124712e-05 9.99999975e-01 7.08423932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.23, Z:0.71 [[-4.61179698e-01 -8.87306399e-01 -8.00579966e-04 2.09489553e+02] [ 8.87305461e-01 -4.61180379e-01 1.29479369e-03 1.35226511e+02] [-1.51809050e-03 -1.13226413e-04 9.99998841e-01 7.08055682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.23, Z:0.71 [[-4.62885655e-01 -8.86417649e-01 -7.88047787e-04 2.09488729e+02] [ 8.86416741e-01 -4.62886313e-01 1.27363643e-03 1.35227636e+02] [-1.49375034e-03 -1.08990718e-04 9.99998878e-01 7.07700076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.22, Z:0.71 [[-4.64493727e-01 -8.85576329e-01 -3.78432479e-04 2.09491941e+02] [ 8.85576120e-01 -4.64493878e-01 6.11138967e-04 1.35222051e+02] [-7.16989773e-04 -5.12605500e-05 9.99999742e-01 7.06815428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.22, Z:0.71 [[-4.66610175e-01 -8.84462990e-01 4.05358859e-04 2.09493674e+02] [ 8.84462749e-01 -4.66610348e-01 -6.54388245e-04 1.35219037e+02] [ 7.67926822e-04 5.31805979e-05 9.99999704e-01 7.05824862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.23, Z:0.70 [[-4.68348077e-01 -8.83543426e-01 1.04564623e-03 2.09487758e+02] [ 8.83541826e-01 -4.68349225e-01 -1.68668884e-03 1.35229498e+02] [ 1.97999044e-03 1.33914701e-04 9.99998031e-01 7.04871372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:135.25, Z:0.71 [[-4.70783177e-01 -8.82247954e-01 1.32202499e-03 2.09479988e+02] [ 8.82245396e-01 -4.70785004e-01 -2.13097552e-03 1.35247251e+02] [ 2.50243833e-03 1.63123041e-04 9.99996856e-01 7.05522871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:135.25, Z:0.71 [[-4.71674018e-01 -8.81772467e-01 9.67617271e-04 2.09479631e+02] [ 8.81771098e-01 -4.71674996e-01 -1.55862746e-03 1.35250435e+02] [ 1.83075566e-03 1.18052865e-04 9.99998317e-01 7.06132273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:135.25, Z:0.71 [[-4.71838600e-01 -8.81684581e-01 7.97023023e-04 2.09483920e+02] [ 8.81683653e-01 -4.71839264e-01 -1.28294403e-03 1.35246019e+02] [ 1.50721872e-03 9.73796555e-05 9.99998859e-01 7.06088897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.24, Z:0.71 [[-4.71626697e-01 -8.81797904e-01 8.45218165e-04 2.09489934e+02] [ 8.81796862e-01 -4.71627443e-01 -1.35955306e-03 1.35238427e+02] [ 1.59747912e-03 1.04109209e-04 9.99998719e-01 7.06229852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:135.24, Z:0.71 [[-4.71000000e-01 -8.82132781e-01 8.69635206e-04 2.09493313e+02] [ 8.82131681e-01 -4.71000790e-01 -1.39783857e-03 1.35235296e+02] [ 1.64267810e-03 1.08750797e-04 9.99998645e-01 7.06018908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.22, Z:0.71 [[-4.70297269e-01 -8.82507534e-01 9.64824129e-04 2.09504192e+02] [ 8.82506182e-01 -4.70298243e-01 -1.54974439e-03 1.35219100e+02] [ 1.82141620e-03 1.22622702e-04 9.99998334e-01 7.05670161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:135.22, Z:0.71 [[-4.67935840e-01 -8.83761322e-01 1.40533388e-03 2.09502660e+02] [ 8.83758463e-01 -4.67937914e-01 -2.25568549e-03 1.35222656e+02] [ 2.65109660e-03 1.86459626e-04 9.99996468e-01 7.05713479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:135.21, Z:0.71 [[-4.67092820e-01 -8.84207368e-01 1.27614067e-03 2.09508779e+02] [ 8.84205015e-01 -4.67094531e-01 -2.04689926e-03 1.35214274e+02] [ 2.40596173e-03 1.72278033e-04 9.99997091e-01 7.05899700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:135.21, Z:0.71 [[-4.66161588e-01 -8.84698973e-01 1.04976474e-03 2.09509700e+02] [ 8.84697384e-01 -4.66162747e-01 -1.68264346e-03 1.35214585e+02] [ 1.97799415e-03 1.44340375e-04 9.99998033e-01 7.06927051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.21, Z:0.71 [[-4.64699475e-01 -8.85467958e-01 9.44636882e-04 2.09515273e+02] [ 8.85466676e-01 -4.64700416e-01 -1.51309411e-03 1.35207540e+02] [ 1.77876950e-03 1.33310442e-04 9.99998409e-01 7.07362366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.19, Z:0.71 [[-4.61632792e-01 -8.87069446e-01 1.72135195e-03 2.09526107e+02] [ 8.87065204e-01 -4.61635931e-01 -2.75522432e-03 1.35191516e+02] [ 3.23871322e-03 2.55049527e-04 9.99994723e-01 7.06220014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.17, Z:0.70 [[-4.61299079e-01 -8.87241841e-01 2.25307989e-03 2.09536100e+02] [ 8.87234585e-01 -4.61304458e-01 -3.60381930e-03 1.35174968e+02] [ 4.23681507e-03 3.36571877e-04 9.99990968e-01 7.04943336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.19, Z:0.70 [[-4.61758690e-01 -8.87002657e-01 2.28006021e-03 2.09529113e+02] [ 8.86995235e-01 -4.61764194e-01 -3.64448226e-03 1.35187245e+02] [ 4.28551562e-03 3.39531189e-04 9.99990760e-01 7.04311061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.19, Z:0.70 [[-4.62032524e-01 -8.86860047e-01 2.28118508e-03 2.09530490e+02] [ 8.86852626e-01 -4.62038031e-01 -3.64377827e-03 1.35185186e+02] [ 4.28551563e-03 3.39530909e-04 9.99990760e-01 7.04310609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.19, Z:0.70 [[-4.63152141e-01 -8.86276914e-01 1.82376540e-03 2.09531670e+02] [ 8.86272173e-01 -4.63155655e-01 -2.91115421e-03 1.35186685e+02] [ 3.42477603e-03 2.68045213e-04 9.99994100e-01 7.03977019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.19, Z:0.70 [[-4.64362533e-01 -8.85644062e-01 1.42615520e-03 2.09533803e+02] [ 8.85641164e-01 -4.64364677e-01 -2.27493312e-03 1.35188623e+02] [ 2.67703710e-03 2.06668047e-04 9.99996395e-01 7.04734662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.18, Z:0.71 [[-4.65696324e-01 -8.84943461e-01 1.41592222e-03 2.09544359e+02] [ 8.84940605e-01 -4.65698433e-01 -2.25706212e-03 1.35177118e+02] [ 2.65676513e-03 2.01901534e-04 9.99996450e-01 7.05644768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:135.20, Z:0.71 [[-4.67612723e-01 -8.83931715e-01 1.75047594e-03 2.09537959e+02] [ 8.83927351e-01 -4.67615936e-01 -2.78841864e-03 1.35195339e+02] [ 3.28332212e-03 2.43393522e-04 9.99994580e-01 7.05606053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.19, Z:0.71 [[-4.68046556e-01 -8.83701852e-01 1.85961019e-03 2.09546947e+02] [ 8.83696932e-01 -4.68050179e-01 -2.96021707e-03 1.35185460e+02] [ 3.48634019e-03 2.57812416e-04 9.99993889e-01 7.05414509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.18, Z:0.71 [[-4.67989732e-01 -8.83732355e-01 1.65397967e-03 2.09551832e+02] [ 8.83728468e-01 -4.67992598e-01 -2.63108930e-03 1.35183075e+02] [ 3.09922899e-03 2.30346147e-04 9.99995171e-01 7.05499571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:135.17, Z:0.71 [[-4.67543420e-01 -8.83969160e-01 1.29398660e-03 2.09559872e+02] [ 8.83966786e-01 -4.67545175e-01 -2.05704077e-03 1.35174845e+02] [ 2.42335780e-03 1.82085296e-04 9.99997047e-01 7.06371202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:135.18, Z:0.71 [[-4.67046594e-01 -8.84232213e-01 9.34523862e-04 2.09558726e+02] [ 8.84230976e-01 -4.67047510e-01 -1.48461965e-03 1.35178294e+02] [ 1.74921556e-03 1.32948396e-04 9.99998461e-01 7.06618531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.17, Z:0.71 [[-4.66147220e-01 -8.84707040e-01 4.71522105e-04 2.09566112e+02] [ 8.84706726e-01 -4.66147454e-01 -7.48618229e-04 1.35167107e+02] [ 8.82106646e-04 6.81924710e-05 9.99999609e-01 7.06588606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.16, Z:0.71 [[-4.66529885e-01 -8.84505431e-01 9.54580284e-05 2.09569556e+02] [ 8.84505418e-01 -4.66529894e-01 -1.51534492e-04 1.35162986e+02] [ 1.78567106e-04 1.37377740e-05 9.99999984e-01 7.07013463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.16, Z:0.71 [[-4.67534871e-01 -8.83974628e-01 3.57764451e-05 2.09569735e+02] [ 8.83974626e-01 -4.67534873e-01 -5.68191109e-05 1.35163680e+02] [ 6.69533882e-05 5.06055397e-06 9.99999998e-01 7.07610937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.16, Z:0.71 [[-4.68843629e-01 -8.83281103e-01 3.81503955e-04 2.09573037e+02] [ 8.83280898e-01 -4.68843781e-01 -6.04486906e-04 1.35158468e+02] [ 7.12797618e-04 5.35653217e-05 9.99999745e-01 7.08129735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:135.18, Z:0.71 [[-4.72210593e-01 -8.81485507e-01 6.75549943e-04 2.09562917e+02] [ 8.81484863e-01 -4.72211068e-01 -1.06958912e-03 1.35177547e+02] [ 1.26182947e-03 9.04157352e-05 9.99999200e-01 7.07956059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.17, Z:0.71 [[-4.74618613e-01 -8.80191549e-01 9.83529843e-05 2.09570871e+02] [ 8.80191535e-01 -4.74618623e-01 -1.55703222e-04 1.35168352e+02] [ 1.83728818e-04 1.26698171e-05 9.99999983e-01 7.07892599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.18, Z:0.71 [[-4.77139885e-01 -8.78827002e-01 -7.94319957e-04 2.09566827e+02] [ 8.78826110e-01 -4.77140536e-01 1.25568810e-03 1.35177052e+02] [-1.48253486e-03 -9.89302414e-05 9.99998896e-01 7.07883238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.18, Z:0.71 [[-4.79432385e-01 -8.77577933e-01 -1.24913809e-03 2.09566116e+02] [ 8.77575727e-01 -4.79433988e-01 1.97338028e-03 1.35178371e+02] [-2.33067424e-03 -1.50110861e-04 9.99997273e-01 7.08055886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:135.19, Z:0.71 [[-4.80765305e-01 -8.76848259e-01 -1.36093801e-03 2.09561614e+02] [ 8.76845641e-01 -4.80767205e-01 2.14852422e-03 1.35185426e+02] [-2.53822408e-03 -1.60396659e-04 9.99996766e-01 7.07889832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:135.18, Z:0.71 [[-4.81175726e-01 -8.76623558e-01 -1.02908250e-03 2.09563503e+02] [ 8.76622063e-01 -4.81176811e-01 1.62346925e-03 1.35183090e+02] [-1.91834202e-03 -1.20942423e-04 9.99998153e-01 7.07906637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.17, Z:0.71 [[-4.79212146e-01 -8.77698949e-01 5.22386415e-04 2.09575086e+02] [ 8.77698565e-01 -4.79212427e-01 -8.23700852e-04 1.35168703e+02] [ 9.73295434e-04 6.37703534e-05 9.99999524e-01 7.08002709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.17, Z:0.71 [[-4.77256884e-01 -8.78763257e-01 1.00250634e-03 2.09575022e+02] [ 8.78761846e-01 -4.77257920e-01 -1.57957412e-03 1.35169201e+02] [ 1.86652579e-03 1.27101698e-04 9.99998250e-01 7.07876702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.16, Z:0.71 [[-4.75105519e-01 -8.79928076e-01 1.15164302e-03 2.09580654e+02] [ 8.79926221e-01 -4.75106891e-01 -1.81329882e-03 1.35159183e+02] [ 2.14272608e-03 1.51852609e-04 9.99997693e-01 7.07528954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.15, Z:0.71 [[-4.73289075e-01 -8.80906084e-01 1.38661097e-03 2.09584572e+02] [ 8.80903403e-01 -4.73291068e-01 -2.18175270e-03 1.35152460e+02] [ 2.57818981e-03 1.88870607e-04 9.99996659e-01 7.06969581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.15, Z:0.71 [[-4.72259615e-01 -8.81457975e-01 1.64164643e-03 2.09589205e+02] [ 8.81454225e-01 -4.72262413e-01 -2.58126141e-03 1.35145560e+02] [ 3.05056136e-03 2.28010663e-04 9.99995321e-01 7.06419247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.13, Z:0.71 [[-4.71271645e-01 -8.81987204e-01 1.26866969e-03 2.09598964e+02] [ 8.81984969e-01 -4.71273318e-01 -1.99348217e-03 1.35133320e+02] [ 2.35611594e-03 1.79475976e-04 9.99997208e-01 7.05569585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.14, Z:0.71 [[-4.70484690e-01 -8.82407637e-01 9.58736001e-04 2.09593174e+02] [ 8.82406363e-01 -4.70485647e-01 -1.50548576e-03 1.35141487e+02] [ 1.77952366e-03 1.37686745e-04 9.99998407e-01 7.06144778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.12, Z:0.71 [[-4.69361983e-01 -8.83005390e-01 8.99835383e-04 2.09608170e+02] [ 8.83004271e-01 -4.69362828e-01 -1.41205127e-03 1.35115501e+02] [ 1.66919816e-03 1.31795302e-04 9.99998598e-01 7.06884398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.11, Z:0.71 [[-4.68032758e-01 -8.83710009e-01 1.39897561e-03 2.09612117e+02] [ 8.83707311e-01 -4.68034802e-01 -2.19380037e-03 1.35107460e+02] [ 2.59345262e-03 2.09514538e-04 9.99996615e-01 7.06889570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.12, Z:0.71 [[-4.66744060e-01 -8.84389950e-01 2.09730273e-03 2.09603203e+02] [ 8.84383901e-01 -4.66748662e-01 -3.28663583e-03 1.35120041e+02] [ 3.88558095e-03 3.20803021e-04 9.99992400e-01 7.06619231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.10, Z:0.71 [[-4.64543131e-01 -8.85545788e-01 2.88751857e-03 2.09614029e+02] [ 8.85534360e-01 -4.64551881e-01 -4.52191013e-03 1.35100155e+02] [ 5.34576065e-03 4.56374619e-04 9.99985607e-01 7.06225537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.11, Z:0.71 [[-4.64072489e-01 -8.85792090e-01 3.01624663e-03 2.09606812e+02] [ 8.85779643e-01 -4.64082042e-01 -4.72035294e-03 1.35109397e+02] [ 5.58103719e-03 4.81143920e-04 9.99984310e-01 7.06148382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.11, Z:0.71 [[-4.63990195e-01 -8.85834484e-01 3.21971429e-03 2.09602517e+02] [ 8.85820322e-01 -4.64001079e-01 -5.03539465e-03 1.35114390e+02] [ 5.95447713e-03 5.15714607e-04 9.99982139e-01 7.06224120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.10, Z:0.71 [[-4.64081040e-01 -8.85786942e-01 3.20652928e-03 2.09607946e+02] [ 8.85772915e-01 -4.64091833e-01 -5.01141757e-03 1.35104074e+02] [ 5.92717229e-03 5.14552912e-04 9.99982302e-01 7.06793335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.10, Z:0.71 [[-4.64232506e-01 -8.85708727e-01 2.86915574e-03 2.09609201e+02] [ 8.85697510e-01 -4.64241143e-01 -4.48116151e-03 1.35100833e+02] [ 5.30098400e-03 4.60903263e-04 9.99985843e-01 7.07179982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:135.08, Z:0.71 [[-4.64742553e-01 -8.85445104e-01 1.15201017e-03 2.09616353e+02] [ 8.85443297e-01 -4.64743945e-01 -1.79812094e-03 1.35082485e+02] [ 2.12752713e-03 1.84376365e-04 9.99997720e-01 7.07130266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.09, Z:0.71 [[-4.64967844e-01 -8.85327546e-01 1.99398022e-04 2.09608114e+02] [ 8.85327492e-01 -4.64967886e-01 -3.11108001e-04 1.35089333e+02] [ 3.68146160e-04 3.18773340e-05 9.99999932e-01 7.07530648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.08, Z:0.71 [[-4.65034544e-01 -8.85292423e-01 -4.46333141e-04 2.09609743e+02] [ 8.85292152e-01 -4.65034753e-01 6.95598219e-04 1.35080532e+02] [-8.23368254e-04 -7.16580268e-05 9.99999658e-01 7.07839771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.07, Z:0.71 [[-4.64870703e-01 -8.85378505e-01 -3.62721514e-04 2.09611834e+02] [ 8.85378327e-01 -4.64870841e-01 5.64899362e-04 1.35071991e+02] [-6.68768408e-04 -5.85406040e-05 9.99999775e-01 7.08070821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.09, Z:0.71 [[-4.65843608e-01 -8.84866158e-01 1.27050667e-03 2.09597339e+02] [ 8.84863971e-01 -4.65845297e-01 -1.97781096e-03 1.35089095e+02] [ 2.34195754e-03 2.02874981e-04 9.99997237e-01 7.07477180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.09, Z:0.71 [[-4.67695935e-01 -8.83887779e-01 1.70508847e-03 2.09596666e+02] [ 8.83883839e-01 -4.67698967e-01 -2.65251770e-03 1.35087172e+02] [ 3.14199610e-03 2.66528397e-04 9.99995028e-01 7.07398095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.08, Z:0.71 [[-4.69736357e-01 -8.82805778e-01 1.30883721e-03 2.09595623e+02] [ 8.82803456e-01 -4.69738138e-01 -2.03474941e-03 1.35084956e+02] [ 2.41109929e-03 1.99650236e-04 9.99997073e-01 7.07244352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.08, Z:0.71 [[-4.71909709e-01 -8.81646817e-01 3.42103883e-04 2.09593393e+02] [ 8.81646658e-01 -4.71909830e-01 -5.31560975e-04 1.35084271e+02] [ 6.30091227e-04 5.07659604e-05 9.99999800e-01 7.07629376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.09, Z:0.71 [[-4.74036285e-01 -8.80504984e-01 -7.56787081e-04 2.09590587e+02] [ 8.80504207e-01 -4.74036877e-01 1.17477990e-03 1.35085942e+02] [-1.39314455e-03 -1.09465907e-04 9.99999024e-01 7.08473487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.09, Z:0.71 [[-4.76270644e-01 -8.79297404e-01 -1.53307376e-03 2.09586203e+02] [ 8.79294213e-01 -4.76273062e-01 2.37832654e-03 1.35092334e+02] [-2.82141809e-03 -2.15295774e-04 9.99995997e-01 7.09497546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.11, Z:0.71 [[-4.79685250e-01 -8.77440410e-01 -6.22378694e-04 2.09575244e+02] [ 8.77439884e-01 -4.79685646e-01 9.64804627e-04 1.35109455e+02] [-1.14510469e-03 -8.32973406e-05 9.99999341e-01 7.09255346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.10, Z:0.71 [[-4.80693118e-01 -8.76888653e-01 6.46352980e-04 2.09576950e+02] [ 8.76888085e-01 -4.80693544e-01 -1.00149277e-03 1.35104809e+02] [ 1.18889535e-03 8.53685436e-05 9.99999290e-01 7.08133635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.12, Z:0.71 [[-4.80976953e-01 -8.76731772e-01 1.60361294e-03 2.09566635e+02] [ 8.76728282e-01 -4.80979579e-01 -2.48285728e-03 1.35117778e+02] [ 2.94810494e-03 2.11735687e-04 9.99995632e-01 7.07332174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.10, Z:0.71 [[-4.80476235e-01 -8.77005553e-01 1.96160316e-03 2.09573387e+02] [ 8.77000340e-01 -4.80480168e-01 -3.03501169e-03 1.35104571e+02] [ 3.60423352e-03 2.62075654e-04 9.99993470e-01 7.06852130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.09, Z:0.71 [[-4.79429586e-01 -8.77578741e-01 1.68082518e-03 2.09578225e+02] [ 8.77574923e-01 -4.79432478e-01 -2.59882160e-03 1.35093674e+02] [ 3.08651277e-03 2.29098062e-04 9.99995210e-01 7.07219572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.09, Z:0.71 [[-4.77315192e-01 -8.78730819e-01 1.53475611e-03 2.09573319e+02] [ 8.78727646e-01 -4.77317610e-01 -2.37136070e-03 1.35094265e+02] [ 2.81635385e-03 2.16746136e-04 9.99996011e-01 7.08345406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.08, Z:0.71 [[-4.77072408e-01 -8.78861930e-01 1.90422622e-03 2.09577659e+02] [ 8.78857053e-01 -4.77076131e-01 -2.94019499e-03 1.35084248e+02] [ 3.49248632e-03 2.70856740e-04 9.99993865e-01 7.08763683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.08, Z:0.71 [[-4.77065652e-01 -8.78864869e-01 2.21485741e-03 2.09576982e+02] [ 8.78858282e-01 -4.77070688e-01 -3.41747249e-03 1.35080723e+02] [ 4.06014006e-03 3.16187042e-04 9.99991708e-01 7.08909690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.08, Z:0.71 [[-4.77255682e-01 -8.78763553e-01 1.27723997e-03 2.09569144e+02] [ 8.78761365e-01 -4.77257357e-01 -1.96944799e-03 1.35084403e+02] [ 2.34025128e-03 1.82458901e-04 9.99997245e-01 7.07965086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.07, Z:0.71 [[-4.77710645e-01 -8.78517077e-01 5.34417856e-04 2.09579307e+02] [ 8.78516694e-01 -4.77710937e-01 -8.23546886e-04 1.35066184e+02] [ 9.78797258e-04 7.60778949e-05 9.99999518e-01 7.07484914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.06, Z:0.71 [[-4.78545397e-01 -8.78062798e-01 -1.63837079e-04 2.09580504e+02] [ 8.78062762e-01 -4.78545424e-01 2.52171074e-04 1.35063109e+02] [-2.99825523e-04 -2.31839312e-05 9.99999955e-01 7.07168748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.08, Z:0.71 [[-4.79810387e-01 -8.77371959e-01 -6.61848439e-04 2.09569045e+02] [ 8.77371373e-01 -4.79810835e-01 1.01830363e-03 1.35081952e+02] [-1.21099310e-03 -9.20942138e-05 9.99999263e-01 7.07552990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.08, Z:0.71 [[-4.81374062e-01 -8.76514952e-01 -7.43155424e-04 2.09569717e+02] [ 8.76514213e-01 -4.81374625e-01 1.14262586e-03 1.35084152e+02] [-1.35926481e-03 -1.01355839e-04 9.99999071e-01 7.08270321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.07, Z:0.71 [[-4.82841534e-01 -8.75707670e-01 -3.60650948e-04 2.09579151e+02] [ 8.75707496e-01 -4.82841666e-01 5.54079306e-04 1.35073203e+02] [-6.59348802e-04 -4.82922362e-05 9.99999781e-01 7.08761616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.09, Z:0.71 [[-4.84137613e-01 -8.74990821e-01 1.35451970e-03 2.09573744e+02] [ 8.74988367e-01 -4.84139475e-01 -2.08005313e-03 1.35085380e+02] [ 2.47580385e-03 1.78157026e-04 9.99996919e-01 7.08410430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.07, Z:0.71 [[-4.83949339e-01 -8.75093677e-01 2.02326416e-03 2.09584178e+02] [ 8.75088210e-01 -4.83953494e-01 -3.10482026e-03 1.35070123e+02] [ 3.69617434e-03 2.67958898e-04 9.99993133e-01 7.07700501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:135.08, Z:0.71 [[-4.83592793e-01 -8.75290133e-01 2.27907580e-03 2.09579238e+02] [ 8.75283208e-01 -4.83598067e-01 -3.49496867e-03 1.35079094e+02] [ 4.16126825e-03 3.04695121e-04 9.99991295e-01 7.07128421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.07, Z:0.71 [[-4.83491971e-01 -8.75346269e-01 2.10328128e-03 2.09589755e+02] [ 8.75340380e-01 -4.83496463e-01 -3.22318665e-03 1.35065504e+02] [ 3.83833347e-03 2.82702166e-04 9.99992594e-01 7.07298591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.07, Z:0.71 [[-4.84028167e-01 -8.75050735e-01 1.71607916e-03 2.09590300e+02] [ 8.75046818e-01 -4.84031155e-01 -2.62804056e-03 1.35067254e+02] [ 3.13030460e-03 2.29603950e-04 9.99995074e-01 7.07443311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.07, Z:0.71 [[-4.86386262e-01 -8.73743320e-01 1.00785159e-03 2.09593579e+02] [ 8.73741968e-01 -4.86387289e-01 -1.54243434e-03 1.35065736e+02] [ 1.83789790e-03 1.30383360e-04 9.99998303e-01 7.07584011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.07, Z:0.71 [[-4.87991093e-01 -8.72848365e-01 6.52181190e-04 2.09592410e+02] [ 8.72847798e-01 -4.87991522e-01 -9.97463818e-04 1.35069686e+02] [ 1.18889355e-03 8.25014569e-05 9.99999290e-01 7.07395056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.07, Z:0.71 [[-4.88265075e-01 -8.72695130e-01 6.52494183e-04 2.09593830e+02] [ 8.72694564e-01 -4.88265504e-01 -9.97259091e-04 1.35067652e+02] [ 1.18889355e-03 8.25013413e-05 9.99999290e-01 7.07394604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.06, Z:0.71 [[-4.89563250e-01 -8.71967616e-01 5.48120174e-04 2.09599196e+02] [ 8.71967217e-01 -4.89563552e-01 -8.37179545e-04 1.35061087e+02] [ 9.98333111e-04 6.80904838e-05 9.99999499e-01 7.07209425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.06, Z:0.71 [[-4.90420501e-01 -8.71485679e-01 6.66675514e-04 2.09602259e+02] [ 8.71485088e-01 -4.90420947e-01 -1.01754017e-03 1.35058029e+02] [ 1.21372332e-03 8.19752099e-05 9.99999260e-01 7.07193507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:135.08, Z:0.71 [[-4.90971961e-01 -8.71174841e-01 9.64335886e-04 2.09588297e+02] [ 8.71173607e-01 -4.90972894e-01 -1.47079996e-03 1.35080296e+02] [ 1.75478670e-03 1.17982431e-04 9.99998453e-01 7.07050986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.06, Z:0.71 [[-4.89714682e-01 -8.71881188e-01 1.65048826e-03 2.09604207e+02] [ 8.71877584e-01 -4.89717419e-01 -2.51551185e-03 1.35057462e+02] [ 3.00150031e-03 2.07140633e-04 9.99995474e-01 7.06439925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.06, Z:0.71 [[-4.89261604e-01 -8.72134998e-01 1.90455028e-03 2.09601089e+02] [ 8.72130208e-01 -4.89265251e-01 -2.90072561e-03 1.35064122e+02] [ 3.46165460e-03 2.41802168e-04 9.99993979e-01 7.06187281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.07, Z:0.71 [[-4.89186396e-01 -8.72177381e-01 1.81254412e-03 2.09596773e+02] [ 8.72173049e-01 -4.89189699e-01 -2.75870012e-03 1.35072818e+02] [ 3.29275376e-03 2.31333561e-04 9.99994552e-01 7.06132063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.05, Z:0.71 [[-4.88932131e-01 -8.72319894e-01 1.83675158e-03 2.09610800e+02] [ 8.72315453e-01 -4.88935524e-01 -2.79362290e-03 1.35054522e+02] [ 3.33498593e-03 2.36334785e-04 9.99994411e-01 7.06570149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.06, Z:0.71 [[-4.88503917e-01 -8.72559492e-01 1.96359237e-03 2.09605949e+02] [ 8.72554426e-01 -4.88507797e-01 -2.98448961e-03 1.35064579e+02] [ 3.56337492e-03 2.55406350e-04 9.99993619e-01 7.06590005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:135.06, Z:0.71 [[-4.87600735e-01 -8.73064429e-01 2.00654072e-03 2.09614024e+02] [ 8.73059150e-01 -4.87604791e-01 -3.04767440e-03 1.35055644e+02] [ 3.63921497e-03 2.65780457e-04 9.99993343e-01 7.06633977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:135.03, Z:0.71 [[-4.86728686e-01 -8.73550883e-01 2.01012719e-03 2.09632647e+02] [ 8.73545597e-01 -4.86732761e-01 -3.05105136e-03 1.35030476e+02] [ 3.64364337e-03 2.70903540e-04 9.99993325e-01 7.06131964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:135.05, Z:0.71 [[-4.86090437e-01 -8.73905971e-01 2.10757624e-03 2.09623499e+02] [ 8.73900171e-01 -4.86094920e-01 -3.19679614e-03 1.35046760e+02] [ 3.81818134e-03 2.87879202e-04 9.99992669e-01 7.05697059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:135.04, Z:0.71 [[-4.85542672e-01 -8.74209823e-01 2.34487934e-03 2.09631735e+02] [ 8.74202658e-01 -4.85548226e-01 -3.55431871e-03 1.35035729e+02] [ 4.24577234e-03 3.24126340e-04 9.99990934e-01 7.05271597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:135.03, Z:0.70 [[-4.83643783e-01 -8.75259561e-01 3.06456125e-03 2.09641371e+02] [ 8.75247361e-01 -4.83653294e-01 -4.64203864e-03 1.35025457e+02] [ 5.54517385e-03 4.37156017e-04 9.99984530e-01 7.04545605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:135.01, Z:0.70 [[-4.83178675e-01 -8.75516443e-01 3.05383008e-03 2.09652841e+02] [ 8.75504350e-01 -4.83188125e-01 -4.62269419e-03 1.35013576e+02] [ 5.52281920e-03 4.40054268e-04 9.99984652e-01 7.04712033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:135.04, Z:0.70 [[-4.83823980e-01 -8.75160985e-01 2.75811025e-03 2.09642301e+02] [ 8.75151129e-01 -4.83831680e-01 -4.17226353e-03 1.35036723e+02] [ 4.98586338e-03 3.95122153e-04 9.99987492e-01 7.04803959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:135.03, Z:0.70 [[-4.85489830e-01 -8.74238407e-01 2.61393058e-03 2.09648892e+02] [ 8.74229554e-01 -4.85496729e-01 -3.95149625e-03 1.35033293e+02] [ 4.72360453e-03 3.66764121e-04 9.99988776e-01 7.04741454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:135.03, Z:0.70 [[-4.88383047e-01 -8.72625613e-01 2.55715289e-03 2.09655901e+02] [ 8.72617130e-01 -4.88389620e-01 -3.86306305e-03 1.35032358e+02] [ 4.61989468e-03 3.44760910e-04 9.99989269e-01 7.04610631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.451400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.65, Y:135.04, Z:0.70 [[-4.88862875e-01 -8.72357211e-01 2.44645261e-03 2.09654550e+02] [ 8.72349455e-01 -4.88868886e-01 -3.69334058e-03 1.35038987e+02] [ 4.41790685e-03 3.28624507e-04 9.99990187e-01 7.04836326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:135.02, Z:0.70 [[-4.88642263e-01 -8.72481778e-01 2.07040676e-03 2.09670136e+02] [ 8.72476232e-01 -4.88646568e-01 -3.12354999e-03 1.35020583e+02] [ 3.73693760e-03 2.80082149e-04 9.99992978e-01 7.04979570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.511400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:209.64, Y:135.07, Z:0.70 [[-4.88822978e-01 -8.72382301e-01 1.10347882e-03 2.09640140e+02] [ 8.72377597e-01 -4.88824011e-01 -2.90062497e-03 1.35070520e+02] [ 3.06986083e-03 -4.55241933e-04 9.99995184e-01 7.04734530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:135.03, Z:0.71 [[-4.87299762e-01 -8.73231534e-01 2.37267985e-03 2.09669212e+02] [ 8.73228890e-01 -4.87304650e-01 -2.34187632e-03 1.35026577e+02] [ 3.20121818e-03 9.30696818e-04 9.99994443e-01 7.05306506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:135.01, Z:0.71 [[-4.86936293e-01 -8.73435731e-01 1.75242298e-03 2.09679386e+02] [ 8.73431780e-01 -4.86939384e-01 -2.63872601e-03 1.35012449e+02] [ 3.15808135e-03 2.45730459e-04 9.99994983e-01 7.05449727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:135.02, Z:0.71 [[-4.87406149e-01 -8.73173300e-01 1.90644145e-03 2.09676314e+02] [ 8.73168628e-01 -4.87409805e-01 -2.86871702e-03 1.35020533e+02] [ 3.43410536e-03 2.66414550e-04 9.99994068e-01 7.05971035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.00, Z:0.71 [[-4.88251451e-01 -8.72700761e-01 1.97532905e-03 2.09690500e+02] [ 8.72695749e-01 -4.88255370e-01 -2.97039417e-03 1.35003707e+02] [ 3.55673027e-03 2.73562005e-04 9.99993637e-01 7.06400024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.00, Z:0.71 [[-4.89434183e-01 -8.72038563e-01 1.71018982e-03 2.09695677e+02] [ 8.72034808e-01 -4.89437115e-01 -2.57000550e-03 1.35000362e+02] [ 3.07817428e-03 2.33496508e-04 9.99995235e-01 7.06367650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.01, Z:0.71 [[-4.92012950e-01 -8.70587752e-01 4.72354228e-04 2.09690195e+02] [ 8.70587465e-01 -4.92013172e-01 -7.09436146e-04 1.35012300e+02] [ 8.50030922e-04 6.21738993e-05 9.99999637e-01 7.06534312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.00, Z:0.71 [[-4.93240742e-01 -8.69892813e-01 -2.54294569e-04 2.09700714e+02] [ 8.69892730e-01 -4.93240807e-01 3.81524399e-04 1.34996881e+02] [-4.57313791e-04 -3.30256185e-05 9.99999895e-01 7.06434048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.02, Z:0.71 [[-4.93877497e-01 -8.69531293e-01 -5.90488955e-04 2.09686538e+02] [ 8.69530845e-01 -4.93877844e-01 8.85465841e-04 1.35019240e+02] [-1.06156967e-03 -7.61367066e-05 9.99999434e-01 7.06602812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.01, Z:0.71 [[-4.93842727e-01 -8.69551165e-01 -3.64314459e-04 2.09695955e+02] [ 8.69550995e-01 -4.93842859e-01 5.45903356e-04 1.35008133e+02] [-6.54604993e-04 -4.71995986e-05 9.99999785e-01 7.07024704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.01, Z:0.71 [[-4.92886375e-01 -8.70093684e-01 3.92595128e-05 2.09695735e+02] [ 8.70093682e-01 -4.92886377e-01 -5.88985031e-05 1.35011985e+02] [ 7.05976947e-05 5.12918441e-06 9.99999998e-01 7.07056145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.99, Z:0.71 [[-4.91517051e-01 -8.70867732e-01 6.17089478e-04 2.09707895e+02] [ 8.70867247e-01 -4.91517432e-01 -9.23708093e-04 1.34994581e+02] [ 1.10773781e-03 8.33847364e-05 9.99999383e-01 7.06998434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:134.97, Z:0.71 [[-4.88300734e-01 -8.72674519e-01 1.25586313e-03 2.09716577e+02] [ 8.72672515e-01 -4.88302316e-01 -1.87853764e-03 1.34974688e+02] [ 2.25259280e-03 1.78665927e-04 9.99997447e-01 7.06104027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:134.99, Z:0.71 [[-4.87740203e-01 -8.72987841e-01 1.31314714e-03 2.09704944e+02] [ 8.72985654e-01 -4.87741934e-01 -1.96292936e-03 1.34989886e+02] [ 2.35409038e-03 1.88959050e-04 9.99997211e-01 7.05652319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.931400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:209.71, Y:134.98, Z:0.71 [[-4.87865645e-01 -8.72917783e-01 1.28666394e-03 2.09708765e+02] [ 8.72915687e-01 -4.87867307e-01 -1.92207467e-03 1.34983674e+02] [ 2.30553443e-03 1.85434941e-04 9.99997325e-01 7.05420918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.99, Z:0.71 [[-4.88119078e-01 -8.72776341e-01 1.10668613e-03 2.09707980e+02] [ 8.72774792e-01 -4.88120306e-01 -1.65213916e-03 1.34985217e+02] [ 1.98214395e-03 1.59447117e-04 9.99998023e-01 7.05348567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.97, Z:0.71 [[-4.89204384e-01 -8.72167726e-01 1.58980987e-03 2.09712214e+02] [ 8.72164531e-01 -4.89206915e-01 -2.37177429e-03 1.34974558e+02] [ 2.84633097e-03 2.26293397e-04 9.99995924e-01 7.05038023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.98, Z:0.70 [[-4.90395181e-01 -8.71497675e-01 2.09030767e-03 2.09710953e+02] [ 8.71492152e-01 -4.90399548e-01 -3.11636570e-03 1.34975351e+02] [ 3.74099140e-03 2.93436010e-04 9.99992959e-01 7.04879902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:134.97, Z:0.71 [[-4.92221637e-01 -8.70466272e-01 2.51587556e-03 2.09715350e+02] [ 8.70458270e-01 -4.92227946e-01 -3.74834486e-03 1.34969974e+02] [ 4.50119204e-03 3.44948245e-04 9.99989810e-01 7.05092559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:134.99, Z:0.71 [[-4.94669431e-01 -8.69077941e-01 2.38461435e-03 2.09699973e+02] [ 8.69070746e-01 -4.94675077e-01 -3.55043500e-03 1.34994137e+02] [ 4.26521403e-03 3.16106918e-04 9.99990854e-01 7.05718347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:134.99, Z:0.71 [[-4.97473413e-01 -8.67476567e-01 2.14699788e-03 2.09704718e+02] [ 8.67470728e-01 -4.97477971e-01 -3.19452870e-03 1.34986647e+02] [ 3.83926294e-03 2.73264716e-04 9.99992593e-01 7.06040069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.01, Z:0.71 [[-5.00264342e-01 -8.65870527e-01 1.95404102e-03 2.09690804e+02] [ 8.65865685e-01 -5.00268101e-01 -2.90548722e-03 1.35005164e+02] [ 3.49332014e-03 2.38425417e-04 9.99993870e-01 7.05991020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.01, Z:0.71 [[-5.05078883e-01 -8.63071667e-01 1.61873553e-03 2.09686310e+02] [ 8.63068334e-01 -5.05081444e-01 -2.40530470e-03 1.35012209e+02] [ 2.89354361e-03 1.82210768e-04 9.99995797e-01 7.05237383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.00, Z:0.71 [[-5.07326134e-01 -8.61752534e-01 1.66229963e-03 2.09696272e+02] [ 8.61749018e-01 -5.07328825e-01 -2.46836184e-03 1.35001955e+02] [ 2.97044959e-03 1.80220609e-04 9.99995572e-01 7.05329203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:135.02, Z:0.71 [[-5.09502616e-01 -8.60467129e-01 1.84514377e-03 2.09684202e+02] [ 8.60462794e-01 -5.09505921e-01 -2.73799364e-03 1.35024898e+02] [ 3.29606520e-03 1.92662644e-04 9.99994549e-01 7.06070604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.02, Z:0.71 [[-5.11112958e-01 -8.59511171e-01 2.02262075e-03 2.09693592e+02] [ 8.59505963e-01 -5.11116918e-01 -2.99928811e-03 1.35015982e+02] [ 3.61171732e-03 2.05479579e-04 9.99993457e-01 7.06722860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.02, Z:0.71 [[-5.12376771e-01 -8.58758003e-01 2.17648565e-03 2.09692968e+02] [ 8.58751974e-01 -5.12381348e-01 -3.22523728e-03 1.35021461e+02] [ 3.88488898e-03 2.16524679e-04 9.99992430e-01 7.06554678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.02, Z:0.71 [[-5.12932174e-01 -8.58426603e-01 2.08617944e-03 2.09699626e+02] [ 8.58421069e-01 -5.12936375e-01 -3.08930672e-03 1.35019141e+02] [ 3.72202039e-03 2.06215574e-04 9.99993052e-01 7.05701910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.02, Z:0.71 [[-5.12214492e-01 -8.58855898e-01 1.69099102e-03 2.09702624e+02] [ 8.58852270e-01 -5.12217255e-01 -2.50240224e-03 1.35019335e+02] [ 3.01535771e-03 1.70544777e-04 9.99995439e-01 7.05715288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.381400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:209.71, Y:135.01, Z:0.71 [[-5.11067221e-01 -8.59540078e-01 1.07195250e-03 2.09709895e+02] [ 8.59538624e-01 -5.11068333e-01 -1.58527685e-03 1.35013753e+02] [ 1.91044996e-03 1.11201542e-04 9.99998169e-01 7.06411146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:134.99, Z:0.71 [[-5.06392946e-01 -8.62302679e-01 5.23523117e-04 2.09730982e+02] [ 8.62302334e-01 -5.06393213e-01 -7.73750268e-04 1.34988622e+02] [ 9.32315483e-04 5.96135279e-05 9.99999564e-01 7.08381788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:134.99, Z:0.71 [[-5.03446519e-01 -8.64026061e-01 7.54141132e-04 2.09730052e+02] [ 8.64025348e-01 -5.03447076e-01 -1.11380593e-03 1.34989692e+02] [ 1.34202750e-03 9.08553371e-05 9.99999095e-01 7.08212827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:134.97, Z:0.71 [[-5.00304170e-01 -8.65849045e-01 1.08082969e-03 2.09744033e+02] [ 8.65847587e-01 -5.00305319e-01 -1.59519369e-03 1.34968134e+02] [ 1.92194178e-03 1.37751725e-04 9.99998144e-01 7.08077878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:134.96, Z:0.71 [[-4.97440201e-01 -8.67497386e-01 1.23778205e-03 2.09751802e+02] [ 8.67495481e-01 -4.97441714e-01 -1.82562173e-03 1.34956100e+02] [ 2.19944650e-03 1.65632693e-04 9.99997568e-01 7.07238892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:134.96, Z:0.71 [[-4.94850167e-01 -8.68976970e-01 1.52872678e-03 2.09752081e+02] [ 8.68974075e-01 -4.94852483e-01 -2.25323779e-03 1.34955591e+02] [ 2.71450599e-03 2.13408846e-04 9.99996293e-01 7.06633656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:134.94, Z:0.71 [[-4.92876867e-01 -8.70097617e-01 1.59050999e-03 2.09763246e+02] [ 8.70094494e-01 -4.92879380e-01 -2.34276750e-03 1.34938220e+02] [ 2.82236600e-03 2.29198074e-04 9.99995991e-01 7.06175959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:134.94, Z:0.71 [[-4.90301386e-01 -8.71551598e-01 1.53712440e-03 2.09756377e+02] [ 8.71548691e-01 -4.90303742e-01 -2.26266180e-03 1.34941789e+02] [ 2.72568436e-03 2.30292543e-04 9.99996259e-01 7.05952665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:134.91, Z:0.71 [[-4.90217699e-01 -8.71598556e-01 1.60144404e-03 2.09774841e+02] [ 8.71595406e-01 -4.90220256e-01 -2.35581301e-03 1.34910799e+02] [ 2.83838352e-03 2.40950029e-04 9.99995943e-01 7.05920547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:134.93, Z:0.71 [[-4.90803490e-01 -8.71268569e-01 1.73617797e-03 2.09762305e+02] [ 8.71264870e-01 -4.90806492e-01 -2.55236143e-03 1.34925589e+02] [ 3.07591970e-03 2.59962975e-04 9.99995236e-01 7.06172649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:134.93, Z:0.71 [[-4.91908672e-01 -8.70643901e-01 2.24869036e-03 2.09753321e+02] [ 8.70637696e-01 -4.91913700e-01 -3.30363019e-03 1.34934306e+02] [ 3.98244707e-03 3.32710252e-04 9.99992015e-01 7.06598472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:134.95, Z:0.71 [[-4.94937661e-01 -8.68921991e-01 3.35937929e-03 2.09737818e+02] [ 8.68908125e-01 -4.94948831e-01 -4.93209338e-03 1.34945274e+02] [ 5.94832525e-03 4.77913192e-04 9.99982194e-01 7.05411419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:134.93, Z:0.71 [[-4.96477140e-01 -8.68043665e-01 3.26258579e-03 2.09742454e+02] [ 8.68030586e-01 -4.96487651e-01 -4.78683379e-03 1.34932057e+02] [ 5.77501430e-03 4.55470707e-04 9.99983221e-01 7.05250692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:134.93, Z:0.71 [[-4.96742380e-01 -8.67891902e-01 3.26404860e-03 2.09743905e+02] [ 8.67878826e-01 -4.96752895e-01 -4.78583644e-03 1.34930062e+02] [ 5.77501428e-03 4.55470880e-04 9.99983221e-01 7.05250242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:134.95, Z:0.71 [[-4.98456453e-01 -8.66910836e-01 2.60136087e-03 2.09727873e+02] [ 8.66902529e-01 -4.98463115e-01 -3.81168426e-03 1.34947491e+02] [ 4.60107283e-03 3.55167702e-04 9.99989352e-01 7.05218189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:134.93, Z:0.71 [[-5.00173540e-01 -8.65923946e-01 1.46652172e-03 2.09735661e+02] [ 8.65921305e-01 -5.00175651e-01 -2.14746183e-03 1.34931356e+02] [ 2.59305707e-03 1.95788818e-04 9.99996619e-01 7.06203422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:134.94, Z:0.71 [[-5.02044747e-01 -8.64841574e-01 3.51811200e-04 2.09730613e+02] [ 8.64841422e-01 -5.02044868e-01 -5.14898566e-04 1.34935483e+02] [ 6.21930694e-04 4.57587781e-05 9.99999806e-01 7.06762252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:134.93, Z:0.71 [[-5.03941398e-01 -8.63737846e-01 -1.18465127e-05 2.09733640e+02] [ 8.63737846e-01 -5.03941399e-01 1.72257437e-05 1.34929267e+02] [-2.08484748e-05 -1.55151592e-06 1.00000000e+00 7.07388319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:134.94, Z:0.71 [[-5.07130144e-01 -8.61868816e-01 1.07764175e-03 2.09723866e+02] [ 8.61867387e-01 -5.07131273e-01 -1.57490665e-03 1.34937257e+02] [ 1.90386877e-03 1.30101644e-04 9.99998179e-01 7.06411419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.94, Z:0.71 [[-5.08193661e-01 -8.61240560e-01 1.97491021e-03 2.09714744e+02] [ 8.61235763e-01 -5.08197444e-01 -2.88419564e-03 1.34944652e+02] [ 3.48763059e-03 2.35133359e-04 9.99993891e-01 7.05865916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.94, Z:0.71 [[-5.08348114e-01 -8.61148170e-01 2.45455852e-03 2.09710503e+02] [ 8.61140769e-01 -5.08353956e-01 -3.58224675e-03 1.34943864e+02] [ 4.33262977e-03 2.92692035e-04 9.99990571e-01 7.05173090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:134.92, Z:0.70 [[-5.07835805e-01 -8.61450419e-01 2.44359671e-03 2.09719134e+02] [ 8.61443097e-01 -5.07841598e-01 -3.56385971e-03 1.34924204e+02] [ 4.31104850e-03 2.95163950e-04 9.99990664e-01 7.04772647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:134.92, Z:0.71 [[-5.06815565e-01 -8.62051881e-01 2.13027723e-03 2.09716007e+02] [ 8.62046330e-01 -5.06819973e-01 -3.10484004e-03 1.34923401e+02] [ 3.75620024e-03 2.62816406e-04 9.99992911e-01 7.05218998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.92, Z:0.71 [[-5.04258749e-01 -8.63550308e-01 1.99518295e-03 2.09711962e+02] [ 8.63545456e-01 -5.04262630e-01 -2.90600540e-03 1.34923445e+02] [ 3.51557806e-03 2.57552526e-04 9.99993787e-01 7.06047113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:134.91, Z:0.71 [[-5.03616777e-01 -8.63924584e-01 2.11053968e-03 2.09720191e+02] [ 8.63919167e-01 -5.03621124e-01 -3.07196962e-03 1.34908290e+02] [ 3.71686245e-03 2.76240241e-04 9.99993054e-01 7.05408858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.91, Z:0.70 [[-5.03460563e-01 -8.64015769e-01 2.05251154e-03 2.09713463e+02] [ 8.64010653e-01 -5.03464675e-01 -2.98552248e-03 1.34914042e+02] [ 3.61290556e-03 2.70299008e-04 9.99993437e-01 7.04689669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.91, Z:0.70 [[-5.03771769e-01 -8.63834980e-01 1.76994199e-03 2.09711539e+02] [ 8.63831180e-01 -5.03774824e-01 -2.57279903e-03 1.34914677e+02] [ 3.11412601e-03 2.32827560e-04 9.99995124e-01 7.04350683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:134.91, Z:0.70 [[-5.06486930e-01 -8.62246835e-01 1.17744129e-03 2.09718516e+02] [ 8.62245151e-01 -5.06488276e-01 -1.71042715e-03 1.34905938e+02] [ 2.07117060e-03 1.48934048e-04 9.99997844e-01 7.04152733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.91, Z:0.70 [[-5.08724106e-01 -8.60928850e-01 1.13930535e-03 2.09713335e+02] [ 8.60927273e-01 -5.08725363e-01 -1.65392651e-03 1.34914910e+02] [ 2.00350658e-03 1.39466763e-04 9.99997983e-01 7.04303744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.92, Z:0.70 [[-5.11251398e-01 -8.59430344e-01 1.22109066e-03 2.09709094e+02] [ 8.59428531e-01 -5.11252836e-01 -1.77145596e-03 1.34921126e+02] [ 2.14672907e-03 1.43780816e-04 9.99997685e-01 7.04296652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.92, Z:0.70 [[-5.13648402e-01 -8.57999379e-01 1.54445255e-03 2.09711465e+02] [ 8.57996475e-01 -5.13650694e-01 -2.23902693e-03 1.34918344e+02] [ 2.71439284e-03 1.75062237e-04 9.99996301e-01 7.04573410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:134.94, Z:0.70 [[-5.15781785e-01 -8.56717486e-01 2.07360880e-03 2.09701243e+02] [ 8.56712249e-01 -5.15785903e-01 -3.00408485e-03 1.34935984e+02] [ 3.64319021e-03 2.27033817e-04 9.99993338e-01 7.04292481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.93, Z:0.70 [[-5.17616722e-01 -8.55608172e-01 2.75414923e-03 2.09710282e+02] [ 8.55598931e-01 -5.17623966e-01 -3.98725188e-03 1.34927329e+02] [ 4.83713894e-03 2.92578893e-04 9.99988258e-01 7.04555067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.94, Z:0.71 [[-5.19304362e-01 -8.54584602e-01 2.85285494e-03 2.09709530e+02] [ 8.54574685e-01 -5.19312114e-01 -4.12733708e-03 1.34935040e+02] [ 5.00868084e-03 2.94633460e-04 9.99987413e-01 7.05261157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.93, Z:0.71 [[-5.19414896e-01 -8.54519167e-01 2.27152073e-03 2.09712013e+02] [ 8.54512888e-01 -5.19419809e-01 -3.28407724e-03 1.34933456e+02] [ 3.98617981e-03 2.35245108e-04 9.99992028e-01 7.05903956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:134.93, Z:0.71 [[-5.19003799e-01 -8.54770426e-01 1.60477156e-03 2.09713542e+02] [ 8.54767298e-01 -5.19006253e-01 -2.31856382e-03 1.34933605e+02] [ 2.81472626e-03 1.68362821e-04 9.99996025e-01 7.06252306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:134.92, Z:0.71 [[-5.18345763e-01 -8.55169956e-01 1.42005131e-03 2.09727748e+02] [ 8.55167512e-01 -5.18347686e-01 -2.05030057e-03 1.34916941e+02] [ 2.48943575e-03 1.51617132e-04 9.99996890e-01 7.05998058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:134.92, Z:0.71 [[-5.17852281e-01 -8.55468194e-01 1.78430575e-03 2.09728196e+02] [ 8.55464342e-01 -5.17855319e-01 -2.57445302e-03 1.34921302e+02] [ 3.12637490e-03 1.93223571e-04 9.99995094e-01 7.05738760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:134.92, Z:0.71 [[-5.17614609e-01 -8.55610731e-01 2.32246901e-03 2.09735921e+02] [ 8.55604216e-01 -5.17619757e-01 -3.34864008e-03 1.34915344e+02] [ 4.06728823e-03 2.53809247e-04 9.99991696e-01 7.05319371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:134.91, Z:0.70 [[-5.16726190e-01 -8.56145159e-01 3.08402373e-03 2.09748023e+02] [ 8.56133696e-01 -5.16735278e-01 -4.44366420e-03 1.34909422e+02] [ 5.39804545e-03 3.44178967e-04 9.99985371e-01 7.04767520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:134.90, Z:0.70 [[-5.16153282e-01 -8.56490140e-01 3.22939717e-03 2.09756194e+02] [ 8.56477595e-01 -5.16163255e-01 -4.65001327e-03 1.34904374e+02] [ 5.64958667e-03 3.65786707e-04 9.99983974e-01 7.04961501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:134.91, Z:0.71 [[-5.15113345e-01 -8.57115561e-01 3.34025300e-03 2.09754782e+02] [ 8.57102172e-01 -5.15124029e-01 -4.80641517e-03 1.34912082e+02] [ 5.84029782e-03 3.87089507e-04 9.99982870e-01 7.05274213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:134.89, Z:0.71 [[-5.13786564e-01 -8.57912041e-01 3.20886575e-03 2.09772232e+02] [ 8.57899717e-01 -5.13796442e-01 -4.61428654e-03 1.34891414e+02] [ 5.60735579e-03 3.82126593e-04 9.99984206e-01 7.05338202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:134.89, Z:0.71 [[-5.10146818e-01 -8.60084599e-01 2.16939382e-03 2.09780114e+02] [ 8.60078994e-01 -5.10151356e-01 -3.11751994e-03 1.34885041e+02] [ 3.78805009e-03 2.75457178e-04 9.99992787e-01 7.06121540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:134.88, Z:0.71 [[-5.07866054e-01 -8.61433862e-01 1.94214189e-03 2.09782795e+02] [ 8.61429385e-01 -5.07869703e-01 -2.78912286e-03 1.34883394e+02] [ 3.38899990e-03 2.56517271e-04 9.99994224e-01 7.06273454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:134.87, Z:0.71 [[-5.05515384e-01 -8.62815478e-01 1.90973428e-03 2.09793518e+02] [ 8.62811165e-01 -5.05518923e-01 -2.74078760e-03 1.34870754e+02] [ 3.33020078e-03 2.62229765e-04 9.99994421e-01 7.06440649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:134.86, Z:0.71 [[-5.03529116e-01 -8.63976057e-01 1.95018556e-03 2.09801335e+02] [ 8.63971573e-01 -5.03532816e-01 -2.79701929e-03 1.34862275e+02] [ 3.39854012e-03 2.76524231e-04 9.99994187e-01 7.06487115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.86, Z:0.71 [[-5.02133766e-01 -8.64787239e-01 2.17065054e-03 2.09806158e+02] [ 8.64781700e-01 -5.02138359e-01 -3.11119048e-03 1.34857074e+02] [ 3.78048473e-03 3.14905066e-04 9.99992804e-01 7.07023606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:134.84, Z:0.71 [[-5.01699407e-01 -8.65038194e-01 2.57458289e-03 2.09816168e+02] [ 8.65030415e-01 -5.01705871e-01 -3.68775189e-03 1.34844665e+02] [ 4.48172959e-03 3.76949572e-04 9.99989886e-01 7.06021783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.85, Z:0.71 [[-5.02890557e-01 -8.64345477e-01 2.82564114e-03 2.09814933e+02] [ 8.64336109e-01 -5.02898330e-01 -4.04474935e-03 1.34849732e+02] [ 4.91707101e-03 4.08237413e-04 9.99987828e-01 7.05060741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.86, Z:0.71 [[-5.04914862e-01 -8.63163204e-01 3.20397732e-03 2.09810856e+02] [ 8.63151153e-01 -5.04924826e-01 -4.58333995e-03 1.34860765e+02] [ 5.57393809e-03 4.51320262e-04 9.99984364e-01 7.05091750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.87, Z:0.71 [[-5.07244353e-01 -8.61795720e-01 3.36202002e-03 2.09810920e+02] [ 8.61782440e-01 -5.07255287e-01 -4.80629199e-03 1.34865450e+02] [ 5.84744429e-03 4.59365344e-04 9.99982798e-01 7.05209408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.87, Z:0.71 [[-5.09619139e-01 -8.60393711e-01 3.31593147e-03 2.09808506e+02] [ 8.60380781e-01 -5.09629738e-01 -4.73731184e-03 1.34870942e+02] [ 5.76585060e-03 4.38738922e-04 9.99983281e-01 7.05315192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:134.86, Z:0.71 [[-5.11786349e-01 -8.59106476e-01 3.28562612e-03 2.09815598e+02] [ 8.59093773e-01 -5.11796722e-01 -4.69095510e-03 1.34860032e+02] [ 5.71160258e-03 4.21894159e-04 9.99983600e-01 7.05626114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:134.88, Z:0.71 [[-5.14695706e-01 -8.57369327e-01 2.48347504e-03 2.09804885e+02] [ 8.57362059e-01 -5.14701607e-01 -3.54341225e-03 1.34875107e+02] [ 4.31626157e-03 3.05458208e-04 9.99990638e-01 7.06410189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.87, Z:0.71 [[-5.15219971e-01 -8.57055675e-01 1.98794917e-03 2.09808279e+02] [ 8.57051022e-01 -5.15223749e-01 -2.83455189e-03 1.34872624e+02] [ 3.45360741e-03 2.43356119e-04 9.99994007e-01 7.06799227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.87, Z:0.71 [[-5.15300427e-01 -8.57008383e-01 1.44964248e-03 2.09811430e+02] [ 8.57005912e-01 -5.15302435e-01 -2.06566589e-03 1.34870974e+02] [ 2.51729729e-03 1.77913664e-04 9.99996816e-01 7.07147213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.091400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.82, Y:134.86, Z:0.71 [[-5.15235560e-01 -8.57047869e-01 1.12591201e-03 2.09822064e+02] [ 8.57046381e-01 -5.15236772e-01 -1.60333847e-03 1.34857186e+02] [ 1.95424909e-03 1.38861815e-04 9.99998081e-01 7.06865708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:134.88, Z:0.71 [[-5.14318222e-01 -8.57597553e-01 1.78998902e-03 2.09809791e+02] [ 8.57593799e-01 -5.14321288e-01 -2.54728008e-03 1.34876565e+02] [ 3.10517063e-03 2.24970924e-04 9.99995154e-01 7.05796723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:134.87, Z:0.71 [[-5.14410733e-01 -8.57541934e-01 1.85194308e-03 2.09815401e+02] [ 8.57537921e-01 -5.14414014e-01 -2.63370431e-03 1.34870145e+02] [ 3.21117736e-03 2.33305652e-04 9.99994817e-01 7.05887102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:134.85, Z:0.71 [[-5.14527577e-01 -8.57471666e-01 1.92734003e-03 2.09831687e+02] [ 8.57467325e-01 -5.14531129e-01 -2.73913305e-03 1.34848108e+02] [ 3.34040543e-03 2.43271611e-04 9.99994391e-01 7.06456324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:134.86, Z:0.71 [[-5.14618922e-01 -8.57416656e-01 2.01076525e-03 2.09825861e+02] [ 8.57411938e-01 -5.14622787e-01 -2.85583269e-03 1.34856394e+02] [ 3.48342413e-03 2.54388585e-04 9.99993901e-01 7.07421139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:134.86, Z:0.71 [[-5.14480171e-01 -8.57500135e-01 1.91630865e-03 2.09824956e+02] [ 8.57495856e-01 -5.14483682e-01 -2.71990497e-03 1.34855749e+02] [ 3.31822841e-03 2.43889547e-04 9.99994465e-01 7.08056916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.83, Z:0.71 [[-5.12049087e-01 -8.58954123e-01 1.88353279e-03 2.09838427e+02] [ 8.58950004e-01 -5.12052490e-01 -2.67165043e-03 1.34831620e+02] [ 3.25929281e-03 2.49844341e-04 9.99994657e-01 7.08195064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.83, Z:0.71 [[-5.10310934e-01 -8.59987604e-01 2.01786171e-03 2.09837096e+02] [ 8.59982892e-01 -5.10314849e-01 -2.86033246e-03 1.34832726e+02] [ 3.48959526e-03 2.75667621e-04 9.99993873e-01 7.07475489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:134.82, Z:0.71 [[-5.08760579e-01 -8.60905330e-01 2.16458020e-03 2.09845144e+02] [ 8.60899923e-01 -5.08765094e-01 -3.06632582e-03 1.34821073e+02] [ 3.74107909e-03 3.03461223e-04 9.99992956e-01 7.06518729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:134.82, Z:0.71 [[-5.07661952e-01 -8.61553221e-01 2.32167303e-03 2.09845131e+02] [ 8.61547015e-01 -5.07667152e-01 -3.28674576e-03 1.34820040e+02] [ 4.01034353e-03 3.31674700e-04 9.99991904e-01 7.06467400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.82, Z:0.71 [[-5.07203902e-01 -8.61823608e-01 2.06655135e-03 2.09841341e+02] [ 8.61818700e-01 -5.07208024e-01 -2.92370572e-03 1.34820293e+02] [ 3.56789004e-03 2.98077647e-04 9.99993591e-01 7.07441843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.81, Z:0.71 [[-5.08238176e-01 -8.61212961e-01 2.48854815e-03 2.09844402e+02] [ 8.61205846e-01 -5.08244145e-01 -3.51845483e-03 1.34814817e+02] [ 4.29492893e-03 3.54939149e-04 9.99990714e-01 7.07483890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.82, Z:0.71 [[-5.09789724e-01 -8.60292486e-01 3.35783427e-03 2.09838684e+02] [ 8.60279532e-01 -5.09800566e-01 -4.74441176e-03 1.34824158e+02] [ 5.79340760e-03 4.70023731e-04 9.99983108e-01 7.07389850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.82, Z:0.71 [[-5.11722045e-01 -8.59142499e-01 3.83597213e-03 2.09840282e+02] [ 8.59125585e-01 -5.11736154e-01 -5.41647214e-03 1.34823889e+02] [ 6.61652703e-03 5.23853596e-04 9.99977973e-01 7.06992890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.83, Z:0.71 [[-5.13979151e-01 -8.57794652e-01 3.71043712e-03 2.09837986e+02] [ 8.57778814e-01 -5.13992308e-01 -5.23581940e-03 1.34829245e+02] [ 6.39839402e-03 4.91632347e-04 9.99979409e-01 7.06856287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.83, Z:0.71 [[-5.16047403e-01 -8.56554381e-01 3.10975193e-03 2.09836040e+02] [ 8.56543248e-01 -5.16056617e-01 -4.38534671e-03 1.34833506e+02] [ 5.36109600e-03 4.00590235e-04 9.99985549e-01 7.06803706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.84, Z:0.71 [[-5.19227510e-01 -8.54631700e-01 2.72961363e-03 2.09835467e+02] [ 8.54623108e-01 -5.19234577e-01 -3.84677549e-03 1.34836961e+02] [ 4.70488605e-03 3.35439219e-04 9.99988876e-01 7.07612023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.83, Z:0.71 [[-5.20666917e-01 -8.53754225e-01 3.11207524e-03 2.09844560e+02] [ 8.53743057e-01 -5.20676083e-01 -4.38289457e-03 1.34826716e+02] [ 5.36229791e-03 3.74884425e-04 9.99985553e-01 7.07852201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.631400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.78, Y:134.92, Z:0.71 [[-5.22216019e-01 -8.52806312e-01 3.43860584e-03 2.09780816e+02] [ 8.52779454e-01 -5.22226975e-01 -6.79624961e-03 1.34922512e+02] [ 7.59161729e-03 -6.16737995e-04 9.99970993e-01 7.08954070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:134.86, Z:0.71 [[-5.23867626e-01 -8.51785988e-01 4.83117788e-03 2.09830844e+02] [ 8.51773457e-01 -5.23887579e-01 -4.87670931e-03 1.34855342e+02] [ 6.68490675e-03 1.56031896e-03 9.99976438e-01 7.07268383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.86, Z:0.71 [[-5.26539461e-01 -8.50141881e-01 3.87024784e-03 2.09841308e+02] [ 8.50124584e-01 -5.26553512e-01 -5.43964782e-03 1.34855352e+02] [ 6.66236502e-03 4.26003608e-04 9.99977715e-01 7.08267803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.85, Z:0.71 [[-5.26805510e-01 -8.49977036e-01 3.87195022e-03 2.09842793e+02] [ 8.49959744e-01 -5.26819567e-01 -5.43843618e-03 1.34853395e+02] [ 6.66236501e-03 4.26003672e-04 9.99977715e-01 7.08267379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.751400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.85, Y:134.85, Z:0.71 [[-5.27798067e-01 -8.49361853e-01 3.69371912e-03 2.09851001e+02] [ 8.49346123e-01 -5.27810839e-01 -5.18467468e-03 1.34846793e+02] [ 6.35324988e-03 4.00784741e-04 9.99979738e-01 7.08783571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:134.86, Z:0.71 [[-5.28417772e-01 -8.48978393e-01 3.21656483e-03 2.09844805e+02] [ 8.48966475e-01 -5.28427448e-01 -4.51194115e-03 1.34859659e+02] [ 5.53026169e-03 3.46565819e-04 9.99984648e-01 7.08900401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:134.84, Z:0.71 [[-5.28696900e-01 -8.48806073e-01 2.79958540e-03 2.09862623e+02] [ 8.48797054e-01 -5.28704227e-01 -3.92445330e-03 1.34838590e+02] [ 4.81125243e-03 3.01433542e-04 9.99988380e-01 7.08993235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:134.84, Z:0.71 [[-5.28328221e-01 -8.49036874e-01 2.38267984e-03 2.09862899e+02] [ 8.49030353e-01 -5.28333530e-01 -3.33785629e-03 1.34842762e+02] [ 4.09281272e-03 2.59483831e-04 9.99991591e-01 7.09129568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:134.83, Z:0.71 [[-5.27465600e-01 -8.49573819e-01 2.08981214e-03 2.09876487e+02] [ 8.49568813e-01 -5.27469689e-01 -2.92567862e-03 1.34828946e+02] [ 3.58789252e-03 2.32244393e-04 9.99993537e-01 7.09590576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:134.83, Z:0.71 [[-5.24814388e-01 -8.51214885e-01 1.75455880e-03 2.09884171e+02] [ 8.51211370e-01 -5.24817281e-01 -2.45475021e-03 1.34827018e+02] [ 3.01034269e-03 2.05212170e-04 9.99995448e-01 7.09818495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:134.84, Z:0.71 [[-5.23779005e-01 -8.51851789e-01 2.02092680e-03 2.09880738e+02] [ 8.51847137e-01 -5.23782848e-01 -2.82556211e-03 1.34835732e+02] [ 3.46548693e-03 2.41550595e-04 9.99993966e-01 7.09534924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:134.82, Z:0.71 [[-5.23168693e-01 -8.52225698e-01 2.42473841e-03 2.09895280e+02] [ 8.52219014e-01 -5.23174229e-01 -3.38793083e-03 1.34818785e+02] [ 4.15584236e-03 2.93948836e-04 9.99991321e-01 7.08905169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:134.81, Z:0.71 [[-5.22818263e-01 -8.52438979e-01 2.97511524e-03 2.09908935e+02] [ 8.52428934e-01 -5.22826601e-01 -4.15424246e-03 1.34806671e+02] [ 5.09670759e-03 3.64160484e-04 9.99986945e-01 7.08399882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:134.82, Z:0.71 [[-5.23098776e-01 -8.52266642e-01 3.03989015e-03 2.09902151e+02] [ 8.52256167e-01 -5.23107477e-01 -4.24195671e-03 1.34820901e+02] [ 5.20546747e-03 3.71802764e-04 9.99986382e-01 7.08203154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:134.81, Z:0.71 [[-5.23360942e-01 -8.52105718e-01 3.02801135e-03 2.09914923e+02] [ 8.52095336e-01 -5.23369571e-01 -4.22265983e-03 1.34809619e+02] [ 5.18292159e-03 3.70179122e-04 9.99986500e-01 7.08309204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:134.80, Z:0.71 [[-5.23475315e-01 -8.52036190e-01 2.81522557e-03 2.09924099e+02] [ 8.52027226e-01 -5.23482772e-01 -3.92341716e-03 1.34803316e+02] [ 4.81661549e-03 3.44836794e-04 9.99988341e-01 7.08702078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:134.79, Z:0.71 [[-5.23257901e-01 -8.52170481e-01 2.57684288e-03 2.09934173e+02] [ 8.52162983e-01 -5.23264150e-01 -3.58891952e-03 1.34794764e+02] [ 4.40674077e-03 3.17959620e-04 9.99990240e-01 7.08620437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:134.80, Z:0.71 [[-5.22115197e-01 -8.52869597e-01 3.02835416e-03 2.09932684e+02] [ 8.52859267e-01 -5.22123840e-01 -4.21506798e-03 1.34802495e+02] [ 5.17607923e-03 3.82008860e-04 9.99986531e-01 7.08245282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:134.79, Z:0.71 [[-5.21631983e-01 -8.53164117e-01 3.32612185e-03 2.09943371e+02] [ 8.53151678e-01 -5.21642415e-01 -4.62657195e-03 1.34790815e+02] [ 5.68227140e-03 4.24318540e-04 9.99983766e-01 7.07863950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:134.78, Z:0.71 [[-5.21180929e-01 -8.53439801e-01 3.30847113e-03 2.09950732e+02] [ 8.53427515e-01 -5.21191255e-01 -4.59911427e-03 1.34784824e+02] [ 5.64941339e-03 4.26569651e-04 9.99983951e-01 7.07659494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.78, Z:0.71 [[-5.20834589e-01 -8.53651805e-01 3.15056520e-03 2.09955286e+02] [ 8.53640683e-01 -5.20843957e-01 -4.37685503e-03 1.34782873e+02] [ 5.37726304e-03 4.09833135e-04 9.99985458e-01 7.08085020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.78, Z:0.71 [[-5.20521120e-01 -8.53844023e-01 2.85443723e-03 2.09961920e+02] [ 8.53834908e-01 -5.20528812e-01 -3.96298226e-03 1.34777339e+02] [ 4.86958553e-03 3.74402186e-04 9.99988073e-01 7.08538037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.76, Z:0.71 [[-5.20268536e-01 -8.53998617e-01 2.64821278e-03 2.09973533e+02] [ 8.53990784e-01 -5.20275158e-01 -3.67437877e-03 1.34764614e+02] [ 4.51571371e-03 3.49885644e-04 9.99989743e-01 7.09112867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.77, Z:0.71 [[-5.19952232e-01 -8.54190527e-01 2.86704025e-03 2.09970680e+02] [ 8.54181361e-01 -5.19959996e-01 -3.97551136e-03 1.34774676e+02] [ 4.88659038e-03 3.81896337e-04 9.99987988e-01 7.09333528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.77, Z:0.71 [[-5.20502289e-01 -8.53854851e-01 3.04314200e-03 2.09976725e+02] [ 8.53844532e-01 -5.20511029e-01 -4.21705734e-03 1.34768103e+02] [ 5.18474384e-03 4.03382152e-04 9.99986478e-01 7.08699091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.79, Z:0.71 [[-5.21492466e-01 -8.53250276e-01 3.09423766e-03 2.09963385e+02] [ 8.53239612e-01 -5.21501488e-01 -4.28516921e-03 1.34787509e+02] [ 5.26997136e-03 4.05442688e-04 9.99986031e-01 7.08222229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.77, Z:0.71 [[-5.22563418e-01 -8.52595164e-01 2.99340800e-03 2.09973571e+02] [ 8.52585186e-01 -5.22571849e-01 -4.14292233e-03 1.34774458e+02] [ 5.09650629e-03 3.87195659e-04 9.99986938e-01 7.08026773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.76, Z:0.71 [[-5.23646986e-01 -8.51929983e-01 3.02301404e-03 2.09982749e+02] [ 8.51919809e-01 -5.23655570e-01 -4.18127884e-03 1.34764220e+02] [ 5.14517495e-03 3.85851479e-04 9.99986689e-01 7.07866754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.78, Z:0.71 [[-5.24775314e-01 -8.51233777e-01 3.45338167e-03 2.09973965e+02] [ 8.51220504e-01 -5.24786497e-01 -4.77353437e-03 1.34779978e+02] [ 5.87568177e-03 4.34556286e-04 9.99982644e-01 7.08036271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.78, Z:0.71 [[-5.26393557e-01 -8.50234447e-01 3.34776834e-03 2.09978047e+02] [ 8.50221970e-01 -5.26404042e-01 -4.62463276e-03 1.34779923e+02] [ 5.69430086e-03 4.11969300e-04 9.99983703e-01 7.08594721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.78, Z:0.71 [[-5.27109707e-01 -8.49792225e-01 2.92088286e-03 2.09979992e+02] [ 8.49782732e-01 -5.27117679e-01 -4.03239730e-03 1.34778733e+02] [ 4.96634887e-03 3.56600052e-04 9.99987604e-01 7.09246057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.77, Z:0.71 [[-5.27685615e-01 -8.49436638e-01 2.30011530e-03 2.09987675e+02] [ 8.49430756e-01 -5.27690554e-01 -3.17342440e-03 1.34769195e+02] [ 3.90937207e-03 2.79218272e-04 9.99992319e-01 7.09592471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.77, Z:0.71 [[-5.28088891e-01 -8.49186951e-01 1.90920900e-03 2.09988273e+02] [ 8.49182902e-01 -5.28092292e-01 -2.63246106e-03 1.34768730e+02] [ 3.24369014e-03 2.31094199e-04 9.99994713e-01 7.09826194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.77, Z:0.71 [[-5.27987100e-01 -8.49251042e-01 1.51344182e-03 2.09990033e+02] [ 8.49248501e-01 -5.27989237e-01 -2.08547721e-03 1.34766767e+02] [ 2.57017469e-03 1.84183130e-04 9.99996680e-01 7.09842797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.76, Z:0.71 [[-5.27133639e-01 -8.49781203e-01 1.42576528e-03 2.09993435e+02] [ 8.49778953e-01 -5.27135538e-01 -1.96343566e-03 1.34762286e+02] [ 2.42006226e-03 1.76592341e-04 9.99997056e-01 7.10361633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.75, Z:0.71 [[-5.24417859e-01 -8.51458344e-01 2.14427381e-03 2.10000510e+02] [ 8.51453276e-01 -5.24422169e-01 -2.95101481e-03 1.34751686e+02] [ 3.63717090e-03 2.78184092e-04 9.99993347e-01 7.09631232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:134.74, Z:0.71 [[-5.23495103e-01 -8.52024730e-01 2.59546260e-03 2.10007104e+02] [ 8.52017321e-01 -5.23501425e-01 -3.56972077e-03 1.34740756e+02] [ 4.40021874e-03 3.42647750e-04 9.99990260e-01 7.08993615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:134.74, Z:0.71 [[-5.22884656e-01 -8.52399553e-01 2.57650475e-03 2.10005024e+02] [ 8.52392266e-01 -5.22890890e-01 -3.54145398e-03 1.34740086e+02] [ 4.36596465e-03 3.44420777e-04 9.99990410e-01 7.08490462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.74, Z:0.71 [[-5.22576921e-01 -8.52589925e-01 1.94449604e-03 2.10003184e+02] [ 8.52585781e-01 -5.22580473e-01 -2.67111077e-03 1.34738497e+02] [ 3.29351779e-03 2.61988833e-04 9.99994542e-01 7.08894291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.73, Z:0.71 [[-5.22526686e-01 -8.52621880e-01 1.33874612e-03 2.10002253e+02] [ 8.52619918e-01 -5.22528370e-01 -1.83789230e-03 1.34732923e+02] [ 2.26656002e-03 1.81093839e-04 9.99997415e-01 7.09850440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.75, Z:0.71 [[-5.23038424e-01 -8.52307472e-01 1.66761471e-03 2.09991009e+02] [ 8.52304430e-01 -5.23041034e-01 -2.28793221e-03 1.34746204e+02] [ 2.82225264e-03 2.24638949e-04 9.99995992e-01 7.09959389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.73, Z:0.71 [[-5.23797897e-01 -8.51840094e-01 2.05360815e-03 2.10000378e+02] [ 8.51835485e-01 -5.23801851e-01 -2.81573078e-03 1.34730947e+02] [ 3.47423612e-03 2.74462434e-04 9.99993927e-01 7.09585115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.73, Z:0.71 [[-5.24736331e-01 -8.51261206e-01 2.47845464e-03 2.09998579e+02] [ 8.51254494e-01 -5.24742082e-01 -3.39611523e-03 1.34729889e+02] [ 4.19153060e-03 3.27730604e-04 9.99991162e-01 7.09317344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.74, Z:0.71 [[-5.25978154e-01 -8.50493822e-01 2.69075011e-03 2.09984315e+02] [ 8.50485912e-01 -5.25984920e-01 -3.68470173e-03 1.34744664e+02] [ 4.54911004e-03 3.50372449e-04 9.99989591e-01 7.09292032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.73, Z:0.71 [[-5.27291843e-01 -8.49680105e-01 2.65182378e-03 2.09988829e+02] [ 8.49672422e-01 -5.27298402e-01 -3.62911741e-03 1.34734482e+02] [ 4.48189130e-03 3.39577522e-04 9.99989899e-01 7.09261368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.76, Z:0.71 [[-5.30723769e-01 -8.47541900e-01 2.23789082e-03 2.09970157e+02] [ 8.47536417e-01 -5.30728418e-01 -3.06071383e-03 1.34756318e+02] [ 3.78179547e-03 2.72300391e-04 9.99992812e-01 7.10181376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.74, Z:0.71 [[-5.33236341e-01 -8.45963305e-01 2.25638474e-03 2.09979130e+02] [ 8.45957725e-01 -5.33241049e-01 -3.08404826e-03 1.34742457e+02] [ 3.81218863e-03 2.64279491e-04 9.99992699e-01 7.10631587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.75, Z:0.71 [[-5.35685307e-01 -8.44413889e-01 2.53668447e-03 2.09970577e+02] [ 8.44406829e-01 -5.35691237e-01 -3.46495226e-03 1.34752516e+02] [ 4.28473346e-03 2.85869677e-04 9.99990780e-01 7.10351620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.76, Z:0.71 [[-5.37914893e-01 -8.42993998e-01 2.94751195e-03 2.09964791e+02] [ 8.42984457e-01 -5.37922873e-01 -4.02352781e-03 1.34758542e+02] [ 4.97734389e-03 3.20391225e-04 9.99987562e-01 7.10256550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:134.78, Z:0.71 [[-5.39795560e-01 -8.41790355e-01 3.12285510e-03 2.09947012e+02] [ 8.41779639e-01 -5.39804493e-01 -4.26011642e-03 1.34781850e+02] [ 5.27185613e-03 3.29163912e-04 9.99986050e-01 7.10817119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:134.77, Z:0.71 [[-5.41556829e-01 -8.40659050e-01 2.92621370e-03 2.09952120e+02] [ 8.40649638e-01 -5.41564652e-01 -3.98926537e-03 1.34774552e+02] [ 4.93834593e-03 2.99506581e-04 9.99987761e-01 7.10807327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.161400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.96, Y:134.76, Z:0.71 [[-5.43782443e-01 -8.39222667e-01 2.44330362e-03 2.09959059e+02] [ 8.39216100e-01 -5.43787879e-01 -3.32877470e-03 1.34761620e+02] [ 4.12222207e-03 2.40330502e-04 9.99991475e-01 7.10569780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:134.79, Z:0.71 [[-5.44622374e-01 -8.38678576e-01 2.17190690e-03 2.09937401e+02] [ 8.38673389e-01 -5.44626663e-01 -2.95709845e-03 1.34789047e+02] [ 3.66293352e-03 2.11018545e-04 9.99993269e-01 7.10228122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.221400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.95, Y:134.77, Z:0.71 [[-5.45583471e-01 -8.38053552e-01 2.21806463e-03 2.09947452e+02] [ 8.38048145e-01 -5.45587938e-01 -3.01795573e-03 1.34774341e+02] [ 3.73935782e-03 2.12298189e-04 9.99992986e-01 7.09621573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.76, Z:0.71 [[-5.46801808e-01 -8.37258104e-01 2.57894632e-03 2.09955974e+02] [ 8.37250795e-01 -5.46807836e-01 -3.50667645e-03 1.34763092e+02] [ 4.34618133e-03 2.41767829e-04 9.99990526e-01 7.09834637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:134.79, Z:0.71 [[-5.48560000e-01 -8.36106375e-01 2.83828781e-03 2.09937006e+02] [ 8.36097520e-01 -5.48567282e-01 -3.85676903e-03 1.34789565e+02] [ 4.78166101e-03 2.57416178e-04 9.99988535e-01 7.09572736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:134.80, Z:0.71 [[-5.52723037e-01 -8.33361688e-01 2.35386787e-03 2.09934506e+02] [ 8.33355581e-01 -5.52728015e-01 -3.19641002e-03 1.34795640e+02] [ 3.96481437e-03 1.94879467e-04 9.99992121e-01 7.09864843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:134.79, Z:0.71 [[-5.54874759e-01 -8.31931832e-01 1.85188330e-03 2.09938610e+02] [ 8.31928049e-01 -5.54877830e-01 -2.51308909e-03 1.34791845e+02] [ 3.11828780e-03 1.46183954e-04 9.99995127e-01 7.09767536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:134.79, Z:0.71 [[-5.56855727e-01 -8.30608035e-01 1.41091603e-03 2.09938883e+02] [ 8.30605838e-01 -5.56857505e-01 -1.91342257e-03 1.34793440e+02] [ 2.37498334e-03 1.06414776e-04 9.99997174e-01 7.09758198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:134.80, Z:0.71 [[-5.58943164e-01 -8.29204849e-01 1.36287074e-03 2.09938638e+02] [ 8.29202798e-01 -5.58944817e-01 -1.84703481e-03 1.34796129e+02] [ 2.29333976e-03 9.77087510e-05 9.99997366e-01 7.09002208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:134.83, Z:0.71 [[-5.63859191e-01 -8.25869750e-01 1.40305959e-03 2.09923328e+02] [ 8.25867569e-01 -5.63860930e-01 -1.90021389e-03 1.34826831e+02] [ 2.36045966e-03 8.72883457e-05 9.99997210e-01 7.09053308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:134.81, Z:0.71 [[-5.66845208e-01 -8.23823236e-01 1.33657019e-03 2.09937999e+02] [ 8.23821253e-01 -5.66846779e-01 -1.80893844e-03 1.34814604e+02] [ 2.24787603e-03 7.57068476e-05 9.99997471e-01 7.09687201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:134.83, Z:0.71 [[-5.69765757e-01 -8.21805551e-01 1.61839231e-03 2.09933591e+02] [ 8.21802640e-01 -5.69768049e-01 -2.18885246e-03 1.34828524e+02] [ 2.72091933e-03 8.28658971e-05 9.99996295e-01 7.10113280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:134.83, Z:0.71 [[-5.72599355e-01 -8.19833141e-01 1.89708449e-03 2.09934550e+02] [ 8.19829136e-01 -5.72602491e-01 -2.56400708e-03 1.34834739e+02] [ 3.18833328e-03 8.71363412e-05 9.99994913e-01 7.09881703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:134.83, Z:0.71 [[-5.75252446e-01 -8.17973080e-01 2.15951119e-03 2.09946136e+02] [ 8.17967885e-01 -5.75256492e-01 -2.91668113e-03 1.34827508e+02] [ 3.62803948e-03 8.85828461e-05 9.99993415e-01 7.09198881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:134.83, Z:0.71 [[-5.75519190e-01 -8.17785421e-01 2.16046246e-03 2.09947643e+02] [ 8.17780227e-01 -5.75523238e-01 -2.91597656e-03 1.34825599e+02] [ 3.62803947e-03 8.85830173e-05 9.99993415e-01 7.09198458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61140051300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.95, Y:134.83, Z:0.71 [[-5.77844963e-01 -8.16143640e-01 2.18109244e-03 2.09948004e+02] [ 8.16138342e-01 -5.77849074e-01 -2.94180770e-03 1.34834618e+02] [ 3.66127989e-03 8.01644074e-05 9.99993294e-01 7.08810766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:134.86, Z:0.71 [[-5.80790158e-01 -8.14050850e-01 2.00164420e-03 2.09945096e+02] [ 8.14046381e-01 -5.80793604e-01 -2.69791667e-03 1.34857902e+02] [ 3.35878351e-03 6.25077681e-05 9.99994357e-01 7.09316345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:134.85, Z:0.71 [[-5.81321853e-01 -8.13670495e-01 2.28659515e-03 2.09953424e+02] [ 8.13664669e-01 -5.81326346e-01 -3.07983557e-03 1.34854905e+02] [ 3.83522934e-03 7.01459692e-05 9.99992643e-01 7.09008964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.86, Z:0.71 [[-5.81232998e-01 -8.13732934e-01 2.62948807e-03 2.09957217e+02] [ 8.13725241e-01 -5.81238940e-01 -3.53921258e-03 1.34855249e+02] [ 4.40833470e-03 8.25736714e-05 9.99990280e-01 7.08851840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.84, Z:0.71 [[-5.80523909e-01 -8.14239324e-01 2.51289405e-03 2.09974350e+02] [ 8.14232313e-01 -5.80529341e-01 -3.37995671e-03 1.34836089e+02] [ 4.21090239e-03 8.39338499e-05 9.99991131e-01 7.08633399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.84, Z:0.71 [[-5.79623689e-01 -8.14881773e-01 2.01882275e-03 2.09971060e+02] [ 8.14877258e-01 -5.79627200e-01 -2.71356589e-03 1.34844180e+02] [ 3.38139996e-03 7.22456749e-05 9.99994280e-01 7.09142433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.84, Z:0.71 [[-5.78852185e-01 -8.15430964e-01 1.57806340e-03 2.09977061e+02] [ 8.15428211e-01 -5.78854333e-01 -2.11969116e-03 1.34840071e+02] [ 2.64193064e-03 5.98095610e-05 9.99996508e-01 7.09789754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.84, Z:0.71 [[-5.78570151e-01 -8.15631906e-01 1.08360471e-03 2.09986783e+02] [ 8.15630610e-01 -5.78571164e-01 -1.45455629e-03 1.34835661e+02] [ 1.81332496e-03 4.22583197e-05 9.99998355e-01 7.09983155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.84, Z:0.71 [[-5.79454642e-01 -8.15003922e-01 9.61749680e-04 2.09989210e+02] [ 8.15002902e-01 -5.79455439e-01 -1.29011578e-03 1.34835578e+02] [ 1.60874050e-03 3.62652044e-05 9.99998705e-01 7.09666164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.881400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.00, Y:134.83, Z:0.71 [[-5.80526983e-01 -8.14240499e-01 9.12095680e-04 2.09998284e+02] [ 8.14239582e-01 -5.80527698e-01 -1.22268097e-03 1.34825684e+02] [ 1.52505317e-03 3.28651091e-05 9.99998837e-01 7.08969683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.84, Z:0.71 [[-5.81318178e-01 -8.13675647e-01 1.05734980e-03 2.09992996e+02] [ 8.13674415e-01 -5.81319139e-01 -1.41641763e-03 1.34835856e+02] [ 1.76716221e-03 3.69491618e-05 9.99998438e-01 7.09153189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.84, Z:0.71 [[-5.82112436e-01 -8.13107330e-01 1.25781821e-03 2.09995163e+02] [ 8.13105588e-01 -5.82113793e-01 -1.68379472e-03 1.34836158e+02] [ 2.10129916e-03 4.25811691e-05 9.99997791e-01 7.09232292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:134.82, Z:0.71 [[-5.83576407e-01 -8.12056621e-01 1.61914385e-03 2.10006202e+02] [ 8.12053734e-01 -5.83578651e-01 -2.16598557e-03 1.34823249e+02] [ 2.70380071e-03 5.08137291e-05 9.99996343e-01 7.09899328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.83, Z:0.71 [[-5.84517493e-01 -8.11379251e-01 1.73552939e-03 2.10001756e+02] [ 8.11375935e-01 -5.84520067e-01 -2.32009449e-03 1.34828059e+02] [ 2.89692829e-03 5.20309634e-05 9.99995803e-01 7.09942787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.83, Z:0.71 [[-5.85307539e-01 -8.10809085e-01 1.92657591e-03 2.10001688e+02] [ 8.10805003e-01 -5.85310707e-01 -2.57372459e-03 1.34826776e+02] [ 3.21444479e-03 5.56569798e-05 9.99994832e-01 7.10017644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.85, Z:0.71 [[-5.87050744e-01 -8.09546358e-01 2.47365123e-03 2.09980228e+02] [ 8.09539625e-01 -5.87055952e-01 -3.30226214e-03 1.34854341e+02] [ 4.12550597e-03 6.39232448e-05 9.99991488e-01 7.09544960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.84, Z:0.71 [[-5.88499098e-01 -8.08495086e-01 2.12309519e-03 2.09986836e+02] [ 8.08490126e-01 -5.88502926e-01 -2.83232047e-03 1.34844961e+02] [ 3.53936492e-03 4.96834548e-05 9.99993735e-01 7.09616341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.84, Z:0.71 [[-5.90261048e-01 -8.07211340e-01 1.32194754e-03 2.09986663e+02] [ 8.07209417e-01 -5.90262528e-01 -1.76235835e-03 1.34844641e+02] [ 2.20289174e-03 2.68370126e-05 9.99997573e-01 7.10038045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.84, Z:0.71 [[-5.92211004e-01 -8.05782470e-01 8.58790936e-04 2.09988953e+02] [ 8.05781658e-01 -5.92211627e-01 -1.14413765e-03 1.34841593e+02] [ 1.43051204e-03 1.44270762e-05 9.99998977e-01 7.09894442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.84, Z:0.71 [[-5.94714740e-01 -8.03936616e-01 5.44727066e-04 2.09988024e+02] [ 8.03936288e-01 -5.94714989e-01 -7.25251178e-04 1.34843484e+02] [ 9.07013328e-04 6.60829002e-06 9.99999589e-01 7.09863775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.85, Z:0.71 [[-5.97660064e-01 -8.01749444e-01 5.26822093e-04 2.09980694e+02] [ 8.01749137e-01 -5.97660296e-01 -7.00925748e-04 1.34854012e+02] [ 8.76827477e-04 3.46383112e-06 9.99999616e-01 7.09706231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.87, Z:0.71 [[-6.03782788e-01 -7.97147541e-01 1.46393841e-03 2.09971069e+02] [ 7.97145165e-01 -6.03784563e-01 -1.94619718e-03 1.34866568e+02] [ 2.43530971e-03 -8.10893125e-06 9.99997035e-01 7.08976790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.87, Z:0.71 [[-6.06523845e-01 -7.95061959e-01 2.30361974e-03 2.09968097e+02] [ 7.95056070e-01 -6.06528219e-01 -3.06025511e-03 1.34871789e+02] [ 3.83030280e-03 -2.46108428e-05 9.99992664e-01 7.08240476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.88, Z:0.71 [[-6.08950429e-01 -7.93202457e-01 3.03923722e-03 2.09962483e+02] [ 7.93192198e-01 -6.08958012e-01 -4.03456192e-03 1.34883088e+02] [ 5.05099228e-03 -4.61489661e-05 9.99987243e-01 7.08429962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.88, Z:0.71 [[-6.10729340e-01 -7.91832226e-01 3.37642225e-03 2.09967905e+02] [ 7.91819561e-01 -6.10738670e-01 -4.47893231e-03 1.34880506e+02] [ 5.60867457e-03 -6.18981872e-05 9.99984269e-01 7.09034732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36140051300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.96, Y:134.89, Z:0.71 [[-6.11683527e-01 -7.91096094e-01 3.19874519e-03 2.09963141e+02] [ 7.91084733e-01 -6.11691888e-01 -4.24017643e-03 1.34890179e+02] [ 5.31103350e-03 -6.31675894e-05 9.99985894e-01 7.08748804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:134.89, Z:0.71 [[-6.11629729e-01 -7.91138306e-01 3.04226377e-03 2.09963018e+02] [ 7.91128044e-01 -6.11637293e-01 -4.02982412e-03 1.34891362e+02] [ 5.04891020e-03 -5.79400477e-05 9.99987253e-01 7.10090789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.88, Z:0.71 [[-6.09983381e-01 -7.92410402e-01 2.45543807e-03 2.09970045e+02] [ 7.92403737e-01 -6.09988322e-01 -3.25016933e-03 1.34879504e+02] [ 4.07325653e-03 -3.68509769e-05 9.99991704e-01 7.09911817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.88, Z:0.71 [[-6.08719376e-01 -7.93381810e-01 2.45451368e-03 2.09970142e+02] [ 7.93375168e-01 -6.08724324e-01 -3.24659963e-03 1.34879391e+02] [ 4.06991527e-03 -2.89178967e-05 9.99991717e-01 7.09916602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.87, Z:0.71 [[-6.07331085e-01 -7.94445513e-01 2.29776224e-03 2.09977485e+02] [ 7.94439708e-01 -6.07335432e-01 -3.03708048e-03 1.34870123e+02] [ 3.80830739e-03 -1.90798182e-05 9.99992748e-01 7.10394648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.86, Z:0.71 [[-6.05933359e-01 -7.95513381e-01 1.79610148e-03 2.09982230e+02] [ 7.95509843e-01 -6.05936021e-01 -2.37232696e-03 1.34863491e+02] [ 2.97554043e-03 -8.65564106e-06 9.99995573e-01 7.10975900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.85, Z:0.71 [[-6.03442899e-01 -7.97406212e-01 -2.56946968e-05 2.09988841e+02] [ 7.97406212e-01 -6.03442899e-01 3.38170255e-05 1.34847707e+02] [-4.24711884e-05 -8.24668887e-08 9.99999999e-01 7.11045945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:134.82, Z:0.71 [[-6.02376430e-01 -7.98211506e-01 -1.01390701e-03 2.10006454e+02] [ 7.98210386e-01 -6.02377283e-01 1.33714851e-03 1.34820686e+02] [-1.67808188e-03 -3.84436389e-06 9.99998592e-01 7.10968861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.82, Z:0.71 [[-6.01669342e-01 -7.98743831e-01 -1.51479264e-03 2.10001507e+02] [ 7.98741336e-01 -6.01671249e-01 1.99637572e-03 1.34823940e+02] [-2.50599996e-03 -8.76942946e-06 9.99996860e-01 7.11173662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.82, Z:0.71 [[-6.01520393e-01 -7.98856954e-01 -8.84977556e-04 2.10001010e+02] [ 7.98856104e-01 -6.01521044e-01 1.16547586e-03 1.34822059e+02] [-1.46338112e-03 -5.91222408e-06 9.99998929e-01 7.11026459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.82, Z:0.71 [[-6.01982425e-01 -7.98509285e-01 2.86003367e-04 2.10002495e+02] [ 7.98509196e-01 -6.01982493e-01 -3.76514511e-04 1.34817342e+02] [ 4.72819353e-04 1.72120047e-06 9.99999888e-01 7.09887205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.83, Z:0.71 [[-6.03030620e-01 -7.97716033e-01 1.78949961e-03 2.09993276e+02] [ 7.97712561e-01 -6.03033275e-01 -2.35367773e-03 1.34827119e+02] [ 2.95669428e-03 8.16657708e-06 9.99995629e-01 7.09212191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.84, Z:0.71 [[-6.05819386e-01 -7.95595163e-01 3.34782528e-03 2.09980844e+02] [ 7.95582995e-01 -6.05828636e-01 -4.40009306e-03 1.34843022e+02] [ 5.52890118e-03 -2.18880858e-06 9.99984716e-01 7.09530768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.85, Z:0.71 [[-6.07516850e-01 -7.94298498e-01 3.62947460e-03 2.09980086e+02] [ 7.94284194e-01 -6.07527691e-01 -4.76684637e-03 1.34845831e+02] [ 5.99130524e-03 -1.31051852e-05 9.99982052e-01 7.10214819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.84, Z:0.71 [[-6.09287760e-01 -7.92939497e-01 3.92162225e-03 2.09984583e+02] [ 7.92922794e-01 -6.09300380e-01 -5.14684864e-03 1.34840974e+02] [ 6.47058550e-03 -2.63682106e-05 9.99979065e-01 7.09918679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:134.87, Z:0.71 [[-6.10308164e-01 -7.92151243e-01 4.51144585e-03 2.09965414e+02] [ 7.92129147e-01 -6.10324837e-01 -5.91665496e-03 1.34865346e+02] [ 7.44033304e-03 -3.73350683e-05 9.99972320e-01 7.08497019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:134.85, Z:0.71 [[-6.09356460e-01 -7.92884898e-01 4.27119259e-03 2.09975401e+02] [ 7.92865140e-01 -6.09371429e-01 -5.59749912e-03 1.34852088e+02] [ 7.04091524e-03 -2.43925377e-05 9.99975212e-01 7.08210638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:134.83, Z:0.71 [[-6.07560654e-01 -7.94265801e-01 3.44788834e-03 2.09991050e+02] [ 7.94252967e-01 -6.07570438e-01 -4.51531045e-03 1.34832387e+02] [ 5.68119170e-03 -4.82942401e-06 9.99983862e-01 7.09007387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:134.82, Z:0.71 [[-6.05420463e-01 -7.95901298e-01 2.68086047e-03 2.10003012e+02] [ 7.95893565e-01 -6.05426399e-01 -3.50835090e-03 1.34818105e+02] [ 4.41536474e-03 9.65216419e-06 9.99990252e-01 7.10170541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:134.81, Z:0.71 [[-6.03126840e-01 -7.97642408e-01 2.14561597e-03 2.10010447e+02] [ 7.97637473e-01 -6.03130656e-01 -2.80593801e-03 1.34809197e+02] [ 3.53222192e-03 1.90871782e-05 9.99993762e-01 7.10871162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:134.81, Z:0.71 [[-6.00759649e-01 -7.99426789e-01 2.15686306e-03 2.10008546e+02] [ 7.99421821e-01 -6.00763521e-01 -2.81866560e-03 1.34811124e+02] [ 3.54908144e-03 3.09028366e-05 9.99993702e-01 7.10836372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:134.78, Z:0.71 [[-5.95376695e-01 -8.03441881e-01 2.78106494e-03 2.10028309e+02] [ 8.03433676e-01 -5.95383186e-01 -3.63183716e-03 1.34783186e+02] [ 4.57376938e-03 7.20900203e-05 9.99989538e-01 7.09443333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:134.79, Z:0.71 [[-5.92993390e-01 -8.05201085e-01 3.17052808e-03 2.10026469e+02] [ 8.05190460e-01 -5.93001858e-01 -4.13757175e-03 1.34786146e+02] [ 5.21170631e-03 9.93262646e-05 9.99986414e-01 7.09373061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:134.76, Z:0.71 [[-5.90774553e-01 -8.06830158e-01 3.24403467e-03 2.10048459e+02] [ 8.06819075e-01 -5.90783448e-01 -4.23059933e-03 1.34758152e+02] [ 5.32989712e-03 1.18018623e-04 9.99985789e-01 7.09979612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:134.74, Z:0.71 [[-5.88779059e-01 -8.08287687e-01 3.19918537e-03 2.10059360e+02] [ 8.08276945e-01 -5.88787735e-01 -4.16930093e-03 1.34743238e+02] [ 5.25363571e-03 1.31030706e-04 9.99986191e-01 7.10720776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11140051300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.06, Y:134.73, Z:0.71 [[-5.84474300e-01 -8.11407861e-01 2.66007477e-03 2.10064897e+02] [ 8.11400476e-01 -5.84480338e-01 -3.46441092e-03 1.34730263e+02] [ 4.36581165e-03 1.33526782e-04 9.99990461e-01 7.10792888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.141400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.07, Y:134.72, Z:0.71 [[-5.82489062e-01 -8.12836139e-01 1.97584591e-03 2.10068879e+02] [ 8.12832078e-01 -5.82492403e-01 -2.57160229e-03 1.34723920e+02] [ 3.24120651e-03 1.08100729e-04 9.99994741e-01 7.10985289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.171400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:210.07, Y:134.72, Z:0.71 [[-5.80773660e-01 -8.14064211e-01 1.19049723e-03 2.10070908e+02] [ 8.14062741e-01 -5.80774876e-01 -1.54846328e-03 1.34721589e+02] [ 1.95195942e-03 6.98327497e-05 9.99998093e-01 7.11606679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:134.70, Z:0.71 [[-5.79522713e-01 -8.14955870e-01 5.96569745e-04 2.10089423e+02] [ 8.14955502e-01 -5.79523018e-01 -7.75483398e-04 1.34698696e+02] [ 9.77710646e-04 3.67675536e-05 9.99999521e-01 7.12040232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.231400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.09, Y:134.70, Z:0.71 [[-5.79046037e-01 -8.15294715e-01 4.64801873e-04 2.10091317e+02] [ 8.15294491e-01 -5.79046222e-01 -6.03822555e-04 1.34697508e+02] [ 7.61435107e-04 2.93093499e-05 9.99999710e-01 7.11968502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.261400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.09, Y:134.69, Z:0.71 [[-5.78747662e-01 -8.15506472e-01 5.80647050e-04 2.10094110e+02] [ 8.15506125e-01 -5.78747953e-01 -7.53803345e-04 1.34694761e+02] [ 9.50779798e-04 3.72593018e-05 9.99999547e-01 7.10779414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.291400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.10, Y:134.69, Z:0.71 [[-5.79405118e-01 -8.15039298e-01 8.07417558e-04 2.10102450e+02] [ 8.15038627e-01 -5.79405678e-01 -1.04748492e-03 1.34685909e+02] [ 1.32156370e-03 5.11583715e-05 9.99999125e-01 7.09999677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:134.69, Z:0.71 [[-5.79857590e-01 -8.14716867e-01 1.26537970e-03 2.10100067e+02] [ 8.14715219e-01 -5.79858966e-01 -1.64049708e-03 1.34692913e+02] [ 2.07028241e-03 7.96694148e-05 9.99997854e-01 7.10235707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:134.68, Z:0.71 [[-5.80425614e-01 -8.14311419e-01 1.73749980e-03 2.10109374e+02] [ 8.14308315e-01 -5.80428205e-01 -2.25108167e-03 1.34683815e+02] [ 2.84157540e-03 1.08275069e-04 9.99995957e-01 7.10323496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.11, Y:134.69, Z:0.71 [[-5.80614722e-01 -8.14175030e-01 2.35919743e-03 2.10108579e+02] [ 8.14169313e-01 -5.80619496e-01 -3.05453389e-03 1.34686633e+02] [ 3.85672125e-03 1.47278803e-04 9.99992552e-01 7.10104762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:134.69, Z:0.71 [[-5.80278679e-01 -8.14413211e-01 2.78858146e-03 2.10105816e+02] [ 8.14405238e-01 -5.80285353e-01 -3.60810854e-03 1.34692285e+02] [ 4.55666424e-03 1.77326884e-04 9.99989603e-01 7.10479902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.441400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.12, Y:134.68, Z:0.71 [[-5.78063802e-01 -8.15986329e-01 2.92435673e-03 2.10122939e+02] [ 8.15977592e-01 -5.78071164e-01 -3.78133028e-03 1.34677615e+02] [ 4.77600011e-03 2.00359404e-04 9.99988575e-01 7.10382529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:134.68, Z:0.71 [[-5.77045696e-01 -8.16708287e-01 2.41625584e-03 2.10124494e+02] [ 8.16702337e-01 -5.77050730e-01 -3.12233170e-03 1.34680978e+02] [ 3.94433637e-03 1.71633714e-04 9.99992206e-01 7.11438122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:134.68, Z:0.71 [[-5.76299001e-01 -8.17235585e-01 2.33662882e-03 2.10130189e+02] [ 8.17230032e-01 -5.76303713e-01 -3.01749131e-03 1.34678503e+02] [ 3.81260914e-03 1.70586021e-04 9.99992717e-01 7.11904227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:134.68, Z:0.71 [[-5.76553990e-01 -8.17055709e-01 2.33757035e-03 2.10131729e+02] [ 8.17050158e-01 -5.76558704e-01 -3.01676198e-03 1.34676636e+02] [ 3.81260913e-03 1.70586070e-04 9.99992717e-01 7.11903803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:134.67, Z:0.71 [[-5.76153587e-01 -8.17338064e-01 2.35238517e-03 2.10138763e+02] [ 8.17332452e-01 -5.76158363e-01 -3.03392821e-03 1.34671270e+02] [ 3.83509140e-03 1.74672120e-04 9.99992631e-01 7.11656590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:134.67, Z:0.71 [[-5.75733035e-01 -8.17632829e-01 2.83366511e-03 2.10145927e+02] [ 8.17624700e-01 -5.75739968e-01 -3.65228648e-03 1.34668128e+02] [ 4.61768359e-03 2.14132607e-04 9.99989316e-01 7.10196337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:134.67, Z:0.71 [[-5.75761076e-01 -8.17612005e-01 3.12929035e-03 2.10149088e+02] [ 8.17602104e-01 -5.75769531e-01 -4.03072478e-03 1.34667523e+02] [ 5.09731901e-03 2.37779941e-04 9.99986980e-01 7.09843881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:134.66, Z:0.71 [[-5.75845245e-01 -8.17552075e-01 3.29526580e-03 2.10156910e+02] [ 8.17541109e-01 -5.75854619e-01 -4.24179725e-03 1.34661166e+02] [ 5.36548417e-03 2.51396477e-04 9.99985574e-01 7.09497748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:134.65, Z:0.71 [[-5.75719549e-01 -8.17639654e-01 3.52094912e-03 2.10165612e+02] [ 8.17627154e-01 -5.75730251e-01 -4.52942013e-03 1.34653218e+02] [ 5.73055043e-03 2.71147892e-04 9.99983544e-01 7.09828771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:134.66, Z:0.71 [[-5.75308900e-01 -8.17927538e-01 3.76982080e-03 2.10159587e+02] [ 8.17913233e-01 -5.75321175e-01 -4.84648277e-03 1.34663625e+02] [ 6.13292945e-03 2.95161647e-04 9.99981150e-01 7.10025489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:134.65, Z:0.71 [[-5.74695504e-01 -8.18357616e-01 3.98629576e-03 2.10169644e+02] [ 8.18341652e-01 -5.74709241e-01 -5.12151683e-03 1.34652476e+02] [ 6.48219331e-03 3.18839163e-04 9.99978940e-01 7.09969411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:134.64, Z:0.71 [[-5.73796901e-01 -8.18987326e-01 4.10813190e-03 2.10178508e+02] [ 8.18970409e-01 -5.73811508e-01 -5.27471037e-03 1.34643141e+02] [ 6.67721430e-03 3.37826006e-04 9.99977650e-01 7.09870819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:134.64, Z:0.71 [[-5.73591452e-01 -8.19134029e-01 3.50554779e-03 2.10179339e+02] [ 8.19121730e-01 -5.73602090e-01 -4.49818671e-03 1.34642689e+02] [ 5.69540735e-03 2.91348926e-04 9.99983739e-01 7.10321005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:134.65, Z:0.71 [[-5.73268624e-01 -8.19363507e-01 2.55486829e-03 2.10172427e+02] [ 8.19356985e-01 -5.73274277e-01 -3.27625863e-03 1.34651781e+02] [ 4.14908704e-03 2.15172900e-04 9.99991369e-01 7.10883972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86140051300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.19, Y:134.63, Z:0.71 [[-5.72865484e-01 -8.19647826e-01 1.60579117e-03 2.10190342e+02] [ 8.19645254e-01 -5.72867718e-01 -2.05793363e-03 1.34628830e+02] [ 2.60668675e-03 1.37259964e-04 9.99996593e-01 7.11268878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.63, Z:0.71 [[-5.72604689e-01 -8.19831111e-01 9.05306697e-04 2.10191085e+02] [ 8.19830295e-01 -5.72605399e-01 -1.15952368e-03 1.34627712e+02] [ 1.46899709e-03 7.82491616e-05 9.99998918e-01 7.12402702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.62, Z:0.71 [[-5.72390800e-01 -8.19980160e-01 1.14402445e-03 2.10195011e+02] [ 8.19978859e-01 -5.72391935e-01 -1.46433774e-03 1.34620271e+02] [ 1.85555826e-03 9.99024157e-05 9.99998273e-01 7.12110766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.61, Z:0.71 [[-5.72352515e-01 -8.20006309e-01 1.50083072e-03 2.10200381e+02] [ 8.20004072e-01 -5.72354468e-01 -1.91982378e-03 1.34612227e+02] [ 2.43327478e-03 1.31871332e-04 9.99997031e-01 7.12015619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.62, Z:0.71 [[-5.72308422e-01 -8.20036435e-01 1.82071442e-03 2.10191862e+02] [ 8.20033148e-01 -5.72311296e-01 -2.32754078e-03 1.34621372e+02] [ 2.95068367e-03 1.60974987e-04 9.99995634e-01 7.12296656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.61, Z:0.71 [[-5.72396443e-01 -8.19974973e-01 1.83160841e-03 2.10201237e+02] [ 8.19971650e-01 -5.72399351e-01 -2.34000670e-03 1.34606690e+02] [ 2.96715840e-03 1.62455459e-04 9.99995585e-01 7.12321641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.61, Z:0.71 [[-5.72274525e-01 -8.20060972e-01 1.36774354e-03 2.10193125e+02] [ 8.20059122e-01 -5.72276146e-01 -1.74632035e-03 1.34608796e+02] [ 2.21481616e-03 1.22255919e-04 9.99997540e-01 7.12527343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.61, Z:0.71 [[-5.72231312e-01 -8.20091034e-01 1.42193373e-03 2.10189151e+02] [ 8.20089037e-01 -5.72233064e-01 -1.81437214e-03 1.34610414e+02] [ 2.30162782e-03 1.27871713e-04 9.99997343e-01 7.12794406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.60, Z:0.71 [[-5.72215024e-01 -8.20101894e-01 1.68803941e-03 2.10194643e+02] [ 8.20099084e-01 -5.72217493e-01 -2.15255890e-03 1.34602114e+02] [ 2.73124331e-03 1.52633035e-04 9.99996259e-01 7.13175938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.60, Z:0.71 [[-5.72231448e-01 -8.20088706e-01 2.38431725e-03 2.10195648e+02] [ 8.20083105e-01 -5.72236374e-01 -3.03851129e-03 1.34599850e+02] [ 3.85624185e-03 2.16606577e-04 9.99992541e-01 7.12999760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.60, Z:0.71 [[-5.71979340e-01 -8.20263425e-01 2.74738897e-03 2.10192527e+02] [ 8.20256001e-01 -5.71985882e-01 -3.49900310e-03 1.34600542e+02] [ 4.44157197e-03 2.52204813e-04 9.99990104e-01 7.12421647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.60, Z:0.71 [[-5.71967954e-01 -8.20272576e-01 2.35804167e-03 2.10194849e+02] [ 8.20267114e-01 -5.71972774e-01 -3.00127681e-03 1.34596691e+02] [ 3.81060070e-03 2.17589875e-04 9.99992716e-01 7.12292250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.59, Z:0.71 [[-5.71366639e-01 -8.20692265e-01 2.09029850e-03 2.10204531e+02] [ 8.20687982e-01 -5.71370429e-01 -2.65885267e-03 1.34585272e+02] [ 3.37643457e-03 1.96303142e-04 9.99994281e-01 7.12949917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.58, Z:0.71 [[-5.70667699e-01 -8.21178185e-01 2.18292259e-03 2.10206749e+02] [ 8.21173523e-01 -5.70671836e-01 -2.77494612e-03 1.34583583e+02] [ 3.52445766e-03 2.08986112e-04 9.99993767e-01 7.13413574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.59, Z:0.71 [[-5.69920309e-01 -8.21695591e-01 2.68267315e-03 2.10205490e+02] [ 8.21688565e-01 -5.69926562e-01 -3.40809923e-03 1.34585926e+02] [ 4.32934680e-03 2.61976892e-04 9.99990594e-01 7.13348916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.58, Z:0.71 [[-5.69175491e-01 -8.22210083e-01 3.13684564e-03 2.10212303e+02] [ 8.22200497e-01 -5.69184049e-01 -3.98260260e-03 1.34577001e+02] [ 5.05997852e-03 3.12316256e-04 9.99987149e-01 7.12556530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.57, Z:0.71 [[-5.67712770e-01 -8.23221048e-01 3.05227671e-03 2.10217978e+02] [ 8.23211998e-01 -5.67720889e-01 -3.87284403e-03 1.34571549e+02] [ 4.92104797e-03 3.14007795e-04 9.99987842e-01 7.12236450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.57, Z:0.71 [[-5.67370201e-01 -8.23458659e-01 2.62523744e-03 2.10220561e+02] [ 8.23451975e-01 -5.67376209e-01 -3.32896013e-03 1.34571702e+02] [ 4.23075831e-03 2.73004180e-04 9.99991013e-01 7.12905824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.57, Z:0.71 [[-5.67085266e-01 -8.23655357e-01 2.48054958e-03 2.10221569e+02] [ 8.23649400e-01 -5.67090632e-01 -3.14355188e-03 1.34574784e+02] [ 3.99589978e-03 2.60441224e-04 9.99991982e-01 7.13665161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.56, Z:0.71 [[-5.66933866e-01 -8.23756948e-01 3.23762577e-03 2.10239237e+02] [ 8.23746814e-01 -5.66943007e-01 -4.10043591e-03 1.34559238e+02] [ 5.21331186e-03 3.42307930e-04 9.99986352e-01 7.12955692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.56, Z:0.71 [[-5.67160940e-01 -8.23598685e-01 3.69783610e-03 2.10240128e+02] [ 8.23585479e-01 -5.67172860e-01 -4.68041837e-03 1.34561180e+02] [ 5.95209869e-03 3.90933634e-04 9.99982210e-01 7.12307956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.56, Z:0.71 [[-5.67235276e-01 -8.23546725e-01 3.86429944e-03 2.10246557e+02] [ 8.23532320e-01 -5.67248291e-01 -4.88812590e-03 1.34556129e+02] [ 6.21761733e-03 4.09658039e-04 9.99980587e-01 7.12294895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.56, Z:0.71 [[-5.66944382e-01 -8.23748288e-01 3.58133792e-03 2.10244160e+02] [ 8.23735935e-01 -5.66955564e-01 -4.52743512e-03 1.34562229e+02] [ 5.75992639e-03 3.83272837e-04 9.99983338e-01 7.12280619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.55, Z:0.71 [[-5.66241981e-01 -8.24233267e-01 3.08870212e-03 2.10253602e+02] [ 8.24224098e-01 -5.66250305e-01 -3.90228617e-03 1.34552259e+02] [ 4.96537260e-03 3.36144465e-04 9.99987616e-01 7.12997131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:134.53, Z:0.71 [[-5.63124079e-01 -8.26368456e-01 2.53890615e-03 2.10270755e+02] [ 8.26362290e-01 -5.63129726e-01 -3.20574670e-03 1.34531799e+02] [ 4.07886148e-03 2.92823139e-04 9.99991639e-01 7.13162695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.52, Z:0.71 [[-5.61518389e-01 -8.27459989e-01 2.65804668e-03 2.10277439e+02] [ 8.27453251e-01 -5.61524591e-01 -3.35416645e-03 1.34524250e+02] [ 4.26799711e-03 3.15983225e-04 9.99990842e-01 7.13182434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:134.53, Z:0.71 [[-5.60608379e-01 -8.28075556e-01 3.01986265e-03 2.10273914e+02] [ 8.28066879e-01 -5.60616393e-01 -3.80844666e-03 1.34530514e+02] [ 4.84666609e-03 3.65601129e-04 9.99988188e-01 7.13418186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:134.53, Z:0.71 [[-5.60589423e-01 -8.28087854e-01 3.16303268e-03 2.10274351e+02] [ 8.28078347e-01 -5.60598214e-01 -3.98660307e-03 1.34532269e+02] [ 5.07444806e-03 3.84391359e-04 9.99987051e-01 7.13442844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.53, Z:0.71 [[-5.62270980e-01 -8.26945137e-01 3.61732162e-03 2.10281349e+02] [ 8.26932696e-01 -5.62282452e-01 -4.55642888e-03 1.34526327e+02] [ 5.80187318e-03 4.29333786e-04 9.99983077e-01 7.12272667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:134.54, Z:0.71 [[-5.64153072e-01 -8.25663090e-01 3.43105985e-03 2.10273556e+02] [ 8.25651888e-01 -5.64163367e-01 -4.31921489e-03 1.34536946e+02] [ 5.50189459e-03 3.96162690e-04 9.99984786e-01 7.11623218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.53, Z:0.71 [[-5.66176978e-01 -8.24278063e-01 3.05037121e-03 2.10278519e+02] [ 8.24269200e-01 -5.66185092e-01 -3.83767348e-03 1.34532604e+02] [ 4.89038477e-03 3.41524665e-04 9.99987984e-01 7.11335967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.53, Z:0.71 [[-5.67676155e-01 -8.23247409e-01 2.73622625e-03 2.10281790e+02] [ 8.23240275e-01 -5.67682670e-01 -3.44038099e-03 1.34531270e+02] [ 4.38559296e-03 2.99549396e-04 9.99990338e-01 7.11400836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.54, Z:0.71 [[-5.68539032e-01 -8.22651494e-01 2.80859383e-03 2.10278623e+02] [ 8.22643980e-01 -5.68545888e-01 -3.52923675e-03 1.34538042e+02] [ 4.50014636e-03 3.03963959e-04 9.99989828e-01 7.12072183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:134.53, Z:0.71 [[-5.68065578e-01 -8.22978024e-01 2.94459846e-03 2.10290542e+02] [ 8.22969780e-01 -5.68073118e-01 -3.69790227e-03 1.34525202e+02] [ 4.71603953e-03 3.22664556e-04 9.99988827e-01 7.12493236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.51, Z:0.71 [[-5.63737080e-01 -8.25948716e-01 3.03701445e-03 2.10299832e+02] [ 8.25939999e-01 -5.63745146e-01 -3.81167533e-03 1.34513554e+02] [ 4.86035049e-03 3.59608994e-04 9.99988124e-01 7.12626028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.52, Z:0.71 [[-5.60818261e-01 -8.27933793e-01 2.91777392e-03 2.10295106e+02] [ 8.27925783e-01 -5.60825733e-01 -3.65983425e-03 1.34517972e+02] [ 4.66646315e-03 3.63198383e-04 9.99989046e-01 7.12852200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.49, Z:0.71 [[-5.57520990e-01 -8.30158214e-01 2.77229403e-03 2.10317542e+02] [ 8.30151020e-01 -5.57527764e-01 -3.47529568e-03 1.34487495e+02] [ 4.43067614e-03 3.63872429e-04 9.99990118e-01 7.13076556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.47, Z:0.71 [[-5.50885681e-01 -8.34574344e-01 3.26061565e-03 2.10322832e+02] [ 8.34564479e-01 -5.50895129e-01 -4.08503808e-03 1.34474349e+02] [ 5.20552525e-03 4.70805015e-04 9.99986340e-01 7.12767399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.45, Z:0.71 [[-5.48271816e-01 -8.36292666e-01 3.54870454e-03 2.10339459e+02] [ 8.36281030e-01 -5.48283042e-01 -4.44338405e-03 1.34449805e+02] [ 5.66166401e-03 5.31532053e-04 9.99983831e-01 7.12162337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.45, Z:0.71 [[-5.46278271e-01 -8.37595255e-01 3.77351349e-03 2.10339951e+02] [ 8.37582145e-01 -5.46290995e-01 -4.72214872e-03 1.34445383e+02] [ 6.01668580e-03 5.81020287e-04 9.99981731e-01 7.12438554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.43, Z:0.71 [[-5.44852877e-01 -8.38523041e-01 3.80152836e-03 2.10351128e+02] [ 8.38509775e-01 -5.44865812e-01 -4.75448433e-03 1.34427412e+02] [ 6.05806750e-03 5.97124223e-04 9.99981471e-01 7.13110683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.43, Z:0.71 [[-5.44197617e-01 -8.38949175e-01 3.63800900e-03 2.10342985e+02] [ 8.38937050e-01 -5.44209471e-01 -4.54738092e-03 1.34431857e+02] [ 5.79486043e-03 5.77386670e-04 9.99983043e-01 7.13481965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.42, Z:0.71 [[-5.44259208e-01 -8.38909891e-01 3.47976436e-03 2.10348310e+02] [ 8.38898810e-01 -5.44270051e-01 -4.34710277e-03 1.34418424e+02] [ 5.54075904e-03 5.53219476e-04 9.99984497e-01 7.13211324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.42, Z:0.71 [[-5.45515643e-01 -8.38096021e-01 2.78264058e-03 2.10334106e+02] [ 8.38088934e-01 -5.45522565e-01 -3.47425026e-03 1.34421544e+02] [ 4.42974854e-03 4.36842414e-04 9.99990093e-01 7.12421689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.43, Z:0.71 [[-5.47084573e-01 -8.37074348e-01 2.23728170e-03 2.10322846e+02] [ 8.37069764e-01 -5.47089039e-01 -2.79175408e-03 1.34428899e+02] [ 3.56089802e-03 3.45435276e-04 9.99993600e-01 7.12428749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.44, Z:0.71 [[-5.49455452e-01 -8.35520791e-01 1.92730522e-03 2.10312912e+02] [ 8.35517384e-01 -5.49458756e-01 -2.40357224e-03 1.34435184e+02] [ 3.06720931e-03 2.89641138e-04 9.99995254e-01 7.12530090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.43, Z:0.71 [[-5.52457719e-01 -8.33539441e-01 1.57131020e-03 2.10309765e+02] [ 8.33537171e-01 -5.52459907e-01 -1.95847937e-03 1.34432510e+02] [ 2.50055568e-03 2.27768410e-04 9.99996848e-01 7.12923705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.46, Z:0.71 [[-5.58986630e-01 -8.29175083e-01 1.62146359e-03 2.10277543e+02] [ 8.29172651e-01 -5.58988940e-01 -2.01979831e-03 1.34459204e+02] [ 2.58114664e-03 2.15433014e-04 9.99996646e-01 7.13696574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:134.46, Z:0.71 [[-5.61563389e-01 -8.27431984e-01 1.69441361e-03 2.10271964e+02] [ 8.27429324e-01 -5.61565904e-01 -2.10940638e-03 1.34460331e+02] [ 2.69691522e-03 2.17442111e-04 9.99996340e-01 7.13793422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:134.47, Z:0.71 [[-5.63243277e-01 -8.26289329e-01 1.71919384e-03 2.10263946e+02] [ 8.26286589e-01 -5.63245860e-01 -2.13896996e-03 1.34465599e+02] [ 2.73573686e-03 2.15786362e-04 9.99996235e-01 7.13937884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.27, Y:134.45, Z:0.71 [[-5.64502341e-01 -8.25429103e-01 1.97561432e-03 2.10269594e+02] [ 8.25425484e-01 -5.64505745e-01 -2.45651297e-03 1.34454313e+02] [ 3.14292293e-03 2.44015088e-04 9.99995031e-01 7.13694662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.391400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.27, Y:134.45, Z:0.71 [[-5.64743829e-01 -8.25263898e-01 1.97633309e-03 2.10271179e+02] [ 8.25260280e-01 -5.64747235e-01 -2.45593473e-03 1.34452463e+02] [ 3.14292291e-03 2.44015212e-04 9.99995031e-01 7.13694238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:134.46, Z:0.71 [[-5.65970773e-01 -8.24422434e-01 2.17583395e-03 2.10262584e+02] [ 8.24418048e-01 -5.65974894e-01 -2.70221663e-03 1.34458667e+02] [ 3.45923540e-03 2.64421147e-04 9.99993982e-01 7.14083230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.47, Z:0.71 [[-5.66910090e-01 -8.23775591e-01 2.59347971e-03 2.10246717e+02] [ 8.23769361e-01 -5.66915936e-01 -3.21893108e-03 1.34472655e+02] [ 4.12196183e-03 3.11584617e-04 9.99991456e-01 7.13848909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.47, Z:0.71 [[-5.68207394e-01 -8.22877721e-01 3.55164237e-03 2.10242591e+02] [ 8.22866035e-01 -5.68218339e-01 -4.40544422e-03 1.34468374e+02] [ 5.64325023e-03 4.19319895e-04 9.99983989e-01 7.13203660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.47, Z:0.71 [[-5.68911520e-01 -8.22390501e-01 3.68050505e-03 2.10242331e+02] [ 8.22377958e-01 -5.68923262e-01 -4.56248991e-03 1.34466611e+02] [ 5.84607330e-03 4.31113163e-04 9.99982819e-01 7.13298654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.47, Z:0.71 [[-5.69669603e-01 -8.21865264e-01 3.74595245e-03 2.10237266e+02] [ 8.21852276e-01 -5.69681753e-01 -4.64077104e-03 1.34471712e+02] [ 5.94808927e-03 4.34913353e-04 9.99982215e-01 7.13601510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.47, Z:0.71 [[-5.70687849e-01 -8.21157283e-01 4.01199016e-03 2.10241563e+02] [ 8.21142387e-01 -5.70701766e-01 -4.96730010e-03 1.34465870e+02] [ 6.36858452e-03 4.59637373e-04 9.99979615e-01 7.14147990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.47, Z:0.71 [[-5.72543352e-01 -8.19864120e-01 4.11528040e-03 2.10240187e+02] [ 8.19848435e-01 -5.72557958e-01 -5.09205450e-03 1.34466445e+02] [ 6.53102932e-03 4.58484247e-04 9.99978568e-01 7.14060543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.47, Z:0.71 [[-5.73068634e-01 -8.19497256e-01 4.07272857e-03 2.10240961e+02] [ 8.19481905e-01 -5.73082929e-01 -5.03630545e-03 1.34466549e+02] [ 6.46124971e-03 4.51378683e-04 9.99979024e-01 7.14339650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.46, Z:0.71 [[-5.73213496e-01 -8.19396273e-01 4.00455435e-03 2.10247072e+02] [ 8.19381448e-01 -5.73227312e-01 -4.94896153e-03 1.34461197e+02] [ 6.35068055e-03 4.44446005e-04 9.99979735e-01 7.14340821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.47, Z:0.71 [[-5.72785607e-01 -8.19694625e-01 4.16769002e-03 2.10240387e+02] [ 8.19678597e-01 -5.72800578e-01 -5.14739566e-03 1.34471605e+02] [ 6.60654781e-03 4.67812154e-04 9.99978067e-01 7.14285512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.46, Z:0.71 [[-5.71822146e-01 -8.20365918e-01 4.38120452e-03 2.10252091e+02] [ 8.20348247e-01 -5.71838709e-01 -5.40776597e-03 1.34458799e+02] [ 6.94168922e-03 5.01833107e-04 9.99975780e-01 7.14049900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:134.45, Z:0.71 [[-5.68212610e-01 -8.22862425e-01 5.64445759e-03 2.10261413e+02] [ 8.22833254e-01 -5.68240228e-01 -6.96273317e-03 1.34448405e+02] [ 8.93677937e-03 6.88134613e-04 9.99959829e-01 7.13304677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:134.44, Z:0.71 [[-5.66105716e-01 -8.24311281e-01 5.93545513e-03 2.10268689e+02] [ 8.24279145e-01 -5.66136334e-01 -7.31724445e-03 1.34438754e+02] [ 9.39196395e-03 7.50137975e-04 9.99955613e-01 7.13348779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:134.43, Z:0.71 [[-5.64134618e-01 -8.25662104e-01 5.85007974e-03 2.10273695e+02] [ 8.25630997e-01 -5.64164432e-01 -7.20763624e-03 1.34431571e+02] [ 9.25147901e-03 7.63930054e-04 9.99956912e-01 7.13530154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:134.42, Z:0.71 [[-5.62651423e-01 -8.26675808e-01 5.52132841e-03 2.10286131e+02] [ 8.26648183e-01 -5.62678027e-01 -6.79851718e-03 1.34415605e+02] [ 8.72689986e-03 7.39000732e-04 9.99961647e-01 7.14269913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:134.41, Z:0.72 [[-5.60463059e-01 -8.28165415e-01 4.81710164e-03 2.10288563e+02] [ 8.28144468e-01 -5.60483363e-01 -5.92786142e-03 1.34408729e+02] [ 7.60915514e-03 6.66908736e-04 9.99970828e-01 7.15093178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:134.40, Z:0.72 [[-5.60148667e-01 -8.28381027e-01 4.28302062e-03 2.10290657e+02] [ 8.28364495e-01 -5.60164723e-01 -5.26750104e-03 1.34403305e+02] [ 6.76269498e-03 5.97318531e-04 9.99976954e-01 7.15415225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:134.39, Z:0.72 [[-5.60603280e-01 -8.28076877e-01 3.55643299e-03 2.10294933e+02] [ 8.28065487e-01 -5.60614343e-01 -4.37132066e-03 1.34394635e+02] [ 5.61357691e-03 4.94382716e-04 9.99984122e-01 7.15500382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:134.40, Z:0.72 [[-5.61568616e-01 -8.27425477e-01 2.78728660e-03 2.10287955e+02] [ 8.27418482e-01 -5.61575402e-01 -3.42392167e-03 1.34399791e+02] [ 4.39831162e-03 3.83485496e-04 9.99990254e-01 7.15662583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.40, Z:0.72 [[-5.62828611e-01 -8.26568827e-01 2.81596535e-03 2.10281123e+02] [ 8.26561685e-01 -5.62835526e-01 -3.45708457e-03 1.34404330e+02] [ 4.44244368e-03 3.81822961e-04 9.99990059e-01 7.15792732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.39, Z:0.72 [[-5.65237598e-01 -8.24920398e-01 3.57701205e-03 2.10281721e+02] [ 8.24908857e-01 -5.65248721e-01 -4.38875470e-03 1.34393087e+02] [ 5.64227476e-03 4.70019763e-04 9.99983972e-01 7.15973414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:134.41, Z:0.72 [[-5.66563533e-01 -8.24010756e-01 3.46945730e-03 2.10262219e+02] [ 8.23999896e-01 -5.66573978e-01 -4.25423480e-03 1.34410448e+02] [ 5.47123946e-03 4.48538156e-04 9.99984932e-01 7.15926271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.41, Z:0.72 [[-5.67674378e-01 -8.23246591e-01 3.29410159e-03 2.10253278e+02] [ 8.23236801e-01 -5.67683780e-01 -4.03676309e-03 1.34414914e+02] [ 5.19325950e-03 4.20258675e-04 9.99986427e-01 7.15992125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.40, Z:0.72 [[-5.69155491e-01 -8.22226839e-01 2.24798758e-03 2.10253406e+02] [ 8.22222277e-01 -5.69159860e-01 -2.75314872e-03 1.34403346e+02] [ 3.54317707e-03 2.81375758e-04 9.99993683e-01 7.15998074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.40, Z:0.72 [[-5.69721366e-01 -8.21835426e-01 2.02407348e-03 2.10251189e+02] [ 8.21831731e-01 -5.69724906e-01 -2.47741815e-03 1.34400629e+02] [ 3.18919508e-03 2.52009759e-04 9.99994883e-01 7.16295587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.40, Z:0.72 [[-5.70453539e-01 -8.21326947e-01 2.19214875e-03 2.10248390e+02] [ 8.21322615e-01 -5.70457687e-01 -2.68149904e-03 1.34397897e+02] [ 3.45291553e-03 2.70790731e-04 9.99994002e-01 7.16144383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.40, Z:0.72 [[-5.70928241e-01 -8.20995488e-01 2.71146437e-03 2.10240621e+02] [ 8.20988864e-01 -5.70934583e-01 -3.31469729e-03 1.34401300e+02] [ 4.26942030e-03 3.33627760e-04 9.99990830e-01 7.16023963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.40, Z:0.72 [[-5.71964928e-01 -8.20272488e-01 3.02768792e-03 2.10235706e+02] [ 8.20264230e-01 -5.71972823e-01 -3.69899572e-03 1.34397773e+02] [ 4.76593963e-03 3.67808283e-04 9.99988575e-01 7.15232652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:134.41, Z:0.72 [[-5.72517182e-01 -8.19886986e-01 3.06703698e-03 2.10225281e+02] [ 8.19878518e-01 -5.72525277e-01 -3.74475979e-03 1.34407471e+02] [ 4.82623601e-03 3.70658415e-04 9.99988285e-01 7.15333393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:134.40, Z:0.72 [[-5.72973260e-01 -8.19568913e-01 2.90511039e-03 2.10230075e+02] [ 8.19561322e-01 -5.72980518e-01 -3.54486552e-03 1.34398384e+02] [ 4.56983324e-03 3.49802960e-04 9.99989497e-01 7.15611557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:134.40, Z:0.72 [[-5.73090067e-01 -8.19487284e-01 2.89241065e-03 2.10227686e+02] [ 8.19479768e-01 -5.73097260e-01 -3.52719187e-03 1.34398125e+02] [ 4.54812150e-03 3.48873382e-04 9.99989596e-01 7.15774917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.41, Z:0.72 [[-5.73276702e-01 -8.19355682e-01 3.17634167e-03 2.10217112e+02] [ 8.19346628e-01 -5.73285373e-01 -3.87102490e-03 1.34406977e+02] [ 4.99269647e-03 3.83356449e-04 9.99987463e-01 7.16088975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.40, Z:0.72 [[-5.73162716e-01 -8.19428483e-01 4.63269561e-03 2.10217838e+02] [ 8.19409250e-01 -5.73181162e-01 -5.64234082e-03 1.34398287e+02] [ 7.27886863e-03 5.62094246e-04 9.99973351e-01 7.15577350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.40, Z:0.72 [[-5.73279468e-01 -8.19342589e-01 5.32669693e-03 2.10215140e+02] [ 8.19317192e-01 -5.73303849e-01 -6.48354283e-03 1.34399749e+02] [ 8.36605862e-03 6.47372390e-04 9.99964794e-01 7.15304826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.40, Z:0.72 [[-5.73425218e-01 -8.19236766e-01 5.88554928e-03 2.10215579e+02] [ 8.19205796e-01 -5.73454975e-01 -7.15929092e-03 1.34398224e+02] [ 9.24025185e-03 7.16158127e-04 9.99957052e-01 7.15286973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.40, Z:0.72 [[-5.73666792e-01 -8.19066431e-01 6.04925188e-03 2.10214059e+02] [ 8.19033749e-01 -5.73698213e-01 -7.35382527e-03 1.34399141e+02] [ 9.49371641e-03 7.35896096e-04 9.99954663e-01 7.15551917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.41, Z:0.72 [[-5.74070890e-01 -8.18782697e-01 6.12440549e-03 2.10207865e+02] [ 8.18749226e-01 -5.74103077e-01 -7.44051727e-03 1.34405089e+02] [ 9.60820683e-03 7.42967888e-04 9.99953564e-01 7.15605558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.39, Z:0.72 [[-5.74968890e-01 -8.18149566e-01 6.48559080e-03 2.10216166e+02] [ 8.18112042e-01 -5.75004940e-01 -7.87437825e-03 1.34392449e+02] [ 1.01716659e-02 7.78417411e-04 9.99947964e-01 7.15536753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.40, Z:0.72 [[-5.75533464e-01 -8.17750200e-01 6.77067474e-03 2.10212822e+02] [ 8.17709331e-01 -5.75572721e-01 -8.21536229e-03 1.34395578e+02] [ 1.06151298e-02 8.08227995e-04 9.99943331e-01 7.15691310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.39, Z:0.72 [[-5.76202835e-01 -8.17279946e-01 6.61686123e-03 2.10213526e+02] [ 8.17240935e-01 -5.76240292e-01 -8.02369838e-03 1.34393460e+02] [ 1.03705098e-02 7.84292106e-04 9.99945917e-01 7.15715188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.39, Z:0.72 [[-5.77705366e-01 -8.16233224e-01 4.45340762e-03 2.10211428e+02] [ 8.16215546e-01 -5.77722300e-01 -5.39690365e-03 1.34391172e+02] [ 6.97796496e-03 5.17120330e-04 9.99975520e-01 7.15989705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.651400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.22, Y:134.38, Z:0.72 [[-5.78924768e-01 -8.15374238e-01 3.31133481e-03 2.10218215e+02] [ 8.15364463e-01 -5.78934115e-01 -4.01038168e-03 1.34381241e+02] [ 5.18700659e-03 3.78235445e-04 9.99986476e-01 7.15749520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:134.38, Z:0.72 [[-5.80222160e-01 -8.14453821e-01 2.68669470e-03 2.10215961e+02] [ 8.14447385e-01 -5.80228302e-01 -3.25185728e-03 1.34383690e+02] [ 4.20738389e-03 3.01371814e-04 9.99991104e-01 7.16647332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.39, Z:0.72 [[-5.81363309e-01 -8.13637880e-01 3.17852621e-03 2.10214685e+02] [ 8.13628872e-01 -5.81371892e-01 -3.84472298e-03 1.34385067e+02] [ 4.97611805e-03 3.50959826e-04 9.99987557e-01 7.16651620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.40, Z:0.72 [[-5.82449347e-01 -8.12856860e-01 4.06007601e-03 2.10204884e+02] [ 8.12842163e-01 -5.82463330e-01 -4.90792019e-03 1.34395693e+02] [ 6.35428199e-03 4.41586056e-04 9.99979714e-01 7.16481202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.39, Z:0.72 [[-5.83625566e-01 -8.12009227e-01 4.71311479e-03 2.10208542e+02] [ 8.11989422e-01 -5.83644379e-01 -5.69371241e-03 1.34388403e+02] [ 7.37412997e-03 5.04003228e-04 9.99972684e-01 7.16175498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.40, Z:0.72 [[-5.85938127e-01 -8.10341526e-01 4.80855700e-03 2.10191645e+02] [ 8.10320882e-01 -5.85957648e-01 -5.80531639e-03 1.34401486e+02] [ 7.52189970e-03 4.94917939e-04 9.99971588e-01 7.16584327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.39, Z:0.72 [[-5.87400116e-01 -8.09283844e-01 4.55676119e-03 2.10196081e+02] [ 8.09265299e-01 -5.87417611e-01 -5.49781489e-03 1.34394419e+02] [ 7.12601454e-03 4.58211605e-04 9.99974505e-01 7.17470408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.38, Z:0.72 [[-5.89077181e-01 -8.08066301e-01 4.11428949e-03 2.10205770e+02] [ 8.08051174e-01 -5.89091411e-01 -4.96081782e-03 1.34381746e+02] [ 6.43236231e-03 4.02251877e-04 9.99979231e-01 7.17904699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.40, Z:0.72 [[-5.90861624e-01 -8.06765434e-01 3.47519229e-03 2.10187435e+02] [ 8.06754633e-01 -5.90871752e-01 -4.18756155e-03 1.34402801e+02] [ 5.43177286e-03 3.29358058e-04 9.99985194e-01 7.18003124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.40, Z:0.72 [[-5.92851153e-01 -8.05306216e-01 3.06760111e-03 2.10190161e+02] [ 8.05297792e-01 -5.92859023e-01 -3.69404947e-03 1.34398490e+02] [ 4.79349600e-03 2.80310910e-04 9.99988472e-01 7.18307679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.40, Z:0.72 [[-5.96349485e-01 -8.02721924e-01 2.19174739e-03 2.10188107e+02] [ 8.02717612e-01 -5.96353484e-01 -2.63765680e-03 1.34400998e+02] [ 3.42436113e-03 1.86388959e-04 9.99994120e-01 7.18093739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:134.41, Z:0.72 [[-5.98311991e-01 -8.01261045e-01 1.87054794e-03 2.10182519e+02] [ 8.01257901e-01 -5.98314896e-01 -2.24966332e-03 1.34410379e+02] [ 2.92174427e-03 1.52790775e-04 9.99995720e-01 7.18038679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.40, Z:0.72 [[-6.00162029e-01 -7.99876279e-01 1.86477374e-03 2.10191421e+02] [ 7.99873152e-01 -6.00164909e-01 -2.24126405e-03 1.34403213e+02] [ 2.91190571e-03 1.46460865e-04 9.99995750e-01 7.17976960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:134.41, Z:0.72 [[-6.01581475e-01 -7.98808074e-01 2.32176010e-03 2.10191589e+02] [ 7.98803226e-01 -6.01585929e-01 -2.78868535e-03 1.34406392e+02] [ 3.62436258e-03 1.77008012e-04 9.99993416e-01 7.18114005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:134.42, Z:0.72 [[-6.02408871e-01 -7.98181749e-01 3.07383926e-03 2.10184802e+02] [ 7.98173254e-01 -6.02416669e-01 -3.68958066e-03 1.34417146e+02] [ 4.79668795e-03 2.30820168e-04 9.99988469e-01 7.17892215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.41, Z:0.72 [[-6.01984857e-01 -7.98495817e-01 4.31989659e-03 2.10196225e+02] [ 7.98479072e-01 -6.02000267e-01 -5.18182626e-03 1.34409085e+02] [ 6.73824549e-03 3.29966072e-04 9.99977243e-01 7.17780811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.41, Z:0.72 [[-6.00658540e-01 -7.99495588e-01 4.01524839e-03 2.10200104e+02] [ 7.99481163e-01 -6.00671876e-01 -4.81326641e-03 1.34409236e+02] [ 6.26003204e-03 3.18985875e-04 9.99980355e-01 7.18325309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:134.41, Z:0.72 [[-5.99219797e-01 -8.00575974e-01 3.70741762e-03 2.10204704e+02] [ 8.00563713e-01 -5.99231187e-01 -4.44137296e-03 1.34408070e+02] [ 5.77725675e-03 3.06665421e-04 9.99983265e-01 7.19563059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:134.40, Z:0.72 [[-5.95536236e-01 -8.03323243e-01 2.89117647e-03 2.10214962e+02] [ 8.03315829e-01 -5.95543197e-01 -3.46131423e-03 1.34404136e+02] [ 4.50237465e-03 2.61189774e-04 9.99989830e-01 7.19658822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:134.38, Z:0.72 [[-5.94021616e-01 -8.04444485e-01 2.71840365e-03 2.10237449e+02] [ 8.04437951e-01 -5.94027782e-01 -3.25238863e-03 1.34382052e+02] [ 4.23117339e-03 2.54797909e-04 9.99991016e-01 7.19647034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.38, Z:0.72 [[-5.92372779e-01 -8.05658852e-01 2.88164930e-03 2.10246694e+02] [ 8.05651534e-01 -5.92379722e-01 -3.44550972e-03 1.34376052e+02] [ 4.48293602e-03 2.80579010e-04 9.99989912e-01 7.19443027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:134.37, Z:0.72 [[-5.90679541e-01 -8.06900368e-01 3.07825470e-03 2.10252943e+02] [ 8.06892044e-01 -5.90687480e-01 -3.67825484e-03 1.34372051e+02] [ 4.78627170e-03 3.11149349e-04 9.99988497e-01 7.19053482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:134.37, Z:0.72 [[-5.89129221e-01 -8.08032566e-01 3.18318292e-03 2.10258590e+02] [ 8.08023694e-01 -5.89137727e-01 -3.80123711e-03 1.34367284e+02] [ 4.94685652e-03 3.32667365e-04 9.99987709e-01 7.18896749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:134.37, Z:0.72 [[-5.89379337e-01 -8.07850145e-01 3.18435959e-03 2.10260222e+02] [ 8.07841275e-01 -5.89387845e-01 -3.80025143e-03 1.34365452e+02] [ 4.94685651e-03 3.32667442e-04 9.99987709e-01 7.18896325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:134.37, Z:0.72 [[-5.87951269e-01 -8.08890303e-01 3.12778105e-03 2.10261798e+02] [ 8.08881771e-01 -5.87959493e-01 -3.73038372e-03 1.34365055e+02] [ 4.85647978e-03 3.36721233e-04 9.99988151e-01 7.19092566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.35, Z:0.72 [[-5.85048846e-01 -8.10989128e-01 3.80555744e-03 2.10281100e+02] [ 8.10976558e-01 -5.85061063e-01 -4.53588583e-03 1.34350690e+02] [ 5.90503758e-03 4.32503104e-04 9.99982472e-01 7.19557355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.36, Z:0.72 [[-5.83845371e-01 -8.11853035e-01 4.38540268e-03 2.10276918e+02] [ 8.11836390e-01 -5.83861618e-01 -5.22373759e-03 1.34361159e+02] [ 6.80137553e-03 5.10374468e-04 9.99976740e-01 7.19810350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.33, Z:0.72 [[-5.82625064e-01 -8.12727603e-01 4.67730153e-03 2.10305381e+02] [ 8.12708721e-01 -5.82643572e-01 -5.56798338e-03 1.34331276e+02] [ 7.25045346e-03 5.57237072e-04 9.99973560e-01 7.19986448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.32, Z:0.72 [[-5.79820873e-01 -8.14735576e-01 3.70095947e-03 2.10319153e+02] [ 8.14723809e-01 -5.79832500e-01 -4.40305043e-03 1.34320650e+02] [ 5.73325841e-03 4.62279252e-04 9.99983458e-01 7.19347225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.31, Z:0.72 [[-5.78195352e-01 -8.15892096e-01 3.19729912e-03 2.10331674e+02] [ 8.15883343e-01 -5.78204046e-01 -3.80155440e-03 1.34309047e+02] [ 4.95034947e-03 4.10582014e-04 9.99987663e-01 7.19226450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.30, Z:0.72 [[-5.76606918e-01 -8.17015930e-01 3.07121013e-03 2.10337876e+02] [ 8.17007879e-01 -5.76614955e-01 -3.64944448e-03 1.34303818e+02] [ 4.75255997e-03 4.04907942e-04 9.99988625e-01 7.19395689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.29, Z:0.72 [[-5.74771386e-01 -8.18307678e-01 3.22455932e-03 2.10348505e+02] [ 8.18298835e-01 -5.74780265e-01 -3.82937165e-03 1.34291669e+02] [ 4.98701728e-03 4.37639882e-04 9.99987469e-01 7.19328582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.28, Z:0.72 [[-5.73060862e-01 -8.19504063e-01 3.78668464e-03 2.10354348e+02] [ 8.19491909e-01 -5.73073130e-01 -4.49424654e-03 1.34283698e+02] [ 5.85310051e-03 5.27680629e-04 9.99982731e-01 7.19448543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.29, Z:0.72 [[-5.71689249e-01 -8.20456442e-01 4.75697202e-03 2.10349337e+02] [ 8.20437319e-01 -5.71708639e-01 -5.64246341e-03 1.34288231e+02] [ 7.34899746e-03 6.77061699e-04 9.99972767e-01 7.19117630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.29, Z:0.72 [[-5.70126762e-01 -8.21527849e-01 6.88975497e-03 2.10349817e+02] [ 8.21487862e-01 -5.70167507e-01 -8.16735305e-03 1.34285576e+02] [ 1.06380224e-02 1.00342354e-03 9.99942911e-01 7.17319188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.29, Z:0.72 [[-5.70353438e-01 -8.21366794e-01 7.31741708e-03 2.10347613e+02] [ 8.21321735e-01 -5.70399381e-01 -8.66913967e-03 1.34286841e+02] [ 1.12943936e-02 1.06548007e-03 9.99935649e-01 7.16962855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.29, Z:0.72 [[-5.71076099e-01 -8.20864908e-01 7.27267675e-03 2.10344618e+02] [ 8.20820416e-01 -5.71121438e-01 -8.61098191e-03 1.34288066e+02] [ 1.12220345e-02 1.05203559e-03 9.99936478e-01 7.16730905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.28, Z:0.72 [[-5.72314287e-01 -8.20006329e-01 6.78063293e-03 2.10348859e+02] [ 8.19967645e-01 -5.72353635e-01 -8.02359810e-03 1.34280279e+02] [ 1.04603211e-02 9.67879786e-04 9.99944821e-01 7.16808336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.29, Z:0.72 [[-5.76659935e-01 -8.16966778e-01 5.34823300e-03 2.10341115e+02] [ 8.16942613e-01 -5.76684284e-01 -6.32484997e-03 1.34286370e+02] [ 8.25143422e-03 7.21911868e-04 9.99965696e-01 7.18639912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.29, Z:0.72 [[-5.79629005e-01 -8.14868691e-01 4.38551389e-03 2.10337479e+02] [ 8.14852405e-01 -5.79645316e-01 -5.18322427e-03 1.34290570e+02] [ 6.76568976e-03 5.69199415e-04 9.99976950e-01 7.18910429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.29, Z:0.72 [[-5.82771862e-01 -8.12626347e-01 3.92130144e-03 2.10334233e+02] [ 8.12613293e-01 -5.82784851e-01 -4.63177851e-03 1.34294724e+02] [ 6.04918033e-03 4.87231492e-04 9.99981585e-01 7.18951965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.32, Z:0.72 [[-5.85699219e-01 -8.10519139e-01 3.89235198e-03 2.10312723e+02] [ 8.10506248e-01 -5.85711969e-01 -4.59477029e-03 1.34320745e+02] [ 6.00394640e-03 4.63622227e-04 9.99981869e-01 7.18742523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.32, Z:0.72 [[-5.90864523e-01 -8.06758493e-01 4.45527057e-03 2.10312709e+02] [ 8.06741519e-01 -5.90881118e-01 -5.25600584e-03 1.34321481e+02] [ 6.87286261e-03 4.88664366e-04 9.99976262e-01 7.18036141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.34, Z:0.72 [[-5.93399331e-01 -8.04895689e-01 4.49044310e-03 2.10300549e+02] [ 8.04878416e-01 -5.93416132e-01 -5.29419483e-03 1.34337418e+02] [ 6.92597598e-03 4.72689064e-04 9.99975903e-01 7.18242515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.34, Z:0.72 [[-5.96104867e-01 -8.02894303e-01 4.44145345e-03 2.10304235e+02] [ 8.02877372e-01 -5.96121246e-01 -5.23315106e-03 1.34335292e+02] [ 6.84931193e-03 4.46435657e-04 9.99976444e-01 7.18761769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.33, Z:0.72 [[-5.98778319e-01 -8.00902946e-01 4.35853008e-03 2.10307002e+02] [ 8.00886610e-01 -5.98794036e-01 -5.13222577e-03 1.34334537e+02] [ 6.72027655e-03 4.17622864e-04 9.99977332e-01 7.19637386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.35, Z:0.72 [[-6.02996343e-01 -7.97732819e-01 4.21428366e-03 2.10298244e+02] [ 7.97717490e-01 -6.03010955e-01 -4.95924594e-03 1.34348856e+02] [ 6.49741246e-03 3.71400614e-04 9.99978823e-01 7.20759180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.34, Z:0.72 [[-6.04120054e-01 -7.96883684e-01 3.91849295e-03 2.10304649e+02] [ 7.96870431e-01 -6.04132668e-01 -4.60825397e-03 1.34343258e+02] [ 6.03953200e-03 3.38592529e-04 9.99981705e-01 7.20706471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.091400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:210.30, Y:134.35, Z:0.72 [[-6.04770589e-01 -7.96391082e-01 3.71202376e-03 2.10302119e+02] [ 7.96379196e-01 -6.04781898e-01 -4.36267995e-03 1.34347781e+02] [ 5.71936418e-03 3.17757976e-04 9.99983594e-01 7.19579800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.35, Z:0.72 [[-6.05161848e-01 -7.96093227e-01 3.83559195e-03 2.10298907e+02] [ 7.96080547e-01 -6.05173914e-01 -4.50503486e-03 1.34354568e+02] [ 5.90762793e-03 3.27164919e-04 9.99982496e-01 7.20575208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.34, Z:0.72 [[-6.04673632e-01 -7.96467727e-01 2.99298745e-03 2.10320322e+02] [ 7.96460022e-01 -6.04680984e-01 -3.51315681e-03 1.34336131e+02] [ 4.60791861e-03 2.59481565e-04 9.99989350e-01 7.20661123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.35, Z:0.72 [[-6.04242631e-01 -7.96796278e-01 2.55627109e-03 2.10315387e+02] [ 7.96790667e-01 -6.04247996e-01 -2.99865819e-03 1.34346395e+02] [ 3.93394137e-03 2.24895833e-04 9.99992237e-01 7.21280754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.33, Z:0.72 [[-6.03666441e-01 -7.97233084e-01 2.49773601e-03 2.10333106e+02] [ 7.97227738e-01 -6.03671567e-01 -2.92814996e-03 1.34329263e+02] [ 3.84223023e-03 2.23638568e-04 9.99992594e-01 7.21710286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.35, Z:0.72 [[-6.02838327e-01 -7.97857954e-01 2.93896564e-03 2.10318355e+02] [ 7.97850569e-01 -6.02845431e-01 -3.44322660e-03 1.34349401e+02] [ 4.51894774e-03 2.69146444e-04 9.99989753e-01 7.21682064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.32, Z:0.72 [[-6.01406133e-01 -7.98935677e-01 3.52812063e-03 2.10343913e+02] [ 7.98925068e-01 -6.01416388e-01 -4.13085157e-03 1.34321509e+02] [ 5.42215426e-03 3.34384548e-04 9.99985244e-01 7.21691840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.30, Z:0.72 [[-5.96930026e-01 -8.02284272e-01 3.80681641e-03 2.10361959e+02] [ 8.02272003e-01 -5.96942033e-01 -4.45439465e-03 1.34304371e+02] [ 5.84613949e-03 3.95140315e-04 9.99982833e-01 7.22036841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.30, Z:0.72 [[-5.94653207e-01 -8.03974551e-01 3.53339668e-03 2.10369353e+02] [ 8.03964025e-01 -5.94663581e-01 -4.13193406e-03 1.34297319e+02] [ 5.42315215e-03 3.83655971e-04 9.99985221e-01 7.22578586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.29, Z:0.72 [[-5.92616210e-01 -8.05478405e-01 3.25071820e-03 2.10375414e+02] [ 8.05469529e-01 -5.92625012e-01 -3.79905749e-03 1.34289875e+02] [ 4.98651568e-03 3.66971415e-04 9.99987500e-01 7.22762595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.27, Z:0.72 [[-5.90712429e-01 -8.06875244e-01 3.34183257e-03 2.10387680e+02] [ 8.06865897e-01 -5.90721752e-01 -3.90317228e-03 1.34273374e+02] [ 5.12346628e-03 3.90758356e-04 9.99986799e-01 7.22440706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.28, Z:0.72 [[-5.89010909e-01 -8.08117664e-01 3.46288281e-03 2.10383669e+02] [ 8.08107662e-01 -5.89020940e-01 -4.04211040e-03 1.34276174e+02] [ 5.30621130e-03 4.17535007e-04 9.99985835e-01 7.22255655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.26, Z:0.72 [[-5.87467428e-01 -8.09239558e-01 3.65481848e-03 2.10395182e+02] [ 8.09228453e-01 -5.87478623e-01 -4.26357667e-03 1.34261367e+02] [ 5.59738263e-03 4.52870686e-04 9.99984232e-01 7.22223377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.25, Z:0.72 [[-5.85235406e-01 -8.10851546e-01 4.39198840e-03 2.10397413e+02] [ 8.10835575e-01 -5.85251614e-01 -5.12044968e-03 1.34252786e+02] [ 6.72234284e-03 5.64511995e-04 9.99977245e-01 7.22407471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.24, Z:0.72 [[-5.84580550e-01 -8.11323081e-01 4.52099018e-03 2.10407134e+02] [ 8.11306193e-01 -5.84597736e-01 -5.26771034e-03 1.34236730e+02] [ 6.91677560e-03 5.88506324e-04 9.99975906e-01 7.22703541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.24, Z:0.72 [[-5.84297724e-01 -8.11527027e-01 4.47823003e-03 2.10398516e+02] [ 8.11510484e-01 -5.84314590e-01 -5.21478952e-03 1.34240973e+02] [ 6.84863778e-03 5.87140973e-04 9.99976375e-01 7.22489265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.24, Z:0.72 [[-5.84121246e-01 -8.11655168e-01 4.27293590e-03 2.10397219e+02] [ 8.11640130e-01 -5.84136603e-01 -4.97276879e-03 1.34236878e+02] [ 6.53215175e-03 5.63386347e-04 9.99978507e-01 7.22443098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.23, Z:0.72 [[-5.84372048e-01 -8.11479449e-01 3.22679838e-03 2.10389276e+02] [ 8.11470882e-01 -5.84380802e-01 -3.75307051e-03 1.34233645e+02] [ 4.93121862e-03 4.25263426e-04 9.99987751e-01 7.22865451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.26, Z:0.72 [[-5.84900997e-01 -8.11098406e-01 3.19352635e-03 2.10360744e+02] [ 8.11090020e-01 -5.84909565e-01 -3.71212826e-03 1.34260940e+02] [ 4.87882542e-03 4.19009827e-04 9.99988011e-01 7.23370671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.25, Z:0.72 [[-5.85349727e-01 -8.10774371e-01 3.25820545e-03 2.10366634e+02] [ 8.10765648e-01 -5.85358640e-01 -3.78499942e-03 1.34249222e+02] [ 4.97599923e-03 4.26092676e-04 9.99987529e-01 7.23177050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.24, Z:0.72 [[-5.86078690e-01 -8.10246538e-01 3.50945660e-03 2.10372496e+02] [ 8.10236422e-01 -5.86089021e-01 -4.07439436e-03 1.34238499e+02] [ 5.35811791e-03 4.55573846e-04 9.99985541e-01 7.23437765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.721400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:210.36, Y:134.25, Z:0.72 [[-5.88267748e-01 -8.08659258e-01 3.35575303e-03 2.10356539e+02] [ 8.08649995e-01 -5.88277167e-01 -3.89358178e-03 1.34249072e+02] [ 5.12269384e-03 4.23161084e-04 9.99986789e-01 7.22791355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.25, Z:0.72 [[-5.90359090e-01 -8.07134864e-01 3.07509527e-03 2.10355711e+02] [ 8.07127075e-01 -5.90366979e-01 -3.56576631e-03 1.34245550e+02] [ 4.69348901e-03 3.76910096e-04 9.99988915e-01 7.23759401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.25, Z:0.72 [[-5.92715720e-01 -8.05407303e-01 2.67418431e-03 2.10346595e+02] [ 8.05401404e-01 -5.92721668e-01 -3.09899012e-03 1.34252049e+02] [ 4.08099626e-03 3.16971642e-04 9.99991622e-01 7.23330980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.26, Z:0.72 [[-5.95131320e-01 -8.03623554e-01 2.80985882e-03 2.10335130e+02] [ 8.03617030e-01 -5.95137866e-01 -3.25419451e-03 1.34262941e+02] [ 4.28740074e-03 3.21377330e-04 9.99990757e-01 7.23209302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:134.34, Z:0.72 [[-5.99838922e-01 -8.00115243e-01 2.97741351e-03 2.10275421e+02] [ 8.00093829e-01 -5.99845106e-01 -5.97609662e-03 1.34336853e+02] [ 6.56755293e-03 -1.20248518e-03 9.99977710e-01 7.23035277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.27, Z:0.72 [[-6.03178201e-01 -7.97593679e-01 4.51462367e-03 2.10328845e+02] [ 7.97591396e-01 -6.03191932e-01 -2.73099927e-03 1.34272713e+02] [ 4.90141233e-03 1.95354576e-03 9.99986080e-01 7.21863411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.28, Z:0.72 [[-6.06073350e-01 -7.95404566e-01 2.58288348e-03 2.10329949e+02] [ 7.95398994e-01 -6.06078805e-01 -2.98702711e-03 1.34275693e+02] [ 3.94132594e-03 2.44065399e-04 9.99992203e-01 7.22658098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.27, Z:0.72 [[-6.08091067e-01 -7.93865319e-01 1.76362645e-03 2.10332884e+02] [ 7.93862718e-01 -6.08093603e-01 -2.03831984e-03 1.34274436e+02] [ 2.69060140e-03 1.60593200e-04 9.99996367e-01 7.23415137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.29, Z:0.72 [[-6.09271466e-01 -7.92960466e-01 1.40711062e-03 2.10323736e+02] [ 7.92958810e-01 -6.09273078e-01 -1.62526030e-03 1.34288305e+02] [ 2.14608178e-03 1.25556040e-04 9.99997689e-01 7.23894736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.28, Z:0.72 [[-6.09412524e-01 -7.92852309e-01 1.26188295e-03 2.10332982e+02] [ 7.92850979e-01 -6.09413820e-01 -1.45659899e-03 1.34282649e+02] [ 1.92387678e-03 1.12815468e-04 9.99998143e-01 7.23833532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.27, Z:0.72 [[-6.06710700e-01 -7.94920194e-01 2.00297165e-03 2.10352040e+02] [ 7.94916859e-01 -6.06713976e-01 -2.31053730e-03 1.34270809e+02] [ 3.05192365e-03 1.90368229e-04 9.99995325e-01 7.23101667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.27, Z:0.72 [[-6.04191246e-01 -7.96835620e-01 2.43567113e-03 2.10359570e+02] [ 7.96830710e-01 -6.04196106e-01 -2.80790379e-03 1.34265466e+02] [ 3.70906077e-03 2.44306666e-04 9.99993092e-01 7.22679272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.24, Z:0.72 [[-6.00710890e-01 -7.99462223e-01 2.56507063e-03 2.10387985e+02] [ 7.99456809e-01 -6.00716304e-01 -2.95524776e-03 1.34235380e+02] [ 3.90348869e-03 2.75413665e-04 9.99992343e-01 7.22534112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.23, Z:0.72 [[-5.96754935e-01 -8.02417832e-01 3.02833102e-03 2.10397632e+02] [ 8.02410332e-01 -5.96762517e-01 -3.48683688e-03 1.34226139e+02] [ 4.60509453e-03 3.49176987e-04 9.99989336e-01 7.22827813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:134.19, Z:0.72 [[-5.87865068e-01 -8.08946560e-01 4.48605656e-03 2.10425375e+02] [ 8.08930308e-01 -5.87881884e-01 -5.16213435e-03 1.34194638e+02] [ 6.81316221e-03 5.94268648e-04 9.99976614e-01 7.22517464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:134.19, Z:0.72 [[-5.83946580e-01 -8.11777052e-01 4.94070622e-03 2.10424167e+02] [ 8.11757462e-01 -5.83967070e-01 -5.68191868e-03 1.34194643e+02] [ 7.49766093e-03 6.92718167e-04 9.99971652e-01 7.22155864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:134.19, Z:0.72 [[-5.84185492e-01 -8.11605128e-01 4.94237843e-03 2.10425833e+02] [ 8.11585544e-01 -5.84205988e-01 -5.68046417e-03 1.34192842e+02] [ 7.49766092e-03 6.92718124e-04 9.99971652e-01 7.22155453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:134.17, Z:0.72 [[-5.81027635e-01 -8.13870155e-01 4.71794760e-03 2.10442018e+02] [ 8.13852405e-01 -5.81046379e-01 -5.41931890e-03 1.34173019e+02] [ 7.15196828e-03 6.90938963e-04 9.99974186e-01 7.21332388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:134.16, Z:0.72 [[-5.78804282e-01 -8.15453602e-01 4.58537248e-03 2.10454123e+02] [ 8.15436906e-01 -5.78822031e-01 -5.26396076e-03 1.34158583e+02] [ 6.94663038e-03 6.92278916e-04 9.99975632e-01 7.20493363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:134.15, Z:0.72 [[-5.77610397e-01 -8.16300201e-01 4.49582526e-03 2.10461320e+02] [ 8.16284195e-01 -5.77627480e-01 -5.15816950e-03 1.34150826e+02] [ 6.80752702e-03 6.90458777e-04 9.99976590e-01 7.19862593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:134.14, Z:0.72 [[-5.77619246e-01 -8.16293410e-01 4.59069265e-03 2.10471156e+02] [ 8.16276743e-01 -5.77637056e-01 -5.26397464e-03 1.34139183e+02] [ 6.94870200e-03 7.06702584e-04 9.99975608e-01 7.19752685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:134.16, Z:0.72 [[-5.79063857e-01 -8.15266975e-01 4.98089514e-03 2.10447392e+02] [ 8.15247342e-01 -5.79084786e-01 -5.70808728e-03 1.34161095e+02] [ 7.53797564e-03 7.55314482e-04 9.99971304e-01 7.19849911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:134.15, Z:0.72 [[-5.80465600e-01 -8.14271522e-01 4.64494783e-03 2.10450359e+02] [ 8.14254439e-01 -5.80483770e-01 -5.31998663e-03 1.34152442e+02] [ 7.02823044e-03 6.94100150e-04 9.99975061e-01 7.19675133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:134.17, Z:0.72 [[-5.81791497e-01 -8.13328154e-01 3.99594572e-03 2.10434710e+02] [ 8.13315506e-01 -5.81804922e-01 -4.57399007e-03 1.34166022e+02] [ 6.04501579e-03 5.88856085e-04 9.99981555e-01 7.19655948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.21, Z:0.72 [[-5.83525499e-01 -8.12094812e-01 8.78589557e-05 2.10399308e+02] [ 8.12061738e-01 -5.83502703e-01 -8.96266388e-03 1.34206083e+02] [ 7.32979878e-03 -5.15859602e-03 9.99959831e-01 7.20966501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:134.14, Z:0.72 [[-5.84684726e-01 -8.11222925e-01 7.81908191e-03 2.10436784e+02] [ 8.11247149e-01 -5.84703385e-01 -1.24432790e-04 1.34144821e+02] [ 4.67278639e-03 6.27045395e-03 9.99969423e-01 7.20130947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:134.17, Z:0.72 [[-5.85346451e-01 -8.10775053e-01 3.65317542e-03 2.10419380e+02] [ 8.10764472e-01 -5.85357621e-01 -4.17455247e-03 1.34166967e+02] [ 5.52303707e-03 5.18305363e-04 9.99984614e-01 7.21693709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.16, Z:0.72 [[-5.86721026e-01 -8.09777304e-01 4.37670822e-03 2.10414254e+02] [ 8.09762109e-01 -5.86737032e-01 -4.99834634e-03 1.34160962e+02] [ 6.61552421e-03 6.11457586e-04 9.99977930e-01 7.21979305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.16, Z:0.72 [[-5.87742651e-01 -8.09033040e-01 4.91076133e-03 2.10411089e+02] [ 8.09013910e-01 -5.87762774e-01 -5.60489126e-03 1.34159024e+02] [ 7.42090492e-03 6.78640574e-04 9.99972234e-01 7.21811569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.17, Z:0.72 [[-5.89205551e-01 -8.07967625e-01 5.01367204e-03 2.10396717e+02] [ 8.07947672e-01 -5.89226488e-01 -5.71890559e-03 1.34169455e+02] [ 7.57487893e-03 6.81173733e-04 9.99971078e-01 7.21826805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.18, Z:0.72 [[-5.90838241e-01 -8.06778361e-01 4.34148098e-03 2.10386086e+02] [ 8.06763388e-01 -5.90853909e-01 -4.94916820e-03 1.34175948e+02] [ 6.55806281e-03 5.78390072e-04 9.99978328e-01 7.22261952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.17, Z:0.72 [[-5.94671714e-01 -8.03963607e-01 2.84113462e-03 2.10377665e+02] [ 8.03957171e-01 -5.94678392e-01 -3.23686804e-03 1.34172770e+02] [ 4.29188547e-03 3.59276690e-04 9.99990725e-01 7.23877041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.17, Z:0.72 [[-5.97124974e-01 -8.02144156e-01 2.55305784e-03 2.10375241e+02] [ 8.02138950e-01 -5.97130350e-01 -2.90689538e-03 1.34169144e+02] [ 3.85625746e-03 3.12127312e-04 9.99992516e-01 7.24332941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.17, Z:0.72 [[-5.99613627e-01 -8.00285680e-01 2.51576836e-03 2.10367242e+02] [ 8.00280615e-01 -5.99618831e-01 -2.86268132e-03 1.34171755e+02] [ 3.79946495e-03 2.96817919e-04 9.99992738e-01 7.24417493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.17, Z:0.72 [[-6.01808263e-01 -7.98636573e-01 2.53759643e-03 2.10359503e+02] [ 7.98631412e-01 -6.01813543e-01 -2.88573713e-03 1.34174743e+02] [ 3.83181511e-03 2.89943772e-04 9.99992617e-01 7.23916322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.18, Z:0.72 [[-6.03705771e-01 -7.97202559e-01 2.72431030e-03 2.10349847e+02] [ 7.97196604e-01 -6.03711842e-01 -3.09613605e-03 1.34180508e+02] [ 4.11294598e-03 3.02655723e-04 9.99991496e-01 7.24058275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.19, Z:0.72 [[-6.05281178e-01 -7.96006584e-01 2.86595632e-03 2.10338838e+02] [ 7.95999989e-01 -6.05287883e-01 -3.25506993e-03 1.34188692e+02] [ 4.32578573e-03 3.11068639e-04 9.99990595e-01 7.24125650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.18, Z:0.72 [[-6.07858355e-01 -7.94038410e-01 3.35019097e-03 2.10339549e+02] [ 7.94029381e-01 -6.07867487e-01 -3.80264264e-03 1.34179335e+02] [ 5.05591648e-03 3.48681965e-04 9.99987158e-01 7.24787809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.20, Z:0.72 [[-6.09275321e-01 -7.92951787e-01 3.32370592e-03 2.10320610e+02] [ 7.92942896e-01 -6.09284292e-01 -3.77019467e-03 1.34196125e+02] [ 5.01466441e-03 3.38422432e-04 9.99987369e-01 7.24796962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.18, Z:0.72 [[-6.10585996e-01 -7.91945159e-01 2.75823278e-03 2.10327444e+02] [ 7.91939034e-01 -6.10592164e-01 -3.12678498e-03 1.34184451e+02] [ 4.16039755e-03 2.75181084e-04 9.99991308e-01 7.24553013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.19, Z:0.72 [[-6.11674435e-01 -7.91106253e-01 2.29831377e-03 2.10320656e+02] [ 7.91102000e-01 -6.11678711e-01 -2.60377107e-03 1.34188879e+02] [ 3.46568918e-03 2.25540429e-04 9.99993969e-01 7.23793461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.20, Z:0.72 [[-6.13181441e-01 -7.89937360e-01 2.73627012e-03 2.10304260e+02] [ 7.89931329e-01 -6.13187490e-01 -3.09792621e-03 1.34203005e+02] [ 4.12501426e-03 2.61874633e-04 9.99991458e-01 7.22783974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.20, Z:0.72 [[-6.13970054e-01 -7.89321270e-01 3.56462430e-03 2.10304940e+02] [ 7.89311038e-01 -6.13980309e-01 -4.03312623e-03 1.34200644e+02] [ 5.37204144e-03 3.37378578e-04 9.99985514e-01 7.22640507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.20, Z:0.72 [[-6.14695367e-01 -7.88755907e-01 3.70472517e-03 2.10305144e+02] [ 7.88744860e-01 -6.14706433e-01 -4.18892375e-03 1.34199164e+02] [ 5.58135675e-03 3.47170907e-04 9.99984364e-01 7.21844951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:134.20, Z:0.72 [[-6.15105030e-01 -7.88434315e-01 4.13930563e-03 2.10300904e+02] [ 7.88420536e-01 -6.15118836e-01 -4.67725339e-03 1.34204272e+02] [ 6.23387193e-03 3.86511475e-04 9.99980495e-01 7.22367741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.19, Z:0.72 [[-6.15212324e-01 -7.88350511e-01 4.15545623e-03 2.10317411e+02] [ 7.88336642e-01 -6.15226235e-01 -4.69246498e-03 1.34187402e+02] [ 6.25585285e-03 3.89036131e-04 9.99980356e-01 7.22786665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:134.20, Z:0.72 [[-6.14716411e-01 -7.88735890e-01 4.40798115e-03 2.10312919e+02] [ 7.88720314e-01 -6.14732072e-01 -4.97440711e-03 1.34195421e+02] [ 6.63322080e-03 4.18814593e-04 9.99977912e-01 7.23686279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:134.18, Z:0.72 [[-6.14549300e-01 -7.88865673e-01 4.48411729e-03 2.10323522e+02] [ 7.88849581e-01 -6.14565509e-01 -5.05706327e-03 1.34184472e+02] [ 6.74512745e-03 4.29479355e-04 9.99977159e-01 7.23419382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.18, Z:0.72 [[-6.14406382e-01 -7.88977741e-01 4.35008346e-03 2.10327210e+02] [ 7.88962619e-01 -6.14421638e-01 -4.90275754e-03 1.34182254e+02] [ 6.54095198e-03 4.19767722e-04 9.99978520e-01 7.23255622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:134.18, Z:0.72 [[-6.14085300e-01 -7.89229172e-01 4.06933187e-03 2.10334182e+02] [ 7.89215962e-01 -6.14098654e-01 -4.58340548e-03 1.34177771e+02] [ 6.11632854e-03 3.96979741e-04 9.99981216e-01 7.23298597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.17, Z:0.72 [[-6.13467258e-01 -7.89714382e-01 3.01972672e-03 2.10345609e+02] [ 7.89707123e-01 -6.13474617e-01 -3.39906136e-03 1.34170815e+02] [ 4.53681333e-03 2.99486853e-04 9.99989664e-01 7.24046608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:134.18, Z:0.72 [[-6.13186778e-01 -7.89930748e-01 3.37481099e-03 2.10343145e+02] [ 7.89921698e-01 -6.13195971e-01 -3.79632100e-03 1.34175734e+02] [ 5.06825119e-03 3.37982587e-04 9.99987099e-01 7.24330515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.17, Z:0.72 [[-6.12767228e-01 -7.90252546e-01 4.15178661e-03 2.10350587e+02] [ 7.90238875e-01 -6.12781149e-01 -4.66734572e-03 1.34168161e+02] [ 6.23251841e-03 4.20906676e-04 9.99980489e-01 7.24054541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.16, Z:0.72 [[-6.11714169e-01 -7.91060980e-01 5.31997752e-03 2.10358561e+02] [ 7.91038593e-01 -6.11737053e-01 -5.97678636e-03 1.34160255e+02] [ 7.98242984e-03 5.52222631e-04 9.99967987e-01 7.23718443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.15, Z:0.72 [[-6.08015550e-01 -7.93900843e-01 6.20823226e-03 2.10366673e+02] [ 7.93870544e-01 -6.08046853e-01 -6.97029600e-03 1.34152340e+02] [ 9.30861995e-03 6.90484361e-04 9.99956435e-01 7.22754576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.16, Z:0.72 [[-6.06363367e-01 -7.95165864e-01 5.89210056e-03 2.10364513e+02] [ 7.95138667e-01 -6.06391616e-01 -6.61120019e-03 1.34155177e+02] [ 8.82992109e-03 6.76247381e-04 9.99960787e-01 7.22897036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.15, Z:0.72 [[-6.04908365e-01 -7.96277135e-01 5.34732296e-03 2.10373254e+02] [ 7.96254809e-01 -6.04931670e-01 -5.99617208e-03 1.34145977e+02] [ 8.00937974e-03 6.30696978e-04 9.99967726e-01 7.24047466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.14, Z:0.72 [[-6.03630637e-01 -7.97249870e-01 4.76436791e-03 2.10381892e+02] [ 7.97232199e-01 -6.03649165e-01 -5.33915320e-03 1.34136911e+02] [ 7.13264590e-03 5.75431060e-04 9.99974397e-01 7.24427321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.13, Z:0.72 [[-6.02691388e-01 -7.97962594e-01 4.33469121e-03 2.10386053e+02] [ 7.97948005e-01 -6.02706740e-01 -4.85462462e-03 1.34132975e+02] [ 6.48635646e-03 5.33017750e-04 9.99978821e-01 7.24781687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.13, Z:0.72 [[-6.01265185e-01 -7.99040176e-01 3.86965749e-03 2.10391783e+02] [ 7.99028586e-01 -6.01277440e-01 -4.33113182e-03 1.34126592e+02] [ 5.78748608e-03 4.87808177e-04 9.99983133e-01 7.24140502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.12, Z:0.72 [[-6.00914247e-01 -7.99305408e-01 3.59623562e-03 2.10399829e+02] [ 7.99295416e-01 -6.00924834e-01 -4.02262336e-03 1.34117019e+02] [ 5.37637190e-03 4.57202959e-04 9.99985443e-01 7.24203217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.10, Z:0.72 [[-6.00842267e-01 -7.99358818e-01 3.74840903e-03 2.10413215e+02] [ 7.99347978e-01 -6.00853769e-01 -4.19026677e-03 1.34101812e+02] [ 5.60177238e-03 4.78593792e-04 9.99984195e-01 7.24402241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.11, Z:0.72 [[-6.01567151e-01 -7.98814150e-01 3.59383935e-03 2.10406295e+02] [ 7.98804190e-01 -6.01577714e-01 -4.01502335e-03 1.34108976e+02] [ 5.36923113e-03 4.55467772e-04 9.99985482e-01 7.24373108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.12, Z:0.72 [[-6.02464292e-01 -7.98139209e-01 3.25283165e-03 2.10398150e+02] [ 7.98131050e-01 -6.02472935e-01 -3.63182094e-03 1.34117354e+02] [ 4.85844172e-03 4.08143513e-04 9.99988114e-01 7.24234764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.11, Z:0.72 [[-6.03557291e-01 -7.97314087e-01 2.97373670e-03 2.10400383e+02] [ 7.97307267e-01 -6.03564505e-01 -3.31816359e-03 1.34113454e+02] [ 4.44046049e-03 3.68280054e-04 9.99990073e-01 7.24023413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.12, Z:0.72 [[-6.04647693e-01 -7.96488203e-01 2.77671544e-03 2.10394228e+02] [ 7.96482257e-01 -6.04653973e-01 -3.09640826e-03 1.34119324e+02] [ 4.14520467e-03 3.39368468e-04 9.99991351e-01 7.23327783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.11, Z:0.72 [[-6.05450860e-01 -7.95876478e-01 3.14437748e-03 2.10405811e+02] [ 7.95868855e-01 -6.05458906e-01 -3.50421767e-03 1.34105869e+02] [ 4.69271577e-03 3.80880505e-04 9.99988917e-01 7.23137001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.11, Z:0.72 [[-6.06104083e-01 -7.95375619e-01 3.93264483e-03 2.10399305e+02] [ 7.95363699e-01 -6.06116657e-01 -4.37996124e-03 1.34111699e+02] [ 5.86735591e-03 4.73170552e-04 9.99982675e-01 7.23012874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.11, Z:0.72 [[-6.05741459e-01 -7.95647970e-01 4.64677980e-03 2.10394792e+02] [ 7.95631359e-01 -6.05759020e-01 -5.17209523e-03 1.34109921e+02] [ 6.92999584e-03 5.64171215e-04 9.99975828e-01 7.22870296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.11, Z:0.72 [[-6.04726938e-01 -7.96420895e-01 4.36911457e-03 2.10394595e+02] [ 7.96406249e-01 -6.04742480e-01 -4.86002207e-03 1.34105937e+02] [ 6.51281230e-03 5.40603877e-04 9.99978645e-01 7.22621953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.10, Z:0.72 [[-6.03407565e-01 -7.97423716e-01 3.83769152e-03 2.10397747e+02] [ 7.97412452e-01 -6.03419573e-01 -4.26624985e-03 1.34098535e+02] [ 5.71774699e-03 4.85935572e-04 9.99983536e-01 7.22709133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.08, Z:0.72 [[-6.02086060e-01 -7.98425370e-01 3.05032172e-03 2.10409836e+02] [ 7.98418276e-01 -6.02093658e-01 -3.38888149e-03 1.34081690e+02] [ 4.54234832e-03 3.95034303e-04 9.99989605e-01 7.22358062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.07, Z:0.72 [[-5.99699146e-01 -8.00221242e-01 2.62639723e-03 2.10413219e+02] [ 8.00216006e-01 -5.99704794e-01 -2.91613230e-03 1.34068886e+02] [ 3.90861402e-03 3.52883045e-04 9.99992299e-01 7.22372628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.06, Z:0.72 [[-5.99287193e-01 -8.00529798e-01 2.62716757e-03 2.10413408e+02] [ 8.00524570e-01 -5.99292846e-01 -2.91520950e-03 1.34063193e+02] [ 3.90815480e-03 3.56064471e-04 9.99992300e-01 7.22545773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.08, Z:0.72 [[-5.99211176e-01 -8.00586744e-01 2.61398928e-03 2.10392695e+02] [ 8.00581575e-01 -5.99216772e-01 -2.89880572e-03 1.34079934e+02] [ 3.88709165e-03 3.55714872e-04 9.99992382e-01 7.22495735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.06, Z:0.72 [[-5.99444159e-01 -8.00412205e-01 2.64606308e-03 2.10405276e+02] [ 8.00406914e-01 -5.99449891e-01 -2.93256685e-03 1.34060514e+02] [ 3.93344453e-03 3.60017108e-04 9.99992199e-01 7.22444590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.06, Z:0.72 [[-6.00754538e-01 -7.99426281e-01 3.40680524e-03 2.10394114e+02] [ 7.99417506e-01 -6.00764024e-01 -3.77333341e-03 1.34064492e+02] [ 5.06318793e-03 4.56612577e-04 9.99987078e-01 7.21982448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.06, Z:0.72 [[-6.01961897e-01 -7.98514560e-01 4.04631965e-03 2.10391532e+02] [ 7.98502178e-01 -6.01975258e-01 -4.47886904e-03 1.34063039e+02] [ 6.01222645e-03 5.34886549e-04 9.99981783e-01 7.22047542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.06, Z:0.72 [[-6.03812476e-01 -7.97115090e-01 4.24576535e-03 2.10390307e+02] [ 7.97101442e-01 -6.03827154e-01 -4.69672722e-03 1.34059697e+02] [ 6.30754055e-03 5.48363191e-04 9.99979957e-01 7.21877742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.091400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:210.39, Y:134.06, Z:0.72 [[-6.05554128e-01 -7.95792092e-01 4.37537096e-03 2.10386828e+02] [ 7.95777583e-01 -6.05569683e-01 -4.83710134e-03 1.34059192e+02] [ 6.49891900e-03 5.52695437e-04 9.99978729e-01 7.21787896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.07, Z:0.72 [[-6.08505439e-01 -7.93537008e-01 4.48854811e-03 2.10375166e+02] [ 7.93521699e-01 -6.08521750e-01 -4.95913100e-03 1.34067257e+02] [ 6.66663313e-03 5.44102135e-04 9.99977630e-01 7.21865411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.07, Z:0.72 [[-6.08752427e-01 -7.93347541e-01 4.49009142e-03 2.10376891e+02] [ 7.93332237e-01 -6.08768743e-01 -4.95773369e-03 1.34065463e+02] [ 6.66663315e-03 5.44101851e-04 9.99977630e-01 7.21864923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.08, Z:0.72 [[-6.13027143e-01 -7.90048415e-01 4.60694523e-03 2.10361150e+02] [ 7.90032233e-01 -6.13044230e-01 -5.08355351e-03 1.34077924e+02] [ 6.84051458e-03 5.23278945e-04 9.99976467e-01 7.21804309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.08, Z:0.72 [[-6.14729709e-01 -7.88725219e-01 4.46246194e-03 2.10358975e+02] [ 7.88710022e-01 -6.14745707e-01 -4.92100132e-03 1.34079192e+02] [ 6.62459717e-03 4.94502744e-04 9.99977935e-01 7.22474359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.08, Z:0.72 [[-6.16089080e-01 -7.87665303e-01 4.19714895e-03 2.10358398e+02] [ 7.87651854e-01 -6.16103208e-01 -4.62548813e-03 1.34077929e+02] [ 6.22921343e-03 4.56179425e-04 9.99980494e-01 7.23500124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.08, Z:0.72 [[-6.16771725e-01 -7.87132780e-01 3.82442002e-03 2.10350853e+02] [ 7.87121618e-01 -6.16783444e-01 -4.21203744e-03 1.34083846e+02] [ 5.67427170e-03 4.12418077e-04 9.99983816e-01 7.23853308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.07, Z:0.72 [[-6.17049345e-01 -7.86915106e-01 3.83678627e-03 2.10361825e+02] [ 7.86903884e-01 -6.17061135e-01 -4.22296135e-03 1.34069050e+02] [ 5.69064378e-03 4.13406480e-04 9.99983723e-01 7.23676446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.08, Z:0.72 [[-6.16694638e-01 -7.87191200e-01 4.21168435e-03 2.10348886e+02] [ 7.87177702e-01 -6.16708849e-01 -4.63262443e-03 1.34080986e+02] [ 6.24414420e-03 4.58429362e-04 9.99980400e-01 7.22736519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.08, Z:0.72 [[-6.16841468e-01 -7.87075671e-01 4.30019169e-03 2.10353939e+02] [ 7.87061616e-01 -6.16856279e-01 -4.72694122e-03 1.34076483e+02] [ 6.37306067e-03 4.68742457e-04 9.99979582e-01 7.22661159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.06, Z:0.72 [[-6.17212561e-01 -7.86788291e-01 3.58326673e-03 2.10368166e+02] [ 7.86778540e-01 -6.17222839e-01 -3.93637341e-03 1.34061371e+02] [ 5.30876657e-03 3.89658252e-04 9.99985833e-01 7.22721548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.07, Z:0.72 [[-6.17588122e-01 -7.86500137e-01 1.56363719e-03 2.10360378e+02] [ 7.86498282e-01 -6.17590079e-01 -1.71668180e-03 1.34068413e+02] [ 2.31585729e-03 1.69595670e-04 9.99997304e-01 7.24516001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.07, Z:0.72 [[-6.17853640e-01 -7.86292894e-01 6.03810787e-04 2.10361668e+02] [ 7.86292618e-01 -6.17853931e-01 -6.62543252e-04 1.34065843e+02] [ 8.94019920e-04 6.54172049e-05 9.99999598e-01 7.24649381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.06, Z:0.72 [[-6.18036374e-01 -7.86149361e-01 4.72428515e-04 2.10371171e+02] [ 7.86149192e-01 -6.18036552e-01 -5.18071292e-04 1.34055874e+02] [ 6.99259506e-04 5.12123927e-05 9.99999754e-01 7.24437155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.06, Z:0.72 [[-6.18295880e-01 -7.85945013e-01 8.00489885e-04 2.10370269e+02] [ 7.85944528e-01 -6.18296393e-01 -8.77206713e-04 1.34057851e+02] [ 1.18437625e-03 8.67673483e-05 9.99999295e-01 7.23836841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.05, Z:0.72 [[-6.18609485e-01 -7.85697827e-01 1.10892447e-03 2.10374837e+02] [ 7.85696898e-01 -6.18610467e-01 -1.21439393e-03 1.34053694e+02] [ 1.64013896e-03 1.20042908e-04 9.99998648e-01 7.23933323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.06, Z:0.72 [[-6.18958215e-01 -7.85423441e-01 8.64101385e-04 2.10371536e+02] [ 7.85422877e-01 -6.18958811e-01 -9.45704412e-04 1.34056601e+02] [ 1.27762158e-03 9.33334814e-05 9.99999180e-01 7.23944188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.06, Z:0.72 [[-6.19196650e-01 -7.85235402e-01 9.33527850e-04 2.10366060e+02] [ 7.85234745e-01 -6.19197346e-01 -1.02102764e-03 1.34062008e+02] [ 1.37978501e-03 1.00821611e-04 9.99999043e-01 7.23798383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.05, Z:0.72 [[-6.19353283e-01 -7.85110863e-01 1.56292504e-03 2.10375411e+02] [ 7.85109023e-01 -6.19355232e-01 -1.70826475e-03 1.34051846e+02] [ 2.30918302e-03 1.69047171e-04 9.99997320e-01 7.23073567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.05, Z:0.72 [[-6.19377204e-01 -7.85088895e-01 2.70296126e-03 2.10375287e+02] [ 7.85083399e-01 -6.19383032e-01 -2.95236659e-03 1.34052466e+02] [ 3.99203856e-03 2.93421448e-04 9.99991989e-01 7.22712303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:134.06, Z:0.72 [[-6.19322921e-01 -7.85126785e-01 3.87951410e-03 2.10373104e+02] [ 7.85115479e-01 -6.19334928e-01 -4.23473474e-03 1.34055772e+02] [ 5.72752225e-03 4.23198277e-04 9.99983508e-01 7.21866590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.05, Z:0.72 [[-6.19680350e-01 -7.84846717e-01 3.44897102e-03 2.10381985e+02] [ 7.84837788e-01 -6.19689834e-01 -3.76237777e-03 1.34046221e+02] [ 5.09018212e-03 3.75411213e-04 9.99986975e-01 7.22530024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:134.07, Z:0.72 [[-6.21369157e-01 -7.83511835e-01 3.09438774e-03 2.10360269e+02] [ 7.83512165e-01 -6.21374898e-01 -1.38719454e-03 1.34068531e+02] [ 3.00965820e-03 1.56253053e-03 9.99994250e-01 7.22833572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.08, Z:0.72 [[-6.22800500e-01 -7.82379174e-01 1.53836670e-03 2.10354198e+02] [ 7.82378055e-01 -6.22802301e-01 -1.36881860e-03 1.34078500e+02] [ 2.02903348e-03 3.51083441e-04 9.99997880e-01 7.22610746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.05, Z:0.72 [[-6.23799606e-01 -7.81583641e-01 1.03166896e-03 2.10386221e+02] [ 7.81577497e-01 -6.23799131e-01 -3.35561997e-03 1.34049438e+02] [ 3.26625187e-03 -1.28690517e-03 9.99993838e-01 7.23639152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.06, Z:0.72 [[-6.28520007e-01 -7.77791526e-01 1.71574873e-03 2.10383132e+02] [ 7.77789301e-01 -6.28522328e-01 -1.86705633e-03 1.34059213e+02] [ 2.53056697e-03 1.61008749e-04 9.99996785e-01 7.22264802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.07, Z:0.72 [[-6.31297376e-01 -7.75539557e-01 1.42109512e-03 2.10379246e+02] [ 7.75538027e-01 -6.31298963e-01 -1.54543686e-03 1.34068146e+02] [ 2.09568329e-03 1.26483071e-04 9.99997796e-01 7.21387707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:134.11, Z:0.72 [[-6.34859027e-01 -7.72626614e-01 1.45986252e-03 2.10345920e+02] [ 7.72627952e-01 -6.34858474e-01 8.74853073e-04 1.34107815e+02] [ 2.50871323e-04 1.68333896e-03 9.99998552e-01 7.19851570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.09, Z:0.72 [[-6.36029147e-01 -7.71664906e-01 4.43831748e-04 2.10376036e+02] [ 7.71660902e-01 -6.36027518e-01 -2.90678409e-03 1.34086272e+02] [ 2.52535248e-03 -1.50631180e-03 9.99995677e-01 7.20931715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:134.09, Z:0.72 [[-6.37633257e-01 -7.70336593e-01 2.31567592e-03 2.10384027e+02] [ 7.70332514e-01 -6.37637437e-01 -2.51353686e-03 1.34086856e+02] [ 3.41283108e-03 1.81125754e-04 9.99994160e-01 7.20592097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.08, Z:0.72 [[-6.37068268e-01 -7.70802427e-01 2.76426637e-03 2.10396710e+02] [ 7.70796626e-01 -6.37074227e-01 -2.99848230e-03 1.34077748e+02] [ 4.07228029e-03 2.20449261e-04 9.99991684e-01 7.20771907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:134.08, Z:0.72 [[-6.35531942e-01 -7.72068036e-01 3.17782508e-03 2.10401545e+02] [ 7.72060396e-01 -6.35539832e-01 -3.44483128e-03 1.34075847e+02] [ 4.67927854e-03 2.64172581e-04 9.99989017e-01 7.20741842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.07, Z:0.72 [[-6.33230378e-01 -7.73956232e-01 3.32250371e-03 2.10410561e+02] [ 7.73947918e-01 -6.33239027e-01 -3.59933352e-03 1.34068913e+02] [ 4.88966563e-03 2.92237498e-04 9.99988003e-01 7.20374932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.07, Z:0.72 [[-6.30768384e-01 -7.75964821e-01 3.13739271e-03 2.10413139e+02] [ 7.75957442e-01 -6.30776119e-01 -3.39661383e-03 1.34068313e+02] [ 4.61464524e-03 2.92006607e-04 9.99989310e-01 7.20296470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:134.06, Z:0.72 [[-6.28550742e-01 -7.77763712e-01 2.75194363e-03 2.10426202e+02] [ 7.77758059e-01 -6.28556709e-01 -2.97741722e-03 1.34056373e+02] [ 4.04547970e-03 2.68888539e-04 9.99991781e-01 7.20046872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:134.05, Z:0.72 [[-6.25840014e-01 -7.79949785e-01 1.61541041e-03 2.10436120e+02] [ 7.79947847e-01 -6.25842077e-01 -1.74669026e-03 1.34052690e+02] [ 2.37332250e-03 1.66787215e-04 9.99997170e-01 7.20444792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:134.05, Z:0.72 [[-6.25751312e-01 -7.80021970e-01 1.01113558e-03 2.10447435e+02] [ 7.80021211e-01 -6.25752120e-01 -1.09264977e-03 1.34045424e+02] [ 1.48501107e-03 1.04980174e-04 9.99998892e-01 7.20811551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:134.04, Z:0.72 [[-6.26075821e-01 -7.79761792e-01 7.83616523e-04 2.10460773e+02] [ 7.79761337e-01 -6.26076306e-01 -8.46276655e-04 1.34036481e+02] [ 1.15049794e-03 8.12005163e-05 9.99999335e-01 7.20944390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:134.12, Z:0.72 [[-6.26296627e-01 -7.79584015e-01 -1.13902954e-03 2.10390004e+02] [ 7.79581021e-01 -6.26288307e-01 -4.04820023e-03 1.34122358e+02] [ 2.44255130e-03 -3.42333996e-03 9.99991157e-01 7.20830846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:134.10, Z:0.72 [[-6.27177624e-01 -7.78867991e-01 3.58887556e-03 2.10414989e+02] [ 7.78867537e-01 -6.27185749e-01 -1.84267160e-03 1.34099373e+02] [ 3.68608954e-03 1.63957627e-03 9.99991862e-01 7.21940642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:134.05, Z:0.72 [[-6.26857547e-01 -7.79130080e-01 2.43583207e-03 2.10466151e+02] [ 7.79133120e-01 -6.26858256e-01 5.55382450e-04 1.34047349e+02] [ 1.09420627e-03 2.24598312e-03 9.99996879e-01 7.19191968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:134.04, Z:0.72 [[-6.26221981e-01 -7.79644205e-01 9.71230533e-04 2.10484391e+02] [ 7.79643509e-01 -6.26222726e-01 -1.04709165e-03 1.34035278e+02] [ 1.42456557e-03 1.01501774e-04 9.99998980e-01 7.19515258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:134.04, Z:0.72 [[-6.23661045e-01 -7.81693041e-01 1.70039297e-03 2.10490132e+02] [ 7.81690916e-01 -6.23663335e-01 -1.83199868e-03 1.34036423e+02] [ 2.49253337e-03 1.86635531e-04 9.99996876e-01 7.19611475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:134.03, Z:0.72 [[-6.21989999e-01 -7.83022131e-01 2.18718851e-03 2.10499574e+02] [ 7.83018628e-01 -6.21993796e-01 -2.35498101e-03 1.34028309e+02] [ 3.20441993e-03 2.47834708e-04 9.99994835e-01 7.19215547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:134.03, Z:0.72 [[-6.19971580e-01 -7.84619672e-01 2.68513935e-03 2.10502703e+02] [ 7.84614416e-01 -6.19977315e-01 -2.88932220e-03 1.34025886e+02] [ 3.93174452e-03 3.15501395e-04 9.99992221e-01 7.18987489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:134.01, Z:0.72 [[-6.17829472e-01 -7.86306669e-01 2.92664058e-03 2.10521532e+02] [ 7.86300452e-01 -6.17836301e-01 -3.14724380e-03 1.34005988e+02] [ 4.28288358e-03 3.56758833e-04 9.99990765e-01 7.18576124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:134.00, Z:0.72 [[-6.16140642e-01 -7.87631343e-01 2.75236982e-03 2.10522798e+02] [ 7.87625865e-01 -6.16146693e-01 -2.95803564e-03 1.34003873e+02] [ 4.02570515e-03 3.45271673e-04 9.99991837e-01 7.17941423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.14812389e-01 -7.88670896e-01 1.98573338e-03 2.10527553e+02] [ 7.88668054e-01 -6.14815543e-01 -2.13283718e-03 1.33998288e+02] [ 2.90296636e-03 2.54789759e-04 9.99995754e-01 7.17319720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:133.99, Z:0.72 [[-6.15398904e-01 -7.88214828e-01 1.25432700e-03 2.10538742e+02] [ 7.88213694e-01 -6.15400162e-01 -1.34646237e-03 1.33986694e+02] [ 1.83321464e-03 1.60066249e-04 9.99998307e-01 7.17251515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:133.99, Z:0.72 [[-6.16388825e-01 -7.87441426e-01 9.03871843e-04 2.10533705e+02] [ 7.87440837e-01 -6.16389477e-01 -9.69700917e-04 1.33992909e+02] [ 1.32071977e-03 1.14032793e-04 9.99999121e-01 7.17530573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.18060788e-01 -7.86129477e-01 1.14377141e-03 2.10527392e+02] [ 7.86128533e-01 -6.18061830e-01 -1.22630300e-03 1.34000273e+02] [ 1.67095439e-03 1.41221537e-04 9.99998594e-01 7.17533179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.19810836e-01 -7.84749464e-01 1.67545977e-03 2.10527384e+02] [ 7.84747436e-01 -6.19813067e-01 -1.79521848e-03 1.34000145e+02] [ 2.44726860e-03 2.02116892e-04 9.99996985e-01 7.17175167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:134.01, Z:0.72 [[-6.23175765e-01 -7.82079206e-01 2.02027525e-03 2.10514288e+02] [ 7.82076248e-01 -6.23178996e-01 -2.16333032e-03 1.34012914e+02] [ 2.95088876e-03 2.31874266e-04 9.99995619e-01 7.16957754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.24371273e-01 -7.81125506e-01 1.85956929e-03 2.10528748e+02] [ 7.81122999e-01 -6.24374007e-01 -1.99002440e-03 1.33997991e+02] [ 2.71552555e-03 2.10038268e-04 9.99996291e-01 7.17229218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:134.01, Z:0.72 [[-6.25513660e-01 -7.80211453e-01 1.65833312e-03 2.10520406e+02] [ 7.80209459e-01 -6.25515831e-01 -1.77358691e-03 1.34007988e+02] [ 2.42108644e-03 1.84444351e-04 9.99997052e-01 7.17301624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:134.01, Z:0.72 [[-6.26301470e-01 -7.79577754e-01 2.23471196e-03 2.10518814e+02] [ 7.79574134e-01 -6.26305409e-01 -2.38851316e-03 1.34012326e+02] [ 3.26164391e-03 2.46194333e-04 9.99994651e-01 7.18329304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.26623522e-01 -7.79318121e-01 2.49557802e-03 2.10528993e+02] [ 7.79313611e-01 -6.26628431e-01 -2.66567223e-03 1.34001284e+02] [ 3.64120681e-03 2.74464998e-04 9.99993333e-01 7.18116149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:134.01, Z:0.72 [[-6.26573346e-01 -7.79357496e-01 2.78130546e-03 2.10524024e+02] [ 7.79351901e-01 -6.26579443e-01 -2.96902781e-03 1.34006773e+02] [ 4.05664291e-03 3.07302009e-04 9.99991725e-01 7.17722089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.26844650e-01 -7.79139060e-01 2.84779671e-03 2.10534403e+02] [ 7.79133200e-01 -6.26851040e-01 -3.03812647e-03 1.33996924e+02] [ 4.15226734e-03 3.14379638e-04 9.99991330e-01 7.17190607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86140051300004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.26321661e-01 -7.79561349e-01 2.29776476e-03 2.10534869e+02] [ 7.79557542e-01 -6.26325823e-01 -2.44983914e-03 1.33998952e+02] [ 3.34894931e-03 2.56852532e-04 9.99994359e-01 7.17522306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:134.00, Z:0.72 [[-6.25696154e-01 -7.80064269e-01 2.01472670e-03 2.10531632e+02] [ 7.80061348e-01 -6.25699356e-01 -2.14675157e-03 1.34000967e+02] [ 2.93521739e-03 2.28396222e-04 9.99995666e-01 7.18368413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:133.99, Z:0.72 [[-6.24719787e-01 -7.80846815e-01 1.85463731e-03 2.10538940e+02] [ 7.80844346e-01 -6.24722503e-01 -1.97495777e-03 1.33991453e+02] [ 2.70077315e-03 2.14387858e-04 9.99996330e-01 7.18578825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:133.98, Z:0.72 [[-6.23494583e-01 -7.81825644e-01 1.77980093e-03 2.10545088e+02] [ 7.81823378e-01 -6.23497087e-01 -1.89410480e-03 1.33983526e+02] [ 2.59056040e-03 2.10525899e-04 9.99996622e-01 7.18786843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:133.98, Z:0.72 [[-6.22451417e-01 -7.82657206e-01 1.38987229e-03 2.10551881e+02] [ 7.82655828e-01 -6.22452946e-01 -1.47824745e-03 1.33975186e+02] [ 2.02209112e-03 1.67654423e-04 9.99997942e-01 7.18411705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:133.97, Z:0.72 [[-6.20567983e-01 -7.84152452e-01 5.57182722e-04 2.10555883e+02] [ 7.84152232e-01 -6.20568229e-01 -5.92300691e-04 1.33968646e+02] [ 8.10223934e-04 6.93532293e-05 9.99999669e-01 7.18079500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:133.97, Z:0.72 [[-6.20806039e-01 -7.83963999e-01 5.57362586e-04 2.10557630e+02] [ 7.83963778e-01 -6.20806286e-01 -5.92131428e-04 1.33966898e+02] [ 8.10223919e-04 6.93533120e-05 9.99999669e-01 7.18079022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:133.97, Z:0.72 [[-6.20497718e-01 -7.84208240e-01 1.33626959e-04 2.10555004e+02] [ 7.84208228e-01 -6.20497732e-01 -1.41940395e-04 1.33968555e+02] [ 1.94226052e-04 1.67176694e-05 9.99999981e-01 7.18015610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.96, Z:0.72 [[-6.20477198e-01 -7.84224477e-01 -1.30545472e-04 2.10565881e+02] [ 7.84224465e-01 -6.20477211e-01 1.38416501e-04 1.33956623e+02] [-1.89550098e-04 -1.64926702e-05 9.99999982e-01 7.17737134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.95, Z:0.72 [[-6.20610247e-01 -7.84119183e-01 1.70779673e-04 2.10570088e+02] [ 7.84119162e-01 -6.20610270e-01 -1.81160633e-04 1.33952958e+02] [ 2.48039147e-04 2.14814690e-05 9.99999969e-01 7.18108064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.96, Z:0.72 [[-6.21248898e-01 -7.83613206e-01 3.88185324e-04 2.10565219e+02] [ 7.83613099e-01 -6.21249017e-01 -4.11425652e-04 1.33959038e+02] [ 5.63558325e-04 4.85893725e-05 9.99999840e-01 7.17787486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.95, Z:0.72 [[-6.21895065e-01 -7.83100141e-01 8.35573466e-04 2.10571025e+02] [ 7.83099648e-01 -6.21895617e-01 -8.84964856e-04 1.33952245e+02] [ 1.21265558e-03 1.03982010e-04 9.99999259e-01 7.17862908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.95, Z:0.72 [[-6.21933654e-01 -7.83069322e-01 9.83840953e-04 2.10574938e+02] [ 7.83068639e-01 -6.21934420e-01 -1.04135126e-03 1.33945885e+02] [ 1.42733478e-03 1.22763599e-04 9.99998974e-01 7.17593553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.94, Z:0.72 [[-6.21339944e-01 -7.83540081e-01 1.27104345e-03 2.10574018e+02] [ 7.83538944e-01 -6.21341223e-01 -1.34450505e-03 1.33943889e+02] [ 1.84322529e-03 1.60517349e-04 9.99998288e-01 7.17237648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:133.94, Z:0.72 [[-6.21249061e-01 -7.83611845e-01 1.44218293e-03 2.10575184e+02] [ 7.83610384e-01 -6.21250708e-01 -1.52460266e-03 1.33941634e+02] [ 2.09065387e-03 1.82951549e-04 9.99997798e-01 7.16527177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.95, Z:0.72 [[-6.21495650e-01 -7.83415849e-01 1.66283946e-03 2.10570010e+02] [ 7.83413907e-01 -6.21497839e-01 -1.75679193e-03 1.33945577e+02] [ 2.40974977e-03 2.10853016e-04 9.99997074e-01 7.16442086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:133.94, Z:0.72 [[-6.22003940e-01 -7.83011990e-01 1.82281368e-03 2.10575751e+02] [ 7.83009658e-01 -6.22006568e-01 -1.92462977e-03 1.33937160e+02] [ 2.64081027e-03 2.30153418e-04 9.99996487e-01 7.16206222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.94, Z:0.72 [[-6.22674205e-01 -7.82478418e-01 2.08808984e-03 2.10568412e+02] [ 7.82475359e-01 -6.22677651e-01 -2.20337360e-03 1.33942860e+02] [ 3.02429917e-03 2.61894945e-04 9.99995393e-01 7.16014673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.94, Z:0.72 [[-6.23510047e-01 -7.81810893e-01 2.63597466e-03 2.10574079e+02] [ 7.81806020e-01 -6.23515533e-01 -2.77979495e-03 1.33936131e+02] [ 3.81684512e-03 3.27590784e-04 9.99992662e-01 7.15819180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:133.96, Z:0.72 [[-6.24836304e-01 -7.80743398e-01 4.39772001e-03 2.10549594e+02] [ 7.80729826e-01 -6.24851549e-01 -4.63476184e-03 1.33962062e+02] [ 6.36648186e-03 5.37463719e-04 9.99979589e-01 7.15052511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:133.95, Z:0.71 [[-6.25107946e-01 -7.80523598e-01 4.79261742e-03 2.10562154e+02] [ 7.80507494e-01 -6.25126044e-01 -5.04781917e-03 1.33948287e+02] [ 6.93593195e-03 5.85241934e-04 9.99975775e-01 7.14799166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.94, Z:0.72 [[-6.25061884e-01 -7.80560123e-01 4.85139737e-03 2.10570548e+02] [ 7.80543645e-01 -6.25080428e-01 -5.10659749e-03 1.33938312e+02] [ 7.01851991e-03 5.94787936e-04 9.99975193e-01 7.15410976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:133.93, Z:0.72 [[-6.24822184e-01 -7.80754551e-01 4.42373316e-03 2.10573479e+02] [ 7.80740873e-01 -6.24837605e-01 -4.65360258e-03 1.33934068e+02] [ 6.39743623e-03 5.46115161e-04 9.99979387e-01 7.15276916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:133.93, Z:0.72 [[-6.24608496e-01 -7.80930313e-01 3.47472966e-03 2.10576059e+02] [ 7.80921888e-01 -6.24618012e-01 -3.65307596e-03 1.33933019e+02] [ 5.02317648e-03 4.31750160e-04 9.99987291e-01 7.16410420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:133.93, Z:0.72 [[-6.24846497e-01 -7.80742776e-01 2.75183186e-03 2.10579152e+02] [ 7.80737497e-01 -6.24852463e-01 -2.89132862e-03 1.33931098e+02] [ 3.97687285e-03 3.41821760e-04 9.99992034e-01 7.17140214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:133.93, Z:0.72 [[-6.25254651e-01 -7.80418947e-01 1.69953110e-03 2.10579317e+02] [ 7.80416935e-01 -6.25256926e-01 -1.78462754e-03 1.33931777e+02] [ 2.45540074e-03 2.10496182e-04 9.99996963e-01 7.17645753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:133.92, Z:0.72 [[-6.25927657e-01 -7.79880783e-01 7.30003075e-04 2.10587362e+02] [ 7.79880412e-01 -6.25928076e-01 -7.66135889e-04 1.33923656e+02] [ 1.05442408e-03 8.97694566e-05 9.99999440e-01 7.17628765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:133.93, Z:0.72 [[-6.27814526e-01 -7.78362814e-01 -5.00465846e-04 2.10580590e+02] [ 7.78362640e-01 -6.27814722e-01 5.24775895e-04 1.33933252e+02] [-7.22665868e-04 -6.00819869e-05 9.99999737e-01 7.17846289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:133.94, Z:0.72 [[-6.28876228e-01 -7.77505002e-01 -8.13139733e-04 2.10580625e+02] [ 7.77504541e-01 -6.28876746e-01 8.52167318e-04 1.33935385e+02] [-1.17392902e-03 -9.63120659e-05 9.99999306e-01 7.18113059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:133.93, Z:0.72 [[-6.30100309e-01 -7.76513156e-01 -9.59185682e-04 2.10589913e+02] [ 7.76512514e-01 -6.30101029e-01 1.00462312e-03 1.33928007e+02] [-1.38448695e-03 -1.11806349e-04 9.99999035e-01 7.18489604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.761400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.59, Y:133.93, Z:0.72 [[-6.31173748e-01 -7.75640640e-01 -1.13891306e-03 2.10593300e+02] [ 7.75639735e-01 -6.31174762e-01 1.19215285e-03 1.33926042e+02] [-1.64353538e-03 -1.30930647e-04 9.99998641e-01 7.18454210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:133.94, Z:0.72 [[-6.33013903e-01 -7.74139720e-01 -1.04534951e-03 2.10588359e+02] [ 7.74138956e-01 -6.33014755e-01 1.09353875e-03 1.33936341e+02] [-1.50827345e-03 -1.17020548e-04 9.99998856e-01 7.18160794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.60, Y:133.93, Z:0.72 [[-6.33232634e-01 -7.73961215e-01 -6.85280932e-04 2.10600158e+02] [ 7.73960887e-01 -6.33233000e-01 7.16403479e-04 1.33928525e+02] [-9.88411008e-04 -7.67305758e-05 9.99999509e-01 7.18121767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:133.94, Z:0.72 [[-6.33156007e-01 -7.74024203e-01 -6.37715964e-05 2.10589519e+02] [ 7.74024200e-01 -6.33156010e-01 6.65503612e-05 1.33944578e+02] [-9.18889597e-05 -7.22399789e-06 9.99999996e-01 7.18462271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:133.92, Z:0.72 [[-6.32307747e-01 -7.74717309e-01 -6.32011707e-05 2.10612992e+02] [ 7.74717306e-01 -6.32307750e-01 6.59140627e-05 1.33924036e+02] [-9.10273552e-05 -7.28506825e-06 9.99999996e-01 7.18427437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:133.93, Z:0.72 [[-6.31234042e-01 -7.75592403e-01 9.80629609e-05 2.10606367e+02] [ 7.75592396e-01 -6.31234049e-01 -1.02424123e-04 1.33933035e+02] [ 1.41340052e-04 1.14032937e-05 9.99999990e-01 7.19033867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:133.92, Z:0.72 [[-6.28304591e-01 -7.77967439e-01 -6.75638842e-05 2.10618553e+02] [ 7.77967436e-01 -6.28304594e-01 7.03842097e-05 1.33923252e+02] [-9.72073221e-05 -8.33977960e-06 9.99999995e-01 7.18079688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:133.93, Z:0.72 [[-6.27623867e-01 -7.78516711e-01 1.07097030e-04 2.10618373e+02] [ 7.78516703e-01 -6.27623876e-01 -1.11715825e-04 1.33926184e+02] [ 1.54189290e-04 1.32613080e-05 9.99999988e-01 7.17316053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.001400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.62, Y:133.92, Z:0.72 [[-6.27514422e-01 -7.78604380e-01 9.33102212e-04 2.10624098e+02] [ 7.78603782e-01 -6.27515105e-01 -9.72107892e-04 1.33923901e+02] [ 1.34242319e-03 1.16505190e-04 9.99999092e-01 7.16603672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:133.94, Z:0.72 [[-6.29772515e-01 -7.76771462e-01 3.56030581e-03 2.10617737e+02] [ 7.76762738e-01 -6.29782431e-01 -3.70663287e-03 1.33935603e+02] [ 5.12142468e-03 4.31177379e-04 9.99986792e-01 7.15935429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.92, Z:0.72 [[-6.31245313e-01 -7.75572114e-01 4.15329285e-03 2.10633086e+02] [ 7.75560232e-01 -6.31258784e-01 -4.32133655e-03 1.33922682e+02] [ 5.97331072e-03 4.93305323e-04 9.99982038e-01 7.15088117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:133.92, Z:0.72 [[-6.32616936e-01 -7.74452720e-01 4.33543124e-03 2.10637153e+02] [ 7.74439764e-01 -6.32631590e-01 -4.50810048e-03 1.33922193e+02] [ 6.23404144e-03 5.05629632e-04 9.99980440e-01 7.15048296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.93, Z:0.71 [[-6.33717949e-01 -7.73553858e-01 3.99872186e-03 2.10633539e+02] [ 7.73542833e-01 -6.33730398e-01 -4.15545486e-03 1.33929601e+02] [ 5.74857973e-03 4.59796310e-04 9.99983371e-01 7.14684175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.64, Y:133.93, Z:0.71 [[-6.34372605e-01 -7.73019813e-01 3.43034107e-03 2.10636567e+02] [ 7.73011702e-01 -6.34381759e-01 -3.56263096e-03 1.33927406e+02] [ 4.93013012e-03 3.91658305e-04 9.99987770e-01 7.14214887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:133.92, Z:0.71 [[-6.34377008e-01 -7.73016513e-01 3.35880802e-03 2.10639949e+02] [ 7.73008748e-01 -6.34385784e-01 -3.48621368e-03 1.33922134e+02] [ 4.82568080e-03 3.84814175e-04 9.99988282e-01 7.13951091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.94, Z:0.71 [[-6.34216200e-01 -7.73147924e-01 3.47825169e-03 2.10625836e+02] [ 7.73139610e-01 -6.34225612e-01 -3.60797181e-03 1.33936429e+02] [ 4.99549222e-03 4.00939982e-04 9.99987442e-01 7.13987251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.93, Z:0.71 [[-6.34129422e-01 -7.73218979e-01 3.50525681e-03 2.10633232e+02] [ 7.73210547e-01 -6.34138980e-01 -3.63374444e-03 1.33929237e+02] [ 5.03250014e-03 4.06037269e-04 9.99987254e-01 7.13963241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:133.91, Z:0.71 [[-6.34113530e-01 -7.73232239e-01 3.45483695e-03 2.10650790e+02] [ 7.73224059e-01 -6.34122815e-01 -3.57929099e-03 1.33911566e+02] [ 4.95841411e-03 4.01686202e-04 9.99987626e-01 7.14194543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:133.92, Z:0.71 [[-6.35550200e-01 -7.72049719e-01 3.89545022e-03 2.10640596e+02] [ 7.72039311e-01 -6.35561983e-01 -4.03330562e-03 1.33922714e+02] [ 5.58971254e-03 4.44072509e-04 9.99984279e-01 7.13991780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:133.92, Z:0.71 [[-6.37342525e-01 -7.70569456e-01 4.14960292e-03 2.10642680e+02] [ 7.70557630e-01 -6.37355867e-01 -4.29381556e-03 1.33921109e+02] [ 5.95345688e-03 4.60876942e-04 9.99982172e-01 7.13843336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.93, Z:0.71 [[-6.39487800e-01 -7.68790636e-01 4.03872891e-03 2.10633807e+02] [ 7.68779414e-01 -6.39500406e-01 -4.17651968e-03 1.33930196e+02] [ 5.79363800e-03 4.34058265e-04 9.99983123e-01 7.13731538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.93, Z:0.71 [[-6.41481350e-01 -7.67130885e-01 3.44708278e-03 2.10632858e+02] [ 7.67122697e-01 -6.41490511e-01 -3.56249541e-03 1.33930672e+02] [ 4.94417115e-03 3.59061078e-04 9.99987713e-01 7.14161292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:133.94, Z:0.72 [[-6.44653297e-01 -7.64472332e-01 2.04454941e-03 2.10619310e+02] [ 7.64469442e-01 -6.44656507e-01 -2.11172145e-03 1.33944920e+02] [ 2.93238470e-03 2.01667358e-04 9.99995680e-01 7.15542874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.93, Z:0.72 [[-6.45901077e-01 -7.63419729e-01 1.45480856e-03 2.10633827e+02] [ 7.63418265e-01 -6.45902700e-01 -1.50169186e-03 1.33932085e+02] [ 2.08608597e-03 1.40683036e-04 9.99997814e-01 7.15569005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:133.94, Z:0.72 [[-6.46930022e-01 -7.62547625e-01 1.63299832e-03 2.10631731e+02] [ 7.62545780e-01 -6.46932064e-01 -1.68456379e-03 1.33938004e+02] [ 2.34099909e-03 1.55441088e-04 9.99997248e-01 7.15638380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.511400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.63, Y:133.95, Z:0.72 [[-6.47506682e-01 -7.62058420e-01 1.43560271e-03 2.10627947e+02] [ 7.62056995e-01 -6.47508259e-01 -1.48001754e-03 1.33950371e+02] [ 2.05742444e-03 1.35689835e-04 9.99997874e-01 7.15218832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:133.93, Z:0.72 [[-6.47587205e-01 -7.61991146e-01 5.52350194e-04 2.10651121e+02] [ 7.61990936e-01 -6.47587438e-01 -5.69135692e-04 1.33929892e+02] [ 7.91371406e-04 5.23208489e-05 9.99999686e-01 7.16076113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:133.92, Z:0.72 [[-6.46984160e-01 -7.62503330e-01 -4.10158709e-04 2.10660795e+02] [ 7.62503215e-01 -6.46984289e-01 4.22214791e-04 1.33924891e+02] [-5.87306425e-04 -3.95810527e-05 9.99999827e-01 7.16254552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:133.92, Z:0.72 [[-6.46052899e-01 -7.63292447e-01 -5.40544392e-04 2.10664962e+02] [ 7.63292246e-01 -6.46053123e-01 5.56117207e-04 1.33924675e+02] [-7.73700456e-04 -5.33122097e-05 9.99999699e-01 7.16262748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:133.92, Z:0.72 [[-6.44609072e-01 -7.64512340e-01 -1.63514009e-04 2.10670874e+02] [ 7.64512321e-01 -6.44609093e-01 1.68062820e-04 1.33922222e+02] [-2.33888716e-04 -1.66736561e-05 9.99999973e-01 7.16140743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:133.92, Z:0.71 [[-6.40573579e-01 -7.67896710e-01 3.63676043e-04 2.10676673e+02] [ 7.67896621e-01 -6.40573681e-01 -3.73833766e-04 1.33918856e+02] [ 5.20027021e-04 3.97975705e-05 9.99999864e-01 7.14769524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:133.90, Z:0.71 [[-6.38696920e-01 -7.69458257e-01 4.83959237e-04 2.10691546e+02] [ 7.69458099e-01 -6.38697101e-01 -4.97145048e-04 1.33903608e+02] [ 6.91635725e-04 5.48613433e-05 9.99999759e-01 7.14791964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:133.89, Z:0.71 [[-6.36896962e-01 -7.70948869e-01 3.17473404e-04 2.10702363e+02] [ 7.70948801e-01 -6.36897040e-01 -3.25953979e-04 1.33892408e+02] [ 4.53491723e-04 3.71566411e-05 9.99999897e-01 7.14878565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:133.88, Z:0.71 [[-6.35492459e-01 -7.72107055e-01 1.74597164e-04 2.10718717e+02] [ 7.72107034e-01 -6.35492483e-01 -1.79190109e-04 1.33875886e+02] [ 2.49309133e-04 2.09337358e-05 9.99999969e-01 7.14984470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.781400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.72, Y:133.88, Z:0.72 [[-6.34648477e-01 -7.72800901e-01 2.79043505e-04 2.10717285e+02] [ 7.72800849e-01 -6.34648537e-01 -2.86164413e-04 1.33877788e+02] [ 3.98242669e-04 3.40312486e-05 9.99999920e-01 7.15215721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:133.87, Z:0.71 [[-6.35427763e-01 -7.72160048e-01 6.46320870e-04 2.10719306e+02] [ 7.72159768e-01 -6.35428087e-01 -6.62312745e-04 1.33874546e+02] [ 9.22101875e-04 7.82110666e-05 9.99999572e-01 7.14982775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:133.88, Z:0.71 [[-6.36695696e-01 -7.71114598e-01 9.30881193e-04 2.10712059e+02] [ 7.71114017e-01 -6.36696367e-01 -9.53308155e-04 1.33881024e+02] [ 1.32779851e-03 1.10848337e-04 9.99999112e-01 7.14768911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:133.89, Z:0.71 [[-6.38163885e-01 -7.69899581e-01 1.22122652e-03 2.10701459e+02] [ 7.69898580e-01 -6.38165037e-01 -1.24986991e-03 1.33890362e+02] [ 1.74161839e-03 1.42598720e-04 9.99998473e-01 7.14495183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:133.88, Z:0.71 [[-6.41092524e-01 -7.67462833e-01 1.08446949e-03 2.10701468e+02] [ 7.67462041e-01 -6.41093429e-01 -1.10924286e-03 1.33884366e+02] [ 1.54654893e-03 1.21161868e-04 9.99998797e-01 7.14105992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:133.95, Z:0.71 [[-6.43790632e-01 -7.65201652e-01 2.30779537e-04 2.10638629e+02] [ 7.65198832e-01 -6.43789024e-01 -2.53771799e-03 1.33947589e+02] [ 2.09043934e-03 -1.45716684e-03 9.99996753e-01 7.14426069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:133.94, Z:0.71 [[-6.44035035e-01 -7.64994760e-01 1.37474386e-03 2.10639426e+02] [ 7.64993449e-01 -6.44036488e-01 -1.42281413e-03 1.33944939e+02] [ 1.97383057e-03 1.35327900e-04 9.99998043e-01 7.14118719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:133.89, Z:0.71 [[-6.45384095e-01 -7.63853325e-01 2.73264292e-03 2.10686250e+02] [ 7.63855168e-01 -6.45387494e-01 -5.14688222e-04 1.33894431e+02] [ 2.15675988e-03 1.75517183e-03 9.99996134e-01 7.13793394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:133.91, Z:0.71 [[-6.47749894e-01 -7.61849143e-01 2.44084363e-03 2.10674867e+02] [ 7.61845112e-01 -6.47754446e-01 -2.49051424e-03 1.33908557e+02] [ 3.47846345e-03 2.46314451e-04 9.99993920e-01 7.14366244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:133.90, Z:0.71 [[-6.50012173e-01 -7.59916677e-01 3.28933393e-03 2.10682638e+02] [ 7.59909341e-01 -6.50020417e-01 -3.35416328e-03 1.33902006e+02] [ 4.68701883e-03 3.19348625e-04 9.99988965e-01 7.14464040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:133.94, Z:0.71 [[-6.52614422e-01 -7.57687594e-01 1.98156587e-03 2.10653307e+02] [ 7.57671576e-01 -6.52614491e-01 -5.30183785e-03 1.33936520e+02] [ 5.31033537e-03 -1.95867971e-03 9.99983982e-01 7.14713533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:133.91, Z:0.71 [[-6.53458102e-01 -7.56949604e-01 4.45035047e-03 2.10677333e+02] [ 7.56952721e-01 -6.53468374e-01 -1.28939555e-03 1.33907544e+02] [ 3.88417074e-03 2.52613893e-03 9.99989266e-01 7.14448661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:133.91, Z:0.72 [[-6.53624692e-01 -7.56815006e-01 2.41012784e-03 2.10681581e+02] [ 7.56811059e-01 -6.53629098e-01 -2.45418491e-03 1.33907321e+02] [ 3.43269366e-03 2.19895544e-04 9.99994084e-01 7.15159485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:133.91, Z:0.72 [[-6.53694684e-01 -7.56755288e-01 2.16661938e-03 2.10682308e+02] [ 7.56752102e-01 -6.53698245e-01 -2.20485901e-03 1.33908293e+02] [ 3.08485400e-03 1.98289154e-04 9.99995222e-01 7.15357768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:133.90, Z:0.72 [[-6.53451751e-01 -7.56965828e-01 1.88262059e-03 2.10695551e+02] [ 7.56963426e-01 -6.53454440e-01 -1.91466897e-03 1.33897418e+02] [ 2.67954576e-03 1.73931142e-04 9.99996395e-01 7.15750043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:133.90, Z:0.72 [[-6.52506133e-01 -7.57781838e-01 1.55994731e-03 2.10701279e+02] [ 7.57780193e-01 -6.52507981e-01 -1.58553543e-03 1.33900383e+02] [ 2.21936802e-03 1.47525586e-04 9.99997526e-01 7.15712510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:133.90, Z:0.72 [[-6.52340417e-01 -7.57924358e-01 1.62728150e-03 2.10706240e+02] [ 7.57922572e-01 -6.52342428e-01 -1.65294872e-03 1.33900065e+02] [ 2.31435486e-03 1.55068122e-04 9.99997310e-01 7.15379648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:133.90, Z:0.72 [[-6.52300560e-01 -7.57958044e-01 1.89292753e-03 2.10707377e+02] [ 7.57955630e-01 -6.52303282e-01 -1.92158281e-03 1.33903652e+02] [ 2.69124199e-03 1.81305536e-04 9.99996362e-01 7.15316514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:133.89, Z:0.72 [[-6.52094117e-01 -7.58135944e-01 1.77580409e-03 2.10726082e+02] [ 7.58133823e-01 -6.52096512e-01 -1.80158125e-03 1.33889382e+02] [ 2.52383915e-03 1.71496606e-04 9.99996800e-01 7.15092940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:133.89, Z:0.72 [[-6.50904289e-01 -7.59158544e-01 1.38247915e-03 2.10730312e+02] [ 7.59157263e-01 -6.50905742e-01 -1.40170545e-03 1.33893256e+02] [ 1.96398029e-03 1.37143002e-04 9.99998062e-01 7.15292739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.381400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:210.75, Y:133.88, Z:0.72 [[-6.49530418e-01 -7.60334118e-01 1.50521829e-03 2.10746070e+02] [ 7.60332603e-01 -6.49532144e-01 -1.52521393e-03 1.33882149e+02] [ 2.13735985e-03 1.53793703e-04 9.99997704e-01 7.15260506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:133.89, Z:0.71 [[-6.47986640e-01 -7.61650898e-01 1.10647872e-03 2.10742716e+02] [ 7.61650082e-01 -6.47987574e-01 -1.12051603e-03 1.33888247e+02] [ 1.57042651e-03 1.16670191e-04 9.99998760e-01 7.14901980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:133.85, Z:0.71 [[-6.43699155e-01 -7.65278074e-01 9.31353595e-04 2.10786333e+02] [ 7.65277501e-01 -6.43699820e-01 -9.42614281e-04 1.33851129e+02] [ 1.32087418e-03 1.05983937e-04 9.99999122e-01 7.14078139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:133.85, Z:0.71 [[-6.41760984e-01 -7.66903753e-01 1.21363843e-03 2.10786955e+02] [ 7.66902784e-01 -6.41762116e-01 -1.22756115e-03 1.33852768e+02] [ 1.72028842e-03 1.42941840e-04 9.99998510e-01 7.13810009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.84, Z:0.71 [[-6.39949941e-01 -7.68415117e-01 1.51028961e-03 2.10798920e+02] [ 7.68413622e-01 -6.39951697e-01 -1.52669572e-03 1.33842157e+02] [ 2.13964847e-03 1.83518270e-04 9.99997694e-01 7.13561086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.84, Z:0.71 [[-6.37533352e-01 -7.70420037e-01 2.04739415e-03 2.10806511e+02] [ 7.70417304e-01 -6.37536587e-01 -2.06839362e-03 1.33836550e+02] [ 2.89882057e-03 2.58677968e-04 9.99995765e-01 7.13293179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.83, Z:0.71 [[-6.37307575e-01 -7.70606746e-01 2.07326665e-03 2.10809541e+02] [ 7.70603947e-01 -6.37310893e-01 -2.09330454e-03 1.33834413e+02] [ 2.93443002e-03 2.63588621e-04 9.99995660e-01 7.13012836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.84, Z:0.71 [[-6.37865214e-01 -7.70144606e-01 2.29228731e-03 2.10807466e+02] [ 7.70141187e-01 -6.37869267e-01 -2.31307828e-03 1.33837287e+02] [ 3.24358439e-03 2.89952700e-04 9.99994698e-01 7.13259855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.83, Z:0.71 [[-6.38788038e-01 -7.69379252e-01 2.32577493e-03 2.10810286e+02] [ 7.69375732e-01 -6.38792205e-01 -2.34549181e-03 1.33834035e+02] [ 3.29025963e-03 2.91122677e-04 9.99994545e-01 7.13463111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.83, Z:0.71 [[-6.39680079e-01 -7.68638251e-01 2.15309816e-03 2.10813043e+02] [ 7.68635234e-01 -6.39683647e-01 -2.17008457e-03 1.33829849e+02] [ 3.04531169e-03 2.66787243e-04 9.99995327e-01 7.13439025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.83, Z:0.71 [[-6.40742976e-01 -7.67751387e-01 2.49935250e-03 2.10805163e+02] [ 7.67747320e-01 -6.40747777e-01 -2.51757922e-03 1.33834329e+02] [ 3.53432949e-03 3.05749981e-04 9.99993708e-01 7.13111289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.83, Z:0.71 [[-6.41674666e-01 -7.66971442e-01 2.90342239e-03 2.10810526e+02] [ 7.66965954e-01 -6.41681138e-01 -2.92286368e-03 1.33827469e+02] [ 4.10482435e-03 3.51298546e-04 9.99991513e-01 7.13005414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.84, Z:0.71 [[-6.43087787e-01 -7.65786464e-01 3.03149787e-03 2.10798646e+02] [ 7.65780475e-01 -6.43094831e-01 -3.04999323e-03 1.33837172e+02] [ 4.28518414e-03 3.60048484e-04 9.99990754e-01 7.12802400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.84, Z:0.71 [[-6.44608289e-01 -7.64508267e-01 2.69512779e-03 2.10797346e+02] [ 7.64503528e-01 -6.44613847e-01 -2.70997036e-03 1.33835846e+02] [ 3.80911143e-03 3.13565346e-04 9.99992696e-01 7.12871394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:133.84, Z:0.71 [[-6.46392390e-01 -7.63001420e-01 2.38990362e-03 2.10794821e+02] [ 7.62997688e-01 -6.46396751e-01 -2.40164530e-03 1.33835571e+02] [ 3.37728471e-03 2.71085689e-04 9.99994260e-01 7.12926784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.85, Z:0.71 [[-6.50170530e-01 -7.59781724e-01 3.16446317e-03 2.10772749e+02] [ 7.59775152e-01 -6.50178144e-01 -3.17807692e-03 1.33854484e+02] [ 4.47210955e-03 3.37988533e-04 9.99989943e-01 7.12056484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.85, Z:0.71 [[-6.52317358e-01 -7.57937003e-01 3.68289157e-03 2.10774029e+02] [ 7.57928084e-01 -6.52327644e-01 -3.69648228e-03 1.33852189e+02] [ 5.20415268e-03 3.80087390e-04 9.99986386e-01 7.11095288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.86, Z:0.71 [[-6.54742229e-01 -7.55842306e-01 3.87580949e-03 2.10770057e+02] [ 7.55832405e-01 -6.54753587e-01 -3.88774580e-03 1.33855758e+02] [ 5.47622292e-03 3.83991057e-04 9.99984932e-01 7.10582334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.86, Z:0.71 [[-6.56894061e-01 -7.53975440e-01 3.35074527e-03 2.10766593e+02] [ 7.53968026e-01 -6.56902529e-01 -3.35902427e-03 1.33860735e+02] [ 4.73373485e-03 3.19831699e-04 9.99988745e-01 7.10829811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:133.88, Z:0.71 [[-6.59586498e-01 -7.51624412e-01 2.52869200e-03 2.10751698e+02] [ 7.51620178e-01 -6.59591306e-01 -2.53339725e-03 1.33878970e+02] [ 3.57206647e-03 2.29621313e-04 9.99993594e-01 7.12995187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.87, Z:0.71 [[-6.59908511e-01 -7.51340583e-01 2.84347434e-03 2.10765925e+02] [ 7.51335233e-01 -6.59914587e-01 -2.84699510e-03 1.33865950e+02] [ 4.01551316e-03 2.57646159e-04 9.99991905e-01 7.13369300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:133.88, Z:0.71 [[-6.58249726e-01 -7.52791886e-01 3.41685122e-03 2.10754288e+02] [ 7.52784191e-01 -6.58258515e-01 -3.41895004e-03 1.33879482e+02] [ 4.82292926e-03 3.21628655e-04 9.99988318e-01 7.12992765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.87, Z:0.71 [[-6.56444128e-01 -7.54367714e-01 3.23401288e-03 2.10766391e+02] [ 7.54360848e-01 -6.56452018e-01 -3.23399788e-03 1.33868059e+02] [ 4.56259787e-03 3.16673781e-04 9.99989541e-01 7.12417291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:133.86, Z:0.71 [[-6.54416521e-01 -7.56128231e-01 3.01925155e-03 2.10779598e+02] [ 7.56122273e-01 -6.54423413e-01 -3.01738773e-03 1.33855122e+02] [ 4.25740095e-03 3.08294961e-04 9.99990890e-01 7.12587214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.83, Z:0.71 [[-6.52419210e-01 -7.57853885e-01 2.58129773e-03 2.10803840e+02] [ 7.57849550e-01 -6.52424259e-01 -2.57815164e-03 1.33831471e+02] [ 3.63796350e-03 2.74199669e-04 9.99993345e-01 7.12468275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.84, Z:0.71 [[-6.50794785e-01 -7.59250321e-01 2.25810563e-03 2.10799996e+02] [ 7.59247015e-01 -6.50798655e-01 -2.25400528e-03 1.33835978e+02] [ 3.18092634e-03 2.47565080e-04 9.99994910e-01 7.13349868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.161400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.82, Y:133.82, Z:0.71 [[-6.48839014e-01 -7.60924268e-01 1.48047407e-03 2.10821216e+02] [ 7.60922853e-01 -6.48840682e-01 -1.47692692e-03 1.33816783e+02] [ 2.08442134e-03 1.68238753e-04 9.99997813e-01 7.14446801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:133.81, Z:0.71 [[-6.48479860e-01 -7.61230957e-01 1.14065630e-03 2.10825151e+02] [ 7.61230119e-01 -6.48480850e-01 -1.13726446e-03 1.33812854e+02] [ 1.60541468e-03 1.30808830e-04 9.99998703e-01 7.14652251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.83, Z:0.71 [[-6.48576811e-01 -7.61148356e-01 1.14000270e-03 2.10809325e+02] [ 7.61147520e-01 -6.48577800e-01 -1.13593434e-03 1.33827573e+02] [ 1.60399500e-03 1.30969558e-04 9.99998705e-01 7.14311478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:133.82, Z:0.71 [[-6.48776252e-01 -7.60978119e-01 1.29527939e-03 2.10815900e+02] [ 7.60977040e-01 -6.48777528e-01 -1.28987239e-03 1.33819588e+02] [ 1.82191282e-03 1.48839304e-04 9.99998329e-01 7.14003537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:133.81, Z:0.71 [[-6.48921044e-01 -7.60854409e-01 1.43079348e-03 2.10821437e+02] [ 7.60853094e-01 -6.48922601e-01 -1.42396083e-03 1.33813274e+02] [ 2.01190110e-03 1.64585499e-04 9.99997963e-01 7.14129646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:133.80, Z:0.72 [[-6.49305337e-01 -7.60525744e-01 1.78090752e-03 2.10828118e+02] [ 7.60523709e-01 -6.49307747e-01 -1.77132882e-03 1.33804533e+02] [ 2.50349822e-03 2.04289135e-04 9.99996845e-01 7.15601406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:133.81, Z:0.72 [[-6.49838134e-01 -7.60069494e-01 2.18268214e-03 2.10822199e+02] [ 7.60066438e-01 -6.49841752e-01 -2.16963260e-03 1.33808713e+02] [ 3.06746954e-03 2.49073438e-04 9.99995264e-01 7.15969244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:133.80, Z:0.72 [[-6.50077187e-01 -7.59865292e-01 2.09499129e-03 2.10826039e+02] [ 7.59862479e-01 -6.50080519e-01 -2.08122726e-03 1.33802317e+02] [ 2.94336538e-03 2.38946919e-04 9.99995640e-01 7.15426475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:133.80, Z:0.72 [[-6.50444479e-01 -7.59551073e-01 2.03638240e-03 2.10829595e+02] [ 7.59548417e-01 -6.50447626e-01 -2.02180199e-03 1.33796958e+02] [ 2.86022197e-03 2.31661084e-04 9.99995883e-01 7.15258427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:133.80, Z:0.71 [[-6.50841609e-01 -7.59211875e-01 1.59028547e-03 2.10825129e+02] [ 7.59210257e-01 -6.50843527e-01 -1.57797544e-03 1.33799594e+02] [ 2.23304470e-03 1.80348963e-04 9.99997491e-01 7.14672636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.81, Z:0.71 [[-6.51283121e-01 -7.58832707e-01 1.79401274e-03 2.10814661e+02] [ 7.58830649e-01 -6.51285561e-01 -1.77904939e-03 1.33807697e+02] [ 2.51841545e-03 2.02687011e-04 9.99996808e-01 7.14565245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.81, Z:0.71 [[-6.52190272e-01 -7.58051946e-01 2.25749319e-03 2.10804170e+02] [ 7.58048686e-01 -6.52194131e-01 -2.23729144e-03 1.33814203e+02] [ 3.16830694e-03 2.52150034e-04 9.99994949e-01 7.14201038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.81, Z:0.71 [[-6.52824287e-01 -7.57505846e-01 2.31162000e-03 2.10804980e+02] [ 7.57502429e-01 -6.52828330e-01 -2.28954193e-03 1.33809767e+02] [ 3.24343242e-03 2.56389185e-04 9.99994707e-01 7.13722782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55140051300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:210.80, Y:133.81, Z:0.71 [[-6.52883604e-01 -7.57454765e-01 2.29742522e-03 2.10802659e+02] [ 7.57451394e-01 -6.52887597e-01 -2.27410132e-03 1.33807740e+02] [ 3.22248931e-03 2.55464470e-04 9.99994775e-01 7.14240539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:133.79, Z:0.72 [[-6.52799091e-01 -7.57528543e-01 1.96307405e-03 2.10820634e+02] [ 7.57526086e-01 -6.52802005e-01 -1.94198271e-03 1.33787714e+02] [ 2.75260601e-03 2.19355251e-04 9.99996188e-01 7.15021690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.80, Z:0.72 [[-6.52755004e-01 -7.57567514e-01 1.53844601e-03 2.10808062e+02] [ 7.57566007e-01 -6.52756794e-01 -1.52101672e-03 1.33797240e+02] [ 2.15650394e-03 1.72623127e-04 9.99997660e-01 7.15235912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.79, Z:0.71 [[-6.53292075e-01 -7.57103730e-01 1.84575987e-03 2.10808612e+02] [ 7.57101562e-01 -6.53294650e-01 -1.82373004e-03 1.33791190e+02] [ 2.58657787e-03 2.05999300e-04 9.99996634e-01 7.14807675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.80, Z:0.71 [[-6.53615505e-01 -7.56823688e-01 2.16267653e-03 2.10802916e+02] [ 7.56820713e-01 -6.53619039e-01 -2.13555531e-03 1.33796172e+02] [ 3.02980540e-03 2.40926326e-04 9.99995381e-01 7.14054906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.79, Z:0.71 [[-6.53914439e-01 -7.56564355e-01 2.50679871e-03 2.10810482e+02] [ 7.56560362e-01 -6.53919184e-01 -2.47384785e-03 1.33788446e+02] [ 3.51086887e-03 2.78859713e-04 9.99993798e-01 7.14079357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.80, Z:0.71 [[-6.54146894e-01 -7.56362764e-01 2.68501458e-03 2.10796748e+02] [ 7.56358188e-01 -6.54152337e-01 -2.64810262e-03 1.33800273e+02] [ 3.75933478e-03 2.98584660e-04 9.99992889e-01 7.14252181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.78, Z:0.71 [[-6.53609094e-01 -7.56827862e-01 2.59608030e-03 2.10809411e+02] [ 7.56823593e-01 -6.53614184e-01 -2.55883494e-03 1.33778970e+02] [ 3.63343249e-03 2.92297034e-04 9.99993356e-01 7.14907031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.79, Z:0.72 [[-6.53102093e-01 -7.57265887e-01 2.45614671e-03 2.10795314e+02] [ 7.57262073e-01 -6.53106652e-01 -2.41944056e-03 1.33788187e+02] [ 3.43628556e-03 2.79805059e-04 9.99994057e-01 7.15379004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.77, Z:0.72 [[-6.52434951e-01 -7.57841642e-01 2.16331718e-03 2.10810310e+02] [ 7.57838691e-01 -6.52438490e-01 -2.12970107e-03 1.33769701e+02] [ 3.02540755e-03 2.49954046e-04 9.99995392e-01 7.15614901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.77, Z:0.72 [[-6.52663900e-01 -7.57644475e-01 2.16396079e-03 2.10812116e+02] [ 7.57641525e-01 -6.52667439e-01 -2.12904709e-03 1.33768028e+02] [ 3.02540751e-03 2.49954375e-04 9.99995392e-01 7.15614448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:133.76, Z:0.72 [[-6.51715958e-01 -7.58459713e-01 2.27481029e-03 2.10815516e+02] [ 7.58456462e-01 -6.51719873e-01 -2.23675349e-03 1.33761514e+02] [ 3.17902648e-03 2.67616617e-04 9.99994911e-01 7.15479860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.82, Y:133.75, Z:0.72 [[-6.50796730e-01 -7.59246599e-01 2.86670447e-03 2.10818676e+02] [ 7.59241451e-01 -6.50802953e-01 -2.81702928e-03 1.33754464e+02] [ 4.00447964e-03 3.43207421e-04 9.99991923e-01 7.15132615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.75, Z:0.71 [[-6.50384337e-01 -7.59597895e-01 3.35430860e-03 2.10814804e+02] [ 7.59590860e-01 -6.50392861e-01 -3.29418913e-03 1.33748547e+02] [ 4.68387750e-03 4.05413135e-04 9.99988948e-01 7.14386772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.75, Z:0.71 [[-6.51161538e-01 -7.58931754e-01 3.35311703e-03 2.10806558e+02] [ 7.58924725e-01 -6.51170048e-01 -3.29103242e-03 1.33752785e+02] [ 4.68111838e-03 4.01769689e-04 9.99988963e-01 7.14835231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.75, Z:0.72 [[-6.52300912e-01 -7.57952798e-01 3.32800801e-03 2.10805306e+02] [ 7.57945871e-01 -6.52309283e-01 -3.26441091e-03 1.33749846e+02] [ 4.64515990e-03 3.93071714e-04 9.99989134e-01 7.15595075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.75, Z:0.72 [[-6.53687961e-01 -7.56757906e-01 3.08571455e-03 2.10805249e+02] [ 7.56751945e-01 -6.53695146e-01 -3.02491955e-03 1.33745934e+02] [ 4.30624841e-03 3.57766993e-04 9.99990664e-01 7.15861703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.75, Z:0.72 [[-6.56998725e-01 -7.53887311e-01 2.56860311e-03 2.10796685e+02] [ 7.53883164e-01 -6.57003685e-01 -2.51647907e-03 1.33749502e+02] [ 3.58472335e-03 2.83103104e-04 9.99993535e-01 7.16063449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:133.76, Z:0.72 [[-6.59011434e-01 -7.52126881e-01 3.01412711e-03 2.10787577e+02] [ 7.52121161e-01 -6.59018248e-01 -2.95114168e-03 1.33757185e+02] [ 4.20599775e-03 3.22152668e-04 9.99991103e-01 7.16066027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.77, Z:0.72 [[-6.61104157e-01 -7.50288087e-01 3.01346601e-03 2.10772965e+02] [ 7.50282357e-01 -6.61110951e-01 -2.94866935e-03 1.33770883e+02] [ 4.20458686e-03 3.11572822e-04 9.99991112e-01 7.15059186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:133.77, Z:0.72 [[-6.64491248e-01 -7.47289016e-01 3.24154809e-03 2.10776296e+02] [ 7.47282360e-01 -6.64499079e-01 -3.16986761e-03 1.33765888e+02] [ 4.52281297e-03 3.16002423e-04 9.99989722e-01 7.15282893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:133.76, Z:0.72 [[-6.65794916e-01 -7.46127410e-01 3.31929281e-03 2.10781487e+02] [ 7.46120426e-01 -6.65803115e-01 -3.24387557e-03 1.33761594e+02] [ 4.63033997e-03 3.16836298e-04 9.99989230e-01 7.15569865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.211400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.77, Y:133.77, Z:0.72 [[-6.66803016e-01 -7.45225317e-01 3.60065205e-03 2.10773037e+02] [ 7.45217096e-01 -6.66812652e-01 -3.51664300e-03 1.33772144e+02] [ 5.02165174e-03 3.38359306e-04 9.99987334e-01 7.15397470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:133.76, Z:0.72 [[-6.67563508e-01 -7.44542686e-01 3.89244048e-03 2.10783494e+02] [ 7.44533081e-01 -6.67574758e-01 -3.79924478e-03 1.33764247e+02] [ 5.42719492e-03 3.61813525e-04 9.99985207e-01 7.15860528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:133.78, Z:0.72 [[-6.67763279e-01 -7.44362452e-01 4.09197760e-03 2.10773816e+02] [ 7.44351847e-01 -6.67775708e-01 -3.99150288e-03 1.33775758e+02] [ 5.70364811e-03 3.80492037e-04 9.99983662e-01 7.15968936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:133.78, Z:0.71 [[-6.66510281e-01 -7.45482303e-01 4.49232089e-03 2.10777769e+02] [ 7.45469564e-01 -6.66525282e-01 -4.37925425e-03 1.33775723e+02] [ 6.25890199e-03 4.30070517e-04 9.99980320e-01 7.14558795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.76, Z:0.71 [[-6.65949849e-01 -7.45981374e-01 4.75265847e-03 2.10796388e+02] [ 7.45967148e-01 -6.65966648e-01 -4.63014121e-03 1.33760001e+02] [ 6.61911113e-03 4.61885235e-04 9.99977987e-01 7.13981253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:133.76, Z:0.71 [[-6.65528808e-01 -7.46361911e-01 3.91198522e-03 2.10801178e+02] [ 7.46352292e-01 -6.65540194e-01 -3.80878765e-03 1.33762444e+02] [ 5.44631743e-03 3.84861228e-04 9.99985095e-01 7.14367640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.75, Z:0.72 [[-6.65800528e-01 -7.46121618e-01 3.49100893e-03 2.10813933e+02] [ 7.46113965e-01 -6.65809592e-01 -3.39682277e-03 1.33753715e+02] [ 4.85879014e-03 3.43084122e-04 9.99988137e-01 7.15201074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.82, Y:133.75, Z:0.71 [[-6.66107865e-01 -7.45848926e-01 3.11308043e-03 2.10818511e+02] [ 7.45842845e-01 -6.66115070e-01 -3.02723317e-03 1.33753580e+02] [ 4.33152839e-03 3.05404944e-04 9.99990572e-01 7.14853028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:133.77, Z:0.71 [[-6.66758436e-01 -7.45266600e-01 3.29892452e-03 2.10806166e+02] [ 7.45259773e-01 -6.66766520e-01 -3.20595974e-03 1.33769328e+02] [ 4.58890714e-03 3.20955044e-04 9.99989419e-01 7.14570273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:133.76, Z:0.71 [[-6.66341856e-01 -7.45640334e-01 3.00391174e-03 2.10820805e+02] [ 7.45634685e-01 -6.66348561e-01 -2.91745320e-03 1.33763157e+02] [ 4.17702305e-03 2.95799599e-04 9.99991232e-01 7.12975006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:133.76, Z:0.71 [[-6.65265748e-01 -7.46601720e-01 2.71235898e-03 2.10829961e+02] [ 7.46597128e-01 -6.65271221e-01 -2.63267088e-03 1.33758741e+02] [ 3.77001097e-03 2.73613663e-04 9.99992856e-01 7.12744471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:133.75, Z:0.71 [[-6.63769636e-01 -7.47932304e-01 2.67182315e-03 2.10840318e+02] [ 7.47927866e-01 -6.63774955e-01 -2.59173140e-03 1.33753100e+02] [ 3.71192893e-03 2.78018378e-04 9.99993072e-01 7.12851179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:133.74, Z:0.71 [[-6.62009443e-01 -7.49488810e-01 3.16555496e-03 2.10855871e+02] [ 7.49482605e-01 -6.62016924e-01 -3.06877325e-03 1.33741560e+02] [ 4.39566217e-03 3.40971504e-04 9.99990281e-01 7.12592032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.73, Z:0.71 [[-6.58048402e-01 -7.52965485e-01 3.90890360e-03 2.10875043e+02] [ 7.52956096e-01 -6.58059857e-01 -3.78708818e-03 1.33726762e+02] [ 5.42383923e-03 4.51145472e-04 9.99985189e-01 7.12457558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:133.74, Z:0.71 [[-6.56047556e-01 -7.54709152e-01 3.96228852e-03 2.10863490e+02] [ 7.54699549e-01 -6.56059351e-01 -3.83649148e-03 1.33739099e+02] [ 5.49493167e-03 4.73416502e-04 9.99984791e-01 7.12577494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:133.72, Z:0.71 [[-6.53985593e-01 -7.56497806e-01 3.73011223e-03 2.10885714e+02] [ 7.56489336e-01 -6.53996068e-01 -3.60951653e-03 1.33719105e+02] [ 5.17007007e-03 4.61218317e-04 9.99986529e-01 7.12619465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:133.71, Z:0.71 [[-6.51990586e-01 -7.58218950e-01 3.50709897e-03 2.10898419e+02] [ 7.58211496e-01 -6.51999865e-01 -3.39169825e-03 1.33707650e+02] [ 4.85827793e-03 4.47767428e-04 9.99988098e-01 7.12650378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:133.70, Z:0.71 [[-6.48253779e-01 -7.61414404e-01 3.89153327e-03 2.10905807e+02] [ 7.61405295e-01 -6.48265247e-01 -3.76125059e-03 1.33698343e+02] [ 5.38661615e-03 5.24789128e-04 9.99985354e-01 7.12651837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:133.68, Z:0.71 [[-6.47126167e-01 -7.62368987e-01 4.60997325e-03 2.10917898e+02] [ 7.62356245e-01 -6.47142277e-01 -4.45301003e-03 1.33683970e+02] [ 6.37814534e-03 6.32782585e-04 9.99979459e-01 7.11988731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:133.68, Z:0.71 [[-6.46750963e-01 -7.62682495e-01 5.34826164e-03 2.10915163e+02] [ 7.62665377e-01 -6.46772653e-01 -5.16312773e-03 1.33684285e+02] [ 7.39693651e-03 7.39676157e-04 9.99972369e-01 7.11392554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:133.68, Z:0.71 [[-6.47055904e-01 -7.62421123e-01 5.71738431e-03 2.10922140e+02] [ 7.62401576e-01 -6.47080681e-01 -5.51624301e-03 1.33676415e+02] [ 7.90530913e-03 7.89625203e-04 9.99968441e-01 7.11306189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:133.69, Z:0.71 [[-6.50342705e-01 -7.59618646e-01 5.82058563e-03 2.10907134e+02] [ 7.59598302e-01 -6.50368295e-01 -5.61251850e-03 1.33688977e+02] [ 8.04889805e-03 7.71246502e-04 9.99967310e-01 7.12220136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.71, Z:0.71 [[-6.53470056e-01 -7.56929426e-01 5.89324019e-03 2.10881799e+02] [ 7.56908492e-01 -6.53496199e-01 -5.67918807e-03 1.33711877e+02] [ 8.14995463e-03 7.49464202e-04 9.99966508e-01 7.12714648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.71, Z:0.71 [[-6.56978451e-01 -7.53884253e-01 6.15203289e-03 2.10877939e+02] [ 7.53861338e-01 -6.57006832e-01 -5.92499890e-03 1.33714746e+02] [ 8.50869101e-03 7.45183148e-04 9.99963523e-01 7.12380855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:133.72, Z:0.71 [[-6.60547754e-01 -7.50759990e-01 6.00853534e-03 2.10873724e+02] [ 7.50738032e-01 -6.60574720e-01 -5.78328874e-03 1.33719689e+02] [ 8.31094835e-03 6.90697611e-04 9.99965225e-01 7.12417195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:133.73, Z:0.71 [[-6.66736664e-01 -7.45278941e-01 4.63915295e-03 2.10863504e+02] [ 7.45265736e-01 -6.66752629e-01 -4.46252764e-03 1.33733861e+02] [ 6.41899530e-03 4.82070954e-04 9.99979282e-01 7.13068223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:133.74, Z:0.71 [[-6.69216472e-01 -7.43056056e-01 4.12446434e-03 2.10861981e+02] [ 7.43045591e-01 -6.69229055e-01 -3.96499860e-03 1.33737070e+02] [ 5.70642759e-03 4.11222670e-04 9.99983634e-01 7.13588067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:133.74, Z:0.71 [[-6.71016981e-01 -7.41431273e-01 3.98490225e-03 2.10861122e+02] [ 7.41421489e-01 -6.71028702e-01 -3.82846676e-03 1.33739553e+02] [ 5.51252877e-03 3.85525953e-04 9.99984732e-01 7.13637699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:133.74, Z:0.71 [[-6.72283296e-01 -7.40282185e-01 4.17800143e-03 2.10858223e+02] [ 7.40271422e-01 -6.72296162e-01 -4.01149113e-03 1.33743650e+02] [ 5.77848975e-03 3.95996582e-04 9.99983226e-01 7.14298729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:133.73, Z:0.71 [[-6.72793652e-01 -7.39821746e-01 3.53348925e-03 2.10870517e+02] [ 7.39814051e-01 -6.72802849e-01 -3.39057552e-03 1.33733287e+02] [ 4.88576313e-03 3.32967313e-04 9.99988009e-01 7.14245731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:133.74, Z:0.71 [[-6.72332935e-01 -7.40243750e-01 2.75944622e-03 2.10865607e+02] [ 7.40239067e-01 -6.72338546e-01 -2.64621797e-03 1.33737718e+02] [ 3.81412837e-03 2.63510404e-04 9.99992691e-01 7.14586249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:133.73, Z:0.71 [[-6.71609423e-01 -7.40903134e-01 1.82441228e-03 2.10870456e+02] [ 7.40901092e-01 -6.71611878e-01 -1.74849403e-03 1.33731871e+02] [ 2.52076166e-03 1.77403983e-04 9.99996807e-01 7.14948743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.72, Z:0.72 [[-6.70780933e-01 -7.41654690e-01 1.12326665e-03 2.10883860e+02] [ 7.41653918e-01 -6.70781864e-01 -1.07589141e-03 1.33718219e+02] [ 1.55140681e-03 1.11387674e-04 9.99998790e-01 7.15131035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.72, Z:0.71 [[-6.70329179e-01 -7.42062165e-01 1.59196218e-03 2.10878718e+02] [ 7.42060618e-01 -6.70331051e-01 -1.52385033e-03 1.33724386e+02] [ 2.19793335e-03 1.59851099e-04 9.99997572e-01 7.14570238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:133.72, Z:0.71 [[-6.71167769e-01 -7.41301875e-01 2.31431103e-03 2.10885065e+02] [ 7.41298605e-01 -6.71171720e-01 -2.21389588e-03 1.33720576e+02] [ 3.19446528e-03 2.29699981e-04 9.99994871e-01 7.14140158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.73, Z:0.71 [[-6.72583640e-01 -7.40016432e-01 2.63191497e-03 2.10878747e+02] [ 7.40012198e-01 -6.72588742e-01 -2.51615603e-03 1.33728985e+02] [ 3.63219318e-03 2.55323802e-04 9.99993371e-01 7.13764950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.73, Z:0.71 [[-6.75368420e-01 -7.37476467e-01 2.44101466e-03 2.10883597e+02] [ 7.37472813e-01 -6.75372794e-01 -2.33221297e-03 1.33730645e+02] [ 3.36854707e-03 2.25078961e-04 9.99994301e-01 7.14274194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.73, Z:0.71 [[-6.76421494e-01 -7.36511759e-01 2.09547216e-03 2.10884108e+02] [ 7.36509066e-01 -6.76424713e-01 -2.00084162e-03 1.33734613e+02] [ 2.89107253e-03 1.89921961e-04 9.99995803e-01 7.14128933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:133.73, Z:0.71 [[-6.77346985e-01 -7.35661456e-01 1.81249997e-03 2.10889906e+02] [ 7.35659440e-01 -6.77349390e-01 -1.72958486e-03 1.33733025e+02] [ 2.50008466e-03 1.61853619e-04 9.99996862e-01 7.14030393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.74, Z:0.71 [[-6.77777337e-01 -7.35264473e-01 2.00913825e-03 2.10884160e+02] [ 7.35261998e-01 -6.77780291e-01 -1.91602597e-03 1.33742848e+02] [ 2.77054013e-03 1.78604028e-04 9.99996146e-01 7.13431348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:133.74, Z:0.71 [[-6.76977614e-01 -7.35996834e-01 3.15764686e-03 2.10894667e+02] [ 7.35990737e-01 -6.76984917e-01 -3.00938448e-03 1.33743020e+02] [ 4.35257675e-03 2.86712919e-04 9.99990486e-01 7.11997742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:133.75, Z:0.71 [[-6.76045796e-01 -7.36850831e-01 3.59637527e-03 2.10896804e+02] [ 7.36842945e-01 -6.76055279e-01 -3.42536452e-03 1.33746348e+02] [ 4.95533118e-03 3.34260463e-04 9.99987666e-01 7.11644867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:133.72, Z:0.71 [[-6.74997827e-01 -7.37810203e-01 3.74675638e-03 2.10932108e+02] [ 7.37801670e-01 -6.75008131e-01 -3.56639109e-03 1.33717452e+02] [ 5.16041076e-03 3.57056877e-04 9.99986621e-01 7.11605617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.501400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.94, Y:133.71, Z:0.71 [[-6.73840246e-01 -7.38867009e-01 3.85568308e-03 2.10939962e+02] [ 7.38858002e-01 -6.73851171e-01 -3.66784020e-03 1.33714764e+02] [ 5.30820268e-03 3.77263954e-04 9.99985840e-01 7.11761213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.71, Z:0.71 [[-6.71274256e-01 -7.41191835e-01 5.05340311e-03 2.10955167e+02] [ 7.41176447e-01 -6.71293075e-01 -4.80427840e-03 1.33708160e+02] [ 6.95320644e-03 5.20474958e-04 9.99975691e-01 7.11792481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.70, Z:0.71 [[-6.69842983e-01 -7.42483179e-01 5.39504659e-03 2.10965327e+02] [ 7.42465705e-01 -6.69864465e-01 -5.12599193e-03 1.33702720e+02] [ 7.41991278e-03 5.72027343e-04 9.99972308e-01 7.11509428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.98, Y:133.70, Z:0.71 [[-6.67538668e-01 -7.44561799e-01 4.45581266e-03 2.10977961e+02] [ 7.44549941e-01 -6.67553357e-01 -4.23108043e-03 1.33697274e+02] [ 6.12479356e-03 4.93165260e-04 9.99981122e-01 7.11062195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.68, Z:0.71 [[-6.67095544e-01 -7.44959105e-01 4.41218298e-03 2.10993383e+02] [ 7.44947501e-01 -6.67109953e-01 -4.18716712e-03 1.33684655e+02] [ 6.06267944e-03 4.93604153e-04 9.99981500e-01 7.11006670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.68, Z:0.71 [[-6.66837242e-01 -7.45186329e-01 5.04250088e-03 2.10999929e+02] [ 7.45171199e-01 -6.66856065e-01 -4.78250849e-03 1.33681368e+02] [ 6.92648224e-03 5.68371653e-04 9.99975850e-01 7.11123944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.69, Z:0.71 [[-6.66979774e-01 -7.45054303e-01 5.66277099e-03 2.10990437e+02] [ 7.45035241e-01 -6.67003507e-01 -5.36761197e-03 1.33693644e+02] [ 7.77625050e-03 6.38875335e-04 9.99969560e-01 7.10935719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.69, Z:0.71 [[-6.67195186e-01 -7.44858650e-01 6.01463182e-03 2.11002599e+02] [ 7.44837166e-01 -6.67221951e-01 -5.69775063e-03 1.33685289e+02] [ 8.25711321e-03 6.78409525e-04 9.99965679e-01 7.10409648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.68, Z:0.71 [[-6.66942863e-01 -7.45094359e-01 4.64899271e-03 2.11015285e+02] [ 7.45081546e-01 -6.66958857e-01 -4.40148441e-03 1.33677728e+02] [ 6.38020807e-03 5.28340064e-04 9.99979507e-01 7.09986162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.68, Z:0.71 [[-6.67161088e-01 -7.44898958e-01 4.65028194e-03 2.11017110e+02] [ 7.44886149e-01 -6.67177086e-01 -4.40012227e-03 1.33676104e+02] [ 6.38020805e-03 5.28340244e-04 9.99979507e-01 7.09985708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:133.68, Z:0.71 [[-6.66517256e-01 -7.45481064e-01 3.56805301e-03 2.11014559e+02] [ 7.45473541e-01 -6.66526680e-01 -3.37414398e-03 1.33679627e+02] [ 4.89356297e-03 4.10963923e-04 9.99987942e-01 7.10962392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.67, Z:0.71 [[-6.65402077e-01 -7.46480186e-01 2.72185409e-03 2.11026612e+02] [ 7.46475822e-01 -6.65407567e-01 -2.57244010e-03 1.33668062e+02] [ 3.73141787e-03 3.20091282e-04 9.99992987e-01 7.11629895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.66, Z:0.71 [[-6.62361188e-01 -7.49176297e-01 3.54009267e-03 2.11025697e+02] [ 7.49168962e-01 -6.62370504e-01 -3.34378556e-03 1.33663558e+02] [ 4.84993785e-03 4.37333775e-04 9.99988143e-01 7.12314150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.66, Z:0.71 [[-6.60864826e-01 -7.50493538e-01 4.13907701e-03 2.11022580e+02] [ 7.50483550e-01 -6.60877579e-01 -3.90725604e-03 1.33662518e+02] [ 5.66779360e-03 5.24141121e-04 9.99983801e-01 7.12176013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:133.65, Z:0.71 [[-6.60115580e-01 -7.51153097e-01 4.05523868e-03 2.11036817e+02] [ 7.51143534e-01 -6.60127831e-01 -3.82588540e-03 1.33645499e+02] [ 5.55080159e-03 5.20539753e-04 9.99984459e-01 7.12316268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:133.64, Z:0.71 [[-6.60216064e-01 -7.51069588e-01 3.03689580e-03 2.11041972e+02] [ 7.51064231e-01 -6.60222933e-01 -2.86349831e-03 1.33637935e+02] [ 4.15571475e-03 3.90376228e-04 9.99991289e-01 7.12670448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:133.64, Z:0.71 [[-6.63370480e-01 -7.48288821e-01 1.85671827e-03 2.11037570e+02] [ 7.48286810e-01 -6.63373039e-01 -1.74972123e-03 1.33637900e+02] [ 2.54099368e-03 2.28644382e-04 9.99996746e-01 7.13790820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.65, Z:0.71 [[-6.66120019e-01 -7.45843615e-01 1.19269320e-03 2.11019139e+02] [ 7.45842783e-01 -6.66121072e-01 -1.12333249e-03 1.33653816e+02] [ 1.63230844e-03 1.41287356e-04 9.99998658e-01 7.13652674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.67, Z:0.71 [[-6.69285657e-01 -7.43004869e-01 6.88389184e-04 2.11001108e+02] [ 7.43004590e-01 -6.69286007e-01 -6.48003789e-04 1.33670089e+02] [ 9.42199218e-04 7.77766812e-05 9.99999553e-01 7.13766193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:133.66, Z:0.71 [[-6.72408162e-01 -7.40180536e-01 1.95387761e-04 2.11007025e+02] [ 7.40180513e-01 -6.72408190e-01 -1.83868278e-04 1.33664027e+02] [ 2.67476052e-04 2.09876825e-05 9.99999964e-01 7.13536648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.69, Z:0.71 [[-6.77100180e-01 -7.35890834e-01 1.64115610e-04 2.10980051e+02] [ 7.35890818e-01 -6.77100199e-01 -1.54359465e-04 1.33686778e+02] [ 2.24714427e-04 1.62543491e-05 9.99999975e-01 7.13404803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.70, Z:0.71 [[-6.78729544e-01 -7.34387955e-01 7.33085106e-04 2.10963115e+02] [ 7.34387636e-01 -6.78729936e-01 -6.88828077e-04 1.33700593e+02] [ 1.00343385e-03 7.08406709e-05 9.99999494e-01 7.13519286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.67, Z:0.71 [[-6.79488568e-01 -7.33684903e-01 1.32220957e-03 2.10996488e+02] [ 7.33683864e-01 -6.79489843e-01 -1.24156958e-03 1.33668365e+02] [ 1.80934883e-03 1.26451490e-04 9.99998355e-01 7.13435046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.68, Z:0.71 [[-6.78593242e-01 -7.34509862e-01 2.54458051e-03 2.10990561e+02] [ 7.34506023e-01 -6.78597967e-01 -2.38787907e-03 1.33675806e+02] [ 3.48066789e-03 2.48611111e-04 9.99993912e-01 7.14300647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.67, Z:0.71 [[-6.77541095e-01 -7.35480614e-01 2.51631823e-03 2.10999294e+02] [ 7.35476870e-01 -6.77545721e-01 -2.35993322e-03 1.33669039e+02] [ 3.44060579e-03 2.51742118e-04 9.99994049e-01 7.14738018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.67, Z:0.71 [[-6.76473528e-01 -7.36463839e-01 2.13991993e-03 2.10998497e+02] [ 7.36461140e-01 -6.76476877e-01 -2.00572881e-03 1.33670876e+02] [ 2.92475309e-03 2.19145424e-04 9.99995699e-01 7.14697111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:133.66, Z:0.72 [[-6.75372609e-01 -7.37473893e-01 2.02397342e-03 2.11010249e+02] [ 7.37471487e-01 -6.75375608e-01 -1.89591646e-03 1.33660867e+02] [ 2.76513117e-03 2.12172648e-04 9.99996155e-01 7.15461430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.65, Z:0.72 [[-6.72936761e-01 -7.39695059e-01 2.70835761e-03 2.11020102e+02] [ 7.39690773e-01 -6.72942146e-01 -2.53545957e-03 1.33650602e+02] [ 3.69803490e-03 2.97143178e-04 9.99993118e-01 7.15544897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.64, Z:0.72 [[-6.71891056e-01 -7.40643826e-01 3.02197475e-03 2.11025589e+02] [ 7.40638507e-01 -6.71897767e-01 -2.82736653e-03 1.33643054e+02] [ 4.12452965e-03 3.38508579e-04 9.99991437e-01 7.15155597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.63, Z:0.71 [[-6.70748111e-01 -7.41679845e-01 2.82477461e-03 2.11032379e+02] [ 7.41675212e-01 -6.70753981e-01 -2.64130742e-03 1.33633588e+02] [ 3.85373330e-03 3.23413346e-04 9.99992522e-01 7.14797825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:133.63, Z:0.71 [[-6.69746948e-01 -7.42585027e-01 2.55010454e-03 2.11038653e+02] [ 7.42581263e-01 -6.69751737e-01 -2.38308011e-03 1.33626238e+02] [ 3.47757656e-03 2.97599225e-04 9.99993909e-01 7.14540437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.64, Z:0.71 [[-6.67820079e-01 -7.44314993e-01 3.39603995e-03 2.11021605e+02] [ 7.44308348e-01 -6.67828588e-01 -3.17170730e-03 1.33642478e+02] [ 4.62872187e-03 4.09571062e-04 9.99989204e-01 7.14839068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.63, Z:0.71 [[-6.67285945e-01 -7.44788738e-01 4.38211062e-03 2.11033107e+02] [ 7.44777699e-01 -6.67300120e-01 -4.09018968e-03 1.33630434e+02] [ 5.97051015e-03 5.34372177e-04 9.99982034e-01 7.14829962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.63, Z:0.71 [[-6.66846277e-01 -7.45176970e-01 5.22747142e-03 2.11027541e+02] [ 7.45161292e-01 -6.66866456e-01 -4.87632848e-03 1.33633135e+02] [ 7.11975302e-03 6.43547869e-04 9.99974447e-01 7.14044157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:133.62, Z:0.71 [[-6.66671532e-01 -7.45330664e-01 5.59194289e-03 2.11036313e+02] [ 7.45312753e-01 -6.66694625e-01 -5.21322190e-03 1.33622969e+02] [ 7.61369241e-03 6.92239712e-04 9.99970776e-01 7.13697804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:133.62, Z:0.71 [[-6.67282817e-01 -7.44791127e-01 4.45182691e-03 2.11042158e+02] [ 7.44779778e-01 -6.67297443e-01 -4.14788847e-03 1.33617766e+02] [ 6.06000324e-03 5.47815957e-04 9.99981488e-01 7.14772013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.61, Z:0.72 [[-6.67949331e-01 -7.44198145e-01 3.57947778e-03 2.11049071e+02] [ 7.44190809e-01 -6.67958779e-01 -3.33315148e-03 1.33609707e+02] [ 4.87146875e-03 4.37438168e-04 9.99988039e-01 7.15358050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.61, Z:0.71 [[-6.68655562e-01 -7.43563759e-01 3.56025229e-03 2.11045234e+02] [ 7.43556503e-01 -6.68664901e-01 -3.31330320e-03 1.33609106e+02] [ 4.84426792e-03 4.31790131e-04 9.99988173e-01 7.14952791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.60, Z:0.71 [[-6.69174482e-01 -7.43095155e-01 3.88626619e-03 2.11045751e+02] [ 7.43086512e-01 -6.69185603e-01 -3.61457226e-03 1.33603595e+02] [ 5.28660452e-03 4.69052469e-04 9.99985916e-01 7.13668777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.61, Z:0.71 [[-6.69617495e-01 -7.42695089e-01 4.05159008e-03 2.11029357e+02] [ 7.42685700e-01 -6.69629575e-01 -3.76610875e-03 1.33613921e+02] [ 5.51013502e-03 4.87205705e-04 9.99984700e-01 7.12778112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.61, Z:0.71 [[-6.69739089e-01 -7.42589050e-01 3.32488743e-03 2.11028476e+02] [ 7.42582734e-01 -6.69747223e-01 -3.08878561e-03 1.33613073e+02] [ 4.52053250e-03 4.00323539e-04 9.99989702e-01 7.13637863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.59, Z:0.71 [[-6.69890918e-01 -7.42455871e-01 2.33187765e-03 2.11045590e+02] [ 7.42452767e-01 -6.69894918e-01 -2.16502979e-03 1.33594124e+02] [ 3.16955207e-03 2.80975221e-04 9.99994938e-01 7.14585326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.61, Z:0.72 [[-6.71249477e-01 -7.41230704e-01 1.08804552e-03 2.11019034e+02] [ 7.41230027e-01 -6.71250346e-01 -1.00963449e-03 1.33611466e+02] [ 1.47872302e-03 1.28775386e-04 9.99998898e-01 7.15052188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.60, Z:0.71 [[-6.72419962e-01 -7.40169510e-01 7.01667485e-04 2.11027871e+02] [ 7.40169228e-01 -6.72420323e-01 -6.50738619e-04 1.33601369e+02] [ 9.53472361e-04 8.17830437e-05 9.99999542e-01 7.14889551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:133.61, Z:0.72 [[-6.73850993e-01 -7.38866947e-01 6.88941872e-04 2.11013608e+02] [ 7.38866675e-01 -6.73851341e-01 -6.38555460e-04 1.33613498e+02] [ 9.36051927e-04 7.87449586e-05 9.99999559e-01 7.15574909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.60, Z:0.72 [[-6.75398161e-01 -7.37453013e-01 6.14953163e-04 2.11029942e+02] [ 7.37452796e-01 -6.75398437e-01 -5.69644400e-04 1.33596973e+02] [ 8.35424385e-04 6.87621493e-05 9.99999649e-01 7.15410056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.63, Z:0.72 [[-6.78600151e-01 -7.34506474e-01 1.44010862e-03 2.10991218e+02] [ 7.34505281e-01 -6.78601662e-01 -1.33309986e-03 1.33626384e+02] [ 1.95643058e-03 1.53125617e-04 9.99998074e-01 7.15453546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.63, Z:0.72 [[-6.80051337e-01 -7.33162962e-01 1.50020406e-03 2.10985808e+02] [ 7.33161665e-01 -6.80052974e-01 -1.38787429e-03 1.33628485e+02] [ 2.03775626e-03 1.56066343e-04 9.99997912e-01 7.15357578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.61, Z:0.72 [[-6.81125342e-01 -7.32164930e-01 1.66841942e-03 2.11000180e+02] [ 7.32163325e-01 -6.81127364e-01 -1.54253970e-03 1.33612859e+02] [ 2.26579959e-03 1.70892630e-04 9.99997419e-01 7.15570655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.61, Z:0.72 [[-6.81993373e-01 -7.31356205e-01 1.77195585e-03 2.10995957e+02] [ 7.31354394e-01 -6.81995652e-01 -1.63725906e-03 1.33614437e+02] [ 2.40588576e-03 1.79327868e-04 9.99997090e-01 7.15751799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.61, Z:0.72 [[-6.83700866e-01 -7.29760853e-01 1.49120057e-03 2.10992763e+02] [ 7.29759569e-01 -6.83702476e-01 -1.37701374e-03 1.33612476e+02] [ 2.02442825e-03 1.46752396e-04 9.99997940e-01 7.16229596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.62, Z:0.72 [[-6.84761231e-01 -7.28766112e-01 1.41797875e-03 2.10985355e+02] [ 7.28764950e-01 -6.84762686e-01 -1.30859722e-03 1.33617410e+02] [ 1.92464024e-03 1.37296568e-04 9.99998138e-01 7.16579930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.61, Z:0.72 [[-6.85999393e-01 -7.27601051e-01 1.24226818e-03 2.10990706e+02] [ 7.27600159e-01 -6.86000507e-01 -1.14574383e-03 1.33611128e+02] [ 1.68584102e-03 1.17894952e-04 9.99998572e-01 7.16579841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.62, Z:0.72 [[-6.89060205e-01 -7.24700016e-01 2.43341195e-03 2.10977130e+02] [ 7.24696578e-01 -6.89064467e-01 -2.24287513e-03 1.33622216e+02] [ 3.30218935e-03 2.18009314e-04 9.99994524e-01 7.16493510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.64, Z:0.72 [[-6.91100981e-01 -7.22752703e-01 2.82202636e-03 2.10959308e+02] [ 7.22748070e-01 -6.91106700e-01 -2.59941835e-03 1.33636923e+02] [ 3.82905797e-03 2.43153533e-04 9.99992640e-01 7.15870970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.63, Z:0.72 [[-6.93092928e-01 -7.20841958e-01 3.01076069e-03 2.10964510e+02] [ 7.20836673e-01 -6.93099422e-01 -2.77151056e-03 1.33629953e+02] [ 4.08457759e-03 2.49352349e-04 9.99991627e-01 7.15688630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.181400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.96, Y:133.63, Z:0.72 [[-6.94531089e-01 -7.19457212e-01 2.80847774e-03 2.10957580e+02] [ 7.19452608e-01 -6.94536730e-01 -2.58367373e-03 1.33634945e+02] [ 3.80943364e-03 2.26124906e-04 9.99992719e-01 7.15804347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:133.64, Z:0.72 [[-6.96521695e-01 -7.17534098e-01 1.53200752e-03 2.10952074e+02] [ 7.17532725e-01 -6.96523370e-01 -1.40851825e-03 1.33635920e+02] [ 2.07773891e-03 1.18202006e-04 9.99997835e-01 7.16077862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:133.64, Z:0.72 [[-6.97286688e-01 -7.16790254e-01 1.73392931e-03 2.10950413e+02] [ 7.16788496e-01 -6.97288831e-01 -1.59313766e-03 1.33635542e+02] [ 2.35099509e-03 1.31986898e-04 9.99997228e-01 7.16452497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.63, Z:0.72 [[-6.98103744e-01 -7.15992647e-01 2.38579736e-03 2.10955402e+02] [ 7.15989319e-01 -6.98107797e-01 -2.19064982e-03 1.33628582e+02] [ 3.23403291e-03 1.78904582e-04 9.99994755e-01 7.16305729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:133.64, Z:0.72 [[-6.99089487e-01 -7.15026801e-01 3.24991008e-03 2.10944838e+02] [ 7.15020623e-01 -6.99097001e-01 -2.98214758e-03 1.33636255e+02] [ 4.40431784e-03 2.38964707e-04 9.99990272e-01 7.16002348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:133.64, Z:0.72 [[-7.02935724e-01 -7.11247710e-01 2.83958447e-03 2.10937049e+02] [ 7.11242968e-01 -7.02941434e-01 -2.60396071e-03 1.33641364e+02] [ 3.84812267e-03 1.89217476e-04 9.99992578e-01 7.15820355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.93, Y:133.65, Z:0.72 [[-7.06162769e-01 -7.08045161e-01 2.48852442e-03 2.10931622e+02] [ 7.08041505e-01 -7.06167138e-01 -2.28056098e-03 1.33646582e+02] [ 3.37205433e-03 1.51531316e-04 9.99994303e-01 7.16801549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:133.68, Z:0.72 [[-7.13746730e-01 -7.00399836e-01 2.38233882e-03 2.10899410e+02] [ 7.00396446e-01 -7.13750697e-01 -2.18181323e-03 1.33675534e+02] [ 3.22853762e-03 1.11319588e-04 9.99994782e-01 7.16584262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.421400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.89, Y:133.68, Z:0.72 [[-7.17324520e-01 -6.96733305e-01 2.86973764e-03 2.10892968e+02] [ 6.96728364e-01 -7.17330251e-01 -2.62640474e-03 1.33683564e+02] [ 3.88845327e-03 1.15443091e-04 9.99992433e-01 7.16748558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:133.69, Z:0.72 [[-7.20408346e-01 -6.93545919e-01 2.42371107e-03 2.10892516e+02] [ 6.93542381e-01 -7.20412418e-01 -2.21671145e-03 1.33685717e+02] [ 3.28346273e-03 8.40089160e-05 9.99994606e-01 7.16413857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.481400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.89, Y:133.69, Z:0.72 [[-7.22552772e-01 -6.91312213e-01 2.21744312e-03 2.10892754e+02] [ 6.91309245e-01 -7.22556171e-01 -2.02669242e-03 1.33688530e+02] [ 3.00330443e-03 6.85467022e-05 9.99995488e-01 7.17155092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:133.70, Z:0.72 [[-7.24172945e-01 -6.89616438e-01 1.64760861e-03 2.10883275e+02] [ 6.89614797e-01 -7.24174818e-01 -1.50487087e-03 1.33698024e+02] [ 2.23094035e-03 4.64285132e-05 9.99997510e-01 7.17393197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:133.69, Z:0.72 [[-7.24675482e-01 -6.89088329e-01 1.64908651e-03 2.10891714e+02] [ 6.89086687e-01 -7.24677357e-01 -1.50518976e-03 1.33694234e+02] [ 2.23226435e-03 4.55894397e-05 9.99997507e-01 7.17102905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.571400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.90, Y:133.69, Z:0.72 [[-7.24017705e-01 -6.89777933e-01 2.18300640e-03 2.10902498e+02] [ 6.89775062e-01 -7.24020993e-01 -1.99113615e-03 1.33688787e+02] [ 2.95398424e-03 6.41655441e-05 9.99995635e-01 7.17618076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:133.68, Z:0.72 [[-7.23201266e-01 -6.90634019e-01 2.14044169e-03 2.10912192e+02] [ 6.90631266e-01 -7.23204430e-01 -1.95099128e-03 1.33683420e+02] [ 2.89539786e-03 6.72965929e-05 9.99995806e-01 7.17408299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:133.68, Z:0.72 [[-7.21168946e-01 -6.92752739e-01 2.99892592e-03 2.10927471e+02] [ 6.92747362e-01 -7.21175173e-01 -2.73161877e-03 1.33676633e+02] [ 4.05508731e-03 1.07539385e-04 9.99991772e-01 7.17157418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:133.68, Z:0.72 [[-7.21399944e-01 -6.92512182e-01 2.99983695e-03 2.10929335e+02] [ 6.92506806e-01 -7.21406173e-01 -2.73061824e-03 1.33675037e+02] [ 4.05508729e-03 1.07539655e-04 9.99991772e-01 7.17156965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:133.68, Z:0.72 [[-7.20759816e-01 -6.93176458e-01 3.41852211e-03 2.10927694e+02] [ 6.93169495e-01 -7.20767911e-01 -3.10962867e-03 1.33679406e+02] [ 4.61948243e-03 1.28319863e-04 9.99989322e-01 7.17006446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:133.67, Z:0.72 [[-7.20334618e-01 -6.93618439e-01 3.39114581e-03 2.10936194e+02] [ 6.93611601e-01 -7.20342588e-01 -3.08265576e-03 1.33674626e+02] [ 4.58097363e-03 1.31594414e-04 9.99989499e-01 7.16550558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:133.67, Z:0.72 [[-7.20075102e-01 -6.93889939e-01 2.93275909e-03 2.10941870e+02] [ 6.93884834e-01 -7.20081064e-01 -2.66419538e-03 1.33672459e+02] [ 3.96048266e-03 1.16576296e-04 9.99992150e-01 7.16679065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:133.67, Z:0.72 [[-7.20607656e-01 -6.93340318e-01 1.95175694e-03 2.10950909e+02] [ 6.93338058e-01 -7.20610295e-01 -1.77187122e-03 1.33669747e+02] [ 2.63496590e-03 7.64034039e-05 9.99996526e-01 7.16558118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:133.68, Z:0.72 [[-7.21513702e-01 -6.92397115e-01 2.05237166e-03 2.10944555e+02] [ 6.92394616e-01 -7.21516617e-01 -1.86196282e-03 1.33678506e+02] [ 2.77003794e-03 7.76193985e-05 9.99996160e-01 7.16727735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.67, Z:0.72 [[-7.22513664e-01 -6.91352924e-01 2.26713910e-03 2.10957955e+02] [ 6.91349874e-01 -7.22517216e-01 -2.05542133e-03 1.33669790e+02] [ 3.05906857e-03 8.23163329e-05 9.99995318e-01 7.16801400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:133.68, Z:0.72 [[-7.23831657e-01 -6.89972068e-01 2.50548764e-03 2.10946314e+02] [ 6.89968339e-01 -7.23835988e-01 -2.26998087e-03 1.33683284e+02] [ 3.37978552e-03 8.56231294e-05 9.99994285e-01 7.16759128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:133.68, Z:0.72 [[-7.25169697e-01 -6.88566071e-01 2.38253994e-03 2.10951116e+02] [ 6.88562696e-01 -7.25173607e-01 -2.15713944e-03 1.33681495e+02] [ 3.21308811e-03 7.62359713e-05 9.99994835e-01 7.16296132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:133.69, Z:0.72 [[-7.28137351e-01 -6.85430137e-01 1.23508363e-03 2.10945523e+02] [ 6.85429227e-01 -7.28138398e-01 -1.11752137e-03 1.33692078e+02] [ 1.66529464e-03 3.28533686e-05 9.99998613e-01 7.16457653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.69, Z:0.72 [[-7.29645831e-01 -6.83825041e-01 5.24401676e-04 2.10956799e+02] [ 6.83824876e-01 -7.29646020e-01 -4.74211917e-04 1.33685077e+02] [ 7.06905579e-04 1.25921632e-05 9.99999750e-01 7.17135896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:133.70, Z:0.72 [[-7.30775361e-01 -6.82617997e-01 2.05171396e-04 2.10938733e+02] [ 6.82617972e-01 -7.30775390e-01 -1.85458619e-04 1.33703919e+02] [ 2.76531598e-04 4.52509367e-06 9.99999962e-01 7.17471326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.69, Z:0.72 [[-7.31564021e-01 -6.81772685e-01 2.97512804e-04 2.10956469e+02] [ 6.81772632e-01 -7.31564082e-01 -2.68707437e-04 1.33689218e+02] [ 4.00847072e-04 6.25939432e-06 9.99999920e-01 7.18154065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.69, Z:0.72 [[-7.31977621e-01 -6.81328604e-01 3.08435197e-04 2.10958493e+02] [ 6.81328548e-01 -7.31977686e-01 -2.78379773e-04 1.33686920e+02] [ 4.15435784e-04 6.37794059e-06 9.99999914e-01 7.17897058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.68, Z:0.72 [[-7.31558087e-01 -6.81779104e-01 1.35856354e-04 2.10963620e+02] [ 6.81779093e-01 -7.31558099e-01 -1.22580481e-04 1.33682132e+02] [ 1.82959627e-04 2.94927956e-06 9.99999983e-01 7.17881424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.68, Z:0.72 [[-7.31068665e-01 -6.82303849e-01 -2.55073437e-04 2.10966179e+02] [ 6.82303810e-01 -7.31068710e-01 2.29757152e-04 1.33680197e+02] [-3.43240397e-04 -6.06932401e-06 9.99999941e-01 7.17450484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.68, Z:0.72 [[-7.30196524e-01 -6.83236928e-01 -5.79648448e-04 2.10967627e+02] [ 6.83236729e-01 -7.30196754e-01 5.21868537e-04 1.33677508e+02] [-7.79817271e-04 -1.49705178e-05 9.99999696e-01 7.16640530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.67, Z:0.72 [[-7.30114497e-01 -6.83324813e-01 -1.43686344e-04 2.10978984e+02] [ 6.83324801e-01 -7.30114512e-01 1.29215615e-04 1.33665639e+02] [-1.93203721e-04 -3.84224892e-06 9.99999981e-01 7.15998322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.201400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.97, Y:133.67, Z:0.72 [[-7.29867799e-01 -6.83587444e-01 1.09660765e-03 2.10974166e+02] [ 6.83586733e-01 -7.29868622e-01 -9.86204568e-04 1.33669102e+02] [ 1.47453657e-03 2.98274829e-05 9.99998912e-01 7.16089527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.67, Z:0.72 [[-7.29827067e-01 -6.83628298e-01 2.19130375e-03 2.10974409e+02] [ 6.83625465e-01 -7.29830354e-01 -1.96928171e-03 1.33667396e+02] [ 2.94553669e-03 6.07959505e-05 9.99995660e-01 7.15243003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.66, Z:0.71 [[-7.29653155e-01 -6.83807095e-01 3.75910105e-03 2.10975707e+02] [ 6.83798770e-01 -7.29662830e-01 -3.37589599e-03 1.33663358e+02] [ 5.05133794e-03 1.07235517e-04 9.99987236e-01 7.14946680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.66, Z:0.71 [[-7.30044079e-01 -6.83390609e-01 3.59420628e-03 2.10973860e+02] [ 6.83383004e-01 -7.30052919e-01 -3.22563755e-03 1.33662229e+02] [ 4.82833120e-03 1.01361891e-04 9.99988338e-01 7.14492074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.67, Z:0.71 [[-7.30519630e-01 -6.82884806e-01 3.06795663e-03 2.10962127e+02] [ 6.82879268e-01 -7.30526067e-01 -2.75149657e-03 1.33669828e+02] [ 4.12017750e-03 8.50217236e-05 9.99991508e-01 7.14633308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.66, Z:0.72 [[-7.30737141e-01 -6.82654696e-01 2.40763117e-03 2.10966786e+02] [ 6.82651289e-01 -7.30741104e-01 -2.15783111e-03 1.33663543e+02] [ 3.23240860e-03 6.67651850e-05 9.99994774e-01 7.15010569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.96, Y:133.66, Z:0.72 [[-7.29942152e-01 -6.83503911e-01 2.61875078e-03 2.10963648e+02] [ 6.83499892e-01 -7.29946846e-01 -2.34544067e-03 1.33663232e+02] [ 3.51466675e-03 7.78798626e-05 9.99993821e-01 7.16348471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.411400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.96, Y:133.66, Z:0.72 [[-7.29813425e-01 -6.83637810e-01 3.42187364e-03 2.10963090e+02] [ 6.83630958e-01 -7.29821440e-01 -3.06262855e-03 1.33659790e+02] [ 4.59108542e-03 1.04151326e-04 9.99989456e-01 7.15731566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.65, Z:0.71 [[-7.29835051e-01 -6.83612162e-01 3.90012927e-03 2.10962807e+02] [ 6.83603273e-01 -7.29845461e-01 -3.48828251e-03 1.33654237e+02] [ 5.23112399e-03 1.20270291e-04 9.99986310e-01 7.14490155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.65, Z:0.71 [[-7.29902720e-01 -6.83538224e-01 4.18513963e-03 2.10961807e+02] [ 6.83528001e-01 -7.29914707e-01 -3.74063880e-03 1.33648006e+02] [ 5.61166457e-03 1.30357695e-04 9.99984246e-01 7.13151552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.501400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.95, Y:133.65, Z:0.71 [[-7.30049999e-01 -6.83380296e-01 4.28610174e-03 2.10953811e+02] [ 6.83369586e-01 -7.30062568e-01 -3.82825468e-03 1.33654379e+02] [ 5.74527626e-03 1.34174254e-04 9.99983487e-01 7.13704731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.64, Z:0.71 [[-7.30225963e-01 -6.83192612e-01 4.23053893e-03 2.10962806e+02] [ 6.83182190e-01 -7.30238206e-01 -3.77604050e-03 1.33644857e+02] [ 5.66906413e-03 1.32866045e-04 9.99983922e-01 7.14203753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.65, Z:0.72 [[-7.30304441e-01 -6.83109510e-01 4.10137884e-03 2.10956202e+02] [ 6.83099727e-01 -7.30315946e-01 -3.65825240e-03 1.33648635e+02] [ 5.49428937e-03 1.30012795e-04 9.99984898e-01 7.15254651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.591400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.97, Y:133.63, Z:0.72 [[-7.29989389e-01 -6.83448525e-01 3.68853458e-03 2.10972443e+02] [ 6.83440627e-01 -7.29998698e-01 -3.28777499e-03 1.33634448e+02] [ 4.93965040e-03 1.20853527e-04 9.99987793e-01 7.15503699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.63, Z:0.72 [[-7.29491063e-01 -6.83984838e-01 2.74409046e-03 2.10972732e+02] [ 6.83980477e-01 -7.29496218e-01 -2.44430452e-03 1.33633414e+02] [ 3.67367084e-03 9.38060013e-05 9.99993248e-01 7.15864373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.62, Z:0.72 [[-7.28438251e-01 -6.85109324e-01 1.71151726e-03 2.10982035e+02] [ 6.85107633e-01 -7.28440259e-01 -1.52353574e-03 1.33624442e+02] [ 2.29052662e-03 6.27718309e-05 9.99997375e-01 7.16051070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.62, Z:0.72 [[-7.24848905e-01 -6.88907224e-01 9.49473222e-04 2.10988206e+02] [ 6.88906708e-01 -7.24849526e-01 -8.44656076e-04 1.33616294e+02] [ 1.27011489e-03 4.18504397e-05 9.99999193e-01 7.16786325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.60, Z:0.72 [[-7.22753812e-01 -6.91104060e-01 1.45117541e-03 2.11003316e+02] [ 6.91102859e-01 -7.22755265e-01 -1.29006749e-03 1.33602547e+02] [ 1.94041555e-03 7.05102845e-05 9.99998115e-01 7.16670272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.59, Z:0.72 [[-7.20618400e-01 -6.93328402e-01 2.20215840e-03 2.11015627e+02] [ 6.93325651e-01 -7.20621755e-01 -1.95634027e-03 1.33592441e+02] [ 2.94330953e-03 1.17038114e-04 9.99995662e-01 7.16679011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.59, Z:0.72 [[-7.18523778e-01 -6.95497416e-01 2.63146637e-03 2.11019773e+02] [ 6.95493509e-01 -7.18528581e-01 -2.33617211e-03 1.33589994e+02] [ 3.51558546e-03 1.51572563e-04 9.99993809e-01 7.16285379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:133.57, Z:0.72 [[-7.15495255e-01 -6.98613919e-01 2.26567543e-03 2.11042986e+02] [ 6.98611042e-01 -7.15498827e-01 -2.01012722e-03 1.33572410e+02] [ 3.02539097e-03 1.44589382e-04 9.99995413e-01 7.15855134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.57, Z:0.72 [[-7.15020874e-01 -6.99101059e-01 1.69090211e-03 2.11052633e+02] [ 6.99099460e-01 -7.15022865e-01 -1.49923444e-03 1.33565459e+02] [ 2.25715006e-03 1.10124831e-04 9.99997447e-01 7.15892393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.57, Z:0.72 [[-7.15059647e-01 -6.99062039e-01 1.40246501e-03 2.11054994e+02] [ 6.99060940e-01 -7.15061017e-01 -1.24270501e-03 1.33565441e+02] [ 1.87157595e-03 9.18003020e-05 9.99998244e-01 7.16266301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.57, Z:0.72 [[-7.14953030e-01 -6.99171554e-01 1.14162728e-03 2.11052172e+02] [ 6.99170827e-01 -7.14953938e-01 -1.01094188e-03 1.33572493e+02] [ 1.52303273e-03 7.54165295e-05 9.99998837e-01 7.16276134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.57, Z:0.72 [[-7.14723777e-01 -6.99405298e-01 1.46654114e-03 2.11061770e+02] [ 6.99404101e-01 -7.14725275e-01 -1.29780149e-03 1.33566662e+02] [ 1.95586326e-03 9.81353016e-05 9.99998083e-01 7.15757326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.57, Z:0.72 [[-7.14174894e-01 -6.99963774e-01 2.22154985e-03 2.11056073e+02] [ 6.99961034e-01 -7.14178333e-01 -1.96462907e-03 1.33573949e+02] [ 2.96175195e-03 1.51909566e-04 9.99995602e-01 7.15341848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:133.56, Z:0.71 [[-7.13181474e-01 -7.00972708e-01 3.07378674e-03 2.11072390e+02] [ 7.00967478e-01 -7.13188065e-01 -2.71652237e-03 1.33560386e+02] [ 4.09639606e-03 2.17251113e-04 9.99991586e-01 7.14940709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.55, Z:0.71 [[-7.10168307e-01 -7.04021167e-01 3.89513469e-03 2.11080707e+02] [ 7.04012825e-01 -7.10178926e-01 -3.44018199e-03 1.33553356e+02] [ 5.18820351e-03 2.99116564e-04 9.99986496e-01 7.13443093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:133.55, Z:0.71 [[-7.08794946e-01 -7.05401857e-01 4.23617465e-03 2.11086534e+02] [ 7.05392028e-01 -7.08807524e-01 -3.73899771e-03 1.33548774e+02] [ 5.64012839e-03 3.37981149e-04 9.99984037e-01 7.13530798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.53, Z:0.71 [[-7.07830574e-01 -7.06369036e-01 4.32009764e-03 2.11106288e+02] [ 7.06358846e-01 -7.07843668e-01 -3.81065991e-03 1.33532140e+02] [ 5.74968593e-03 3.54237593e-04 9.99983408e-01 7.13792707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.54, Z:0.71 [[-7.07506949e-01 -7.06693990e-01 4.18592695e-03 2.11097577e+02] [ 7.06684442e-01 -7.07519246e-01 -3.68998651e-03 1.33540160e+02] [ 5.56931517e-03 3.47438349e-04 9.99984431e-01 7.14514398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.53, Z:0.72 [[-7.07943040e-01 -7.06263239e-01 2.98149661e-03 2.11112064e+02] [ 7.06258398e-01 -7.07949275e-01 -2.62662179e-03 1.33525921e+02] [ 3.96583478e-03 2.46208407e-04 9.99992106e-01 7.15279893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.52, Z:0.71 [[-7.08693579e-01 -7.05511904e-01 2.52270937e-03 2.11112901e+02] [ 7.05508438e-01 -7.08698039e-01 -2.22106125e-03 1.33523238e+02] [ 3.35482433e-03 2.05740904e-04 9.99994351e-01 7.14998958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.54, Z:0.71 [[-7.09574321e-01 -7.04626284e-01 2.46632783e-03 2.11096646e+02] [ 7.04622970e-01 -7.09578579e-01 -2.17005410e-03 1.33535894e+02] [ 3.27913056e-03 1.98016578e-04 9.99994604e-01 7.14726792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.53, Z:0.72 [[-7.10665582e-01 -7.03522332e-01 3.28004078e-03 2.11097906e+02] [ 7.03516467e-01 -7.10673105e-01 -2.88416073e-03 1.33534267e+02] [ 4.36010825e-03 2.57888938e-04 9.99990461e-01 7.15137650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.53, Z:0.72 [[-7.10905942e-01 -7.03276507e-01 3.85944460e-03 2.11097034e+02] [ 7.03268395e-01 -7.10916354e-01 -3.39146294e-03 1.33534844e+02] [ 5.12887850e-03 3.03214247e-04 9.99986801e-01 7.15990811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:133.54, Z:0.72 [[-7.10708246e-01 -7.03473491e-01 4.34015675e-03 2.11094635e+02] [ 7.03463250e-01 -7.10721414e-01 -3.81144512e-03 1.33535858e+02] [ 5.76589295e-03 3.44315305e-04 9.99983318e-01 7.16394744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.53, Z:0.72 [[-7.08902513e-01 -7.05293019e-01 4.35719665e-03 2.11097793e+02] [ 7.05282745e-01 -7.08915811e-01 -3.82396737e-03 1.33531504e+02] [ 5.78590308e-03 3.62235536e-04 9.99983196e-01 7.16255998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.52, Z:0.72 [[-7.07754128e-01 -7.06446500e-01 4.17569445e-03 2.11111509e+02] [ 7.06437097e-01 -7.07766356e-01 -3.66235445e-03 1.33519225e+02] [ 5.54267352e-03 3.57818987e-04 9.99984575e-01 7.16314052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.50, Z:0.72 [[-7.06647317e-01 -7.07556053e-01 3.74184277e-03 2.11129911e+02] [ 7.07548529e-01 -7.06657147e-01 -3.27978627e-03 1.33502657e+02] [ 4.96483256e-03 3.29883176e-04 9.99987621e-01 7.16549757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.51, Z:0.72 [[-7.05850231e-01 -7.08353240e-01 3.33760497e-03 2.11119678e+02] [ 7.08347270e-01 -7.05858058e-01 -2.92364118e-03 1.33511137e+02] [ 4.42684606e-03 3.00530568e-04 9.99990156e-01 7.16820513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.51, Z:0.72 [[-7.05150180e-01 -7.09053654e-01 2.47773592e-03 2.11128609e+02] [ 7.09050373e-01 -7.05154497e-01 -2.16907879e-03 1.33505253e+02] [ 3.28517986e-03 2.27313278e-04 9.99994578e-01 7.16940739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:133.49, Z:0.72 [[-7.05189197e-01 -7.09015700e-01 2.22139196e-03 2.11144728e+02] [ 7.09013066e-01 -7.05192666e-01 -1.94346387e-03 1.33493586e+02] [ 2.94445572e-03 2.04486202e-04 9.99995644e-01 7.17450006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:133.50, Z:0.72 [[-7.05016618e-01 -7.09188677e-01 1.72875926e-03 2.11136961e+02] [ 7.09187085e-01 -7.05018719e-01 -1.51154153e-03 1.33502125e+02] [ 2.29077578e-03 1.60351847e-04 9.99997363e-01 7.17766836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.49, Z:0.72 [[-7.04428991e-01 -7.09773267e-01 1.30596338e-03 2.11157047e+02] [ 7.09772360e-01 -7.04430191e-01 -1.14117887e-03 1.33485508e+02] [ 1.72993829e-03 1.23057231e-04 9.99998496e-01 7.17612299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:133.49, Z:0.72 [[-7.02059543e-01 -7.12117296e-01 1.16386810e-03 2.11154066e+02] [ 7.12116580e-01 -7.02060499e-01 -1.01639231e-03 1.33489164e+02] [ 1.54089636e-03 1.15241851e-04 9.99998806e-01 7.17333758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.49, Z:0.72 [[-7.02278026e-01 -7.11901832e-01 1.16417984e-03 2.11155966e+02] [ 7.11901117e-01 -7.02278982e-01 -1.01603520e-03 1.33487605e+02] [ 1.54089636e-03 1.15241733e-04 9.99998806e-01 7.17333305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.48, Z:0.72 [[-7.00883622e-01 -7.13274473e-01 1.29408527e-03 2.11170139e+02] [ 7.13273592e-01 -7.00884804e-01 -1.12870531e-03 1.33476044e+02] [ 1.71208138e-03 1.31945785e-04 9.99998526e-01 7.17024284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.48, Z:0.72 [[-6.99515725e-01 -7.14614460e-01 1.98128292e-03 2.11171958e+02] [ 7.14612403e-01 -6.99518500e-01 -1.72698181e-03 1.33475220e+02] [ 2.62007022e-03 2.07798413e-04 9.99996546e-01 7.16519556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.47, Z:0.72 [[-6.98168570e-01 -7.15928081e-01 2.76217753e-03 2.11181141e+02] [ 7.15924100e-01 -6.98173971e-01 -2.40614458e-03 1.33467756e+02] [ 3.65110693e-03 2.97614940e-04 9.99993290e-01 7.16172550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.45, Z:0.72 [[-6.96144785e-01 -7.17894419e-01 3.16876229e-03 2.11200133e+02] [ 7.17889206e-01 -6.96151907e-01 -2.75863669e-03 1.33452499e+02] [ 4.18634979e-03 3.54409697e-04 9.99991174e-01 7.15726185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.47, Z:0.72 [[-6.96114560e-01 -7.17921868e-01 3.56537522e-03 2.11186614e+02] [ 7.17915277e-01 -6.96123575e-01 -3.10202511e-03 1.33465252e+02] [ 4.70895340e-03 4.00272496e-04 9.99988833e-01 7.16108548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.47, Z:0.72 [[-6.96691324e-01 -7.17361873e-01 3.62514326e-03 2.11179140e+02] [ 7.17355062e-01 -6.96700638e-01 -3.15209301e-03 1.33472691e+02] [ 4.78683097e-03 4.04479013e-04 9.99988461e-01 7.15674754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.46, Z:0.72 [[-6.97620177e-01 -7.16459157e-01 3.51649975e-03 2.11194639e+02] [ 7.16452745e-01 -6.97628932e-01 -3.05575794e-03 1.33460057e+02] [ 4.64253772e-03 3.87647507e-04 9.99989148e-01 7.15461581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.46, Z:0.72 [[-6.99443242e-01 -7.14676598e-01 4.06330832e-03 2.11192897e+02] [ 7.14668019e-01 -6.99454909e-01 -3.52875700e-03 1.33464760e+02] [ 5.36402100e-03 4.35751275e-04 9.99985519e-01 7.15106616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.46, Z:0.71 [[-7.00054494e-01 -7.14075939e-01 4.38851443e-03 2.11200375e+02] [ 7.14065934e-01 -7.00068093e-01 -3.80884926e-03 1.33460714e+02] [ 5.79206654e-03 4.67286614e-04 9.99983117e-01 7.14644725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.47, Z:0.71 [[-7.00754647e-01 -7.13385798e-01 4.86088914e-03 2.11185991e+02] [ 7.13373523e-01 -7.00771318e-01 -4.21623517e-03 1.33474409e+02] [ 6.41417398e-03 5.13083226e-04 9.99979297e-01 7.14444458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.47, Z:0.71 [[-7.01070133e-01 -7.13065480e-01 6.18792738e-03 2.11188246e+02] [ 7.13045602e-01 -7.01097138e-01 -5.36394964e-03 1.33471479e+02] [ 8.16318549e-03 6.51769520e-04 9.99966468e-01 7.13696550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.46, Z:0.71 [[-7.00939990e-01 -7.13188312e-01 6.75005635e-03 2.11202231e+02] [ 7.13164697e-01 -7.00972126e-01 -5.84762640e-03 1.33459199e+02] [ 8.90206015e-03 7.15066697e-04 9.99960120e-01 7.13453294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.46, Z:0.71 [[-7.00518193e-01 -7.13599609e-01 7.06106745e-03 2.11201660e+02] [ 7.13573824e-01 -7.00553371e-01 -6.11331169e-03 1.33460261e+02] [ 9.30911144e-03 7.56106837e-04 9.99956383e-01 7.14041693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.46, Z:0.71 [[-6.99985056e-01 -7.14126842e-01 6.61629102e-03 2.11207160e+02] [ 7.14104256e-01 -7.00015956e-01 -5.72473537e-03 1.33455266e+02] [ 8.71969648e-03 7.17492371e-04 9.99961725e-01 7.14878308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.45, Z:0.72 [[-6.98542480e-01 -7.15541500e-01 6.22621839e-03 2.11204297e+02] [ 7.15521581e-01 -6.98569882e-01 -5.38393636e-03 1.33453013e+02] [ 8.20187855e-03 6.94085370e-04 9.99966123e-01 7.16032727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.43, Z:0.72 [[-6.97807762e-01 -7.16257862e-01 6.24521925e-03 2.11229084e+02] [ 7.16237876e-01 -6.97835350e-01 -5.39709166e-03 1.33429440e+02] [ 8.22384409e-03 7.06930119e-04 9.99965934e-01 7.15988894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.44, Z:0.72 [[-6.97138506e-01 -7.16906358e-01 6.57093694e-03 2.11216110e+02] [ 7.16884292e-01 -6.97169065e-01 -5.67514075e-03 1.33439352e+02] [ 8.64959845e-03 7.54242331e-04 9.99962307e-01 7.16362887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.43, Z:0.72 [[-6.96588693e-01 -7.17445979e-01 5.95482408e-03 2.11229016e+02] [ 7.17427901e-01 -6.96613801e-01 -5.13991752e-03 1.33426093e+02] [ 7.83582579e-03 6.91748513e-04 9.99969060e-01 7.16437570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.151400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.22, Y:133.43, Z:0.72 [[-6.96439294e-01 -7.17606880e-01 3.56028237e-03 2.11216044e+02] [ 7.17600428e-01 -6.96448270e-01 -3.07123553e-03 1.33428441e+02] [ 4.68349224e-03 4.15931052e-04 9.99988946e-01 7.15409946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.43, Z:0.72 [[-6.97072667e-01 -7.16992963e-01 3.28444905e-03 2.11209951e+02] [ 7.16987473e-01 -6.97080301e-01 -2.83157417e-03 1.33429448e+02] [ 4.31974349e-03 3.81095867e-04 9.99990597e-01 7.15968385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.43, Z:0.72 [[-6.98174330e-01 -7.15919018e-01 3.54473090e-03 2.11208711e+02] [ 7.15912618e-01 -6.98183211e-01 -3.05409736e-03 1.33428792e+02] [ 4.66135799e-03 4.05425200e-04 9.99989054e-01 7.16183754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.42, Z:0.72 [[-6.99635126e-01 -7.14490085e-01 3.82222063e-03 2.11212397e+02] [ 7.14482633e-01 -6.99645435e-01 -3.29116430e-03 1.33424553e+02] [ 5.02570348e-03 4.28296118e-04 9.99987279e-01 7.16824927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.42, Z:0.72 [[-7.02302788e-01 -7.11868490e-01 3.74789050e-03 2.11209129e+02] [ 7.11861298e-01 -7.02312673e-01 -3.22519326e-03 1.33423426e+02] [ 4.92810445e-03 4.02915970e-04 9.99987776e-01 7.18198791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.42, Z:0.72 [[-7.03580442e-01 -7.10606511e-01 3.59836216e-03 2.11204537e+02] [ 7.10599874e-01 -7.03589541e-01 -3.09462560e-03 1.33424510e+02] [ 4.73083108e-03 3.79677655e-04 9.99988738e-01 7.18538952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.43, Z:0.72 [[-7.04403427e-01 -7.09794975e-01 2.62796960e-03 2.11199480e+02] [ 7.09791434e-01 -7.04408276e-01 -2.25870878e-03 1.33425986e+02] [ 3.45438368e-03 2.74268108e-04 9.99993996e-01 7.18588379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.42, Z:0.72 [[-7.04766860e-01 -7.09437657e-01 1.37261946e-03 2.11196149e+02] [ 7.09436691e-01 -7.04768182e-01 -1.17905729e-03 1.33422881e+02] [ 1.80384617e-03 1.42826101e-04 9.99998363e-01 7.18592341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.42, Z:0.72 [[-7.04699908e-01 -7.09504257e-01 1.32247221e-03 2.11191520e+02] [ 7.09503362e-01 -7.04701136e-01 -1.13528197e-03 1.33422836e+02] [ 1.73743506e-03 1.38265378e-04 9.99998481e-01 7.18254280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.41, Z:0.72 [[-7.04624844e-01 -7.09577809e-01 1.77826257e-03 2.11200565e+02] [ 7.09576193e-01 -7.04627064e-01 -1.52558954e-03 1.33411240e+02] [ 2.33553642e-03 1.86844493e-04 9.99997255e-01 7.17745727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.42, Z:0.72 [[-7.04755813e-01 -7.09445327e-01 2.56370921e-03 2.11181713e+02] [ 7.09441973e-01 -7.04760424e-01 -2.19803684e-03 1.33424902e+02] [ 3.36618775e-03 2.69723680e-04 9.99994298e-01 7.17459281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.42, Z:0.72 [[-7.05603910e-01 -7.08598482e-01 3.36346945e-03 2.11188885e+02] [ 7.08592708e-01 -7.05611840e-01 -2.88190470e-03 1.33416166e+02] [ 4.41541717e-03 3.49846701e-04 9.99990191e-01 7.16970583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.42, Z:0.72 [[-7.06492236e-01 -7.07710777e-01 3.76521952e-03 2.11178838e+02] [ 7.07703539e-01 -7.06502163e-01 -3.22411155e-03 1.33423594e+02] [ 4.94187423e-03 3.86849399e-04 9.99987714e-01 7.17141246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.42, Z:0.72 [[-7.07408758e-01 -7.06791460e-01 4.32217937e-03 2.11185437e+02] [ 7.06781918e-01 -7.07421826e-01 -3.69870251e-03 1.33416451e+02] [ 5.67181537e-03 4.38343675e-04 9.99983819e-01 7.16904934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.43, Z:0.72 [[-7.08084203e-01 -7.06112344e-01 4.70309695e-03 2.11172920e+02] [ 7.06101047e-01 -7.08099664e-01 -4.02213968e-03 1.33425435e+02] [ 6.17034385e-03 4.72848111e-04 9.99980851e-01 7.16356721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.42, Z:0.72 [[-7.08593144e-01 -7.05608170e-01 3.58697307e-03 2.11171570e+02] [ 7.05601601e-01 -7.08602132e-01 -3.06569833e-03 1.33424137e+02] [ 4.70491855e-03 3.58641124e-04 9.99988868e-01 7.16387208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.42, Z:0.72 [[-7.08473209e-01 -7.05732190e-01 2.79093426e-03 2.11178051e+02] [ 7.05728219e-01 -7.08478650e-01 -2.38385445e-03 1.33417151e+02] [ 3.65968016e-03 2.80744052e-04 9.99993264e-01 7.16634864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.40, Z:0.72 [[-7.08073660e-01 -7.06133988e-01 2.54621306e-03 2.11190971e+02] [ 7.06130690e-01 -7.08078191e-01 -2.17347044e-03 1.33404316e+02] [ 3.33767928e-03 2.58982013e-04 9.99994396e-01 7.17033896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.40, Z:0.72 [[-7.06842897e-01 -7.07361005e-01 3.67787421e-03 2.11188649e+02] [ 7.07354151e-01 -7.06852362e-01 -3.13747370e-03 1.33400988e+02] [ 4.81904062e-03 3.83858589e-04 9.99988315e-01 7.17210755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.41, Z:0.72 [[-7.06599404e-01 -7.07599951e-01 4.42624350e-03 2.11179034e+02] [ 7.07590043e-01 -7.06613114e-01 -3.77350038e-03 1.33405825e+02] [ 5.79777039e-03 4.65612709e-04 9.99983084e-01 7.16596195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.39, Z:0.72 [[-7.06404496e-01 -7.07789906e-01 5.11244159e-03 2.11192168e+02] [ 7.07776711e-01 -7.06422788e-01 -4.35576146e-03 1.33391961e+02] [ 6.69450924e-03 5.41537615e-04 9.99977445e-01 7.16273564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.39, Z:0.72 [[-7.06337672e-01 -7.07850846e-01 5.85432197e-03 2.11196405e+02] [ 7.07833569e-01 -7.06361658e-01 -4.98472020e-03 1.33386241e+02] [ 7.66370698e-03 6.22989952e-04 9.99970439e-01 7.16020299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.39, Z:0.72 [[-7.06582844e-01 -7.07606063e-01 5.86039218e-03 2.11192322e+02] [ 7.07588766e-01 -7.06606871e-01 -4.98678042e-03 1.33385425e+02] [ 7.66966945e-03 6.23174174e-04 9.99970394e-01 7.16087823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.39, Z:0.72 [[-7.06660026e-01 -7.07531053e-01 5.60514491e-03 2.11181212e+02] [ 7.07515248e-01 -7.06682003e-01 -4.76659774e-03 1.33391932e+02] [ 7.33357094e-03 5.97361409e-04 9.99972931e-01 7.16421313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.39, Z:0.72 [[-7.06484736e-01 -7.07706511e-01 5.55091841e-03 2.11182994e+02] [ 7.07691038e-01 -7.06506292e-01 -4.71751397e-03 1.33387309e+02] [ 7.26037413e-03 5.95483601e-04 9.99973466e-01 7.16862502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.901400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.18, Y:133.39, Z:0.72 [[-7.06069596e-01 -7.08120600e-01 5.56247876e-03 2.11181744e+02] [ 7.08105097e-01 -7.06091249e-01 -4.72436237e-03 1.33386150e+02] [ 7.27303589e-03 6.03090936e-04 9.99973369e-01 7.16847276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.36, Z:0.72 [[-7.04248772e-01 -7.09927668e-01 6.03106466e-03 2.11206915e+02] [ 7.09909533e-01 -7.04274271e-01 -5.11914306e-03 1.33359808e+02] [ 7.88174496e-03 6.76360080e-04 9.99968710e-01 7.17670693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.36, Z:0.72 [[-7.03488052e-01 -7.10679673e-01 6.24209177e-03 2.11201130e+02] [ 7.10660303e-01 -7.03515385e-01 -5.29497797e-03 1.33362080e+02] [ 8.15444081e-03 7.11053086e-04 9.99966499e-01 7.17231971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.36, Z:0.72 [[-7.02914582e-01 -7.11247328e-01 6.19099749e-03 2.11205995e+02] [ 7.11228322e-01 -7.02941483e-01 -5.24838186e-03 1.33355503e+02] [ 8.08480653e-03 7.14048610e-04 9.99967063e-01 7.17145564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.35, Z:0.72 [[-7.01723446e-01 -7.12431856e-01 5.00554119e-03 2.11210341e+02] [ 7.12419478e-01 -7.01741051e-01 -4.24080979e-03 1.33348963e+02] [ 6.53388173e-03 5.90169382e-04 9.99978480e-01 7.17565961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.34, Z:0.72 [[-7.01428690e-01 -7.12724036e-01 4.71598790e-03 2.11214945e+02] [ 7.12713071e-01 -7.01444320e-01 -3.99303498e-03 1.33343521e+02] [ 6.15393493e-03 5.60316926e-04 9.99980907e-01 7.18292238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.34, Z:0.72 [[-7.00988318e-01 -7.13160666e-01 4.15242612e-03 2.11214916e+02] [ 7.13152184e-01 -7.01000439e-01 -3.51370988e-03 1.33340618e+02] [ 5.41669222e-03 4.98242180e-04 9.99985206e-01 7.18374116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.34, Z:0.72 [[-6.99422213e-01 -7.14695012e-01 4.42805949e-03 2.11204191e+02] [ 7.14685411e-01 -6.99436017e-01 -3.74462673e-03 1.33340106e+02] [ 5.77341034e-03 5.45594397e-04 9.99983185e-01 7.17810828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.33, Z:0.72 [[-6.98743721e-01 -7.15357174e-01 4.61809315e-03 2.11216065e+02] [ 7.15346759e-01 -6.98758744e-01 -3.90291846e-03 1.33326054e+02] [ 6.01891369e-03 5.76398197e-04 9.99981720e-01 7.17478408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.32, Z:0.72 [[-6.98454048e-01 -7.15637745e-01 4.95590776e-03 2.11217498e+02] [ 7.15625774e-01 -6.98471353e-01 -4.18584162e-03 1.33321833e+02] [ 6.45710585e-03 6.22957301e-04 9.99978959e-01 7.17627013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.31, Z:0.72 [[-6.98535736e-01 -7.15559360e-01 4.75687613e-03 2.11228678e+02] [ 7.15548345e-01 -6.98551676e-01 -4.01528326e-03 1.33308843e+02] [ 6.19609731e-03 5.98955994e-04 9.99980625e-01 7.17755962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.33, Z:0.72 [[-6.99517142e-01 -7.14601220e-01 4.56782123e-03 2.11188931e+02] [ 7.14591057e-01 -6.99531824e-01 -3.85332470e-03 1.33334941e+02] [ 5.94892685e-03 5.68657514e-04 9.99982143e-01 7.18515488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.32, Z:0.72 [[-7.00927597e-01 -7.13219324e-01 4.32423026e-03 2.11206535e+02] [ 7.13210203e-01 -7.00940736e-01 -3.64556995e-03 1.33316318e+02] [ 5.63112008e-03 5.28804552e-04 9.99984005e-01 7.19013990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.32, Z:0.72 [[-7.02784175e-01 -7.11392691e-01 3.85249793e-03 2.11198307e+02] [ 7.11385435e-01 -7.02794584e-01 -3.24586603e-03 1.33319514e+02] [ 5.01660005e-03 4.59467628e-04 9.99987311e-01 7.19318266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.33, Z:0.72 [[-7.04750595e-01 -7.09447632e-01 3.26448758e-03 2.11184667e+02] [ 7.09442408e-01 -7.04758054e-01 -2.74873724e-03 1.33327632e+02] [ 4.25075904e-03 3.78791720e-04 9.99990894e-01 7.19078998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.32, Z:0.72 [[-7.08103050e-01 -7.06101030e-01 3.37732732e-03 2.11189346e+02] [ 7.06095409e-01 -7.08111006e-01 -2.84196270e-03 1.33317938e+02] [ 4.39823544e-03 3.72312860e-04 9.99990258e-01 7.19365635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.33, Z:0.72 [[-7.09598723e-01 -7.04594306e-01 4.06398974e-03 2.11167149e+02] [ 7.04586154e-01 -7.09610225e-01 -3.41760182e-03 1.33334179e+02] [ 5.29187146e-03 4.38305009e-04 9.99985902e-01 7.19211536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:133.34, Z:0.72 [[-7.10370879e-01 -7.03809023e-01 5.10616949e-03 2.11150394e+02] [ 7.03796152e-01 -7.10389021e-01 -4.29124690e-03 1.33342538e+02] [ 6.64758503e-03 5.45325607e-04 9.99977756e-01 7.19851723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.32, Z:0.72 [[-7.09658718e-01 -7.04525348e-01 5.34200256e-03 2.11166762e+02] [ 7.04511301e-01 -7.09678588e-01 -4.48655910e-03 1.33324205e+02] [ 6.95199945e-03 5.79575393e-04 9.99975667e-01 7.20683564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.32, Z:0.72 [[-7.09879906e-01 -7.04302469e-01 5.34341134e-03 2.11168719e+02] [ 7.04288428e-01 -7.09899779e-01 -4.48488117e-03 1.33322659e+02] [ 6.95199941e-03 5.79575748e-04 9.99975667e-01 7.20683111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.32, Z:0.72 [[-7.08892318e-01 -7.05297517e-01 5.20525736e-03 2.11167383e+02] [ 7.05284237e-01 -7.08911194e-01 -4.36614047e-03 1.33319127e+02] [ 6.76949324e-03 5.76062532e-04 9.99976921e-01 7.20566717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.30, Z:0.72 [[-7.07924188e-01 -7.06271292e-01 4.91990149e-03 2.11183040e+02] [ 7.06259469e-01 -7.07941066e-01 -4.12417201e-03 1.33302019e+02] [ 6.39578460e-03 5.55125889e-04 9.99979393e-01 7.20743140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.30, Z:0.72 [[-7.07363015e-01 -7.06834946e-01 4.68223560e-03 2.11178913e+02] [ 7.06824265e-01 -7.07378309e-01 -3.92247030e-03 1.33301925e+02] [ 6.08465098e-03 5.34907319e-04 9.99981345e-01 7.20860131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.31, Z:0.72 [[-7.07788971e-01 -7.06406781e-01 4.92256258e-03 2.11167454e+02] [ 7.06394982e-01 -7.07805867e-01 -4.12117841e-03 1.33305326e+02] [ 6.39544705e-03 5.60348870e-04 9.99979392e-01 7.20505078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:133.31, Z:0.72 [[-7.08933954e-01 -7.05254113e-01 5.41157902e-03 2.11152215e+02] [ 7.05239840e-01 -7.08954348e-01 -4.52767037e-03 1.33314998e+02] [ 7.02972063e-03 6.06641864e-04 9.99975107e-01 7.20505017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.31, Z:0.72 [[-7.10521471e-01 -7.03653817e-01 5.52677776e-03 2.11155809e+02] [ 7.03638904e-01 -7.10542707e-01 -4.62107014e-03 1.33309207e+02] [ 7.17864528e-03 6.05486294e-04 9.99974050e-01 7.20469757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.30, Z:0.72 [[-7.13892606e-01 -7.00235314e-01 5.27743627e-03 2.11157026e+02] [ 7.00221643e-01 -7.13911903e-01 -4.40975332e-03 1.33301857e+02] [ 6.85548958e-03 5.47284807e-04 9.99976351e-01 7.21182178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:133.31, Z:0.72 [[-7.15539749e-01 -6.98552110e-01 5.27419136e-03 2.11141065e+02] [ 6.98538430e-01 -7.15558988e-01 -4.40419140e-03 1.33311068e+02] [ 6.85055223e-03 5.32851347e-04 9.99976393e-01 7.21514053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74140051300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:211.13, Y:133.32, Z:0.73 [[-7.17374347e-01 -6.96653485e-01 6.92588378e-03 2.11126015e+02] [ 6.96568414e-01 -7.17399976e-01 -1.13894474e-02 1.33324485e+02] [ 1.29031270e-02 -3.34614549e-03 9.99911152e-01 7.25725710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.32, Z:0.72 [[-7.19317858e-01 -6.94613227e-01 9.71001249e-03 2.11121502e+02] [ 6.94625867e-01 -7.19366653e-01 -2.55419442e-03 1.33316517e+02] [ 8.75923641e-03 4.90754818e-03 9.99949595e-01 7.19619534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.33, Z:0.72 [[-7.20778459e-01 -6.93134694e-01 6.53526106e-03 2.11113374e+02] [ 6.93113535e-01 -7.20807834e-01 -5.44916134e-03 1.33328173e+02] [ 8.48767015e-03 6.02039782e-04 9.99963798e-01 7.19532211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.32, Z:0.72 [[-7.22318839e-01 -6.91534092e-01 6.00786616e-03 2.11124223e+02] [ 6.91516182e-01 -7.22343623e-01 -5.00608980e-03 1.33319467e+02] [ 7.80162557e-03 5.38543693e-04 9.99969422e-01 7.19682882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.32, Z:0.72 [[-7.23902599e-01 -6.89878842e-01 5.67540199e-03 2.11119356e+02] [ 6.89862832e-01 -7.23924678e-01 -4.72592371e-03 1.33323340e+02] [ 7.36887834e-03 4.94140438e-04 9.99972727e-01 7.21014707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.32, Z:0.72 [[-7.25244939e-01 -6.88471419e-01 5.18500275e-03 2.11125773e+02] [ 6.88458039e-01 -7.25263339e-01 -4.31470084e-03 1.33317750e+02] [ 6.73104062e-03 4.40441882e-04 9.99977249e-01 7.21657488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.33, Z:0.72 [[-7.26621493e-01 -6.87019362e-01 5.05987847e-03 2.11110602e+02] [ 6.87006604e-01 -7.26638989e-01 -4.20776564e-03 1.33330772e+02] [ 6.56752144e-03 4.18716978e-04 9.99978346e-01 7.21404340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.33, Z:0.72 [[-7.26685365e-01 -6.86951836e-01 5.05512795e-03 2.11112987e+02] [ 6.86939119e-01 -7.26702827e-01 -4.20098513e-03 1.33329582e+02] [ 6.55945022e-03 4.19770728e-04 9.99978399e-01 7.20609130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.32, Z:0.72 [[-7.26663072e-01 -6.86976342e-01 4.92798261e-03 2.11125013e+02] [ 6.86964275e-01 -7.26679665e-01 -4.09257722e-03 1.33320293e+02] [ 6.39256848e-03 4.11423262e-04 9.99979483e-01 7.19740417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.32, Z:0.72 [[-7.25588078e-01 -6.88107647e-01 5.45963010e-03 2.11129991e+02] [ 6.88092888e-01 -7.25608466e-01 -4.53106410e-03 1.33318407e+02] [ 7.07941368e-03 4.69046554e-04 9.99974831e-01 7.19465867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:133.31, Z:0.72 [[-7.24852941e-01 -6.88881699e-01 5.49711710e-03 2.11145555e+02] [ 6.88866781e-01 -7.24873625e-01 -4.55914678e-03 1.33307083e+02] [ 7.12542797e-03 4.82070409e-04 9.99974498e-01 7.19845563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.30, Z:0.72 [[-7.23331686e-01 -6.90483523e-01 4.87615418e-03 2.11159973e+02] [ 6.90471838e-01 -7.23347985e-01 -4.04148660e-03 1.33298303e+02] [ 6.31773621e-03 4.43511824e-04 9.99979945e-01 7.21267840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.30, Z:0.72 [[-7.23203025e-01 -6.90620816e-01 4.50265201e-03 2.11163669e+02] [ 6.90610869e-01 -7.23216924e-01 -3.72948100e-03 1.33296126e+02] [ 5.83205135e-03 4.12408473e-04 9.99982908e-01 7.21025855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.30, Z:0.72 [[-7.23347717e-01 -6.90470248e-01 4.34935662e-03 2.11160406e+02] [ 6.90460977e-01 -7.23360683e-01 -3.60014938e-03 1.33300288e+02] [ 5.63194961e-03 3.98901190e-04 9.99984061e-01 7.20764691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.30, Z:0.72 [[-7.23807435e-01 -6.89989357e-01 4.18142346e-03 2.11164976e+02] [ 6.89980793e-01 -7.23819413e-01 -3.45887161e-03 1.33302415e+02] [ 5.41318007e-03 3.81544881e-04 9.99985276e-01 7.20387003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.30, Z:0.72 [[-7.24402771e-01 -6.89364828e-01 4.09396667e-03 2.11176989e+02] [ 6.89356620e-01 -7.24414244e-01 -3.38430923e-03 1.33296796e+02] [ 5.29875152e-03 3.70600041e-04 9.99985893e-01 7.20143057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.31, Z:0.72 [[-7.25272215e-01 -6.88450430e-01 4.02730468e-03 2.11161310e+02] [ 6.88442485e-01 -7.25283308e-01 -3.32701120e-03 1.33314609e+02] [ 5.21141915e-03 3.59578855e-04 9.99986356e-01 7.20733450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.30, Z:0.72 [[-7.27284792e-01 -6.86326017e-01 3.66473158e-03 2.11184517e+02] [ 6.86319421e-01 -7.27293957e-01 -3.02549459e-03 1.33303244e+02] [ 4.74181278e-03 3.14780254e-04 9.99988708e-01 7.21415336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.31, Z:0.72 [[-7.28305209e-01 -6.85241626e-01 3.92889222e-03 2.11175821e+02] [ 6.85234040e-01 -7.28315731e-01 -3.24143880e-03 1.33313317e+02] [ 5.08264280e-03 3.31453923e-04 9.99987028e-01 7.21632479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.31, Z:0.72 [[-7.28997384e-01 -6.84501851e-01 4.47538374e-03 2.11184682e+02] [ 6.84492008e-01 -7.29011026e-01 -3.68986313e-03 1.33309361e+02] [ 5.78832223e-03 3.73463831e-04 9.99983178e-01 7.21686838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.31, Z:0.72 [[-7.29521772e-01 -6.83941360e-01 4.71170610e-03 2.11187293e+02] [ 6.83930454e-01 -7.29536883e-01 -3.88214266e-03 1.33311257e+02] [ 6.09252132e-03 3.90371698e-04 9.99981364e-01 7.21451801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.31, Z:0.72 [[-7.29664135e-01 -6.83793935e-01 4.01297487e-03 2.11194482e+02] [ 6.83786033e-01 -7.29675094e-01 -3.30426362e-03 1.33314377e+02] [ 5.18760324e-03 3.33013507e-04 9.99986489e-01 7.21771951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.32, Z:0.72 [[-7.29492552e-01 -6.83979723e-01 3.51495785e-03 2.11193622e+02] [ 6.83973671e-01 -7.29500961e-01 -2.89229643e-03 1.33318829e+02] [ 4.54243724e-03 2.94229916e-04 9.99989640e-01 7.22309256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.31, Z:0.72 [[-7.29019800e-01 -6.84484826e-01 3.26399785e-03 2.11211561e+02] [ 6.84479620e-01 -7.29027054e-01 -2.68403136e-03 1.33307025e+02] [ 4.21672147e-03 2.77428002e-04 9.99991071e-01 7.22325052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.32, Z:0.72 [[-7.27032984e-01 -6.86587861e-01 4.48878422e-03 2.11203983e+02] [ 6.86578068e-01 -7.27046731e-01 -3.68874055e-03 1.33317906e+02] [ 5.79620038e-03 4.00064742e-04 9.99983122e-01 7.21840425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.31, Z:0.72 [[-7.26270037e-01 -6.87391453e-01 4.98232001e-03 2.11220921e+02] [ 6.87379425e-01 -7.26286985e-01 -4.09161737e-03 1.33306390e+02] [ 6.43113699e-03 4.53125166e-04 9.99979217e-01 7.21293847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.30, Z:0.72 [[-7.25647946e-01 -6.88046569e-01 5.19403370e-03 2.11231066e+02] [ 6.88033532e-01 -7.25666376e-01 -4.26270128e-03 1.33300873e+02] [ 6.70207260e-03 4.80448924e-04 9.99977425e-01 7.21097888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.29, Z:0.72 [[-7.25265175e-01 -6.88452086e-01 4.91441908e-03 2.11250199e+02] [ 6.88440441e-01 -7.25281679e-01 -4.03062216e-03 1.33288944e+02] [ 6.33922836e-03 4.60014948e-04 9.99979801e-01 7.20846707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.29, Z:0.72 [[-7.25352353e-01 -6.88365140e-01 4.17117397e-03 2.11257698e+02] [ 6.88356761e-01 -7.25364240e-01 -3.41885546e-03 1.33290694e+02] [ 5.37904136e-03 3.91380954e-04 9.99985456e-01 7.21762636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.31, Z:0.72 [[-7.25655152e-01 -6.88047855e-01 3.84044170e-03 2.11234090e+02] [ 6.88040758e-01 -7.25665226e-01 -3.14574070e-03 1.33313504e+02] [ 4.95129513e-03 3.59657467e-04 9.99987678e-01 7.21736408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.30, Z:0.72 [[-7.26030532e-01 -6.87652442e-01 3.71290057e-03 2.11257200e+02] [ 6.87645813e-01 -7.26039943e-01 -3.03929623e-03 1.33297034e+02] [ 4.78569360e-03 3.46538667e-04 9.99988488e-01 7.21848190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.30, Z:0.72 [[-7.26173076e-01 -6.87502553e-01 3.59220403e-03 2.11260544e+02] [ 6.87496354e-01 -7.26181883e-01 -2.93860239e-03 1.33296159e+02] [ 4.62889013e-03 3.35693236e-04 9.99989230e-01 7.22151754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.29, Z:0.72 [[-7.25321046e-01 -6.88395810e-01 4.53740089e-03 2.11271937e+02] [ 6.88385952e-01 -7.25335109e-01 -3.70941737e-03 1.33291263e+02] [ 5.84468354e-03 4.32964544e-04 9.99982826e-01 7.21802623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.29, Z:0.72 [[-7.24770597e-01 -6.88969841e-01 5.30475038e-03 2.11281507e+02] [ 6.88956400e-01 -7.24789828e-01 -4.33395675e-03 1.33285952e+02] [ 6.83079461e-03 5.13617303e-04 9.99976538e-01 7.21489123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.28, Z:0.72 [[-7.24021448e-01 -6.89753015e-01 5.80698618e-03 2.11289902e+02] [ 6.89736957e-01 -7.24044509e-01 -4.74125405e-03 1.33280685e+02] [ 7.47481073e-03 5.72523357e-04 9.99971899e-01 7.21059227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.28, Z:0.72 [[-7.22586434e-01 -6.91253047e-01 6.17010847e-03 2.11286631e+02] [ 6.91234997e-01 -7.22612505e-01 -5.03452287e-03 1.33283411e+02] [ 7.93872681e-03 6.27116978e-04 9.99968291e-01 7.21193776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.28, Z:0.72 [[-7.22759394e-01 -6.91073068e-01 6.07228958e-03 2.11291195e+02] [ 6.91055605e-01 -7.22784638e-01 -4.95155090e-03 1.33278807e+02] [ 7.81084110e-03 6.17509819e-04 9.99969304e-01 7.21253209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.28, Z:0.72 [[-7.23466253e-01 -6.90334958e-01 5.85031046e-03 2.11288309e+02] [ 6.90318747e-01 -7.23489667e-01 -4.76750152e-03 1.33280927e+02] [ 7.52381213e-03 5.89452519e-04 9.99971522e-01 7.21735782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.28, Z:0.72 [[-7.25478681e-01 -6.88221457e-01 5.64892922e-03 2.11287089e+02] [ 6.88206301e-01 -7.25500464e-01 -4.60045045e-03 1.33281412e+02] [ 7.26442948e-03 5.50099954e-04 9.99973462e-01 7.22115332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.28, Z:0.72 [[-7.26598871e-01 -6.87034393e-01 6.15006333e-03 2.11288475e+02] [ 6.87016412e-01 -7.26624660e-01 -5.00535674e-03 1.33280257e+02] [ 7.90763991e-03 5.88307885e-04 9.99968561e-01 7.21955365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.29, Z:0.72 [[-7.27735430e-01 -6.85827078e-01 6.50873659e-03 2.11278850e+02] [ 6.85806918e-01 -7.27764279e-01 -5.29385690e-03 1.33288607e+02] [ 8.36749640e-03 6.11209356e-04 9.99964805e-01 7.21954070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.29, Z:0.72 [[-7.29097343e-01 -6.84377550e-01 6.66581099e-03 2.11283569e+02] [ 6.84356376e-01 -7.29127558e-01 -5.41810835e-03 1.33285285e+02] [ 8.56825821e-03 6.11461845e-04 9.99963105e-01 7.21683179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.30, Z:0.72 [[-7.32181617e-01 -6.81081679e-01 6.15028404e-03 2.11269863e+02] [ 6.81063563e-01 -7.32207255e-01 -4.99583432e-03 1.33297252e+02] [ 7.90585382e-03 5.30876313e-04 9.99968607e-01 7.21567213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.29, Z:0.72 [[-7.34053570e-01 -6.79062718e-01 6.25954652e-03 2.11274872e+02] [ 6.79043906e-01 -7.34080073e-01 -5.08126534e-03 1.33294229e+02] [ 8.04550622e-03 5.20585962e-04 9.99967499e-01 7.21699632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.30, Z:0.72 [[-7.35802858e-01 -6.77163585e-01 6.60547883e-03 2.11270198e+02] [ 6.77142591e-01 -7.35832316e-01 -5.35856737e-03 1.33299660e+02] [ 8.48915148e-03 5.30001854e-04 9.99963826e-01 7.21360273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.30, Z:0.72 [[-7.37398801e-01 -6.75422341e-01 6.90425665e-03 2.11265683e+02] [ 6.75399361e-01 -7.37430928e-01 -5.59725482e-03 1.33304856e+02] [ 8.87192335e-03 5.35721533e-04 9.99960500e-01 7.21432332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.30, Z:0.72 [[-7.39588356e-01 -6.73026510e-01 6.66190790e-03 2.11269461e+02] [ 6.73005048e-01 -7.39618195e-01 -5.39722059e-03 1.33303690e+02] [ 8.55974084e-03 4.91776143e-04 9.99963244e-01 7.22110460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.31, Z:0.72 [[-7.40349106e-01 -6.72195111e-01 6.07742879e-03 2.11265855e+02] [ 6.72177247e-01 -7.40373918e-01 -4.92044711e-03 1.33307231e+02] [ 7.80707025e-03 4.42260737e-04 9.99969427e-01 7.22207470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.31, Z:0.72 [[-7.41129108e-01 -6.71341347e-01 5.33293201e-03 2.11267221e+02] [ 6.71327590e-01 -7.41148197e-01 -4.31482650e-03 1.33307551e+02] [ 6.84921438e-03 3.82300876e-04 9.99976471e-01 7.23198689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.30, Z:0.72 [[-7.41302199e-01 -6.71151747e-01 5.13630567e-03 2.11274377e+02] [ 6.71139000e-01 -7.41319901e-01 -4.15298635e-03 1.33303583e+02] [ 6.59492966e-03 3.68557138e-04 9.99978185e-01 7.22931319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.31, Z:0.72 [[-7.41430842e-01 -6.71006796e-01 5.49417244e-03 2.11266328e+02] [ 6.70992227e-01 -7.41451093e-01 -4.43938451e-03 1.33312656e+02] [ 7.05251734e-03 3.95050406e-04 9.99975053e-01 7.22687028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.30, Z:0.72 [[-7.41251702e-01 -6.71200988e-01 5.92860216e-03 2.11283846e+02] [ 6.71184054e-01 -7.41275285e-01 -4.78722382e-03 1.33303136e+02] [ 7.60791561e-03 4.30645424e-04 9.99970967e-01 7.22703769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.30, Z:0.72 [[-7.41235901e-01 -6.71221328e-01 5.59171628e-03 2.11288099e+02] [ 6.71206286e-01 -7.41256880e-01 -4.51221751e-03 1.33300776e+02] [ 7.17359479e-03 4.08577500e-04 9.99974186e-01 7.23146655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.32, Z:0.72 [[-7.41189920e-01 -6.71277418e-01 4.91225365e-03 2.11270594e+02] [ 6.71265827e-01 -7.41206110e-01 -3.96129849e-03 1.33316330e+02] [ 6.30012264e-03 3.61353498e-04 9.99980089e-01 7.23375853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.30, Z:0.72 [[-7.40811028e-01 -6.71697726e-01 4.60283249e-03 2.11292271e+02] [ 6.71687572e-01 -7.40825247e-01 -3.70930964e-03 1.33303883e+02] [ 5.90142937e-03 3.43767899e-04 9.99982527e-01 7.23371641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.30, Z:0.72 [[-7.41028150e-01 -6.71458177e-01 4.60403171e-03 2.11294243e+02] [ 6.71448028e-01 -7.41042373e-01 -3.70782104e-03 1.33302390e+02] [ 5.90142934e-03 3.43768246e-04 9.99982527e-01 7.23371250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.30, Z:0.72 [[-7.40730799e-01 -6.71787180e-01 4.45738335e-03 2.11305423e+02] [ 6.71777686e-01 -7.40744133e-01 -3.58735295e-03 1.33295975e+02] [ 5.71171829e-03 3.37107854e-04 9.99983631e-01 7.23791348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.29, Z:0.72 [[-7.40016531e-01 -6.72575675e-01 4.18259614e-03 2.11310079e+02] [ 6.72567340e-01 -7.40028281e-01 -3.36399215e-03 1.33294512e+02] [ 5.35777872e-03 3.23667753e-04 9.99985595e-01 7.24188462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.29, Z:0.72 [[-7.39251976e-01 -6.73417623e-01 3.90145558e-03 2.11322676e+02] [ 6.73410393e-01 -7.39262206e-01 -3.13582611e-03 1.33286604e+02] [ 4.99591922e-03 3.09115091e-04 9.99987473e-01 7.24603846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.29, Z:0.73 [[-7.37746568e-01 -6.75069341e-01 3.37445993e-03 2.11326682e+02] [ 6.75063957e-01 -7.37754233e-01 -2.71048878e-03 1.33288162e+02] [ 4.31928997e-03 2.78322479e-04 9.99990633e-01 7.25408571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.28, Z:0.73 [[-7.37045651e-01 -6.75837527e-01 2.71028111e-03 2.11339926e+02] [ 6.75834064e-01 -7.37050599e-01 -2.17559388e-03 1.33279982e+02] [ 3.46796230e-03 2.28188292e-04 9.99993961e-01 7.25497944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.28, Z:0.73 [[-7.36270247e-01 -6.76683281e-01 2.42071299e-03 2.11348162e+02] [ 6.76680527e-01 -7.36274197e-01 -1.94190322e-03 1.33275468e+02] [ 3.09636196e-03 2.08283777e-04 9.99995185e-01 7.25537492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.27, Z:0.72 [[-7.34006674e-01 -6.79133608e-01 3.42710274e-03 2.11359580e+02] [ 6.79128121e-01 -7.34014609e-01 -2.74743889e-03 1.33268888e+02] [ 4.38142156e-03 3.10803366e-04 9.99990353e-01 7.24391513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.26, Z:0.72 [[-7.32542410e-01 -6.80705723e-01 4.61917675e-03 2.11377256e+02] [ 6.80695801e-01 -7.32556845e-01 -3.70071931e-03 1.33255933e+02] [ 5.90291036e-03 4.33320379e-04 9.99982484e-01 7.23624702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.26, Z:0.72 [[-7.30980294e-01 -6.82374010e-01 5.78964062e-03 2.11379211e+02] [ 6.82358497e-01 -7.31003006e-01 -4.63549784e-03 1.33255622e+02] [ 7.39538794e-03 5.62152898e-04 9.99972496e-01 7.23327722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.25, Z:0.72 [[-7.29482084e-01 -6.83969717e-01 6.42774794e-03 2.11383837e+02] [ 6.83950683e-01 -7.29510117e-01 -5.14313424e-03 1.33252803e+02] [ 8.20685522e-03 6.44438311e-04 9.99966116e-01 7.23927466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.24, Z:0.72 [[-7.26734555e-01 -6.86889791e-01 6.26905767e-03 2.11396560e+02] [ 6.86871818e-01 -7.26761292e-01 -5.01299845e-03 1.33243201e+02] [ 7.99948591e-03 6.62919843e-04 9.99967784e-01 7.24822971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.24, Z:0.72 [[-7.25986243e-01 -6.87683275e-01 5.97406237e-03 2.11405332e+02] [ 6.87667003e-01 -7.26010538e-01 -4.77411822e-03 1.33236011e+02] [ 7.62031349e-03 6.42221410e-04 9.99970759e-01 7.24385193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.24, Z:0.72 [[-7.25544607e-01 -6.88155763e-01 5.16417056e-03 2.11399802e+02] [ 6.88143633e-01 -7.25562768e-01 -4.12432271e-03 1.33240602e+02] [ 6.58510633e-03 5.61310987e-04 9.99978160e-01 7.24076666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.23, Z:0.72 [[-7.24520718e-01 -6.89240315e-01 4.18534070e-03 2.11422994e+02] [ 6.89232376e-01 -7.24532658e-01 -3.34051433e-03 1.33225858e+02] [ 5.33483317e-03 4.64400480e-04 9.99985662e-01 7.23282381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.23, Z:0.72 [[-7.24186475e-01 -6.89588624e-01 4.63455613e-03 2.11419464e+02] [ 6.89578910e-01 -7.24201119e-01 -3.69674999e-03 1.33231505e+02] [ 5.90558748e-03 5.18755825e-04 9.99982427e-01 7.23312106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.23, Z:0.72 [[-7.24045801e-01 -6.89731351e-01 5.32363738e-03 2.11422181e+02] [ 6.89718556e-01 -7.24065125e-01 -4.24374217e-03 1.33230668e+02] [ 6.78170218e-03 5.99147781e-04 9.99976825e-01 7.23377829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.22, Z:0.72 [[-7.22304846e-01 -6.91549796e-01 5.88122904e-03 2.11437169e+02] [ 6.91534261e-01 -7.22328467e-01 -4.68531552e-03 1.33217025e+02] [ 7.48830815e-03 6.82845269e-04 9.99971729e-01 7.23516427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.22, Z:0.72 [[-7.20790898e-01 -6.93129144e-01 5.69838034e-03 2.11436497e+02] [ 6.93114629e-01 -7.20813102e-01 -4.53684873e-03 1.33217069e+02] [ 7.25208928e-03 6.79511504e-04 9.99973472e-01 7.23684781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.22, Z:0.72 [[-7.19388117e-01 -6.94587407e-01 5.39183365e-03 2.11436627e+02] [ 6.94574470e-01 -7.19408021e-01 -4.29013694e-03 1.33216873e+02] [ 6.85880347e-03 6.58756465e-04 9.99976261e-01 7.23890370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.20, Z:0.72 [[-7.17633362e-01 -6.96401297e-01 5.25275306e-03 2.11448590e+02] [ 6.96389084e-01 -7.17652282e-01 -4.17690153e-03 1.33204086e+02] [ 6.67844986e-03 6.60476001e-04 9.99977481e-01 7.24189469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.19, Z:0.72 [[-7.17588250e-01 -6.96446482e-01 5.42227935e-03 2.11458571e+02] [ 6.96433487e-01 -7.17608410e-01 -4.30906804e-03 1.33193717e+02] [ 6.89210854e-03 6.84120318e-04 9.99976015e-01 7.24321386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.20, Z:0.72 [[-7.18849977e-01 -6.95138621e-01 6.08343870e-03 2.11443986e+02] [ 6.95122240e-01 -7.18875321e-01 -4.83151975e-03 1.33203180e+02] [ 7.73180993e-03 7.55595677e-04 9.99969824e-01 7.24034211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.20, Z:0.72 [[-7.20336340e-01 -6.93597921e-01 6.12224409e-03 2.11451851e+02] [ 6.93581299e-01 -7.20361970e-01 -4.85934915e-03 1.33195534e+02] [ 7.78066627e-03 7.45908231e-04 9.99969452e-01 7.24299006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.20, Z:0.72 [[-7.22300639e-01 -6.91554606e-01 5.83223023e-03 2.11444669e+02] [ 6.91539477e-01 -7.22323853e-01 -4.62631435e-03 1.33198108e+02] [ 7.41210801e-03 6.91627631e-04 9.99972291e-01 7.24732091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.20, Z:0.72 [[-7.24632927e-01 -6.89114063e-01 5.37866776e-03 2.11434476e+02] [ 6.89101147e-01 -7.24652626e-01 -4.26389634e-03 1.33202644e+02] [ 6.83597665e-03 6.16686442e-04 9.99976444e-01 7.24804935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.21, Z:0.73 [[-7.30047087e-01 -6.83379719e-01 4.83849697e-03 2.11424566e+02] [ 6.83369156e-01 -7.30062944e-01 -3.83329340e-03 1.33206016e+02] [ 6.15200231e-03 5.07994914e-04 9.99980947e-01 7.25179194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.21, Z:0.73 [[-7.33154910e-01 -6.80046242e-01 4.58124741e-03 2.11416561e+02] [ 6.80036721e-01 -7.33169081e-01 -3.62720932e-03 1.33212988e+02] [ 5.82549902e-03 4.56110150e-04 9.99982928e-01 7.25386121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.22, Z:0.73 [[-7.36473445e-01 -6.76454481e-01 4.02504062e-03 2.11405737e+02] [ 6.76447089e-01 -7.36484347e-01 -3.18481791e-03 1.33222253e+02] [ 5.11876376e-03 3.77193194e-04 9.99986828e-01 7.25614920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.24, Z:0.73 [[-7.39761408e-01 -6.72860718e-01 3.39312018e-03 2.11387957e+02] [ 6.72855434e-01 -7.39769130e-01 -2.68309572e-03 1.33236366e+02] [ 4.31547527e-03 2.98228683e-04 9.99990644e-01 7.26663540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.26, Z:0.73 [[-7.45016331e-01 -6.67043953e-01 1.74111288e-03 2.11363029e+02] [ 6.67029773e-01 -7.45013749e-01 -5.07897255e-03 1.33259493e+02] [ 4.68505096e-03 -2.62254336e-03 9.99985586e-01 7.27862306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.26, Z:0.73 [[-7.47452065e-01 -6.64300838e-01 4.45066770e-03 2.11363270e+02] [ 6.64307802e-01 -7.47459116e-01 1.17080459e-04 1.33255646e+02] [ 3.24891550e-03 3.04412531e-03 9.99990089e-01 7.27347577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:133.25, Z:0.73 [[-7.49339747e-01 -6.62180876e-01 2.53588552e-03 2.11373780e+02] [ 6.62177873e-01 -7.49344017e-01 -2.00224393e-03 1.33253539e+02] [ 3.22609828e-03 1.78846324e-04 9.99994780e-01 7.27028919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.27, Z:0.73 [[-7.51305055e-01 -6.59951019e-01 2.31671348e-03 2.11358331e+02] [ 6.59948505e-01 -7.51308611e-01 -1.82798351e-03 1.33271963e+02] [ 2.94694637e-03 1.55538353e-04 9.99995646e-01 7.26793220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:133.26, Z:0.73 [[-7.51573946e-01 -6.59644626e-01 2.36022198e-03 2.11374656e+02] [ 6.59642020e-01 -7.51577636e-01 -1.86107207e-03 1.33262735e+02] [ 3.00153625e-03 1.58168316e-04 9.99995483e-01 7.26716419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.26, Z:0.73 [[-7.51497452e-01 -6.59730133e-01 2.78053648e-03 2.11378503e+02] [ 6.59726522e-01 -7.51502572e-01 -2.19103288e-03 1.33264584e+02] [ 3.53507073e-03 1.87838034e-04 9.99993734e-01 7.26804240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.26, Z:0.73 [[-7.50531196e-01 -6.60828600e-01 2.91305468e-03 2.11400802e+02] [ 6.60824649e-01 -7.50536822e-01 -2.29393889e-03 1.33258405e+02] [ 3.70225523e-03 2.03345641e-04 9.99993126e-01 7.26137947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.26, Z:0.73 [[-7.49851303e-01 -6.61601726e-01 2.48582341e-03 2.11404895e+02] [ 6.61598858e-01 -7.49855402e-01 -1.95623124e-03 1.33260250e+02] [ 3.15825408e-03 1.77735382e-04 9.99994997e-01 7.25868672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.26, Z:0.73 [[-7.49135367e-01 -6.62414410e-01 1.83068593e-03 2.11410326e+02] [ 6.62412859e-01 -7.49137591e-01 -1.43973651e-03 1.33261323e+02] [ 2.32513786e-03 1.34112365e-04 9.99997288e-01 7.25531746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.25, Z:0.73 [[-7.48319895e-01 -6.63336329e-01 1.49975882e-03 2.11434424e+02] [ 6.63335291e-01 -7.48321390e-01 -1.17872134e-03 1.33248738e+02] [ 1.90419030e-03 1.12782322e-04 9.99998181e-01 7.25451318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.25, Z:0.73 [[-7.46433329e-01 -6.65450824e-01 3.53366398e-03 2.11445716e+02] [ 6.65445095e-01 -7.46441641e-01 -2.77538611e-03 1.33253562e+02] [ 4.48455691e-03 2.79818668e-04 9.99989905e-01 7.25357548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:133.24, Z:0.73 [[-7.45302296e-01 -6.66710650e-01 4.62564655e-03 2.11468459e+02] [ 6.66700871e-01 -7.45316554e-01 -3.63069966e-03 1.33242036e+02] [ 5.86819708e-03 3.77953790e-04 9.99982711e-01 7.25088528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:133.24, Z:0.73 [[-7.42350717e-01 -6.69995200e-01 4.67390792e-03 2.11483633e+02] [ 6.69985294e-01 -7.42365318e-01 -3.66625061e-03 1.33242271e+02] [ 5.92611745e-03 4.09805804e-04 9.99982356e-01 7.25136029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.24, Z:0.73 [[-7.40417200e-01 -6.72135830e-01 3.97447666e-03 2.11491587e+02] [ 6.72128707e-01 -7.40427778e-01 -3.11564691e-03 1.33242213e+02] [ 5.03695084e-03 3.64481303e-04 9.99987248e-01 7.25513924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:133.24, Z:0.73 [[-7.38139651e-01 -6.74637305e-01 3.78976871e-03 2.11500565e+02] [ 6.74630871e-01 -7.38149289e-01 -2.96897968e-03 1.33240602e+02] [ 4.80039953e-03 3.65173334e-04 9.99988411e-01 7.26182386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.21, Z:0.73 [[-7.32495436e-01 -6.80752933e-01 5.08729687e-03 2.11544238e+02] [ 6.80741499e-01 -7.32512899e-01 -3.98299524e-03 1.33213832e+02] [ 6.43794627e-03 5.45608263e-04 9.99979127e-01 7.26605837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.20, Z:0.73 [[-7.29550825e-01 -6.83901464e-01 5.86352901e-03 2.11559818e+02] [ 6.83886396e-01 -7.29574087e-01 -4.58792224e-03 1.33203676e+02] [ 7.41556556e-03 6.62865266e-04 9.99972285e-01 7.26225142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.20, Z:0.73 [[-7.26727993e-01 -6.86898458e-01 6.07717144e-03 2.11565172e+02] [ 6.86882398e-01 -7.26753045e-01 -4.75220013e-03 1.33201511e+02] [ 7.68088179e-03 7.20745232e-04 9.99970242e-01 7.26452895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.19, Z:0.73 [[-7.24489279e-01 -6.89262127e-01 5.74489830e-03 2.11580499e+02] [ 6.89247867e-01 -7.24511712e-01 -4.48966177e-03 1.33190746e+02] [ 7.25679992e-03 7.06947082e-04 9.99973419e-01 7.26862838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.17, Z:0.73 [[-7.22003669e-01 -6.91873662e-01 4.64096146e-03 2.11603726e+02] [ 6.91864421e-01 -7.22018340e-01 -3.62477662e-03 1.33171784e+02] [ 5.85874676e-03 5.93814098e-04 9.99982661e-01 7.27551021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.17, Z:0.73 [[-7.21629184e-01 -6.92267383e-01 4.14618995e-03 2.11607105e+02] [ 6.92260024e-01 -7.21640897e-01 -3.23642965e-03 1.33168400e+02] [ 5.23253492e-03 5.34739466e-04 9.99986167e-01 7.27391373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.18, Z:0.73 [[-7.21808126e-01 -6.92084087e-01 3.55602870e-03 2.11590941e+02] [ 6.92078679e-01 -7.21816740e-01 -2.77411743e-03 1.33180829e+02] [ 4.48672357e-03 4.58671141e-04 9.99989829e-01 7.27367001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.17, Z:0.73 [[-7.24190109e-01 -6.89597361e-01 2.04106704e-03 2.11608515e+02] [ 6.89595572e-01 -7.24192941e-01 -1.59134264e-03 1.33166561e+02] [ 2.57551202e-03 2.55076190e-04 9.99996651e-01 7.28209377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.18, Z:0.73 [[-7.26220617e-01 -6.87458391e-01 2.13900966e-03 2.11593978e+02] [ 6.87456420e-01 -7.26223721e-01 -1.66670922e-03 1.33177365e+02] [ 2.69919280e-03 2.60077324e-04 9.99996323e-01 7.28457258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.18, Z:0.73 [[-7.31177643e-01 -6.82173165e-01 4.36197068e-03 2.11591652e+02] [ 6.82164886e-01 -7.31190489e-01 -3.39674429e-03 1.33180593e+02] [ 5.50659927e-03 4.91959745e-04 9.99984718e-01 7.28050277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.20, Z:0.73 [[-7.33962021e-01 -6.79169473e-01 5.34597650e-03 2.11567867e+02] [ 6.79156975e-01 -7.33981263e-01 -4.16046977e-03 1.33201431e+02] [ 6.74951064e-03 5.77130432e-04 9.99977055e-01 7.27444220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.21, Z:0.73 [[-7.36475926e-01 -6.76443576e-01 5.22477314e-03 2.11563771e+02] [ 6.76431587e-01 -7.36494260e-01 -4.06364697e-03 1.33206942e+02] [ 6.59684332e-03 5.41423422e-04 9.99978094e-01 7.27150919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.101400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:211.54, Y:133.22, Z:0.73 [[-7.40409215e-01 -6.72146846e-01 3.57941590e-03 2.11544486e+02] [ 6.72141177e-01 -7.40417786e-01 -2.78223129e-03 1.33224807e+02] [ 4.52033118e-03 3.45883133e-04 9.99989723e-01 7.26783168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.22, Z:0.73 [[-7.41451717e-01 -6.70998646e-01 3.18879724e-03 2.11547930e+02] [ 6.70994142e-01 -7.41458512e-01 -2.47706172e-03 1.33224262e+02] [ 4.02646592e-03 3.03042605e-04 9.99991848e-01 7.27655106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.21, Z:0.73 [[-7.41938288e-01 -6.70459516e-01 3.40791059e-03 2.11566110e+02] [ 6.70454373e-01 -7.41946045e-01 -2.64561643e-03 1.33212220e+02] [ 4.30226450e-03 3.21964428e-04 9.99990693e-01 7.27534442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.21, Z:0.73 [[-7.40597863e-01 -6.71937280e-01 3.88562090e-03 2.11573161e+02] [ 6.71930624e-01 -7.40607959e-01 -3.01459750e-03 1.33208915e+02] [ 4.90334221e-03 3.78263206e-04 9.99987907e-01 7.27644510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.20, Z:0.73 [[-7.39080651e-01 -6.73608080e-01 3.45630315e-03 2.11579787e+02] [ 6.73602839e-01 -7.39088651e-01 -2.67986910e-03 1.33204328e+02] [ 4.35969591e-03 3.47536211e-04 9.99990436e-01 7.27751768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.20, Z:0.73 [[-7.37334066e-01 -6.75521272e-01 3.08012940e-03 2.11586579e+02] [ 6.75517132e-01 -7.37340429e-01 -2.38673668e-03 1.33199728e+02] [ 3.88339533e-03 3.20857921e-04 9.99992408e-01 7.28581491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.20, Z:0.73 [[-7.37534949e-01 -6.75301938e-01 3.08083917e-03 2.11588560e+02] [ 6.75297799e-01 -7.37541314e-01 -2.38582041e-03 1.33198288e+02] [ 3.88339532e-03 3.20857975e-04 9.99992408e-01 7.28581167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.19, Z:0.73 [[-7.35938994e-01 -6.77042301e-01 2.74216439e-03 2.11601773e+02] [ 6.77039039e-01 -7.35944044e-01 -2.12225489e-03 1.33188133e+02] [ 3.45493588e-03 2.94702217e-04 9.99993988e-01 7.28721390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.18, Z:0.73 [[-7.34102550e-01 -6.79028668e-01 3.67625068e-03 2.11602809e+02] [ 6.79022837e-01 -7.34111641e-01 -2.84342642e-03 1.33184414e+02] [ 4.62954647e-03 4.08891575e-04 9.99989200e-01 7.28237459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.18, Z:0.73 [[-7.34196589e-01 -6.78925649e-01 3.91559836e-03 2.11613703e+02] [ 6.78919042e-01 -7.34206901e-01 -3.02670955e-03 1.33175211e+02] [ 4.92977008e-03 4.36174456e-04 9.99987754e-01 7.27762348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.18, Z:0.73 [[-7.35082361e-01 -6.77967318e-01 3.77326910e-03 2.11608180e+02] [ 6.77961179e-01 -7.35091928e-01 -2.91492224e-03 1.33179660e+02] [ 4.74992167e-03 4.15422044e-04 9.99988633e-01 7.27639370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.18, Z:0.73 [[-7.38710955e-01 -6.74012257e-01 3.68820482e-03 2.11603506e+02] [ 6.74006350e-01 -7.38720063e-01 -2.84747137e-03 1.33183801e+02] [ 4.64378150e-03 3.82415174e-04 9.99989144e-01 7.28427355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.19, Z:0.73 [[-7.41065796e-01 -6.71423877e-01 3.38576962e-03 2.11590140e+02] [ 6.71418879e-01 -7.41073454e-01 -2.61237388e-03 1.33192790e+02] [ 4.26311418e-03 3.37328715e-04 9.99990856e-01 7.28882553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.20, Z:0.73 [[-7.43160784e-01 -6.69107776e-01 2.61406357e-03 2.11583899e+02] [ 6.69104787e-01 -7.43165339e-01 -2.01570613e-03 1.33195765e+02] [ 3.29140608e-03 2.51088698e-04 9.99994552e-01 7.28927139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.22, Z:0.73 [[-7.45230094e-01 -6.66804878e-01 1.83347384e-03 2.11555709e+02] [ 6.66803403e-01 -7.45232330e-01 -1.41291984e-03 1.33215324e+02] [ 2.30850583e-03 1.69616214e-04 9.99997321e-01 7.29425794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.20, Z:0.73 [[-7.45709122e-01 -6.66268765e-01 1.95945432e-03 2.11576371e+02] [ 6.66267080e-01 -7.45711674e-01 -1.50904775e-03 1.33199229e+02] [ 2.46661934e-03 1.80209234e-04 9.99996942e-01 7.29354016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.21, Z:0.73 [[-7.46228067e-01 -6.65687079e-01 2.09399489e-03 2.11560630e+02] [ 6.65685155e-01 -7.46230981e-01 -1.61164218e-03 1.33210443e+02] [ 2.63545323e-03 1.91288689e-04 9.99996509e-01 7.29457547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.20, Z:0.73 [[-7.47524052e-01 -6.64232528e-01 1.71457975e-03 2.11568055e+02] [ 6.64231237e-01 -7.47526003e-01 -1.31879953e-03 1.33199883e+02] [ 2.15768249e-03 1.53043057e-04 9.99997661e-01 7.29400675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.20, Z:0.73 [[-7.48509889e-01 -6.63120785e-01 1.94178747e-03 2.11567195e+02] [ 6.63119127e-01 -7.48512388e-01 -1.49261034e-03 1.33199255e+02] [ 2.44323292e-03 1.70402813e-04 9.99997001e-01 7.29158751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.20, Z:0.73 [[-7.49554467e-01 -6.61937215e-01 2.68795547e-03 2.11561379e+02] [ 6.61934035e-01 -7.49559251e-01 -2.06484484e-03 1.33203652e+02] [ 3.38157953e-03 2.31535540e-04 9.99994256e-01 7.28549833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.22, Z:0.73 [[-7.51255726e-01 -6.60002214e-01 3.45136496e-03 2.11546066e+02] [ 6.59996958e-01 -7.51263599e-01 -2.64957328e-03 1.33215587e+02] [ 4.34160909e-03 2.87383277e-04 9.99990534e-01 7.28290112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.21, Z:0.73 [[-7.51833205e-01 -6.59347647e-01 2.74081204e-03 2.11556315e+02] [ 6.59344333e-01 -7.51838167e-01 -2.10274952e-03 1.33205983e+02] [ 3.44709004e-03 2.26221973e-04 9.99994033e-01 7.28265286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.21, Z:0.73 [[-7.52040024e-01 -6.59113670e-01 2.22995494e-03 2.11552385e+02] [ 6.59111478e-01 -7.52043307e-01 -1.70973284e-03 1.33206510e+02] [ 2.80393098e-03 1.84001369e-04 9.99996052e-01 7.28551494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.20, Z:0.73 [[-7.51962293e-01 -6.59201752e-01 2.40007742e-03 2.11556711e+02] [ 6.59199217e-01 -7.51966097e-01 -1.83898350e-03 1.33201586e+02] [ 3.01703799e-03 1.99282901e-04 9.99995429e-01 7.28655049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.19, Z:0.73 [[-7.51545952e-01 -6.59672983e-01 3.19966883e-03 2.11568455e+02] [ 6.59668488e-01 -7.51552715e-01 -2.45006256e-03 1.33191973e+02] [ 4.02095987e-03 2.69386097e-04 9.99991880e-01 7.28716385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.20, Z:0.73 [[-7.51702932e-01 -6.59493993e-01 3.22105702e-03 2.11560320e+02] [ 6.59489443e-01 -7.51709784e-01 -2.46486477e-03 1.33197718e+02] [ 4.04686359e-03 2.71407020e-04 9.99991775e-01 7.28493025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.881400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.56, Y:133.19, Z:0.73 [[-7.52462735e-01 -6.58628198e-01 2.95459070e-03 2.11563427e+02] [ 6.58624368e-01 -7.52468495e-01 -2.25951122e-03 1.33194371e+02] [ 3.71141422e-03 2.45767444e-04 9.99993083e-01 7.27690508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.20, Z:0.73 [[-7.54142845e-01 -6.56700741e-01 3.56451112e-03 2.11563114e+02] [ 6.56695153e-01 -7.54151215e-01 -2.72418619e-03 1.33199781e+02] [ 4.47715548e-03 2.86371655e-04 9.99989937e-01 7.27850295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.21, Z:0.73 [[-7.55418150e-01 -6.55231757e-01 3.84228068e-03 2.11561069e+02] [ 6.55225254e-01 -7.55427862e-01 -2.93457711e-03 1.33206162e+02] [ 4.82539400e-03 3.00726529e-04 9.99988313e-01 7.27613577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.20, Z:0.73 [[-7.56509988e-01 -6.53970699e-01 3.86816070e-03 2.11570244e+02] [ 6.53964102e-01 -7.56519819e-01 -2.95243788e-03 1.33204897e+02] [ 4.85714810e-03 2.96089492e-04 9.99988160e-01 7.27834180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.20, Z:0.73 [[-7.56595175e-01 -6.53877499e-01 2.82099411e-03 2.11584244e+02] [ 6.53873994e-01 -7.56600403e-01 -2.15180154e-03 1.33203742e+02] [ 3.54137989e-03 2.16532022e-04 9.99993706e-01 7.28781532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.20, Z:0.73 [[-7.55386071e-01 -6.55275599e-01 2.40275717e-03 2.11599041e+02] [ 6.55273067e-01 -7.55389869e-01 -1.83161637e-03 1.33196158e+02] [ 3.01523193e-03 1.90884565e-04 9.99995436e-01 7.29264807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.19, Z:0.73 [[-7.53669462e-01 -6.57249817e-01 2.24073974e-03 2.11607595e+02] [ 6.57247627e-01 -7.53672770e-01 -1.70703093e-03 1.33192299e+02] [ 2.81073029e-03 1.86183795e-04 9.99996033e-01 7.29499436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.18, Z:0.73 [[-7.51356545e-01 -6.59893335e-01 2.03212290e-03 2.11623853e+02] [ 6.59891545e-01 -7.51359272e-01 -1.54713275e-03 1.33181907e+02] [ 2.54779697e-03 1.78532400e-04 9.99996738e-01 7.28810616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.17, Z:0.73 [[-7.45950929e-01 -6.65999414e-01 1.41151572e-03 2.11646300e+02] [ 6.65998562e-01 -7.45952252e-01 -1.07398638e-03 1.33167224e+02] [ 1.76819763e-03 1.38926297e-04 9.99998427e-01 7.27430301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.16, Z:0.73 [[-7.43524905e-01 -6.68707771e-01 7.95039069e-04 2.11654771e+02] [ 6.68707503e-01 -7.43525326e-01 -6.04572532e-04 1.33162452e+02] [ 9.95414033e-04 8.21338561e-05 9.99999501e-01 7.27502348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.41614161e-01 -6.70826353e-01 6.63485452e-04 2.11672990e+02] [ 6.70826167e-01 -7.41614454e-01 -5.04233648e-04 1.33150578e+02] [ 8.30303620e-04 7.11365890e-05 9.99999653e-01 7.28092907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.14, Z:0.73 [[-7.39628259e-01 -6.73014629e-01 1.16120350e-03 2.11693673e+02] [ 6.73014063e-01 -7.39629159e-01 -8.81917113e-04 1.33136913e+02] [ 1.45240309e-03 1.29215470e-04 9.99998937e-01 7.28330156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24140051300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.68, Y:133.14, Z:0.73 [[-7.39937948e-01 -6.72674686e-01 7.74291871e-04 2.11682742e+02] [ 6.72674435e-01 -7.39938348e-01 -5.87723557e-04 1.33143320e+02] [ 9.68275007e-04 8.59673842e-05 9.99999528e-01 7.27449924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.14, Z:0.73 [[-7.40275863e-01 -6.72303122e-01 3.99436624e-04 2.11683996e+02] [ 6.72303055e-01 -7.40275969e-01 -3.03029942e-04 1.33141179e+02] [ 4.99421310e-04 4.42167112e-05 9.99999874e-01 7.27225986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.14, Z:0.73 [[-7.41539916e-01 -6.70907674e-01 1.20260700e-03 2.11688508e+02] [ 6.70907067e-01 -7.41540880e-01 -9.11701247e-04 1.33135775e+02] [ 1.50344962e-03 1.30774670e-04 9.99998861e-01 7.27071428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.14, Z:0.73 [[-7.42540579e-01 -6.69797052e-01 2.32322088e-03 2.11685154e+02] [ 6.69794786e-01 -7.42544171e-01 -1.76013008e-03 1.33138338e+02] [ 2.90402407e-03 2.49113226e-04 9.99995752e-01 7.26576635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.14, Z:0.73 [[-7.44875273e-01 -6.67199148e-01 2.47476516e-03 2.11680843e+02] [ 6.67196566e-01 -7.44879340e-01 -1.87379825e-03 1.33140881e+02] [ 3.09359803e-03 2.55408836e-04 9.99995182e-01 7.26067478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.46177089e-01 -6.65745734e-01 1.53911416e-03 2.11671599e+02] [ 6.65744733e-01 -7.46178661e-01 -1.16466246e-03 1.33147949e+02] [ 1.92382321e-03 1.55612704e-04 9.99998137e-01 7.26446725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.47340362e-01 -6.64440666e-01 9.92173312e-04 2.11671962e+02] [ 6.64440249e-01 -7.47341015e-01 -7.50341612e-04 1.33148474e+02] [ 1.24004929e-03 9.84793106e-05 9.99999226e-01 7.26827815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.48382697e-01 -6.63265648e-01 1.42122692e-03 2.11671341e+02] [ 6.63264793e-01 -7.48384033e-01 -1.07413377e-03 1.33149676e+02] [ 1.77605957e-03 1.38786653e-04 9.99998413e-01 7.26596947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.16, Z:0.73 [[-7.49346132e-01 -6.62167111e-01 3.88485757e-03 2.11662353e+02] [ 6.62160715e-01 -7.49356109e-01 -2.93418976e-03 1.33155278e+02] [ 4.85406571e-03 3.73676321e-04 9.99988149e-01 7.25745763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.16, Z:0.73 [[-7.49363372e-01 -6.62145009e-01 4.30386191e-03 2.11658133e+02] [ 6.62137170e-01 -7.49375617e-01 -3.24862519e-03 1.33157340e+02] [ 5.37627013e-03 4.15346215e-04 9.99985462e-01 7.25149024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.72 [[-7.49522581e-01 -6.61968840e-01 3.62703014e-03 2.11671612e+02] [ 6.61963279e-01 -7.49531275e-01 -2.73604393e-03 1.33146784e+02] [ 4.52974835e-03 3.50234058e-04 9.99989679e-01 7.24711902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.49984302e-01 -6.61449512e-01 2.84443044e-03 2.11673935e+02] [ 6.61446092e-01 -7.49989646e-01 -2.14437053e-03 1.33145837e+02] [ 3.55168622e-03 2.73193161e-04 9.99993655e-01 7.25343106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.16, Z:0.73 [[-7.51676358e-01 -6.59529758e-01 1.77487394e-03 2.11660426e+02] [ 6.59528423e-01 -7.51678436e-01 -1.33723258e-03 1.33156184e+02] [ 2.21607914e-03 1.65413695e-04 9.99997531e-01 7.25699641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.16, Z:0.73 [[-7.52862017e-01 -6.58175430e-01 1.97152601e-03 2.11653299e+02] [ 6.58173780e-01 -7.52864577e-01 -1.48445506e-03 1.33160660e+02] [ 2.46132394e-03 1.80016895e-04 9.99996955e-01 7.25465017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.16, Z:0.72 [[-7.54469757e-01 -6.56323853e-01 3.79290214e-03 2.11661518e+02] [ 6.56317734e-01 -7.54479216e-01 -2.85401011e-03 1.33156519e+02] [ 4.73482075e-03 3.36084627e-04 9.99988734e-01 7.24811708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.18, Z:0.72 [[-7.55194935e-01 -6.55484196e-01 4.59116524e-03 2.11635542e+02] [ 6.55475227e-01 -7.55208784e-01 -3.45246503e-03 1.33177995e+02] [ 5.73032458e-03 4.02110982e-04 9.99983501e-01 7.24789156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.721400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:211.54, Y:133.26, Z:0.73 [[-7.55230229e-01 -6.55423818e-01 6.84977013e-03 2.11535151e+02] [ 6.55329139e-01 -7.55247167e-01 -1.20596884e-02 1.33260022e+02] [ 1.30774765e-02 -4.61898724e-03 9.99903818e-01 7.31571352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.15, Z:0.72 [[-7.54592451e-01 -6.56151438e-01 7.45139068e-03 2.11660967e+02] [ 6.56176521e-01 -7.54606269e-01 1.32337293e-03 1.33151490e+02] [ 4.75453307e-03 5.88803483e-03 9.99971362e-01 7.23525763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.54013673e-01 -6.56850894e-01 3.20693801e-03 2.11666975e+02] [ 6.56846544e-01 -7.54020437e-01 -2.40808321e-03 1.33153398e+02] [ 3.99984841e-03 2.90738479e-04 9.99991958e-01 7.25570751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.14, Z:0.73 [[-7.53504557e-01 -6.57438624e-01 2.31026722e-03 2.11692019e+02] [ 6.57436373e-01 -7.53508069e-01 -1.73370968e-03 1.33135752e+02] [ 2.88061270e-03 2.12495555e-04 9.99995828e-01 7.25697637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.14, Z:0.73 [[-7.52407202e-01 -6.58696586e-01 1.48655747e-03 2.11688281e+02] [ 6.58695657e-01 -7.52408658e-01 -1.11489920e-03 1.33138243e+02] [ 1.85287901e-03 1.40330762e-04 9.99998274e-01 7.26164429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.871400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:211.70, Y:133.13, Z:0.73 [[-7.52195442e-01 -6.58939086e-01 1.13948052e-03 2.11695489e+02] [ 6.58938541e-01 -7.52196297e-01 -8.54081190e-04 1.33131733e+02] [ 1.41990051e-03 1.08411655e-04 9.99998986e-01 7.25550371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.13, Z:0.73 [[-7.51596188e-01 -6.59622869e-01 9.17050241e-04 2.11692034e+02] [ 6.59622517e-01 -7.51596743e-01 -6.86948348e-04 1.33134526e+02] [ 1.14237881e-03 8.85992286e-05 9.99999344e-01 7.25739743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.12, Z:0.73 [[-7.50634941e-01 -6.60717175e-01 1.24229925e-05 2.11709493e+02] [ 6.60717175e-01 -7.50634941e-01 -9.37089716e-06 1.33121371e+02] [ 1.55166451e-05 1.17396171e-06 1.00000000e+00 7.26695912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.12, Z:0.73 [[-7.50506589e-01 -6.60862680e-01 -6.14950143e-04 2.11713442e+02] [ 6.60862522e-01 -7.50506839e-01 4.59961092e-04 1.33117326e+02] [-7.65495407e-04 -6.11936726e-05 9.99999705e-01 7.27035671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.12, Z:0.73 [[-7.50410648e-01 -6.60971167e-01 -9.87807314e-04 2.11709609e+02] [ 6.60970762e-01 -7.50411291e-01 7.38432552e-04 1.33119081e+02] [-1.22934439e-03 -9.87841034e-05 9.99999240e-01 7.27109221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.12, Z:0.73 [[-7.50468810e-01 -6.60904668e-01 -1.25898372e-03 2.11712108e+02] [ 6.60904011e-01 -7.50469855e-01 9.40587757e-04 1.33116264e+02] [-1.56646817e-03 -1.26185613e-04 9.99998765e-01 7.26911003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.11, Z:0.73 [[-7.50557837e-01 -6.60804444e-01 -6.48155219e-04 2.11715285e+02] [ 6.60804270e-01 -7.50558114e-01 4.83903822e-04 1.33111602e+02] [-8.06243955e-04 -6.51059299e-05 9.99999673e-01 7.27224375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.73 [[-7.50417598e-01 -6.60964012e-01 6.07921291e-05 2.11713196e+02] [ 6.60964010e-01 -7.50417601e-01 -4.54365805e-05 1.33111994e+02] [ 7.56514283e-05 6.08499988e-06 9.99999997e-01 7.27106800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.11, Z:0.73 [[-7.50356971e-01 -6.61032282e-01 8.59594870e-04 2.11716567e+02] [ 6.61031977e-01 -7.50357458e-01 -6.41135060e-04 1.33107772e+02] [ 1.06881439e-03 8.71395346e-05 9.99999425e-01 7.26951370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.73 [[-7.49567008e-01 -6.61926522e-01 1.60600391e-03 2.11706838e+02] [ 6.61925461e-01 -7.49568710e-01 -1.19704573e-03 1.33110936e+02] [ 1.99616660e-03 1.65788892e-04 9.99997994e-01 7.26486545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.73 [[-7.49764232e-01 -6.61703118e-01 1.60636044e-03 2.11708846e+02] [ 6.61702057e-01 -7.49765934e-01 -1.19656723e-03 1.33109533e+02] [ 1.99616660e-03 1.65788699e-04 9.99997994e-01 7.26486059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.10, Z:0.73 [[-7.49646113e-01 -6.61835742e-01 2.03840864e-03 2.11721379e+02] [ 6.61834036e-01 -7.49648855e-01 -1.51743720e-03 1.33097535e+02] [ 2.53238488e-03 2.11547323e-04 9.99996771e-01 7.26162595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.10, Z:0.73 [[-7.49905710e-01 -6.61540685e-01 2.31281703e-03 2.11720647e+02] [ 6.61538490e-01 -7.49909238e-01 -1.72064056e-03 1.33095106e+02] [ 2.87267659e-03 2.39699305e-04 9.99995845e-01 7.25853118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.73 [[-7.51324817e-01 -6.59925062e-01 3.15151300e-03 2.11711899e+02] [ 6.59920980e-01 -7.51331359e-01 -2.34311819e-03 1.33096351e+02] [ 3.91411296e-03 3.19306700e-04 9.99992289e-01 7.25618892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.73 [[-7.52751315e-01 -6.58295318e-01 3.56818396e-03 2.11699712e+02] [ 6.58290074e-01 -7.52759689e-01 -2.65124389e-03 1.33103475e+02] [ 4.43128649e-03 3.53172754e-04 9.99990119e-01 7.25369053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.11, Z:0.72 [[-7.54612650e-01 -6.56159577e-01 3.78913867e-03 2.11693065e+02] [ 6.56153645e-01 -7.54622076e-01 -2.81364353e-03 1.33107067e+02] [ 4.70556684e-03 3.63046147e-04 9.99988863e-01 7.24733394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.12, Z:0.72 [[-7.59629594e-01 -6.50347842e-01 3.25038202e-03 2.11673502e+02] [ 6.50343430e-01 -7.59636496e-01 -2.41206349e-03 1.33120929e+02] [ 4.03778909e-03 2.81589783e-04 9.99991808e-01 7.23602811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.13, Z:0.72 [[-7.62130123e-01 -6.47416649e-01 3.05891052e-03 2.11668737e+02] [ 6.47412724e-01 -7.62136221e-01 -2.26852170e-03 1.33125096e+02] [ 3.79998522e-03 2.51468868e-04 9.99992748e-01 7.23661562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.13, Z:0.72 [[-7.65441279e-01 -6.43500221e-01 2.66718733e-03 2.11664164e+02] [ 6.43497217e-01 -7.65445899e-01 -1.97674770e-03 1.33129641e+02] [ 3.31362519e-03 2.03243341e-04 9.99994489e-01 7.24783393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.13, Z:0.73 [[-7.66445561e-01 -6.42306095e-01 2.02039569e-03 2.11665007e+02] [ 6.42304370e-01 -7.66448209e-01 -1.49643511e-03 1.33129215e+02] [ 2.50969805e-03 1.50772938e-04 9.99996839e-01 7.25290004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.13, Z:0.73 [[-7.67101884e-01 -6.41524383e-01 1.07932196e-03 2.11656171e+02] [ 6.41523891e-01 -7.67102639e-01 -7.98929960e-04 1.33134838e+02] [ 1.34048377e-03 7.95501455e-05 9.99999098e-01 7.26137106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.13, Z:0.73 [[-7.67220312e-01 -6.41383653e-01 4.36543562e-05 2.11663517e+02] [ 6.41383652e-01 -7.67220314e-01 -3.23644162e-05 1.33127888e+02] [ 5.42505165e-05 3.16855295e-06 9.99999999e-01 7.26475886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.531400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.59, Y:133.18, Z:0.73 [[-7.66853319e-01 -6.41820587e-01 1.52345079e-03 2.11592522e+02] [ 6.41795761e-01 -7.66840960e-01 -7.28998006e-03 1.33184600e+02] [ 5.84710375e-03 -4.61260115e-03 9.99972267e-01 7.32591781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.11, Z:0.73 [[-7.64828472e-01 -6.44225691e-01 3.26615341e-03 2.11679367e+02] [ 6.44233966e-01 -7.64819250e-01 3.75665651e-03 1.33108921e+02] [ 7.78823633e-05 4.97736482e-03 9.99987610e-01 7.25530041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.11, Z:0.73 [[-7.64178945e-01 -6.45003693e-01 8.81746411e-04 2.11681942e+02] [ 6.45003368e-01 -7.64179450e-01 -6.51310539e-04 1.33112076e+02] [ 1.09391019e-03 7.10116043e-05 9.99999399e-01 7.26195926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.11, Z:0.73 [[-7.63923436e-01 -6.45305627e-01 1.27729452e-03 2.11684644e+02] [ 6.45304946e-01 -7.63924497e-01 -9.42839021e-04 1.33109049e+02] [ 1.58417590e-03 1.03987647e-04 9.99998740e-01 7.26114649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.11, Z:0.73 [[-7.64218104e-01 -6.44955787e-01 1.64988636e-03 2.11681522e+02] [ 6.44954652e-01 -7.64219874e-01 -1.21705797e-03 1.33110466e+02] [ 2.04582453e-03 1.34004148e-04 9.99997898e-01 7.26086855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.14, Z:0.73 [[-7.65064001e-01 -6.43950167e-01 2.29284146e-03 2.11646127e+02] [ 6.43944468e-01 -7.65067155e-01 -2.78751761e-03 1.33138025e+02] [ 3.54920013e-03 -6.56166800e-04 9.99993486e-01 7.27009099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.711400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.68, Y:133.11, Z:0.72 [[-7.65161918e-01 -6.43836873e-01 1.14889325e-03 2.11684435e+02] [ 6.43837496e-01 -7.65162216e-01 2.48255204e-04 1.33108242e+02] [ 7.19253851e-04 9.29655982e-04 9.99999309e-01 7.24857242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.11, Z:0.73 [[-7.65760345e-01 -6.43125736e-01 6.17292550e-04 2.11679057e+02] [ 6.43125577e-01 -7.65760593e-01 -4.54740185e-04 1.33113658e+02] [ 7.65153425e-04 4.87746260e-05 9.99999706e-01 7.25266548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.12, Z:0.72 [[-7.66583909e-01 -6.42143612e-01 8.31440331e-04 2.11667451e+02] [ 6.42143324e-01 -7.66584357e-01 -6.12065736e-04 1.33122697e+02] [ 1.03040325e-03 6.47041131e-05 9.99999467e-01 7.24979738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.11, Z:0.72 [[-7.67660597e-01 -6.40856424e-01 5.00982560e-04 2.11686103e+02] [ 6.40856319e-01 -7.67660760e-01 -3.68593453e-04 1.33109177e+02] [ 6.20800135e-04 3.81031688e-05 9.99999807e-01 7.24832265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.13, Z:0.73 [[-7.68986114e-01 -6.39265480e-01 5.60358704e-05 2.11653664e+02] [ 6.39264900e-01 -7.68985529e-01 -1.28170181e-03 1.33133901e+02] [ 8.62438495e-04 -9.49789128e-04 9.99999177e-01 7.26194932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.11, Z:0.72 [[-7.68740529e-01 -6.39559942e-01 -1.03946492e-03 2.11687390e+02] [ 6.39557415e-01 -7.68740739e-01 1.99726481e-03 1.33107759e+02] [-2.07644960e-03 8.70580906e-04 9.99997465e-01 7.24787289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.12, Z:0.73 [[-7.68935327e-01 -6.39324034e-01 -1.80081305e-03 2.11675724e+02] [ 6.39322680e-01 -7.68937424e-01 1.32256636e-03 1.33118201e+02] [-2.23026101e-03 -1.34332628e-04 9.99997504e-01 7.25125138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.11, Z:0.72 [[-7.69027561e-01 -6.39215375e-01 -5.61169442e-04 2.11687882e+02] [ 6.39215243e-01 -7.69027765e-01 4.11806330e-04 1.33109526e+02] [-6.94787819e-04 -4.20176434e-05 9.99999758e-01 7.24745666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.16, Z:0.73 [[-7.69408518e-01 -6.38756297e-01 9.62208332e-04 2.11616120e+02] [ 6.38755030e-01 -7.69409008e-01 -1.33765758e-03 1.33162719e+02] [ 1.59476896e-03 -4.14589723e-04 9.99998642e-01 7.25476178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.12, Z:0.72 [[-7.69093335e-01 -6.39135421e-01 1.16454198e-03 2.11674516e+02] [ 6.39135633e-01 -7.69094006e-01 -2.27898248e-04 1.33118579e+02] [ 1.04130010e-03 5.69025251e-04 9.99999296e-01 7.24596547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.11, Z:0.72 [[-7.69107172e-01 -6.39119252e-01 8.59663500e-04 2.11686092e+02] [ 6.39118945e-01 -7.69107650e-01 -6.30144384e-04 1.33110935e+02] [ 1.06391118e-03 6.47786638e-05 9.99999432e-01 7.24766918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.73 [[-7.68311013e-01 -6.40076352e-01 6.70740530e-04 2.11699980e+02] [ 6.40076166e-01 -7.68311304e-01 -4.91358964e-04 1.33101731e+02] [ 8.29844785e-04 5.18085230e-05 9.99999654e-01 7.25351297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.73 [[-7.67710494e-01 -6.40796266e-01 8.62679773e-04 2.11714186e+02] [ 6.40795958e-01 -7.67710975e-01 -6.31530723e-04 1.33090856e+02] [ 1.06697126e-03 6.79689484e-05 9.99999429e-01 7.25689080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.73 [[-7.66252585e-01 -6.42538970e-01 8.04641319e-04 2.11706944e+02] [ 6.42538704e-01 -7.66253005e-01 -5.88667720e-04 1.33094880e+02] [ 9.94800779e-04 6.59450282e-05 9.99999503e-01 7.26403345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.09, Z:0.73 [[-7.65907621e-01 -6.42950118e-01 8.13036035e-04 2.11716939e+02] [ 6.42949847e-01 -7.65908050e-01 -5.94423134e-04 1.33087164e+02] [ 1.00489527e-03 6.74681858e-05 9.99999493e-01 7.27093436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.09, Z:0.73 [[-7.65623944e-01 -6.43288093e-01 6.36426569e-04 2.11717339e+02] [ 6.43287927e-01 -7.65624207e-01 -4.65019422e-04 1.33086559e+02] [ 7.86405045e-04 5.33755242e-05 9.99999689e-01 7.27284283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.73 [[-7.65590489e-01 -6.43327930e-01 6.13940772e-04 2.11709392e+02] [ 6.43327776e-01 -7.65590734e-01 -4.48302078e-04 1.33091671e+02] [ 7.58432614e-04 5.17493441e-05 9.99999711e-01 7.27917311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.73 [[-7.66054969e-01 -6.42774826e-01 -5.54251770e-04 2.11712382e+02] [ 6.42774701e-01 -7.66055168e-01 4.04286417e-04 1.33087122e+02] [-6.84452564e-04 -4.65533969e-05 9.99999765e-01 7.28968376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:133.07, Z:0.73 [[-7.66956921e-01 -6.41696752e-01 -1.53588443e-03 2.11731210e+02] [ 6.41695788e-01 -7.66958449e-01 1.11974826e-03 1.33072580e+02] [-1.89649836e-03 -1.26771889e-04 9.99998194e-01 7.28782756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.08, Z:0.73 [[-7.68332709e-01 -6.40046843e-01 -2.21065200e-03 2.11719313e+02] [ 6.40044841e-01 -7.68335869e-01 1.61069068e-03 1.33080784e+02] [-2.72944071e-03 -1.77370072e-04 9.99996259e-01 7.28662524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.08, Z:0.73 [[-7.70186472e-01 -6.37814468e-01 -2.34556778e-03 2.11720237e+02] [ 6.37812207e-01 -7.70190023e-01 1.70788600e-03 1.33080393e+02] [-2.89584730e-03 -1.80641070e-04 9.99995791e-01 7.28555344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.73 [[-7.75695195e-01 -6.31106437e-01 -1.27629636e-03 2.11706717e+02] [ 6.31105760e-01 -7.75696241e-01 9.28665881e-04 1.33092988e+02] [-1.57610530e-03 -8.51163230e-05 9.99998754e-01 7.28609827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.73 [[-7.79184294e-01 -6.26794301e-01 -8.60772388e-04 2.11704813e+02] [ 6.26793991e-01 -7.79184767e-01 6.25877791e-04 1.33096589e+02] [-1.06299736e-03 -5.18528153e-05 9.99999434e-01 7.28842712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.11, Z:0.73 [[-7.82546780e-01 -6.22590832e-01 -1.09215594e-03 2.11690180e+02] [ 6.22590329e-01 -7.82547540e-01 7.93614663e-04 1.33109761e+02] [-1.34876116e-03 -5.89251266e-05 9.99999089e-01 7.28607304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.14, Z:0.73 [[-7.87989697e-01 -6.15686111e-01 -1.68838623e-03 2.11660459e+02] [ 6.15684894e-01 -7.87991502e-01 1.22608009e-03 1.33137222e+02] [-2.08531448e-03 -7.33754171e-05 9.99997823e-01 7.28275155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.14, Z:0.73 [[-7.89884929e-01 -6.13250447e-01 -2.38496489e-03 2.11662414e+02] [ 6.13248012e-01 -7.89888524e-01 1.73077008e-03 1.33139115e+02] [-2.94525193e-03 -9.54657779e-05 9.99995658e-01 7.28243070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.14, Z:0.73 [[-7.91262937e-01 -6.11470648e-01 -2.57111416e-03 2.11672085e+02] [ 6.11467813e-01 -7.91267108e-01 1.86458454e-03 1.33135965e+02] [-3.17457678e-03 -9.67769161e-05 9.99994956e-01 7.28776001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.14, Z:0.73 [[-7.92227248e-01 -6.10221842e-01 -2.30007243e-03 2.11675045e+02] [ 6.10219571e-01 -7.92230583e-01 1.66686970e-03 1.33141085e+02] [-2.83934801e-03 -8.30096170e-05 9.99995966e-01 7.29404354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.92249924e-01 -6.10194272e-01 -1.73454654e-03 2.11672642e+02] [ 6.10192982e-01 -7.92251820e-01 1.25614300e-03 1.33145751e+02] [-2.14068892e-03 -6.32289244e-05 9.99997707e-01 7.29420725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.581400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.68, Y:133.14, Z:0.73 [[-7.92175035e-01 -6.10292592e-01 -1.29074258e-03 2.11678877e+02] [ 6.10291879e-01 -7.92176085e-01 9.34076148e-04 1.33144110e+02] [-1.59255516e-03 -4.77779128e-05 9.99998731e-01 7.28837599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.14, Z:0.73 [[-7.92124291e-01 -6.10359226e-01 -8.50092770e-04 2.11681238e+02] [ 6.10358917e-01 -7.92124747e-01 6.14734211e-04 1.33144805e+02] [-1.04858822e-03 -3.19158019e-05 9.99999450e-01 7.28617919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.14, Z:0.73 [[-7.92399989e-01 -6.10001299e-01 8.19676120e-04 2.11694406e+02] [ 6.10001012e-01 -7.92400413e-01 -5.92513182e-04 1.33138626e+02] [ 1.01094551e-03 3.04958239e-05 9.99999489e-01 7.28704365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.15, Z:0.73 [[-7.92713926e-01 -6.09590537e-01 2.00195531e-03 2.11679361e+02] [ 6.09588827e-01 -7.92716451e-01 -1.44600919e-03 1.33150154e+02] [ 2.46845642e-03 7.40979671e-05 9.99996951e-01 7.29171618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.15, Z:0.73 [[-7.93364993e-01 -6.08729809e-01 4.47297441e-03 2.11678036e+02] [ 6.08721269e-01 -7.93377586e-01 -3.22846588e-03 1.33149582e+02] [ 5.51402106e-03 1.61442847e-04 9.99984785e-01 7.28153625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.68, Y:133.15, Z:0.73 [[-7.94484807e-01 -6.07262402e-01 5.12518157e-03 2.11675733e+02] [ 6.07251176e-01 -7.94501318e-01 -3.69662186e-03 1.33150313e+02] [ 6.31678299e-03 1.75362628e-04 9.99980034e-01 7.27532147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.16, Z:0.73 [[-7.96191850e-01 -6.05025078e-01 4.81601750e-03 2.11664467e+02] [ 6.05015139e-01 -7.96206401e-01 -3.47120328e-03 1.33158136e+02] [ 5.93470899e-03 1.50019737e-04 9.99982378e-01 7.27597647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.791400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.67, Y:133.15, Z:0.73 [[-7.98234560e-01 -6.02334574e-01 3.82718037e-03 2.11670854e+02] [ 6.02328276e-01 -7.98243728e-01 -2.75656553e-03 1.33153858e+02] [ 4.71539745e-03 1.04833085e-04 9.99988877e-01 7.27891846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.821400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.66, Y:133.17, Z:0.73 [[-8.02480855e-01 -5.96671007e-01 2.86117353e-03 2.11657431e+02] [ 5.96667456e-01 -8.02485954e-01 -2.05935621e-03 1.33166750e+02] [ 3.52480972e-03 5.45752004e-05 9.99993786e-01 7.29265375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.18, Z:0.73 [[-8.05110537e-01 -5.93120184e-01 2.33876429e-03 2.11647243e+02] [ 5.93117800e-01 -8.05113934e-01 -1.68216085e-03 1.33175164e+02] [ 2.88069527e-03 3.28373063e-05 9.99995850e-01 7.29591812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.17, Z:0.73 [[-8.07952638e-01 -5.89245695e-01 1.43011967e-03 2.11651973e+02] [ 5.89244798e-01 -8.07953904e-01 -1.02791466e-03 1.33172077e+02] [ 1.76116506e-03 1.21842141e-05 9.99998449e-01 7.29212193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.18, Z:0.73 [[-8.10743409e-01 -5.85401555e-01 3.79895026e-04 2.11647306e+02] [ 5.85401492e-01 -8.10743498e-01 -2.72927990e-04 1.33175563e+02] [ 4.67769892e-04 1.11654629e-06 9.99999891e-01 7.28595277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.941400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.62, Y:133.19, Z:0.73 [[-8.13799782e-01 -5.81145242e-01 -3.49860217e-04 2.11623343e+02] [ 5.81145188e-01 -8.13799857e-01 2.50980347e-04 1.33194162e+02] [-4.30572229e-04 9.28170216e-07 9.99999907e-01 7.28761918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.19, Z:0.73 [[-8.13808632e-01 -5.81132866e-01 -3.19158957e-04 2.11629027e+02] [ 5.81132821e-01 -8.13808695e-01 2.28777724e-04 1.33190409e+02] [-3.92684588e-04 7.07541841e-07 9.99999923e-01 7.29205190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.001400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.64, Y:133.19, Z:0.73 [[-8.13292369e-01 -5.81855238e-01 6.23385259e-05 2.11635891e+02] [ 5.81855236e-01 -8.13292372e-01 -4.47696743e-05 1.33185043e+02] [ 7.67489172e-05 -1.38836765e-07 9.99999997e-01 7.29169805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.031400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.64, Y:133.18, Z:0.73 [[-8.12256791e-01 -5.83299986e-01 -1.80254680e-04 2.11641059e+02] [ 5.83299972e-01 -8.12256811e-01 1.28977491e-04 1.33179924e+02] [-2.21645659e-04 -3.79706971e-07 9.99999975e-01 7.29216027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.18, Z:0.73 [[-8.12576377e-01 -5.82854383e-01 -6.32078268e-04 2.11646614e+02] [ 5.82854207e-01 -8.12576623e-01 4.52185304e-04 1.33176251e+02] [-7.77170211e-04 -9.74382229e-07 9.99999698e-01 7.29558327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.17, Z:0.73 [[-8.12777592e-01 -5.82573761e-01 -6.32234328e-04 2.11648636e+02] [ 5.82573585e-01 -8.12777838e-01 4.51967102e-04 1.33174896e+02] [-7.77170225e-04 -9.74286535e-07 9.99999698e-01 7.29557751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.18, Z:0.73 [[-8.13546113e-01 -5.81499349e-01 -1.10852011e-03 2.11644395e+02] [ 5.81498809e-01 -8.13546869e-01 7.91944085e-04 1.33179338e+02] [-1.36234804e-03 -3.20093535e-07 9.99999072e-01 7.28716822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.19, Z:0.73 [[-8.16342274e-01 -5.77566514e-01 -1.48779720e-03 2.11643836e+02] [ 5.77565537e-01 -8.16343630e-01 1.06215677e-03 1.33185077e+02] [-1.82801995e-03 7.78308535e-06 9.99998329e-01 7.28168107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.18, Z:0.73 [[-8.17939874e-01 -5.75302451e-01 -1.20531221e-03 2.11651160e+02] [ 5.75301808e-01 -8.17940762e-01 8.59835493e-04 1.33182720e+02] [-1.48053945e-03 9.87544291e-06 9.99998904e-01 7.28265826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.19, Z:0.73 [[-8.19363313e-01 -5.73274331e-01 -5.50687401e-04 2.11642153e+02] [ 5.73274197e-01 -8.19363498e-01 3.92501138e-04 1.33191259e+02] [-6.76223983e-04 5.90615501e-06 9.99999771e-01 7.28035545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.20, Z:0.73 [[-8.20557389e-01 -5.71563890e-01 5.39115790e-04 2.11634253e+02] [ 5.71563761e-01 -8.20557566e-01 -3.84162353e-04 1.33198469e+02] [ 6.61948870e-04 -7.08820903e-06 9.99999781e-01 7.27957931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.20, Z:0.73 [[-8.21029189e-01 -5.70882308e-01 2.11232351e-03 2.11642574e+02] [ 5.70880328e-01 -8.21031905e-01 -1.50378245e-03 1.33195522e+02] [ 2.59276779e-03 -2.87653398e-05 9.99996638e-01 7.28116090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.20, Z:0.73 [[-8.20857983e-01 -5.71128415e-01 2.12248688e-03 2.11634672e+02] [ 5.71126420e-01 -8.20860727e-01 -1.50988520e-03 1.33202717e+02] [ 2.60460446e-03 -2.71929888e-05 9.99996608e-01 7.28015863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.20, Z:0.73 [[-8.20508904e-01 -5.71631327e-01 1.66245210e-03 2.11645721e+02] [ 5.71630106e-01 -8.20510588e-01 -1.18176230e-03 1.33195625e+02] [ 2.03959190e-03 -1.93388255e-05 9.99997920e-01 7.28673021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.19, Z:0.73 [[-8.19792570e-01 -5.72660315e-01 5.53390932e-04 2.11653331e+02] [ 5.72660180e-01 -8.19792757e-01 -3.93153175e-04 1.33189786e+02] [ 6.78809099e-04 -5.39910153e-06 9.99999770e-01 7.29182116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.18, Z:0.73 [[-8.19744115e-01 -5.72729827e-01 3.63044285e-04 2.11669490e+02] [ 5.72729769e-01 -8.19744195e-01 -2.57765000e-04 1.33179427e+02] [ 4.45233149e-04 -3.37507172e-06 9.99999901e-01 7.29315545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.19, Z:0.73 [[-8.20039034e-01 -5.72307516e-01 3.00753362e-04 2.11663183e+02] [ 5.72307476e-01 -8.20039089e-01 -2.13396761e-04 1.33185981e+02] [ 3.68758083e-04 -2.87027650e-06 9.99999932e-01 7.29559229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.19, Z:0.73 [[-8.20744733e-01 -5.71295037e-01 2.51793246e-04 2.11660641e+02] [ 5.71295009e-01 -8.20744772e-01 -1.78541303e-04 1.33189908e+02] [ 3.08657750e-04 -2.68860976e-06 9.99999952e-01 7.29639501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.481400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.66, Y:133.19, Z:0.73 [[-8.22357307e-01 -5.68971298e-01 3.47162436e-04 2.11660393e+02] [ 5.68971245e-01 -8.22357381e-01 -2.45944973e-04 1.33191171e+02] [ 4.25427222e-04 -4.72920193e-06 9.99999910e-01 7.29093069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.17, Z:0.73 [[-8.22881392e-01 -5.68212511e-01 8.70105577e-04 2.11690008e+02] [ 5.68212178e-01 -8.22881852e-01 -6.15815361e-04 1.33170717e+02] [ 1.06590808e-03 -1.23384167e-05 9.99999432e-01 7.28890268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.24, Z:0.73 [[-8.23056599e-01 -5.67956750e-01 1.72181636e-03 2.11600917e+02] [ 5.67953515e-01 -8.23058101e-01 -2.04150029e-03 1.33236807e+02] [ 2.57663877e-03 -7.02358627e-04 9.99996434e-01 7.29024992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.19, Z:0.73 [[-8.22384482e-01 -5.68927025e-01 2.40916136e-03 2.11674970e+02] [ 5.68926676e-01 -8.22387766e-01 -8.94331734e-04 1.33189927e+02] [ 2.49007432e-03 6.35151627e-04 9.99996698e-01 7.29020939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.19, Z:0.73 [[-8.21745259e-01 -5.69853387e-01 1.35918763e-03 2.11682717e+02] [ 5.69852579e-01 -8.21746383e-01 -9.59725671e-04 1.33187744e+02] [ 1.66381044e-03 -1.41134453e-05 9.99998616e-01 7.30149321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.631400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.69, Y:133.19, Z:0.73 [[-8.20533593e-01 -5.71597594e-01 9.02264794e-04 2.11685287e+02] [ 5.71597239e-01 -8.20534089e-01 -6.36650220e-04 1.33187789e+02] [ 1.10424675e-03 -6.66082759e-06 9.99999390e-01 7.29806049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.18, Z:0.73 [[-8.18570384e-01 -5.74405869e-01 6.50635550e-04 2.11699870e+02] [ 5.74405686e-01 -8.18570643e-01 -4.58784078e-04 1.33178546e+02] [ 7.96119428e-04 -1.81829960e-06 9.99999683e-01 7.29875790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.691400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.74, Y:133.16, Z:0.73 [[-8.13147855e-01 -5.82056516e-01 8.82060575e-04 2.11736259e+02] [ 5.82056184e-01 -8.13148334e-01 -6.21481964e-04 1.33155342e+02] [ 1.07898371e-03 8.05208632e-06 9.99999418e-01 7.29745225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:133.15, Z:0.73 [[-8.10600690e-01 -5.85599086e-01 4.81865151e-04 2.11750068e+02] [ 5.85598988e-01 -8.10600833e-01 -3.39310985e-04 1.33146907e+02] [ 5.89300496e-04 7.13402614e-06 9.99999826e-01 7.30486337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.76, Y:133.14, Z:0.73 [[-8.08472102e-01 -5.88534341e-01 4.35772715e-04 2.11763948e+02] [ 5.88534261e-01 -8.08472219e-01 -3.06645338e-04 1.33138106e+02] [ 5.32781446e-04 8.55297191e-06 9.99999858e-01 7.31001519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:133.14, Z:0.73 [[-8.04775043e-01 -5.93579381e-01 8.05886905e-04 2.11765172e+02] [ 5.93579111e-01 -8.04775446e-01 -5.66610310e-04 1.33139424e+02] [ 9.84886190e-04 2.23637961e-05 9.99999515e-01 7.30948568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.79, Y:133.12, Z:0.73 [[-8.03736475e-01 -5.94983833e-01 1.38420975e-03 2.11792636e+02] [ 5.94983040e-01 -8.03737666e-01 -9.72476415e-04 1.33121956e+02] [ 1.69114926e-03 4.19665572e-05 9.99998569e-01 7.30613883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:133.13, Z:0.73 [[-8.03248160e-01 -5.95642273e-01 1.63559230e-03 2.11782679e+02] [ 5.95641169e-01 -8.03249824e-01 -1.14826842e-03 1.33131133e+02] [ 1.99774644e-03 5.18816131e-05 9.99998003e-01 7.30254428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:133.12, Z:0.73 [[-8.02982559e-01 -5.96002456e-01 2.87909230e-04 2.11804368e+02] [ 5.96002422e-01 -8.02982610e-01 -2.02059991e-04 1.33121926e+02] [ 3.51614357e-04 9.34395001e-06 9.99999938e-01 7.30588769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:133.13, Z:0.73 [[-8.03201676e-01 -5.95707021e-01 -4.61909700e-04 2.11802732e+02] [ 5.95706933e-01 -8.03201808e-01 3.23719693e-04 1.33127267e+02] [-5.63848800e-04 -1.51506106e-05 9.99999841e-01 7.30961901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.931400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.81, Y:133.13, Z:0.73 [[-8.03558893e-01 -5.95225012e-01 -5.38809709e-04 2.11810414e+02] [ 5.95224892e-01 -8.03559074e-01 3.77366329e-04 1.33126362e+02] [-6.57583309e-04 -1.74768813e-05 9.99999784e-01 7.30299383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:133.13, Z:0.73 [[-8.03014140e-01 -5.95959889e-01 -3.19762240e-04 2.11821696e+02] [ 5.95959847e-01 -8.03014204e-01 2.23761280e-04 1.33127624e+02] [-3.90126368e-04 -1.08819844e-05 9.99999924e-01 7.28889878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:133.11, Z:0.73 [[-8.02068411e-01 -5.97231832e-01 -6.35037049e-04 2.11847763e+02] [ 5.97231667e-01 -8.02068662e-01 4.44166651e-04 1.33114083e+02] [-7.74613779e-04 -2.30121953e-05 9.99999700e-01 7.28558770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.021400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.86, Y:133.11, Z:0.73 [[-8.00909057e-01 -5.98784718e-01 -1.24257179e-03 2.11860180e+02] [ 5.98784090e-01 -8.00910019e-01 8.68593856e-04 1.33109997e+02] [-1.51528892e-03 -4.83675328e-05 9.99998851e-01 7.28719898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:133.10, Z:0.73 [[-7.99734303e-01 -6.00352025e-01 -1.57841345e-03 2.11876146e+02] [ 6.00351016e-01 -7.99735858e-01 1.10263958e-03 1.33103160e+02] [-1.92428574e-03 -6.57834272e-05 9.99998146e-01 7.29168351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:133.10, Z:0.73 [[-7.97066454e-01 -6.03891521e-01 -3.15523420e-04 2.11892213e+02] [ 6.03891481e-01 -7.97066516e-01 2.20201410e-04 1.33100508e+02] [-3.84470917e-04 -1.50267485e-05 9.99999926e-01 7.28151660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:133.10, Z:0.73 [[-7.95704246e-01 -6.05684540e-01 9.95294697e-04 2.11893781e+02] [ 6.05684144e-01 -7.95704867e-01 -6.94501565e-04 1.33103836e+02] [ 1.21260970e-03 5.02163719e-05 9.99999264e-01 7.26931382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:133.10, Z:0.73 [[-7.94334799e-01 -6.07476019e-01 2.26115438e-03 2.11912375e+02] [ 6.07473985e-01 -7.94338008e-01 -1.57664569e-03 1.33095390e+02] [ 2.75389532e-03 1.21207927e-04 9.99996201e-01 7.26110314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:133.10, Z:0.73 [[-7.93072808e-01 -6.09120444e-01 2.79400397e-03 2.11909866e+02] [ 6.09117353e-01 -7.93077714e-01 -1.94688138e-03 1.33101483e+02] [ 3.40174753e-03 1.57857616e-04 9.99994202e-01 7.25045798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.201400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.95, Y:133.08, Z:0.72 [[-7.90812984e-01 -6.12049411e-01 3.21609113e-03 2.11945644e+02] [ 6.12045345e-01 -7.90819499e-01 -2.23951331e-03 1.33083926e+02] [ 3.91404038e-03 1.97357403e-04 9.99992321e-01 7.24985918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:133.08, Z:0.72 [[-7.89660693e-01 -6.13538326e-01 2.59063333e-03 2.11953598e+02] [ 6.13535700e-01 -7.89664926e-01 -1.80282593e-03 1.33081538e+02] [ 3.15183508e-03 1.65825259e-04 9.99995019e-01 7.24950061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.97, Y:133.07, Z:0.73 [[-7.88288024e-01 -6.15300624e-01 2.67089069e-03 2.11974872e+02] [ 6.15297847e-01 -7.88292528e-01 -1.85748017e-03 1.33070107e+02] [ 3.24835188e-03 1.79163919e-04 9.99994708e-01 7.25310678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:133.07, Z:0.72 [[-7.85166886e-01 -6.19278255e-01 2.72093756e-03 2.11987279e+02] [ 6.19275400e-01 -7.85171575e-01 -1.89107825e-03 1.33067164e+02] [ 3.30750647e-03 2.00197679e-04 9.99994510e-01 7.24865846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.98, Y:133.08, Z:0.72 [[-7.84205061e-01 -6.20489877e-01 3.83849488e-03 2.11977597e+02] [ 6.20484218e-01 -7.84214402e-01 -2.66605624e-03 1.33076214e+02] [ 4.66446387e-03 2.90990701e-04 9.99989079e-01 7.24393837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:133.07, Z:0.72 [[-7.83464903e-01 -6.21422200e-01 4.14681079e-03 2.11991393e+02] [ 6.21415617e-01 -7.83475811e-01 -2.87835357e-03 1.33069023e+02] [ 5.03759876e-03 3.21803981e-04 9.99987259e-01 7.24188958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:133.05, Z:0.72 [[-7.82998749e-01 -6.22012946e-01 3.58512296e-03 2.12016598e+02] [ 6.22008039e-01 -7.83006906e-01 -2.48691751e-03 1.33054485e+02] [ 4.35407092e-03 2.82722003e-04 9.99990481e-01 7.24104752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.411400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:212.02, Y:133.06, Z:0.72 [[-7.83319308e-01 -6.21616728e-01 1.87221604e-03 2.12017006e+02] [ 6.21615390e-01 -7.83321532e-01 -1.29793598e-03 1.33059546e+02] [ 2.27336585e-03 1.47099992e-04 9.99997405e-01 7.24607020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:133.06, Z:0.73 [[-7.84374520e-01 -6.20286036e-01 1.35905178e-03 2.12025149e+02] [ 6.20285330e-01 -7.84375690e-01 -9.41609231e-04 1.33056222e+02] [ 1.65007424e-03 1.04425595e-04 9.99998633e-01 7.25063009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:133.08, Z:0.72 [[-7.86022499e-01 -6.18196391e-01 1.36097199e-03 2.12001912e+02] [ 6.18195681e-01 -7.86023671e-01 -9.42343691e-04 1.33075175e+02] [ 1.65230967e-03 1.00643667e-04 9.99998630e-01 7.24586027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.501400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:212.00, Y:133.09, Z:0.72 [[-7.89573668e-01 -6.13653378e-01 1.71873022e-03 2.11995903e+02] [ 6.13652237e-01 -7.89575530e-01 -1.18927413e-03 1.33088360e+02] [ 2.08686942e-03 1.15683111e-04 9.99997816e-01 7.23881758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.531400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:212.02, Y:133.08, Z:0.72 [[-7.90875241e-01 -6.11975641e-01 1.47225505e-03 2.12015996e+02] [ 6.11974802e-01 -7.90876606e-01 -1.01808483e-03 1.33080279e+02] [ 1.78741519e-03 9.58049078e-05 9.99998398e-01 7.24386418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.561400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.02, Y:133.09, Z:0.72 [[-7.91500788e-01 -6.11167448e-01 9.23032808e-04 2.12016527e+02] [ 6.11167118e-01 -7.91501324e-01 -6.37912704e-04 1.33085226e+02] [ 1.12045317e-03 5.92188928e-05 9.99999371e-01 7.24636154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.591400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.04, Y:133.08, Z:0.73 [[-7.89581898e-01 -6.13644754e-01 7.36520766e-04 2.12035326e+02] [ 6.13644545e-01 -7.89582240e-01 -5.08705531e-04 1.33079072e+02] [ 8.93708197e-04 5.02972716e-05 9.99999599e-01 7.25502261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:133.08, Z:0.73 [[-7.87188357e-01 -6.16712212e-01 7.33403836e-04 2.12040154e+02] [ 6.16712007e-01 -7.87188697e-01 -5.06231951e-04 1.33078072e+02] [ 8.89526636e-04 5.37990538e-05 9.99999603e-01 7.25495891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:133.07, Z:0.73 [[-7.84315102e-01 -6.20362314e-01 6.48899836e-04 2.12059770e+02] [ 6.20362154e-01 -7.84315368e-01 -4.47630075e-04 1.33066059e+02] [ 7.86634943e-04 5.14698724e-05 9.99999689e-01 7.25493199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.05, Z:0.73 [[-7.81271841e-01 -6.24190864e-01 2.76116281e-04 2.12079622e+02] [ 6.24190836e-01 -7.81271889e-01 -1.90399674e-04 1.33052714e+02] [ 3.34567625e-04 2.35953487e-05 9.99999944e-01 7.25570887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:133.03, Z:0.73 [[-7.76102417e-01 -6.30606758e-01 -3.94464542e-04 2.12111566e+02] [ 6.30606700e-01 -7.76102516e-01 2.71651092e-04 1.33028260e+02] [-4.77449938e-04 -3.79229143e-05 9.99999885e-01 7.25696287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:133.02, Z:0.73 [[-7.74710980e-01 -6.32315350e-01 -4.41791528e-04 2.12124379e+02] [ 6.32315279e-01 -7.74711105e-01 3.04069921e-04 1.33017745e+02] [-5.34528882e-04 -4.37852265e-05 9.99999856e-01 7.25108566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:133.02, Z:0.72 [[-7.74549597e-01 -6.32512868e-01 6.26942153e-04 2.12121738e+02] [ 6.32512724e-01 -7.74549849e-01 -4.31428161e-04 1.33017349e+02] [ 7.58481813e-04 6.23863804e-05 9.99999710e-01 7.24047474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:133.02, Z:0.72 [[-7.75747118e-01 -6.31042969e-01 1.08693230e-03 2.12112729e+02] [ 6.31042535e-01 -7.75747872e-01 -7.47460533e-04 1.33022755e+02] [ 1.31486513e-03 1.06060162e-04 9.99999130e-01 7.23921899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:133.03, Z:0.72 [[-7.77624366e-01 -6.28727448e-01 1.46342644e-03 2.12101136e+02] [ 6.28726659e-01 -7.77625731e-01 -1.00572786e-03 1.33029257e+02] [ 1.77032677e-03 1.38016725e-04 9.99998423e-01 7.23889795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.04, Z:0.72 [[-7.80092495e-01 -6.25661690e-01 1.77436872e-03 2.12080828e+02] [ 6.25660524e-01 -7.80094497e-01 -1.21865241e-03 1.33041412e+02] [ 2.14663940e-03 1.59490866e-04 9.99997683e-01 7.23960858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:133.05, Z:0.72 [[-7.85394827e-01 -6.18991510e-01 2.11588638e-03 2.12058076e+02] [ 6.18989829e-01 -7.85397659e-01 -1.45228547e-03 1.33054555e+02] [ 2.56076458e-03 1.69094650e-04 9.99996707e-01 7.23515198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:133.05, Z:0.72 [[-7.88106469e-01 -6.15535114e-01 2.17168842e-03 2.12065695e+02] [ 6.15533333e-01 -7.88109444e-01 -1.48964470e-03 1.33049830e+02] [ 2.62845677e-03 1.62747991e-04 9.99996532e-01 7.23376881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:133.06, Z:0.72 [[-7.90652322e-01 -6.12261909e-01 2.06406274e-03 2.12059887e+02] [ 6.12260291e-01 -7.90655003e-01 -1.41493022e-03 1.33055338e+02] [ 2.49826941e-03 1.45025791e-04 9.99996869e-01 7.23372297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:133.05, Z:0.72 [[-7.90833200e-01 -6.12028258e-01 2.06448061e-03 2.12061914e+02] [ 6.12026641e-01 -7.90835881e-01 -1.41432043e-03 1.33054040e+02] [ 2.49826941e-03 1.45025588e-04 9.99996869e-01 7.23371733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.05, Y:133.07, Z:0.72 [[-7.94366370e-01 -6.07434957e-01 2.20062123e-03 2.12048089e+02] [ 6.07433104e-01 -7.94369406e-01 -1.50662092e-03 1.33067842e+02] [ 2.66328039e-03 1.39921192e-04 9.99996444e-01 7.22945274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:133.07, Z:0.72 [[-7.95491599e-01 -6.05961214e-01 2.03050579e-03 2.12045634e+02] [ 6.05959634e-01 -7.95494181e-01 -1.38926733e-03 1.33072204e+02] [ 2.45709766e-03 1.25254055e-04 9.99996974e-01 7.22666251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.071400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.05, Y:133.07, Z:0.72 [[-7.96302237e-01 -6.04893687e-01 2.52478307e-03 2.12046849e+02] [ 6.04891243e-01 -7.96306225e-01 -1.72631753e-03 1.33074014e+02] [ 3.05473905e-03 1.52548658e-04 9.99995323e-01 7.22795383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:133.08, Z:0.72 [[-7.96589241e-01 -6.04516556e-01 2.30517949e-03 2.12037556e+02] [ 6.04514520e-01 -7.96592565e-01 -1.57514997e-03 1.33081881e+02] [ 2.78849308e-03 1.38766954e-04 9.99996103e-01 7.23351292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:133.07, Z:0.72 [[-7.95011441e-01 -6.06592571e-01 1.50383446e-03 2.12061299e+02] [ 6.06591709e-01 -7.95012858e-01 -1.02694817e-03 1.33065028e+02] [ 1.81850686e-03 9.57779722e-05 9.99998342e-01 7.23243517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:133.06, Z:0.72 [[-7.93935760e-01 -6.07999055e-01 1.77723604e-03 2.12069683e+02] [ 6.07997857e-01 -7.93937740e-01 -1.21285853e-03 1.33059322e+02] [ 2.14843160e-03 1.17623947e-04 9.99997685e-01 7.22839933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.191400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.07, Y:133.06, Z:0.72 [[-7.92914324e-01 -6.09326774e-01 2.78506326e-03 2.12071923e+02] [ 6.09323844e-01 -7.92919193e-01 -1.89938152e-03 1.33058963e+02] [ 3.36567412e-03 1.90958639e-04 9.99994318e-01 7.22211240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.05, Z:0.72 [[-7.91897899e-01 -6.10640792e-01 3.94210742e-03 2.12082256e+02] [ 6.10634945e-01 -7.91907662e-01 -2.68672622e-03 1.33053046e+02] [ 4.76240969e-03 2.79575701e-04 9.99988621e-01 7.20754626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.05, Z:0.72 [[-7.92090104e-01 -6.10392171e-01 3.82938494e-03 2.12082041e+02] [ 6.10386659e-01 -7.92099314e-01 -2.60824312e-03 1.33052956e+02] [ 4.62530436e-03 2.71441913e-04 9.99989266e-01 7.19994287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.06, Z:0.72 [[-7.93001358e-01 -6.09211376e-01 3.21652620e-03 2.12076262e+02] [ 6.09207482e-01 -7.93007850e-01 -2.18943208e-03 1.33057424e+02] [ 3.88455745e-03 2.23309218e-04 9.99992430e-01 7.20008111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.05, Z:0.72 [[-7.94171542e-01 -6.07689785e-01 2.16481833e-03 2.12084502e+02] [ 6.07688018e-01 -7.94174480e-01 -1.47263791e-03 1.33054247e+02] [ 2.61415049e-03 1.46007036e-04 9.99996572e-01 7.20582563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.06, Z:0.72 [[-7.96938317e-01 -6.04058138e-01 1.75658307e-03 2.12081157e+02] [ 6.04056967e-01 -7.96940245e-01 -1.19418286e-03 1.33062362e+02] [ 2.12124762e-03 1.09386164e-04 9.99997744e-01 7.22384602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:133.07, Z:0.72 [[-7.98236660e-01 -6.02340385e-01 2.07240510e-03 2.12073241e+02] [ 6.02338752e-01 -7.98239341e-01 -1.40796759e-03 1.33070037e+02] [ 2.50235102e-03 1.24398555e-04 9.99996861e-01 7.22255906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:133.08, Z:0.72 [[-7.99280873e-01 -6.00953324e-01 2.27798340e-03 2.12065454e+02] [ 6.00951348e-01 -7.99284108e-01 -1.54662306e-03 1.33077443e+02] [ 2.75020420e-03 1.32770969e-04 9.99996209e-01 7.21553252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.07, Z:0.72 [[-8.00157435e-01 -5.99788490e-01 1.35909981e-03 2.12080447e+02] [ 5.99787786e-01 -8.00158585e-01 -9.22186312e-04 1.33073465e+02] [ 1.64061212e-03 7.72772339e-05 9.99998651e-01 7.21282164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:133.07, Z:0.72 [[-8.00493988e-01 -5.99339464e-01 1.25783276e-03 2.12086630e+02] [ 5.99338862e-01 -8.00494973e-01 -8.52927590e-04 1.33072907e+02] [ 1.51808197e-03 7.11046494e-05 9.99998845e-01 7.21595598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:133.07, Z:0.72 [[-8.00492780e-01 -5.99340537e-01 1.49317072e-03 2.12093131e+02] [ 5.99339689e-01 -8.00494168e-01 -1.01183950e-03 1.33072045e+02] [ 1.80171088e-03 8.49462593e-05 9.99998373e-01 7.21631784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:132.41, Z:2.41 [[-8.92616337e-01 4.50812720e-01 1.99170033e-03 2.11695043e+02] [ 4.50811356e-01 8.92618554e-01 -1.11279457e-03 1.32412155e+02] [-2.27949061e-03 -9.54174898e-05 -9.99997397e-01 2.40633951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:132.43, Z:2.41 [[-9.25937163e-01 3.77674006e-01 1.64793801e-03 2.11754652e+02] [ 3.77673261e-01 9.25938626e-01 -7.54139037e-04 1.32428482e+02] [-1.81070817e-03 -7.59032383e-05 -9.99998358e-01 2.40560048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.81, Y:132.45, Z:2.40 [[-9.53247578e-01 3.02189909e-01 5.59286543e-04 2.11813079e+02] [ 3.02189849e-01 9.53247742e-01 -1.92204299e-04 1.32449745e+02] [-5.91220834e-04 -1.42075669e-05 -9.99999825e-01 2.40479125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:132.48, Z:2.40 [[-9.74289587e-01 2.25298161e-01 -7.34797431e-04 2.11869005e+02] [ 2.25298050e-01 9.74289862e-01 2.31076997e-04 1.32476922e+02] [ 7.67966910e-04 5.95874837e-05 -9.99999703e-01 2.40484241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.92, Y:132.51, Z:2.41 [[-9.89163390e-01 1.46807366e-01 -1.84002348e-03 2.11922100e+02] [ 1.46806879e-01 9.89165093e-01 3.97852610e-04 1.32509654e+02] [ 1.87849469e-03 1.23413133e-04 -9.99998228e-01 2.40514143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:132.54, Z:2.41 [[-9.97885875e-01 6.49541260e-02 -2.17764403e-03 2.11969079e+02] [ 6.49536430e-02 9.97888240e-01 2.91885599e-04 1.32544973e+02] [ 2.19200455e-03 1.49822604e-04 -9.99997586e-01 2.40529281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:132.59, Z:2.41 [[-9.99873645e-01 -1.57610149e-02 -2.06973901e-03 2.12013431e+02] [-1.57612858e-02 9.99875777e-01 1.14641087e-04 1.32586436e+02] [ 2.06767504e-03 1.47248350e-04 -9.99997852e-01 2.40515264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:132.63, Z:2.40 [[-9.95369802e-01 -9.60910889e-02 -2.33668236e-03 2.12063665e+02] [-9.60912207e-02 9.95372530e-01 -5.60850650e-05 1.32632223e+02] [ 2.33125871e-03 1.68709280e-04 -9.99997268e-01 2.40467524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:133.49, Z:0.72 [[-9.99280013e-01 -3.78638331e-02 -2.40525060e-03 2.12075946e+02] [ 3.78641242e-02 -9.99282894e-01 -7.55920249e-05 1.33492087e+02] [-2.40066358e-03 -1.66610307e-04 9.99997105e-01 7.23779693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:133.49, Z:0.72 [[-9.99221237e-01 -3.94159133e-02 -1.81787309e-03 2.12074575e+02] [ 3.94160831e-02 -9.99222883e-01 -5.76959246e-05 1.33491593e+02] [-1.81418625e-03 -1.29304430e-04 9.99998346e-01 7.22813549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.11, Y:132.68, Z:2.41 [[-9.83404583e-01 -1.81423383e-01 -9.91236396e-04 2.12113571e+02] [-1.81423382e-01 9.83405078e-01 -9.23114113e-05 1.32682908e+02] [ 9.91534354e-04 8.90539939e-05 -9.99999504e-01 2.40664407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:133.54, Z:0.72 [[-9.99323905e-01 3.67546133e-02 9.12282079e-04 2.12029704e+02] [-3.67545367e-02 -9.99324319e-01 1.00596525e-04 1.33535603e+02] [ 9.15363053e-04 6.69980065e-05 9.99999579e-01 7.21019300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:132.74, Z:2.41 [[-9.66296199e-01 -2.57432503e-01 4.02516504e-04 2.12145451e+02] [-2.57432486e-01 9.66296283e-01 9.40011354e-05 1.32735999e+02] [-4.13149149e-04 -1.27878844e-05 -9.99999915e-01 2.40736813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:133.58, Z:0.72 [[-9.93179678e-01 1.16593152e-01 4.03877208e-04 2.11973779e+02] [-1.16593131e-01 -9.93179760e-01 7.68378711e-05 1.33575127e+02] [ 4.10081438e-04 2.92245040e-05 9.99999916e-01 7.22088911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:132.79, Z:2.41 [[-9.44185497e-01 -3.29414154e-01 -2.48937339e-04 2.12150557e+02] [-3.29414152e-01 9.44185529e-01 -5.02534348e-05 1.32785532e+02] [ 2.51597226e-04 3.45549181e-05 -9.99999968e-01 2.40587127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:132.84, Z:2.41 [[-9.16084217e-01 -4.00985756e-01 -3.61304610e-04 2.12175783e+02] [-4.00985743e-01 9.16084287e-01 -1.11590826e-04 1.32843391e+02] [ 3.75731808e-04 4.26514025e-05 -9.99999929e-01 2.40610343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:132.89, Z:2.41 [[-8.83223436e-01 -4.68951485e-01 9.31257482e-04 2.12166838e+02] [-4.68951284e-01 8.83223925e-01 4.37240120e-04 1.32891658e+02] [-1.02755329e-03 -5.05336701e-05 -9.99999471e-01 2.40776373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:133.67, Z:0.72 [[-9.36559103e-01 3.50504102e-01 1.98016374e-03 2.11801256e+02] [-3.50503001e-01 -9.36561186e-01 8.89763431e-04 1.33665272e+02] [ 2.16641023e-03 1.39262708e-04 9.99997644e-01 7.20118851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.79, Y:133.66, Z:0.72 [[-9.35629943e-01 3.52976676e-01 2.01881245e-03 2.11789209e+02] [-3.52975538e-01 -9.35632111e-01 9.06420522e-04 1.33663323e+02] [ 2.20881106e-03 1.35482769e-04 9.99997551e-01 7.20177503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:132.93, Z:2.41 [[-8.47321438e-01 -5.31079142e-01 1.15176829e-03 2.12153024e+02] [-5.31078750e-01 8.47322218e-01 6.48185502e-04 1.32930422e+02] [-1.32015667e-03 -6.24581938e-05 -9.99999127e-01 2.40843611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:133.70, Z:0.72 [[-9.04142001e-01 4.27229331e-01 1.53031782e-03 2.11736031e+02] [-4.27228526e-01 -9.04143290e-01 8.35348994e-04 1.33695252e+02] [ 1.74051218e-03 1.01478684e-04 9.99998480e-01 7.20535340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:133.70, Z:0.72 [[-9.03372200e-01 4.28854569e-01 1.55788867e-03 2.11729170e+02] [-4.28853738e-01 -9.03373538e-01 8.49809875e-04 1.33695859e+02] [ 1.77180025e-03 9.95882358e-05 9.99998425e-01 7.20360521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.70, Z:0.72 [[-9.01898185e-01 4.31945885e-01 1.55472652e-03 2.11712348e+02] [-4.31945063e-01 -9.01899520e-01 8.47496488e-04 1.33697303e+02] [ 1.76827972e-03 9.27990993e-05 9.99998432e-01 7.19695307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.69, Z:0.72 [[-9.01689535e-01 4.32381388e-01 1.52233655e-03 2.11697322e+02] [-4.32380602e-01 -9.01690816e-01 8.29262011e-04 1.33694746e+02] [ 1.73123434e-03 8.95080854e-05 9.99998497e-01 7.20017719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.71, Z:0.72 [[-9.01983110e-01 4.31769145e-01 1.36894611e-03 2.11709473e+02] [-4.31768510e-01 -9.01984146e-01 7.45192063e-04 1.33707119e+02] [ 1.55651863e-03 8.10828314e-05 9.99998785e-01 7.20292371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.71, Z:0.72 [[-9.02713327e-01 4.30240347e-01 1.37624061e-03 2.11707389e+02] [-4.30239704e-01 -9.02714372e-01 7.48641784e-04 1.33710979e+02] [ 1.56444808e-03 8.36955610e-05 9.99998773e-01 7.21102560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:133.73, Z:0.72 [[-9.05936600e-01 4.23411850e-01 1.13228560e-03 2.11727110e+02] [-4.23411410e-01 -9.05937304e-01 6.15523924e-04 1.33728240e+02] [ 1.28639989e-03 7.82030082e-05 9.99999170e-01 7.21975531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:133.73, Z:0.72 [[-9.08374101e-01 4.18156669e-01 1.22166644e-03 2.11732017e+02] [-4.18156153e-01 -9.08374918e-01 6.63653082e-04 1.33731734e+02] [ 1.38724212e-03 9.19979332e-05 9.99999034e-01 7.22049108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:133.75, Z:0.72 [[-9.11138148e-01 4.12099882e-01 9.80684492e-04 2.11770126e+02] [-4.12099546e-01 -9.11138673e-01 5.32249277e-04 1.33752408e+02] [ 1.11287943e-03 8.08129864e-05 9.99999378e-01 7.21776869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.81, Y:133.77, Z:0.72 [[-9.16160617e-01 4.00810700e-01 7.11687244e-04 2.11805670e+02] [-4.00810520e-01 -9.16160891e-01 3.85993905e-04 1.33770909e+02] [ 8.06730506e-04 6.83806792e-05 9.99999672e-01 7.21104793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:132.99, Z:2.41 [[-7.88231520e-01 -6.15378757e-01 2.39330971e-04 2.12243324e+02] [-6.15378732e-01 7.88231556e-01 1.74579362e-04 1.32993775e+02] [-2.96080654e-04 -9.67023379e-06 -9.99999956e-01 2.40785498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:133.79, Z:0.72 [[-8.85451616e-01 4.64731055e-01 6.94534827e-04 2.11743930e+02] [-4.64730844e-01 -8.85451885e-01 4.49131947e-04 1.33791651e+02] [ 8.23702736e-04 7.49128518e-05 9.99999658e-01 7.20664979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.481400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.73, Y:133.78, Z:0.72 [[-8.84919375e-01 4.65741970e-01 1.45521204e-03 2.11732307e+02] [-4.65741046e-01 -8.84920558e-01 9.40404011e-04 1.33781977e+02] [ 1.72573267e-03 1.54429750e-04 9.99998499e-01 7.19797465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:133.78, Z:0.72 [[-8.83749047e-01 4.67960137e-01 9.65761307e-04 2.11729120e+02] [-4.67959732e-01 -8.83749569e-01 6.23758217e-04 1.33779343e+02] [ 1.14538512e-03 9.93083274e-05 9.99999339e-01 7.19317209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:133.02, Z:2.41 [[-7.42865294e-01 -6.69440896e-01 -2.04924511e-04 2.12188394e+02] [-6.69440883e-01 7.42865321e-01 -1.35233405e-04 1.33018975e+02] [ 2.42762085e-04 3.67246426e-05 -9.99999970e-01 2.40933245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.76, Z:0.72 [[-8.41452121e-01 5.40331041e-01 -8.33675915e-04 2.11620903e+02] [-5.40330675e-01 -8.41452530e-01 -6.33590201e-04 1.33760547e+02] [-1.04384716e-03 -8.26751478e-05 9.99999452e-01 7.19963822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.75, Z:0.72 [[-8.41485330e-01 5.40279670e-01 -5.63478169e-04 2.11606347e+02] [-5.40279503e-01 -8.41485517e-01 -4.27971338e-04 1.33746454e+02] [-7.05382931e-04 -5.56958975e-05 9.99999750e-01 7.19877406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.75, Z:0.72 [[-8.43128019e-01 5.37712041e-01 9.51252097e-04 2.11620911e+02] [-5.37711564e-01 -8.43128550e-01 7.22276884e-04 1.33751253e+02] [ 1.19040478e-03 9.74726254e-05 9.99999287e-01 7.19504163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.74, Z:0.72 [[-8.44316439e-01 5.35842686e-01 1.53851407e-03 2.11612223e+02] [-5.35841439e-01 -8.44317825e-01 1.16746657e-03 1.33741521e+02] [ 1.92457328e-03 1.61311620e-04 9.99998135e-01 7.19573357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.75, Z:0.72 [[-8.45249213e-01 5.34369600e-01 1.70260373e-03 2.11622267e+02] [-5.34368070e-01 -8.45250908e-01 1.29123717e-03 1.33745149e+02] [ 2.12912523e-03 1.81600131e-04 9.99997717e-01 7.19064483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.75, Z:0.72 [[-8.45911357e-01 5.33319392e-01 2.09820910e-03 2.11630091e+02] [-5.33317069e-01 -8.45913929e-01 1.59033985e-03 1.33746588e+02] [ 2.62306339e-03 2.26275810e-04 9.99996534e-01 7.18978723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.751400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.60, Y:133.72, Z:0.72 [[-8.46132477e-01 5.32959714e-01 3.71141359e-03 2.11603061e+02] [-5.32952450e-01 -8.46140522e-01 2.81140646e-03 1.33718875e+02] [ 4.63874381e-03 4.00815345e-04 9.99989161e-01 7.17874033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.73, Z:0.72 [[-8.45695912e-01 5.33649643e-01 4.05982440e-03 2.11622913e+02] [-5.33640968e-01 -8.45705546e-01 3.07355934e-03 1.33731138e+02] [ 5.07361986e-03 4.32807950e-04 9.99987035e-01 7.17743957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.71, Z:0.72 [[-8.45093756e-01 5.34602506e-01 4.08705517e-03 2.11603885e+02] [-5.34593733e-01 -8.45103531e-01 3.09240170e-03 1.33713523e+02] [ 5.10719045e-03 4.28455289e-04 9.99986866e-01 7.17959671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.71, Z:0.72 [[-8.44442890e-01 5.35636772e-01 3.07477179e-03 2.11599678e+02] [-5.35631819e-01 -8.44448428e-01 2.32514704e-03 1.33707348e+02] [ 3.84192046e-03 3.16508284e-04 9.99992570e-01 7.17560187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.871400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.59, Y:133.69, Z:0.72 [[-8.43564708e-01 5.37024885e-01 1.69025648e-03 2.11585377e+02] [-5.37023392e-01 -8.43566384e-01 1.27746601e-03 1.33693918e+02] [ 2.11187458e-03 1.69917976e-04 9.99997756e-01 7.17958146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.901400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.58, Y:133.69, Z:0.72 [[-8.43715434e-01 5.36788049e-01 1.69061486e-03 2.11583511e+02] [-5.36786556e-01 -8.43717110e-01 1.27699167e-03 1.33692413e+02] [ 2.11187455e-03 1.69918250e-04 9.99997756e-01 7.17958683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.70, Z:0.72 [[-8.43728144e-01 5.36768014e-01 1.70839251e-03 2.11599215e+02] [-5.36766492e-01 -8.43729856e-01 1.28967005e-03 1.33703428e+02] [ 2.13367540e-03 1.71123059e-04 9.99997709e-01 7.18553021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.69, Z:0.72 [[-8.43945806e-01 5.36422736e-01 2.47491425e-03 2.11588066e+02] [-5.36419543e-01 -8.43949398e-01 1.86720396e-03 1.33692898e+02] [ 3.09031305e-03 2.48226580e-04 9.99995194e-01 7.18534579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.69, Z:0.72 [[-8.44951604e-01 5.34817405e-01 5.20858241e-03 2.11593906e+02] [-5.34803255e-01 -8.44967490e-01 3.92670260e-03 1.33689928e+02] [ 6.50115171e-03 5.32306833e-04 9.99978726e-01 7.17669421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.68, Z:0.72 [[-8.45600489e-01 5.33791310e-01 5.16232119e-03 2.11590807e+02] [-5.33777408e-01 -8.45616079e-01 3.88927653e-03 1.33684338e+02] [ 6.44140382e-03 5.33243715e-04 9.99979112e-01 7.16928059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.67, Z:0.72 [[-8.45994350e-01 5.33174550e-01 4.29648346e-03 2.11573244e+02] [-5.33164922e-01 -8.46005142e-01 3.23506966e-03 1.33669116e+02] [ 5.35970391e-03 4.46116388e-04 9.99985537e-01 7.17299268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.67, Z:0.72 [[-8.46098822e-01 5.33018714e-01 2.79906295e-03 2.11576720e+02] [-5.33014631e-01 -8.46103402e-01 2.10636753e-03 1.33670084e+02] [ 3.49102999e-03 2.90253576e-04 9.99993864e-01 7.18028678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.67, Z:0.72 [[-8.45131220e-01 5.34558260e-01 8.29630022e-04 2.11582278e+02] [-5.34557902e-01 -8.45131623e-01 6.24006315e-04 1.33670858e+02] [ 1.03471430e-03 8.38819338e-05 9.99999461e-01 7.19915845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.67, Z:0.72 [[-8.44363090e-01 5.35770955e-01 6.75519913e-04 2.11582215e+02] [-5.35770719e-01 -8.44363357e-01 5.07810223e-04 1.33669287e+02] [ 8.42454230e-04 6.68524199e-05 9.99999643e-01 7.19942129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.66, Z:0.72 [[-8.43649860e-01 5.36892101e-01 1.33624029e-03 2.11566982e+02] [-5.36891178e-01 -8.43650908e-01 1.00383493e-03 1.33656561e+02] [ 1.66627138e-03 1.29469580e-04 9.99998603e-01 7.19395071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.65, Z:0.72 [[-8.43115657e-01 5.37729694e-01 1.66254894e-03 2.11559238e+02] [-5.37728269e-01 -8.43117282e-01 1.24821710e-03 1.33649651e+02] [ 2.07292715e-03 1.58391819e-04 9.99997839e-01 7.19108777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.65, Z:0.72 [[-8.42207159e-01 5.39152622e-01 1.24589660e-03 2.11558708e+02] [-5.39151824e-01 -8.42208072e-01 9.34867655e-04 1.33647409e+02] [ 1.55334052e-03 1.15624805e-04 9.99998787e-01 7.19485956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.65, Z:0.72 [[-8.42192889e-01 5.39175469e-01 9.75321048e-04 2.11563305e+02] [-5.39174980e-01 -8.42193449e-01 7.31424393e-04 1.33649117e+02] [ 1.21577509e-03 9.01317157e-05 9.99999257e-01 7.19722076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.291400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.57, Y:133.65, Z:0.72 [[-8.43289901e-01 5.37457462e-01 1.27280252e-03 2.11565518e+02] [-5.37456629e-01 -8.43290853e-01 9.53931111e-04 1.33647195e+02] [ 1.58604012e-03 1.20364318e-04 9.99998735e-01 7.19760238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.64, Z:0.72 [[-8.44557220e-01 5.35464787e-01 7.51452140e-04 2.11560681e+02] [-5.35464496e-01 -8.44557551e-01 5.62892757e-04 1.33642048e+02] [ 9.36053829e-04 7.30192004e-05 9.99999559e-01 7.20066161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.64, Z:0.72 [[-8.45912347e-01 5.33321631e-01 5.82521367e-04 2.11558927e+02] [-5.33321455e-01 -8.45912546e-01 4.36111235e-04 1.33638087e+02] [ 7.25349688e-04 5.82407353e-05 9.99999735e-01 7.20519099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.64, Z:0.72 [[-8.47361451e-01 5.31015092e-01 1.24242973e-03 2.11569776e+02] [-5.31014294e-01 -8.47362352e-01 9.29527439e-04 1.33642553e+02] [ 1.54638128e-03 1.27897771e-04 9.99998796e-01 7.20433521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.64, Z:0.72 [[-8.48863763e-01 5.28605875e-01 2.47823534e-03 2.11571089e+02] [-5.28602693e-01 -8.48867339e-01 1.85293959e-03 1.33639101e+02] [ 3.08316780e-03 2.62891402e-04 9.99995213e-01 7.19704173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.441400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.58, Y:133.64, Z:0.72 [[-8.50867056e-01 5.25350962e-01 5.62316164e-03 2.11576339e+02] [-5.25334528e-01 -8.50885410e-01 4.20150135e-03 1.33635698e+02] [ 6.99192898e-03 6.20878115e-04 9.99975363e-01 7.19096225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.471400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.56, Y:133.62, Z:0.72 [[-8.51267951e-01 5.24700199e-01 5.70763607e-03 2.11561518e+02] [-5.24683271e-01 -8.51286849e-01 4.26210864e-03 1.33621187e+02] [ 7.09516478e-03 6.33495330e-04 9.99974628e-01 7.19337940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.63, Z:0.72 [[-8.51375386e-01 5.24540901e-01 4.09818824e-03 2.11576549e+02] [-5.24532181e-01 -8.51385128e-01 3.05850049e-03 1.33628975e+02] [ 5.09344512e-03 4.54300422e-04 9.99986925e-01 7.19325100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.62, Z:0.72 [[-8.51098012e-01 5.25005646e-01 1.11647567e-03 2.11576457e+02] [-5.25005000e-01 -8.51098735e-01 8.32799945e-04 1.33622183e+02] [ 1.38745571e-03 1.22639066e-04 9.99999030e-01 7.19711205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.561400513 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:211.99, Y:133.04, Z:2.41 [[-6.92263917e-01 -7.21644380e-01 2.39386187e-04 2.11994680e+02] [-7.21644344e-01 6.92263958e-01 2.31060634e-04 1.33037416e+02] [-3.32462038e-04 -1.27967487e-05 -9.99999945e-01 2.40951363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:133.62, Z:0.72 [[-8.08542312e-01 5.88437573e-01 7.43146351e-04 2.11500351e+02] [-5.88437221e-01 -8.08542649e-01 6.49089083e-04 1.33615946e+02] [ 9.82813924e-04 8.75210140e-05 9.99999513e-01 7.19318953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.62, Z:0.72 [[-8.10162597e-01 5.86203628e-01 1.36830344e-03 2.11516020e+02] [-5.86202435e-01 -8.10163736e-01 1.19438049e-03 1.33621042e+02] [ 1.80870001e-03 1.65539587e-04 9.99998351e-01 7.19355077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.62, Z:0.72 [[-8.11110336e-01 5.84891775e-01 1.27845343e-03 2.11515291e+02] [-5.84890733e-01 -8.11111328e-01 1.11533003e-03 1.33616250e+02] [ 1.68931542e-03 1.56900154e-04 9.99998561e-01 7.19531249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:133.61, Z:0.72 [[-8.11837567e-01 5.83881571e-01 1.44074639e-03 2.11511180e+02] [-5.83880247e-01 -8.11838826e-01 1.25619936e-03 1.33609152e+02] [ 1.90312551e-03 1.78606471e-04 9.99998173e-01 7.20026683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.61, Z:0.72 [[-8.12321593e-01 5.83206017e-01 2.09077679e-03 2.11520918e+02] [-5.83203230e-01 -8.12324242e-01 1.82190878e-03 1.33614119e+02] [ 2.76093684e-03 2.60628068e-04 9.99996155e-01 7.20067108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.61, Z:0.72 [[-8.12622283e-01 5.82783432e-01 2.91476290e-03 2.11518962e+02] [-5.82778017e-01 -8.12627429e-01 2.53848097e-03 1.33608206e+02] [ 3.84800093e-03 3.64166463e-04 9.99992530e-01 7.19634317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.771400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.51, Y:133.59, Z:0.72 [[-8.11909919e-01 5.83775101e-01 2.98569871e-03 2.11513765e+02] [-5.83769432e-01 -8.11915326e-01 2.59879787e-03 1.33594123e+02] [ 3.94124803e-03 3.67030128e-04 9.99992166e-01 7.18980132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:133.58, Z:0.72 [[-8.11119553e-01 5.84876433e-01 2.15139264e-03 2.11501224e+02] [-5.84873496e-01 -8.11122365e-01 1.87156862e-03 1.33579555e+02] [ 2.83967907e-03 2.59773363e-04 9.99995934e-01 7.20005981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:133.07, Z:2.41 [[-6.38585656e-01 -7.69549709e-01 1.26676387e-03 2.11906056e+02] [-7.69548613e-01 6.38586897e-01 1.30631800e-03 1.33067664e+02] [-1.81421545e-03 -1.40640444e-04 -9.99998344e-01 2.40813311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.54, Z:0.72 [[-7.59098996e-01 6.50972499e-01 1.87608430e-03 2.11405599e+02] [-6.50969765e-01 -7.59101282e-01 1.89964956e-03 1.33544635e+02] [ 2.66075762e-03 2.20747919e-04 9.99996436e-01 7.20546408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.53, Z:0.72 [[-7.56759949e-01 6.53690577e-01 1.73475907e-03 2.11395572e+02] [-6.53688248e-01 -7.56761912e-01 1.75555623e-03 1.33532711e+02] [ 2.46039016e-03 1.94543026e-04 9.99996954e-01 7.20588472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.52, Z:0.72 [[-7.54518492e-01 6.56277689e-01 1.20032997e-03 2.11383706e+02] [-6.56276578e-01 -7.54519436e-01 1.21405044e-03 1.33520065e+02] [ 1.70242651e-03 1.28275064e-04 9.99998543e-01 7.20840140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.50, Z:0.72 [[-7.50555706e-01 6.60807082e-01 3.63706280e-04 2.11362414e+02] [-6.60806981e-01 -7.50555793e-01 3.67711421e-04 1.33497008e+02] [ 5.15968167e-04 3.56482561e-05 9.99999866e-01 7.21965895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.49, Z:0.72 [[-7.49048018e-01 6.62515441e-01 5.97671789e-04 2.11361880e+02] [-6.62515168e-01 -7.49048254e-01 6.03844221e-04 1.33494979e+02] [ 8.47741131e-04 5.63416907e-05 9.99999639e-01 7.21943596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.49, Z:0.72 [[-7.48197219e-01 6.63475516e-01 1.07726472e-03 2.11357475e+02] [-6.63474632e-01 -7.48197988e-01 1.08768193e-03 1.33489112e+02] [ 1.52765763e-03 9.90627804e-05 9.99998828e-01 7.21623299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.49, Z:0.72 [[-7.48054693e-01 6.63635222e-01 1.57088930e-03 2.11355725e+02] [-6.63633345e-01 -7.48056329e-01 1.58510667e-03 1.33486214e+02] [ 2.22704631e-03 1.43251963e-04 9.99997510e-01 7.21037851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.48, Z:0.72 [[-7.49203709e-01 6.62334064e-01 2.71845778e-03 2.11349538e+02] [-6.62328439e-01 -7.49208598e-01 2.74138287e-03 1.33477129e+02] [ 3.85240320e-03 2.53342320e-04 9.99992547e-01 7.21231177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.48, Z:0.72 [[-7.50248659e-01 6.61149302e-01 2.92418506e-03 2.11353749e+02] [-6.61142791e-01 -7.50254306e-01 2.94710284e-03 1.33479043e+02] [ 4.14235742e-03 2.77756081e-04 9.99991382e-01 7.21358421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.47, Z:0.72 [[-7.51021871e-01 6.60269565e-01 3.20178454e-03 2.11351194e+02] [-6.60261761e-01 -7.51028633e-01 3.22497241e-03 1.33474037e+02] [ 4.53398300e-03 3.08008914e-04 9.99989674e-01 7.21697545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.47, Z:0.72 [[-7.50758220e-01 6.60571486e-01 2.72153159e-03 2.11356608e+02] [-6.60565855e-01 -7.50763109e-01 2.73964390e-03 1.33472787e+02] [ 3.85295616e-03 2.59059338e-04 9.99992544e-01 7.21408443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.47, Z:0.72 [[-7.50072856e-01 6.61349736e-01 2.69039292e-03 2.11356936e+02] [-6.61344244e-01 -7.50077639e-01 2.70671016e-03 1.33469601e+02] [ 3.80808561e-03 2.50953949e-04 9.99992718e-01 7.21046886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.45, Z:0.72 [[-7.49202018e-01 6.62337046e-01 2.44409572e-03 2.11345251e+02] [-6.62332524e-01 -7.49205972e-01 2.45747877e-03 1.33454930e+02] [ 3.45881033e-03 2.22343967e-04 9.99993994e-01 7.20776779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.45, Z:0.72 [[-7.48249812e-01 6.63413360e-01 2.22109725e-03 2.11341979e+02] [-6.63409634e-01 -7.48253083e-01 2.23194448e-03 1.33449673e+02] [ 3.14264465e-03 1.96554722e-04 9.99995043e-01 7.20934179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.43, Z:0.72 [[-7.45571081e-01 6.66424435e-01 1.49522037e-03 2.11330375e+02] [-6.66422755e-01 -7.45572570e-01 1.50165683e-03 1.33434059e+02] [ 2.11553610e-03 1.23143027e-04 9.99997755e-01 7.22081761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.42, Z:0.72 [[-7.43978458e-01 6.68201582e-01 1.64294508e-03 2.11323210e+02] [-6.68199560e-01 -7.43980261e-01 1.64901845e-03 1.33423326e+02] [ 2.32419545e-03 1.29019019e-04 9.99997291e-01 7.22460579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.40, Z:0.72 [[-7.42366941e-01 6.69990994e-01 1.84195026e-03 2.11308114e+02] [-6.69988460e-01 -7.42369214e-01 1.84762863e-03 1.33404160e+02] [ 2.60530170e-03 1.37532995e-04 9.99996597e-01 7.22426178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.40, Z:0.72 [[-7.40905023e-01 6.71606491e-01 2.11354346e-03 2.11308670e+02] [-6.71603166e-01 -7.40908023e-01 2.11875309e-03 1.33399788e+02] [ 2.98890964e-03 1.50332325e-04 9.99995522e-01 7.22244245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.39, Z:0.72 [[-7.39046964e-01 6.73651154e-01 1.92568004e-03 2.11303995e+02] [-6.73648403e-01 -7.39049462e-01 1.92925378e-03 1.33385904e+02] [ 2.72281682e-03 1.28577864e-04 9.99996285e-01 7.22807345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.38, Z:0.72 [[-7.38458535e-01 6.74296966e-01 1.61058195e-03 2.11297759e+02] [-6.74295046e-01 -7.38460284e-01 1.61259332e-03 1.33375497e+02] [ 2.27671758e-03 1.04825869e-04 9.99997403e-01 7.23018536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.35, Z:0.72 [[-7.37516788e-01 6.75327944e-01 1.07450122e-03 2.11279448e+02] [-6.75327092e-01 -7.37517568e-01 1.07520550e-03 1.33353397e+02] [ 1.51857985e-03 6.73423256e-05 9.99998845e-01 7.23438274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.35, Z:0.72 [[-7.33749521e-01 6.79420052e-01 -1.83057502e-04 2.11283664e+02] [-6.79420027e-01 -7.33749544e-01 -1.82953020e-04 1.33352420e+02] [-2.58620309e-04 -9.86875815e-06 9.99999967e-01 7.24603096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.34, Z:0.72 [[-7.31479218e-01 6.81863423e-01 -6.52397497e-04 2.11269633e+02] [-6.81863112e-01 -7.31479508e-01 -6.51855224e-04 1.33336203e+02] [-9.21691635e-04 -3.19727620e-05 9.99999575e-01 7.24828786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.32, Z:0.72 [[-7.29132536e-01 6.84371968e-01 -8.68410611e-04 2.11260324e+02] [-6.84371420e-01 -7.29133052e-01 -8.67168290e-04 1.33324992e+02] [-1.22665255e-03 -3.79652120e-05 9.99999247e-01 7.24860472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.29, Z:0.72 [[-7.24737190e-01 6.89023565e-01 -1.59120247e-03 2.11232732e+02] [-6.89021738e-01 -7.24738935e-01 -1.58797966e-03 1.33294309e+02] [-2.24736179e-03 -5.44948271e-05 9.99997473e-01 7.24843310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.30, Z:0.73 [[-7.23022141e-01 6.90822317e-01 -1.87340898e-03 2.11244241e+02] [-6.90819793e-01 -7.23024566e-01 -1.86841783e-03 1.33304316e+02] [-2.64526545e-03 -5.67194581e-05 9.99996500e-01 7.25069008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.30, Z:0.73 [[-7.21694401e-01 6.92209403e-01 -1.82625088e-03 2.11236844e+02] [-6.92207011e-01 -7.21696710e-01 -1.82020442e-03 1.33295684e+02] [-2.57796187e-03 -4.94876723e-05 9.99996676e-01 7.25458282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.28, Z:0.73 [[-7.20619855e-01 6.93329324e-01 -1.21372204e-03 2.11225997e+02] [-6.93328271e-01 -7.20620876e-01 -1.20888221e-03 1.33283954e+02] [-1.71278692e-03 -2.96367168e-05 9.99998533e-01 7.25346226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.27, Z:0.72 [[-7.18747434e-01 6.95270583e-01 9.71041581e-04 2.11213874e+02] [-6.95269911e-01 -7.18748089e-01 9.66709749e-04 1.33270452e+02] [ 1.37005913e-03 1.96841571e-05 9.99999061e-01 7.24833032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.26, Z:0.72 [[-7.18366364e-01 6.95663276e-01 1.54043396e-03 2.11200716e+02] [-6.95661589e-01 -7.18368015e-01 1.53248660e-03 1.33255924e+02] [ 2.17269313e-03 2.92660912e-05 9.99997639e-01 7.24487545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.761400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.20, Y:133.26, Z:0.72 [[-7.18039471e-01 6.96000419e-01 1.65374815e-03 2.11202538e+02] [-6.95998477e-01 -7.18041375e-01 1.64411146e-03 1.33255999e+02] [ 2.33176186e-03 2.95307260e-05 9.99997281e-01 7.24249347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.791400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.20, Y:133.25, Z:0.72 [[-7.18271433e-01 6.95761030e-01 1.65429616e-03 2.11200873e+02] [-6.95759090e-01 -7.18273338e-01 1.64356004e-03 1.33254238e+02] [ 2.33176185e-03 2.95306338e-05 9.99997281e-01 7.24249881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.20, Y:133.25, Z:0.72 [[-7.18104539e-01 6.95934341e-01 1.12412399e-03 2.11201394e+02] [-6.95933446e-01 -7.18105419e-01 1.11611659e-03 1.33253581e+02] [ 1.58398340e-03 1.91729072e-05 9.99998745e-01 7.24445075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.25, Z:0.72 [[-7.18002770e-01 6.96040188e-01 -2.80358601e-04 2.11200263e+02] [-6.96040133e-01 -7.18002825e-01 -2.78051896e-04 1.33248450e+02] [-3.94833561e-04 -4.50119376e-06 9.99999922e-01 7.24543758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.20, Y:133.24, Z:0.72 [[-7.18417324e-01 6.95612351e-01 -8.26971191e-05 2.11197703e+02] [-6.95612346e-01 -7.18417328e-01 -8.18916410e-05 1.33241198e+02] [-1.16375880e-04 -1.30723652e-06 9.99999993e-01 7.24667402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.24, Z:0.72 [[-7.19698453e-01 6.94286384e-01 7.43718077e-04 2.11201590e+02] [-6.94285993e-01 -7.19698837e-01 7.36977627e-04 1.33236016e+02] [ 1.04692657e-03 1.40486138e-05 9.99999452e-01 7.24086051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.941400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.20, Y:133.23, Z:0.72 [[-7.20221507e-01 6.93742736e-01 1.41326568e-03 2.11201604e+02] [-6.93741325e-01 -7.20222893e-01 1.39943201e-03 1.33231692e+02] [ 1.98871209e-03 2.74602278e-05 9.99998022e-01 7.23824340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.23, Z:0.72 [[-7.20848927e-01 6.93090319e-01 1.62295983e-03 2.11208351e+02] [-6.93088459e-01 -7.20850753e-01 1.60598839e-03 1.33234186e+02] [ 2.28300682e-03 3.28202840e-05 9.99997393e-01 7.23981812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.23, Z:0.72 [[-7.21445383e-01 6.92469406e-01 1.63772592e-03 2.11206010e+02] [-6.92467513e-01 -7.21447241e-01 1.61952130e-03 1.33226789e+02] [ 2.30300180e-03 3.43241722e-05 9.99997348e-01 7.23862587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.20, Y:133.22, Z:0.72 [[-7.21764880e-01 6.92136155e-01 1.73240647e-03 2.11203713e+02] [-6.92134038e-01 -7.21766958e-01 1.71200137e-03 1.33218452e+02] [ 2.43533179e-03 3.66049761e-05 9.99997034e-01 7.23903292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.061400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.20, Y:133.20, Z:0.72 [[-7.21626384e-01 6.92278112e-01 2.52542131e-03 2.11198587e+02] [-6.92273622e-01 -7.21630801e-01 2.49395725e-03 1.33204142e+02] [ 3.54893382e-03 5.14227951e-05 9.99993701e-01 7.23470194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.20, Z:0.72 [[-7.21327869e-01 6.92587510e-01 2.94050484e-03 2.11199772e+02] [-6.92581433e-01 -7.21333860e-01 2.90190023e-03 1.33202883e+02] [ 4.13090556e-03 5.66824583e-05 9.99991466e-01 7.23116407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.21, Z:0.72 [[-7.20507272e-01 6.93440784e-01 3.02491770e-03 2.11206155e+02] [-6.93434369e-01 -7.20513620e-01 2.98320158e-03 1.33206051e+02] [ 4.24816804e-03 5.18365358e-05 9.99990975e-01 7.23131027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.151400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.20, Y:133.19, Z:0.72 [[-7.18955761e-01 6.95052467e-01 2.16380603e-03 2.11195492e+02] [-6.95049196e-01 -7.18959016e-01 2.13256032e-03 1.33188256e+02] [ 3.03792917e-03 2.92648859e-05 9.99995385e-01 7.24069511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.18, Z:0.72 [[-7.19189841e-01 6.94812066e-01 1.47152250e-03 2.11192583e+02] [-6.94810555e-01 -7.19191346e-01 1.44932507e-03 1.33182137e+02] [ 2.06531479e-03 1.99105022e-05 9.99997867e-01 7.23750960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.17, Z:0.72 [[-7.19696882e-01 6.94287525e-01 1.10949310e-03 2.11181143e+02] [-6.94286666e-01 -7.19697737e-01 1.09203814e-03 1.33167676e+02] [ 1.55668813e-03 1.56301813e-05 9.99998788e-01 7.23703620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.18, Z:0.72 [[-7.20100624e-01 6.93869049e-01 9.13346668e-04 2.11197282e+02] [-6.93868468e-01 -7.20101203e-01 8.98384568e-04 1.33180161e+02] [ 1.28106328e-03 1.31848352e-05 9.99999179e-01 7.23497399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.271400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.19, Y:133.16, Z:0.72 [[-7.19599753e-01 6.94388453e-01 9.33764919e-04 2.11187224e+02] [-6.94387846e-01 -7.19600359e-01 9.17843335e-04 1.33164498e+02] [ 1.30927738e-03 1.20848260e-05 9.99999143e-01 7.22921871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.16, Z:0.72 [[-7.19258928e-01 6.94741342e-01 1.03022331e-03 2.11186810e+02] [-6.94740605e-01 -7.19259666e-01 1.01195756e-03 1.33163298e+02] [ 1.44404683e-03 1.21215457e-05 9.99998957e-01 7.22873613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.16, Z:0.72 [[-7.18787791e-01 6.95227982e-01 1.47139981e-03 2.11179260e+02] [-6.95226482e-01 -7.18789296e-01 1.44428264e-03 1.33156492e+02] [ 2.06173213e-03 1.51766152e-05 9.99997875e-01 7.23221441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.16, Z:0.72 [[-7.16530402e-01 6.97554497e-01 1.38087273e-03 2.11178240e+02] [-6.97553181e-01 -7.16531733e-01 1.35450383e-03 1.33158136e+02] [ 1.93427937e-03 7.31100867e-06 9.99998129e-01 7.23713797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.14, Z:0.72 [[-7.14761129e-01 6.99368131e-01 8.63759351e-04 2.11162626e+02] [-6.99367618e-01 -7.14761651e-01 8.46721515e-04 1.33143366e+02] [ 1.20955210e-03 1.11830634e-06 9.99999269e-01 7.24236599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.14, Z:0.72 [[-7.12637268e-01 7.01532631e-01 3.04591694e-04 2.11157305e+02] [-7.01532567e-01 -7.12637333e-01 2.98443600e-04 1.33138420e+02] [ 4.26431337e-04 -9.98961048e-07 9.99999909e-01 7.24110059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:133.13, Z:0.72 [[-7.08748317e-01 7.05461386e-01 2.34123660e-04 2.11150382e+02] [-7.05461349e-01 -7.08748356e-01 2.29262635e-04 1.33131902e+02] [ 3.27670696e-04 -2.67568621e-06 9.99999946e-01 7.24230258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.11, Z:0.72 [[-7.07507830e-01 7.06705345e-01 4.75868623e-04 2.11127414e+02] [-7.06705191e-01 -7.07507990e-01 4.65555113e-04 1.33108695e+02] [ 6.65691140e-04 -6.91493927e-06 9.99999778e-01 7.24072185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.511400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.12, Y:133.10, Z:0.72 [[-7.06629197e-01 7.07583419e-01 9.39832081e-04 2.11123702e+02] [-7.07582822e-01 -7.06629822e-01 9.18707692e-04 1.33103662e+02] [ 1.31417571e-03 -1.58233575e-05 9.99999136e-01 7.23713371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:133.11, Z:0.72 [[-7.06345670e-01 7.07866656e-01 7.69439103e-04 2.11135959e+02] [-7.07866257e-01 -7.06346089e-01 7.51630224e-04 1.33114339e+02] [ 1.07554427e-03 -1.37492241e-05 9.99999422e-01 7.23800838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.10, Z:0.72 [[-7.06036819e-01 7.08174750e-01 7.30201109e-04 2.11126733e+02] [-7.08174391e-01 -7.06037197e-01 7.12801161e-04 1.33101655e+02] [ 1.02033693e-03 -1.38458614e-05 9.99999479e-01 7.24961496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.10, Z:0.73 [[-7.06243038e-01 7.07968908e-01 8.93297500e-04 2.11126244e+02] [-7.07968371e-01 -7.06243602e-01 8.71368848e-04 1.33099215e+02] [ 1.24778770e-03 -1.70281944e-05 9.99999221e-01 7.25239934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.12, Y:133.09, Z:0.73 [[-7.06140530e-01 7.08070652e-01 1.22636505e-03 2.11118196e+02] [-7.08069643e-01 -7.06141594e-01 1.19536860e-03 1.33087588e+02] [ 1.71239279e-03 -2.42536487e-05 9.99998534e-01 7.25360419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.08, Z:0.73 [[-7.05976178e-01 7.08235578e-01 4.94509847e-05 2.11118368e+02] [-7.08235577e-01 -7.05976179e-01 4.82683948e-05 1.33076814e+02] [ 6.90966119e-05 -9.46609760e-07 9.99999998e-01 7.25661270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.07, Z:0.73 [[-7.05996688e-01 7.08215007e-01 -4.26123406e-04 2.11120503e+02] [-7.08214885e-01 -7.05996816e-01 -4.14614442e-04 1.33071697e+02] [-5.94477938e-04 9.07051678e-06 9.99999823e-01 7.25894975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.06, Z:0.73 [[-7.06082816e-01 7.08129209e-01 -2.83066598e-04 2.11113489e+02] [-7.08129155e-01 -7.06082873e-01 -2.75186639e-04 1.33058383e+02] [-3.94736173e-04 6.14315395e-06 9.99999922e-01 7.25802930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.06, Z:0.73 [[-7.05588353e-01 7.08621853e-01 3.80335306e-04 2.11123562e+02] [-7.08621757e-01 -7.05588456e-01 3.69730603e-04 1.33056270e+02] [ 5.30359386e-04 -8.63626557e-06 9.99999859e-01 7.25699176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.05, Z:0.73 [[-7.05644513e-01 7.08566028e-01 7.23128428e-05 2.11123597e+02] [-7.08566024e-01 -7.05644517e-01 7.03321218e-05 1.33049411e+02] [ 1.00862113e-04 -1.60894759e-06 9.99999995e-01 7.25660675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:133.01, Z:0.73 [[-7.05963561e-01 7.08247486e-01 9.74275857e-04 2.11093814e+02] [-7.08248134e-01 -7.05962530e-01 -1.21923733e-03 1.33014800e+02] [-1.75719523e-04 -1.55076618e-03 9.99998782e-01 7.25756573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.841400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.10, Y:133.00, Z:0.72 [[-7.07471795e-01 7.06740801e-01 -1.04811514e-03 2.11098997e+02] [-7.06741576e-01 -7.07470886e-01 1.13560340e-03 1.33003641e+02] [ 6.10663077e-05 1.54415392e-03 9.99998806e-01 7.24676795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.03, Z:0.72 [[-7.08203320e-01 7.06006591e-01 1.65838580e-03 2.11125724e+02] [-7.06004763e-01 -7.08205261e-01 1.60705169e-03 1.33025427e+02] [ 2.30906663e-03 -3.27089374e-05 9.99997334e-01 7.24570631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:133.02, Z:0.72 [[-7.09218316e-01 7.04981532e-01 3.22791883e-03 2.11123852e+02] [-7.04974605e-01 -7.09225660e-01 3.12563895e-03 1.33016804e+02] [ 4.49284060e-03 -5.88404027e-05 9.99989905e-01 7.23531378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:133.01, Z:0.72 [[-7.10532767e-01 7.03652304e-01 4.07717255e-03 2.11128887e+02] [-7.03641247e-01 -7.10544461e-01 3.94509056e-03 1.33014326e+02] [ 5.67298443e-03 -6.57506662e-05 9.99983906e-01 7.22926916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:133.02, Z:0.72 [[-7.14291560e-01 6.99841667e-01 3.03470510e-03 2.11141700e+02] [-6.99835516e-01 -7.14298006e-01 2.93429676e-03 1.33015248e+02] [ 4.22122693e-03 -2.78509993e-05 9.99991090e-01 7.23698628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:133.01, Z:0.72 [[-7.16509699e-01 6.97572810e-01 2.45473915e-03 2.11139723e+02] [-6.97568778e-01 -7.16513904e-01 2.37182836e-03 1.33009421e+02] [ 3.41337770e-03 -1.29113639e-05 9.99994174e-01 7.24021403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:133.01, Z:0.72 [[-7.18479339e-01 6.95544534e-01 2.28932969e-03 2.11146986e+02] [-6.95541022e-01 -7.18482986e-01 2.21042292e-03 1.33012250e+02] [ 3.18229202e-03 -4.17951252e-06 9.99994937e-01 7.23964009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:133.02, Z:0.72 [[-7.21602937e-01 6.92303098e-01 2.37100325e-03 2.11162302e+02] [-6.92299318e-01 -7.21606833e-01 2.28764744e-03 1.33016858e+02] [ 3.29467755e-03 9.32918125e-06 9.99994573e-01 7.22956876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.02, Z:0.72 [[-7.23299048e-01 6.90529864e-01 2.64470902e-03 2.11165529e+02] [-6.90525156e-01 -7.23303883e-01 2.54991556e-03 1.33015753e+02] [ 3.67372115e-03 1.81133938e-05 9.99993252e-01 7.22727002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.02, Z:0.72 [[-7.24951526e-01 6.88794149e-01 2.81154542e-03 2.11170139e+02] [-6.88788823e-01 -7.24956977e-01 2.70885607e-03 1.33016869e+02] [ 3.90409368e-03 2.72282829e-05 9.99992379e-01 7.22492403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:133.01, Z:0.72 [[-7.26778245e-01 6.86867258e-01 2.59865410e-03 2.11170143e+02] [-6.86862702e-01 -7.26782890e-01 2.50198768e-03 1.33014097e+02] [ 3.60719075e-03 3.34716340e-05 9.99993494e-01 7.23022308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.02, Z:0.72 [[-7.30148799e-01 6.83286549e-01 1.49095960e-03 2.11187518e+02] [-6.83285044e-01 -7.30150321e-01 1.43453423e-03 1.33023515e+02] [ 2.06882257e-03 2.86730529e-05 9.99997860e-01 7.24606045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:133.01, Z:0.72 [[-7.31809714e-01 6.81508102e-01 1.11766464e-03 2.11179796e+02] [-6.81507255e-01 -7.31810567e-01 1.07464100e-03 1.33012258e+02] [ 1.55029535e-03 2.47361611e-05 9.99998798e-01 7.24276832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.02, Z:0.72 [[-7.33510696e-01 6.79677075e-01 1.06439395e-03 2.11191158e+02] [-6.79676306e-01 -7.33511467e-01 1.02271480e-03 1.33020284e+02] [ 1.47586097e-03 2.67288920e-05 9.99998911e-01 7.23922853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.02, Z:0.72 [[-7.34916782e-01 6.78156162e-01 1.24231595e-03 2.11194178e+02] [-6.78155113e-01 -7.34917832e-01 1.19283167e-03 1.33020356e+02] [ 1.72192629e-03 3.41490962e-05 9.99998517e-01 7.23401173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.02, Z:0.72 [[-7.37486595e-01 6.75360441e-01 1.34016901e-03 2.11204405e+02] [-6.75359218e-01 -7.37487812e-01 1.28589747e-03 1.33022447e+02] [ 1.85680260e-03 4.32366495e-05 9.99998275e-01 7.23584793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.01, Z:0.72 [[-7.38899951e-01 6.73814076e-01 1.20564478e-03 2.11200277e+02] [-6.73813085e-01 -7.38900934e-01 1.15603752e-03 1.33013394e+02] [ 1.66980641e-03 4.18168380e-05 9.99998605e-01 7.23651775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.351400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.21, Y:133.02, Z:0.72 [[-7.41377380e-01 6.71087627e-01 9.88923739e-04 2.11214443e+02] [-6.71086959e-01 -7.41378038e-01 9.47601743e-04 1.33018252e+02] [ 1.36909015e-03 3.88766734e-05 9.99999062e-01 7.23402948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.01, Z:0.72 [[-7.42539990e-01 6.69801450e-01 6.16435674e-04 2.11214360e+02] [-6.69801191e-01 -7.42540246e-01 5.90309242e-04 1.33014805e+02] [ 8.53118283e-04 2.54388705e-05 9.99999636e-01 7.23504395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.02, Z:0.72 [[-7.43448182e-01 6.68793417e-01 4.06363791e-04 2.11221719e+02] [-6.68793305e-01 -7.43448293e-01 3.88906685e-04 1.33017583e+02] [ 5.62208698e-04 1.73585852e-05 9.99999842e-01 7.23734662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.02, Z:0.72 [[-7.44117471e-01 6.68048539e-01 5.82572554e-04 2.11225787e+02] [-6.68048307e-01 -7.44117698e-01 5.57132081e-04 1.33017375e+02] [ 8.05693821e-04 2.53851065e-05 9.99999675e-01 7.23582690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.99, Z:0.72 [[-7.44641906e-01 6.67462166e-01 1.63962049e-03 2.11205912e+02] [-6.67460331e-01 -7.44643708e-01 1.56679982e-03 1.32993739e+02] [ 2.26671269e-03 7.23231729e-05 9.99997428e-01 7.22511551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.00, Z:0.72 [[-7.44642906e-01 6.67460963e-01 1.67515231e-03 2.11218095e+02] [-6.67459050e-01 -7.44644786e-01 1.59966212e-03 1.33004945e+02] [ 2.31510545e-03 7.30814817e-05 9.99997318e-01 7.22287481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.00, Z:0.72 [[-7.44403212e-01 6.67728780e-01 1.46081794e-03 2.11218549e+02] [-6.67727327e-01 -7.44404643e-01 1.39405408e-03 1.33004815e+02] [ 2.01828969e-03 6.23102811e-05 9.99997961e-01 7.22067689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.00, Z:0.72 [[-7.44382534e-01 6.67752062e-01 1.35171571e-03 2.11213368e+02] [-6.67750820e-01 -7.44383759e-01 1.28907183e-03 1.32998893e+02] [ 1.86697559e-03 5.69532772e-05 9.99998256e-01 7.22346696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.99, Z:0.72 [[-7.44684794e-01 6.67415389e-01 1.12063122e-03 2.11202261e+02] [-6.67414537e-01 -7.44685636e-01 1.06798415e-03 1.32985318e+02] [ 1.54730703e-03 4.73859895e-05 9.99998802e-01 7.22903860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.99, Z:0.72 [[-7.45506440e-01 6.66497857e-01 8.69428175e-04 2.11206704e+02] [-6.66497343e-01 -7.45506946e-01 8.28036565e-04 1.32988025e+02] [ 1.20004934e-03 3.78350232e-05 9.99999279e-01 7.22968571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.99, Z:0.72 [[-7.46593164e-01 6.65280643e-01 5.59741160e-04 2.11205648e+02] [-6.65280430e-01 -7.46593374e-01 5.32760765e-04 1.32985269e+02] [ 7.72334466e-04 2.53707059e-05 9.99999701e-01 7.23305396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.00, Z:0.72 [[-7.49826083e-01 6.61634960e-01 1.58080117e-04 2.11225142e+02] [-6.61634943e-01 -7.49826100e-01 1.50420307e-04 1.32999255e+02] [ 2.18055931e-04 8.19774038e-06 9.99999976e-01 7.22686344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.00, Z:0.72 [[-7.50047452e-01 6.61383999e-01 1.58130793e-04 2.11223391e+02] [-6.61383982e-01 -7.50047469e-01 1.50367017e-04 1.32997487e+02] [ 2.18055940e-04 8.19722410e-06 9.99999976e-01 7.22686809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:132.99, Z:0.72 [[-7.51974725e-01 6.59191755e-01 4.93321473e-04 2.11220952e+02] [-6.59191589e-01 -7.51974886e-01 4.68605756e-04 1.32993654e+02] [ 6.79866409e-04 2.71863187e-05 9.99999769e-01 7.22342355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.00, Z:0.72 [[-7.53680098e-01 6.57239725e-01 1.50130121e-03 2.11223506e+02] [-6.57238186e-01 -7.53681589e-01 1.42495607e-03 1.32995413e+02] [ 2.06804081e-03 8.72485501e-05 9.99997858e-01 7.22331388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.00, Z:0.72 [[-7.55399776e-01 6.55254830e-01 3.50515842e-03 2.11232116e+02] [-6.55246431e-01 -7.55407878e-01 3.32458358e-03 1.33001785e+02] [ 4.82627374e-03 2.14647150e-04 9.99988330e-01 7.21821907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.00, Z:0.72 [[-7.55700894e-01 6.54908556e-01 3.30795700e-03 2.11228225e+02] [-6.54901081e-01 -7.55708107e-01 3.13546369e-03 1.32996599e+02] [ 4.55329192e-03 2.03088096e-04 9.99989613e-01 7.21862512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:132.99, Z:0.72 [[-7.55661344e-01 6.54958847e-01 2.20072497e-03 2.11221973e+02] [-6.54955543e-01 -7.55664536e-01 2.08460758e-03 1.32990023e+02] [ 3.02834199e-03 1.33880349e-04 9.99995406e-01 7.21762783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:132.98, Z:0.72 [[-7.55320165e-01 6.55355441e-01 8.33979251e-04 2.11215340e+02] [-6.55354967e-01 -7.55320623e-01 7.89500569e-04 1.32984514e+02] [ 1.14732522e-03 4.97732552e-05 9.99999341e-01 7.22539149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:132.99, Z:0.72 [[-7.54254665e-01 6.56581914e-01 3.01281326e-04 2.11219142e+02] [-6.56581852e-01 -7.54254725e-01 2.85076797e-04 1.32993238e+02] [ 4.14419133e-04 1.72046529e-05 9.99999914e-01 7.23403118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:132.99, Z:0.72 [[-7.53702237e-01 6.57214920e-01 1.21911087e-03 2.11216005e+02] [-6.57213913e-01 -7.53703220e-01 1.15251491e-03 1.32992841e+02] [ 1.67629778e-03 6.74364406e-05 9.99998593e-01 7.23024498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.98, Z:0.72 [[-7.53193492e-01 6.57795441e-01 2.17286893e-03 2.11200326e+02] [-6.57792248e-01 -7.53196617e-01 2.05273285e-03 1.32980621e+02] [ 2.98687584e-03 1.16808689e-04 9.99995532e-01 7.22587755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.98, Z:0.72 [[-7.52939111e-01 6.58085749e-01 2.41707912e-03 2.11200946e+02] [-6.58081805e-01 -7.52942980e-01 2.28189853e-03 1.32984288e+02] [ 3.32160766e-03 1.27494862e-04 9.99994475e-01 7.21831354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:132.98, Z:0.72 [[-7.53617228e-01 6.57310490e-01 1.99853497e-03 2.11192317e+02] [-6.57307794e-01 -7.53619870e-01 1.88551065e-03 1.32983651e+02] [ 2.74550160e-03 1.07300696e-04 9.99996225e-01 7.21145501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.00, Z:0.72 [[-7.55011809e-01 6.55708167e-01 1.99210823e-03 2.11208929e+02] [-6.55705487e-01 -7.55014428e-01 1.87819469e-03 1.33002348e+02] [ 2.73561806e-03 1.11822873e-04 9.99996252e-01 7.21137899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.00, Z:0.72 [[-7.57097849e-01 6.53295895e-01 2.70581294e-03 2.11200963e+02] [-6.53290941e-01 -7.57102667e-01 2.54936854e-03 1.32996921e+02] [ 3.71407019e-03 1.62438354e-04 9.99993090e-01 7.21530820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.01, Z:0.72 [[-7.62068509e-01 6.47488330e-01 3.23259920e-03 2.11215261e+02] [-6.47481216e-01 -7.62075332e-01 3.04367425e-03 1.33012132e+02] [ 4.43422767e-03 2.26441037e-04 9.99990143e-01 7.21140081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.02, Z:0.72 [[-7.64698098e-01 6.44382794e-01 2.76276065e-03 2.11220099e+02] [-6.44377584e-01 -7.64703061e-01 2.59960977e-03 1.33016892e+02] [ 3.78783533e-03 2.07655615e-04 9.99992805e-01 7.21092740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.02, Z:0.72 [[-7.67136583e-01 6.41480250e-01 2.13358967e-03 2.11226782e+02] [-6.41477135e-01 -7.67139531e-01 2.00631145e-03 1.33023821e+02] [ 2.92377015e-03 1.70465918e-04 9.99995711e-01 7.21379946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.04, Z:0.72 [[-7.70742261e-01 6.37147009e-01 2.38159370e-04 2.11242997e+02] [-6.37146970e-01 -7.70742297e-01 2.23880557e-04 1.33038807e+02] [ 3.26204327e-04 2.08116856e-05 9.99999947e-01 7.21282341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.04, Z:0.72 [[-7.72036031e-01 6.35578719e-01 -2.41448972e-04 2.11241980e+02] [-6.35578679e-01 -7.72036069e-01 -2.26666064e-04 1.33036722e+02] [-3.30471441e-04 -2.15345496e-05 9.99999945e-01 7.20998121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.04, Z:0.72 [[-7.72767860e-01 6.34688750e-01 -1.60217350e-04 2.11251547e+02] [-6.34688732e-01 -7.72767876e-01 -1.50286001e-04 1.33044036e+02] [-2.19195656e-04 -1.44480446e-05 9.99999976e-01 7.20998818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.03, Z:0.72 [[-7.72836535e-01 6.34605108e-01 2.15597597e-04 2.11243500e+02] [-6.34605076e-01 -7.72836565e-01 2.02293133e-04 1.33034727e+02] [ 2.94997963e-04 1.95201945e-05 9.99999956e-01 7.20842602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.03, Z:0.72 [[-7.72576141e-01 6.34922034e-01 3.41765602e-04 2.11240658e+02] [-6.34921954e-01 -7.72576216e-01 3.20425514e-04 1.33030798e+02] [ 4.67485195e-04 3.05586233e-05 9.99999890e-01 7.20868658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.03, Z:0.72 [[-7.72200788e-01 6.35378506e-01 3.10614024e-04 2.11235824e+02] [-6.35378440e-01 -7.72200850e-01 2.91041422e-04 1.33025293e+02] [ 4.24777877e-04 2.73849617e-05 9.99999909e-01 7.21292434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.02, Z:0.72 [[-7.71743574e-01 6.35933728e-01 3.87941140e-04 2.11229202e+02] [-6.35933625e-01 -7.71743671e-01 3.63244351e-04 1.33018283e+02] [ 5.30390453e-04 3.36266785e-05 9.99999859e-01 7.21820797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.02, Z:0.72 [[-7.70986814e-01 6.36850867e-01 5.53280098e-04 2.11231512e+02] [-6.36850658e-01 -7.70987011e-01 5.17692529e-04 1.33019008e+02] [ 7.56264705e-04 4.67773190e-05 9.99999713e-01 7.22402553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.01, Z:0.72 [[-7.70994756e-01 6.36841149e-01 6.61564467e-04 2.11220638e+02] [-6.36840851e-01 -7.70995038e-01 6.18600054e-04 1.33008321e+02] [ 9.04012890e-04 5.56261196e-05 9.99999590e-01 7.21820969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.01, Z:0.72 [[-7.70885427e-01 6.36973515e-01 6.31757818e-04 2.11220438e+02] [-6.36973244e-01 -7.70885684e-01 5.90353681e-04 1.33007982e+02] [ 8.63052717e-04 5.26822228e-05 9.99999626e-01 7.21413675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.99, Z:0.72 [[-7.70890294e-01 6.36966820e-01 1.19399387e-03 2.11205359e+02] [-6.36965852e-01 -7.70891212e-01 1.11495016e-03 1.32994688e+02] [ 1.63062563e-03 9.89709359e-05 9.99998666e-01 7.21484485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.01, Z:0.72 [[-7.71156993e-01 6.36641970e-01 1.97357721e-03 2.11220041e+02] [-6.36639327e-01 -7.71159501e-01 1.84168335e-03 1.33008384e+02] [ 2.69443573e-03 1.63770128e-04 9.99996357e-01 7.21696737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.00, Z:0.72 [[-7.71462841e-01 6.36269848e-01 2.40093390e-03 2.11206330e+02] [-6.36265940e-01 -7.71466552e-01 2.23902084e-03 1.32995153e+02] [ 3.27686165e-03 1.99688912e-04 9.99994611e-01 7.21886994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:132.93, Z:0.72 [[-7.71604807e-01 6.36093372e-01 3.35334278e-03 2.11137598e+02] [-6.36093338e-01 -7.71611166e-01 1.21406101e-03 1.32932260e+02] [ 3.35973289e-03 -1.19626369e-03 9.99993641e-01 7.21874748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.01, Z:0.72 [[-7.72109766e-01 6.35489188e-01 3.37872065e-05 2.11227804e+02] [-6.35487897e-01 -7.72108303e-01 1.97508405e-03 1.33012737e+02] [ 1.28123194e-03 1.50351032e-03 9.99998049e-01 7.22267850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.00, Z:0.72 [[-7.72563532e-01 6.34937034e-01 7.42421006e-04 2.11214527e+02] [-6.34936660e-01 -7.72563887e-01 6.91626375e-04 1.33002193e+02] [ 1.01270686e-03 6.29350013e-05 9.99999485e-01 7.22740209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.01, Z:0.72 [[-7.73305959e-01 6.34032846e-01 4.94629470e-04 2.11221012e+02] [-6.34032680e-01 -7.73306116e-01 4.60522062e-04 1.33008282e+02] [ 6.74486108e-04 4.25132062e-05 9.99999772e-01 7.22875180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.00, Z:0.72 [[-7.75484984e-01 6.31365573e-01 7.43621697e-04 2.11217114e+02] [-6.31365198e-01 -7.75485337e-01 6.91860831e-04 1.33003443e+02] [ 1.01348483e-03 6.70308251e-05 9.99999484e-01 7.22578380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.01, Z:0.72 [[-7.77062094e-01 6.29423220e-01 9.55482555e-04 2.11225092e+02] [-6.29422599e-01 -7.77062676e-01 8.88385470e-04 1.33010361e+02] [ 1.30164027e-03 8.89283601e-05 9.99999149e-01 7.22156075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.01, Z:0.72 [[-7.78689880e-01 6.27408287e-01 9.55510358e-04 2.11229411e+02] [-6.27407665e-01 -7.78690461e-01 8.87849619e-04 1.33013489e+02] [ 1.30109101e-03 9.18649902e-05 9.99999149e-01 7.21935556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.02, Z:0.72 [[-7.80273509e-01 6.25437638e-01 1.00606140e-03 2.11237064e+02] [-6.25436948e-01 -7.80274151e-01 9.34229047e-04 1.33018780e+02] [ 1.36930572e-03 9.97262018e-05 9.99999058e-01 7.21665960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.01, Z:0.72 [[-7.82887208e-01 6.22158092e-01 2.63200730e-03 2.11233979e+02] [-6.22153358e-01 -7.82891585e-01 2.44241695e-03 1.33012880e+02] [ 3.58014583e-03 2.74624803e-04 9.99993554e-01 7.21619749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.02, Z:0.72 [[-7.83863041e-01 6.20923781e-01 3.52009580e-03 2.11241107e+02] [-6.20915312e-01 -7.83870856e-01 3.26446430e-03 1.33019118e+02] [ 4.78628403e-03 3.73211527e-04 9.99988476e-01 7.21422137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.02, Z:0.72 [[-7.84592352e-01 6.20000750e-01 3.72988902e-03 2.11241618e+02] [-6.19991242e-01 -7.84601116e-01 3.45686392e-03 1.33019306e+02] [ 5.06973331e-03 3.99730465e-04 9.99987069e-01 7.21448621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.00, Z:0.72 [[-7.85394222e-01 6.18991246e-01 2.39862804e-03 2.11227498e+02] [-6.18987314e-01 -7.85397841e-01 2.22168969e-03 1.33002567e+02] [ 3.25908376e-03 2.60181917e-04 9.99994655e-01 7.21436654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.01, Z:0.72 [[-7.85927085e-01 6.18318138e-01 1.13879704e-03 2.11241041e+02] [-6.18317252e-01 -7.85927901e-01 1.05417570e-03 1.33012755e+02] [ 1.54682832e-03 1.24367379e-04 9.99998796e-01 7.21394666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.01, Z:0.72 [[-7.86625655e-01 6.17430218e-01 6.96972197e-05 2.11243279e+02] [-6.17430214e-01 -7.86625658e-01 6.45551128e-05 1.33012959e+02] [ 9.46838988e-05 7.74753860e-06 9.99999996e-01 7.21292596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.02, Z:0.72 [[-7.87452652e-01 6.16375110e-01 -2.12718012e-04 2.11250760e+02] [-6.16375079e-01 -7.87452680e-01 -1.96570433e-04 1.33018328e+02] [-2.88666491e-04 -2.36758279e-05 9.99999958e-01 7.21779320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.01, Z:0.72 [[-7.88904876e-01 6.14514894e-01 7.35730261e-04 2.11250022e+02] [-6.14514524e-01 -7.88905215e-01 6.79824900e-04 1.33012236e+02] [ 9.98183966e-04 8.42002472e-05 9.99999498e-01 7.21746755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.01, Z:0.72 [[-7.89512780e-01 6.13732472e-01 1.42218751e-03 2.11249567e+02] [-6.13731089e-01 -7.89514044e-01 1.31323426e-03 1.33008378e+02] [ 1.92881153e-03 1.63974543e-04 9.99998126e-01 7.21285177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:132.99, Z:0.72 [[-7.90045991e-01 6.13045141e-01 1.72828309e-03 2.11230251e+02] [-6.13043099e-01 -7.90047856e-01 1.59487090e-03 1.32987955e+02] [ 2.34315421e-03 2.00509338e-04 9.99997235e-01 7.20618452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:132.99, Z:0.72 [[-7.90476762e-01 6.12486770e-01 2.53889317e-03 2.11240305e+02] [-6.12482366e-01 -7.90480784e-01 2.34140755e-03 1.32994684e+02] [ 3.44102741e-03 2.95800963e-04 9.99994036e-01 7.19929982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.00, Z:0.72 [[-7.90763243e-01 6.12113362e-01 3.27514194e-03 2.11253557e+02] [-6.12106038e-01 -7.90769933e-01 3.01849724e-03 1.33004835e+02] [ 4.43754626e-03 3.82182502e-04 9.99990081e-01 7.19789112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.00, Z:0.72 [[-7.90977949e-01 6.11832669e-01 3.82995700e-03 2.11249509e+02] [-6.11822663e-01 -7.90987095e-01 3.52765025e-03 1.32997850e+02] [ 5.18777823e-03 4.47039070e-04 9.99986443e-01 7.19666466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:132.98, Z:0.72 [[-7.91320999e-01 6.11389084e-01 3.80318096e-03 2.11237654e+02] [-6.11379223e-01 -7.91330013e-01 3.50081950e-03 1.32982968e+02] [ 5.14993406e-03 4.45086167e-04 9.99986640e-01 7.19347593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:132.98, Z:0.72 [[-7.91816790e-01 6.10753420e-01 2.53621102e-03 2.11242084e+02] [-6.10749036e-01 -7.91820795e-01 2.33315351e-03 1.32981120e+02] [ 3.43320611e-03 2.98441681e-04 9.99994062e-01 7.19159076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30140051300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.24, Y:132.97, Z:0.72 [[-7.91890190e-01 6.10659543e-01 2.20222890e-03 2.11238046e+02] [-6.10656241e-01 -7.91893210e-01 2.02466313e-03 1.32974946e+02] [ 2.98030998e-03 2.58506048e-04 9.99995525e-01 7.18971629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:132.97, Z:0.72 [[-7.91851456e-01 6.10708002e-01 2.64725544e-03 2.11239991e+02] [-6.10703237e-01 -7.91855820e-01 2.43227742e-03 1.32974302e+02] [ 3.58165591e-03 3.09314952e-04 9.99993538e-01 7.19104782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:132.97, Z:0.72 [[-7.91024315e-01 6.11774558e-01 3.52466291e-03 2.11240144e+02] [-6.11766130e-01 -7.91032065e-01 3.23639298e-03 1.32967122e+02] [ 4.76806427e-03 4.03796150e-04 9.99988551e-01 7.18498268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:132.96, Z:0.72 [[-7.90474822e-01 6.12485638e-01 3.30131747e-03 2.11238036e+02] [-6.12478260e-01 -7.90481628e-01 3.02943295e-03 1.32962973e+02] [ 4.46511498e-03 3.72705298e-04 9.99989962e-01 7.18241965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:132.95, Z:0.72 [[-7.89717822e-01 6.13462413e-01 3.10319559e-03 2.11228912e+02] [-6.13455909e-01 -7.89723844e-01 2.84585413e-03 1.32953715e+02] [ 4.19649209e-03 3.43748051e-04 9.99991136e-01 7.18412083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.451400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.22, Y:132.94, Z:0.72 [[-7.88506775e-01 6.15018323e-01 3.08671662e-03 2.11215312e+02] [-6.15011898e-01 -7.88512746e-01 2.83087234e-03 1.32940301e+02] [ 4.17495376e-03 3.33794575e-04 9.99991229e-01 7.17939009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.93, Z:0.72 [[-7.86688285e-01 6.17338709e-01 3.80267572e-03 2.11204998e+02] [-6.17328996e-01 -7.86697377e-01 3.48536434e-03 1.32928005e+02] [ 5.14320534e-03 3.94393311e-04 9.99986696e-01 7.18757108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:132.94, Z:0.72 [[-7.86064742e-01 6.18130853e-01 4.05834540e-03 2.11215934e+02] [-6.18119813e-01 -7.86075110e-01 3.71732820e-03 1.32936933e+02] [ 5.48795955e-03 4.13516934e-04 9.99984856e-01 7.18724763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.93, Z:0.72 [[-7.85430593e-01 6.18935716e-01 4.16686612e-03 2.11203068e+02] [-6.18924088e-01 -7.85441534e-01 3.81693708e-03 1.32925264e+02] [ 5.63526840e-03 4.18965339e-04 9.99984034e-01 7.18873903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.92, Z:0.72 [[-7.85119866e-01 6.19334807e-01 3.34566381e-03 2.11198194e+02] [-6.19327323e-01 -7.85126924e-01 3.06282625e-03 1.32918938e+02] [ 4.52368564e-03 3.32624725e-04 9.99989713e-01 7.19452600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.92, Z:0.72 [[-7.85317955e-01 6.19083604e-01 3.34664340e-03 2.11196401e+02] [-6.19076122e-01 -7.85325016e-01 3.06175584e-03 1.32917194e+02] [ 4.52368562e-03 3.32624819e-04 9.99989713e-01 7.19453090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.93, Z:0.72 [[-7.85753837e-01 6.18533355e-01 2.71954957e-03 2.11212785e+02] [-6.18528417e-01 -7.85758496e-01 2.48647293e-03 1.32929630e+02] [ 3.67487562e-03 2.71636956e-04 9.99993211e-01 7.19658593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.661400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.21, Y:132.92, Z:0.72 [[-7.86140750e-01 6.18043043e-01 2.34918858e-03 2.11206331e+02] [-6.18039357e-01 -7.86144224e-01 2.14762137e-03 1.32921806e+02] [ 3.17412348e-03 2.36441677e-04 9.99994935e-01 7.19297698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.92, Z:0.72 [[-7.86935655e-01 6.17031233e-01 2.17538095e-03 2.11202508e+02] [-6.17028072e-01 -7.86938630e-01 1.98753346e-03 1.32918733e+02] [ 2.93826153e-03 2.21789833e-04 9.99995659e-01 7.19265338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:132.93, Z:0.72 [[-7.88185575e-01 6.15433413e-01 2.28350752e-03 2.11215247e+02] [-6.15429927e-01 -7.88188847e-01 2.08499606e-03 1.32931370e+02] [ 3.08301140e-03 2.38024946e-04 9.99995219e-01 7.19383706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.92, Z:0.72 [[-7.88689300e-01 6.14788112e-01 2.18305464e-03 2.11202077e+02] [-6.14784923e-01 -7.88692287e-01 1.99349100e-03 1.32918521e+02] [ 2.94733292e-03 2.30135938e-04 9.99995630e-01 7.19575862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.93, Z:0.72 [[-7.89338705e-01 6.13954897e-01 1.94752052e-03 2.11212575e+02] [-6.13952359e-01 -7.89341081e-01 1.77738227e-03 1.32926737e+02] [ 2.62849049e-03 2.07271802e-04 9.99996524e-01 7.20197089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.92, Z:0.72 [[-7.89592131e-01 6.13629729e-01 1.67964312e-03 2.11206729e+02] [-6.13627843e-01 -7.89593898e-01 1.53206040e-03 1.32920891e+02] [ 2.26635377e-03 1.79027048e-04 9.99997416e-01 7.20751124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.92, Z:0.72 [[-7.89319229e-01 6.13980655e-01 1.70573497e-03 2.11209391e+02] [-6.13978713e-01 -7.89321052e-01 1.55488418e-03 1.32923788e+02] [ 2.30104133e-03 1.80015019e-04 9.99997336e-01 7.20557388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.92, Z:0.72 [[-7.88392250e-01 6.15169913e-01 1.90730665e-03 2.11201860e+02] [-6.15167488e-01 -7.88394533e-01 1.73840957e-03 1.32917078e+02] [ 2.57312740e-03 1.97235588e-04 9.99996670e-01 7.20121790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:132.91, Z:0.72 [[-7.86823042e-01 6.17175540e-01 1.96299986e-03 2.11193619e+02] [-6.17172977e-01 -7.86825466e-01 1.78929235e-03 1.32909154e+02] [ 2.64884576e-03 1.96345982e-04 9.99996473e-01 7.19939093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:132.91, Z:0.72 [[-7.83070972e-01 6.21931534e-01 1.00958233e-03 2.11187852e+02] [-6.21930861e-01 -7.83071618e-01 9.19743188e-04 1.32905921e+02] [ 1.36259256e-03 9.23337829e-05 9.99999067e-01 7.19763590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:132.90, Z:0.72 [[-7.81056362e-01 6.24460492e-01 2.29710260e-04 2.11178225e+02] [-6.24460457e-01 -7.81056396e-01 2.09243767e-04 1.32899791e+02] [ 3.10081134e-04 1.99862019e-05 9.99999952e-01 7.19645202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:132.89, Z:0.72 [[-7.79148168e-01 6.26839748e-01 -2.48752780e-04 2.11164202e+02] [-6.26839708e-01 -7.79148208e-01 -2.26607241e-04 1.32890287e+02] [-3.35861708e-04 -2.06324970e-05 9.99999943e-01 7.19765885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.88, Z:0.72 [[-7.77619505e-01 6.28735157e-01 -9.25921638e-05 2.11153662e+02] [-6.28735151e-01 -7.77619510e-01 -8.42040798e-05 1.32883887e+02] [-1.24943538e-04 -7.26278670e-06 9.99999992e-01 7.19663526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05140051300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.15, Y:132.88, Z:0.72 [[-7.75060066e-01 6.31887078e-01 7.83790568e-04 2.11145560e+02] [-6.31886678e-01 -7.75060460e-01 7.13128585e-04 1.32883142e+02] [ 1.05810182e-03 5.74506699e-05 9.99999439e-01 7.19137995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:132.88, Z:0.72 [[-7.74705565e-01 6.32321969e-01 4.63708114e-04 2.11137784e+02] [-6.32321830e-01 -7.74705703e-01 4.21660091e-04 1.32880523e+02] [ 6.25862259e-04 3.34496558e-05 9.99999804e-01 7.19695943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:132.89, Z:0.72 [[-7.74814425e-01 6.32188573e-01 4.63844385e-04 2.11141916e+02] [-6.32188434e-01 -7.74814563e-01 4.21506209e-04 1.32888699e+02] [ 6.25864793e-04 3.33520356e-05 9.99999804e-01 7.19972121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.88, Z:0.72 [[-7.75234877e-01 6.31669910e-01 2.00282713e-03 2.11122497e+02] [-6.31667308e-01 -7.75237450e-01 1.81852936e-03 1.32879043e+02] [ 2.70137688e-03 1.44666961e-04 9.99996341e-01 7.19074220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:132.90, Z:0.72 [[-7.76028901e-01 6.30690475e-01 2.94434578e-03 2.11142435e+02] [-6.30684854e-01 -7.76034456e-01 2.67161316e-03 1.32900478e+02] [ 3.96987475e-03 2.16294733e-04 9.99992097e-01 7.18363425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.89, Z:0.72 [[-7.77201888e-01 6.29241200e-01 3.56911310e-03 2.11123023e+02] [-6.29232934e-01 -7.77210036e-01 3.23636894e-03 1.32885874e+02] [ 4.81040720e-03 2.69508544e-04 9.99988394e-01 7.17671963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.89, Z:0.72 [[-7.78924263e-01 6.27106214e-01 3.84568196e-03 2.11122702e+02] [-6.27096604e-01 -7.78933697e-01 3.48485016e-03 1.32888776e+02] [ 5.18090246e-03 3.02820250e-04 9.99986533e-01 7.17699538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.92, Z:0.72 [[-7.82813108e-01 6.22246077e-01 3.66849345e-03 2.11149354e+02] [-6.22237290e-01 -7.82821639e-01 3.32213049e-03 1.32917925e+02] [ 4.93895872e-03 3.17933866e-04 9.99987753e-01 7.17886330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.92, Z:0.72 [[-7.84592774e-01 6.20002450e-01 3.33777226e-03 2.11148764e+02] [-6.19995164e-01 -7.84599817e-01 3.02070407e-03 1.32918514e+02] [ 4.49165943e-03 3.00619929e-04 9.99989867e-01 7.17405665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.92, Z:0.72 [[-7.85861751e-01 6.18394970e-01 2.99489081e-03 2.11153161e+02] [-6.18389100e-01 -7.85867409e-01 2.70867183e-03 1.32923640e+02] [ 4.02861611e-03 2.76633754e-04 9.99991847e-01 7.16921689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.93, Z:0.72 [[-7.87121690e-01 6.16787279e-01 3.59122091e-03 2.11153574e+02] [-6.16778832e-01 -7.87129809e-01 3.24592946e-03 1.32928232e+02] [ 4.82880503e-03 3.39952438e-04 9.99988284e-01 7.16121029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.93, Z:0.72 [[-7.87396998e-01 6.16432237e-01 4.15505645e-03 2.11153686e+02] [-6.16420937e-01 -7.87407862e-01 3.75315923e-03 1.32929773e+02] [ 5.58529245e-03 3.93962518e-04 9.99984325e-01 7.16227626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.93, Z:0.72 [[-7.87301002e-01 6.16553137e-01 4.40019137e-03 2.11149732e+02] [-6.16540481e-01 -7.87313189e-01 3.97206021e-03 1.32926878e+02] [ 5.91331488e-03 4.14310882e-04 9.99982430e-01 7.15950993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.13, Y:132.91, Z:0.72 [[-7.85706444e-01 6.18588189e-01 3.74646807e-03 2.11128213e+02] [-6.18579049e-01 -7.85715303e-01 3.37979587e-03 1.32912487e+02] [ 5.03435910e-03 3.38040743e-04 9.99987270e-01 7.15906081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:132.93, Z:0.72 [[-7.84600375e-01 6.19993479e-01 3.21526604e-03 2.11137977e+02] [-6.19986766e-01 -7.84606913e-01 2.89874038e-03 1.32925732e+02] [ 4.31992009e-03 2.80930397e-04 9.99990630e-01 7.16062713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:132.92, Z:0.72 [[-7.83586134e-01 6.21276246e-01 2.93186768e-03 2.11128486e+02] [-6.21270680e-01 -7.83591580e-01 2.64156332e-03 1.32921201e+02] [ 3.93852737e-03 2.48408959e-04 9.99992213e-01 7.16729768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.91, Z:0.72 [[-7.82830589e-01 6.22227478e-01 3.03888683e-03 2.11112829e+02] [-6.22221512e-01 -7.82836447e-01 2.73622474e-03 1.32909793e+02] [ 4.08150558e-03 2.51139664e-04 9.99991639e-01 7.17363229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.91, Z:0.72 [[-7.82189546e-01 6.23034656e-01 2.70774439e-03 2.11110462e+02] [-6.23029930e-01 -7.82194202e-01 2.43649992e-03 1.32913094e+02] [ 3.63600586e-03 2.18798968e-04 9.99993366e-01 7.17545089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.91, Z:0.72 [[-7.82299740e-01 6.22897340e-01 2.45355516e-03 2.11102603e+02] [-6.22893464e-01 -7.82303563e-01 2.20635650e-03 1.32910143e+02] [ 3.29375854e-03 1.97728647e-04 9.99994556e-01 7.17583728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.91, Z:0.72 [[-7.82273436e-01 6.22932999e-01 1.65843516e-03 2.11099604e+02] [-6.22931230e-01 -7.82275183e-01 1.49040915e-03 1.32912319e+02] [ 2.22577770e-03 1.32816430e-04 9.99997514e-01 7.17666081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.92, Z:0.72 [[-7.82322929e-01 6.22872679e-01 6.79446797e-04 2.11098596e+02] [-6.22872382e-01 -7.82323222e-01 6.10263433e-04 1.32916170e+02] [ 9.11663427e-04 5.42144314e-05 9.99999583e-01 7.18479563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.92, Z:0.72 [[-7.82276932e-01 6.22930761e-01 2.64521215e-04 2.11098989e+02] [-6.22930716e-01 -7.82276976e-01 2.37485039e-04 1.32924640e+02] [ 3.54865592e-04 2.10006783e-05 9.99999937e-01 7.19183397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.94, Z:0.72 [[-7.82364102e-01 6.22820478e-01 1.03216554e-03 2.11106020e+02] [-6.22819795e-01 -7.82364778e-01 9.25835680e-04 1.32935082e+02] [ 1.38415938e-03 8.14874714e-05 9.99999039e-01 7.18779816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.94, Z:0.72 [[-7.82163440e-01 6.23071502e-01 1.50221214e-03 2.11094114e+02] [-6.23070058e-01 -7.82164874e-01 1.34656406e-03 1.32935141e+02] [ 2.01398326e-03 1.17249774e-04 9.99997965e-01 7.18297031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:132.93, Z:0.72 [[-7.82273528e-01 6.22934655e-01 7.36733309e-04 2.11083962e+02] [-6.22934308e-01 -7.82273873e-01 6.60018704e-04 1.32931115e+02] [ 9.87475743e-04 5.73787061e-05 9.99999511e-01 7.18490649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.94, Z:0.72 [[-7.82445305e-01 6.22719303e-01 1.20059873e-04 2.11090894e+02] [-6.22719294e-01 -7.82445314e-01 1.07558936e-04 1.32941684e+02] [ 1.60919311e-04 9.39538527e-06 9.99999987e-01 7.18672770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.94, Z:0.72 [[-7.82918100e-01 6.22124757e-01 1.90556298e-04 2.11086789e+02] [-6.22124733e-01 -7.82918123e-01 1.70557662e-04 1.32941644e+02] [ 2.55298123e-04 1.49828942e-05 9.99999967e-01 7.18558119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:132.95, Z:0.72 [[-7.85253813e-01 6.19169268e-01 2.42205199e-03 2.11083696e+02] [-6.19165514e-01 -7.85257523e-01 2.16551926e-03 1.32945429e+02] [ 3.24275752e-03 2.00831190e-04 9.99994722e-01 7.18516242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:132.95, Z:0.72 [[-7.86850319e-01 6.17135398e-01 3.23676846e-03 2.11083571e+02] [-6.17128684e-01 -7.86856927e-01 2.89208218e-03 1.32947566e+02] [ 4.33167997e-03 2.78133121e-04 9.99990580e-01 7.18344643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.95, Z:0.72 [[-7.88436945e-01 6.15107128e-01 3.22568212e-03 2.11090574e+02] [-6.15100451e-01 -7.88443491e-01 2.88035770e-03 1.32954493e+02] [ 4.31499663e-03 2.86861900e-04 9.99990649e-01 7.18796078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.95, Z:0.72 [[-7.90200983e-01 6.12841286e-01 2.82211030e-03 2.11090761e+02] [-6.12836167e-01 -7.90205980e-01 2.51841691e-03 1.32954534e+02] [ 3.77343829e-03 2.60564264e-04 9.99992847e-01 7.18945999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.97, Z:0.72 [[-7.93691460e-01 6.08316535e-01 2.20455917e-03 2.11111007e+02] [-6.08313397e-01 -7.93694491e-01 1.96611493e-03 1.32974049e+02] [ 2.94576669e-03 2.19425748e-04 9.99995637e-01 7.19635093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.96, Z:0.72 [[-7.95119413e-01 6.06449043e-01 2.16270254e-03 2.11096826e+02] [-6.06446020e-01 -7.95122324e-01 1.92759197e-03 1.32962763e+02] [ 2.88859937e-03 2.21103449e-04 9.99995804e-01 7.19538749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.98, Z:0.72 [[-7.96115265e-01 6.05141382e-01 2.09592050e-03 2.11112267e+02] [-6.05138541e-01 -7.96117994e-01 1.86691765e-03 1.32976661e+02] [ 2.79834915e-03 2.17959370e-04 9.99996061e-01 7.19970882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.98, Z:0.72 [[-7.97290790e-01 6.03593352e-01 1.56915019e-03 2.11120769e+02] [-6.03591758e-01 -7.97292317e-01 1.39686708e-03 1.32981085e+02] [ 2.09421107e-03 1.66583132e-04 9.99997793e-01 7.19511247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:132.99, Z:0.72 [[-7.97880277e-01 6.02813623e-01 1.67346571e-03 2.11127241e+02] [-6.02811811e-01 -7.97882011e-01 1.48881799e-03 1.32986047e+02] [ 2.23270795e-03 1.79113611e-04 9.99997491e-01 7.18881247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.98, Z:0.72 [[-7.98353519e-01 6.02184478e-01 2.34791010e-03 2.11118875e+02] [-6.02180913e-01 -7.98356932e-01 2.08754419e-03 1.32978715e+02] [ 3.13155701e-03 2.52731606e-04 9.99995065e-01 7.18607372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.97, Z:0.72 [[-7.98526838e-01 6.01948670e-01 3.56188618e-03 2.11105803e+02] [-6.01940472e-01 -7.98534690e-01 3.16492127e-03 1.32966195e+02] [ 4.74940983e-03 3.83231132e-04 9.99988648e-01 7.18358018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.96, Z:0.72 [[-7.97975708e-01 6.02670376e-01 4.81528813e-03 2.11106697e+02] [-6.02655423e-01 -7.97990074e-01 4.27597676e-03 1.32962467e+02] [ 6.41955665e-03 5.10166080e-04 9.99979264e-01 7.18605504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.95, Z:0.72 [[-7.97636702e-01 6.03117817e-01 4.95885441e-03 2.11093893e+02] [-6.03101986e-01 -7.97651947e-01 4.40074218e-03 1.32948741e+02] [ 6.60960590e-03 5.19498540e-04 9.99978021e-01 7.19414649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.95, Z:0.72 [[-7.97486633e-01 6.03317713e-01 4.77563685e-03 2.11098153e+02] [-6.03303050e-01 -7.97500778e-01 4.23552512e-03 1.32951191e+02] [ 6.36394143e-03 4.96618392e-04 9.99979627e-01 7.19947897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.95, Z:0.72 [[-7.97465027e-01 6.03347658e-01 4.59725623e-03 2.11103348e+02] [-6.03334086e-01 -7.97478136e-01 4.07480843e-03 1.32953959e+02] [ 6.12473745e-03 4.75835827e-04 9.99981130e-01 7.20076754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.94, Z:0.72 [[-7.97877838e-01 6.02805054e-01 4.12595130e-03 2.11097216e+02] [-6.02794127e-01 -7.97888390e-01 3.65481611e-03 1.32941006e+02] [ 5.49519026e-03 4.28997564e-04 9.99984809e-01 7.20345579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.94, Z:0.72 [[-7.98437208e-01 6.02066006e-01 3.81441121e-03 2.11100798e+02] [-6.02056669e-01 -7.98446219e-01 3.37676796e-03 1.32939313e+02] [ 5.07863941e-03 3.99645480e-04 9.99987024e-01 7.20119279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.94, Z:0.72 [[-7.99387749e-01 6.00804182e-01 3.68265089e-03 2.11105946e+02] [-6.00795476e-01 -7.99396135e-01 3.25811827e-03 1.32939591e+02] [ 4.90138798e-03 3.91979838e-04 9.99987911e-01 7.20827609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.93, Z:0.72 [[-8.00476805e-01 5.99353969e-01 3.42119756e-03 2.11096566e+02] [-5.99346450e-01 -8.00484030e-01 3.02494195e-03 1.32927342e+02] [ 4.55162498e-03 3.70913253e-04 9.99989573e-01 7.21369705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.94, Z:0.72 [[-8.02451880e-01 5.96710028e-01 2.85008236e-03 2.11121729e+02] [-5.96704799e-01 -8.02456878e-01 2.51843948e-03 1.32938404e+02] [ 3.78984628e-03 3.20268671e-04 9.99992767e-01 7.22492704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.93, Z:0.72 [[-8.03200195e-01 5.95703379e-01 2.63260050e-03 2.11118789e+02] [-5.95698917e-01 -8.03204454e-01 2.32484993e-03 1.32930449e+02] [ 3.49943741e-03 2.99082652e-04 9.99993832e-01 7.22709339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.92, Z:0.72 [[-8.03402983e-01 5.95429276e-01 2.76123014e-03 2.11112520e+02] [-5.95424372e-01 -8.03407667e-01 2.43694468e-03 1.32920433e+02] [ 3.66942167e-03 3.13744904e-04 9.99993218e-01 7.22928694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:132.92, Z:0.72 [[-8.03584551e-01 5.95184207e-01 2.76197318e-03 2.11110709e+02] [-5.95179304e-01 -8.03589237e-01 2.43610250e-03 1.32918734e+02] [ 3.66942165e-03 3.13745059e-04 9.99993218e-01 7.22929184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.90, Z:0.72 [[-8.03142453e-01 5.95778827e-01 3.12884207e-03 2.11095994e+02] [-5.95772546e-01 -8.03148471e-01 2.75797069e-03 1.32902394e+02] [ 4.15606526e-03 3.50965141e-04 9.99991302e-01 7.23038469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.90, Z:0.72 [[-8.01949031e-01 5.97380808e-01 3.73115154e-03 2.11094564e+02] [-5.97371905e-01 -8.01957608e-01 3.28682626e-03 1.32897534e+02] [ 4.95571229e-03 4.06982029e-04 9.99987638e-01 7.22336229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.87, Z:0.72 [[-7.98142622e-01 6.02452570e-01 4.38825088e-03 2.11067473e+02] [-6.02440344e-01 -7.98154564e-01 3.86322788e-03 1.32865052e+02] [ 5.82991403e-03 4.39747457e-04 9.99982909e-01 7.21960696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.86, Z:0.72 [[-7.95890188e-01 6.05429944e-01 3.65942869e-03 2.11070339e+02] [-6.05421483e-01 -7.95898525e-01 3.21956802e-03 1.32863315e+02] [ 4.86175678e-03 3.46925851e-04 9.99988121e-01 7.22171868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.671400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.07, Y:132.86, Z:0.72 [[-7.93565454e-01 6.08478843e-01 2.71433760e-03 2.11070027e+02] [-6.08474211e-01 -7.93570059e-01 2.38657890e-03 1.32860786e+02] [ 3.60619981e-03 2.42302138e-04 9.99993468e-01 7.22034760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.84, Z:0.72 [[-7.89618425e-01 6.13597821e-01 6.76193890e-04 2.11050252e+02] [-6.13597536e-01 -7.89618712e-01 5.94224029e-04 1.32843316e+02] [ 8.98549919e-04 5.42993367e-05 9.99999595e-01 7.23916123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.83, Z:0.72 [[-7.88506802e-01 6.15025987e-01 2.42214819e-04 2.11041579e+02] [-6.15025951e-01 -7.88506839e-01 2.12768860e-04 1.32834830e+02] [ 3.21846420e-04 1.88012942e-05 9.99999948e-01 7.24410862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.82, Z:0.72 [[-7.87942559e-01 6.15748261e-01 7.76007083e-04 2.11025286e+02] [-6.15747887e-01 -7.87942939e-01 6.81040926e-04 1.32818492e+02] [ 1.03079907e-03 5.87964087e-05 9.99999467e-01 7.24970354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.83, Z:0.72 [[-7.87978492e-01 6.15701040e-01 1.45815032e-03 2.11037763e+02] [-6.15699721e-01 -7.87979833e-01 1.27879478e-03 1.32827473e+02] [ 1.93634832e-03 1.09880035e-04 9.99998119e-01 7.24231851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.82, Z:0.72 [[-7.88164214e-01 6.15460800e-01 2.27500100e-03 2.11029050e+02] [-6.15457594e-01 -7.88167479e-01 1.99382286e-03 1.32818161e+02] [ 3.02020161e-03 1.71293183e-04 9.99995425e-01 7.23808945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.82, Z:0.72 [[-7.88352535e-01 6.15221645e-01 1.61507999e-03 2.11030974e+02] [-6.15220031e-01 -7.88354180e-01 1.41456419e-03 1.32819707e+02] [ 2.14352557e-03 1.21545705e-04 9.99997695e-01 7.23948706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.82, Z:0.72 [[-7.88529294e-01 6.14996241e-01 1.08498812e-03 2.11036223e+02] [-6.14995513e-01 -7.88530036e-01 9.49693297e-04 1.32823254e+02] [ 1.43960353e-03 8.15981563e-05 9.99998960e-01 7.24438882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.81, Z:0.73 [[-7.88692880e-01 6.14786013e-01 1.30380611e-03 2.11016937e+02] [-6.14784963e-01 -7.88693951e-01 1.14046294e-03 1.32805558e+02] [ 1.72944466e-03 9.79146066e-05 9.99998500e-01 7.25322287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.941400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.03, Y:132.82, Z:0.72 [[-7.88967671e-01 6.14431709e-01 1.92091802e-03 2.11030232e+02] [-6.14429431e-01 -7.88969996e-01 1.67912264e-03 1.32815960e+02] [ 2.54725288e-03 1.44504910e-04 9.99996745e-01 7.24645315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.80, Z:0.72 [[-7.89560023e-01 6.13668802e-01 2.36038925e-03 2.11017399e+02] [-6.13665365e-01 -7.89563531e-01 2.06190726e-03 1.32803739e+02] [ 3.12900543e-03 1.79510415e-04 9.99995089e-01 7.24739715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.81, Z:0.72 [[-7.90400221e-01 6.12586284e-01 2.35270296e-03 2.11028377e+02] [-6.12582868e-01 -7.90403702e-01 2.05384980e-03 1.32812380e+02] [ 3.11774534e-03 1.82137809e-04 9.99995123e-01 7.23736208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.82, Z:0.72 [[-7.91349003e-01 6.11361505e-01 1.96636723e-03 2.11039318e+02] [-6.11359118e-01 -7.91351430e-01 1.71549095e-03 1.32821906e+02] [ 2.60487265e-03 1.55395516e-04 9.99996595e-01 7.22962592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.82, Z:0.72 [[-7.93820409e-01 6.08147378e-01 2.43413033e-03 2.11034883e+02] [-6.08143709e-01 -7.93824115e-01 2.12218751e-03 1.32821026e+02] [ 3.22287413e-03 2.04334711e-04 9.99994786e-01 7.23497483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.82, Z:0.72 [[-7.95762343e-01 6.05601523e-01 3.01488791e-03 2.11036247e+02] [-6.05595883e-01 -7.95768010e-01 2.62680811e-03 1.32823247e+02] [ 3.98995034e-03 2.64511267e-04 9.99992005e-01 7.24109194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.83, Z:0.72 [[-7.98101829e-01 6.02512960e-01 3.40647699e-03 2.11039112e+02] [-6.02505741e-01 -7.98109037e-01 2.96607742e-03 1.32825412e+02] [ 4.50584015e-03 3.14809868e-04 9.99989799e-01 7.24816875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.83, Z:0.73 [[-8.00313080e-01 5.99571138e-01 3.66399157e-03 2.11050614e+02] [-5.99562766e-01 -8.00321388e-01 3.18826126e-03 1.32834070e+02] [ 4.84396025e-03 3.54814266e-04 9.99988205e-01 7.25298579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.84, Z:0.72 [[-8.02356179e-01 5.96837669e-01 3.05935922e-03 2.11064786e+02] [-5.96831819e-01 -8.02361952e-01 2.66046980e-03 1.32844953e+02] [ 4.04258202e-03 3.08721453e-04 9.99991781e-01 7.24986360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.85, Z:0.73 [[-8.04924441e-01 5.93376868e-01 7.32410501e-04 2.11068120e+02] [-5.93376532e-01 -8.04924771e-01 6.36578807e-04 1.32846561e+02] [ 9.67266493e-04 7.78026373e-05 9.99999529e-01 7.25013073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.85, Z:0.73 [[-8.05813692e-01 5.92169091e-01 2.47123310e-04 2.11071159e+02] [-5.92169053e-01 -8.05813729e-01 2.14707439e-04 1.32849167e+02] [ 3.26278466e-04 2.66754179e-05 9.99999946e-01 7.25291207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.84, Z:0.73 [[-8.06262479e-01 5.91557109e-01 1.00112572e-03 2.11059902e+02] [-5.91556481e-01 -8.06263093e-01 8.69020382e-04 1.32839215e+02] [ 1.32124590e-03 1.08436123e-04 9.99999121e-01 7.25872043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.84, Z:0.73 [[-8.06699372e-01 5.90955893e-01 2.69366240e-03 2.11057138e+02] [-5.90951347e-01 -8.06703816e-01 2.33661620e-03 1.32836720e+02] [ 3.55382485e-03 2.93123392e-04 9.99993642e-01 7.25825045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.82, Z:0.72 [[-8.07704040e-01 5.89552550e-01 6.47882025e-03 2.11039189e+02] [-5.89526233e-01 -8.07729705e-01 5.61639331e-03 1.32822281e+02] [ 8.54429457e-03 7.16949071e-04 9.99963240e-01 7.23942376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.84, Z:0.72 [[-8.08266150e-01 5.88772240e-01 7.28559671e-03 2.11054374e+02] [-5.88738968e-01 -8.08298577e-01 6.31178422e-03 1.32835741e+02] [ 9.60514078e-03 8.12286842e-04 9.99953540e-01 7.23562035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.84, Z:0.72 [[-8.09046322e-01 5.87705967e-01 6.76348493e-03 2.11055155e+02] [-5.87677288e-01 -8.09074233e-01 5.85579990e-03 1.32836038e+02] [ 8.91364993e-03 7.62866892e-04 9.99959982e-01 7.23970594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.85, Z:0.72 [[-8.10770922e-01 5.85345340e-01 4.62010024e-03 2.11072428e+02] [-5.85331935e-01 -8.10783908e-01 3.99760725e-03 1.32847405e+02] [ 6.08588370e-03 5.36851506e-04 9.99981337e-01 7.24847591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.84, Z:0.72 [[-8.11911310e-01 5.83766715e-01 4.05546920e-03 2.11065638e+02] [-5.83756378e-01 -8.11921297e-01 3.50689283e-03 1.32839710e+02] [ 5.33992912e-03 4.79879940e-04 9.99985627e-01 7.24272071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.84, Z:0.72 [[-8.13188929e-01 5.81988753e-01 3.58578707e-03 2.11067864e+02] [-5.81980664e-01 -8.13196719e-01 3.09883539e-03 1.32841310e+02] [ 4.71943762e-03 4.33079886e-04 9.99988770e-01 7.22904795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.85, Z:0.72 [[-8.14134104e-01 5.80665669e-01 3.61134575e-03 2.11073651e+02] [-5.80657460e-01 -8.14141993e-01 3.11900098e-03 1.32847189e+02] [ 4.75124502e-03 4.42330216e-04 9.99988615e-01 7.22551809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:132.85, Z:0.72 [[-8.13942844e-01 5.80938023e-01 2.83925145e-03 2.11078491e+02] [-5.80932956e-01 -8.13947722e-01 2.45068335e-03 1.32851626e+02] [ 3.73469739e-03 3.45301438e-04 9.99992966e-01 7.22866432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.84, Z:0.72 [[-8.13273730e-01 5.81876336e-01 2.40206594e-03 2.11062927e+02] [-5.81872718e-01 -8.13277226e-01 2.07206821e-03 1.32836339e+02] [ 3.15923299e-03 2.87462004e-04 9.99994968e-01 7.23905167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.84, Z:0.72 [[-8.12534002e-01 5.82910396e-01 1.99152899e-03 2.11068708e+02] [-5.82907915e-01 -8.12536409e-01 1.71688658e-03 1.32840066e+02] [ 2.61898085e-03 2.34150709e-04 9.99996543e-01 7.24432381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.82, Z:0.72 [[-8.10876713e-01 5.85214748e-01 1.62956540e-03 2.11046150e+02] [-5.85213093e-01 -8.10878329e-01 1.40398478e-03 1.32823690e+02] [ 2.14301187e-03 1.84815554e-04 9.99997687e-01 7.24745666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.83, Z:0.72 [[-8.10260478e-01 5.86066280e-01 2.06710547e-03 2.11045150e+02] [-5.86063623e-01 -8.10263082e-01 1.77982614e-03 1.32825153e+02] [ 2.71799534e-03 2.30667463e-04 9.99996280e-01 7.24572405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.82, Z:0.72 [[-8.09515124e-01 5.87092441e-01 2.78021147e-03 2.11042376e+02] [-5.87087645e-01 -8.09519841e-01 2.39230916e-03 1.32823522e+02] [ 3.65514297e-03 3.04382642e-04 9.99993274e-01 7.23650370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.82, Z:0.72 [[-8.07521455e-01 5.89829773e-01 3.15274583e-03 2.11036579e+02] [-5.89823634e-01 -8.07527542e-01 2.71116374e-03 1.32818460e+02] [ 4.14505418e-03 3.29758881e-04 9.99991355e-01 7.22409501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.82, Z:0.72 [[-8.06641296e-01 5.91037552e-01 2.10548199e-03 2.11033360e+02] [-5.91034821e-01 -8.06644015e-01 1.80947705e-03 1.32816508e+02] [ 2.76784333e-03 2.15185740e-04 9.99996146e-01 7.22891284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.81, Z:0.72 [[-8.06069933e-01 5.91818958e-01 1.25866403e-03 2.11019357e+02] [-5.91817984e-01 -8.06070905e-01 1.08106408e-03 1.32806582e+02] [ 1.65436667e-03 1.26513238e-04 9.99998624e-01 7.23993225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.81, Z:0.72 [[-8.05868001e-01 5.92093791e-01 1.30656562e-03 2.11025944e+02] [-5.92092744e-01 -8.05869050e-01 1.12149823e-03 1.32814182e+02] [ 1.71695294e-03 1.30171518e-04 9.99998518e-01 7.24483111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.81, Z:0.72 [[-8.06010644e-01 5.91898745e-01 1.64884581e-03 2.11019281e+02] [-5.91897077e-01 -8.06012313e-01 1.41438753e-03 1.32809608e+02] [ 2.16616423e-03 1.64064391e-04 9.99997640e-01 7.24997767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.80, Z:0.72 [[-8.06466944e-01 5.91276396e-01 1.81403047e-03 2.11011342e+02] [-5.91274379e-01 -8.06468964e-01 1.55509594e-03 1.32803178e+02] [ 2.38245080e-03 1.81543730e-04 9.99997146e-01 7.24735907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.80, Z:0.72 [[-8.07029450e-01 5.90510268e-01 1.04432789e-03 2.11008093e+02] [-5.90509599e-01 -8.07030119e-01 8.94729209e-04 1.32801418e+02] [ 1.37115084e-03 1.05387180e-04 9.99999054e-01 7.24733813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.81, Z:0.73 [[-8.06870076e-01 5.90728841e-01 3.42568563e-04 2.11015806e+02] [-5.90728769e-01 -8.06870148e-01 2.93364747e-04 1.32809097e+02] [ 4.49707364e-04 3.43421298e-05 9.99999898e-01 7.25164607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.80, Z:0.73 [[-8.06083338e-01 5.91801883e-01 -4.29677607e-04 2.11003670e+02] [-5.91801770e-01 -8.06083451e-01 -3.67551145e-04 1.32799823e+02] [-5.63873468e-04 -4.19928851e-05 9.99999840e-01 7.25257501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.79, Z:0.73 [[-8.04475192e-01 5.93986037e-01 -5.03597702e-04 2.10994145e+02] [-5.93985883e-01 -8.04475348e-01 -4.30523448e-04 1.32793134e+02] [-6.60856853e-04 -4.72155081e-05 9.99999781e-01 7.25242957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.79, Z:0.72 [[-7.99080791e-01 6.01223299e-01 6.58869541e-04 2.10978627e+02] [-6.01223038e-01 -7.99081061e-01 5.63090635e-04 1.32785178e+02] [ 8.65033381e-04 5.38273627e-05 9.99999624e-01 7.24677077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.76, Z:0.72 [[-7.96054317e-01 6.05224285e-01 1.04360841e-03 2.10946983e+02] [-6.05223633e-01 -7.96054998e-01 8.91276670e-04 1.32761394e+02] [ 1.37019197e-03 7.78881681e-05 9.99999058e-01 7.24445090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.75, Z:0.72 [[-7.93119402e-01 6.09065588e-01 8.50939788e-04 2.10932674e+02] [-6.09065158e-01 -7.93119856e-01 7.26268952e-04 1.32751624e+02] [ 1.11724267e-03 5.77402209e-05 9.99999374e-01 7.24964219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.75, Z:0.73 [[-7.90414303e-01 6.12572472e-01 4.43391280e-04 2.10929191e+02] [-6.12572356e-01 -7.90414426e-01 3.78219938e-04 1.32749838e+02] [ 5.82149987e-04 2.73412071e-05 9.99999830e-01 7.25734983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.74, Z:0.73 [[-7.87174131e-01 6.16730694e-01 3.70637453e-04 2.10912338e+02] [-6.16730614e-01 -7.87174218e-01 3.15963398e-04 1.32738621e+02] [ 4.86620574e-04 2.01347495e-05 9.99999881e-01 7.26387032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.171400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.89, Y:132.72, Z:0.73 [[-7.86572832e-01 6.17496899e-01 8.71508428e-04 2.10892805e+02] [-6.17496454e-01 -7.86573314e-01 7.42335464e-04 1.32723708e+02] [ 1.14389512e-03 4.57475440e-05 9.99999345e-01 7.26326468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.73, Z:0.73 [[-7.86641542e-01 6.17409436e-01 8.19741158e-04 2.10892545e+02] [-6.17409043e-01 -7.86641968e-01 6.97772759e-04 1.32725280e+02] [ 1.07565428e-03 4.27814354e-05 9.99999421e-01 7.26297898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.74, Z:0.73 [[-7.86897234e-01 6.17083554e-01 7.94714291e-04 2.10905074e+02] [-6.17083185e-01 -7.86897634e-01 6.76015782e-04 1.32736185e+02] [ 1.04251702e-03 4.15501231e-05 9.99999456e-01 7.26118300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.74, Z:0.73 [[-7.87372608e-01 6.16476869e-01 8.04265203e-04 2.10905047e+02] [-6.16476491e-01 -7.87373017e-01 6.83680576e-04 1.32735437e+02] [ 1.05472998e-03 4.25007675e-05 9.99999443e-01 7.25697137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.73, Z:0.73 [[-7.87767005e-01 6.15972894e-01 7.34704377e-04 2.10899060e+02] [-6.15972579e-01 -7.87767346e-01 6.24137805e-04 1.32729028e+02] [ 9.63228088e-04 3.91174186e-05 9.99999535e-01 7.25589631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.73, Z:0.73 [[-7.87524346e-01 6.16282899e-01 8.90488218e-04 2.10895383e+02] [-6.16282437e-01 -7.87524848e-01 7.55951221e-04 1.32725528e+02] [ 1.16716141e-03 4.65377428e-05 9.99999318e-01 7.25350355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.72, Z:0.73 [[-7.86900159e-01 6.17078947e-01 1.30869136e-03 2.10891242e+02] [-6.17077952e-01 -7.86901244e-01 1.11018316e-03 1.32720947e+02] [ 1.71488151e-03 6.60387208e-05 9.99998527e-01 7.25371923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.71, Z:0.73 [[-7.85954711e-01 6.18281933e-01 1.62605469e-03 2.10877155e+02] [-6.18280402e-01 -7.85956389e-01 1.37845168e-03 1.32706988e+02] [ 2.13027984e-03 7.80428469e-05 9.99997728e-01 7.25228414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.71, Z:0.73 [[-7.86162838e-01 6.18017270e-01 1.62651846e-03 2.10875312e+02] [-6.18015739e-01 -7.86164517e-01 1.37790440e-03 1.32705328e+02] [ 2.13027981e-03 7.80432267e-05 9.99997728e-01 7.25228904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.70, Z:0.73 [[-7.84155850e-01 6.20561584e-01 1.70981743e-03 2.10879256e+02] [-6.20559901e-01 -7.84157710e-01 1.44747962e-03 1.32703441e+02] [ 2.23901677e-03 7.40054704e-05 9.99997491e-01 7.25044073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.69, Z:0.72 [[-7.83245518e-01 6.21710358e-01 1.64014624e-03 2.10860095e+02] [-6.21708813e-01 -7.83247232e-01 1.38754983e-03 1.32685401e+02] [ 2.14729411e-03 6.70988178e-05 9.99997692e-01 7.24803463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.69, Z:0.72 [[-7.82252797e-01 6.22960089e-01 1.13541533e-03 2.10865591e+02] [-6.22959350e-01 -7.82253620e-01 9.59916871e-04 1.32689108e+02] [ 1.48617265e-03 4.35800604e-05 9.99998895e-01 7.24610359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.68, Z:0.72 [[-7.80041667e-01 6.25727525e-01 2.49054047e-04 2.10853876e+02] [-6.25727490e-01 -7.80041707e-01 2.10480697e-04 1.32677050e+02] [ 3.25976110e-04 8.34375023e-06 9.99999947e-01 7.24995416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.67, Z:0.72 [[-7.79249611e-01 6.26713557e-01 4.01889733e-04 2.10845664e+02] [-6.26713465e-01 -7.79249714e-01 3.39356447e-04 1.32667773e+02] [ 5.25851746e-04 1.25736728e-05 9.99999862e-01 7.24385422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.66, Z:0.72 [[-7.78855437e-01 6.27202143e-01 1.29605034e-03 2.10839292e+02] [-6.27201191e-01 -7.78856514e-01 1.09342764e-03 1.32660136e+02] [ 1.69523740e-03 3.87377448e-05 9.99998562e-01 7.23632719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.65, Z:0.72 [[-7.78703459e-01 6.27388870e-01 2.03165374e-03 2.10832674e+02] [-6.27386535e-01 -7.78706108e-01 1.71277298e-03 1.32653425e+02] [ 2.65663588e-03 5.91100416e-05 9.99996469e-01 7.22459324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.651400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.83, Y:132.65, Z:0.72 [[-7.78765653e-01 6.27308330e-01 2.88400403e-03 2.10830260e+02] [-6.27303630e-01 -7.78770989e-01 2.42959026e-03 1.32651183e+02] [ 3.77008088e-03 8.29352471e-05 9.99992890e-01 7.22365074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.65, Z:0.72 [[-7.78922966e-01 6.27112568e-01 2.97331549e-03 2.10825142e+02] [-6.27107578e-01 -7.78928636e-01 2.50305738e-03 1.32646849e+02] [ 3.88569932e-03 8.51002090e-05 9.99992447e-01 7.22385213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.65, Z:0.72 [[-7.79451073e-01 6.26457418e-01 2.66981709e-03 2.10827989e+02] [-6.26453397e-01 -7.79455641e-01 2.24598167e-03 1.32647428e+02] [ 3.48801587e-03 7.81168385e-05 9.99993914e-01 7.22847228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.66, Z:0.72 [[-7.79971187e-01 6.25812213e-01 2.00549654e-03 2.10840176e+02] [-6.25809945e-01 -7.79973763e-01 1.68596116e-03 1.32656533e+02] [ 2.61932977e-03 5.99414470e-05 9.99996568e-01 7.23441713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.65, Z:0.72 [[-7.80593419e-01 6.25038215e-01 1.06950508e-03 2.10834837e+02] [-6.25037570e-01 -7.80594151e-01 8.98513926e-04 1.32651412e+02] [ 1.39645495e-03 3.28931996e-05 9.99999024e-01 7.23668496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.65, Z:0.72 [[-7.80948557e-01 6.24595282e-01 2.91772754e-04 2.10838227e+02] [-6.24595234e-01 -7.80948612e-01 2.45016887e-04 1.32653790e+02] [ 3.80895919e-04 9.10571300e-06 9.99999927e-01 7.23747283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.831400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.84, Y:132.65, Z:0.72 [[-7.80211431e-01 6.25515882e-01 5.96850686e-05 2.10840692e+02] [-6.25515880e-01 -7.80211434e-01 5.01549360e-05 1.32654665e+02] [ 7.79396821e-05 1.79749626e-06 9.99999997e-01 7.22720609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.63, Z:0.72 [[-7.79234443e-01 6.26732539e-01 8.70767782e-05 2.10809389e+02] [-6.26732534e-01 -7.79234448e-01 7.30825900e-05 1.32628125e+02] [ 1.13656463e-04 2.37462143e-06 9.99999994e-01 7.22641032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.64, Z:0.72 [[-7.78035208e-01 6.28220616e-01 2.70734045e-04 2.10817632e+02] [-6.28220575e-01 -7.78035255e-01 2.26878470e-04 1.32635442e+02] [ 3.53170364e-04 6.43874023e-06 9.99999938e-01 7.23453210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.921400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:210.78, Y:132.61, Z:0.72 [[-7.75392860e-01 6.31478905e-01 5.52957493e-04 2.10781707e+02] [-6.31478735e-01 -7.75393057e-01 4.62992466e-04 1.32606579e+02] [ 7.21129376e-04 9.82015424e-06 9.99999740e-01 7.23949581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.62, Z:0.72 [[-7.74271856e-01 6.32852925e-01 5.17011025e-04 2.10798393e+02] [-6.32852778e-01 -7.74272029e-01 4.32599089e-04 1.32620510e+02] [ 6.74078774e-04 7.75743596e-06 9.99999773e-01 7.24611011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.61, Z:0.72 [[-7.73126507e-01 6.34251826e-01 1.60122030e-04 2.10782914e+02] [-6.34251812e-01 -7.73126523e-01 1.33944553e-04 1.32607414e+02] [ 2.08749166e-04 1.99839714e-06 9.99999978e-01 7.24475124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.61, Z:0.72 [[-7.72106163e-01 6.35493529e-01 -2.16247285e-04 2.10783948e+02] [-6.35493504e-01 -7.72106194e-01 -1.80551660e-04 1.32607891e+02] [-2.81705279e-04 -1.98130444e-06 9.99999960e-01 7.24729094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.60, Z:0.73 [[-7.70179429e-01 6.37827281e-01 -8.42644455e-05 2.10779194e+02] [-6.37827277e-01 -7.70179434e-01 -7.02489977e-05 1.32603671e+02] [-1.09705470e-04 -3.58171151e-07 9.99999994e-01 7.25247213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.59, Z:0.73 [[-7.69456456e-01 6.38699237e-01 2.15363405e-04 2.10767333e+02] [-6.38699212e-01 -7.69456486e-01 1.79733231e-04 1.32593630e+02] [ 2.80508246e-04 7.44458010e-07 9.99999961e-01 7.25143142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.59, Z:0.73 [[-7.68845758e-01 6.39433660e-01 8.91268574e-04 2.10763320e+02] [-6.39433228e-01 -7.68846275e-01 7.42986267e-04 1.32589142e+02] [ 1.16033895e-03 1.33509853e-06 9.99999327e-01 7.25194630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.57, Z:0.72 [[-7.68023716e-01 6.40419817e-01 1.42431946e-03 2.10749291e+02] [-6.40418718e-01 -7.68025037e-01 1.18642221e-03 1.32573740e+02] [ 1.85372130e-03 -9.60446343e-07 9.99998282e-01 7.24196341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.56, Z:0.72 [[-7.67899247e-01 6.40569543e-01 1.18633514e-03 2.10738995e+02] [-6.40568782e-01 -7.67900163e-01 9.87466388e-04 1.32563206e+02] [ 1.54352784e-03 -1.65456162e-06 9.99998809e-01 7.23935747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.57, Z:0.72 [[-7.67658250e-01 6.40858443e-01 1.12582722e-03 2.10749272e+02] [-6.40857758e-01 -7.67659076e-01 9.36407783e-04 1.32569565e+02] [ 1.46435632e-03 -2.65394993e-06 9.99998928e-01 7.24185907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.56, Z:0.72 [[-7.67336782e-01 6.41243601e-01 9.52343353e-04 2.10738623e+02] [-6.41243112e-01 -7.67337373e-01 7.91536419e-04 1.32557734e+02] [ 1.23833631e-03 -3.30860678e-06 9.99999233e-01 7.23942794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.55, Z:0.72 [[-7.67080549e-01 6.41550349e-01 7.62816856e-04 2.10736811e+02] [-6.41550036e-01 -7.67080928e-01 6.33556147e-04 1.32553186e+02] [ 9.91600430e-04 -3.39658462e-06 9.99999508e-01 7.23900855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:132.54, Z:0.72 [[-7.66229649e-01 6.42566658e-01 4.63350157e-04 2.10732455e+02] [-6.42566543e-01 -7.66229789e-01 3.84582205e-04 1.32542996e+02] [ 6.02152395e-04 -3.05502089e-06 9.99999819e-01 7.24509858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.55, Z:0.72 [[-7.65993218e-01 6.42848512e-01 4.24307119e-04 2.10741726e+02] [-6.42848416e-01 -7.65993336e-01 3.51919772e-04 1.32548063e+02] [ 5.51247527e-04 -3.19700020e-06 9.99999848e-01 7.24284845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.54, Z:0.72 [[-7.65420315e-01 6.43530354e-01 6.51638847e-04 2.10738144e+02] [-6.43530128e-01 -7.65420592e-01 5.40013845e-04 1.32542417e+02] [ 8.46293093e-04 -6.01166303e-06 9.99999642e-01 7.24091772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.54, Z:0.72 [[-7.64857309e-01 6.44198629e-01 1.19292179e-03 2.10745621e+02] [-6.44197872e-01 -7.64858240e-01 9.87760107e-04 1.32544880e+02] [ 1.54872977e-03 -1.29821424e-05 9.99998801e-01 7.24133792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.53, Z:0.72 [[-7.64209237e-01 6.44967140e-01 1.27680373e-03 2.10744926e+02] [-6.44966275e-01 -7.64210304e-01 1.05642093e-03 1.32534294e+02] [ 1.65710336e-03 -1.61687127e-05 9.99998627e-01 7.24357258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.431400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:210.61, Y:132.42, Z:0.73 [[-7.63115865e-01 6.46221718e-01 7.18804973e-03 2.10609042e+02] [-6.46231885e-01 -7.63140291e-01 1.11655160e-03 1.32421589e+02] [ 6.20703025e-03 -3.79308869e-03 9.99973542e-01 7.28545087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.461400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.77, Y:132.54, Z:0.72 [[-7.63532160e-01 6.45769483e-01 -6.44538539e-04 2.10769041e+02] [-6.45765578e-01 -7.63523170e-01 4.38023343e-03 1.32542313e+02] [ 2.33650097e-03 3.76066989e-03 9.99990199e-01 7.23678184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.54, Z:0.72 [[-7.63384336e-01 6.45939031e-01 2.66891969e-03 2.10760496e+02] [-6.45935264e-01 -7.63389001e-01 2.20661467e-03 1.32535548e+02] [ 3.46276248e-03 -3.94542665e-05 9.99994004e-01 7.23391501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.52, Z:0.72 [[-7.62565099e-01 6.46903170e-01 3.28005135e-03 2.10754250e+02] [-6.46897497e-01 -7.62572151e-01 2.70985233e-03 1.32522737e+02] [ 4.25428788e-03 -5.54181914e-05 9.99990949e-01 7.22564561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.48, Z:0.72 [[-7.61462987e-01 6.48195458e-01 4.09472366e-03 2.10701479e+02] [-6.48193303e-01 -7.61473171e-01 2.01289533e-03 1.32476803e+02] [ 4.42277182e-03 -1.12142717e-03 9.99989591e-01 7.22752369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.53, Z:0.72 [[-7.61172845e-01 6.48545628e-01 2.11404766e-03 2.10771139e+02] [-6.48538835e-01 -7.61175101e-01 3.13787409e-03 1.32528963e+02] [ 3.64421496e-03 1.01742254e-03 9.99992842e-01 7.23276125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.53, Z:0.72 [[-7.60693522e-01 6.49103894e-01 3.08219490e-03 2.10776159e+02] [-6.49098910e-01 -7.60699764e-01 2.54455417e-03 1.32527907e+02] [ 3.99630495e-03 -6.50234755e-05 9.99992013e-01 7.23568559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.53, Z:0.72 [[-7.60908523e-01 6.48848959e-01 3.63993347e-03 2.10778103e+02] [-6.48842015e-01 -7.60917225e-01 3.00278384e-03 1.32525749e+02] [ 4.71804124e-03 -7.68979493e-05 9.99988867e-01 7.23164417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.52, Z:0.72 [[-7.60976593e-01 6.48767740e-01 3.87877157e-03 2.10774141e+02] [-6.48759852e-01 -7.60986474e-01 3.20026287e-03 1.32518463e+02] [ 5.02792000e-03 -8.10661322e-05 9.99987357e-01 7.23055979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.52, Z:0.72 [[-7.61096682e-01 6.48628698e-01 3.55720722e-03 2.10777188e+02] [-6.48622071e-01 -7.61104991e-01 2.93292007e-03 1.32517305e+02] [ 4.60978429e-03 -7.50473759e-05 9.99989372e-01 7.22934413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.52, Z:0.72 [[-7.60975695e-01 6.48772304e-01 3.23859868e-03 2.10785523e+02] [-6.48766821e-01 -7.60982583e-01 2.66828234e-03 1.32521605e+02] [ 4.19562488e-03 -7.05973599e-05 9.99991196e-01 7.23105780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.761400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.81, Y:132.54, Z:0.72 [[-7.59408830e-01 6.50604666e-01 3.43473562e-03 2.10807454e+02] [-6.50598526e-01 -7.59416593e-01 2.82782916e-03 1.32535172e+02] [ 4.44819407e-03 -8.71554922e-05 9.99990103e-01 7.23293204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.51, Z:0.72 [[-7.58292427e-01 6.51905911e-01 3.35835836e-03 2.10778900e+02] [-6.51900046e-01 -7.58299858e-01 2.76675008e-03 1.32509964e+02] [ 4.35030340e-03 -9.13083334e-05 9.99990533e-01 7.23262692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.53, Z:0.72 [[-7.57890242e-01 6.52371680e-01 3.68405639e-03 2.10806968e+02] [-6.52364637e-01 -7.57899189e-01 3.03308837e-03 1.32531471e+02] [ 4.77084431e-03 -1.04600031e-04 9.99988614e-01 7.23352681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.53, Z:0.72 [[-7.57670255e-01 6.52628098e-01 3.51445260e-03 2.10811360e+02] [-6.52621700e-01 -7.57678399e-01 2.89163698e-03 1.32533985e+02] [ 4.54998836e-03 -1.02700700e-04 9.99989644e-01 7.23586048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.52, Z:0.72 [[-7.57533061e-01 6.52789016e-01 3.18785319e-03 2.10800449e+02] [-6.52783751e-01 -7.57539763e-01 2.62350134e-03 1.32524119e+02] [ 4.12751840e-03 -9.35897619e-05 9.99991477e-01 7.24149983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.53, Z:0.72 [[-7.57830682e-01 6.52445899e-01 2.64719193e-03 2.10814512e+02] [-6.52442271e-01 -7.57835301e-01 2.17712729e-03 1.32534284e+02] [ 3.42659326e-03 -7.72460576e-05 9.99994126e-01 7.24431136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.54, Z:0.72 [[-7.57858166e-01 6.52414577e-01 2.49398019e-03 2.10819543e+02] [-6.52411357e-01 -7.57862266e-01 2.05119414e-03 1.32536508e+02] [ 3.22832243e-03 -7.25867703e-05 9.99994786e-01 7.24752279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.51, Z:0.72 [[-7.57746513e-01 6.52544378e-01 2.46116250e-03 2.10791889e+02] [-6.52541238e-01 -7.57750507e-01 2.02557058e-03 1.32512757e+02] [ 3.18672182e-03 -7.11409795e-05 9.99994920e-01 7.24411872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.52, Z:0.72 [[-7.57357950e-01 6.52996575e-01 2.09955573e-03 2.10802191e+02] [-6.52994295e-01 -7.57360858e-01 1.72690230e-03 1.32521365e+02] [ 2.71778262e-03 -6.31147242e-05 9.99996305e-01 7.23496849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.54, Z:0.72 [[-7.56864308e-01 6.53570537e-01 1.40443894e-03 2.10822441e+02] [-6.53569519e-01 -7.56865610e-01 1.15437082e-03 1.32538259e+02] [ 1.81743429e-03 -4.41964063e-05 9.99998348e-01 7.23786045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.54, Z:0.72 [[-7.55751799e-01 6.54857616e-01 8.49621088e-04 2.10820345e+02] [-6.54857244e-01 -7.55752276e-01 6.98426960e-04 1.32536029e+02] [ 1.09947328e-03 -2.85430933e-05 9.99999395e-01 7.24058100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.53, Z:0.72 [[-7.54662028e-01 6.56113239e-01 8.00738550e-04 2.10816684e+02] [-6.56112910e-01 -7.54662452e-01 6.58416485e-04 1.32531777e+02] [ 1.03628309e-03 -2.84929797e-05 9.99999463e-01 7.24314431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.54, Z:0.72 [[-7.52162767e-01 6.58974079e-01 2.08205126e-03 2.10825605e+02] [-6.58971863e-01 -7.52165644e-01 1.71097462e-03 1.32537428e+02] [ 2.69353535e-03 -8.50817895e-05 9.99996369e-01 7.22711116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.56, Z:0.72 [[-7.50558308e-01 6.60799079e-01 2.60831043e-03 2.10849099e+02] [-6.60795618e-01 -7.50562831e-01 2.14191302e-03 1.32557568e+02] [ 3.37307501e-03 -1.15929490e-04 9.99994304e-01 7.21996343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.56, Z:0.72 [[-7.48274750e-01 6.63383059e-01 2.79542979e-03 2.10854059e+02] [-6.63379103e-01 -7.48279960e-01 2.29528049e-03 1.32563069e+02] [ 3.61441429e-03 -1.36929268e-04 9.99993459e-01 7.21743700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.57, Z:0.72 [[-7.45738972e-01 6.66230012e-01 3.31003906e-03 2.10856439e+02] [-6.66224490e-01 -7.45746297e-01 2.71824552e-03 1.32566077e+02] [ 4.27942612e-03 -1.78127466e-04 9.99990827e-01 7.21840923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.57, Z:0.72 [[-7.41724938e-01 6.70684581e-01 5.12928754e-03 2.10861499e+02] [-6.70671446e-01 -7.41742605e-01 4.20948246e-03 1.32571268e+02] [ 6.62784608e-03 -3.17788582e-04 9.99977985e-01 7.21889912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.57, Z:0.72 [[-7.40529914e-01 6.71998866e-01 5.74205902e-03 2.10860056e+02] [-6.71982439e-01 -7.40552084e-01 4.71303999e-03 1.32571329e+02] [ 7.41945130e-03 -3.68415726e-04 9.99972408e-01 7.21853246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.86, Y:132.57, Z:0.72 [[-7.40312130e-01 6.72235957e-01 6.06371720e-03 2.10861879e+02] [-6.72217672e-01 -7.40336858e-01 4.97377542e-03 1.32573447e+02] [ 7.83274401e-03 -3.93991587e-04 9.99969246e-01 7.22213626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.331400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.86, Y:132.57, Z:0.72 [[-7.40284039e-01 6.72266893e-01 6.06356324e-03 2.10862531e+02] [-6.72248607e-01 -7.40308767e-01 4.97396311e-03 1.32573967e+02] [ 7.83273975e-03 -3.94076441e-04 9.99969246e-01 7.22213440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.57, Z:0.72 [[-7.41788169e-01 6.70614938e-01 5.09087633e-03 2.10863436e+02] [-6.70602005e-01 -7.41805571e-01 4.17676219e-03 1.32574647e+02] [ 6.57743954e-03 -3.15679095e-04 9.99978319e-01 7.22684523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.56, Z:0.72 [[-7.42809043e-01 6.69484756e-01 4.98869873e-03 2.10842556e+02] [-6.69472294e-01 -7.42825735e-01 4.09568257e-03 1.32556327e+02] [ 6.44773085e-03 -2.97485532e-04 9.99979169e-01 7.23312425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.58, Z:0.72 [[-7.44346301e-01 6.67775640e-01 4.92735388e-03 2.10867323e+02] [-6.67763461e-01 -7.44362557e-01 4.04272850e-03 1.32575402e+02] [ 6.36737335e-03 -2.81116871e-04 9.99979689e-01 7.23138217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.57, Z:0.72 [[-7.45638747e-01 6.66331089e-01 5.07339184e-03 2.10856057e+02] [-6.66318138e-01 -7.45655956e-01 4.16347798e-03 1.32565718e+02] [ 6.55725965e-03 -2.76042500e-04 9.99978463e-01 7.22915591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.481400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:210.85, Y:132.56, Z:0.72 [[-7.47361977e-01 6.64398628e-01 4.95360912e-03 2.10852120e+02] [-6.64386233e-01 -7.47378351e-01 4.06622845e-03 1.32561280e+02] [ 6.40381682e-03 -2.52165167e-04 9.99979464e-01 7.22935096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.56, Z:0.72 [[-7.47650445e-01 6.64077679e-01 4.43264082e-03 2.10847825e+02] [-6.64067743e-01 -7.47663552e-01 3.63952783e-03 1.32556218e+02] [ 5.73105317e-03 -2.22479183e-04 9.99983553e-01 7.22614984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.55, Z:0.72 [[-7.47612178e-01 6.64121148e-01 4.37399701e-03 2.10846277e+02] [-6.64111469e-01 -7.47624941e-01 3.59231537e-03 1.32552178e+02] [ 5.65584187e-03 -2.19162858e-04 9.99983982e-01 7.23716097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.85, Y:132.55, Z:0.72 [[-7.47346884e-01 6.64418386e-01 4.56549122e-03 2.10849564e+02] [-6.64407842e-01 -7.47360793e-01 3.75025618e-03 1.32552305e+02] [ 5.90380829e-03 -2.30605899e-04 9.99982546e-01 7.23759582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.601400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.86, Y:132.56, Z:0.72 [[-7.46444306e-01 6.65431947e-01 4.60672235e-03 2.10858389e+02] [-6.65421231e-01 -7.46458482e-01 3.78415008e-03 1.32557924e+02] [ 5.95682133e-03 -2.40753576e-04 9.99982229e-01 7.23179014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.57, Z:0.72 [[-7.45765278e-01 6.66198662e-01 3.67330596e-03 2.10877677e+02] [-6.66191867e-01 -7.45774298e-01 3.01542556e-03 1.32573246e+02] [ 4.74832964e-03 -1.98326876e-04 9.99988707e-01 7.22965495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.57, Z:0.72 [[-7.44526182e-01 6.67587103e-01 2.86784555e-03 2.10874382e+02] [-6.67582970e-01 -7.44531687e-01 2.35471070e-03 1.32569304e+02] [ 3.70717638e-03 -1.61381085e-04 9.99993115e-01 7.22932796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.57, Z:0.72 [[-7.43197886e-01 6.69066056e-01 2.74118024e-03 2.10873905e+02] [-6.69062288e-01 -7.43202924e-01 2.25128602e-03 1.32567758e+02] [ 3.54351223e-03 -1.60869314e-04 9.99993709e-01 7.22853853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.721400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.90, Y:132.59, Z:0.72 [[-7.40843553e-01 6.71669122e-01 3.37934759e-03 2.10895746e+02] [-6.71663430e-01 -7.40851229e-01 2.77365536e-03 1.32585004e+02] [ 4.36657247e-03 -2.14939497e-04 9.99990443e-01 7.22190386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.751400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.89, Y:132.58, Z:0.72 [[-7.39912326e-01 6.72696018e-01 3.13329973e-03 2.10887480e+02] [-6.72691127e-01 -7.39918932e-01 2.57326370e-03 1.32578630e+02] [ 4.04941203e-03 -2.03753395e-04 9.99991780e-01 7.21964167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.90, Y:132.59, Z:0.72 [[-7.39458918e-01 6.73196086e-01 2.74555317e-03 2.10898113e+02] [-6.73192334e-01 -7.39463993e-01 2.25490662e-03 1.32586647e+02] [ 3.54823202e-03 -1.80874534e-04 9.99993689e-01 7.22413182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.59, Z:0.72 [[-7.39329475e-01 6.73340141e-01 2.23190609e-03 2.10908656e+02] [-6.73337661e-01 -7.39332829e-01 1.83333480e-03 1.32593252e+02] [ 2.88457935e-03 -1.47387973e-04 9.99995829e-01 7.22280610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.841400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.90, Y:132.58, Z:0.72 [[-7.39739612e-01 6.72884563e-01 3.41626780e-03 2.10900012e+02] [-6.72878740e-01 -7.39747468e-01 2.80802602e-03 1.32581645e+02] [ 4.41665281e-03 -2.21525899e-04 9.99990222e-01 7.22499179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.871400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.90, Y:132.58, Z:0.72 [[-7.40123042e-01 6.72458166e-01 4.23058398e-03 2.10896053e+02] [-6.72449217e-01 -7.40135084e-01 3.47974310e-03 1.32576931e+02] [ 5.47118529e-03 -2.69414841e-04 9.99984997e-01 7.23216517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.90, Y:132.58, Z:0.72 [[-7.40575910e-01 6.71961501e-01 3.88105658e-03 2.10899901e+02] [-6.71953958e-01 -7.40586040e-01 3.19311474e-03 1.32578399e+02] [ 5.01990649e-03 -2.43147478e-04 9.99987371e-01 7.22930954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.58, Z:0.72 [[-7.40710981e-01 6.71816289e-01 3.18072357e-03 2.10908684e+02] [-6.71811219e-01 -7.40717783e-01 2.61757793e-03 1.32583237e+02] [ 4.11455000e-03 -1.97977067e-04 9.99991516e-01 7.22531657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.57, Z:0.72 [[-7.40235750e-01 6.72339133e-01 3.33543571e-03 2.10904304e+02] [-6.72333555e-01 -7.40243235e-01 2.74670439e-03 1.32574320e+02] [ 4.31575057e-03 -2.09316561e-04 9.99990665e-01 7.22003991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.58, Z:0.72 [[-7.39678288e-01 6.72947341e-01 4.23172348e-03 2.10919132e+02] [-6.72938367e-01 -7.39690344e-01 3.48576198e-03 1.32584286e+02] [ 5.47589925e-03 -2.69346633e-04 9.99984971e-01 7.21711534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.59, Z:0.72 [[-7.38838198e-01 6.73866312e-01 4.72351283e-03 2.10925625e+02] [-6.73855134e-01 -7.38853233e-01 3.89342683e-03 1.32588480e+02] [ 6.11363190e-03 -3.06350908e-04 9.99981265e-01 7.21642871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05140051300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.93, Y:132.59, Z:0.72 [[-7.37663623e-01 6.75147199e-01 5.35154667e-03 2.10929115e+02] [-6.75132863e-01 -7.37682949e-01 4.41407440e-03 1.32589710e+02] [ 6.92789469e-03 -3.56902910e-04 9.99975938e-01 7.22543876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.59, Z:0.72 [[-7.36139300e-01 6.76815373e-01 4.45882629e-03 2.10940417e+02] [-6.76805438e-01 -7.36152739e-01 3.68019032e-03 1.32593062e+02] [ 5.77318657e-03 -3.08625148e-04 9.99983287e-01 7.23079620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.59, Z:0.72 [[-7.36001176e-01 6.76969796e-01 3.76366523e-03 2.10939530e+02] [-6.76962709e-01 -7.36010753e-01 3.10849065e-03 1.32590017e+02] [ 4.87445236e-03 -2.60008235e-04 9.99988086e-01 7.22963038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.60, Z:0.72 [[-7.35897875e-01 6.77083849e-01 3.43194761e-03 2.10951668e+02] [-6.77077949e-01 -7.35905840e-01 2.83640445e-03 1.32599121e+02] [ 4.44607393e-03 -2.36392038e-04 9.99990088e-01 7.22847668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.60, Z:0.72 [[-7.35491970e-01 6.77524936e-01 3.39464671e-03 2.10947193e+02] [-6.77519160e-01 -7.35499767e-01 2.80744809e-03 1.32595336e+02] [ 4.39887795e-03 -2.35082659e-04 9.99990297e-01 7.22452774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.60, Z:0.72 [[-7.33981178e-01 6.79156527e-01 4.24772765e-03 2.10956393e+02] [-6.79147497e-01 -7.33993406e-01 3.51533484e-03 1.32598814e+02] [ 5.50526669e-03 -3.04643995e-04 9.99984800e-01 7.22379751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.61, Z:0.72 [[-7.33147715e-01 6.80056120e-01 4.25458131e-03 2.10974035e+02] [-6.80047064e-01 -7.33159994e-01 3.52334038e-03 1.32609551e+02] [ 5.51535800e-03 -3.10186582e-04 9.99984742e-01 7.22640700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.61, Z:0.72 [[-7.31919835e-01 6.81383777e-01 3.08264412e-03 2.10978766e+02] [-6.81379028e-01 -7.31926291e-01 2.55448133e-03 1.32609346e+02] [ 3.99685041e-03 -2.30773502e-04 9.99991986e-01 7.23158672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.56, Z:0.72 [[-7.31281929e-01 6.82059316e-01 4.67219200e-03 2.10923271e+02] [-6.82059805e-01 -7.31294340e-01 1.73532971e-03 1.32564195e+02] [ 4.60034536e-03 -1.91769910e-03 9.99987580e-01 7.22984855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.61, Z:0.72 [[-7.31445513e-01 6.81893287e-01 3.00110045e-03 2.10981462e+02] [-6.81878833e-01 -7.31450429e-01 4.63967894e-03 1.32606003e+02] [ 5.35892213e-03 1.34728547e-03 9.99984733e-01 7.23401296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.61, Z:0.72 [[-7.31283634e-01 6.82057133e-01 4.72370757e-03 2.10986635e+02] [-6.82045979e-01 -7.31298803e-01 3.91700042e-03 1.32607599e+02] [ 6.12605977e-03 -3.57347454e-04 9.99981172e-01 7.22831520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.59, Z:0.72 [[-7.31359079e-01 6.81975424e-01 4.83930169e-03 2.10976316e+02] [-6.81963699e-01 -7.31374999e-01 4.01550806e-03 1.32594602e+02] [ 6.27782207e-03 -3.63449803e-04 9.99980228e-01 7.22613001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.60, Z:0.72 [[-7.31697059e-01 6.81619499e-01 3.77784816e-03 2.10993637e+02] [-6.81612339e-01 -7.31706758e-01 3.13679835e-03 1.32603989e+02] [ 4.90237995e-03 -2.79841796e-04 9.99987944e-01 7.23534715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.441400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.01, Y:132.61, Z:0.72 [[-7.31440787e-01 6.81896256e-01 3.44555924e-03 2.11007325e+02] [-6.81890294e-01 -7.31448858e-01 2.86276082e-03 1.32613138e+02] [ 4.47235626e-03 -2.55553377e-04 9.99989966e-01 7.24040361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.62, Z:0.72 [[-7.31042002e-01 6.82324130e-01 3.37244556e-03 2.11013872e+02] [-6.82318415e-01 -7.31049738e-01 2.80383755e-03 1.32615976e+02] [ 4.37855146e-03 -2.51358696e-04 9.99990383e-01 7.24345153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.62, Z:0.72 [[-7.30341138e-01 6.83072460e-01 3.71983297e-03 2.11017706e+02] [-6.83065507e-01 -7.30350557e-01 3.09467479e-03 1.32616550e+02] [ 4.83066920e-03 -2.80721287e-04 9.99988293e-01 7.23780808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.61, Z:0.72 [[-7.29220750e-01 6.84268309e-01 3.73896843e-03 2.11016064e+02] [-6.84261290e-01 -7.29230278e-01 3.11261971e-03 1.32614063e+02] [ 4.85643601e-03 -2.88644486e-04 9.99988166e-01 7.23499143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.62, Z:0.72 [[-7.27680627e-01 6.85905338e-01 3.84346782e-03 2.11023305e+02] [-6.85897934e-01 -7.27690712e-01 3.20169796e-03 1.32620351e+02] [ 4.99291756e-03 -3.06413064e-04 9.99987488e-01 7.23534861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.64, Z:0.72 [[-7.24377118e-01 6.89394389e-01 3.62861312e-03 2.11039176e+02] [-6.89387824e-01 -7.24386140e-01 3.02466565e-03 1.32635317e+02] [ 4.71370458e-03 -3.10523118e-04 9.99988842e-01 7.22828419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.04, Y:132.64, Z:0.72 [[-7.22914384e-01 6.90925186e-01 4.14499251e-03 2.11041762e+02] [-6.90916632e-01 -7.22926175e-01 3.45732824e-03 1.32638038e+02] [ 5.38527874e-03 -3.64491952e-04 9.99985433e-01 7.22981018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.64, Z:0.72 [[-7.21976641e-01 6.91905431e-01 4.07489153e-03 2.11048136e+02] [-6.91897168e-01 -7.21988048e-01 3.40103090e-03 1.32643273e+02] [ 5.29521473e-03 -3.63941047e-04 9.99985914e-01 7.23011523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.65, Z:0.72 [[-7.21768420e-01 6.92122443e-01 4.10749881e-03 2.11049993e+02] [-6.92114039e-01 -7.21780015e-01 3.43043632e-03 1.32645855e+02] [ 5.33899252e-03 -3.66876990e-04 9.99985680e-01 7.23347134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.64, Z:0.72 [[-7.22009793e-01 6.91870423e-01 4.14442574e-03 2.11040090e+02] [-6.91861851e-01 -7.22021594e-01 3.46349708e-03 1.32637853e+02] [ 5.38865607e-03 -3.66691260e-04 9.99985414e-01 7.24079499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.04, Y:132.64, Z:0.72 [[-7.22696032e-01 6.91153333e-01 4.18513145e-03 2.11038474e+02] [-6.91144567e-01 -7.22708059e-01 3.49977208e-03 1.32636416e+02] [ 5.44350737e-03 -3.63259468e-04 9.99985118e-01 7.24470378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.64, Z:0.72 [[-7.23229846e-01 6.90596773e-01 3.83239463e-03 2.11045219e+02] [-6.90589404e-01 -7.23239926e-01 3.20685855e-03 1.32641579e+02] [ 4.98638698e-03 -3.27315313e-04 9.99987514e-01 7.24439622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.04, Y:132.64, Z:0.72 [[-7.23759238e-01 6.90043831e-01 3.47527110e-03 2.11037344e+02] [-6.90037757e-01 -7.23767522e-01 2.90989605e-03 1.32635550e+02] [ 4.52324417e-03 -2.92004126e-04 9.99989727e-01 7.24116356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.831400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.04, Y:132.64, Z:0.72 [[-7.23662953e-01 6.90145711e-01 3.29051565e-03 2.11044902e+02] [-6.90140260e-01 -7.23670382e-01 2.75697522e-03 1.32642052e+02] [ 4.28396335e-03 -2.75796495e-04 9.99990786e-01 7.24203373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.65, Z:0.72 [[-7.23473457e-01 6.90346835e-01 2.72124490e-03 2.11052350e+02] [-6.90343102e-01 -7.23478539e-01 2.28146219e-03 1.32647496e+02] [ 3.54376249e-03 -2.28015313e-04 9.99993695e-01 7.23866819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.65, Z:0.72 [[-7.23188134e-01 6.90646352e-01 2.55700340e-03 2.11060598e+02] [-6.90643054e-01 -7.23192623e-01 2.14513354e-03 1.32653419e+02] [ 3.33073465e-03 -2.14641518e-04 9.99994430e-01 7.24426556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.66, Z:0.73 [[-7.22899570e-01 6.90949867e-01 2.11978875e-03 2.11067168e+02] [-6.90947598e-01 -7.22902656e-01 1.77946382e-03 1.32658688e+02] [ 2.76192121e-03 -1.78289316e-04 9.99996170e-01 7.25030817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.64, Z:0.73 [[-7.22969405e-01 6.90875787e-01 2.42601631e-03 2.11046649e+02] [-6.90872811e-01 -7.22973447e-01 2.03785016e-03 1.32640970e+02] [ 3.16184671e-03 -2.02765391e-04 9.99994981e-01 7.25431201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.65, Z:0.73 [[-7.24074882e-01 6.89713543e-01 3.28524237e-03 2.11062017e+02] [-6.89708067e-01 -7.24082286e-01 2.76141405e-03 1.32648570e+02] [ 4.28337048e-03 -2.66387613e-04 9.99990791e-01 7.25792746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.64, Z:0.73 [[-7.25053269e-01 6.88684649e-01 3.34837910e-03 2.11056158e+02] [-6.88678941e-01 -7.25060952e-01 2.81630261e-03 1.32641074e+02] [ 4.36732331e-03 -2.63988762e-04 9.99990428e-01 7.25737683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.64, Z:0.73 [[-7.26317661e-01 6.87348962e-01 3.74977282e-03 2.11053951e+02] [-6.87341775e-01 -7.26327284e-01 3.15597043e-03 1.32637477e+02] [ 4.89281531e-03 -2.85138445e-04 9.99987989e-01 7.25452560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.64, Z:0.73 [[-7.27612233e-01 6.85973593e-01 4.54624768e-03 2.11054724e+02] [-6.85962988e-01 -7.27626359e-01 3.82882789e-03 1.32637120e+02] [ 5.93444447e-03 -3.32655636e-04 9.99982336e-01 7.25093927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.62, Z:0.72 [[-7.29954193e-01 6.83472081e-01 5.72635643e-03 2.11044093e+02] [-6.83455155e-01 -7.29976549e-01 4.82589217e-03 1.32623695e+02] [ 7.47846847e-03 -3.91027600e-04 9.99971959e-01 7.24931802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.62, Z:0.73 [[-7.30760711e-01 6.82609520e-01 5.74685731e-03 2.11048094e+02] [-6.82592422e-01 -7.30783209e-01 4.84635966e-03 1.32623292e+02] [ 7.50787806e-03 -3.81232018e-04 9.99971743e-01 7.25033084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.62, Z:0.72 [[-7.31414439e-01 6.81909958e-01 5.63282464e-03 2.11052683e+02] [-6.81893488e-01 -7.31436038e-01 4.75332145e-03 1.32623703e+02] [ 7.36138817e-03 -3.64338498e-04 9.99972838e-01 7.24895101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.63, Z:0.72 [[-7.31850572e-01 6.81445483e-01 5.17631670e-03 2.11057501e+02] [-6.81431544e-01 -7.31868804e-01 4.37095793e-03 1.32625117e+02] [ 6.76695425e-03 -3.28417415e-04 9.99977050e-01 7.24963821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.63, Z:0.72 [[-7.31629790e-01 6.81682529e-01 5.17490046e-03 2.11059390e+02] [-6.81668584e-01 -7.31648017e-01 4.37263455e-03 1.32626810e+02] [ 6.76695424e-03 -3.28417374e-04 9.99977050e-01 7.24963261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.62, Z:0.73 [[-7.32687960e-01 6.80556390e-01 3.36958571e-03 2.11056981e+02] [-6.80550457e-01 -7.32695679e-01 2.84904138e-03 1.32619733e+02] [ 4.40781421e-03 -2.05714780e-04 9.99990264e-01 7.26203837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.06, Y:132.62, Z:0.73 [[-7.33440392e-01 6.79748140e-01 2.76730403e-03 2.11059820e+02] [-6.79744128e-01 -7.33445594e-01 2.34133156e-03 1.32618360e+02] [ 3.62118272e-03 -1.63831528e-04 9.99993430e-01 7.27563034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.06, Y:132.62, Z:0.73 [[-7.34515185e-01 6.78589498e-01 1.93300302e-03 2.11064416e+02] [-6.78587533e-01 -7.34517720e-01 1.63650725e-03 1.32618418e+02] [ 2.53034161e-03 -1.09672328e-04 9.99996793e-01 7.27690698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.61, Z:0.73 [[-7.37534453e-01 6.75308873e-01 9.25359483e-04 2.11061993e+02] [-6.75308420e-01 -7.37535032e-01 7.83891636e-04 1.32610166e+02] [ 1.21185401e-03 -4.67559616e-05 9.99999265e-01 7.27046487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.60, Z:0.73 [[-7.38815801e-01 6.73907088e-01 6.70419682e-04 2.11056533e+02] [-6.73906849e-01 -7.38816104e-01 5.68278689e-04 1.32602622e+02] [ 8.78283894e-04 -3.19471405e-05 9.99999614e-01 7.27138133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.401400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.06, Y:132.60, Z:0.73 [[-7.39875231e-01 6.72743467e-01 9.32837237e-04 2.11061399e+02] [-6.72743003e-01 -7.39875818e-01 7.91282284e-04 1.32603865e+02] [ 1.22251370e-03 -4.21095610e-05 9.99999252e-01 7.27433141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.60, Z:0.73 [[-7.42253894e-01 6.70117917e-01 1.06530065e-03 2.11064487e+02] [-6.70117308e-01 -7.42254657e-01 9.04263061e-04 1.32600009e+02] [ 1.39668725e-03 -4.26836273e-05 9.99999024e-01 7.28173726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.59, Z:0.73 [[-7.43348955e-01 6.68902814e-01 1.16496232e-03 2.11053943e+02] [-6.68902083e-01 -7.43349866e-01 9.89533579e-04 1.32589221e+02] [ 1.52787638e-03 -4.36769686e-05 9.99998832e-01 7.28169452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49140051300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.05, Y:132.59, Z:0.73 [[-7.44128436e-01 6.68034759e-01 1.55961740e-03 2.11054969e+02] [-6.68033446e-01 -7.44130068e-01 1.32568825e-03 1.32588451e+02] [ 2.04616403e-03 -5.53942590e-05 9.99997905e-01 7.28297151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.59, Z:0.73 [[-7.45000121e-01 6.67062003e-01 1.76174618e-03 2.11062441e+02] [-6.67060322e-01 -7.45002202e-01 1.49852535e-03 1.32593264e+02] [ 2.31211411e-03 -5.87894046e-05 9.99997325e-01 7.27989836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.58, Z:0.73 [[-7.46848403e-01 6.64990600e-01 2.22810760e-03 2.11055861e+02] [-6.64987899e-01 -7.46851724e-01 1.89651861e-03 1.32584778e+02] [ 2.92523305e-03 -6.52526955e-05 9.99995719e-01 7.27946268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.56, Z:0.73 [[-7.47993648e-01 6.63698406e-01 3.15101311e-03 2.11026841e+02] [-6.63699020e-01 -7.47999075e-01 9.97154477e-04 1.32560039e+02] [ 3.01876473e-03 -1.34545910e-03 9.99994538e-01 7.28209294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.57, Z:0.73 [[-7.49750407e-01 6.61720094e-01 9.18999567e-04 2.11044495e+02] [-6.61716717e-01 -7.49749972e-01 2.44250305e-03 1.32570654e+02] [ 2.30527325e-03 1.22315028e-03 9.99996595e-01 7.28916533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.641400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.04, Y:132.57, Z:0.73 [[-7.51974901e-01 6.59189277e-01 1.80165612e-03 2.11044330e+02] [-6.59187487e-01 -7.51977058e-01 1.53669992e-03 1.32570134e+02] [ 2.36778017e-03 -3.20694003e-05 9.99997196e-01 7.28981113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.02, Y:132.55, Z:0.73 [[-7.57857618e-01 6.52416103e-01 2.24936682e-03 2.11024390e+02] [-6.52413278e-01 -7.57860956e-01 1.91993330e-03 1.32550160e+02] [ 2.95730269e-03 -1.24807026e-05 9.99995627e-01 7.28812179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.701400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.02, Y:132.55, Z:0.73 [[-7.60675766e-01 6.49127385e-01 2.45296693e-03 2.11020615e+02] [-6.49124004e-01 -7.60679721e-01 2.09520510e-03 1.32545169e+02] [ 3.22597720e-03 1.49202759e-06 9.99994797e-01 7.28341074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.54, Z:0.73 [[-7.63097368e-01 6.46278578e-01 2.53127355e-03 2.11018010e+02] [-6.46274956e-01 -7.63101566e-01 2.16363289e-03 1.32540145e+02] [ 3.32992840e-03 1.51638648e-05 9.99994456e-01 7.28208397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.761400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.00, Y:132.52, Z:0.73 [[-7.66711474e-01 6.41986627e-01 2.58560050e-03 2.11000140e+02] [-6.41982819e-01 -7.66715833e-01 2.21166371e-03 1.32519787e+02] [ 3.40227937e-03 3.57968500e-05 9.99994212e-01 7.28468672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.52, Z:0.73 [[-7.67889645e-01 6.40579937e-01 1.68449613e-03 2.10999445e+02] [-6.40578315e-01 -7.67891492e-01 1.44189365e-03 1.32518313e+02] [ 2.21715839e-03 2.81635096e-05 9.99997542e-01 7.28327012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.52, Z:0.73 [[-7.68600180e-01 6.39728978e-01 7.72811327e-04 2.10998981e+02] [-6.39728636e-01 -7.68600569e-01 6.61938251e-04 1.32517865e+02] [ 1.01744431e-03 1.43763231e-05 9.99999482e-01 7.28415260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.53, Z:0.73 [[-7.69128771e-01 6.39093826e-01 1.22729274e-04 2.11010517e+02] [-6.39093818e-01 -7.69128781e-01 1.05112326e-04 1.32528499e+02] [ 1.61571256e-04 2.40939401e-06 9.99999987e-01 7.27744720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.881400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.00, Y:132.52, Z:0.73 [[-7.69305361e-01 6.38881257e-01 1.48766802e-05 2.11004907e+02] [-6.38881257e-01 -7.69305362e-01 1.26608495e-05 1.32524979e+02] [ 1.95334894e-05 2.35627280e-07 1.00000000e+00 7.27177109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.911400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.01, Y:132.53, Z:0.73 [[-7.68542972e-01 6.39798005e-01 4.61768739e-04 2.11008593e+02] [-6.39797883e-01 -7.68543110e-01 3.96343450e-04 1.32529964e+02] [ 6.08468931e-04 9.16831153e-06 9.99999815e-01 7.26214121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.53, Z:0.73 [[-7.67958963e-01 6.40498260e-01 1.00464772e-03 2.11006943e+02] [-6.40497679e-01 -7.67959620e-01 8.63053553e-04 1.32530893e+02] [ 1.32431318e-03 1.93151786e-05 9.99999123e-01 7.26070625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.971400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.02, Y:132.54, Z:0.73 [[-7.67720303e-01 6.40782257e-01 1.90643571e-03 2.11016102e+02] [-6.40780162e-01 -7.67722670e-01 1.63902562e-03 1.32542483e+02] [ 2.51387245e-03 3.67070623e-05 9.99996840e-01 7.26337226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.00, Y:132.54, Z:0.73 [[-7.67833419e-01 6.40645227e-01 2.35227356e-03 2.11003682e+02] [-6.40642032e-01 -7.67837021e-01 2.02382102e-03 1.32536229e+02] [ 3.10271400e-03 4.69920996e-05 9.99995186e-01 7.26720120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.53, Z:0.73 [[-7.69218326e-01 6.38982926e-01 1.99706710e-03 2.10988548e+02] [-6.38980614e-01 -7.69220917e-01 1.71946019e-03 1.32528365e+02] [ 2.63489149e-03 4.65531262e-05 9.99996528e-01 7.27435737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.54, Z:0.73 [[-7.70514675e-01 6.37419489e-01 1.87925862e-03 2.10996561e+02] [-6.37417434e-01 -7.70516965e-01 1.61921629e-03 1.32536139e+02] [ 2.48012067e-03 4.97577022e-05 9.99996923e-01 7.27832835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.091400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:210.99, Y:132.53, Z:0.73 [[-7.72090995e-01 6.35507866e-01 2.29081555e-03 2.10992973e+02] [-6.35504800e-01 -7.72094390e-01 1.97530336e-03 1.32533998e+02] [ 3.02404666e-03 6.92896597e-05 9.99995425e-01 7.27604283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.53, Z:0.73 [[-7.73997307e-01 6.33182760e-01 2.78582639e-03 2.10984341e+02] [-6.33178204e-01 -7.74002314e-01 2.40394271e-03 1.32529276e+02] [ 3.67837116e-03 9.67206357e-05 9.99993230e-01 7.26766518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.53, Z:0.73 [[-7.76994145e-01 6.29493872e-01 4.19084662e-03 2.10983618e+02] [-6.29483493e-01 -7.77005428e-01 3.61911076e-03 1.32534194e+02] [ 5.53451862e-03 1.73959105e-04 9.99984669e-01 7.25634482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.55, Z:0.73 [[-7.77949362e-01 6.28307721e-01 4.91908393e-03 2.11000409e+02] [-6.28293376e-01 -7.77964884e-01 4.25116188e-03 1.32550901e+02] [ 6.49791239e-03 2.16560820e-04 9.99978865e-01 7.25490067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.55, Z:0.73 [[-7.78512160e-01 6.27606066e-01 5.42607508e-03 2.10994745e+02] [-6.27588570e-01 -7.78531030e-01 4.69277896e-03 1.32548188e+02] [ 7.16958436e-03 2.48042785e-04 9.99974267e-01 7.25652752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.00, Y:132.56, Z:0.73 [[-7.78784160e-01 6.27263713e-01 5.95543170e-03 2.11002988e+02] [-6.27242597e-01 -7.78806880e-01 5.15439882e-03 1.32558399e+02] [ 7.87129852e-03 2.78663712e-04 9.99968982e-01 7.25657280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.57, Z:0.73 [[-7.79036152e-01 6.26955112e-01 5.47381370e-03 2.11006430e+02] [-6.26937240e-01 -7.79055338e-01 4.74102000e-03 1.32569411e+02] [ 7.23681051e-03 2.61688322e-04 9.99973780e-01 7.26001491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.01, Y:132.58, Z:0.73 [[-7.79027569e-01 6.26969877e-01 4.98194876e-03 2.11011150e+02] [-6.26955053e-01 -7.79043462e-01 4.31813674e-03 1.32576250e+02] [ 6.58849627e-03 2.40489620e-04 9.99978267e-01 7.26471468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.58, Z:0.73 [[-7.79329135e-01 6.26601289e-01 4.11391200e-03 2.11015520e+02] [-6.26591161e-01 -7.79339967e-01 3.56833169e-03 1.32580977e+02] [ 5.44205728e-03 2.03163956e-04 9.99985171e-01 7.26369343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.58, Z:0.73 [[-7.79700184e-01 6.26142254e-01 3.67439364e-03 2.11018750e+02] [-6.26134159e-01 -7.79708819e-01 3.18940003e-03 1.32583982e+02] [ 4.86197525e-03 1.86112420e-04 9.99988163e-01 7.26685892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.59, Z:0.73 [[-7.80477547e-01 6.25176467e-01 3.03045381e-03 2.11027064e+02] [-6.25170946e-01 -7.80483414e-01 2.63233671e-03 1.32591579e+02] [ 4.01089390e-03 1.59928021e-04 9.99991944e-01 7.26685434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.60, Z:0.73 [[-7.80102945e-01 6.25644926e-01 2.79683068e-03 2.11034694e+02] [-6.25640220e-01 -7.80107945e-01 2.43114170e-03 1.32598254e+02] [ 3.70286130e-03 1.46731038e-04 9.99993134e-01 7.27009083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.60, Z:0.73 [[-7.78922346e-01 6.27114219e-01 2.78101666e-03 2.11031638e+02] [-6.27109569e-01 -7.78927298e-01 2.41912915e-03 1.32595128e+02] [ 3.68328008e-03 1.40311594e-04 9.99993207e-01 7.27903987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.59, Z:0.73 [[-7.74804333e-01 6.32196021e-01 2.53708249e-03 2.11024162e+02] [-6.32192173e-01 -7.74808479e-01 2.20852196e-03 1.32588296e+02] [ 3.36197182e-03 1.07248690e-04 9.99994343e-01 7.28393079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.56, Z:0.73 [[-7.71559395e-01 6.36151940e-01 2.60939821e-03 2.10995315e+02] [-6.36147886e-01 -7.71563802e-01 2.27314383e-03 1.32564382e+02] [ 3.45938206e-03 9.39023302e-05 9.99994012e-01 7.28273656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.56, Z:0.73 [[-7.67775778e-01 6.40713664e-01 2.52119000e-03 2.10991344e+02] [-6.40709898e-01 -7.67779914e-01 2.19793866e-03 1.32562571e+02] [ 3.34396837e-03 7.21726791e-05 9.99994406e-01 7.28333693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.97, Y:132.54, Z:0.73 [[-7.63713007e-01 6.45547088e-01 3.37641891e-03 2.10965275e+02] [-6.45548239e-01 -7.63718987e-01 8.82770600e-04 1.32543668e+02] [ 3.14850522e-03 -1.50545790e-03 9.99993910e-01 7.27971159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.601400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.03, Y:132.61, Z:0.73 [[-7.56736821e-01 6.53719591e-01 -2.82890460e-04 2.11033422e+02] [-6.53718875e-01 -7.56735183e-01 1.86939576e-03 1.32605947e+02] [ 1.00798747e-03 1.59957144e-03 9.99998213e-01 7.29023396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.62, Z:0.73 [[-7.53840128e-01 6.57057653e-01 5.49730227e-04 2.11036300e+02] [-6.57057478e-01 -7.53840328e-01 4.79725512e-04 1.32615843e+02] [ 7.29616134e-04 4.31984866e-07 9.99999734e-01 7.28934545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.661400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.03, Y:132.62, Z:0.73 [[-7.51396118e-01 6.59849839e-01 1.43687072e-03 2.11032542e+02] [-6.59848645e-01 -7.51397492e-01 1.25497982e-03 1.32618640e+02] [ 1.90775929e-03 -5.13023280e-06 9.99998180e-01 7.29277696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.03, Y:132.63, Z:0.73 [[-7.49486740e-01 6.62011914e-01 3.13871789e-03 2.11034844e+02] [-6.62006230e-01 -7.49493312e-01 2.74349282e-03 1.32628488e+02] [ 4.16867300e-03 -2.16393052e-05 9.99991311e-01 7.29687624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.721400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.01, Y:132.61, Z:0.73 [[-7.49412567e-01 6.62063353e-01 7.27474422e-03 2.11006696e+02] [-6.62065797e-01 -7.49441835e-01 2.41186797e-03 1.32609112e+02] [ 7.04880704e-03 -3.00887516e-03 9.99970630e-01 7.32495753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.751400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.04, Y:132.63, Z:0.73 [[-7.50844658e-01 6.60478691e-01 4.45145568e-04 2.11036406e+02] [-6.60471149e-01 -7.50838995e-01 4.32032156e-03 1.32631490e+02] [ 3.18771298e-03 2.94988456e-03 9.99990568e-01 7.30389225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.01, Y:132.63, Z:0.73 [[-7.53776438e-01 6.57107041e-01 5.60517195e-03 2.11010306e+02] [-6.57119385e-01 -7.53786353e-01 -4.97707345e-04 1.32625019e+02] [ 3.89805512e-03 -4.05842722e-03 9.99984167e-01 7.29426920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.811400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.01, Y:132.62, Z:0.73 [[-7.55274929e-01 6.55407679e-01 -7.45502707e-04 2.11005084e+02] [-6.55403434e-01 -7.55264768e-01 4.63340382e-03 1.32615614e+02] [ 2.47371652e-03 3.98809878e-03 9.99988988e-01 7.30132450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.62, Z:0.73 [[-7.56602381e-01 6.53871813e-01 2.11882063e-03 2.11002537e+02] [-6.53869175e-01 -7.56605348e-01 1.85756820e-03 1.32619842e+02] [ 2.81772250e-03 2.00090260e-05 9.99996030e-01 7.29696414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.871400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.99, Y:132.61, Z:0.73 [[-7.57897022e-01 6.52368970e-01 2.61367204e-03 2.10987592e+02] [-6.52364941e-01 -7.57901528e-01 2.29312139e-03 1.32608200e+02] [ 3.47686727e-03 3.28818670e-05 9.99993955e-01 7.29852719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.901400513 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:210.98, Y:132.61, Z:0.73 [[-7.60056763e-01 6.49848668e-01 3.22877210e-03 2.10984995e+02] [-6.49842487e-01 -7.60063619e-01 2.83491971e-03 1.32610228e+02] [ 4.29634101e-03 5.65066079e-05 9.99990769e-01 7.29586335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.931400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.98, Y:132.61, Z:0.73 [[-7.60383668e-01 6.49466124e-01 3.22984446e-03 2.10980823e+02] [-6.49459926e-01 -7.60390525e-01 2.83798372e-03 1.32608949e+02] [ 4.29911741e-03 6.03019274e-05 9.99990757e-01 7.29878926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.62, Z:0.73 [[-7.60525261e-01 6.49301327e-01 3.01891719e-03 2.10993660e+02] [-6.49295903e-01 -7.60531251e-01 2.65461996e-03 1.32622727e+02] [ 4.01962913e-03 5.87349720e-05 9.99991920e-01 7.29582519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.98, Y:132.62, Z:0.73 [[-7.60470816e-01 6.49364040e-01 3.23751619e-03 2.10982665e+02] [-6.49357793e-01 -7.60477705e-01 2.84897066e-03 1.32615313e+02] [ 4.31207798e-03 6.42526728e-05 9.99990701e-01 7.29845415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.021400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.00, Y:132.63, Z:0.73 [[-7.60615588e-01 6.49194535e-01 3.22231321e-03 2.10996884e+02] [-6.49188336e-01 -7.60622411e-01 2.83770331e-03 1.32633352e+02] [ 4.29318512e-03 6.65132220e-05 9.99990782e-01 7.29410947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.98, Y:132.62, Z:0.73 [[-7.60331565e-01 6.49503517e-01 6.41036046e-03 2.10978938e+02] [-6.49511160e-01 -7.60351276e-01 1.09063178e-03 1.32624574e+02] [ 5.58249493e-03 -3.33435889e-03 9.99978859e-01 7.28680611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.63, Z:0.73 [[-7.60220149e-01 6.49665482e-01 2.93972342e-04 2.10993697e+02] [-6.49657009e-01 -7.60212399e-01 4.78324413e-03 1.32633415e+02] [ 3.33099002e-03 3.44533737e-03 9.99988517e-01 7.29117737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.64, Z:0.73 [[-7.59973794e-01 6.49948763e-01 2.53737628e-03 2.10993663e+02] [-6.49944911e-01 -7.59978028e-01 2.23824140e-03 1.32637265e+02] [ 3.38309246e-03 5.18500118e-05 9.99994276e-01 7.29068444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.141400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.00, Y:132.64, Z:0.73 [[-7.59431875e-01 6.50582520e-01 2.36890835e-03 2.10996690e+02] [-6.50579161e-01 -7.59435568e-01 2.09117744e-03 1.32643643e+02] [ 3.15951675e-03 4.69444012e-05 9.99995008e-01 7.28930998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.171400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.99, Y:132.65, Z:0.73 [[-7.59067790e-01 6.51007533e-01 2.29827476e-03 2.10990429e+02] [-6.51004368e-01 -7.59071268e-01 2.03032673e-03 1.32647193e+02] [ 3.06631233e-03 4.49687138e-05 9.99995298e-01 7.29252765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.201400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.97, Y:132.64, Z:0.73 [[-7.59093434e-01 6.50958927e-01 5.44365471e-03 2.10971565e+02] [-6.50964315e-01 -7.59107728e-01 9.57974346e-04 1.32638640e+02] [ 4.75592231e-03 -2.81643293e-03 9.99984724e-01 7.28629516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.67, Z:0.73 [[-7.61109261e-01 6.48621954e-01 1.50119528e-03 2.11006668e+02] [-6.48607761e-01 -7.61104751e-01 5.24702682e-03 1.32673303e+02] [ 4.54590364e-03 3.01987380e-03 9.99985107e-01 7.27757273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.68, Z:0.73 [[-7.62184887e-01 6.47347058e-01 3.99811496e-03 2.11004010e+02] [-6.47337424e-01 -7.62195366e-01 3.53314788e-03 1.32679281e+02] [ 5.33451758e-03 1.04782473e-04 9.99985766e-01 7.27625057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.291400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.01, Y:132.69, Z:0.73 [[-7.63693438e-01 6.45564425e-01 4.34805458e-03 2.11005817e+02] [-6.45552999e-01 -7.63705805e-01 3.84310451e-03 1.32685994e+02] [ 5.80160608e-03 1.28054024e-04 9.99983162e-01 7.27597677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.00, Y:132.69, Z:0.73 [[-7.65342849e-01 6.43608430e-01 4.30254610e-03 2.11004219e+02] [-6.43597205e-01 -7.65354930e-01 3.80389960e-03 1.32690033e+02] [ 5.74119672e-03 1.42180715e-04 9.99983509e-01 7.27662905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.71, Z:0.73 [[-7.67575463e-01 6.40947049e-01 3.84574501e-03 2.11021940e+02] [-6.40938059e-01 -7.67585083e-01 3.39774352e-03 1.32711186e+02] [ 5.12971018e-03 1.43140211e-04 9.99986833e-01 7.27776880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.03, Y:132.73, Z:0.73 [[-7.72471416e-01 6.35035653e-01 4.19904122e-03 2.11032177e+02] [-6.35024862e-01 -7.72482803e-01 3.70725388e-03 1.32729255e+02] [ 5.59792552e-03 1.97252084e-04 9.99984312e-01 7.27166180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.73, Z:0.73 [[-7.74745720e-01 6.32257612e-01 4.40244106e-03 2.11028893e+02] [-6.32245703e-01 -7.74758194e-01 3.88737404e-03 1.32730591e+02] [ 5.86864912e-03 2.28301961e-04 9.99982753e-01 7.26340678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.04, Y:132.74, Z:0.73 [[-7.76881483e-01 6.29629897e-01 4.62111874e-03 2.11038665e+02] [-6.29616745e-01 -7.76895184e-01 4.07775330e-03 1.32742856e+02] [ 6.15760028e-03 2.58397296e-04 9.99981008e-01 7.26284753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.75, Z:0.73 [[-7.78700805e-01 6.27381395e-01 4.20008753e-03 2.11047765e+02] [-6.27370512e-01 -7.78712093e-01 3.70368027e-03 1.32754862e+02] [ 5.59427905e-03 2.49047740e-04 9.99984321e-01 7.26324599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.77, Z:0.73 [[-7.80977385e-01 6.24548191e-01 3.72572910e-03 2.11060835e+02] [-6.24539606e-01 -7.80986236e-01 3.28316012e-03 1.32772584e+02] [ 4.96023486e-03 2.37208422e-04 9.99987670e-01 7.26628086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.77, Z:0.73 [[-7.81738809e-01 6.23595034e-01 3.69708972e-03 2.11058452e+02] [-6.23586581e-01 -7.81747514e-01 3.25572258e-03 1.32773284e+02] [ 4.92044313e-03 2.39669149e-04 9.99987866e-01 7.26964916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.78, Z:0.73 [[-7.82117207e-01 6.23121975e-01 3.41741653e-03 2.11059574e+02] [-6.23114757e-01 -7.82124642e-01 3.00741708e-03 1.32776977e+02] [ 4.54683335e-03 2.22709980e-04 9.99989638e-01 7.27037829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.05, Y:132.77, Z:0.73 [[-7.81962238e-01 6.23318690e-01 2.97809301e-03 2.11046793e+02] [-6.23313210e-01 -7.81967885e-01 2.62092068e-03 1.32770737e+02] [ 3.96244193e-03 1.93176284e-04 9.99992131e-01 7.27980787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.621400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.05, Y:132.77, Z:0.73 [[-7.82171348e-01 6.23055568e-01 3.12110783e-03 2.11047715e+02] [-6.23049554e-01 -7.82177549e-01 2.74503671e-03 1.32773849e+02] [ 4.15157088e-03 2.02484227e-04 9.99991362e-01 7.28203214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.77, Z:0.73 [[-7.82275640e-01 6.22924953e-01 3.05388282e-03 2.11041967e+02] [-6.22919201e-01 -7.82281576e-01 2.68409464e-03 1.32771533e+02] [ 4.06098579e-03 1.97379602e-04 9.99991735e-01 7.27427274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.77, Z:0.73 [[-7.82206940e-01 6.23010384e-01 3.21940495e-03 2.11040756e+02] [-6.23004001e-01 -7.82213538e-01 2.82765173e-03 1.32773299e+02] [ 4.27991853e-03 2.06106640e-04 9.99990820e-01 7.27114439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.78, Z:0.73 [[-7.82232720e-01 6.22979823e-01 2.84824374e-03 2.11043279e+02] [-6.22974833e-01 -7.82237884e-01 2.49997775e-03 1.32779403e+02] [ 3.78543985e-03 1.81180220e-04 9.99992819e-01 7.26849307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.78, Z:0.73 [[-7.81801097e-01 6.23522215e-01 2.66306715e-03 2.11032894e+02] [-6.23517862e-01 -7.81805615e-01 2.33587271e-03 1.32778091e+02] [ 3.53846938e-03 1.65717912e-04 9.99993726e-01 7.26524096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.78, Z:0.73 [[-7.81635266e-01 6.23727788e-01 3.15561003e-03 2.11033722e+02] [-6.23721685e-01 -7.81641611e-01 2.76601332e-03 1.32782482e+02] [ 4.19179548e-03 1.93791147e-04 9.99991196e-01 7.26488061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.78, Z:0.73 [[-7.81640927e-01 6.23716739e-01 3.85873350e-03 2.11031207e+02] [-6.23707625e-01 -7.81650417e-01 3.38002843e-03 1.32784334e+02] [ 5.12436096e-03 2.35247042e-04 9.99986843e-01 7.26395939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.80, Z:0.73 [[-7.82540220e-01 6.22585035e-01 4.32177531e-03 2.11033106e+02] [-6.22573600e-01 -7.82552108e-01 3.78307569e-03 1.32795584e+02] [ 5.73730069e-03 2.69785671e-04 9.99983505e-01 7.26925015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.81, Z:0.73 [[-7.83654663e-01 6.21185521e-01 3.73060214e-03 2.11040665e+02] [-6.21176995e-01 -7.83663506e-01 3.26343290e-03 1.32807704e+02] [ 4.95073402e-03 2.40040183e-04 9.99987716e-01 7.27260301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.81, Z:0.73 [[-7.85092708e-01 6.19370401e-01 3.12191515e-03 2.11031795e+02] [-6.19364423e-01 -7.85098888e-01 2.72917595e-03 1.32805486e+02] [ 4.14138291e-03 2.09052961e-04 9.99991403e-01 7.27909445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.75, Z:0.73 [[-7.85634175e-01 6.18680096e-01 3.72600906e-03 2.10964962e+02] [-6.18678259e-01 -7.85642473e-01 1.76517042e-03 1.32753677e+02] [ 4.01938678e-03 -9.18422591e-04 9.99991501e-01 7.28194916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.82, Z:0.73 [[-7.89176288e-01 6.14163301e-01 2.05584422e-03 2.11037396e+02] [-6.14155843e-01 -7.89177804e-01 3.31572676e-03 1.32822633e+02] [ 3.65882432e-03 1.35408420e-03 9.99992390e-01 7.27549330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.83, Z:0.73 [[-7.90790512e-01 6.12078188e-01 3.26469704e-03 2.11041847e+02] [-6.12071597e-01 -7.90797209e-01 2.85219757e-03 1.32830971e+02] [ 4.32748123e-03 2.57262444e-04 9.99990603e-01 7.27180695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.84, Z:0.73 [[-7.92242036e-01 6.10191421e-01 4.35725426e-03 2.11050294e+02] [-6.10179666e-01 -7.92253939e-01 3.80420132e-03 1.32841189e+02] [ 5.77334286e-03 3.55140252e-04 9.99983271e-01 7.27071059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.84, Z:0.73 [[-7.94187802e-01 6.07646125e-01 5.64996609e-03 2.11042506e+02] [-6.07626320e-01 -7.94207753e-01 4.92960854e-03 1.32838869e+02] [ 7.48270440e-03 4.81966868e-04 9.99971888e-01 7.26725167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.85, Z:0.73 [[-7.94733413e-01 6.06935712e-01 5.27677527e-03 2.11047839e+02] [-6.06918441e-01 -7.94750801e-01 4.60102815e-03 1.32845251e+02] [ 6.98624966e-03 4.54018579e-04 9.99975493e-01 7.26443474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.84, Z:0.73 [[-7.95031938e-01 6.06549949e-01 4.62349434e-03 2.11039413e+02] [-6.06536700e-01 -7.95045282e-01 4.02881452e-03 1.32839540e+02] [ 6.11956461e-03 3.98717219e-04 9.99981196e-01 7.26344139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.84, Z:0.73 [[-7.94973367e-01 6.06627145e-01 4.56652699e-03 2.11041223e+02] [-6.06614237e-01 -7.94986386e-01 3.97660376e-03 1.32844241e+02] [ 6.04264258e-03 3.91173791e-04 9.99981667e-01 7.26298472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.84, Z:0.73 [[-7.94833343e-01 6.06804031e-01 5.36894283e-03 2.11036847e+02] [-6.06786214e-01 -7.94851345e-01 4.67232520e-03 1.32841268e+02] [ 7.10269719e-03 4.55919363e-04 9.99974672e-01 7.25779298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.85, Z:0.73 [[-7.94739071e-01 6.06923946e-01 5.75611998e-03 2.11042638e+02] [-6.06903494e-01 -7.94759768e-01 5.00603373e-03 1.32847507e+02] [ 7.61301432e-03 4.85081261e-04 9.99970903e-01 7.25381047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.85, Z:0.73 [[-7.94738111e-01 6.06926007e-01 5.67067393e-03 2.11042643e+02] [-6.06906181e-01 -7.94758200e-01 4.92856122e-03 1.32849210e+02] [ 7.49808659e-03 4.75348374e-04 9.99971776e-01 7.25638550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.84, Z:0.73 [[-7.95017751e-01 6.06569609e-01 4.48177684e-03 2.11026010e+02] [-6.06557234e-01 -7.95030294e-01 3.89276574e-03 1.32837129e+02] [ 5.92438175e-03 3.76363693e-04 9.99982380e-01 7.26306938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.84, Z:0.73 [[-7.95711502e-01 6.05662445e-01 4.02581795e-03 2.11035433e+02] [-6.05652461e-01 -7.95721613e-01 3.49448586e-03 1.32844326e+02] [ 5.31990920e-03 3.42356041e-04 9.99985791e-01 7.26164952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.85, Z:0.73 [[-7.96666126e-01 6.04405579e-01 4.12072617e-03 2.11045846e+02] [-6.04395114e-01 -7.96676703e-01 3.57457900e-03 1.32852115e+02] [ 5.44338202e-03 3.57199240e-04 9.99985121e-01 7.25805750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.85, Z:0.73 [[-7.98454853e-01 6.02033483e-01 5.05295341e-03 2.11042055e+02] [-6.02017719e-01 -7.98470712e-01 4.38043866e-03 1.32847078e+02] [ 6.67180606e-03 4.55615020e-04 9.99977639e-01 7.25850356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.85, Z:0.73 [[-7.99122106e-01 6.01146626e-01 5.15701290e-03 2.11047699e+02] [-6.01130207e-01 -7.99138607e-01 4.46780449e-03 1.32851416e+02] [ 6.80697370e-03 4.70285097e-04 9.99976722e-01 7.26662594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.84, Z:0.73 [[-7.99260315e-01 6.00967141e-01 4.63090915e-03 2.11040610e+02] [-6.00953913e-01 -7.99273619e-01 4.00947244e-03 1.32844315e+02] [ 6.11092470e-03 4.21649225e-04 9.99981239e-01 7.26946545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.84, Z:0.73 [[-7.98142572e-01 6.02461746e-01 2.87741922e-03 2.11036880e+02] [-6.02456654e-01 -7.98147719e-01 2.48973754e-03 1.32840684e+02] [ 3.79657721e-03 2.53645163e-04 9.99992761e-01 7.27556891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.84, Z:0.73 [[-7.97233463e-01 6.03666734e-01 2.29784090e-03 2.11029063e+02] [-6.03663496e-01 -7.97236750e-01 1.98699612e-03 1.32836432e+02] [ 3.03140667e-03 1.96977122e-04 9.99995386e-01 7.27727772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.83, Z:0.73 [[-7.96328472e-01 6.04860923e-01 2.05647522e-03 2.11017131e+02] [-6.04858336e-01 -7.96331109e-01 1.77714980e-03 1.32830013e+02] [ 2.71256366e-03 1.71318804e-04 9.99996306e-01 7.28033059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.83, Z:0.73 [[-7.95582145e-01 6.05843781e-01 1.53721328e-03 2.11009544e+02] [-6.05842339e-01 -7.95583621e-01 1.32758514e-03 1.32827743e+02] [ 2.02729091e-03 1.24894143e-04 9.99997937e-01 7.27714100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.84, Z:0.73 [[-7.94644168e-01 6.07075289e-01 4.90686290e-04 2.11009871e+02] [-6.07075142e-01 -7.94644318e-01 4.23564989e-04 1.32835351e+02] [ 6.47056910e-04 3.86999993e-05 9.99999790e-01 7.27760343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.84, Z:0.73 [[-7.95094753e-01 6.06484930e-01 6.02669409e-04 2.11015863e+02] [-6.06484709e-01 -7.95094980e-01 5.19873384e-04 1.32844047e+02] [ 7.94474795e-04 4.78388193e-05 9.99999683e-01 7.27359818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.85, Z:0.73 [[-7.96366720e-01 6.04812742e-01 1.26241720e-03 2.11014628e+02] [-6.04811772e-01 -7.96367714e-01 1.08818194e-03 1.32846776e+02] [ 1.66349460e-03 1.03067096e-04 9.99998611e-01 7.27230496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.86, Z:0.73 [[-8.00256355e-01 5.99648821e-01 3.32530026e-03 2.11019220e+02] [-5.99642054e-01 -8.00263209e-01 2.86437272e-03 1.32855940e+02] [ 4.37873318e-03 2.98242595e-04 9.99990369e-01 7.26483551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.86, Z:0.73 [[-8.02632379e-01 5.96459267e-01 4.19608938e-03 2.11022181e+02] [-5.96448461e-01 -8.02643249e-01 3.61215083e-03 1.32859878e+02] [ 5.52246365e-03 3.96478162e-04 9.99984673e-01 7.26179920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:132.86, Z:0.73 [[-8.04927728e-01 5.93354760e-01 4.63480668e-03 2.11023876e+02] [-5.93341540e-01 -8.04940941e-01 3.98729374e-03 1.32863198e+02] [ 6.09662537e-03 4.59459964e-04 9.99981310e-01 7.26224580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.87, Z:0.73 [[-8.07047174e-01 5.90469177e-01 4.58372079e-03 2.11029812e+02] [-5.90456216e-01 -8.07060051e-01 3.94087674e-03 1.32870613e+02] [ 6.02630418e-03 4.73987003e-04 9.99981729e-01 7.26361890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.89, Z:0.73 [[-8.09481488e-01 5.87131076e-01 4.10130634e-03 2.11042869e+02] [-5.87120669e-01 -8.09491755e-01 3.52394104e-03 1.32885027e+02] [ 5.38898896e-03 4.44603312e-04 9.99985380e-01 7.26302386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.88, Z:0.73 [[-8.09714156e-01 5.86811229e-01 3.94548106e-03 2.11038303e+02] [-5.86801605e-01 -8.09723656e-01 3.38796405e-03 1.32880385e+02] [ 5.18284470e-03 4.28067832e-04 9.99986477e-01 7.26146989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.88, Z:0.73 [[-8.09311572e-01 5.87365529e-01 4.06376849e-03 2.11035201e+02] [-5.87355338e-01 -8.09321658e-01 3.48737770e-03 1.32876033e+02] [ 5.33726130e-03 4.35499023e-04 9.99985662e-01 7.25412769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.87, Z:0.72 [[-8.07613698e-01 5.89687560e-01 5.35686753e-03 2.11033498e+02] [-5.89669921e-01 -8.07631276e-01 4.59419391e-03 1.32872468e+02] [ 7.03551276e-03 5.51550283e-04 9.99975098e-01 7.24700172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.85, Z:0.72 [[-8.06369909e-01 5.91384284e-01 5.67438160e-03 2.11011956e+02] [-5.91364556e-01 -8.06389675e-01 4.86346116e-03 1.32853563e+02] [ 7.45193723e-03 5.66120581e-04 9.99972074e-01 7.24612638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:132.85, Z:0.73 [[-8.04746583e-01 5.93589924e-01 5.82575266e-03 2.11005259e+02] [-5.93569211e-01 -8.04767477e-01 4.99005203e-03 1.32847055e+02] [ 7.65042087e-03 5.57739917e-04 9.99970580e-01 7.25284525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:132.84, Z:0.73 [[-8.02845077e-01 5.96157616e-01 5.98991792e-03 2.10997369e+02] [-5.96135816e-01 -8.02867236e-01 5.12741791e-03 1.32839843e+02] [ 7.86585808e-03 5.45717623e-04 9.99968915e-01 7.25758887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.81, Z:0.73 [[-7.98272162e-01 6.02260956e-01 6.58002006e-03 2.10965020e+02] [-6.02234885e-01 -7.98299104e-01 5.62892526e-03 1.32814246e+02] [ 8.64290603e-03 5.30696709e-04 9.99962509e-01 7.26012310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.82, Z:0.73 [[-7.96587972e-01 6.04491046e-01 6.17884970e-03 2.10969530e+02] [-6.04468151e-01 -7.96611795e-01 5.28232468e-03 1.32820701e+02] [ 8.11526252e-03 4.72918456e-04 9.99966959e-01 7.26122553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.82, Z:0.73 [[-7.96780773e-01 6.04236875e-01 6.18053472e-03 2.10967699e+02] [-6.04213988e-01 -7.96804603e-01 5.28035302e-03 1.32819037e+02] [ 8.11526252e-03 4.72918230e-04 9.99966959e-01 7.26123136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.82, Z:0.73 [[-7.95155215e-01 6.06382571e-01 5.32563300e-03 2.10960513e+02] [-6.06365645e-01 -7.95172955e-01 4.54703669e-03 1.32815574e+02] [ 6.99204313e-03 3.86319043e-04 9.99975481e-01 7.26535240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.81, Z:0.73 [[-7.93630218e-01 6.08384234e-01 4.43860768e-03 2.10950913e+02] [-6.08372523e-01 -7.93642571e-01 3.78724731e-03 1.32810664e+02] [ 5.82676957e-03 3.05346959e-04 9.99982978e-01 7.26812178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.81, Z:0.73 [[-7.90761846e-01 6.12115146e-01 3.27888108e-03 2.10937269e+02] [-6.12108794e-01 -7.90768618e-01 2.79590744e-03 1.32807764e+02] [ 4.30425355e-03 2.03864980e-04 9.99990716e-01 7.27641867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.80, Z:0.73 [[-7.89732835e-01 6.13445779e-01 2.51523448e-03 2.10919073e+02] [-6.13442053e-01 -7.89736826e-01 2.14335532e-03 1.32798640e+02] [ 3.30120557e-03 1.49727475e-04 9.99994540e-01 7.28487917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.81, Z:0.73 [[-7.88833535e-01 6.14604255e-01 1.80668489e-03 2.10926130e+02] [-6.14602338e-01 -7.88835597e-01 1.53857848e-03 1.32811203e+02] [ 2.37079423e-03 1.03289540e-04 9.99997184e-01 7.29145730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.82, Z:0.73 [[-7.87770819e-01 6.15965310e-01 1.96811849e-03 2.10919878e+02] [-6.15963042e-01 -7.87773271e-01 1.67494813e-03 1.32818587e+02] [ 2.58214108e-03 1.07187007e-04 9.99996661e-01 7.29517957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.81, Z:0.73 [[-7.88049109e-01 6.15607108e-01 2.54768831e-03 2.10901779e+02] [-6.15603310e-01 -7.88053215e-01 2.16672936e-03 1.32809903e+02] [ 3.34156795e-03 1.39123786e-04 9.99994407e-01 7.29023791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.82, Z:0.73 [[-7.88797784e-01 6.14646162e-01 2.85514011e-03 2.10905917e+02] [-6.14641393e-01 -7.88802935e-01 2.42659436e-03 1.32820012e+02] [ 3.74363981e-03 1.59204963e-04 9.99992980e-01 7.29217987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.82, Z:0.73 [[-7.89925455e-01 6.13197147e-01 2.65224867e-03 2.10904246e+02] [-6.13193028e-01 -7.89929893e-01 2.25268326e-03 1.32824232e+02] [ 3.47642946e-03 1.53111459e-04 9.99993946e-01 7.29895667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.84, Z:0.73 [[-7.92722156e-01 6.09577307e-01 2.66289672e-03 2.10916925e+02] [-6.09573140e-01 -7.92726610e-01 2.26025457e-03 1.32844456e+02] [ 3.48874899e-03 1.68523558e-04 9.99993900e-01 7.30244411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.361400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.91, Y:132.84, Z:0.73 [[-7.94025632e-01 6.07874198e-01 3.50061279e-03 2.10908827e+02] [-6.07866989e-01 -7.94033315e-01 2.96935151e-03 1.32842041e+02] [ 4.58459535e-03 2.29834249e-04 9.99989464e-01 7.30491235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.86, Z:0.73 [[-7.95218007e-01 6.06309285e-01 4.16804920e-03 2.10918131e+02] [-6.06299056e-01 -7.95228880e-01 3.53320035e-03 1.32855865e+02] [ 5.45676527e-03 2.82580239e-04 9.99985072e-01 7.30482862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.84, Z:0.73 [[-7.96146083e-01 6.05087592e-01 4.51897641e-03 2.10894280e+02] [-6.05075563e-01 -7.96158846e-01 3.82819632e-03 1.32840899e+02] [ 5.91421714e-03 3.13481313e-04 9.99982462e-01 7.30775947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.87, Z:0.73 [[-7.97689191e-01 6.03056062e-01 3.91681470e-03 2.10915233e+02] [-6.03047011e-01 -7.97698757e-01 3.31595953e-03 1.32867881e+02] [ 5.12414771e-03 2.83081678e-04 9.99986831e-01 7.31345248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.87, Z:0.73 [[-7.98391524e-01 6.02129725e-01 3.28175110e-03 2.10912123e+02] [-6.02123371e-01 -7.98398232e-01 2.77656337e-03 1.32868576e+02] [ 4.29199561e-03 2.40765628e-04 9.99990760e-01 7.31495083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.88, Z:0.73 [[-7.98869645e-01 6.01498802e-01 2.54587791e-03 2.10922468e+02] [-6.01494980e-01 -7.98873679e-01 2.15262647e-03 1.32880326e+02] [ 3.32863709e-03 1.88335164e-04 9.99994442e-01 7.31005163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.87, Z:0.73 [[-7.99020083e-01 6.01298549e-01 2.63834056e-03 2.10910015e+02] [-6.01294448e-01 -7.99024416e-01 2.22939315e-03 1.32872834e+02] [ 3.44862939e-03 1.94910368e-04 9.99994034e-01 7.31016559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.88, Z:0.73 [[-7.97697279e-01 6.03051979e-01 2.71330918e-03 2.10909540e+02] [-6.03047656e-01 -7.97701871e-01 2.29128671e-03 1.32877699e+02] [ 3.54617679e-03 1.91498435e-04 9.99993694e-01 7.30109303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.86, Z:0.73 [[-7.96616109e-01 6.04479993e-01 2.59093579e-03 2.10887754e+02] [-6.04476063e-01 -7.96620303e-01 2.18655784e-03 1.32862389e+02] [ 3.38572252e-03 1.75688533e-04 9.99994253e-01 7.29532436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.86, Z:0.73 [[-7.95342308e-01 6.06155535e-01 2.46569055e-03 2.10883947e+02] [-6.06151989e-01 -7.95346114e-01 2.07952987e-03 1.32862265e+02] [ 3.22159594e-03 1.59354859e-04 9.99994798e-01 7.29750310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.85, Z:0.73 [[-7.92396154e-01 6.09995318e-01 3.74782688e-03 2.10865886e+02] [-6.09987178e-01 -7.92404988e-01 3.15877621e-03 1.32851404e+02] [ 4.89663541e-03 2.16875779e-04 9.99987988e-01 7.29705898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.85, Z:0.73 [[-7.91316035e-01 6.11390157e-01 4.58358426e-03 2.10860773e+02] [-6.11378020e-01 -7.91329269e-01 3.86064460e-03 1.32848464e+02] [ 5.98748449e-03 2.52687314e-04 9.99982043e-01 7.29190358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.85, Z:0.73 [[-7.90380188e-01 6.12598070e-01 4.77106723e-03 2.10855797e+02] [-6.12584958e-01 -7.90394548e-01 4.01593616e-03 1.32845498e+02] [ 6.23118027e-03 2.51432357e-04 9.99980554e-01 7.28478855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.83, Z:0.73 [[-7.89715637e-01 6.13455924e-01 4.58712095e-03 2.10840864e+02] [-6.13443833e-01 -7.89728925e-01 3.85857757e-03 1.32834351e+02] [ 5.98964936e-03 2.33237986e-04 9.99982035e-01 7.28589759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.85, Z:0.73 [[-7.88897550e-01 6.14513557e-01 3.70718611e-03 2.10851884e+02] [-6.14505682e-01 -7.88906240e-01 3.11637319e-03 1.32845607e+02] [ 4.83967583e-03 1.80412243e-04 9.99988272e-01 7.29235582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.84, Z:0.73 [[-7.88493919e-01 6.15031983e-01 3.60544462e-03 2.10838360e+02] [-6.15024549e-01 -7.88502144e-01 3.02886567e-03 1.32835195e+02] [ 4.70575007e-03 1.70805214e-04 9.99988913e-01 7.29467600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.83, Z:0.73 [[-7.88222588e-01 6.15379274e-01 3.67428770e-03 2.10835103e+02] [-6.15371567e-01 -7.88231133e-01 3.08466825e-03 1.32833966e+02] [ 4.79442887e-03 1.70353015e-04 9.99988492e-01 7.29321422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.84, Z:0.73 [[-7.87337622e-01 6.16503551e-01 4.77917328e-03 2.10834881e+02] [-6.16490548e-01 -7.87352098e-01 4.00958590e-03 1.32837897e+02] [ 6.23481606e-03 2.10582670e-04 9.99980541e-01 7.28585598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.83, Z:0.73 [[-7.87368535e-01 6.16461133e-01 5.14420594e-03 2.10822400e+02] [-6.16446086e-01 -7.87385307e-01 4.31298802e-03 1.32828335e+02] [ 6.70926165e-03 2.24785441e-04 9.99977467e-01 7.28122637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.83, Z:0.73 [[-7.88038951e-01 6.15604535e-01 5.06649491e-03 2.10828507e+02] [-6.15589940e-01 -7.88055205e-01 4.24503476e-03 1.32833234e+02] [ 6.60594033e-03 2.26369440e-04 9.99978155e-01 7.27733484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.84, Z:0.73 [[-7.90854041e-01 6.11983941e-01 5.05399455e-03 2.10834624e+02] [-6.11969362e-01 -7.90870149e-01 4.23178580e-03 1.32838229e+02] [ 6.58683837e-03 2.53835084e-04 9.99978274e-01 7.28280515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.84, Z:0.73 [[-7.92823240e-01 6.09428490e-01 5.31282654e-03 2.10830511e+02] [-6.09412343e-01 -7.92840989e-01 4.44559629e-03 1.32835451e+02] [ 6.92149968e-03 2.86869988e-04 9.99976005e-01 7.28626141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.84, Z:0.73 [[-7.94697858e-01 6.06974213e-01 6.13350411e-03 2.10842514e+02] [-6.06952645e-01 -7.94721448e-01 5.12895626e-03 1.32844841e+02] [ 7.98757146e-03 3.53224007e-04 9.99968036e-01 7.28731683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.84, Z:0.73 [[-7.98187630e-01 6.02378595e-01 6.04449655e-03 2.10839547e+02] [-6.02357543e-01 -7.98210421e-01 5.05125151e-03 1.32838670e+02] [ 7.86754592e-03 3.90898382e-04 9.99968974e-01 7.28298048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.85, Z:0.73 [[-7.99556956e-01 6.00567546e-01 5.22464777e-03 2.10858828e+02] [-6.00551798e-01 -7.99573949e-01 4.36332392e-03 1.32852859e+02] [ 6.79796299e-03 3.51054376e-04 9.99976832e-01 7.28223031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.86, Z:0.73 [[-8.00402596e-01 5.99444725e-01 4.65898266e-03 2.10871909e+02] [-5.99432198e-01 -8.00416092e-01 3.88845086e-03 1.32862625e+02] [ 6.06003604e-03 3.19581946e-04 9.99981587e-01 7.27926758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.85, Z:0.73 [[-8.00494703e-01 5.99324093e-01 4.34312033e-03 2.10854936e+02] [-5.99313218e-01 -8.00506429e-01 3.62253044e-03 1.32847601e+02] [ 5.64776552e-03 2.96927008e-04 9.99984007e-01 7.27737466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.84, Z:0.73 [[-7.99158531e-01 6.01103595e-01 4.48440963e-03 2.10849864e+02] [-6.01092043e-01 -7.99171060e-01 3.73797992e-03 1.32841326e+02] [ 5.83072356e-03 2.91695596e-04 9.99982959e-01 7.27644959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.84, Z:0.73 [[-7.98702501e-01 6.01708886e-01 4.55313248e-03 2.10851801e+02] [-6.01697002e-01 -7.98715427e-01 3.79283091e-03 1.32842115e+02] [ 5.91883722e-03 2.89737375e-04 9.99982442e-01 7.27559037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.83, Z:0.73 [[-7.98244594e-01 6.02309668e-01 5.35086447e-03 2.10838269e+02] [-6.02293288e-01 -7.98262459e-01 4.45447243e-03 1.32830837e+02] [ 6.95436604e-03 3.32968783e-04 9.99975763e-01 7.27773719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.261400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:210.83, Y:132.83, Z:0.73 [[-7.98345025e-01 6.02173793e-01 5.65192735e-03 2.10832681e+02] [-6.02155537e-01 -7.98364954e-01 4.70205097e-03 1.32825433e+02] [ 7.34375259e-03 3.50519658e-04 9.99972973e-01 7.28129095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.83, Z:0.73 [[-7.98630756e-01 6.01797562e-01 5.34879370e-03 2.10837831e+02] [-6.01781223e-01 -7.98648599e-01 4.44699142e-03 1.32828651e+02] [ 6.94799519e-03 3.32700512e-04 9.99975807e-01 7.27810475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.83, Z:0.73 [[-7.99043319e-01 6.01252858e-01 4.97753533e-03 2.10844174e+02] [-6.01238715e-01 -7.99058761e-01 4.13567248e-03 1.32832336e+02] [ 6.46392811e-03 3.11894513e-04 9.99979060e-01 7.27556336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.82, Z:0.73 [[-7.99726826e-01 6.00347364e-01 4.47726714e-03 2.10831451e+02] [-6.00335921e-01 -7.99739308e-01 3.71763007e-03 1.32821054e+02] [ 5.81251594e-03 2.85224208e-04 9.99983067e-01 7.27614115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.84, Z:0.73 [[-8.01595708e-01 5.97851895e-01 4.17528742e-03 2.10853236e+02] [-5.97841922e-01 -8.01606532e-01 3.46466915e-03 1.32838055e+02] [ 5.41829669e-03 2.81102061e-04 9.99985281e-01 7.27742964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.83, Z:0.73 [[-8.02833018e-01 5.96184082e-01 4.86685547e-03 2.10850982e+02] [-5.96170517e-01 -8.02847698e-01 4.03595134e-03 1.32834503e+02] [ 6.31351366e-03 3.38719255e-04 9.99980012e-01 7.27674276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.84, Z:0.73 [[-8.04071075e-01 5.94504751e-01 5.81441635e-03 2.10856745e+02] [-5.94485369e-01 -8.04091989e-01 4.81866041e-03 1.32837189e+02] [ 7.54004211e-03 4.17960008e-04 9.99971486e-01 7.27467251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.83, Z:0.73 [[-8.05553020e-01 5.92487070e-01 6.58813523e-03 2.10847568e+02] [-5.92462149e-01 -8.05579810e-01 5.45639507e-03 1.32826154e+02] [ 8.54011226e-03 4.92194771e-04 9.99963411e-01 7.27500250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.83, Z:0.73 [[-8.06210879e-01 5.91597678e-01 6.01712596e-03 2.10855088e+02] [-5.91576890e-01 -8.06233204e-01 4.98031834e-03 1.32830391e+02] [ 7.79755151e-03 4.55594167e-04 9.99969495e-01 7.27767862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.83, Z:0.73 [[-8.06479459e-01 5.91237449e-01 5.40004656e-03 2.10851426e+02] [-5.91220718e-01 -8.06497434e-01 4.46674306e-03 1.32825226e+02] [ 6.99602947e-03 4.09717123e-04 9.99975444e-01 7.28306508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.83, Z:0.73 [[-8.06569687e-01 5.91120701e-01 4.65383498e-03 2.10855828e+02] [-5.91108287e-01 -8.06583036e-01 3.84707489e-03 1.32826731e+02] [ 6.02778995e-03 3.52013566e-04 9.99981771e-01 7.28436221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.81, Z:0.73 [[-8.06180284e-01 5.91653272e-01 4.44475264e-03 2.10841218e+02] [-5.91641970e-01 -8.06192469e-01 3.67190703e-03 1.32813015e+02] [ 5.75582191e-03 3.30516843e-04 9.99983381e-01 7.28954603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.81, Z:0.73 [[-8.06090436e-01 5.91775987e-01 4.40345653e-03 2.10835564e+02] [-5.91764909e-01 -8.06102398e-01 3.63546481e-03 1.32808093e+02] [ 5.70101765e-03 3.24702360e-04 9.99983696e-01 7.29385462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.82, Z:0.73 [[-8.06229819e-01 5.91585234e-01 4.51554376e-03 2.10848900e+02] [-5.91573595e-01 -8.06242396e-01 3.72562410e-03 1.32817817e+02] [ 5.84464703e-03 3.32432788e-04 9.99982865e-01 7.29895533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.81, Z:0.73 [[-8.06887095e-01 5.90689377e-01 4.39040252e-03 2.10840511e+02] [-5.90678375e-01 -8.06898973e-01 3.62007350e-03 1.32808836e+02] [ 5.68095024e-03 3.27674769e-04 9.99983810e-01 7.30133879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.80, Z:0.73 [[-8.08784668e-01 5.88090030e-01 4.18063062e-03 2.10838180e+02] [-5.88080031e-01 -8.08795407e-01 3.44491221e-03 1.32802700e+02] [ 5.40719336e-03 3.27646793e-04 9.99985327e-01 7.30224788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74140051300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.85, Y:132.81, Z:0.73 [[-8.09850366e-01 5.86619630e-01 4.44910749e-03 2.10851238e+02] [-5.86608297e-01 -8.09862508e-01 3.66380543e-03 1.32810939e+02] [ 5.75242554e-03 3.57250804e-04 9.99983391e-01 7.30397756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.80, Z:0.73 [[-8.11083810e-01 5.84912415e-01 4.52995054e-03 2.10840043e+02] [-5.84900654e-01 -8.11096374e-01 3.72800881e-03 1.32799435e+02] [ 5.85478509e-03 3.74156552e-04 9.99982791e-01 7.30639873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.81, Z:0.73 [[-8.12010412e-01 5.83625972e-01 4.45145057e-03 2.10851945e+02] [-5.83614610e-01 -8.12022527e-01 3.66108266e-03 1.32805260e+02] [ 5.75138107e-03 3.74905655e-04 9.99983390e-01 7.30368338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.81, Z:0.73 [[-8.12949360e-01 5.82327041e-01 2.92487672e-03 2.10861641e+02] [-5.82322133e-01 -8.12954583e-01 2.40407273e-03 1.32806534e+02] [ 3.77774850e-03 2.51168941e-04 9.99992833e-01 7.29824508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.81, Z:0.73 [[-8.13223793e-01 5.81946188e-01 2.38693660e-03 2.10869515e+02] [-5.81942921e-01 -8.13227270e-01 1.96070694e-03 1.32810662e+02] [ 3.08214786e-03 2.05432674e-04 9.99995229e-01 7.30346661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.80, Z:0.73 [[-8.13433799e-01 5.81653405e-01 2.18446416e-03 2.10854541e+02] [-5.81650671e-01 -8.13436710e-01 1.79327215e-03 1.32796082e+02] [ 2.81998619e-03 1.88113135e-04 9.99996006e-01 7.31130040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.79, Z:0.73 [[-8.13613738e-01 5.81401678e-01 2.18501868e-03 2.10852691e+02] [-5.81398945e-01 -8.13616650e-01 1.79259644e-03 1.32794466e+02] [ 2.81998616e-03 1.88113535e-04 9.99996006e-01 7.31130623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.80, Z:0.73 [[-8.13782733e-01 5.81165650e-01 2.03735516e-03 2.10867509e+02] [-5.81163276e-01 -8.13785265e-01 1.67040978e-03 1.32800127e+02] [ 2.62875439e-03 1.75314638e-04 9.99996529e-01 7.31826629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.78, Z:0.73 [[-8.14151934e-01 5.80649038e-01 1.82260468e-03 2.10847472e+02] [-5.80647139e-01 -8.14153959e-01 1.49340741e-03 1.32779713e+02] [ 2.35102639e-03 1.57570335e-04 9.99997224e-01 7.31642403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.78, Z:0.73 [[-8.14647376e-01 5.79954646e-01 1.50400233e-03 2.10855403e+02] [-5.79953353e-01 -8.14648754e-01 1.23158833e-03 1.32782848e+02] [ 1.93949900e-03 1.31059003e-04 9.99998111e-01 7.31298839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.79, Z:0.73 [[-8.15222755e-01 5.79146014e-01 1.32478931e-03 2.10865483e+02] [-5.79145011e-01 -8.15223823e-01 1.08416490e-03 1.32788660e+02] [ 1.70788958e-03 1.16590774e-04 9.99998535e-01 7.31120120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.78, Z:0.73 [[-8.15899726e-01 5.78187425e-01 2.63410679e-03 2.10859011e+02] [-5.78183459e-01 -8.15903944e-01 2.15422571e-03 1.32778205e+02] [ 3.39472433e-03 2.34635188e-04 9.99994210e-01 7.30984792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.77, Z:0.73 [[-8.16142952e-01 5.77838973e-01 3.57830743e-03 2.10849363e+02] [-5.77831660e-01 -8.16150734e-01 2.92453294e-03 1.32765791e+02] [ 4.61034735e-03 3.19177620e-04 9.99989321e-01 7.30478754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.78, Z:0.73 [[-8.16503166e-01 5.77323669e-01 4.46779461e-03 2.10867651e+02] [-5.77312275e-01 -8.16515291e-01 3.64918526e-03 1.32775900e+02] [ 5.75478364e-03 4.00258649e-04 9.99983361e-01 7.30220608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.76, Z:0.73 [[-8.17909420e-01 5.75327662e-01 4.71822786e-03 2.10852998e+02] [-5.75314936e-01 -8.17922913e-01 3.85130458e-03 1.32758147e+02] [ 6.07490874e-03 4.35551330e-04 9.99981453e-01 7.30418100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.76, Z:0.73 [[-8.19087288e-01 5.73650503e-01 4.59513999e-03 2.10855228e+02] [-5.73638420e-01 -8.19100062e-01 3.74846573e-03 1.32757380e+02] [ 5.91418870e-03 4.34371786e-04 9.99982417e-01 7.31240264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.76, Z:0.73 [[-8.20284983e-01 5.71937794e-01 4.43909094e-03 2.10868849e+02] [-5.71926507e-01 -8.20296882e-01 3.61889778e-03 1.32764615e+02] [ 5.71115687e-03 4.29693732e-04 9.99983599e-01 7.31671413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.76, Z:0.73 [[-8.22596503e-01 5.68608592e-01 4.38900825e-03 2.10872046e+02] [-5.68597523e-01 -8.22608091e-01 3.57583292e-03 1.32756364e+02] [ 5.64368301e-03 4.45888433e-04 9.99983975e-01 7.31769018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.76, Z:0.73 [[-8.23872506e-01 5.66758477e-01 4.35009125e-03 2.10878938e+02] [-5.66747590e-01 -8.23883866e-01 3.54191675e-03 1.32756765e+02] [ 5.59138134e-03 4.52684094e-04 9.99984266e-01 7.31498654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.75, Z:0.73 [[-8.25013103e-01 5.65098136e-01 4.18048660e-03 2.10876889e+02] [-5.65088072e-01 -8.25023575e-01 3.40170544e-03 1.32750214e+02] [ 5.37129740e-03 4.44108442e-04 9.99985476e-01 7.31619483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.75, Z:0.73 [[-8.26043677e-01 5.63591004e-01 4.12612448e-03 2.10877657e+02] [-5.63581192e-01 -8.26053861e-01 3.35537855e-03 1.32745620e+02] [ 5.29946222e-03 4.46283076e-04 9.99985858e-01 7.31723522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.74, Z:0.73 [[-8.26917078e-01 5.62308997e-01 4.09120900e-03 2.10885680e+02] [-5.62299347e-01 -8.26927077e-01 3.32491571e-03 1.32742054e+02] [ 5.25276151e-03 4.48945439e-04 9.99986103e-01 7.31857055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.74, Z:0.73 [[-8.27025298e-01 5.62149295e-01 4.16254346e-03 2.10888780e+02] [-5.62139314e-01 -8.27035647e-01 3.38078824e-03 1.32740232e+02] [ 5.34307955e-03 4.56068080e-04 9.99985622e-01 7.31811895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.431400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.88, Y:132.73, Z:0.73 [[-8.26926268e-01 5.62293428e-01 4.36443179e-03 2.10884333e+02] [-5.62282469e-01 -8.26937649e-01 3.54255450e-03 1.32732094e+02] [ 5.60106808e-03 4.75387889e-04 9.99984201e-01 7.31668013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.73, Z:0.73 [[-8.26887499e-01 5.62351278e-01 4.25495348e-03 2.10881664e+02] [-5.62340874e-01 -8.26898318e-01 3.45154376e-03 1.32725744e+02] [ 5.45939391e-03 4.61304125e-04 9.99984991e-01 7.31710667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.72, Z:0.73 [[-8.26621736e-01 5.62744470e-01 3.89459603e-03 2.10879825e+02] [-5.62735768e-01 -8.26630805e-01 3.15726312e-03 1.32716144e+02] [ 4.99612541e-03 4.18233834e-04 9.99987432e-01 7.32475832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.72, Z:0.73 [[-8.26658538e-01 5.62691386e-01 3.75032794e-03 2.10885108e+02] [-5.62683326e-01 -8.26666948e-01 3.03841410e-03 1.32717604e+02] [ 4.80996159e-03 4.01483959e-04 9.99988352e-01 7.32496950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.71, Z:0.73 [[-8.26216382e-01 5.63338197e-01 4.07001683e-03 2.10883385e+02] [-5.63328723e-01 -8.26226295e-01 3.29535387e-03 1.32711099e+02] [ 5.21915364e-03 4.29917972e-04 9.99986288e-01 7.32200944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.70, Z:0.73 [[-8.26028314e-01 5.63611516e-01 4.39123521e-03 2.10874971e+02] [-5.63600503e-01 -8.26039858e-01 3.55320131e-03 1.32702030e+02] [ 5.62996049e-03 4.60142511e-04 9.99984046e-01 7.31956372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.69, Z:0.73 [[-8.25848380e-01 5.63875163e-01 4.38785462e-03 2.10862094e+02] [-5.63864184e-01 -8.25859911e-01 3.54822776e-03 1.32689178e+02] [ 5.62451074e-03 4.56144086e-04 9.99984078e-01 7.31755942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.70, Z:0.73 [[-8.25786405e-01 5.63963307e-01 4.71183142e-03 2.10873788e+02] [-5.63950663e-01 -8.25799704e-01 3.80780196e-03 1.32697174e+02] [ 6.03848957e-03 4.87190639e-04 9.99981650e-01 7.31330342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.69, Z:0.73 [[-8.25896313e-01 5.63799178e-01 5.07610167e-03 2.10861060e+02] [-5.63784516e-01 -8.25911746e-01 4.09959046e-03 1.32686662e+02] [ 6.50375773e-03 5.24009121e-04 9.99978713e-01 7.32002403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.68, Z:0.73 [[-8.26212157e-01 5.63336901e-01 5.00075665e-03 2.10850766e+02] [-5.63322679e-01 -8.26227129e-01 4.03617769e-03 1.32677709e+02] [ 6.40548864e-03 5.17699441e-04 9.99979351e-01 7.32344262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.68, Z:0.73 [[-8.26595244e-01 5.62775927e-01 4.85377089e-03 2.10853256e+02] [-5.62762535e-01 -8.26609341e-01 3.91505438e-03 1.32677932e+02] [ 6.21547071e-03 5.04644923e-04 9.99980556e-01 7.32788457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.68, Z:0.73 [[-8.27073665e-01 5.62072631e-01 4.84866997e-03 2.10859707e+02] [-5.62059271e-01 -8.27087722e-01 3.90846191e-03 1.32681359e+02] [ 6.20711487e-03 5.07346008e-04 9.99980607e-01 7.32561416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.68, Z:0.73 [[-8.27942181e-01 5.60792514e-01 4.84777670e-03 2.10854361e+02] [-5.60779153e-01 -8.27956213e-01 3.90526836e-03 1.32675244e+02] [ 6.20379211e-03 5.14804294e-04 9.99980624e-01 7.32085718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.67, Z:0.73 [[-8.28568832e-01 5.59863703e-01 5.13079932e-03 2.10851616e+02] [-5.59848735e-01 -8.28584535e-01 4.13063785e-03 1.32670905e+02] [ 6.56389517e-03 5.50046265e-04 9.99978306e-01 7.32108666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.68, Z:0.73 [[-8.29250636e-01 5.58848662e-01 5.61743856e-03 2.10872012e+02] [-5.58830717e-01 -8.29269439e-01 4.51955621e-03 1.32683873e+02] [ 7.18411807e-03 6.08647644e-04 9.99974009e-01 7.31883783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.67, Z:0.73 [[-8.29766811e-01 5.58070613e-01 6.65061221e-03 2.10865898e+02] [-5.58045464e-01 -8.29793146e-01 5.34743283e-03 1.32673881e+02] [ 8.50287754e-03 7.25778303e-04 9.99963587e-01 7.30972559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.67, Z:0.73 [[-8.29585486e-01 5.58337085e-01 6.90073417e-03 2.10862587e+02] [-5.58310050e-01 -8.29613851e-01 5.54505149e-03 1.32670543e+02] [ 8.82095253e-03 7.47344997e-04 9.99960815e-01 7.30489536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.66, Z:0.73 [[-8.29005477e-01 5.59197192e-01 6.95843942e-03 2.10852310e+02] [-5.59169764e-01 -8.29034349e-01 5.58788880e-03 1.32661378e+02] [ 8.89351702e-03 7.41441497e-04 9.99960177e-01 7.30468507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.66, Z:0.73 [[-8.28286898e-01 5.60266839e-01 6.47175385e-03 2.10848254e+02] [-5.60243173e-01 -8.28311905e-01 5.19377175e-03 1.32656683e+02] [ 8.27052884e-03 6.76177179e-04 9.99965570e-01 7.30764117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.65, Z:0.73 [[-8.26608680e-01 5.62754513e-01 5.04461315e-03 2.10842311e+02] [-5.62740196e-01 -8.26623919e-01 4.04589383e-03 1.32648774e+02] [ 6.44684290e-03 5.05564364e-04 9.99979091e-01 7.31038924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.64, Z:0.73 [[-8.26006536e-01 5.63643892e-01 4.33193294e-03 2.10836581e+02] [-5.63633359e-01 -8.26017785e-01 3.47210191e-03 1.32643244e+02] [ 5.53528269e-03 4.26356957e-04 9.99984589e-01 7.31419006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.65, Z:0.73 [[-8.25647252e-01 5.64173298e-01 3.88660868e-03 2.10839711e+02] [-5.64164834e-01 -8.25656313e-01 3.11318815e-03 1.32645596e+02] [ 4.96538062e-03 3.77707295e-04 9.99987601e-01 7.31900001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.63, Z:0.73 [[-8.25567179e-01 5.64290322e-01 3.90721879e-03 2.10822080e+02] [-5.64281780e-01 -8.25576338e-01 3.12768891e-03 1.32630361e+02] [ 4.99063197e-03 3.77344937e-04 9.99987476e-01 7.32290817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.63, Z:0.73 [[-8.26110315e-01 5.63491516e-01 4.36569190e-03 2.10823261e+02] [-5.63480854e-01 -8.26121741e-01 3.49242722e-03 1.32629931e+02] [ 5.57454611e-03 4.25146352e-04 9.99984372e-01 7.32476846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.63, Z:0.73 [[-8.26871759e-01 5.62373003e-01 4.43856404e-03 2.10820994e+02] [-5.62361978e-01 -8.26883555e-01 3.54843165e-03 1.32627317e+02] [ 5.66571778e-03 4.38018264e-04 9.99983854e-01 7.32646817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.63, Z:0.73 [[-8.27724520e-01 5.61116877e-01 4.46869067e-03 2.10820901e+02] [-5.61105697e-01 -8.27736462e-01 3.57021317e-03 1.32627809e+02] [ 5.70220506e-03 4.47745185e-04 9.99983642e-01 7.33084920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.63, Z:0.73 [[-8.28915722e-01 5.59355701e-01 4.46388199e-03 2.10827082e+02] [-5.59344533e-01 -8.28927615e-01 3.56408166e-03 1.32633883e+02] [ 5.69382445e-03 4.57475339e-04 9.99983685e-01 7.34233724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.64, Z:0.73 [[-8.29609653e-01 5.58328332e-01 4.15899181e-03 2.10837376e+02] [-5.58318637e-01 -8.29619966e-01 3.31853935e-03 1.32641495e+02] [ 5.30321718e-03 4.31049640e-04 9.99985845e-01 7.34456816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.64, Z:0.73 [[-8.30338739e-01 5.57246011e-01 3.80278193e-03 2.10838295e+02] [-5.57237903e-01 -8.30347351e-01 3.03239701e-03 1.32640802e+02] [ 4.84742104e-03 3.98862487e-04 9.99988172e-01 7.34551307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.64, Z:0.73 [[-8.31265881e-01 5.55865274e-01 3.29108164e-03 2.10840571e+02] [-5.55859198e-01 -8.31272322e-01 2.62271195e-03 1.32641576e+02] [ 4.19365957e-03 3.50792965e-04 9.99991145e-01 7.34346343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.64, Z:0.73 [[-8.33124824e-01 5.53078590e-01 2.66490598e-03 2.10845727e+02] [-5.53074596e-01 -8.33129034e-01 2.12238224e-03 1.32644256e+02] [ 3.39405473e-03 2.94317534e-04 9.99994197e-01 7.34807445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.64, Z:0.73 [[-8.34038656e-01 5.51699265e-01 2.72805997e-03 2.10839874e+02] [-5.51695077e-01 -8.34043061e-01 2.17130891e-03 1.32637894e+02] [ 3.47322902e-03 3.05898304e-04 9.99993922e-01 7.34795764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.64, Z:0.73 [[-8.34876553e-01 5.50429320e-01 2.95039294e-03 2.10841013e+02] [-5.50424419e-01 -8.34881699e-01 2.34677944e-03 1.32636411e+02] [ 3.75496528e-03 3.35302807e-04 9.99992894e-01 7.34930677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.63, Z:0.74 [[-8.35997659e-01 5.48726580e-01 2.65608654e-03 2.10841241e+02] [-5.48722604e-01 -8.36001822e-01 2.11136215e-03 1.32631863e+02] [ 3.37905371e-03 3.07639090e-04 9.99994244e-01 7.35435257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.63, Z:0.74 [[-8.36399474e-01 5.48114982e-01 2.42634689e-03 2.10845250e+02] [-5.48111665e-01 -8.36402945e-01 1.92753312e-03 1.32633033e+02] [ 3.08591347e-03 2.82278652e-04 9.99995199e-01 7.35329917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.63, Z:0.74 [[-8.36636867e-01 5.47752225e-01 2.50048022e-03 2.10847566e+02] [-5.47748705e-01 -8.36640553e-01 1.98517680e-03 1.32633073e+02] [ 3.17938816e-03 2.91237301e-04 9.99994903e-01 7.35341585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.63, Z:0.73 [[-8.36711665e-01 5.47636449e-01 2.81248006e-03 2.10848899e+02] [-5.47632000e-01 -8.36716328e-01 2.23146957e-03 1.32631562e+02] [ 3.57528205e-03 3.26892540e-04 9.99993555e-01 7.34968137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.62, Z:0.73 [[-8.36980296e-01 5.47223454e-01 3.23673352e-03 2.10837844e+02] [-5.47217565e-01 -8.36986469e-01 2.56645179e-03 1.32615433e+02] [ 4.11352477e-03 3.76872143e-04 9.99991468e-01 7.34124298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.61, Z:0.73 [[-8.37362815e-01 5.46638273e-01 3.18025179e-03 2.10841932e+02] [-5.46632591e-01 -8.37368772e-01 2.52007792e-03 1.32614753e+02] [ 4.04061458e-03 3.71790267e-04 9.99991768e-01 7.33790156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.61, Z:0.73 [[-8.37674198e-01 5.46161634e-01 3.06735952e-03 2.10835655e+02] [-5.46156350e-01 -8.37679736e-01 2.42908952e-03 1.32606619e+02] [ 3.89614041e-03 3.59527731e-04 9.99992345e-01 7.34100489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.61, Z:0.73 [[-8.37912886e-01 5.45796965e-01 2.76908364e-03 2.10847091e+02] [-5.45792662e-01 -8.37917399e-01 2.19150662e-03 1.32609108e+02] [ 3.51638102e-03 3.24946103e-04 9.99993765e-01 7.34868855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.60, Z:0.73 [[-8.37902333e-01 5.45811881e-01 3.01190745e-03 2.10845615e+02] [-5.45806796e-01 -8.37907672e-01 2.38217586e-03 1.32603738e+02] [ 3.82392025e-03 3.52111158e-04 9.99992627e-01 7.34705888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.59, Z:0.73 [[-8.37416320e-01 5.46554573e-01 3.46495741e-03 2.10828343e+02] [-5.46547848e-01 -8.37423392e-01 2.74101433e-03 1.32585826e+02] [ 4.39975030e-03 4.01605120e-04 9.99990240e-01 7.34213001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.59, Z:0.73 [[-8.37055439e-01 5.47101098e-01 4.31058111e-03 2.10832069e+02] [-5.47090707e-01 -8.37066392e-01 3.40791808e-03 1.32585166e+02] [ 5.47271831e-03 4.94337496e-04 9.99984902e-01 7.33449599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.58, Z:0.73 [[-8.35475716e-01 5.49501027e-01 5.38042044e-03 2.10833415e+02] [-5.49484906e-01 -8.35492829e-01 4.25099530e-03 1.32584030e+02] [ 6.83122898e-03 5.95143524e-04 9.99976490e-01 7.33032836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.57, Z:0.73 [[-8.34227432e-01 5.51392090e-01 5.59960049e-03 2.10813031e+02] [-5.51374664e-01 -8.34246006e-01 4.42509968e-03 1.32567142e+02] [ 7.11140930e-03 6.04061706e-04 9.99974531e-01 7.33161079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.54, Z:0.73 [[-8.32963353e-01 5.53282296e-01 7.12414345e-03 2.10774608e+02] [-5.53271213e-01 -8.32993305e-01 3.62196020e-03 1.32536965e+02] [ 7.93833025e-03 -9.24623380e-04 9.99968064e-01 7.33561665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.53, Z:0.73 [[-8.33150762e-01 5.53011905e-01 6.13520244e-03 2.10773515e+02] [-5.52990879e-01 -8.33173087e-01 4.86773229e-03 1.32534318e+02] [ 7.80359946e-03 6.62843872e-04 9.99969332e-01 7.33474078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.55, Z:0.73 [[-8.31903198e-01 5.54891379e-01 5.71204277e-03 2.10798701e+02] [-5.54857621e-01 -8.31919744e-01 6.52379764e-03 1.32548546e+02] [ 8.37196022e-03 2.25779766e-03 9.99962406e-01 7.33210061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.54, Z:0.73 [[-8.31503977e-01 5.55478627e-01 6.68068474e-03 2.10792233e+02] [-5.55454007e-01 -8.31530542e-01 5.27294697e-03 1.32544253e+02] [ 8.48420274e-03 6.73663269e-04 9.99963782e-01 7.32801883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.55, Z:0.73 [[-8.30964316e-01 5.56288116e-01 6.46819900e-03 2.10795254e+02] [-5.56265089e-01 -8.30989242e-01 5.10189696e-03 1.32546063e+02] [ 8.21312843e-03 6.41461026e-04 9.99966066e-01 7.33030936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.54, Z:0.73 [[-8.30271827e-01 5.57329101e-01 5.74164724e-03 2.10794237e+02] [-5.57311004e-01 -8.30291492e-01 4.52585907e-03 1.32544890e+02] [ 7.28963382e-03 5.57810090e-04 9.99973275e-01 7.33050540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.54, Z:0.73 [[-8.28012113e-01 5.60693536e-01 4.32423212e-03 2.10782093e+02] [-5.60683313e-01 -8.28023309e-01 3.40932168e-03 1.32536625e+02] [ 5.49214962e-03 3.98434860e-04 9.99984839e-01 7.33661740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.53, Z:0.73 [[-8.27250961e-01 5.61817886e-01 4.06344499e-03 2.10777293e+02] [-5.61808882e-01 -8.27260860e-01 3.20170799e-03 1.32534418e+02] [ 5.16030581e-03 3.65736525e-04 9.99986619e-01 7.34186364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.79, Y:132.55, Z:0.73 [[-8.26452499e-01 5.62990117e-01 4.28906271e-03 2.10791980e+02] [-5.62980113e-01 -8.26463542e-01 3.37724719e-03 1.32547474e+02] [ 5.44611075e-03 3.76477375e-04 9.99985099e-01 7.34532269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.081400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.78, Y:132.54, Z:0.73 [[-8.25699106e-01 5.64093558e-01 4.40962454e-03 2.10778469e+02] [-5.64082996e-01 -8.25710793e-01 3.47263612e-03 1.32539704e+02] [ 5.59996624e-03 3.79958312e-04 9.99984248e-01 7.34857844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.54, Z:0.74 [[-8.26005626e-01 5.63650015e-01 3.65611106e-03 2.10773792e+02] [-5.63642759e-01 -8.26013657e-01 2.87743574e-03 1.32536904e+02] [ 4.64186436e-03 3.16037583e-04 9.99989177e-01 7.35148022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.54, Z:0.74 [[-8.26426642e-01 5.63038018e-01 2.68237152e-03 2.10780070e+02] [-5.63034114e-01 -8.26430963e-01 2.10971147e-03 1.32542207e+02] [ 3.40464264e-03 2.33255097e-04 9.99994177e-01 7.35445774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.54, Z:0.74 [[-8.27597289e-01 5.61318434e-01 2.08417279e-03 2.10779569e+02] [-5.61316074e-01 -8.27599892e-01 1.63816279e-03 1.32540912e+02] [ 2.64439215e-03 1.85859394e-04 9.99996486e-01 7.35597475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.54, Z:0.74 [[-8.28483533e-01 5.60005670e-01 2.94705825e-03 2.10782537e+02] [-5.60000950e-01 -8.28488731e-01 2.31483370e-03 1.32541601e+02] [ 3.73792455e-03 2.67446180e-04 9.99992978e-01 7.35311824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.54, Z:0.73 [[-8.29520698e-01 5.58463611e-01 3.71578171e-03 2.10786294e+02] [-5.58456101e-01 -8.29528949e-01 2.91671074e-03 1.32542731e+02] [ 4.71122531e-03 3.44370964e-04 9.99988843e-01 7.34378875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.53, Z:0.73 [[-8.30235166e-01 5.57398236e-01 4.09583496e-03 2.10774860e+02] [-5.57389096e-01 -8.30245179e-01 3.21544319e-03 1.32531493e+02] [ 5.19282959e-03 3.86600267e-04 9.99986442e-01 7.33956399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.53, Z:0.73 [[-8.31519553e-01 5.55480764e-01 4.04395463e-03 2.10785565e+02] [-5.55471841e-01 -8.31529294e-01 3.17273468e-03 1.32534211e+02] [ 5.12505982e-03 3.91887994e-04 9.99986790e-01 7.34447034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.53, Z:0.73 [[-8.31687486e-01 5.55229748e-01 3.98153960e-03 2.10788791e+02] [-5.55221106e-01 -8.31696927e-01 3.12172122e-03 1.32532287e+02] [ 5.04470674e-03 3.85661659e-04 9.99987201e-01 7.34954290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.53, Z:0.74 [[-8.31548785e-01 5.55436802e-01 4.07149322e-03 2.10792135e+02] [-5.55427777e-01 -8.31558660e-01 3.19041325e-03 1.32529901e+02] [ 5.15775838e-03 3.91563836e-04 9.99986622e-01 7.35129488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.51, Z:0.74 [[-8.30820363e-01 5.56524956e-01 4.18299446e-03 2.10775714e+02] [-5.56515434e-01 -8.30830798e-01 3.27977990e-03 1.32512619e+02] [ 5.30063999e-03 3.97006955e-04 9.99985873e-01 7.35401399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.51, Z:0.74 [[-8.29642207e-01 5.58284038e-01 3.56959032e-03 2.10786810e+02] [-5.58277127e-01 -8.29649821e-01 2.79713765e-03 1.32513257e+02] [ 4.52310727e-03 3.27802824e-04 9.99989717e-01 7.35554719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.50, Z:0.74 [[-8.28719871e-01 5.59652930e-01 3.46019601e-03 2.10773489e+02] [-5.59646441e-01 -8.28727036e-01 2.71304302e-03 1.32498349e+02] [ 4.38592046e-03 3.11866279e-04 9.99990333e-01 7.35447224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.49, Z:0.74 [[-8.27686884e-01 5.61178687e-01 3.59201847e-03 2.10765109e+02] [-5.61171705e-01 -8.27694618e-01 2.81716820e-03 1.32486753e+02] [ 4.55402911e-03 3.15994038e-04 9.99989580e-01 7.35491720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.47, Z:0.74 [[-8.24577252e-01 5.65730919e-01 4.56977309e-03 2.10748831e+02] [-5.65719673e-01 -8.24589831e-01 3.58640147e-03 1.32465981e+02] [ 5.79712662e-03 3.72054525e-04 9.99983127e-01 7.35403474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.531400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.74, Y:132.46, Z:0.74 [[-8.22644558e-01 5.68532915e-01 5.12409469e-03 2.10743599e+02] [-5.68518811e-01 -8.22660420e-01 4.02422374e-03 1.32457626e+02] [ 6.50329354e-03 3.97361544e-04 9.99978774e-01 7.36108527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.46, Z:0.74 [[-8.20982012e-01 5.70931571e-01 5.06731202e-03 2.10745558e+02] [-5.70917817e-01 -8.20997564e-01 3.98071753e-03 1.32455402e+02] [ 6.43296814e-03 3.75078772e-04 9.99979238e-01 7.36437912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.45, Z:0.74 [[-8.19127851e-01 5.73593660e-01 4.45829132e-03 2.10746030e+02] [-5.73583039e-01 -8.19139924e-01 3.50466032e-03 1.32452322e+02] [ 5.66221536e-03 3.13564593e-04 9.99983920e-01 7.36490200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.44, Z:0.74 [[-8.15219259e-01 5.79142866e-01 3.33180266e-03 2.10739945e+02] [-5.79136972e-01 -8.15226041e-01 2.62093301e-03 1.32444399e+02] [ 4.23406695e-03 2.07064964e-04 9.99991015e-01 7.36282730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.43, Z:0.74 [[-8.12838419e-01 5.82480656e-01 3.16067528e-03 2.10717305e+02] [-5.82475370e-01 -8.12844544e-01 2.48807122e-03 1.32426722e+02] [ 4.01839101e-03 1.81384375e-04 9.99991910e-01 7.36333170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.43, Z:0.74 [[-8.10650161e-01 5.85522844e-01 3.05208602e-03 2.10721485e+02] [-5.85517934e-01 -8.10655891e-01 2.40328765e-03 1.32431508e+02] [ 3.88137133e-03 1.61174418e-04 9.99992454e-01 7.36238843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.711400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.71, Y:132.43, Z:0.74 [[-8.08432914e-01 5.88578940e-01 3.32489110e-03 2.10713338e+02] [-5.88573131e-01 -8.08439735e-01 2.61991874e-03 1.32427571e+02] [ 4.23000308e-03 1.61086977e-04 9.99991041e-01 7.36616761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.43, Z:0.74 [[-8.05438840e-01 5.92674128e-01 2.37780340e-03 2.10711278e+02] [-5.92671173e-01 -8.05442343e-01 1.87417705e-03 1.32432349e+02] [ 3.02595979e-03 1.00279457e-04 9.99995417e-01 7.36644665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.43, Z:0.74 [[-8.04282408e-01 5.94245037e-01 1.62610480e-03 2.10709922e+02] [-5.94243658e-01 -8.04284049e-01 1.28202411e-03 1.32433632e+02] [ 2.06968662e-03 6.48069701e-05 9.99997856e-01 7.36976063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.43, Z:0.74 [[-8.03505379e-01 5.95296402e-01 1.14022196e-03 2.10700252e+02] [-5.95295724e-01 -8.03506187e-01 8.99532100e-04 1.32428383e+02] [ 1.45166362e-03 4.40096266e-05 9.99998945e-01 7.36973871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.44, Z:0.74 [[-8.03836429e-01 5.94848738e-01 1.40489779e-03 2.10707604e+02] [-5.94847708e-01 -8.03837655e-01 1.10845690e-03 1.32440143e+02] [ 1.78867393e-03 5.53178065e-05 9.99998399e-01 7.36411138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.44, Z:0.74 [[-8.04187111e-01 5.94374269e-01 1.52247655e-03 2.10709435e+02] [-5.94373058e-01 -8.04188550e-01 1.20151319e-03 1.32444599e+02] [ 1.93850673e-03 6.13223768e-05 9.99998119e-01 7.35924945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.45, Z:0.74 [[-8.04717437e-01 5.93655592e-01 1.69834967e-03 2.10707538e+02] [-5.93654082e-01 -8.04719226e-01 1.34067461e-03 1.32446055e+02] [ 2.16259361e-03 7.06320206e-05 9.99997659e-01 7.35308920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.45, Z:0.73 [[-8.05169103e-01 5.93042520e-01 1.81258637e-03 2.10712108e+02] [-5.93040799e-01 -8.05171139e-01 1.43112398e-03 1.32451781e+02] [ 2.30815960e-03 7.73591475e-05 9.99997333e-01 7.34977436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.45, Z:0.73 [[-8.05500562e-01 5.92591584e-01 2.01466048e-03 2.10710369e+02] [-5.92589454e-01 -8.05503077e-01 1.59108970e-03 1.32453239e+02] [ 2.56568158e-03 8.77570966e-05 9.99996705e-01 7.33969493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.46, Z:0.73 [[-8.05315767e-01 5.92842362e-01 2.10916729e-03 2.10713968e+02] [-5.92840029e-01 -8.05318524e-01 1.66590198e-03 1.32456929e+02] [ 2.68616875e-03 9.11783350e-05 9.99996388e-01 7.33498715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.011400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.72, Y:132.46, Z:0.73 [[-8.04860220e-01 5.93459415e-01 2.43899738e-03 2.10715819e+02] [-5.93456296e-01 -8.04863909e-01 1.92674891e-03 1.32459291e+02] [ 3.10650825e-03 1.03325203e-04 9.99995169e-01 7.33499685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.46, Z:0.73 [[-8.04384361e-01 5.94104286e-01 2.42834855e-03 2.10717956e+02] [-5.94101196e-01 -8.04388020e-01 1.91867927e-03 1.32462170e+02] [ 3.09323006e-03 1.00670823e-04 9.99995211e-01 7.32948232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.72, Y:132.46, Z:0.73 [[-8.03814368e-01 5.94873515e-01 2.82180481e-03 2.10719649e+02] [-5.94869347e-01 -8.03819313e-01 2.22977047e-03 1.32463902e+02] [ 3.59465260e-03 1.13716357e-04 9.99993533e-01 7.33317910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.45, Z:0.73 [[-8.02836079e-01 5.96183773e-01 4.37483573e-03 2.10705486e+02] [-5.96173769e-01 -8.02847981e-01 3.45787873e-03 1.32452096e+02] [ 5.57385922e-03 1.67947497e-04 9.99984452e-01 7.33070906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.45, Z:0.73 [[-8.02420000e-01 5.96734447e-01 5.49027929e-03 2.10706317e+02] [-5.96718700e-01 -8.02438756e-01 4.33995298e-03 1.32452212e+02] [ 6.99541233e-03 2.06312746e-04 9.99975511e-01 7.32699583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.69, Y:132.44, Z:0.73 [[-8.01807271e-01 5.97546314e-01 6.59569483e-03 2.10690335e+02] [-5.97523604e-01 -8.01834362e-01 5.21516483e-03 1.32439855e+02] [ 8.40495728e-03 2.40473730e-04 9.99964649e-01 7.33029541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.44, Z:0.73 [[-8.01067658e-01 5.98538433e-01 6.50777767e-03 2.10690487e+02] [-5.98516384e-01 -8.01094060e-01 5.14246868e-03 1.32441154e+02] [ 8.29130718e-03 2.24453786e-04 9.99965601e-01 7.32985065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.45, Z:0.73 [[-7.98437993e-01 6.02046632e-01 6.05184579e-03 2.10692525e+02] [-6.02027691e-01 -7.98460909e-01 4.77870429e-03 1.32445817e+02] [ 7.70916511e-03 1.72120316e-04 9.99970269e-01 7.33038748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.43, Z:0.73 [[-7.96826321e-01 6.04176012e-01 6.25781922e-03 2.10674732e+02] [-6.04155816e-01 -7.96850878e-01 4.94257189e-03 1.32433043e+02] [ 7.97273211e-03 1.57673505e-04 9.99968205e-01 7.32918458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:132.43, Z:0.73 [[-7.95343092e-01 6.06124632e-01 6.50356401e-03 2.10663214e+02] [-6.06102871e-01 -7.95369669e-01 5.13810530e-03 1.32425524e+02] [ 8.28706974e-03 1.44727739e-04 9.99965651e-01 7.33004691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.43, Z:0.73 [[-7.94360264e-01 6.07413287e-01 6.39292695e-03 2.10668871e+02] [-6.07392332e-01 -7.94385978e-01 5.04705139e-03 1.32431297e+02] [ 8.14409760e-03 1.26162274e-04 9.99966828e-01 7.33402443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:132.44, Z:0.74 [[-7.92612219e-01 6.09701732e-01 5.44689134e-03 2.10677541e+02] [-6.09686595e-01 -7.92630930e-01 4.29700000e-03 1.32438791e+02] [ 6.93726289e-03 8.49580684e-05 9.99975933e-01 7.35103700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.371400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:210.67, Y:132.43, Z:0.74 [[-7.91568571e-01 6.11061689e-01 4.77596375e-03 2.10667868e+02] [-6.11050073e-01 -7.91582976e-01 3.76829843e-03 1.32431008e+02] [ 6.08323440e-03 6.45136052e-05 9.99981495e-01 7.35560947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.66, Y:132.43, Z:0.74 [[-7.90812483e-01 6.12043406e-01 4.29956239e-03 2.10662342e+02] [-6.12034003e-01 -7.90824169e-01 3.39304257e-03 1.32427099e+02] [ 5.47688718e-03 5.17820402e-05 9.99985000e-01 7.35848324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:132.43, Z:0.74 [[-7.90352329e-01 6.12644314e-01 3.18454073e-03 2.10664360e+02] [-6.12639167e-01 -7.90358744e-01 2.51134766e-03 1.32429331e+02] [ 4.05549247e-03 3.38750892e-05 9.99991776e-01 7.35593931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:132.43, Z:0.74 [[-7.88837560e-01 6.14599795e-01 1.54771794e-03 2.10658504e+02] [-6.14598583e-01 -7.88839078e-01 1.22069416e-03 1.32425926e+02] [ 1.97113877e-03 1.17041462e-05 9.99998057e-01 7.35510018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49140051300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.65, Y:132.42, Z:0.74 [[-7.87578978e-01 6.16212262e-01 1.34228719e-03 2.10647955e+02] [-6.16211352e-01 -7.87580122e-01 1.05895352e-03 1.32417216e+02] [ 1.70969885e-03 6.87692679e-06 9.99998538e-01 7.35851403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:132.42, Z:0.74 [[-7.86605390e-01 6.17455243e-01 9.91599996e-04 2.10652638e+02] [-6.17454748e-01 -7.86606015e-01 7.81826364e-04 1.32420081e+02] [ 1.26274131e-03 2.72070592e-06 9.99999203e-01 7.35780459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.65, Y:132.42, Z:0.74 [[-7.85474128e-01 6.18892969e-01 1.37397037e-03 2.10651699e+02] [-6.18892021e-01 -7.85475329e-01 1.08316507e-03 1.32417800e+02] [ 1.74958308e-03 4.58839677e-07 9.99998470e-01 7.36359776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:132.42, Z:0.74 [[-7.84254580e-01 6.20435752e-01 2.05707546e-03 2.10653176e+02] [-6.20433635e-01 -7.84257278e-01 1.62056210e-03 1.32417244e+02] [ 2.61873107e-03 -5.34555167e-06 9.99996571e-01 7.35900435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.611400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.66, Y:132.42, Z:0.74 [[-7.83915813e-01 6.20862328e-01 2.44287725e-03 2.10658566e+02] [-6.20859350e-01 -7.83919619e-01 1.92302537e-03 1.32420764e+02] [ 3.10895342e-03 -9.19318341e-06 9.99995167e-01 7.36481711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.641400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:210.66, Y:132.42, Z:0.74 [[-7.83928799e-01 6.20847390e-01 2.03861656e-03 2.10661310e+02] [-6.20845319e-01 -7.83931450e-01 1.60360446e-03 1.32422018e+02] [ 2.59372928e-03 -8.55382744e-06 9.99996636e-01 7.37033711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.65, Y:132.41, Z:0.74 [[-7.83899700e-01 6.20885917e-01 1.39225102e-03 2.10650338e+02] [-6.20884951e-01 -7.83900936e-01 1.09536694e-03 1.32411427e+02] [ 1.77148479e-03 -5.76989082e-06 9.99998431e-01 7.37545368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:132.42, Z:0.74 [[-7.84466552e-01 6.20170697e-01 7.32258682e-04 2.10661551e+02] [-6.20170430e-01 -7.84466893e-01 5.75797717e-04 1.32417745e+02] [ 9.31525565e-04 -2.43113192e-06 9.99999566e-01 7.37789554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:132.42, Z:0.74 [[-7.84410115e-01 6.20242078e-01 7.32267516e-04 2.10662876e+02] [-6.20241811e-01 -7.84410457e-01 5.75786476e-04 1.32418757e+02] [ 9.31525297e-04 -2.53019403e-06 9.99999566e-01 7.37789196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.42, Z:0.74 [[-7.85609951e-01 6.18721477e-01 8.59474549e-04 2.10665910e+02] [-6.18721108e-01 -7.85610421e-01 6.75941135e-04 1.32415645e+02] [ 1.09343146e-03 -7.48962377e-07 9.99999402e-01 7.37836851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.791400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.66, Y:132.40, Z:0.74 [[-7.86467746e-01 6.17629482e-01 1.51901326e-03 2.10655438e+02] [-6.17628326e-01 -7.86469213e-01 1.19498547e-03 1.32404370e+02] [ 1.93271542e-03 1.63190615e-06 9.99998132e-01 7.37407854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:132.41, Z:0.74 [[-7.87600705e-01 6.16182298e-01 2.12240275e-03 2.10661559e+02] [-6.16180035e-01 -7.87603565e-01 1.67000714e-03 1.32405947e+02] [ 2.70064081e-03 7.51660482e-06 9.99996353e-01 7.36918489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.40, Z:0.74 [[-7.89421786e-01 6.13840016e-01 3.69842167e-03 2.10666070e+02] [-6.13833114e-01 -7.89430449e-01 2.91092633e-03 1.32402062e+02] [ 4.70648974e-03 2.77349751e-05 9.99988924e-01 7.35869439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.881400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.66, Y:132.39, Z:0.74 [[-7.89566616e-01 6.13651900e-01 3.98790803e-03 2.10655742e+02] [-6.13643862e-01 -7.89576687e-01 3.14111273e-03 1.32390678e+02] [ 5.07630900e-03 3.29624633e-05 9.99987115e-01 7.35540850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.911400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:210.67, Y:132.40, Z:0.74 [[-7.89562341e-01 6.13658536e-01 3.80919476e-03 2.10667246e+02] [-6.13651199e-01 -7.89571529e-01 3.00099277e-03 1.32396859e+02] [ 4.84921656e-03 3.19539497e-05 9.99988242e-01 7.35406996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.941400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.66, Y:132.39, Z:0.74 [[-7.88916850e-01 6.14489100e-01 3.65387124e-03 2.10660994e+02] [-6.14482348e-01 -7.88925311e-01 2.88075317e-03 1.32389940e+02] [ 4.65282293e-03 2.74353422e-05 9.99989175e-01 7.35318702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.40, Z:0.74 [[-7.87749832e-01 6.15982570e-01 3.95937227e-03 2.10671952e+02] [-6.15974655e-01 -7.87759782e-01 3.12258201e-03 1.32395672e+02] [ 5.04249032e-03 2.09404866e-05 9.99987286e-01 7.35227652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.001400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.67, Y:132.40, Z:0.73 [[-7.87245196e-01 6.16622066e-01 4.71476239e-03 2.10674101e+02] [-6.16610849e-01 -7.87259314e-01 3.71939477e-03 1.32395458e+02] [ 6.00520149e-03 2.09020271e-05 9.99981968e-01 7.34998565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.39, Z:0.73 [[-7.86995149e-01 6.16936522e-01 5.28802464e-03 2.10672003e+02] [-6.16922397e-01 -7.87012914e-01 4.17476884e-03 1.32392109e+02] [ 6.73731105e-03 2.32219880e-05 9.99977304e-01 7.34951174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:132.40, Z:0.74 [[-7.87212070e-01 6.16658072e-01 5.47537396e-03 2.10684118e+02] [-6.16642913e-01 -7.87231111e-01 4.32398086e-03 1.32398979e+02] [ 6.97680242e-03 2.75393772e-05 9.99975661e-01 7.35337735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.69, Y:132.40, Z:0.74 [[-7.87522199e-01 6.16262604e-01 5.40271794e-03 2.10692842e+02] [-6.16247826e-01 -7.87540731e-01 4.26781588e-03 1.32402433e+02] [ 6.88495576e-03 3.15865666e-05 9.99976298e-01 7.35795864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.121400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:210.70, Y:132.40, Z:0.74 [[-7.88853650e-01 6.14558656e-01 5.25139838e-03 2.10695819e+02] [-6.14544636e-01 -7.88871128e-01 4.15136714e-03 1.32397700e+02] [ 6.69393517e-03 4.76024138e-05 9.99977594e-01 7.36365088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.39, Z:0.74 [[-7.89186190e-01 6.14132432e-01 5.14911261e-03 2.10690144e+02] [-6.14118924e-01 -7.89202986e-01 4.07361112e-03 1.32390165e+02] [ 6.56543175e-03 5.26701409e-05 9.99978446e-01 7.35935138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.181400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.69, Y:132.38, Z:0.74 [[-7.88946558e-01 6.14436899e-01 5.53406256e-03 2.10685294e+02] [-6.14421279e-01 -7.88965965e-01 4.38152924e-03 1.32383322e+02] [ 7.05836025e-03 5.65466229e-05 9.99975088e-01 7.36237439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.211400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.70, Y:132.40, Z:0.74 [[-7.88219542e-01 6.15368631e-01 5.60371595e-03 2.10703815e+02] [-6.15352615e-01 -7.88239460e-01 4.44007778e-03 1.32395384e+02] [ 7.14935462e-03 5.14948165e-05 9.99974442e-01 7.36076244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.40, Z:0.74 [[-7.85600742e-01 6.18711510e-01 5.24800156e-03 2.10717203e+02] [-6.18697516e-01 -7.85618270e-01 4.16137479e-03 1.32400399e+02] [ 6.69761639e-03 2.22535933e-05 9.99977571e-01 7.36794275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:132.41, Z:0.74 [[-7.83635806e-01 6.21199709e-01 5.08393592e-03 2.10726580e+02] [-6.21186608e-01 -7.83652297e-01 4.03431260e-03 1.32405231e+02] [ 6.49015187e-03 3.35889264e-06 9.99978939e-01 7.36921361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.73, Y:132.41, Z:0.74 [[-7.81482087e-01 6.23906390e-01 5.15403105e-03 2.10733307e+02] [-6.23892965e-01 -7.81499083e-01 4.09300268e-03 1.32407962e+02] [ 6.58152107e-03 -1.69554380e-05 9.99978341e-01 7.37263931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.331400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.75, Y:132.42, Z:0.74 [[-7.79290772e-01 6.26643171e-01 4.92235300e-03 2.10754295e+02] [-6.26630961e-01 -7.79306317e-01 3.91191679e-03 1.32421664e+02] [ 6.28739673e-03 -3.59781316e-05 9.99980234e-01 7.37455843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.361400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.77, Y:132.43, Z:0.74 [[-7.77202688e-01 6.29234342e-01 4.48603428e-03 2.10770564e+02] [-6.29224229e-01 -7.77215633e-01 3.56776741e-03 1.32430767e+02] [ 5.73157775e-03 -4.98430392e-05 9.99983573e-01 7.37913732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.42, Z:0.74 [[-7.75294864e-01 6.31589445e-01 3.55615737e-03 2.10767439e+02] [-6.31583106e-01 -7.75303018e-01 2.83027762e-03 1.32424361e+02] [ 4.54467301e-03 -5.17092136e-05 9.99989672e-01 7.37526499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.78, Y:132.43, Z:0.74 [[-7.71776313e-01 6.35889155e-01 2.51112010e-03 2.10784017e+02] [-6.35886012e-01 -7.71780396e-01 1.99998069e-03 1.32432115e+02] [ 3.20979930e-03 -5.32484200e-05 9.99994847e-01 7.37525777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.44, Z:0.74 [[-7.70106504e-01 6.37912494e-01 1.90343082e-03 2.10792169e+02] [-6.37910691e-01 -7.70108855e-01 1.51706029e-03 1.32438291e+02] [ 2.43360064e-03 -4.59208690e-05 9.99997038e-01 7.37349877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.46, Z:0.74 [[-7.68388886e-01 6.39980818e-01 1.75275007e-03 2.10822920e+02] [-6.39979293e-01 -7.68390883e-01 1.39795491e-03 1.32461407e+02] [ 2.24146150e-03 -4.75507336e-05 9.99997487e-01 7.37419079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.511400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.82, Y:132.45, Z:0.74 [[-7.65559498e-01 6.43361159e-01 2.25254198e-03 2.10821053e+02] [-6.43358651e-01 -7.65562809e-01 1.79787451e-03 1.32454837e+02] [ 2.88114499e-03 -7.28124651e-05 9.99995847e-01 7.37258400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.46, Z:0.74 [[-7.64078879e-01 6.45117658e-01 2.58342325e-03 2.10831097e+02] [-6.45114364e-01 -7.64083242e-01 2.06343752e-03 1.32461329e+02] [ 3.30511039e-03 -8.99744141e-05 9.99994534e-01 7.36364794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.84, Y:132.47, Z:0.74 [[-7.62690885e-01 6.46754236e-01 3.40186128e-03 2.10843590e+02] [-6.46748532e-01 -7.62698461e-01 2.71907627e-03 1.32470296e+02] [ 4.35316846e-03 -1.26334106e-04 9.99990517e-01 7.36347512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.85, Y:132.48, Z:0.74 [[-7.61615292e-01 6.48017937e-01 3.86010031e-03 2.10852564e+02] [-6.48010599e-01 -7.61625059e-01 3.08750204e-03 1.32476649e+02] [ 4.94070583e-03 -1.49897149e-04 9.99987783e-01 7.36104879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.48, Z:0.74 [[-7.60955798e-01 6.48793479e-01 3.64615565e-03 2.10859903e+02] [-6.48786932e-01 -7.60964520e-01 2.91839211e-03 1.32481347e+02] [ 4.66802885e-03 -1.44810738e-04 9.99989094e-01 7.36049598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.661400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.86, Y:132.47, Z:0.74 [[-7.60386107e-01 6.49462900e-01 3.30311338e-03 2.10855428e+02] [-6.49457525e-01 -7.60393269e-01 2.64564381e-03 1.32473572e+02] [ 4.22991268e-03 -1.33521045e-04 9.99991045e-01 7.37443115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.49, Z:0.74 [[-7.60149380e-01 6.49741641e-01 2.95283514e-03 2.10873235e+02] [-6.49737342e-01 -7.60155106e-01 2.36671148e-03 1.32486645e+02] [ 3.78236372e-03 -1.19512991e-04 9.99992840e-01 7.36615181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.48, Z:0.74 [[-7.59712119e-01 6.50251927e-01 3.15077010e-03 2.10861272e+02] [-6.50247029e-01 -7.59718642e-01 2.52710787e-03 1.32475987e+02] [ 4.03695554e-03 -1.28904424e-04 9.99991843e-01 7.35973142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.48, Z:0.74 [[-7.59060685e-01 6.51008718e-01 3.81132550e-03 2.10863206e+02] [-6.51001550e-01 -7.59070237e-01 3.05905697e-03 1.32476310e+02] [ 4.88453651e-03 -1.59168929e-04 9.99988058e-01 7.35642083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.48, Z:0.74 [[-7.57489520e-01 6.52827798e-01 5.04901593e-03 2.10875800e+02] [-6.52815241e-01 -7.57506314e-01 4.05529254e-03 1.32483473e+02] [ 6.47206914e-03 -2.24232953e-04 9.99979031e-01 7.35326560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.49, Z:0.74 [[-7.56338899e-01 6.54157173e-01 5.46471619e-03 2.10885034e+02] [-6.54142476e-01 -7.56358598e-01 4.39220333e-03 1.32490094e+02] [ 7.00647639e-03 -2.52708750e-04 9.99975422e-01 7.35323866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.841400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.88, Y:132.49, Z:0.74 [[-7.54976502e-01 6.55723118e-01 6.13789897e-03 2.10882854e+02] [-6.55704602e-01 -7.55001394e-01 4.93666687e-03 1.32487958e+02] [ 7.87120887e-03 -2.97581108e-04 9.99968977e-01 7.35891478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.49, Z:0.74 [[-7.53676742e-01 6.57214657e-01 6.34536389e-03 2.10889675e+02] [-6.57194892e-01 -7.53703385e-01 5.10703651e-03 1.32494139e+02] [ 8.13894148e-03 -3.21086098e-04 9.99966827e-01 7.35207436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.49, Z:0.74 [[-7.52323998e-01 6.58759253e-01 6.69682009e-03 2.10889681e+02] [-6.58737268e-01 -7.52353721e-01 5.39360380e-03 1.32494572e+02] [ 8.59146392e-03 -3.53707392e-04 9.99963030e-01 7.35230287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.50, Z:0.73 [[-7.51107933e-01 6.60143296e-01 6.90662002e-03 2.10901168e+02] [-6.60119936e-01 -7.51139591e-01 5.56637914e-03 1.32504616e+02] [ 8.86244361e-03 -3.78246033e-04 9.99960656e-01 7.34946358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.51, Z:0.74 [[-7.48934213e-01 6.62612096e-01 6.53872936e-03 2.10901023e+02] [-6.62591221e-01 -7.48962659e-01 5.27346044e-03 1.32506603e+02] [ 8.39152280e-03 -3.83029727e-04 9.99964717e-01 7.35177283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99140051300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.92, Y:132.53, Z:0.74 [[-7.47908517e-01 6.63772010e-01 6.29040912e-03 2.10923393e+02] [-6.63752704e-01 -7.47934874e-01 5.07661261e-03 1.32525863e+02] [ 8.07452971e-03 -3.78434257e-04 9.99967329e-01 7.35908315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.021400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.92, Y:132.52, Z:0.74 [[-7.47265579e-01 6.64504452e-01 5.29038617e-03 2.10918054e+02] [-6.64490796e-01 -7.47284236e-01 4.27240411e-03 1.32523029e+02] [ 6.79245374e-03 -3.22792388e-04 9.99976879e-01 7.35973546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.92, Y:132.52, Z:0.74 [[-7.46801523e-01 6.65031145e-01 4.58924690e-03 2.10917727e+02] [-6.65020864e-01 -7.46815571e-01 3.70866088e-03 1.32524556e+02] [ 5.89369604e-03 -2.82311339e-04 9.99982592e-01 7.36204486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.081400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.91, Y:132.52, Z:0.74 [[-7.45853987e-01 6.66094228e-01 4.50660968e-03 2.10906514e+02] [-6.66084319e-01 -7.45867548e-01 3.64434146e-03 1.32519492e+02] [ 5.78880873e-03 -2.83635429e-04 9.99983205e-01 7.36167154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.111400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.92, Y:132.53, Z:0.74 [[-7.45131311e-01 6.66900564e-01 4.79228728e-03 2.10922136e+02] [-6.66889359e-01 -7.45146659e-01 3.87798206e-03 1.32534483e+02] [ 6.15718528e-03 -3.06319537e-04 9.99980997e-01 7.35731639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.92, Y:132.54, Z:0.74 [[-7.44316896e-01 6.67809745e-01 4.74380610e-03 2.10920886e+02] [-6.67798768e-01 -7.44331949e-01 3.84132851e-03 1.32535810e+02] [ 6.09624305e-03 -3.08742155e-04 9.99981370e-01 7.35685937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.93, Y:132.54, Z:0.74 [[-7.43343779e-01 6.68896209e-01 4.22937212e-03 2.10927741e+02] [-6.68887489e-01 -7.43355758e-01 3.42704893e-03 1.32543661e+02] [ 5.43626816e-03 -2.81498597e-04 9.99985184e-01 7.36110458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.93, Y:132.55, Z:0.74 [[-7.42189138e-01 6.70182511e-01 3.26899022e-03 2.10934213e+02] [-6.70177306e-01 -7.42196303e-01 2.65060140e-03 1.32551024e+02] [ 4.20261916e-03 -2.23555494e-04 9.99991144e-01 7.36577661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.55, Z:0.74 [[-7.40871166e-01 6.71644594e-01 1.85894844e-03 2.10934781e+02] [-6.71642913e-01 -7.40873486e-01 1.50825918e-03 1.32554021e+02] [ 2.39025974e-03 -1.31123811e-04 9.99997135e-01 7.36235607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.56, Z:0.74 [[-7.38386577e-01 6.74377166e-01 8.37675623e-04 2.10936973e+02] [-6.74376826e-01 -7.38387049e-01 6.80050877e-04 1.32561902e+02] [ 1.07713961e-03 -6.27685886e-05 9.99999418e-01 7.36071462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.291400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.95, Y:132.58, Z:0.74 [[-7.37116043e-01 6.75764474e-01 1.52172324e-03 2.10953038e+02] [-6.75763353e-01 -7.37117604e-01 1.23627176e-03 1.32577901e+02] [ 1.95711752e-03 -1.17049049e-04 9.99998078e-01 7.35493764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.58, Z:0.74 [[-7.36393911e-01 6.76547444e-01 2.75008134e-03 2.10949734e+02] [-6.76543784e-01 -7.36399015e-01 2.23574951e-03 1.32578102e+02] [ 3.53774781e-03 -2.14158107e-04 9.99993719e-01 7.35074998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.351400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.94, Y:132.57, Z:0.74 [[-7.35935903e-01 6.77038924e-01 4.07953988e-03 2.10942605e+02] [-6.77030865e-01 -7.35947140e-01 3.31879880e-03 1.32573878e+02] [ 5.24928168e-03 -3.19551226e-04 9.99986171e-01 7.35242074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.59, Z:0.74 [[-7.36132262e-01 6.76824084e-01 4.29564496e-03 2.10954250e+02] [-6.76815132e-01 -7.36144720e-01 3.49691317e-03 1.32585696e+02] [ 5.52901141e-03 -3.33166907e-04 9.99984659e-01 7.35040304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.411400513 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:210.79, Y:132.46, Z:0.74 [[-7.36208715e-01 6.76689934e-01 9.35202499e-03 2.10787633e+02] [-6.76699391e-01 -7.36254851e-01 2.59377794e-03 1.32456536e+02] [ 8.64065719e-03 -4.41894769e-03 9.99952905e-01 7.38476003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.56, Z:0.73 [[-7.37574634e-01 6.75263806e-01 1.56593486e-03 2.10920862e+02] [-6.75244151e-01 -7.37567692e-01 6.26387675e-03 1.32562817e+02] [ 5.38475222e-03 3.56268825e-03 9.99979156e-01 7.34793071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.58, Z:0.73 [[-7.38170203e-01 6.74602109e-01 4.09209915e-03 2.10930150e+02] [-6.74593940e-01 -7.38181485e-01 3.33343890e-03 1.32578209e+02] [ 5.26945674e-03 -2.99860019e-04 9.99986071e-01 7.34569245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.58, Z:0.73 [[-7.38736220e-01 6.73979312e-01 4.54813104e-03 2.10927942e+02] [-6.73969194e-01 -7.38750148e-01 3.70740474e-03 1.32579446e+02] [ 5.85864657e-03 -3.26506048e-04 9.99982785e-01 7.34272852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.531400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.92, Y:132.58, Z:0.73 [[-7.39310493e-01 6.73346077e-01 5.00558686e-03 2.10922085e+02] [-6.73333789e-01 -7.39327354e-01 4.08303942e-03 1.32577222e+02] [ 6.45006587e-03 -3.51796883e-04 9.99979136e-01 7.34414063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.91, Y:132.57, Z:0.73 [[-7.40249675e-01 6.72310702e-01 5.36077847e-03 2.10909907e+02] [-6.72296562e-01 -7.40268996e-01 4.37572316e-03 1.32571499e+02] [ 6.91026360e-03 -3.64905283e-04 9.99976057e-01 7.34951836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.591400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:210.91, Y:132.57, Z:0.73 [[-7.40653122e-01 6.71861847e-01 5.88320697e-03 2.10906355e+02] [-6.71844777e-01 -7.40676383e-01 4.80542261e-03 1.32570676e+02] [ 7.58613257e-03 -3.93450612e-04 9.99971148e-01 7.34911571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.621400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:210.90, Y:132.57, Z:0.73 [[-7.41189102e-01 6.71270088e-01 5.93156499e-03 2.10904301e+02] [-6.71252692e-01 -7.41212735e-01 4.84822328e-03 1.32571370e+02] [ 7.65101877e-03 -3.88128706e-04 9.99970655e-01 7.34091201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.651400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:210.91, Y:132.57, Z:0.73 [[-7.40964834e-01 6.71517647e-01 5.92994517e-03 2.10906202e+02] [-6.71500243e-01 -7.40988461e-01 4.85020436e-03 1.32573020e+02] [ 7.65101876e-03 -3.88128752e-04 9.99970655e-01 7.34090802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.58, Z:0.73 [[-7.41694599e-01 6.70715495e-01 5.46319357e-03 2.10914897e+02] [-6.70700680e-01 -7.41714638e-01 4.47147197e-03 1.32583039e+02] [ 7.05121617e-03 -3.47701033e-04 9.99975079e-01 7.34437763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.711400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.92, Y:132.59, Z:0.74 [[-7.41973956e-01 6.70410650e-01 4.92017187e-03 2.10916168e+02] [-6.70398610e-01 -7.41990205e-01 4.02974438e-03 1.32585612e+02] [ 6.35230288e-03 -3.08511002e-04 9.99979776e-01 7.35138541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.92, Y:132.59, Z:0.74 [[-7.41732594e-01 6.70682795e-01 4.16502377e-03 2.10922120e+02] [-6.70674159e-01 -7.41744241e-01 3.41355429e-03 1.32591369e+02] [ 5.37879453e-03 -2.61429344e-04 9.99985500e-01 7.36297796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.771400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.91, Y:132.58, Z:0.74 [[-7.41132186e-01 6.71343454e-01 4.58793970e-03 2.10914421e+02] [-6.71332972e-01 -7.41146330e-01 3.76271933e-03 1.32584857e+02] [ 5.92641166e-03 -2.91362793e-04 9.99982396e-01 7.36434820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.58, Z:0.74 [[-7.40675699e-01 6.71842834e-01 5.16876538e-03 2.10912675e+02] [-6.71829523e-01 -7.40693660e-01 4.24196791e-03 1.32583797e+02] [ 6.67840748e-03 -3.30606638e-04 9.99977645e-01 7.35986665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.59, Z:0.74 [[-7.40417500e-01 6.72123733e-01 5.62267317e-03 2.10923639e+02] [-6.72107981e-01 -7.40438760e-01 4.61570802e-03 1.32592920e+02] [ 7.26557205e-03 -3.61492520e-04 9.99973540e-01 7.35346984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.59, Z:0.74 [[-7.40224585e-01 6.72336414e-01 5.59552535e-03 2.10919624e+02] [-6.72320797e-01 -7.40245647e-01 4.59649489e-03 1.32589658e+02] [ 7.23245417e-03 -3.59549539e-04 9.99973781e-01 7.35122836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.891400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.92, Y:132.59, Z:0.74 [[-7.39565447e-01 6.73070913e-01 4.30076611e-03 2.10918558e+02] [-6.73061686e-01 -7.39577899e-01 3.53529248e-03 1.32588447e+02] [ 5.56025410e-03 -2.80100727e-04 9.99984502e-01 7.35770652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.60, Z:0.74 [[-7.39212378e-01 6.73463113e-01 3.53494738e-03 2.10938403e+02] [-6.73456884e-01 -7.39220794e-01 2.90583466e-03 1.32604647e+02] [ 4.57007907e-03 -2.32605697e-04 9.99989530e-01 7.35979679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.951400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:210.94, Y:132.60, Z:0.74 [[-7.38769630e-01 6.73946804e-01 3.89104299e-03 2.10939031e+02] [-6.73939253e-01 -7.38779832e-01 3.20063511e-03 1.32604051e+02] [ 5.03168189e-03 -2.57794588e-04 9.99987308e-01 7.36677977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.93, Y:132.59, Z:0.74 [[-7.38870213e-01 6.73830058e-01 4.88484457e-03 2.10926017e+02] [-6.73818138e-01 -7.38886290e-01 4.02083383e-03 1.32591648e+02] [ 6.31870337e-03 -3.20622524e-04 9.99979985e-01 7.36777215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.011400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.92, Y:132.59, Z:0.74 [[-7.39328952e-01 6.73313479e-01 6.45449409e-03 2.10924734e+02] [-6.73292617e-01 -7.39357009e-01 5.31649426e-03 1.32585275e+02] [ 8.35184269e-03 -4.15125086e-04 9.99965037e-01 7.35286613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.041400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.95, Y:132.60, Z:0.74 [[-7.39196199e-01 6.73460813e-01 6.28596100e-03 2.10949373e+02] [-6.73441007e-01 -7.39222815e-01 5.18074809e-03 1.32602026e+02] [ 8.13575661e-03 -4.03634611e-04 9.99966823e-01 7.35363232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.071400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.93, Y:132.58, Z:0.74 [[-7.39076126e-01 6.73597921e-01 5.68512662e-03 2.10933989e+02] [-6.73581701e-01 -7.39097902e-01 4.68871025e-03 1.32584789e+02] [ 7.36017063e-03 -3.64083453e-04 9.99972847e-01 7.35991265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.101400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:210.95, Y:132.59, Z:0.74 [[-7.39306390e-01 6.73348371e-01 5.29458902e-03 2.10947189e+02] [-6.73334276e-01 -7.39325273e-01 4.36958380e-03 1.32590933e+02] [ 6.85667560e-03 -3.34567042e-04 9.99976437e-01 7.36544873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.60, Z:0.74 [[-7.39683383e-01 6.72934771e-01 5.22360785e-03 2.10963009e+02] [-6.72921022e-01 -7.39701757e-01 4.31390793e-03 1.32599346e+02] [ 6.76689055e-03 -3.24149512e-04 9.99977052e-01 7.37053210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.161400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.97, Y:132.60, Z:0.74 [[-7.39537911e-01 6.73092508e-01 5.49121659e-03 2.10966769e+02] [-6.73077296e-01 -7.39558219e-01 4.53795761e-03 1.32596725e+02] [ 7.11553963e-03 -3.40021528e-04 9.99974626e-01 7.37327586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.191400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.98, Y:132.59, Z:0.74 [[-7.38507906e-01 6.74218365e-01 5.97227791e-03 2.10979401e+02] [-6.74200383e-01 -7.38531957e-01 4.93881979e-03 1.32594339e+02] [ 7.74056110e-03 -3.79154592e-04 9.99969970e-01 7.36315460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.59, Z:0.74 [[-7.37499780e-01 6.75320334e-01 6.04333330e-03 2.10984996e+02] [-6.75301931e-01 -7.37524435e-01 5.00092017e-03 1.32592564e+02] [ 7.83432905e-03 -3.92897123e-04 9.99969234e-01 7.35547567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.251400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.00, Y:132.60, Z:0.74 [[-7.35893342e-01 6.77069726e-01 6.12980074e-03 2.11003546e+02] [-6.77050827e-01 -7.35918755e-01 5.07584430e-03 1.32601936e+02] [ 7.94773584e-03 -4.14906636e-04 9.99968330e-01 7.35092021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.01, Y:132.60, Z:0.74 [[-7.33986366e-01 6.79140954e-01 5.61956984e-03 2.11011191e+02] [-6.79125108e-01 -7.34007770e-01 4.65640757e-03 1.32603848e+02] [ 7.28716501e-03 -3.98651300e-04 9.99973369e-01 7.35132887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:132.62, Z:0.74 [[-7.29919988e-01 6.83520369e-01 4.08861816e-03 2.11034576e+02] [-6.83512037e-01 -7.29931368e-01 3.39005044e-03 1.32615333e+02] [ 5.30157918e-03 -3.20154152e-04 9.99985895e-01 7.35609022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.341400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.04, Y:132.62, Z:0.74 [[-7.27665026e-01 6.85918623e-01 4.38779390e-03 2.11043468e+02] [-6.85909057e-01 -7.27678166e-01 3.64047356e-03 1.32618708e+02] [ 5.68997043e-03 -3.60582293e-04 9.99983747e-01 7.35806233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.371400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.06, Y:132.63, Z:0.74 [[-7.25570968e-01 6.88131199e-01 4.71417155e-03 2.11056853e+02] [-6.88120188e-01 -7.25586170e-01 3.91378901e-03 1.32626906e+02] [ 6.11373800e-03 -4.04184927e-04 9.99981229e-01 7.35256352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.63, Z:0.73 [[-7.23576763e-01 6.90229510e-01 4.45994113e-03 2.11061096e+02] [-6.90219680e-01 -7.23590399e-01 3.70509427e-03 1.32628899e+02] [ 5.78453599e-03 -3.97419020e-04 9.99983190e-01 7.34144908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.63, Z:0.73 [[-7.21541516e-01 6.92359749e-01 3.97725637e-03 2.11062076e+02] [-6.92351952e-01 -7.21552384e-01 3.30621623e-03 1.32628289e+02] [ 5.15888985e-03 -3.68088941e-04 9.99986625e-01 7.33994115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:132.64, Z:0.73 [[-7.19832184e-01 6.94139278e-01 3.50564235e-03 2.11081566e+02] [-6.94133234e-01 -7.19840643e-01 2.91602297e-03 1.32643389e+02] [ 4.54762992e-03 -3.34335679e-04 9.99989604e-01 7.34493323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.09, Y:132.65, Z:0.74 [[-7.18191561e-01 6.95829423e-01 4.72198031e-03 2.11088386e+02] [-6.95818477e-01 -7.18206934e-01 3.93028874e-03 1.32647629e+02] [ 6.12616954e-03 -4.62940942e-04 9.99981128e-01 7.35125643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.521400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.08, Y:132.64, Z:0.74 [[-7.18172291e-01 6.95841725e-01 5.73178646e-03 2.11082384e+02] [-6.95825575e-01 -7.18194946e-01 4.77382302e-03 1.32642765e+02] [ 7.43836531e-03 -5.59896191e-04 9.99972178e-01 7.35322378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.09, Y:132.65, Z:0.74 [[-7.18700741e-01 6.95286723e-01 6.75410969e-03 2.11086977e+02] [-6.95264242e-01 -7.18732183e-01 5.62886117e-03 1.32647462e+02] [ 8.76806844e-03 -6.50424257e-04 9.99961348e-01 7.35007161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.581400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.09, Y:132.65, Z:0.74 [[-7.19473107e-01 6.94483848e-01 7.11567991e-03 2.11092094e+02] [-6.94458822e-01 -7.19507979e-01 5.93394709e-03 1.32652724e+02] [ 9.24081889e-03 -6.72231343e-04 9.99957077e-01 7.35005199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.63, Z:0.74 [[-7.21862048e-01 6.92007530e-01 6.38455209e-03 2.11065026e+02] [-6.91987258e-01 -7.21890055e-01 5.32763361e-03 1.32629784e+02] [ 8.29570724e-03 -5.72212184e-04 9.99965426e-01 7.35913987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.641400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.07, Y:132.64, Z:0.74 [[-7.23307082e-01 6.90503219e-01 5.67179332e-03 2.11073306e+02] [-6.90487152e-01 -7.23329153e-01 4.73590867e-03 1.32636450e+02] [ 7.37273364e-03 -4.90784138e-04 9.99972701e-01 7.36585430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:132.64, Z:0.74 [[-7.25030430e-01 6.88700062e-01 4.80636688e-03 2.11071167e+02] [-6.88688468e-01 -7.25046251e-01 4.01585687e-03 1.32635103e+02] [ 6.25055916e-03 -3.98471015e-04 9.99980386e-01 7.37094780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.63, Z:0.74 [[-7.26768787e-01 6.86868361e-01 4.35711462e-03 2.11062030e+02] [-6.86858788e-01 -7.26781766e-01 3.64284366e-03 1.32627930e+02] [ 5.66882551e-03 -3.45217403e-04 9.99983873e-01 7.37793363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.63, Z:0.74 [[-7.28519448e-01 6.85011277e-01 4.35484748e-03 2.11061642e+02] [-6.85001667e-01 -7.28532389e-01 3.64331663e-03 1.32627566e+02] [ 5.66836042e-03 -3.28850772e-04 9.99983881e-01 7.38166458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.62, Z:0.74 [[-7.31392657e-01 6.81943577e-01 4.21183591e-03 2.11053474e+02] [-6.81934525e-01 -7.31404725e-01 3.52597307e-03 1.32619701e+02] [ 5.48507137e-03 -2.93325507e-04 9.99984914e-01 7.38163320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:132.61, Z:0.74 [[-7.32185942e-01 6.81091937e-01 4.18572861e-03 2.11042935e+02] [-6.81082970e-01 -7.32197851e-01 3.50642914e-03 1.32609845e+02] [ 5.45298211e-03 -2.83470356e-04 9.99985092e-01 7.38204100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.62, Z:0.74 [[-7.32385866e-01 6.80875557e-01 4.40662979e-03 2.11059614e+02] [-6.80865601e-01 -7.32399064e-01 3.69391971e-03 1.32621954e+02] [ 5.74251118e-03 -2.94948050e-04 9.99983468e-01 7.38212820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:132.61, Z:0.74 [[-7.32114467e-01 6.81166670e-01 4.51391682e-03 2.11047198e+02] [-6.81156213e-01 -7.32128320e-01 3.78635434e-03 1.32608814e+02] [ 5.88390471e-03 -3.02637697e-04 9.99982644e-01 7.38058849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.62, Z:0.74 [[-7.31237342e-01 6.82107686e-01 4.58841104e-03 2.11061767e+02] [-6.82096885e-01 -7.31251671e-01 3.85138787e-03 1.32618161e+02] [ 5.98234451e-03 -3.13462247e-04 9.99982057e-01 7.37942707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:132.61, Z:0.74 [[-7.29759663e-01 6.83688328e-01 4.59394308e-03 2.11059879e+02] [-6.83677517e-01 -7.29774050e-01 3.85857572e-03 1.32613386e+02] [ 5.99060363e-03 -3.24942677e-04 9.99982003e-01 7.37903306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.63, Z:0.74 [[-7.26984348e-01 6.86638401e-01 4.63298827e-03 2.11091132e+02] [-6.86627449e-01 -7.26999026e-01 3.89391726e-03 1.32633242e+02] [ 6.04189108e-03 -3.50320018e-04 9.99981686e-01 7.37875704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.64, Z:0.74 [[-7.25656023e-01 6.88039716e-01 4.96839619e-03 2.11100084e+02] [-6.88027136e-01 -7.25672929e-01 4.17852318e-03 1.32636662e+02] [ 6.48042052e-03 -3.86220885e-04 9.99978927e-01 7.38003370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:132.63, Z:0.74 [[-7.24473156e-01 6.89282520e-01 5.31546678e-03 2.11097857e+02] [-6.89268134e-01 -7.24492532e-01 4.47331070e-03 1.32630310e+02] [ 6.93439086e-03 -4.22988350e-04 9.99975867e-01 7.37596778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.64, Z:0.74 [[-7.21747122e-01 6.92133784e-01 5.64952551e-03 2.11118559e+02] [-6.92117597e-01 -7.21769075e-01 4.75751055e-03 1.32637974e+02] [ 7.37048658e-03 -4.76416474e-04 9.99972724e-01 7.36905218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.061400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.13, Y:132.64, Z:0.74 [[-7.20116497e-01 6.93827861e-01 5.92698966e-03 2.11129281e+02] [-6.93810077e-01 -7.20140704e-01 4.99435783e-03 1.32643722e+02] [ 7.73349111e-03 -5.15685683e-04 9.99969963e-01 7.36578494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:132.64, Z:0.74 [[-7.18338819e-01 6.95664816e-01 6.30916796e-03 2.11130397e+02] [-6.95644707e-01 -7.18366301e-01 5.31979219e-03 1.32642593e+02] [ 8.23308590e-03 -5.67526052e-04 9.99965947e-01 7.35782447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:132.66, Z:0.74 [[-7.16422053e-01 6.97632843e-01 6.91799132e-03 2.11155721e+02] [-6.97608723e-01 -7.16455163e-01 5.83683743e-03 1.32662193e+02] [ 9.02840009e-03 -6.44412038e-04 9.99959036e-01 7.35522464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.66, Z:0.74 [[-7.14483630e-01 6.99609379e-01 7.73687181e-03 2.11153967e+02] [-6.99579283e-01 -7.14525130e-01 6.53184869e-03 1.32658431e+02] [ 1.00979319e-02 -7.45656275e-04 9.99948737e-01 7.35575770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.181400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.15, Y:132.65, Z:0.74 [[-7.12807287e-01 7.01309958e-01 8.37346447e-03 2.11151005e+02] [-7.01274774e-01 -7.12855984e-01 7.07375443e-03 1.32653108e+02] [ 1.09299687e-02 -8.29875702e-04 9.99939922e-01 7.35235159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:132.67, Z:0.74 [[-7.10737629e-01 7.03413676e-01 7.82454698e-03 2.11179443e+02] [-7.03383037e-01 -7.10780245e-01 6.61417308e-03 1.32673536e+02] [ 1.02140332e-02 -8.02711923e-04 9.99947513e-01 7.35206274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:132.68, Z:0.74 [[-7.09939773e-01 7.04227300e-01 7.03053482e-03 2.11187693e+02] [-7.04202570e-01 -7.09974209e-01 5.94665723e-03 1.32679017e+02] [ 9.17929677e-03 -7.29152205e-04 9.99957604e-01 7.35460897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:132.68, Z:0.74 [[-7.09592767e-01 7.04581506e-01 6.55792009e-03 2.11185737e+02] [-7.04559974e-01 -7.09622742e-01 5.55033047e-03 1.32675640e+02] [ 8.56430943e-03 -6.81973655e-04 9.99963093e-01 7.35621649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:132.68, Z:0.74 [[-7.09789957e-01 7.04386587e-01 6.14436137e-03 2.11192742e+02] [-7.04367652e-01 -7.09816267e-01 5.20352471e-03 1.32680572e+02] [ 8.02666066e-03 -6.34479810e-04 9.99967585e-01 7.35683192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.68, Z:0.74 [[-7.10133684e-01 7.04038900e-01 6.27526793e-03 2.11196985e+02] [-7.04019109e-01 -7.10161120e-01 5.31766677e-03 1.32683359e+02] [ 8.20029556e-03 -6.41654244e-04 9.99966171e-01 7.35569729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.68, Z:0.74 [[-7.10672248e-01 7.03495832e-01 6.21047864e-03 2.11197085e+02] [-7.03476402e-01 -7.10699108e-01 5.26601013e-03 1.32682090e+02] [ 8.11839781e-03 -6.26517916e-04 9.99966849e-01 7.35942015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.68, Z:0.74 [[-7.10434284e-01 7.03736942e-01 6.11922822e-03 2.11197449e+02] [-7.03718061e-01 -7.10460368e-01 5.19184251e-03 1.32680907e+02] [ 8.00116051e-03 -6.17748502e-04 9.99967799e-01 7.36581719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.68, Z:0.74 [[-7.10033341e-01 7.04145643e-01 5.61864669e-03 2.11195823e+02] [-7.04129716e-01 -7.10055343e-01 4.77007316e-03 1.32679226e+02] [ 7.34837633e-03 -5.69345113e-04 9.99972838e-01 7.36945429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.451400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.21, Y:132.70, Z:0.74 [[-7.08966584e-01 7.05223815e-01 5.07488676e-03 2.11214846e+02] [-7.05210831e-01 -7.08984554e-01 4.31108499e-03 1.32696196e+02] [ 6.63829613e-03 -5.22449915e-04 9.99977830e-01 7.36937384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.481400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.20, Y:132.68, Z:0.74 [[-7.07883017e-01 7.06313675e-01 4.75675572e-03 2.11198358e+02] [-7.06302277e-01 -7.07898824e-01 4.04332009e-03 1.32684056e+02] [ 6.22315405e-03 -4.97509774e-04 9.99980512e-01 7.37154243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.70, Z:0.74 [[-7.07122601e-01 7.07073128e-01 5.02178591e-03 2.11210997e+02] [-7.07060426e-01 -7.07140234e-01 4.27123919e-03 1.32696109e+02] [ 6.57118532e-03 -5.30416319e-04 9.99978269e-01 7.37586353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.70, Z:0.74 [[-7.06908118e-01 7.07287570e-01 5.02049008e-03 2.11212889e+02] [-7.07274863e-01 -7.06925747e-01 4.27276225e-03 1.32697818e+02] [ 6.57118533e-03 -5.30416109e-04 9.99978269e-01 7.37585954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.20, Y:132.68, Z:0.74 [[-7.07173651e-01 7.07018752e-01 5.46923705e-03 2.11196798e+02] [-7.07003643e-01 -7.07194567e-01 4.65756102e-03 1.32683706e+02] [ 7.16079771e-03 -5.73066088e-04 9.99974197e-01 7.37470281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:132.70, Z:0.74 [[-7.08459411e-01 7.05727714e-01 5.80144535e-03 2.11210782e+02] [-7.05710648e-01 -7.08482917e-01 4.94353471e-03 1.32696296e+02] [ 7.59901437e-03 -5.91848069e-04 9.99970952e-01 7.37681741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.631400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.19, Y:132.68, Z:0.74 [[-7.09761159e-01 7.04418027e-01 5.86004855e-03 2.11187001e+02] [-7.04400546e-01 -7.09785112e-01 4.99658464e-03 1.32676376e+02] [ 7.67905951e-03 -5.81439691e-04 9.99970347e-01 7.37345648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:132.67, Z:0.74 [[-7.14305537e-01 6.99812170e-01 5.52509236e-03 2.11186933e+02] [-6.99796471e-01 -7.14326731e-01 4.71394935e-03 1.32672343e+02] [ 7.24560028e-03 -4.99240012e-04 9.99973626e-01 7.38614339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:132.66, Z:0.74 [[-7.16708495e-01 6.97355760e-01 4.88648776e-03 2.11178986e+02] [-6.97343407e-01 -7.16725031e-01 4.17173572e-03 1.32660935e+02] [ 6.41145202e-03 -4.17641594e-04 9.99979359e-01 7.39002502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:132.66, Z:0.74 [[-7.18929130e-01 6.95071198e-01 4.11529804e-03 2.11181895e+02] [-6.95062387e-01 -7.18940832e-01 3.51557832e-03 1.32659357e+02] [ 5.40223303e-03 -3.32937211e-04 9.99985352e-01 7.39157441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.751400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.19, Y:132.66, Z:0.74 [[-7.20532833e-01 6.93409984e-01 3.87694052e-03 2.11191224e+02] [-6.93402130e-01 -7.20543200e-01 3.31406062e-03 1.32663836e+02] [ 5.09150585e-03 -3.00389326e-04 9.99986993e-01 7.39052752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:132.65, Z:0.74 [[-7.21901188e-01 6.91981669e-01 4.47707159e-03 2.11177198e+02] [-6.91971153e-01 -7.21914994e-01 3.82951697e-03 1.32648899e+02] [ 5.88202066e-03 -3.33471541e-04 9.99982645e-01 7.39643642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.66, Z:0.74 [[-7.21989851e-01 6.91880121e-01 5.70544915e-03 2.11195892e+02] [-6.91863016e-01 -7.22012271e-01 4.88336819e-03 1.32655492e+02] [ 7.49810968e-03 -4.21646978e-04 9.99971800e-01 7.39701980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.65, Z:0.74 [[-7.20803871e-01 6.93116826e-01 5.55382429e-03 2.11196471e+02] [-6.93100632e-01 -7.20825144e-01 4.75662332e-03 1.32651727e+02] [ 7.30023185e-03 -4.20766624e-04 9.99973264e-01 7.39836855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:132.65, Z:0.74 [[-7.19082983e-01 6.94903569e-01 5.35655860e-03 2.11200388e+02] [-6.94888534e-01 -7.19102810e-01 4.59060266e-03 1.32652533e+02] [ 7.04194252e-03 -4.21186893e-04 9.99975117e-01 7.39711586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.901400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.21, Y:132.66, Z:0.74 [[-7.16880190e-01 6.97175297e-01 5.42204477e-03 2.11211396e+02] [-6.97159935e-01 -7.16900555e-01 4.64968404e-03 1.32660449e+02] [ 7.12871176e-03 -4.46766006e-04 9.99974491e-01 7.39001060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.23, Y:132.68, Z:0.74 [[-7.12379012e-01 7.01761781e-01 6.82244266e-03 2.11232932e+02] [-7.01737633e-01 -7.12411413e-01 5.85430097e-03 1.32675838e+02] [ 8.96871069e-03 -6.17083620e-04 9.99959590e-01 7.38138080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:132.68, Z:0.74 [[-7.10411174e-01 7.03743942e-01 7.77352108e-03 2.11241350e+02] [-7.03712666e-01 -7.10453329e-01 6.67458923e-03 1.32681733e+02] [ 1.02199257e-02 -7.28622475e-04 9.99947510e-01 7.38177750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.27, Y:132.70, Z:0.74 [[-7.08536236e-01 7.05632937e-01 7.65248300e-03 2.11265123e+02] [-7.05602696e-01 -7.08577172e-01 6.57471960e-03 1.32701229e+02] [ 1.00617135e-02 -7.41185559e-04 9.99949105e-01 7.37516436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:132.69, Z:0.74 [[-7.07175013e-01 7.07002606e-01 7.12851941e-03 2.11254294e+02] [-7.06976398e-01 -7.07210588e-01 6.12831453e-03 1.32693166e+02] [ 9.37409875e-03 -7.05904072e-04 9.99955813e-01 7.38495130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:132.70, Z:0.74 [[-7.06135985e-01 7.08049184e-01 6.19068548e-03 2.11257763e+02] [-7.08029431e-01 -7.06162846e-01 5.32534674e-03 1.32697793e+02] [ 8.14223949e-03 -6.22768555e-04 9.99966658e-01 7.38647237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.71, Z:0.74 [[-7.05092002e-01 7.09093265e-01 5.65781655e-03 2.11274617e+02] [-7.09076777e-01 -7.05114464e-01 4.86994224e-03 1.32713490e+02] [ 7.44265152e-03 -5.78069000e-04 9.99972136e-01 7.39043936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.111400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.28, Y:132.72, Z:0.74 [[-7.04612841e-01 7.09569960e-01 5.58715584e-03 2.11277652e+02] [-7.09553875e-01 -7.04634758e-01 4.81205134e-03 1.32716197e+02] [ 7.35139128e-03 -5.73754914e-04 9.99972814e-01 7.38208879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.72, Z:0.74 [[-7.04650664e-01 7.09532737e-01 5.54398969e-03 2.11274481e+02] [-7.09516878e-01 -7.04672245e-01 4.77778575e-03 1.32715640e+02] [ 7.29669106e-03 -5.66884356e-04 9.99973218e-01 7.38295845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.72, Z:0.74 [[-7.04699573e-01 7.09483923e-01 5.57452019e-03 2.11270965e+02] [-7.09467865e-01 -7.04721393e-01 4.80703644e-03 1.32715429e+02] [ 7.33899871e-03 -5.67426410e-04 9.99972908e-01 7.37841651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:132.71, Z:0.74 [[-7.04546781e-01 7.09630729e-01 6.16950387e-03 2.11259412e+02] [-7.09611039e-01 -7.04573513e-01 5.32338475e-03 1.32709974e+02] [ 8.12450641e-03 -6.27374464e-04 9.99966799e-01 7.38627925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.72, Z:0.74 [[-7.04631877e-01 7.09544267e-01 6.39146326e-03 2.11270667e+02] [-7.09523103e-01 -7.04660567e-01 5.51830091e-03 1.32720699e+02] [ 8.41929090e-03 -6.46520108e-04 9.99964348e-01 7.38834448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:132.71, Z:0.74 [[-7.04731489e-01 7.09448340e-01 6.04823796e-03 2.11254054e+02] [-7.09429359e-01 -7.04757180e-01 5.22518530e-03 1.32707445e+02] [ 7.96953817e-03 -6.08444963e-04 9.99968058e-01 7.38684719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.291400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.26, Y:132.71, Z:0.74 [[-7.04416686e-01 7.09765010e-01 5.54638779e-03 2.11257331e+02] [-7.09749036e-01 -7.04438299e-01 4.79459807e-03 1.32711940e+02] [ 7.31012593e-03 -5.59148503e-04 9.99973124e-01 7.37375747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:132.72, Z:0.74 [[-7.04177677e-01 7.10004125e-01 5.28594065e-03 2.11262148e+02] [-7.09989603e-01 -7.04197314e-01 4.57228206e-03 1.32718851e+02] [ 6.96868434e-03 -5.33263943e-04 9.99975576e-01 7.37569784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.73, Z:0.74 [[-7.03414441e-01 7.10762050e-01 5.04306395e-03 2.11275758e+02] [-7.10748833e-01 -7.03432331e-01 4.36487911e-03 1.32732704e+02] [ 6.64984465e-03 -5.14032824e-04 9.99977757e-01 7.37376075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.75, Z:0.74 [[-7.01436384e-01 7.12713798e-01 5.10309420e-03 2.11291612e+02] [-7.12700297e-01 -7.01454741e-01 4.41952653e-03 1.32750764e+02] [ 6.72944716e-03 -5.36960051e-04 9.99977213e-01 7.38191162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.75, Z:0.74 [[-7.00113114e-01 7.14009900e-01 5.61155560e-03 2.11283775e+02] [-7.13993594e-01 -7.00135344e-01 4.86283460e-03 1.32746849e+02] [ 7.40096046e-03 -6.02080477e-04 9.99972431e-01 7.38157939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.28, Y:132.75, Z:0.74 [[-6.98555776e-01 7.15527897e-01 6.29730745e-03 2.11283101e+02] [-7.15507396e-01 -6.98583817e-01 5.46042131e-03 1.32749055e+02] [ 8.30628086e-03 -6.91361212e-04 9.99965263e-01 7.37422954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:132.73, Z:0.74 [[-6.97353769e-01 7.16696188e-01 6.65543217e-03 2.11263186e+02] [-7.16673310e-01 -6.97385132e-01 5.77450006e-03 1.32734538e+02] [ 8.77996162e-03 -7.42901219e-04 9.99961179e-01 7.37549191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.76, Z:0.74 [[-6.95375938e-01 7.18618959e-01 6.25275119e-03 2.11287325e+02] [-7.18598814e-01 -6.95403679e-01 5.42844293e-03 1.32758226e+02] [ 8.24916819e-03 -7.18410993e-04 9.99965717e-01 7.37182582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.77, Z:0.74 [[-6.95033667e-01 7.18951745e-01 6.04896276e-03 2.11293516e+02] [-7.18932879e-01 -6.95059640e-01 5.25470361e-03 1.32765472e+02] [ 7.98226821e-03 -6.96602292e-04 9.99967899e-01 7.37578458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.76, Z:0.74 [[-6.95116286e-01 7.18872879e-01 5.92722195e-03 2.11281074e+02] [-7.18854738e-01 -6.95141224e-01 5.15207899e-03 1.32756739e+02] [ 7.82394618e-03 -6.79517565e-04 9.99969162e-01 7.37601221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.77, Z:0.74 [[-6.95705401e-01 7.18303141e-01 5.88160473e-03 2.11292565e+02] [-7.18285233e-01 -6.95729944e-01 5.11554019e-03 1.32768815e+02] [ 7.76651711e-03 -6.65760891e-04 9.99969619e-01 7.37591202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.75, Z:0.74 [[-6.96532953e-01 7.17498121e-01 6.18808579e-03 2.11274867e+02] [-7.17478240e-01 -6.96560100e-01 5.38539391e-03 1.32754657e+02] [ 8.17438366e-03 -6.88712580e-04 9.99966352e-01 7.38180866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.75, Z:0.74 [[-6.99323637e-01 7.14773358e-01 6.74516736e-03 2.11273597e+02] [-7.14749579e-01 -6.99355802e-01 5.87383425e-03 1.32753657e+02] [ 8.91573216e-03 -7.13394404e-04 9.99960000e-01 7.38602756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.75, Z:0.74 [[-7.00961256e-01 7.13168051e-01 6.68187496e-03 2.11274251e+02] [-7.13144612e-01 -7.00992769e-01 5.82230757e-03 1.32753885e+02] [ 8.83622978e-03 -6.83931100e-04 9.99960726e-01 7.38781728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.75, Z:0.74 [[-7.02707067e-01 7.11456306e-01 5.71870743e-03 2.11274569e+02] [-7.11439057e-01 -7.02730109e-01 4.98611195e-03 1.32754534e+02] [ 7.56610868e-03 -5.64735727e-04 9.99971217e-01 7.38830583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:132.74, Z:0.74 [[-7.05676461e-01 7.08528515e-01 2.84177453e-03 2.11255871e+02] [-7.08524226e-01 -7.05682134e-01 2.47923919e-03 1.32738858e+02] [ 3.76200118e-03 -2.63925364e-04 9.99992889e-01 7.39478808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.75, Z:0.74 [[-7.06076766e-01 7.08133129e-01 1.75260605e-03 2.11268945e+02] [-7.08131494e-01 -7.06078923e-01 1.52995048e-03 1.32750105e+02] [ 2.32088681e-03 -1.60813048e-04 9.99997294e-01 7.39846921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:132.74, Z:0.74 [[-7.05763608e-01 7.08445928e-01 1.44814438e-03 2.11261608e+02] [-7.08444811e-01 -7.05765081e-01 1.26494677e-03 1.32743351e+02] [ 1.91819613e-03 -1.33176975e-04 9.99998151e-01 7.39796456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.75, Z:0.74 [[-7.04978325e-01 7.09227191e-01 1.53363254e-03 2.11273476e+02] [-7.09225939e-01 -7.04979979e-01 1.34046081e-03 1.32753343e+02] [ 2.03187150e-03 -1.42696164e-04 9.99997926e-01 7.40151286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.861400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.27, Y:132.75, Z:0.74 [[-7.03909090e-01 7.10287360e-01 1.96424527e-03 2.11272147e+02] [-7.10285307e-01 -7.03911806e-01 1.71792269e-03 1.32752260e+02] [ 2.60287421e-03 -1.85913155e-04 9.99996595e-01 7.39993398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.76, Z:0.74 [[-7.02865759e-01 7.11318642e-01 2.34846352e-03 2.11279546e+02] [-7.11315708e-01 -7.02869646e-01 2.05524940e-03 1.32759589e+02] [ 3.11260094e-03 -2.25934567e-04 9.99995130e-01 7.39823092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.76, Z:0.74 [[-7.00797206e-01 7.13348261e-01 4.18736961e-03 2.11282524e+02] [-7.13338958e-01 -7.00809592e-01 3.66688549e-03 1.32763681e+02] [ 5.55031518e-03 -4.17270768e-04 9.99984510e-01 7.39146511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.951400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.28, Y:132.76, Z:0.74 [[-6.99461820e-01 7.14654367e-01 4.72200046e-03 2.11276923e+02] [-7.14642551e-01 -6.99477594e-01 4.13764103e-03 1.32759156e+02] [ 6.25991675e-03 -4.80420527e-04 9.99980291e-01 7.37799864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.78, Z:0.74 [[-6.98324838e-01 7.15766506e-01 4.55308528e-03 2.11300781e+02] [-7.15755528e-01 -6.98339522e-01 3.99209224e-03 1.32781508e+02] [ 6.03700531e-03 -4.71118790e-04 9.99981666e-01 7.37795745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.011400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.31, Y:132.79, Z:0.74 [[-6.96382754e-01 7.17657286e-01 4.36801090e-03 2.11309972e+02] [-7.17647206e-01 -6.96396297e-01 3.83215768e-03 1.32790495e+02] [ 5.79204250e-03 -4.66042299e-04 9.99983117e-01 7.37218401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:132.79, Z:0.74 [[-6.94205294e-01 7.19765445e-01 4.08829720e-03 2.11307594e+02] [-7.19756638e-01 -6.94217186e-01 3.58893985e-03 1.32792117e+02] [ 5.42136106e-03 -4.51118002e-04 9.99985203e-01 7.38073303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.79, Z:0.74 [[-6.93696598e-01 7.20254802e-01 4.24860625e-03 2.11296955e+02] [-7.20245287e-01 -6.93709448e-01 3.73195450e-03 1.32785058e+02] [ 5.63525644e-03 -4.71194486e-04 9.99984011e-01 7.38015381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.79, Z:0.74 [[-6.93523565e-01 7.20420478e-01 4.40457683e-03 2.11300248e+02] [-7.20410242e-01 -6.93537379e-01 3.87133805e-03 1.32790578e+02] [ 5.84372988e-03 -4.88238099e-04 9.99982806e-01 7.37943082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.79, Z:0.74 [[-6.93578556e-01 7.20368544e-01 4.23656206e-03 2.11301616e+02] [-7.20359060e-01 -6.93591337e-01 3.72594700e-03 1.32793841e+02] [ 5.62249776e-03 -4.67608921e-04 9.99984084e-01 7.37789307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:132.80, Z:0.74 [[-6.94092388e-01 7.19875552e-01 3.86602596e-03 2.11309243e+02] [-7.19867636e-01 -6.94103027e-01 3.40214579e-03 1.32801612e+02] [ 5.13254190e-03 -4.21623471e-04 9.99986740e-01 7.38045704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.79, Z:0.74 [[-6.96712696e-01 7.17341956e-01 3.45503118e-03 2.11294936e+02] [-7.17335594e-01 -6.96721171e-01 3.04232681e-03 1.32789624e+02] [ 4.58958203e-03 -3.58789129e-04 9.99989403e-01 7.38110920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.77, Z:0.74 [[-6.98343952e-01 7.15755049e-01 3.23044780e-03 2.11277598e+02] [-7.15749463e-01 -6.98351348e-01 2.84633615e-03 1.32774377e+02] [ 4.29326704e-03 -3.24469645e-04 9.99990731e-01 7.38264571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.79, Z:0.74 [[-6.99865077e-01 7.14268005e-01 3.17667973e-03 2.11294237e+02] [-7.14262580e-01 -6.99872218e-01 2.80070628e-03 1.32788506e+02] [ 4.22372477e-03 -3.08866941e-04 9.99991032e-01 7.37973185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.79, Z:0.74 [[-7.01158146e-01 7.12997079e-01 3.52427556e-03 2.11293784e+02] [-7.12990378e-01 -7.01166924e-01 3.10909942e-03 1.32787269e+02] [ 4.68788426e-03 -3.32804180e-04 9.99988956e-01 7.37938862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.79, Z:0.74 [[-7.02689218e-01 7.11487007e-01 3.75516123e-03 2.11294855e+02] [-7.11479367e-01 -7.02699169e-01 3.31485020e-03 1.32787323e+02] [ 4.99722153e-03 -3.42410242e-04 9.99987455e-01 7.37313534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.78, Z:0.74 [[-7.02694246e-01 7.11481410e-01 3.87308782e-03 2.11285538e+02] [-7.11473272e-01 -7.02704831e-01 3.42108731e-03 1.32780051e+02] [ 5.15567754e-03 -3.51620097e-04 9.99986648e-01 7.37192018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.79, Z:0.74 [[-7.02307112e-01 7.11863572e-01 3.86969190e-03 2.11290810e+02] [-7.11855443e-01 -7.02317685e-01 3.42022877e-03 1.32785990e+02] [ 5.15248932e-03 -3.52610252e-04 9.99986664e-01 7.37343730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.78, Z:0.74 [[-7.02011334e-01 7.12155878e-01 3.75395734e-03 2.11287320e+02] [-7.12148222e-01 -7.02021287e-01 3.32001371e-03 1.32784050e+02] [ 4.99972525e-03 -3.42686790e-04 9.99987443e-01 7.37741300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.78, Z:0.74 [[-7.02260702e-01 7.11911287e-01 3.49646715e-03 2.11284707e+02] [-7.11904633e-01 -7.02269335e-01 3.09422870e-03 1.32780738e+02] [ 4.65827799e-03 -3.16195946e-04 9.99989100e-01 7.37948479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.78, Z:0.74 [[-7.02038064e-01 7.12130844e-01 3.49549951e-03 2.11286563e+02] [-7.12124187e-01 -7.02046695e-01 3.09532177e-03 1.32782482e+02] [ 4.65827798e-03 -3.16196047e-04 9.99989100e-01 7.37948080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.79, Z:0.74 [[-7.02343869e-01 7.11829425e-01 3.45828598e-03 2.11295676e+02] [-7.11822897e-01 -7.02352315e-01 3.06429291e-03 1.32789106e+02] [ 4.61018903e-03 -3.09499803e-04 9.99989325e-01 7.38332051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.79, Z:0.74 [[-7.02806725e-01 7.11372924e-01 3.35712530e-03 2.11293036e+02] [-7.11366758e-01 -7.02814681e-01 2.97652365e-03 1.32785330e+02] [ 4.47685528e-03 -2.96226503e-04 9.99989935e-01 7.38130726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.79, Z:0.74 [[-7.03284175e-01 7.10901330e-01 3.26619630e-03 2.11298389e+02] [-7.10895481e-01 -7.03291702e-01 2.89772248e-03 1.32788656e+02] [ 4.35708352e-03 -2.84001824e-04 9.99990468e-01 7.38273698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.78, Z:0.74 [[-7.03790237e-01 7.10400107e-01 3.31509972e-03 2.11293365e+02] [-7.10394068e-01 -7.03797988e-01 2.94296228e-03 1.32782900e+02] [ 4.42384123e-03 -2.83799054e-04 9.99990175e-01 7.38706414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.78, Z:0.74 [[-7.04006088e-01 7.10187068e-01 3.12357507e-03 2.11293193e+02] [-7.10181697e-01 -7.04012968e-01 2.77468701e-03 1.32780767e+02] [ 4.16958419e-03 -2.64909300e-04 9.99991272e-01 7.39074708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.78, Z:0.74 [[-7.04947542e-01 7.09255708e-01 2.30310222e-03 2.11300274e+02] [-7.09252779e-01 -7.04951278e-01 2.04713401e-03 1.32780227e+02] [ 3.07551633e-03 -1.90359565e-04 9.99995253e-01 7.39597168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.671400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.32, Y:132.79, Z:0.74 [[-7.04969798e-01 7.09233868e-01 2.21467462e-03 2.11317582e+02] [-7.09231156e-01 -7.04973253e-01 1.96977028e-03 1.32791728e+02] [ 2.95831417e-03 -1.82087684e-04 9.99995608e-01 7.38458953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:132.79, Z:0.74 [[-7.05317603e-01 7.08887504e-01 2.36345762e-03 2.11317946e+02] [-7.08884409e-01 -7.05321537e-01 2.10342139e-03 1.32789303e+02] [ 3.15808670e-03 -1.91838124e-04 9.99994995e-01 7.38560805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:132.78, Z:0.74 [[-7.05011694e-01 7.09187542e-01 3.39727888e-03 2.11320520e+02] [-7.09181143e-01 -7.05019825e-01 3.02542512e-03 1.32782270e+02] [ 4.54074277e-03 -2.76326033e-04 9.99989653e-01 7.37744640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:132.78, Z:0.74 [[-7.04327998e-01 7.09865395e-01 3.63227883e-03 2.11321793e+02] [-7.09858078e-01 -7.04337300e-01 3.23674431e-03 1.32777031e+02] [ 4.85600224e-03 -2.98672830e-04 9.99988165e-01 7.37885700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:132.78, Z:0.74 [[-7.03647501e-01 7.10539645e-01 3.68871819e-03 2.11334228e+02] [-7.10532098e-01 -7.03657103e-01 3.28910569e-03 1.32782260e+02] [ 4.93263275e-03 -3.06581672e-04 9.99987788e-01 7.37916964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:132.79, Z:0.74 [[-7.02909830e-01 7.11270605e-01 3.44929221e-03 2.11345025e+02] [-7.11264006e-01 -7.02918233e-01 3.07753671e-03 1.32787420e+02] [ 4.61353178e-03 -2.90126586e-04 9.99989316e-01 7.37521381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:132.79, Z:0.74 [[-7.02126935e-01 7.12044645e-01 3.19231140e-03 2.11356411e+02] [-7.12038993e-01 -7.02134140e-01 2.85001879e-03 1.32793716e+02] [ 4.27077144e-03 -2.71975237e-04 9.99990843e-01 7.37547697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:132.79, Z:0.74 [[-7.00814015e-01 7.13339236e-01 2.61749148e-03 2.11369541e+02] [-7.13335440e-01 -7.00818866e-01 2.33826686e-03 1.32794888e+02] [ 3.50236491e-03 -2.28459248e-04 9.99993841e-01 7.37924193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:132.80, Z:0.74 [[-7.00130733e-01 7.14010331e-01 2.49075868e-03 2.11379614e+02] [-7.14006893e-01 -7.00135129e-01 2.22642029e-03 1.32796764e+02] [ 3.33355474e-03 -2.19633597e-04 9.99994420e-01 7.38473807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.941400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.39, Y:132.80, Z:0.74 [[-6.99499185e-01 7.14628165e-01 2.73435334e-03 2.11394784e+02] [-7.14624021e-01 -6.99504487e-01 2.44566569e-03 1.32803358e+02] [ 3.66043401e-03 -2.43293424e-04 9.99993271e-01 7.38490339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:132.80, Z:0.74 [[-6.99017856e-01 7.15097396e-01 3.12264349e-03 2.11401897e+02] [-7.15091989e-01 -6.99024775e-01 2.79467165e-03 1.32804391e+02] [ 4.18126759e-03 -2.79451959e-04 9.99991219e-01 7.38278661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:132.80, Z:0.74 [[-6.98366562e-01 7.15729785e-01 3.87546580e-03 2.11400120e+02] [-7.15721456e-01 -6.98377228e-01 3.47055589e-03 1.32797749e+02] [ 5.19051728e-03 -3.50033839e-04 9.99986468e-01 7.37719666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.41, Y:132.80, Z:0.74 [[-6.96590853e-01 7.17453183e-01 4.70255893e-03 2.11410255e+02] [-7.17440942e-01 -6.96606588e-01 4.21381993e-03 1.32795465e+02] [ 6.29905205e-03 -4.38499891e-04 9.99980065e-01 7.36203552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:132.81, Z:0.74 [[-6.95677435e-01 7.18341244e-01 4.33178977e-03 2.11427440e+02] [-7.18330860e-01 -6.95690801e-01 3.88393664e-03 1.32806460e+02] [ 5.80357816e-03 -4.09691193e-04 9.99983075e-01 7.36252164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:132.81, Z:0.74 [[-6.94558375e-01 7.19424632e-01 4.10643395e-03 2.11439644e+02] [-7.19415308e-01 -6.94570401e-01 3.68409342e-03 1.32814357e+02] [ 5.50263503e-03 -3.95413503e-04 9.99984782e-01 7.36094533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.121400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.44, Y:132.81, Z:0.74 [[-6.92096197e-01 7.21794113e-01 4.01397719e-03 2.11439536e+02] [-7.21785232e-01 -6.92107719e-01 3.60330895e-03 1.32807951e+02] [ 5.37895179e-03 -4.03393035e-04 9.99985452e-01 7.35966345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.151400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.45, Y:132.81, Z:0.74 [[-6.91301135e-01 7.22556746e-01 3.80669817e-03 2.11446401e+02] [-7.22548759e-01 -6.91311507e-01 3.41928899e-03 1.32810166e+02] [ 5.10224458e-03 -3.86766682e-04 9.99986909e-01 7.36084409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.181400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.46, Y:132.81, Z:0.74 [[-6.90499440e-01 7.23322452e-01 3.89276429e-03 2.11455328e+02] [-7.23314101e-01 -6.90510297e-01 3.49869436e-03 1.32813757e+02] [ 5.21867801e-03 -3.99844802e-04 9.99986303e-01 7.36045679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:132.81, Z:0.74 [[-6.90326072e-01 7.23488822e-01 3.72009736e-03 2.11455107e+02] [-7.23481188e-01 -6.90335990e-01 3.34550809e-03 1.32810727e+02] [ 4.98855480e-03 -3.81928995e-04 9.99987484e-01 7.35777601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:132.81, Z:0.74 [[-6.90360000e-01 7.23456028e-01 3.80071326e-03 2.11450836e+02] [-7.23448049e-01 -6.90370353e-01 3.42006455e-03 1.32805336e+02] [ 5.09816607e-03 -3.88542828e-04 9.99986929e-01 7.35205892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:132.82, Z:0.73 [[-6.91213710e-01 7.22643212e-01 3.22418175e-03 2.11473539e+02] [-7.22637453e-01 -6.91221154e-01 2.90300189e-03 1.32823674e+02] [ 4.32645724e-03 -3.23319784e-04 9.99990589e-01 7.34572143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:132.82, Z:0.74 [[-6.91902848e-01 7.21985994e-01 2.58307954e-03 2.11467182e+02] [-7.21982289e-01 -6.91907623e-01 2.32713848e-03 1.32815063e+02] [ 3.46741382e-03 -2.54783938e-04 9.99993956e-01 7.35130356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:132.82, Z:0.74 [[-6.92977640e-01 7.20956203e-01 2.03569577e-03 2.11476109e+02] [-7.20953894e-01 -6.92980603e-01 1.83507364e-03 1.32819517e+02] [ 2.73370541e-03 -1.95977794e-04 9.99996244e-01 7.36310186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:132.82, Z:0.74 [[-6.94332900e-01 7.19651642e-01 1.82720029e-03 2.11485419e+02] [-7.19649775e-01 -6.94335283e-01 1.64809962e-03 1.32823921e+02] [ 2.45474723e-03 -1.70614487e-04 9.99996973e-01 7.37032306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:132.80, Z:0.74 [[-6.97260389e-01 7.16810633e-01 3.23523056e-03 2.11465970e+02] [-7.16804742e-01 -6.97267837e-01 2.91991380e-03 1.32797918e+02] [ 4.34884747e-03 -2.83088377e-04 9.99990504e-01 7.37107681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:132.79, Z:0.74 [[-6.98085055e-01 7.16005408e-01 3.67579504e-03 2.11464685e+02] [-7.15997782e-01 -6.98094662e-01 3.31956023e-03 1.32791414e+02] [ 4.94287598e-03 -3.14525709e-04 9.99987734e-01 7.36149434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.451400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.48, Y:132.80, Z:0.73 [[-6.98559461e-01 7.15541933e-01 3.79756223e-03 2.11475386e+02] [-7.15533776e-01 -6.98569710e-01 3.43160892e-03 1.32796447e+02] [ 5.10832203e-03 -3.20101168e-04 9.99986901e-01 7.34965131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:132.80, Z:0.73 [[-6.98636813e-01 7.15469848e-01 3.08206120e-03 2.11487326e+02] [-7.15464468e-01 -6.98643564e-01 2.78672514e-03 1.32804409e+02] [ 4.14708004e-03 -2.58196505e-04 9.99991368e-01 7.34821791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:132.80, Z:0.73 [[-6.97966935e-01 7.16125763e-01 2.45955923e-03 2.11481212e+02] [-7.16122336e-01 -6.97971237e-01 2.22520201e-03 1.32797037e+02] [ 3.31022609e-03 -2.08227873e-04 9.99994500e-01 7.34535067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:132.81, Z:0.73 [[-6.95535350e-01 7.18485801e-01 2.95482545e-03 2.11499768e+02] [-7.18480870e-01 -6.95541577e-01 2.67489884e-03 1.32809623e+02] [ 3.97708079e-03 -2.62498859e-04 9.99992057e-01 7.34592119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:132.82, Z:0.73 [[-6.93672378e-01 7.20280023e-01 3.91424944e-03 2.11514175e+02] [-7.20271386e-01 -6.93683328e-01 3.54556458e-03 1.32819555e+02] [ 5.26904891e-03 -3.59861662e-04 9.99986054e-01 7.34190898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:132.80, Z:0.73 [[-6.91913973e-01 7.21965324e-01 4.59615205e-03 2.11496875e+02] [-7.21953438e-01 -6.91929101e-01 4.16573865e-03 1.32801236e+02] [ 6.18773021e-03 -4.35874991e-04 9.99980761e-01 7.33956060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:132.83, Z:0.73 [[-6.90394912e-01 7.23419211e-01 4.41709900e-03 2.11526874e+02] [-7.23408247e-01 -6.90408909e-01 4.00583906e-03 1.32826371e+02] [ 5.94750543e-03 -4.29754941e-04 9.99982221e-01 7.33758421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:132.81, Z:0.73 [[-6.88984723e-01 7.24768017e-01 3.37229324e-03 2.11513612e+02] [-7.24761635e-01 -6.88992895e-01 3.06011306e-03 1.32812056e+02] [ 4.54135816e-03 -3.35737608e-04 9.99989632e-01 7.34174746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.84, Z:0.74 [[-6.87563892e-01 7.26122632e-01 1.34830967e-03 2.11547224e+02] [-7.26121613e-01 -6.87565200e-01 1.22417920e-03 1.32838725e+02] [ 1.81595503e-03 -1.37335378e-04 9.99998342e-01 7.35590926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.84, Z:0.74 [[-6.86971709e-01 7.26682964e-01 1.31953592e-03 2.11546990e+02] [-7.26681988e-01 -6.86972963e-01 1.19875441e-03 1.32838035e+02] [ 1.77759991e-03 -1.35372615e-04 9.99998411e-01 7.35310238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:132.83, Z:0.74 [[-6.86173272e-01 7.27436577e-01 1.50585640e-03 2.11538612e+02] [-7.27435306e-01 -6.86174906e-01 1.36883272e-03 1.32829856e+02] [ 2.02901986e-03 -1.56156683e-04 9.99997929e-01 7.35133395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:132.86, Z:0.74 [[-6.84124541e-01 7.29364641e-01 9.12864558e-04 2.11569947e+02] [-7.29364175e-01 -6.84125143e-01 8.30259528e-04 1.32856696e+02] [ 1.23007554e-03 -9.78097864e-05 9.99999239e-01 7.35666492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:132.86, Z:0.74 [[-6.83220589e-01 7.30211321e-01 1.02667987e-03 2.11568796e+02] [-7.30210732e-01 -6.83221351e-01 9.34323912e-04 1.32855728e+02] [ 1.38370350e-03 -1.11343322e-04 9.99999037e-01 7.35884395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:132.85, Z:0.74 [[-6.83005267e-01 7.30412102e-01 1.40200836e-03 2.11565758e+02] [-7.30411002e-01 -6.83006689e-01 1.27665142e-03 1.32853924e+02] [ 1.89006274e-03 -1.52082687e-04 9.99998202e-01 7.35716997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:132.86, Z:0.74 [[-6.83699670e-01 7.29760495e-01 2.09285568e-03 2.11567315e+02] [-7.29758038e-01 -6.83702837e-01 1.90686507e-03 1.32857181e+02] [ 2.82244616e-03 -2.23555238e-04 9.99995992e-01 7.35574347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.84, Z:0.74 [[-6.87765149e-01 7.25928197e-01 2.71153906e-03 2.11553257e+02] [-7.25924037e-01 -6.87770442e-01 2.47202645e-03 1.32844891e+02] [ 3.65943012e-03 -2.68197746e-04 9.99993268e-01 7.35572210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:132.83, Z:0.74 [[-6.90589516e-01 7.23243030e-01 2.37475683e-03 2.11539177e+02] [-7.23239820e-01 -6.90593564e-01 2.16626315e-03 1.32830492e+02] [ 3.20672651e-03 -2.21520078e-04 9.99994834e-01 7.35955390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:132.83, Z:0.74 [[-6.93883065e-01 7.20085253e-01 1.87630044e-03 2.11536750e+02] [-7.20083235e-01 -6.93885583e-01 1.71257517e-03 1.32826381e+02] [ 2.53513795e-03 -1.62765581e-04 9.99996773e-01 7.36615632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:132.81, Z:0.74 [[-6.97476827e-01 7.16605061e-01 1.80618679e-03 2.11519425e+02] [-7.16603177e-01 -6.97479151e-01 1.64956843e-03 1.32809044e+02] [ 2.44186672e-03 -1.43783436e-04 9.99997008e-01 7.37255194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:132.79, Z:0.74 [[-7.00921327e-01 7.13236335e-01 1.79549196e-03 2.11503337e+02] [-7.13234460e-01 -7.00923614e-01 1.64080121e-03 1.32792996e+02] [ 2.42878176e-03 -1.30534177e-04 9.99997042e-01 7.36703896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05140051300003 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:211.50, Y:132.79, Z:0.73 [[-7.05423910e-01 7.08782424e-01 2.14063512e-03 2.11500422e+02] [-7.08779735e-01 -7.05427145e-01 1.95742689e-03 1.32787638e+02] [ 2.89745190e-03 -1.36423065e-04 9.99995793e-01 7.34618009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:132.79, Z:0.74 [[-7.06468253e-01 7.07741255e-01 2.21884646e-03 2.11503756e+02] [-7.07738356e-01 -7.06471725e-01 2.03020043e-03 1.32789983e+02] [ 3.00440889e-03 -1.36090590e-04 9.99995478e-01 7.35214129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.111400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.50, Y:132.79, Z:0.73 [[-7.06895945e-01 7.07314265e-01 2.15712245e-03 2.11502973e+02] [-7.07311519e-01 -7.06899225e-01 1.97494296e-03 1.32788652e+02] [ 2.92177351e-03 -1.29678387e-04 9.99995723e-01 7.33787933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:132.79, Z:0.73 [[-7.07449433e-01 7.06761059e-01 2.02593304e-03 2.11502236e+02] [-7.06758632e-01 -7.07452324e-01 1.85597836e-03 1.32788808e+02] [ 2.74498427e-03 -1.18834828e-04 9.99996225e-01 7.34986751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:132.78, Z:0.73 [[-7.09185397e-01 7.05021059e-01 1.17443974e-03 2.11487466e+02] [-7.05020240e-01 -7.09186366e-01 1.07655970e-03 1.32776010e+02] [ 1.59189391e-03 -6.45233660e-05 9.99998731e-01 7.34850899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:132.78, Z:0.73 [[-7.10672705e-01 7.03522083e-01 9.92679552e-04 2.11497304e+02] [-7.03521496e-01 -7.10673396e-01 9.10507230e-04 1.32783870e+02] [ 1.34603289e-03 -5.12987667e-05 9.99999093e-01 7.34956246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:132.79, Z:0.74 [[-7.12800379e-01 7.01366603e-01 7.13438009e-04 2.11501013e+02] [-7.01366298e-01 -7.12800735e-01 6.54770763e-04 1.32785747e+02] [ 9.67773483e-04 -3.36605271e-05 9.99999531e-01 7.35486083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:132.77, Z:0.74 [[-7.15266896e-01 6.98851388e-01 -6.90226420e-05 2.11485092e+02] [-6.98851385e-01 -7.15266900e-01 -6.34605263e-05 1.32770694e+02] [-9.37190879e-05 2.84535527e-06 9.99999996e-01 7.35558475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:132.77, Z:0.74 [[-7.19844227e-01 6.94132960e-01 -1.92940704e-03 2.11483435e+02] [-6.94130698e-01 -7.19846810e-01 -1.77323457e-03 1.32769953e+02] [-2.61973806e-03 6.28079862e-05 9.99996567e-01 7.35689968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:132.77, Z:0.74 [[-7.21344585e-01 6.92572974e-01 -2.15995881e-03 2.11478767e+02] [-6.92570128e-01 -7.21347816e-01 -1.98638094e-03 1.32765013e+02] [-2.93379532e-03 6.30578136e-05 9.99995694e-01 7.35544587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:132.77, Z:0.74 [[-7.21124285e-01 6.92802355e-01 -2.15932687e-03 2.11480624e+02] [-6.92799508e-01 -7.21127516e-01 -1.98706790e-03 1.32766824e+02] [-2.93379534e-03 6.30576750e-05 9.99995694e-01 7.35544188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.48, Y:132.76, Z:0.73 [[-7.22350421e-01 6.91525542e-01 -1.51445740e-03 2.11476836e+02] [-6.91524137e-01 -7.22352007e-01 -1.39455501e-03 1.32762563e+02] [-2.05834175e-03 3.99264496e-05 9.99997881e-01 7.34381200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.46, Y:132.74, Z:0.73 [[-7.23521455e-01 6.90301433e-01 -7.97493842e-04 2.11457643e+02] [-6.90301042e-01 -7.23521894e-01 -7.34863443e-04 1.32744509e+02] [-1.08428154e-03 1.88213624e-05 9.99999412e-01 7.33652219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:132.74, Z:0.73 [[-7.25583407e-01 6.88134199e-01 2.09202305e-04 2.11454887e+02] [-6.88134172e-01 -7.25583437e-01 1.92810347e-04 1.32742548e+02] [ 2.84473122e-04 -4.05926625e-06 9.99999960e-01 7.33853680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:132.74, Z:0.73 [[-7.26502610e-01 6.87163654e-01 2.64707578e-04 2.11448294e+02] [-6.87163611e-01 -7.26502658e-01 2.44145341e-04 1.32736115e+02] [ 3.60078564e-04 -4.52518780e-06 9.99999935e-01 7.34149961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:132.74, Z:0.73 [[-7.27374567e-01 6.86240651e-01 8.98891405e-05 2.11456563e+02] [-6.86240646e-01 -7.27374573e-01 8.29144343e-05 1.32743512e+02] [ 1.22282331e-04 -1.37573109e-06 9.99999993e-01 7.34551564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:132.74, Z:0.73 [[-7.28360008e-01 6.85194622e-01 -1.69921350e-04 2.11452894e+02] [-6.85194604e-01 -7.28360028e-01 -1.57044770e-04 1.32740950e+02] [-2.31370151e-04 2.04406196e-06 9.99999973e-01 7.34784149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:132.74, Z:0.73 [[-7.29558212e-01 6.83918715e-01 -8.39914613e-05 2.11449618e+02] [-6.83918710e-01 -7.29558217e-01 -7.77140270e-05 1.32739486e+02] [-1.14426738e-04 7.46425279e-07 9.99999993e-01 7.34347105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.43, Y:132.72, Z:0.73 [[-7.32936373e-01 6.80296770e-01 7.60233841e-04 2.11431048e+02] [-6.80296407e-01 -7.32936767e-01 7.03168232e-04 1.32723876e+02] [ 1.03556641e-03 -1.80677642e-06 9.99999464e-01 7.32186821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:132.72, Z:0.73 [[-7.34574610e-01 6.78527451e-01 8.00400773e-04 2.11421752e+02] [-6.78527046e-01 -7.34575046e-01 7.40824013e-04 1.32715573e+02] [ 1.09062386e-03 1.09693838e-06 9.99999405e-01 7.32745306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.651400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.43, Y:132.72, Z:0.73 [[-7.36202991e-01 6.76760203e-01 8.84751747e-04 2.11431221e+02] [-6.76759707e-01 -7.36203523e-01 8.19458985e-04 1.32724650e+02] [ 1.20593458e-03 4.52382284e-06 9.99999273e-01 7.32590324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.41, Y:132.71, Z:0.73 [[-7.37344422e-01 6.75516299e-01 9.65549600e-04 2.11410433e+02] [-6.75515706e-01 -7.37345055e-01 8.94910285e-04 1.32706130e+02] [ 1.31646971e-03 7.61318757e-06 9.99999133e-01 7.32537655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:132.71, Z:0.73 [[-7.38830783e-01 6.73889749e-01 1.29640188e-03 2.11407145e+02] [-6.73888676e-01 -7.38831920e-01 1.20241077e-03 1.32707126e+02] [ 1.76811538e-03 1.47475459e-05 9.99998437e-01 7.32759266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:132.70, Z:0.73 [[-7.38653529e-01 6.74083413e-01 1.58621714e-03 2.11393492e+02] [-6.74081806e-01 -7.38655232e-01 1.47225269e-03 1.32698427e+02] [ 2.16408871e-03 1.82445360e-05 9.99997658e-01 7.32014880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:132.72, Z:0.73 [[-7.37849968e-01 6.74962156e-01 1.87456500e-03 2.11416661e+02] [-6.74959910e-01 -7.37852349e-01 1.74110142e-03 1.32724668e+02] [ 2.55832976e-03 1.94154026e-05 9.99996727e-01 7.31374953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.39, Y:132.71, Z:0.73 [[-7.35329640e-01 6.77704346e-01 2.67206000e-03 2.11389167e+02] [-6.77699795e-01 -7.35334495e-01 2.48356629e-03 1.32709402e+02] [ 3.64798156e-03 1.53853876e-05 9.99993346e-01 7.30376470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:132.73, Z:0.73 [[-7.33722161e-01 6.79444550e-01 2.62568079e-03 2.11409769e+02] [-6.79440161e-01 -7.33726859e-01 2.44214838e-03 1.32733924e+02] [ 3.58583693e-03 7.86540536e-06 9.99993571e-01 7.31093245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:132.74, Z:0.73 [[-7.32478044e-01 6.80786169e-01 2.47128854e-03 2.11414715e+02] [-6.80782283e-01 -7.32482213e-01 2.30011730e-03 1.32744357e+02] [ 3.37606294e-03 2.37596638e-06 9.99994301e-01 7.31493452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:132.75, Z:0.73 [[-7.31681505e-01 6.81642854e-01 2.27923032e-03 2.11409678e+02] [-6.81639548e-01 -7.31685055e-01 2.12280670e-03 1.32745800e+02] [ 3.11467478e-03 -3.95127633e-07 9.99995149e-01 7.32099776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.921400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.40, Y:132.74, Z:0.73 [[-7.31566949e-01 6.81766624e-01 2.01738023e-03 2.11401039e+02] [-6.81764032e-01 -7.31569730e-01 1.88020960e-03 1.32743529e+02] [ 2.75771846e-03 1.21919519e-07 9.99996198e-01 7.31692575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.951400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.41, Y:132.76, Z:0.73 [[-7.32387735e-01 6.80885811e-01 1.64858701e-03 2.11408949e+02] [-6.80884075e-01 -7.32389590e-01 1.53753369e-03 1.32757255e+02] [ 2.25429284e-03 3.57416933e-06 9.99997459e-01 7.31525332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:132.74, Z:0.73 [[-7.35968832e-01 6.77015383e-01 2.23269411e-04 2.11381197e+02] [-6.77015351e-01 -7.35968866e-01 2.08308543e-04 1.32744448e+02] [ 3.05347423e-04 2.15177646e-06 9.99999953e-01 7.31958534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.37, Y:132.74, Z:0.73 [[-7.37925284e-01 6.74882311e-01 -3.76266861e-04 2.11370629e+02] [-6.74882220e-01 -7.37925380e-01 -3.51501946e-04 1.32741332e+02] [-5.14879312e-04 -5.44635921e-06 9.99999867e-01 7.31396027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:132.74, Z:0.73 [[-7.39667347e-01 6.72972299e-01 -7.07523893e-04 2.11366308e+02] [-6.72971974e-01 -7.39667686e-01 -6.61355973e-04 1.32742934e+02] [-9.68406810e-04 -1.30396669e-05 9.99999531e-01 7.32486279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.071400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.37, Y:132.75, Z:0.73 [[-7.41027469e-01 6.71474560e-01 -4.52498055e-04 2.11366960e+02] [-6.71474427e-01 -7.41027607e-01 -4.23297338e-04 1.32748725e+02] [-6.19546945e-04 -9.83408267e-06 9.99999808e-01 7.31795076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:132.74, Z:0.73 [[-7.43242941e-01 6.69021590e-01 2.07524955e-04 2.11346847e+02] [-6.69021561e-01 -7.43242970e-01 1.94158771e-04 1.32741015e+02] [ 2.84137874e-04 5.46846689e-06 9.99999960e-01 7.32550056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.131400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.34, Y:132.74, Z:0.73 [[-7.43621270e-01 6.68601078e-01 7.65686406e-05 2.11343761e+02] [-6.68601074e-01 -7.43621273e-01 7.16391216e-05 1.32744428e+02] [ 1.04836064e-04 2.07849919e-06 9.99999995e-01 7.31663363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:132.75, Z:0.73 [[-7.43305862e-01 6.68951532e-01 -4.93984510e-04 2.11345523e+02] [-6.68951372e-01 -7.43306026e-01 -4.63091933e-04 1.32751522e+02] [-6.76967721e-04 -1.37673324e-05 9.99999771e-01 7.32778904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:132.75, Z:0.73 [[-7.42605364e-01 6.69728326e-01 -1.11468797e-03 2.11335629e+02] [-6.69727510e-01 -7.42606200e-01 -1.04563154e-03 1.32747113e+02] [-1.52806326e-03 -2.99543946e-05 9.99998832e-01 7.33169910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:132.77, Z:0.73 [[-7.41091987e-01 6.71402511e-01 -1.15555490e-03 2.11348024e+02] [-6.71401635e-01 -7.41092888e-01 -1.08474004e-03 1.32769177e+02] [-1.58467070e-03 -2.80507033e-05 9.99998744e-01 7.33158570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.251400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.34, Y:132.76, Z:0.73 [[-7.40111240e-01 6.72484293e-01 -4.78084251e-04 2.11335039e+02] [-6.72484143e-01 -7.40111394e-01 -4.49152465e-04 1.32764124e+02] [-6.55883580e-04 -1.09187101e-05 9.99999785e-01 7.31717550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.32, Y:132.76, Z:0.73 [[-7.38828904e-01 6.73893033e-01 1.74134769e-04 2.11324390e+02] [-6.73893013e-01 -7.38828925e-01 1.63608206e-04 1.32761818e+02] [ 2.38910234e-04 3.53026754e-06 9.99999971e-01 7.30711423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.311400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.34, Y:132.78, Z:0.73 [[-7.37849016e-01 6.74965469e-01 6.66863372e-04 2.11340315e+02] [-6.74965178e-01 -7.37849318e-01 6.27223482e-04 1.32784857e+02] [ 9.15398876e-04 1.26866750e-05 9.99999581e-01 7.30214418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:132.79, Z:0.73 [[-7.36847501e-01 6.76058600e-01 7.28080121e-04 2.11335469e+02] [-6.76058252e-01 -7.36847861e-01 6.85297595e-04 1.32787868e+02] [ 9.99785612e-04 1.27352462e-05 9.99999500e-01 7.30814673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:132.80, Z:0.73 [[-7.36719611e-01 6.76198011e-01 6.82574464e-04 2.11328036e+02] [-6.76197705e-01 -7.36719927e-01 6.42920086e-04 1.32796222e+02] [ 9.37607493e-04 1.20965494e-05 9.99999560e-01 7.32005096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.401400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.32, Y:132.79, Z:0.73 [[-7.37546564e-01 6.75295572e-01 9.78471227e-04 2.11316956e+02] [-6.75294942e-01 -7.37547213e-01 9.22322213e-04 1.32792705e+02] [ 1.34450883e-03 1.94989082e-05 9.99999096e-01 7.32056141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.78, Z:0.73 [[-7.39098091e-01 6.73596567e-01 1.29493193e-03 2.11301760e+02] [-6.73595460e-01 -7.39099225e-01 1.22153420e-03 1.32784105e+02] [ 1.77990443e-03 3.05733316e-05 9.99998416e-01 7.32097765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.79, Z:0.73 [[-7.41104973e-01 6.71387608e-01 1.44847578e-03 2.11303474e+02] [-6.71386217e-01 -7.41106388e-01 1.36738226e-03 1.32791140e+02] [ 1.99151816e-03 4.08871249e-05 9.99998016e-01 7.31595855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.78, Z:0.73 [[-7.45648693e-01 6.66336403e-01 1.95561188e-03 2.11278789e+02] [-6.66333846e-01 -7.45651254e-01 1.84751386e-03 1.32778977e+02] [ 2.68927019e-03 7.45059071e-05 9.99996381e-01 7.31194223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.521400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.29, Y:132.80, Z:0.73 [[-7.47603379e-01 6.64141348e-01 2.33618360e-03 2.11292846e+02] [-6.64137682e-01 -7.47607023e-01 2.20869548e-03 1.32798106e+02] [ 3.21343326e-03 9.96806380e-05 9.99994832e-01 7.30768152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:132.80, Z:0.73 [[-7.49285607e-01 6.62242282e-01 2.49766660e-03 2.11293495e+02] [-6.62238076e-01 -7.49289761e-01 2.36310337e-03 1.32804357e+02] [ 3.43642298e-03 1.16589413e-04 9.99994089e-01 7.31070764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.581400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.30, Y:132.82, Z:0.73 [[-7.51271237e-01 6.59989780e-01 2.24026662e-03 2.11301167e+02] [-6.59986382e-01 -7.51274568e-01 2.12110757e-03 1.32821817e+02] [ 3.08296466e-03 1.14981639e-04 9.99995241e-01 7.30982778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.611400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.30, Y:132.83, Z:0.73 [[-7.51715749e-01 6.59485547e-01 1.49830891e-03 2.11303333e+02] [-6.59484024e-01 -7.51717239e-01 1.41961577e-03 1.32828375e+02] [ 2.06252071e-03 7.90367433e-05 9.99997870e-01 7.30432262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:132.84, Z:0.73 [[-7.51868171e-01 6.59312334e-01 1.22464508e-03 2.11310414e+02] [-6.59311315e-01 -7.51869165e-01 1.16114720e-03 1.32839434e+02] [ 1.68633155e-03 6.56072693e-05 9.99998576e-01 7.31469502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.671400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.32, Y:132.85, Z:0.73 [[-7.51397110e-01 6.59849915e-01 6.87488509e-04 2.11315057e+02] [-6.59849594e-01 -7.51397424e-01 6.52275119e-04 1.32848598e+02] [ 9.46980777e-04 3.64786259e-05 9.99999551e-01 7.30059111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.85, Z:0.73 [[-7.49798293e-01 6.61666072e-01 7.26846716e-04 2.11304528e+02] [-6.61665713e-01 -7.49798645e-01 6.90116045e-04 1.32850994e+02] [ 1.00161506e-03 3.65182821e-05 9.99999498e-01 7.29957663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.85, Z:0.73 [[-7.48667049e-01 6.62945298e-01 1.08743084e-03 2.11298157e+02] [-6.62944495e-01 -7.48667837e-01 1.03326046e-03 1.32851443e+02] [ 1.49911966e-03 5.26617661e-05 9.99998875e-01 7.30009847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.31, Y:132.86, Z:0.73 [[-7.47640596e-01 6.64101936e-01 1.46900424e-03 2.11305008e+02] [-6.64100470e-01 -7.47642036e-01 1.39685747e-03 1.32863711e+02] [ 2.02594507e-03 6.87809437e-05 9.99997945e-01 7.29667790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.791400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.29, Y:132.86, Z:0.73 [[-7.46684099e-01 6.65175954e-01 1.95124598e-03 2.11291381e+02] [-6.65173368e-01 -7.46686643e-01 1.85677825e-03 1.32856002e+02] [ 2.69205355e-03 8.85099348e-05 9.99996373e-01 7.29684209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.821400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.29, Y:132.86, Z:0.73 [[-7.46101573e-01 6.65827229e-01 2.55821002e-03 2.11285604e+02] [-6.65822782e-01 -7.46105950e-01 2.43615066e-03 1.32855945e+02] [ 3.53075116e-03 1.14301332e-04 9.99993760e-01 7.29680351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.87, Z:0.73 [[-7.45283894e-01 6.66743247e-01 2.31529749e-03 2.11284671e+02] [-6.66739604e-01 -7.45287483e-01 2.20642545e-03 1.32865317e+02] [ 3.19668151e-03 1.00712822e-04 9.99994886e-01 7.30215920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.29, Y:132.87, Z:0.73 [[-7.44937484e-01 6.67132127e-01 1.69423962e-03 2.11290184e+02] [-6.67130175e-01 -7.44939407e-01 1.61572126e-03 1.32874680e+02] [ 2.34000542e-03 7.33329553e-05 9.99997260e-01 7.29424273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.89, Z:0.73 [[-7.45115274e-01 6.66934368e-01 1.33309410e-03 2.11299697e+02] [-6.66933157e-01 -7.45116464e-01 1.27221154e-03 1.32887682e+02] [ 1.84179197e-03 5.88595929e-05 9.99998302e-01 7.30158807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.89, Z:0.73 [[-7.45405102e-01 6.66610514e-01 1.28675302e-03 2.11295814e+02] [-6.66609384e-01 -7.45406211e-01 1.22886563e-03 1.32888388e+02] [ 1.77832844e-03 5.82410694e-05 9.99998417e-01 7.29849178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.90, Z:0.73 [[-7.45729777e-01 6.66247533e-01 1.15065510e-03 2.11299878e+02] [-6.66246627e-01 -7.45730663e-01 1.09966966e-03 1.32901314e+02] [ 1.59073099e-03 5.34363312e-05 9.99998733e-01 7.29839469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.001400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.31, Y:132.91, Z:0.73 [[-7.45187669e-01 6.66853762e-01 1.18230091e-03 2.11306201e+02] [-6.66852806e-01 -7.45188605e-01 1.13072038e-03 1.32911639e+02] [ 1.63506231e-03 5.41782014e-05 9.99998662e-01 7.29257103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.91, Z:0.73 [[-7.44299699e-01 6.67843570e-01 1.70991794e-03 2.11298295e+02] [-6.67841569e-01 -7.44301659e-01 1.63651869e-03 1.32908097e+02] [ 2.36563324e-03 7.61060882e-05 9.99997199e-01 7.29889097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.061400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.28, Y:132.90, Z:0.73 [[-7.41636586e-01 6.70798555e-01 2.11496323e-03 2.11283489e+02] [-6.70795502e-01 -7.41639597e-01 2.02565036e-03 1.32902927e+02] [ 2.92734381e-03 8.35885965e-05 9.99995712e-01 7.27816476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.091400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.29, Y:132.91, Z:0.73 [[-7.39768248e-01 6.72858556e-01 2.07463406e-03 2.11290780e+02] [-6.72855622e-01 -7.39771153e-01 1.98845414e-03 1.32914659e+02] [ 2.87270281e-03 7.50660441e-05 9.99995871e-01 7.27390623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.91, Z:0.73 [[-7.37978039e-01 6.74822119e-01 1.87659427e-03 2.11280948e+02] [-6.74819722e-01 -7.37980422e-01 1.79992990e-03 1.32909941e+02] [ 2.59952234e-03 6.19459116e-05 9.99996619e-01 7.28136495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.151400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.27, Y:132.90, Z:0.73 [[-7.36415697e-01 6.76527599e-01 1.52620058e-03 2.11269729e+02] [-6.76526015e-01 -7.36417277e-01 1.46490081e-03 1.32903961e+02] [ 2.11496630e-03 4.62615588e-05 9.99997762e-01 7.27930261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.181400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.28, Y:132.92, Z:0.73 [[-7.34353030e-01 6.78767598e-01 4.20061928e-04 2.11277519e+02] [-6.78767478e-01 -7.34353150e-01 4.03291998e-04 1.32920507e+02] [ 5.82215341e-04 1.10343257e-05 9.99999830e-01 7.28902205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.211400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.28, Y:132.93, Z:0.73 [[-7.33420715e-01 6.79774969e-01 2.16817929e-04 2.11278101e+02] [-6.79774937e-01 -7.33420747e-01 2.08204043e-04 1.32926083e+02] [ 3.00550664e-04 5.31376460e-06 9.99999955e-01 7.28854691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.28, Y:132.93, Z:0.73 [[-7.32619443e-01 6.80638447e-01 2.37185599e-04 2.11276436e+02] [-6.80638409e-01 -7.32619481e-01 2.27826960e-04 1.32928799e+02] [ 3.28834579e-04 5.47283230e-06 9.99999946e-01 7.28529855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.271400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.28, Y:132.93, Z:0.73 [[-7.32527389e-01 6.80737518e-01 2.37154793e-04 2.11278265e+02] [-6.80737480e-01 -7.32527427e-01 2.27859025e-04 1.32930508e+02] [ 3.28834578e-04 5.47282088e-06 9.99999946e-01 7.28529458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.94, Z:0.73 [[-7.32099108e-01 6.81197885e-01 5.81572267e-04 2.11282047e+02] [-6.81197656e-01 -7.32099338e-01 5.58970644e-04 1.32937793e+02] [ 8.06538292e-04 1.30562447e-05 9.99999675e-01 7.28895914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.331400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.27, Y:132.93, Z:0.73 [[-7.31366575e-01 6.81984392e-01 4.71183819e-04 2.11267993e+02] [-6.81984242e-01 -7.31366727e-01 4.53145202e-04 1.32931975e+02] [ 6.53646123e-04 1.00753145e-05 9.99999786e-01 7.28757022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.361400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.28, Y:132.95, Z:0.73 [[-7.31530672e-01 6.81808533e-01 1.48938964e-05 2.11279524e+02] [-6.81808533e-01 -7.31530672e-01 1.43954454e-05 1.32945410e+02] [ 2.07102797e-05 3.75924270e-07 1.00000000e+00 7.29222693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.391400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.28, Y:132.95, Z:0.73 [[-7.31232351e-01 6.82128249e-01 -5.48367490e-04 2.11280862e+02] [-6.82128045e-01 -7.31232556e-01 -5.27256520e-04 1.32947592e+02] [-7.60640728e-04 -1.14901805e-05 9.99999711e-01 7.29625508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.27, Y:132.94, Z:0.73 [[-7.30731059e-01 6.82665234e-01 -5.45392097e-04 2.11271432e+02] [-6.82665032e-01 -7.30731263e-01 -5.24537887e-04 1.32938382e+02] [-7.56618835e-04 -1.09760119e-05 9.99999714e-01 7.29537497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.451400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.28, Y:132.94, Z:0.73 [[-7.30075707e-01 6.83366218e-01 -2.71951257e-04 2.11275680e+02] [-6.83366168e-01 -7.30075758e-01 -2.61605069e-04 1.32942974e+02] [-3.77317086e-04 -5.14921731e-06 9.99999929e-01 7.29588704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.481400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.27, Y:132.94, Z:0.73 [[-7.27650516e-01 6.85947315e-01 -1.00347061e-03 2.11272016e+02] [-6.85946636e-01 -7.27651208e-01 -9.65512899e-04 1.32942987e+02] [-1.39246758e-03 -1.42286723e-05 9.99999030e-01 7.29432887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.511400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.26, Y:132.93, Z:0.73 [[-7.25456422e-01 6.88266736e-01 -1.37098153e-03 2.11258814e+02] [-6.88265470e-01 -7.25457717e-01 -1.32012908e-03 1.32931333e+02] [-1.90319007e-03 -1.40968706e-05 9.99998189e-01 7.30410838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.541400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.26, Y:132.93, Z:0.73 [[-7.23127830e-01 6.90713479e-01 -1.01529064e-03 2.11259036e+02] [-6.90712787e-01 -7.23128543e-01 -9.77872232e-04 1.32930579e+02] [-1.40961518e-03 -5.85239601e-06 9.99999007e-01 7.30752708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.27, Y:132.94, Z:0.73 [[-7.20383235e-01 6.93576195e-01 -2.35862178e-04 2.11265324e+02] [-6.93576158e-01 -7.20383274e-01 -2.27193437e-04 1.32935403e+02] [-3.27487127e-04 -7.79600302e-08 9.99999946e-01 7.30003127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:132.94, Z:0.73 [[-7.14869302e-01 6.99257520e-01 8.95480403e-04 2.11266402e+02] [-6.99256988e-01 -7.14869863e-01 8.62530039e-04 1.32939567e+02] [ 1.24328257e-03 -9.57468282e-06 9.99999227e-01 7.28866280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.28, Y:132.95, Z:0.73 [[-7.12182125e-01 7.01993503e-01 1.32039844e-03 2.11277261e+02] [-7.01992352e-01 -7.12183349e-01 1.27096677e-03 1.32951994e+02] [ 1.83257620e-03 -2.17497954e-05 9.99998321e-01 7.28662049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:132.96, Z:0.73 [[-7.09757342e-01 7.04443076e-01 2.11375233e-03 2.11282481e+02] [-7.04440144e-01 -7.09760488e-01 2.03310437e-03 1.32957185e+02] [ 2.93246418e-03 -4.60012449e-05 9.99995699e-01 7.29410221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.691400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:211.30, Y:132.97, Z:0.73 [[-7.07130378e-01 7.07076810e-01 3.00207428e-03 2.11299538e+02] [-7.07070928e-01 -7.07136746e-01 2.88544233e-03 1.32972293e+02] [ 4.16310639e-03 -8.22955162e-05 9.99991331e-01 7.29084038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.721400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:211.31, Y:132.98, Z:0.73 [[-7.02309566e-01 7.11867036e-01 2.56843511e-03 2.11306700e+02] [-7.11862768e-01 -7.02314256e-01 2.46692388e-03 1.32978977e+02] [ 3.55997038e-03 -9.58290861e-05 9.99993659e-01 7.28906240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:132.99, Z:0.73 [[-7.00818065e-01 7.13338555e-01 1.46491066e-03 2.11313086e+02] [-7.13337171e-01 -7.00819594e-01 1.40606453e-03 1.32985662e+02] [ 2.02963814e-03 -5.95798049e-05 9.99997939e-01 7.29645006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.781400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.32, Y:132.99, Z:0.73 [[-6.99358521e-01 7.14770140e-01 1.14307674e-03 2.11321379e+02] [-7.14769300e-01 -6.99359453e-01 1.09641588e-03 1.32992513e+02] [ 1.58310686e-03 -5.02483730e-05 9.99998746e-01 7.29613873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:132.99, Z:0.73 [[-6.98339937e-01 7.15764814e-01 1.43671220e-03 2.11321232e+02] [-7.15763490e-01 -6.98341412e-01 1.37829721e-03 1.32990247e+02] [ 1.98985227e-03 -6.58261528e-05 9.99998018e-01 7.29445957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:132.99, Z:0.73 [[-6.97578006e-01 7.16504571e-01 2.47496725e-03 2.11324381e+02] [-7.16500645e-01 -6.97582387e-01 2.37477749e-03 1.32990847e+02] [ 3.42803249e-03 -1.16723089e-04 9.99994118e-01 7.28423655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.34, Y:133.00, Z:0.73 [[-6.96460279e-01 7.17579798e-01 4.72359570e-03 2.11337376e+02] [-7.17565542e-01 -6.96476258e-01 4.52938055e-03 1.33001532e+02] [ 6.54006424e-03 -2.34955867e-04 9.99978586e-01 7.27474781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.00, Z:0.73 [[-6.96137871e-01 7.17891388e-01 4.90088887e-03 2.11338876e+02] [-7.17876044e-01 -6.96155079e-01 4.70008680e-03 1.33003263e+02] [ 6.78593051e-03 -2.46322296e-04 9.99976945e-01 7.27596957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.00, Z:0.73 [[-6.95694751e-01 7.18318645e-01 5.20934363e-03 2.11341633e+02] [-7.18301318e-01 -6.95714204e-01 4.99633858e-03 1.33004891e+02] [ 7.21317751e-03 -2.65951866e-04 9.99973949e-01 7.28286446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:132.99, Z:0.73 [[-6.95525639e-01 7.18480867e-01 5.41558583e-03 2.11330452e+02] [-7.18462136e-01 -6.95546667e-01 5.19546145e-03 1.32992276e+02] [ 7.49963232e-03 -2.77316719e-04 9.99971839e-01 7.28518380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:132.99, Z:0.73 [[-6.96032869e-01 7.17993779e-01 4.81433284e-03 2.11329699e+02] [-7.17978957e-01 -6.96049477e-01 4.61983760e-03 1.32988927e+02] [ 6.66802852e-03 -2.41030845e-04 9.99977739e-01 7.29168346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.01, Z:0.73 [[-6.96400268e-01 7.17645293e-01 3.44954108e-03 2.11351345e+02] [-7.17637690e-01 -6.96408791e-01 3.30801219e-03 1.33008837e+02] [ 4.77627011e-03 -1.71820111e-04 9.99988579e-01 7.29708568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.34, Y:133.00, Z:0.73 [[-6.95935296e-01 7.18102089e-01 1.85837544e-03 2.11339259e+02] [-7.18099881e-01 -6.95937771e-01 1.78323084e-03 1.32995801e+02] [ 2.57385546e-03 -9.34859052e-05 9.99996683e-01 7.30223011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.00, Z:0.73 [[-6.95520477e-01 7.18506273e-01 3.35375556e-05 2.11350106e+02] [-7.18506273e-01 -6.95520478e-01 3.21629024e-05 1.33002423e+02] [ 4.64353040e-05 -1.72698678e-06 9.99999999e-01 7.30689112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.111400513 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:211.31, Y:132.96, Z:0.73 [[-6.94900685e-01 7.19094024e-01 4.10146208e-03 2.11306321e+02] [-7.19098796e-01 -6.94907721e-01 4.25167818e-04 1.32963273e+02] [ 3.15587331e-03 -2.65390703e-03 9.99991499e-01 7.31832906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.01, Z:0.73 [[-6.94331263e-01 7.19654717e-01 -1.08883618e-03 2.11359608e+02] [-7.19654783e-01 -6.94327541e-01 2.50178689e-03 1.33008030e+02] [ 1.04441379e-03 2.52065502e-03 9.99996278e-01 7.29429720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.171400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.36, Y:133.02, Z:0.73 [[-6.93215569e-01 7.20729806e-01 8.49957509e-04 2.11364018e+02] [-7.20729345e-01 -6.93216088e-01 8.16014360e-04 1.33015253e+02] [ 1.17733009e-03 -4.69154606e-05 9.99999306e-01 7.29236112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.201400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.37, Y:133.02, Z:0.73 [[-6.92064303e-01 7.21835452e-01 7.62313787e-04 2.11368790e+02] [-7.21835082e-01 -6.92064721e-01 7.32052528e-04 1.33018726e+02] [ 1.05599195e-03 -4.36374122e-05 9.99999442e-01 7.29918399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.38, Y:133.03, Z:0.73 [[-6.89977840e-01 7.23829679e-01 1.08456002e-03 2.11382449e+02] [-7.23828932e-01 -6.89978689e-01 1.04154710e-03 1.33029469e+02] [ 1.50222600e-03 -6.63915028e-05 9.99998869e-01 7.30489274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.38, Y:133.02, Z:0.73 [[-6.88419065e-01 7.25312184e-01 1.19397371e-03 2.11375986e+02] [-7.25311281e-01 -6.88420097e-01 1.14731362e-03 1.33023398e+02] [ 1.65411605e-03 -7.61700286e-05 9.99998629e-01 7.30401192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.291400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.39, Y:133.04, Z:0.73 [[-6.86872972e-01 7.26776571e-01 1.15581199e-03 2.11389073e+02] [-7.26775727e-01 -6.86873940e-01 1.11071620e-03 1.33036684e+02] [ 1.60113964e-03 -7.70951612e-05 9.99998715e-01 7.30366129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.321400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.39, Y:133.04, Z:0.73 [[-6.84963432e-01 7.28576738e-01 1.01697749e-03 2.11389413e+02] [-7.28576085e-01 -6.84964183e-01 9.77513183e-04 1.33037620e+02] [ 1.40878652e-03 -7.13846964e-05 9.99999005e-01 7.30409288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.04, Z:0.73 [[-6.83432613e-01 7.30012860e-01 1.04317971e-03 2.11391821e+02] [-7.30012175e-01 -6.83433405e-01 1.00294834e-03 1.33039868e+02] [ 1.44510905e-03 -7.60862853e-05 9.99998953e-01 7.31399799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.40, Y:133.05, Z:0.73 [[-6.80985859e-01 7.32295326e-01 1.34766173e-03 2.11404201e+02] [-7.32294187e-01 -6.80987184e-01 1.29572382e-03 1.33051541e+02] [ 1.86659286e-03 -1.04515257e-04 9.99998252e-01 7.30266792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.06, Z:0.73 [[-6.80730856e-01 7.32531392e-01 1.80611187e-03 2.11411040e+02] [-7.32529346e-01 -6.80733237e-01 1.73677092e-03 1.33058247e+02] [ 2.50171960e-03 -1.40756387e-04 9.99996861e-01 7.30906664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.05, Z:0.73 [[-6.80465524e-01 7.32776510e-01 2.29273745e-03 2.11406376e+02] [-7.32773211e-01 -6.80469363e-01 2.20610889e-03 1.33053054e+02] [ 3.17672236e-03 -1.78875540e-04 9.99994938e-01 7.30950599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.471400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.40, Y:133.05, Z:0.73 [[-6.80205417e-01 7.33015765e-01 2.91189509e-03 2.11404038e+02] [-7.33010443e-01 -6.80211611e-01 2.80262877e-03 1.33050031e+02] [ 4.03507592e-03 -2.28086235e-04 9.99991833e-01 7.30339590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.06, Z:0.73 [[-6.79741756e-01 7.33442931e-01 3.55127390e-03 2.11415038e+02] [-7.33435031e-01 -6.79750974e-01 3.41588338e-03 1.33062367e+02] [ 4.91933741e-03 -2.82710115e-04 9.99987860e-01 7.30196047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.06, Z:0.73 [[-6.78524739e-01 7.34569272e-01 3.48750048e-03 2.11412708e+02] [-7.34561665e-01 -6.78533642e-01 3.35526084e-03 1.33062026e+02] [ 4.83105791e-03 -2.85156678e-04 9.99988290e-01 7.29922430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.07, Z:0.73 [[-6.76518288e-01 7.36414466e-01 4.09155098e-03 2.11418722e+02] [-7.36404024e-01 -6.76530570e-01 3.93706103e-03 1.33069491e+02] [ 5.66736801e-03 -3.49540818e-04 9.99983879e-01 7.30604162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.07, Z:0.73 [[-6.76263990e-01 7.36646249e-01 4.39539885e-03 2.11414525e+02] [-7.36634198e-01 -6.76278169e-01 4.23046021e-03 1.33065670e+02] [ 6.08886493e-03 -3.76893201e-04 9.99981392e-01 7.30400672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.621400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.42, Y:133.07, Z:0.73 [[-6.76510995e-01 7.36418420e-01 4.55899434e-03 2.11416943e+02] [-7.36405446e-01 -6.76526244e-01 4.38864231e-03 1.33067806e+02] [ 6.31615636e-03 -3.88303479e-04 9.99979978e-01 7.30017948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.651400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:211.41, Y:133.06, Z:0.73 [[-6.77533918e-01 7.35478658e-01 4.35113327e-03 2.11411732e+02] [-7.35466815e-01 -6.77547793e-01 4.18956529e-03 1.33061645e+02] [ 6.02943661e-03 -3.61541539e-04 9.99981757e-01 7.30306014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.07, Z:0.73 [[-6.79468070e-01 7.33695107e-01 3.82523012e-03 2.11419774e+02] [-7.33685920e-01 -6.79478769e-01 3.68409134e-03 1.33067501e+02] [ 5.30216244e-03 -3.03295046e-04 9.99985897e-01 7.30417204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.05, Z:0.73 [[-6.83390071e-01 7.30042901e-01 3.92098180e-03 2.11404007e+02] [-7.30033175e-01 -6.83401261e-01 3.77875942e-03 1.33047605e+02] [ 5.43826040e-03 -2.80080132e-04 9.99985173e-01 7.30789976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.39, Y:133.03, Z:0.73 [[-6.84889786e-01 7.28637746e-01 3.60765067e-03 2.11391989e+02] [-7.28629482e-01 -6.84899244e-01 3.47911897e-03 1.33033975e+02] [ 5.00589462e-03 -2.45827591e-04 9.99987440e-01 7.30313792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.04, Z:0.73 [[-6.86482861e-01 7.27139876e-01 2.98041246e-03 2.11398676e+02] [-7.27134218e-01 -6.86489303e-01 2.87498652e-03 1.33038827e+02] [ 4.13653861e-03 -1.93530911e-04 9.99991426e-01 7.30644497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.04, Z:0.73 [[-6.87302577e-01 7.26367118e-01 2.44503498e-03 2.11404708e+02] [-7.26363303e-01 -6.87306909e-01 2.35913469e-03 1.33042337e+02] [ 3.39408730e-03 -1.54544328e-04 9.99994228e-01 7.30933049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.04, Z:0.73 [[-6.87476453e-01 7.26201461e-01 2.75050375e-03 2.11411551e+02] [-7.26196625e-01 -6.87481934e-01 2.65560668e-03 1.33044303e+02] [ 3.81942708e-03 -1.71739478e-04 9.99992691e-01 7.30297780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.05, Z:0.73 [[-6.86595235e-01 7.27032110e-01 3.36060483e-03 2.11423519e+02] [-7.27024898e-01 -6.86603426e-01 3.24553156e-03 1.33053729e+02] [ 4.66700845e-03 -2.14876882e-04 9.99989086e-01 7.29864288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.05, Z:0.73 [[-6.85094568e-01 7.28445168e-01 3.61522087e-03 2.11415715e+02] [-7.28436829e-01 -6.85104065e-01 3.49371303e-03 1.33045471e+02] [ 5.02178089e-03 -2.39936205e-04 9.99987362e-01 7.29952273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.06, Z:0.73 [[-6.83424516e-01 7.30012018e-01 3.65860103e-03 2.11427515e+02] [-7.30003495e-01 -6.83434261e-01 3.53656490e-03 1.33056482e+02] [ 5.08214817e-03 -2.53816382e-04 9.99987054e-01 7.30186565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.44, Y:133.07, Z:0.73 [[-6.81845295e-01 7.31487276e-01 3.65506717e-03 2.11440054e+02] [-7.31478786e-01 -6.81855040e-01 3.53402269e-03 1.33067890e+02] [ 5.07731860e-03 -2.63947354e-04 9.99987076e-01 7.30353710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.44, Y:133.07, Z:0.73 [[-6.80053249e-01 7.33155622e-01 3.22678192e-03 2.11442662e+02] [-7.33149016e-01 -6.80060861e-01 3.12192527e-03 1.33066284e+02] [ 4.48326515e-03 -2.42636571e-04 9.99989921e-01 7.30226930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.46, Y:133.08, Z:0.73 [[-6.79346450e-01 7.33811719e-01 2.96026520e-03 2.11455818e+02] [-7.33806157e-01 -6.79352862e-01 2.86594194e-03 1.33076554e+02] [ 4.11412642e-03 -2.25293350e-04 9.99991512e-01 7.29789642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.041400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.46, Y:133.08, Z:0.73 [[-6.78724289e-01 7.34388122e-01 2.72508121e-03 2.11463942e+02] [-7.34383407e-01 -6.78729727e-01 2.63996543e-03 1.33081435e+02] [ 3.78835288e-03 -2.09445764e-04 9.99992802e-01 7.29603892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.071400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.47, Y:133.08, Z:0.73 [[-6.77784078e-01 7.35255904e-01 2.73858998e-03 2.11467034e+02] [-7.35251142e-01 -6.77789576e-01 2.65477886e-03 1.33078770e+02] [ 3.80812957e-03 -2.14184565e-04 9.99992726e-01 7.29609707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.46, Y:133.07, Z:0.73 [[-6.76809265e-01 7.36153025e-01 2.81829036e-03 2.11463816e+02] [-7.36147983e-01 -6.76815096e-01 2.73382553e-03 1.33073422e+02] [ 3.91997539e-03 -2.24400314e-04 9.99992292e-01 7.29872154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.47, Y:133.08, Z:0.73 [[-6.75624005e-01 7.37240378e-01 2.97153622e-03 2.11472193e+02] [-7.37234775e-01 -6.75630496e-01 2.88436481e-03 1.33079542e+02] [ 4.13413069e-03 -2.41973734e-04 9.99991425e-01 7.29590408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.47, Y:133.08, Z:0.73 [[-6.75384035e-01 7.37460223e-01 2.97059725e-03 2.11473950e+02] [-7.37454618e-01 -6.75390525e-01 2.88533183e-03 1.33081352e+02] [ 4.13413069e-03 -2.41973606e-04 9.99991425e-01 7.29589999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.191400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.50, Y:133.11, Z:0.73 [[-6.74008289e-01 7.38717647e-01 3.01072888e-03 2.11502465e+02] [-7.38711894e-01 -6.74014966e-01 2.92619772e-03 1.33106527e+02] [ 4.19091022e-03 -2.51779717e-04 9.99991186e-01 7.29265464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.50, Y:133.10, Z:0.73 [[-6.71905112e-01 7.40632342e-01 2.69346500e-03 2.11496436e+02] [-7.40627747e-01 -6.71910470e-01 2.61951018e-03 1.33095013e+02] [ 3.74986129e-03 -2.34792629e-04 9.99992942e-01 7.28452440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.09, Z:0.73 [[-6.71136305e-01 7.41329229e-01 2.65210373e-03 2.11492920e+02] [-7.41324774e-01 -6.71141504e-01 2.58094632e-03 1.33088739e+02] [ 3.69326783e-03 -2.33903425e-04 9.99993153e-01 7.28459787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.281400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.52, Y:133.11, Z:0.73 [[-6.69940399e-01 7.42409769e-01 2.75616158e-03 2.11517772e+02] [-7.42404959e-01 -6.69946022e-01 2.68393471e-03 1.33110097e+02] [ 3.83905883e-03 -2.48111741e-04 9.99992600e-01 7.27486422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.311400513 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:211.51, Y:133.10, Z:0.73 [[-6.68909702e-01 7.43336728e-01 3.21221743e-03 2.11512736e+02] [-7.43330196e-01 -6.68917351e-01 3.13004448e-03 1.33103203e+02] [ 4.47538500e-03 -2.94021092e-04 9.99989942e-01 7.27402471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.341400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.51, Y:133.10, Z:0.73 [[-6.68121707e-01 7.44042811e-01 3.69861950e-03 2.11505872e+02] [-7.44034150e-01 -6.68131857e-01 3.60632690e-03 1.33095476e+02] [ 5.15442712e-03 -3.42433928e-04 9.99986657e-01 7.27835203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.371400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.52, Y:133.10, Z:0.73 [[-6.66956899e-01 7.45084691e-01 4.15913955e-03 2.11515500e+02] [-7.45073743e-01 -6.66969752e-01 4.05796938e-03 1.33103993e+02] [ 5.79755113e-03 -3.92375000e-04 9.99983117e-01 7.27851167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.53, Y:133.11, Z:0.73 [[-6.66132520e-01 7.45820247e-01 4.43006521e-03 2.11527135e+02] [-7.45807826e-01 -6.66147116e-01 4.32506609e-03 1.33114090e+02] [ 6.17679703e-03 -4.22910132e-04 9.99980834e-01 7.27970901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.431400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.52, Y:133.11, Z:0.73 [[-6.65395830e-01 7.46473789e-01 5.02722801e-03 2.11523801e+02] [-7.46457790e-01 -6.65414644e-01 4.91121064e-03 1.33109003e+02] [ 7.01128115e-03 -4.84714435e-04 9.99975303e-01 7.27653915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.11, Z:0.73 [[-6.65227233e-01 7.46618258e-01 5.82289456e-03 2.11525255e+02] [-7.46596770e-01 -6.65252480e-01 5.69215870e-03 1.33109952e+02] [ 8.12356466e-03 -5.60775285e-04 9.99966846e-01 7.27234378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.12, Z:0.73 [[-6.65706399e-01 7.46182194e-01 6.86467691e-03 2.11531867e+02] [-7.46152265e-01 -6.65741472e-01 6.71484139e-03 1.33117035e+02] [ 9.58059520e-03 -6.51981340e-04 9.99953893e-01 7.26531271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.521400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.52, Y:133.11, Z:0.73 [[-6.65874269e-01 7.46038225e-01 6.19876826e-03 2.11524320e+02] [-7.46013781e-01 -6.65902865e-01 6.06733328e-03 1.33108183e+02] [ 8.65424009e-03 -5.84285435e-04 9.99962381e-01 7.26837748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.53, Y:133.11, Z:0.73 [[-6.66511575e-01 7.45474824e-01 5.44128028e-03 2.11530516e+02] [-7.45455945e-01 -6.66533595e-01 5.32930969e-03 1.33111775e+02] [ 7.59966231e-03 -5.04188135e-04 9.99970995e-01 7.27627975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.581400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.53, Y:133.11, Z:0.73 [[-6.67354956e-01 7.44723927e-01 4.86170683e-03 2.11529397e+02] [-7.44708815e-01 -6.67372519e-01 4.76470640e-03 1.33108222e+02] [ 6.79296039e-03 -4.40805502e-04 9.99976830e-01 7.28172600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.611400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.54, Y:133.11, Z:0.73 [[-6.69426785e-01 7.42865903e-01 4.24600791e-03 2.11539472e+02] [-7.42854324e-01 -6.69440151e-01 4.16394610e-03 1.33114979e+02] [ 5.93570176e-03 -3.66708283e-04 9.99982316e-01 7.28110176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.641400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.53, Y:133.10, Z:0.73 [[-6.69800178e-01 7.42530134e-01 4.08922640e-03 2.11528673e+02] [-7.42519373e-01 -6.69812570e-01 4.01276729e-03 1.33101818e+02] [ 5.71861588e-03 -3.48577571e-04 9.99983588e-01 7.27994390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.671400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.54, Y:133.11, Z:0.73 [[-6.69563545e-01 7.42744197e-01 3.96443782e-03 2.11538143e+02] [-7.42734072e-01 -6.69575197e-01 3.89281643e-03 1.33107375e+02] [ 5.54585605e-03 -3.38035075e-04 9.99984565e-01 7.27963471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.56, Y:133.12, Z:0.73 [[-6.67443961e-01 7.44650871e-01 3.69317144e-03 2.11556844e+02] [-7.44642102e-01 -6.67454098e-01 3.62876315e-03 1.33120046e+02] [ 5.16718405e-03 -3.28094899e-04 9.99986596e-01 7.27979771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.731400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.55, Y:133.12, Z:0.73 [[-6.65489827e-01 7.46398269e-01 3.59367141e-03 2.11552850e+02] [-7.46389979e-01 -6.65499448e-01 3.53324436e-03 1.33116259e+02] [ 5.02879381e-03 -3.30942154e-04 9.99987301e-01 7.28061455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.56, Y:133.12, Z:0.73 [[-6.63271710e-01 7.48368629e-01 3.87746224e-03 2.11560609e+02] [-7.48358998e-01 -6.63282939e-01 3.81469571e-03 1.33124473e+02] [ 5.42665315e-03 -3.71554014e-04 9.99985207e-01 7.27929391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.14, Z:0.73 [[-6.60708681e-01 7.50632045e-01 3.94602223e-03 2.11575654e+02] [-7.50622098e-01 -6.60720346e-01 3.88459795e-03 1.33139625e+02] [ 5.52312088e-03 -3.95383891e-04 9.99984669e-01 7.27640757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.15, Z:0.73 [[-6.55835181e-01 7.54892030e-01 4.27070658e-03 2.11586660e+02] [-7.54880451e-01 -6.55848921e-01 4.20686306e-03 1.33150603e+02] [ 5.97666570e-03 -4.64864115e-04 9.99982032e-01 7.27166438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.851400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:211.59, Y:133.16, Z:0.73 [[-6.53849085e-01 7.56609660e-01 4.81626287e-03 2.11592530e+02] [-7.56594960e-01 -6.53866600e-01 4.74722223e-03 1.33157399e+02] [ 6.74098763e-03 -5.39993306e-04 9.99977134e-01 7.27069260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.17, Z:0.73 [[-6.52750869e-01 7.57557689e-01 4.75941156e-03 2.11605250e+02] [-7.57543339e-01 -6.52767995e-01 4.69408157e-03 1.33171433e+02] [ 6.66282913e-03 -5.41394695e-04 9.99977657e-01 7.26767612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.911400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:211.60, Y:133.16, Z:0.73 [[-6.51747830e-01 7.58419523e-01 4.95914583e-03 2.11595140e+02] [-7.58403948e-01 -6.51766446e-01 4.89409579e-03 1.33163323e+02] [ 6.94398265e-03 -5.71319466e-04 9.99975727e-01 7.26978994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.941400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.60, Y:133.17, Z:0.73 [[-6.52578411e-01 7.57707821e-01 4.50281412e-03 2.11597358e+02] [-7.57694946e-01 -6.52593746e-01 4.44649703e-03 1.33166421e+02] [ 6.30765391e-03 -5.10071534e-04 9.99979976e-01 7.26784492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.971400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.59, Y:133.16, Z:0.73 [[-6.53926823e-01 7.56545514e-01 4.31215705e-03 2.11589245e+02] [-7.56533665e-01 -6.53940867e-01 4.26087123e-03 1.33157624e+02] [ 6.04343874e-03 -4.75993995e-04 9.99981625e-01 7.26842258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.61, Y:133.17, Z:0.73 [[-6.55457898e-01 7.55221469e-01 3.93415106e-03 2.11605725e+02] [-7.55211569e-01 -6.55469569e-01 3.88976980e-03 1.33173110e+02] [ 5.51635396e-03 -4.21536057e-04 9.99984696e-01 7.26770656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.15, Z:0.73 [[-6.57436258e-01 7.53501305e-01 3.65367454e-03 2.11586319e+02] [-7.53492729e-01 -6.57446303e-01 3.61470289e-03 1.33153435e+02] [ 5.12577816e-03 -3.76580456e-04 9.99986792e-01 7.27050252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.061400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.59, Y:133.15, Z:0.73 [[-6.60889171e-01 7.50471199e-01 4.29914101e-03 2.11585544e+02] [-7.50459245e-01 -6.60903025e-01 4.25597329e-03 1.33152412e+02] [ 6.03530067e-03 -4.13603452e-04 9.99981702e-01 7.27154463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.58, Y:133.15, Z:0.73 [[-6.61889939e-01 7.49587058e-01 4.57726542e-03 2.11584639e+02] [-7.49573468e-01 -6.61905626e-01 4.53416840e-03 1.33150901e+02] [ 6.42847169e-03 -4.29876267e-04 9.99979245e-01 7.26480300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.121400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.58, Y:133.14, Z:0.73 [[-6.62360968e-01 7.49169030e-01 4.86956267e-03 2.11576557e+02] [-7.49153617e-01 -6.62378714e-01 4.82677866e-03 1.33141556e+02] [ 6.84156775e-03 -4.50980703e-04 9.99976495e-01 7.26362458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.14, Z:0.73 [[-6.62753524e-01 7.48821896e-01 4.85127487e-03 2.11580244e+02] [-7.48806568e-01 -6.62771130e-01 4.81171416e-03 1.33143614e+02] [ 6.81840185e-03 -4.43685971e-04 9.99976656e-01 7.26264905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.181400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.58, Y:133.14, Z:0.73 [[-6.63290144e-01 7.48349653e-01 4.35670442e-03 2.11582069e+02] [-7.48337264e-01 -6.63304336e-01 4.32392124e-03 1.33144720e+02] [ 6.12562590e-03 -3.92269920e-04 9.99981161e-01 7.27012316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.211400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.59, Y:133.16, Z:0.73 [[-6.63172140e-01 7.48454173e-01 4.36608809e-03 2.11592656e+02] [-7.48441716e-01 -6.63186397e-01 4.33598437e-03 1.33155129e+02] [ 6.14081582e-03 -3.92258426e-04 9.99981068e-01 7.27522354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.59, Y:133.15, Z:0.73 [[-6.62960794e-01 7.48640629e-01 4.49389252e-03 2.11587970e+02] [-7.48627418e-01 -6.62975902e-01 4.46573977e-03 1.33150050e+02] [ 6.32257667e-03 -4.03640773e-04 9.99979931e-01 7.27515088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.271400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.58, Y:133.15, Z:0.73 [[-6.62753298e-01 7.48824488e-01 4.46680949e-03 2.11584899e+02] [-7.48811422e-01 -6.62768229e-01 4.44165507e-03 1.33145533e+02] [ 6.28647950e-03 -4.01076422e-04 9.99980159e-01 7.27578286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.59, Y:133.14, Z:0.73 [[-6.63321611e-01 7.48321414e-01 4.41607715e-03 2.11585537e+02] [-7.48308615e-01 -6.63336196e-01 4.39401733e-03 1.33141668e+02] [ 6.21748108e-03 -3.89941922e-04 9.99980595e-01 7.27122289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.331400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.59, Y:133.15, Z:0.73 [[-6.63575341e-01 7.48094312e-01 4.76091907e-03 2.11594035e+02] [-7.48079410e-01 -6.63592290e-01 4.74017128e-03 1.33147879e+02] [ 6.70540436e-03 -4.16084753e-04 9.99977432e-01 7.26962840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.361400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.60, Y:133.16, Z:0.73 [[-6.63850643e-01 7.47850157e-01 4.73984359e-03 2.11604258e+02] [-7.47835360e-01 -6.63867438e-01 4.72218762e-03 1.33155965e+02] [ 6.67811658e-03 -4.09795350e-04 9.99977617e-01 7.27165795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.391400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.59, Y:133.14, Z:0.73 [[-6.64983650e-01 7.46845796e-01 4.25466201e-03 2.11592884e+02] [-7.46833837e-01 -6.64997165e-01 4.24150984e-03 1.33139684e+02] [ 5.99709197e-03 -3.56990865e-04 9.99981954e-01 7.28379476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.15, Z:0.73 [[-6.66008785e-01 7.45933717e-01 3.89729980e-03 2.11609485e+02] [-7.45923653e-01 -6.66020112e-01 3.88772715e-03 1.33153074e+02] [ 5.49566681e-03 -3.17827671e-04 9.99984848e-01 7.28782060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.451400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.59, Y:133.13, Z:0.73 [[-6.66827342e-01 7.45199186e-01 4.41242279e-03 2.11592253e+02] [-7.45186253e-01 -6.66841848e-01 4.40441447e-03 1.33133007e+02] [ 6.22455424e-03 -3.51092808e-04 9.99980566e-01 7.28180008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.481400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.60, Y:133.14, Z:0.73 [[-6.67579999e-01 7.44521295e-01 4.99864508e-03 2.11603168e+02] [-7.44504655e-01 -6.67598599e-01 4.99279692e-03 1.33140833e+02] [ 7.05433208e-03 -3.88423175e-04 9.99975042e-01 7.28106439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.511400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.61, Y:133.14, Z:0.73 [[-6.69195261e-01 7.43072401e-01 4.59460187e-03 2.11607790e+02] [-7.43058289e-01 -6.69210947e-01 4.59216840e-03 1.33139095e+02] [ 6.48707146e-03 -3.40999677e-04 9.99978901e-01 7.28325426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.541400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.60, Y:133.13, Z:0.73 [[-6.69863376e-01 7.42475143e-01 3.70403523e-03 2.11603955e+02] [-7.42465950e-01 -6.69873563e-01 3.70444411e-03 1.33132152e+02] [ 5.23169294e-03 -2.68648594e-04 9.99986279e-01 7.29071302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.571400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.59, Y:133.12, Z:0.73 [[-6.70808203e-01 7.41625908e-01 2.71423155e-03 2.11594131e+02] [-7.41620958e-01 -6.70813667e-01 2.71627546e-03 1.33118898e+02] [ 3.83520387e-03 -1.90831142e-04 9.99992627e-01 7.30353394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.13, Z:0.73 [[-6.72413595e-01 7.40173852e-01 1.62063924e-03 2.11610378e+02] [-7.40172081e-01 -6.72415539e-01 1.62288419e-03 1.33131333e+02] [ 2.29095944e-03 -1.08302526e-04 9.99997370e-01 7.31019180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.11, Z:0.73 [[-6.75987264e-01 7.36911056e-01 1.82094114e-03 2.11600032e+02] [-7.36908805e-01 -6.75989707e-01 1.82466128e-03 1.33109405e+02] [ 2.57555054e-03 -1.08419771e-04 9.99996677e-01 7.30756961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.11, Z:0.73 [[-6.77863253e-01 7.35184694e-01 2.20834824e-03 2.11611426e+02] [-7.35181369e-01 -6.77866839e-01 2.21432530e-03 1.33114350e+02] [ 3.12490411e-03 -1.22526735e-04 9.99995110e-01 7.30321358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.11, Z:0.73 [[-6.79594879e-01 7.33584542e-01 2.12632240e-03 2.11611577e+02] [-7.33581448e-01 -6.79598196e-01 2.13347066e-03 1.33108681e+02] [ 3.01012597e-03 -1.09934932e-04 9.99995464e-01 7.29991371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.11, Z:0.73 [[-6.82433313e-01 7.30944457e-01 2.23050470e-03 2.11623100e+02] [-7.30941033e-01 -6.82436950e-01 2.23947141e-03 1.33111962e+02] [ 3.15910804e-03 -1.02077516e-04 9.99995005e-01 7.30514888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.10, Z:0.73 [[-6.82882952e-01 7.30523146e-01 2.60891342e-03 2.11616619e+02] [-7.30518453e-01 -6.82887926e-01 2.62113170e-03 1.33102159e+02] [ 3.69639285e-03 -1.15933247e-04 9.99993162e-01 7.30315795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.10, Z:0.73 [[-6.82607955e-01 7.30780895e-01 2.37962290e-03 2.11620554e+02] [-7.30776987e-01 -6.82612095e-01 2.39233467e-03 1.33102677e+02] [ 3.37263185e-03 -1.05946973e-04 9.99994307e-01 7.30271751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.11, Z:0.73 [[-6.81876738e-01 7.31464861e-01 1.80890865e-03 2.11629698e+02] [-7.31462602e-01 -6.81879132e-01 1.81974782e-03 1.33109509e+02] [ 2.56453865e-03 -8.23053183e-05 9.99996708e-01 7.30449753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.10, Z:0.73 [[-6.80376875e-01 7.32862110e-01 6.60740788e-04 2.11623005e+02] [-7.32861809e-01 -6.80377195e-01 6.65088992e-04 1.33099863e+02] [ 9.36971486e-04 -3.17205186e-05 9.99999561e-01 7.29830329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.10, Z:0.73 [[-6.80269806e-01 7.32961399e-01 7.60784520e-04 2.11620683e+02] [-7.32960999e-01 -6.80270231e-01 7.66309046e-04 1.33095778e+02] [ 1.07921401e-03 -3.63284755e-05 9.99999417e-01 7.29458309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.10, Z:0.73 [[-6.80623060e-01 7.32633024e-01 1.05034427e-03 2.11626515e+02] [-7.32632260e-01 -6.80623868e-01 1.05870156e-03 1.33099281e+02] [ 1.49052911e-03 -4.89394016e-05 9.99998888e-01 7.29302989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.12, Z:0.73 [[-6.81476844e-01 7.31838409e-01 1.36140662e-03 2.11650045e+02] [-7.31837124e-01 -6.81478201e-01 1.37316230e-03 1.33120772e+02] [ 1.93270184e-03 -6.05495965e-05 9.99998131e-01 7.29334010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.10, Z:0.73 [[-6.85053581e-01 7.28489569e-01 2.13039372e-03 2.11628572e+02] [-7.28486400e-01 -6.85056889e-01 2.15024396e-03 1.33095338e+02] [ 3.02587119e-03 -7.89305243e-05 9.99995419e-01 7.29448907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.08, Z:0.73 [[-6.87325321e-01 7.26344843e-01 2.65955611e-03 2.11610217e+02] [-7.26339881e-01 -6.87330461e-01 2.68615525e-03 1.33075396e+02] [ 3.77906894e-03 -8.54791513e-05 9.99992856e-01 7.29104317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.07, Z:0.73 [[-6.89472133e-01 7.24305390e-01 3.14316862e-03 2.11608056e+02] [-7.24298429e-01 -6.89479292e-01 3.17677260e-03 1.33071920e+02] [ 4.46810319e-03 -8.62959098e-05 9.99990014e-01 7.28790281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.07, Z:0.73 [[-6.91319307e-01 7.22542584e-01 3.13547522e-03 2.11612526e+02] [-7.22535628e-01 -6.91326413e-01 3.17115059e-03 1.33074515e+02] [ 4.45892818e-03 -7.32149306e-05 9.99990056e-01 7.28492706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.08, Z:0.73 [[-6.91073997e-01 7.22777217e-01 3.13439854e-03 2.11614271e+02] [-7.22770260e-01 -6.91081102e-01 3.17221479e-03 1.33076386e+02] [ 4.45892817e-03 -7.32148901e-05 9.99990056e-01 7.28492297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.111400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.61, Y:133.07, Z:0.73 [[-6.92064955e-01 7.21829403e-01 2.90022580e-03 2.11612949e+02] [-7.21823429e-01 -6.92071029e-01 2.93720820e-03 1.33072705e+02] [ 4.12732550e-03 -6.07120708e-05 9.99991481e-01 7.28148863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.07, Z:0.73 [[-6.93093994e-01 7.20844039e-01 2.14196446e-03 2.11612282e+02] [-7.20840771e-01 -6.93097302e-01 2.17073805e-03 1.33070547e+02] [ 3.04935338e-03 -3.94898078e-05 9.99995350e-01 7.29006546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.08, Z:0.73 [[-6.92856116e-01 7.21072592e-01 2.17254808e-03 2.11622986e+02] [-7.21069227e-01 -6.92859521e-01 2.20323327e-03 1.33082203e+02] [ 3.09396175e-03 -4.00339181e-05 9.99995213e-01 7.28739153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.201400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.62, Y:133.08, Z:0.73 [[-6.92600744e-01 7.21315554e-01 2.84264853e-03 2.11623761e+02] [-7.21309788e-01 -6.92606576e-01 2.88477781e-03 1.33084529e+02] [ 4.04967217e-03 -5.24309531e-05 9.99991799e-01 7.28435777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.08, Z:0.73 [[-6.92702326e-01 7.21215464e-01 3.42669937e-03 2.11619462e+02] [-7.21207071e-01 -6.92710799e-01 3.47986490e-03 1.33081876e+02] [ 4.88344404e-03 -6.08493074e-05 9.99988074e-01 7.28885776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.08, Z:0.73 [[-6.94277627e-01 7.19701250e-01 2.94734109e-03 2.11609758e+02] [-7.19695019e-01 -6.94283882e-01 2.99510678e-03 1.33075407e+02] [ 4.20187351e-03 -4.17510732e-05 9.99991171e-01 7.29453128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.07, Z:0.73 [[-6.95873552e-01 7.18161999e-01 1.82847326e-03 2.11601185e+02] [-7.18159592e-01 -6.95875954e-01 1.85935865e-03 1.33068869e+02] [ 2.60771130e-03 -1.92570986e-05 9.99996600e-01 7.29722755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.07, Z:0.73 [[-6.97912279e-01 7.16182709e-01 8.82105072e-04 2.11599607e+02] [-7.16182146e-01 -6.97912837e-01 8.97586209e-04 1.33069062e+02] [ 1.25846818e-03 -5.31146703e-06 9.99999208e-01 7.30198147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.06, Z:0.73 [[-7.03265116e-01 7.10927479e-01 5.44219007e-04 2.11589558e+02] [-7.10927263e-01 -7.03265327e-01 5.54125793e-04 1.33061821e+02] [ 7.76673611e-04 2.79721115e-06 9.99999698e-01 7.30376555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.57, Y:133.04, Z:0.73 [[-7.05601813e-01 7.08608026e-01 8.64949749e-04 2.11568400e+02] [-7.08607477e-01 -7.05602343e-01 8.81366572e-04 1.33042396e+02] [ 1.23485400e-03 8.98399060e-06 9.99999238e-01 7.30080522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.05, Z:0.73 [[-7.07908375e-01 7.06304034e-01 5.86917929e-04 2.11570755e+02] [-7.06303780e-01 -7.07908618e-01 5.98458928e-04 1.33048395e+02] [ 8.38178215e-04 9.11173578e-06 9.99999649e-01 7.29972991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.04, Z:0.73 [[-7.09883423e-01 7.04319153e-01 2.36143426e-04 2.11561148e+02] [-7.04319112e-01 -7.09883463e-01 2.40910024e-04 1.33042972e+02] [ 3.37311857e-04 4.69770486e-06 9.99999943e-01 7.30123064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.04, Z:0.73 [[-7.13566747e-01 7.00587248e-01 -7.65988589e-05 2.11546519e+02] [-7.00587244e-01 -7.13566751e-01 -7.83132032e-05 1.33036959e+02] [-1.09523630e-04 -2.21751413e-06 9.99999994e-01 7.30109172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.03, Z:0.73 [[-7.14918377e-01 6.99207919e-01 -1.75260101e-05 2.11538827e+02] [-6.99207919e-01 -7.14918377e-01 -1.79972881e-05 1.33033117e+02] [-2.51135129e-05 -6.12266944e-07 1.00000000e+00 7.29562252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.531400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.47, Y:132.97, Z:0.73 [[-7.15871944e-01 6.98224636e-01 3.11719706e-03 2.11465469e+02] [-6.98229145e-01 -7.15874124e-01 -5.47186295e-04 1.32965438e+02] [ 1.84946176e-03 -2.56823315e-03 9.99994992e-01 7.30845871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.561400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.54, Y:133.04, Z:0.73 [[-7.17057699e-01 6.97009563e-01 -2.43440544e-03 2.11544535e+02] [-6.97013250e-01 -7.17057187e-01 1.23275108e-03 1.33043930e+02] [-8.86368623e-04 2.58076650e-03 9.99996277e-01 7.29122295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.591400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.54, Y:133.05, Z:0.73 [[-7.18833436e-01 6.95181662e-01 -9.73519677e-04 2.11541731e+02] [-6.95180949e-01 -7.18834094e-01 -9.96738130e-04 1.33051425e+02] [-1.39271320e-03 -3.97163622e-05 9.99999029e-01 7.28801554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.621400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:211.54, Y:133.06, Z:0.73 [[-7.19504474e-01 6.94487557e-01 -5.87275837e-04 2.11543610e+02] [-6.94487297e-01 -7.19504713e-01 -6.01757913e-04 1.33057106e+02] [-8.40461116e-04 -2.51119022e-05 9.99999647e-01 7.28389555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.06, Z:0.73 [[-7.20336148e-01 6.93625015e-01 4.14327854e-04 2.11544100e+02] [-6.93624886e-01 -7.20336267e-01 4.24700718e-04 1.33061843e+02] [ 5.93038422e-04 1.85391687e-05 9.99999824e-01 7.28779105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.681400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.55, Y:133.08, Z:0.73 [[-7.21588978e-01 6.92318258e-01 2.18533671e-03 2.11550578e+02] [-6.92314636e-01 -7.21592280e-01 2.24206347e-03 1.33075685e+02] [ 3.12914358e-03 1.04907700e-04 9.99995099e-01 7.27819531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.711400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:211.54, Y:133.07, Z:0.73 [[-7.21664971e-01 6.92236704e-01 2.83115008e-03 2.11537158e+02] [-6.92230615e-01 -7.21670511e-01 2.90678413e-03 1.33065413e+02] [ 4.05534019e-03 1.37915523e-04 9.99991768e-01 7.27828389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.08, Z:0.73 [[-7.21424385e-01 6.92487455e-01 2.82524092e-03 2.11552466e+02] [-6.92481384e-01 -7.21429904e-01 2.90282972e-03 1.33084936e+02] [ 4.04838645e-03 1.37745395e-04 9.99991796e-01 7.27792344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.08, Z:0.73 [[-7.20612484e-01 6.93331920e-01 2.91483511e-03 2.11543398e+02] [-6.93325456e-01 -7.20618366e-01 2.99706138e-03 1.33079423e+02] [ 4.17844203e-03 1.38790467e-04 9.99991261e-01 7.27566444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.54, Y:133.09, Z:0.73 [[-7.19236190e-01 6.94761677e-01 2.34855545e-03 2.11544681e+02] [-6.94757483e-01 -7.19240016e-01 2.41654699e-03 1.33088464e+02] [ 3.36809930e-03 1.06391576e-04 9.99994322e-01 7.27412308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.09, Z:0.73 [[-7.19393165e-01 6.94600292e-01 1.97700011e-03 2.11537230e+02] [-6.94597314e-01 -7.19395876e-01 2.03570412e-03 1.33085054e+02] [ 2.83624640e-03 9.12526666e-05 9.99995974e-01 7.27649480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.10, Z:0.73 [[-7.20057826e-01 6.93909908e-01 2.40135053e-03 2.11549496e+02] [-6.93905506e-01 -7.20061821e-01 2.47447323e-03 1.33101581e+02] [ 3.44618232e-03 1.15453460e-04 9.99994055e-01 7.28403649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.10, Z:0.73 [[-7.21362168e-01 6.92550788e-01 3.16687370e-03 2.11549004e+02] [-6.92543107e-01 -7.21369101e-01 3.26569600e-03 1.33104324e+02] [ 4.54614517e-03 1.62552994e-04 9.99989653e-01 7.28641162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.12, Z:0.73 [[-7.24411932e-01 6.89348879e-01 5.04734318e-03 2.11564387e+02] [-6.89329263e-01 -7.24429456e-01 5.20863721e-03 1.33122535e+02] [ 7.24701230e-03 2.93917588e-04 9.99973697e-01 7.27310648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.12, Z:0.73 [[-7.25710862e-01 6.87980863e-01 5.10652061e-03 2.11561327e+02] [-6.87960723e-01 -7.25728760e-01 5.27347221e-03 1.33120154e+02] [ 7.33399683e-03 3.13930454e-04 9.99973057e-01 7.26696249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.13, Z:0.73 [[-7.26790261e-01 6.86844016e-01 4.60596566e-03 2.11571401e+02] [-6.86827586e-01 -7.26804795e-01 4.75993528e-03 1.33131434e+02] [ 6.61697099e-03 2.95970332e-04 9.99978064e-01 7.26868024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.14, Z:0.73 [[-7.27714282e-01 6.85870174e-01 3.74539578e-03 2.11578022e+02] [-6.85859282e-01 -7.27723878e-01 3.87332250e-03 1.33140292e+02] [ 5.38221032e-03 2.49857649e-04 9.99985485e-01 7.27195372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.14, Z:0.73 [[-7.28254365e-01 6.85295648e-01 3.93122304e-03 2.11569430e+02] [-6.85283624e-01 -7.28264926e-01 4.06837972e-03 1.33139425e+02] [ 5.65101477e-03 2.68812515e-04 9.99983997e-01 7.28305622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.15, Z:0.73 [[-7.27674770e-01 6.85907678e-01 4.48179853e-03 2.11578850e+02] [-6.85892040e-01 -7.27688509e-01 4.64145626e-03 1.33152336e+02] [ 6.44496377e-03 3.03440678e-04 9.99979185e-01 7.28278990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.16, Z:0.73 [[-7.27026201e-01 6.86594221e-01 4.61285565e-03 2.11583637e+02] [-6.86577647e-01 -7.27040770e-01 4.78054153e-03 1.33158985e+02] [ 6.63602631e-03 3.08495369e-04 9.99977934e-01 7.27819673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.15, Z:0.73 [[-7.26665702e-01 6.86979177e-01 4.07040393e-03 2.11572908e+02] [-6.86966261e-01 -7.26677051e-01 4.22133691e-03 1.33147658e+02] [ 5.85783968e-03 2.71270577e-04 9.99982806e-01 7.27192412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.17, Z:0.73 [[-7.26790195e-01 6.86855659e-01 2.30576675e-03 2.11591467e+02] [-6.86851509e-01 -7.26793835e-01 2.39291220e-03 1.33167063e+02] [ 3.31940234e-03 1.55425752e-04 9.99994479e-01 7.27661357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.16, Z:0.73 [[-7.26606550e-01 6.87050277e-01 2.19984361e-03 2.11586835e+02] [-6.87046495e-01 -7.26609864e-01 2.28458094e-03 1.33164265e+02] [ 3.16805004e-03 1.48596634e-04 9.99994971e-01 7.28657126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.18, Z:0.73 [[-7.26506298e-01 6.87154981e-01 2.57496049e-03 2.11594807e+02] [-6.87149792e-01 -7.26510841e-01 2.67603262e-03 1.33175775e+02] [ 3.70958585e-03 1.74770987e-04 9.99993104e-01 7.29221279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.17, Z:0.73 [[-7.26085063e-01 6.87596317e-01 3.43300171e-03 2.11585573e+02] [-6.87587087e-01 -7.26093142e-01 3.57028038e-03 1.33168947e+02] [ 4.94759064e-03 2.31839611e-04 9.99987734e-01 7.29587951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.17, Z:0.73 [[-7.26459569e-01 6.87202654e-01 3.00116050e-03 2.11583991e+02] [-6.87195587e-01 -7.26465739e-01 3.12335614e-03 1.33171349e+02] [ 4.32661891e-03 2.06607703e-04 9.99990619e-01 7.30218692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.18, Z:0.73 [[-7.27373539e-01 6.86239133e-01 1.89390075e-03 2.11592273e+02] [-6.86236312e-01 -7.27375992e-01 1.97236463e-03 1.33180831e+02] [ 2.73109173e-03 1.34982377e-04 9.99996261e-01 7.30895675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.20, Z:0.73 [[-7.29021873e-01 6.84489397e-01 1.17218829e-03 2.11609139e+02] [-6.84488312e-01 -7.29022810e-01 1.22156699e-03 1.33199796e+02] [ 1.69070166e-03 8.81998735e-05 9.99998567e-01 7.31781728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.22, Z:0.73 [[-7.33247070e-01 6.79960331e-01 1.63798201e-03 2.11625083e+02] [-6.79958199e-01 -7.33248887e-01 1.70818635e-03 1.33217596e+02] [ 2.36254744e-03 1.38763338e-04 9.99997200e-01 7.31056783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.22, Z:0.73 [[-7.35093519e-01 6.77960983e-01 2.53450864e-03 2.11626849e+02] [-6.77955861e-01 -7.35097854e-01 2.64498195e-03 1.33219563e+02] [ 3.65630642e-03 2.26024099e-04 9.99993290e-01 7.29858922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.22, Z:0.73 [[-7.36626381e-01 6.76290462e-01 3.57558772e-03 2.11625394e+02] [-6.76280236e-01 -7.36634984e-01 3.73401318e-03 1.33218418e+02] [ 5.15918051e-03 3.32473310e-04 9.99986636e-01 7.29003476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.24, Z:0.73 [[-7.37968891e-01 6.74823320e-01 3.92460016e-03 2.11646027e+02] [-6.74810963e-01 -7.37979230e-01 4.10126664e-03 1.33240685e+02] [ 5.66390377e-03 3.78243981e-04 9.99983888e-01 7.28068147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.26, Z:0.73 [[-7.40431543e-01 6.72119678e-01 4.03354898e-03 2.11660825e+02] [-6.72106569e-01 -7.40442414e-01 4.21792735e-03 1.33258437e+02] [ 5.82156272e-03 4.12111689e-04 9.99982970e-01 7.27936821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.25, Z:0.73 [[-7.41298136e-01 6.71166024e-01 3.63881690e-03 2.11651130e+02] [-6.71155331e-01 -7.41306970e-01 3.80766982e-03 1.33249844e+02] [ 5.25305895e-03 3.80407180e-04 9.99986130e-01 7.27994531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.26, Z:0.73 [[-7.42097923e-01 6.70283182e-01 3.33587599e-03 2.11657542e+02] [-6.70274175e-01 -7.42105335e-01 3.49298849e-03 1.33257275e+02] [ 4.81686281e-03 3.56187977e-04 9.99988335e-01 7.27902976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.26, Z:0.73 [[-7.42855068e-01 6.69445601e-01 2.98903373e-03 2.11656623e+02] [-6.69438354e-01 -7.42861011e-01 3.13188343e-03 1.33256290e+02] [ 4.31706220e-03 3.25561660e-04 9.99990628e-01 7.27548345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.28, Z:0.73 [[-7.43942639e-01 6.68236106e-01 3.13960337e-03 2.11676317e+02] [-6.68228090e-01 -7.43949181e-01 3.29182634e-03 1.33277667e+02] [ 4.53542257e-03 3.50958814e-04 9.99989653e-01 7.27216577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.26, Z:0.73 [[-7.44020608e-01 6.68147864e-01 3.43015210e-03 2.11660991e+02] [-6.68138284e-01 -7.44028415e-01 3.59884227e-03 1.33263678e+02] [ 4.95668940e-03 3.85796877e-04 9.99987641e-01 7.26759974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.27, Z:0.73 [[-7.43737145e-01 6.68461946e-01 3.69954802e-03 2.11665747e+02] [-6.68450791e-01 -7.43746230e-01 3.88406704e-03 1.33271557e+02] [ 5.34787590e-03 4.15759137e-04 9.99985614e-01 7.26566936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.28, Z:0.73 [[-7.43095124e-01 6.69174880e-01 3.82314012e-03 2.11668219e+02] [-6.69162962e-01 -7.43104837e-01 4.01648023e-03 1.33277093e+02] [ 5.52872159e-03 4.26323112e-04 9.99984626e-01 7.26569411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.27, Z:0.73 [[-7.40662369e-01 6.71866630e-01 3.80615680e-03 2.11655767e+02] [-6.71854838e-01 -7.40672037e-01 4.00129182e-03 1.33270732e+02] [ 5.50744836e-03 4.06421413e-04 9.99984751e-01 7.26089456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.28, Z:0.73 [[-7.39192399e-01 6.73484478e-01 3.64078985e-03 2.11658879e+02] [-6.73473694e-01 -7.39201268e-01 3.82999189e-03 1.33279136e+02] [ 5.27071656e-03 3.79124704e-04 9.99986038e-01 7.25571325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.28, Z:0.73 [[-7.37127213e-01 6.75744306e-01 3.62002746e-03 2.11650473e+02] [-6.75733659e-01 -7.37136013e-01 3.81068698e-03 1.33281122e+02] [ 5.24350264e-03 3.62786679e-04 9.99986187e-01 7.25769132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.28, Z:0.73 [[-7.36662353e-01 6.76248290e-01 4.10223914e-03 2.11646448e+02] [-6.76234607e-01 -7.36673661e-01 4.32119474e-03 1.33280976e+02] [ 5.94421208e-03 4.09185412e-04 9.99982249e-01 7.26102910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.29, Z:0.73 [[-7.36948830e-01 6.75932534e-01 4.65099748e-03 2.11655059e+02] [-6.75914917e-01 -7.36963357e-01 4.90252353e-03 1.33293982e+02] [ 6.74138987e-03 4.69230408e-04 9.99977167e-01 7.26030484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.31, Z:0.73 [[-7.37753777e-01 6.75052055e-01 4.90789525e-03 2.11664075e+02] [-6.75032395e-01 -7.37769928e-01 5.17674270e-03 1.33307874e+02] [ 7.11546832e-03 5.06173196e-04 9.99974557e-01 7.25961828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.32, Z:0.73 [[-7.40256374e-01 6.72313099e-01 3.94936014e-03 2.11670452e+02] [-6.72300324e-01 -7.40266785e-01 4.16675829e-03 1.33324342e+02] [ 5.72494631e-03 4.29313282e-04 9.99983520e-01 7.25813232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.33, Z:0.73 [[-7.41691567e-01 6.70732088e-01 3.47644107e-03 2.11673848e+02] [-6.70722167e-01 -7.41699612e-01 3.66869733e-03 1.33332512e+02] [ 5.03918801e-03 3.89315784e-04 9.99987227e-01 7.26053464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.33, Z:0.73 [[-7.41610034e-01 6.70822238e-01 3.47599509e-03 2.11675596e+02] [-6.70812316e-01 -7.41618078e-01 3.66911989e-03 1.33334306e+02] [ 5.03918801e-03 3.89315809e-04 9.99987227e-01 7.26053031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.35, Z:0.73 [[-7.43114154e-01 6.69156240e-01 3.35851477e-03 2.11685078e+02] [-6.69146959e-01 -7.43121643e-01 3.54569423e-03 1.33347351e+02] [ 4.86840844e-03 3.87515624e-04 9.99988074e-01 7.25809074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.36, Z:0.73 [[-7.44419928e-01 6.67702193e-01 3.57109045e-03 2.11690545e+02] [-6.67691678e-01 -7.44428373e-01 3.77101681e-03 1.33355250e+02] [ 5.17633725e-03 4.22832690e-04 9.99986513e-01 7.25411939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.36, Z:0.72 [[-7.45832413e-01 6.66123709e-01 3.63551101e-03 2.11691352e+02] [-6.66112789e-01 -7.45841142e-01 3.83966894e-03 1.33362500e+02] [ 5.26920820e-03 4.42089169e-04 9.99986020e-01 7.23777622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.38, Z:0.72 [[-7.46212071e-01 6.65698925e-01 3.53346752e-03 2.11699628e+02] [-6.65688617e-01 -7.46220313e-01 3.72961923e-03 1.33375329e+02] [ 5.11954876e-03 4.30897787e-04 9.99986802e-01 7.23712424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.36, Z:0.72 [[-7.45906147e-01 6.66041455e-01 3.57779979e-03 2.11685486e+02] [-6.66030878e-01 -7.45914600e-01 3.77866036e-03 1.33363882e+02] [ 5.18547755e-03 4.35600853e-04 9.99986460e-01 7.23501432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.37, Z:0.72 [[-7.45514148e-01 6.66476451e-01 4.21853991e-03 2.11690737e+02] [-6.66461770e-01 -7.45525910e-01 4.45270239e-03 1.33373688e+02] [ 6.11265209e-03 5.08057051e-04 9.99981189e-01 7.23081732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.38, Z:0.72 [[-7.45166856e-01 6.66867264e-01 3.79584025e-03 2.11694166e+02] [-6.66855385e-01 -7.45176386e-01 4.00616028e-03 1.33379976e+02] [ 5.50014766e-03 4.53981347e-04 9.99984771e-01 7.22953797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.38, Z:0.72 [[-7.44660795e-01 6.67434227e-01 3.44277969e-03 2.11692452e+02] [-6.67424458e-01 -7.44668642e-01 3.63408308e-03 1.33381590e+02] [ 4.98924150e-03 4.08363827e-04 9.99987470e-01 7.23500962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.37, Z:0.72 [[-7.44307761e-01 6.67830532e-01 2.88732597e-03 2.11679714e+02] [-6.67823662e-01 -7.44313283e-01 3.04847860e-03 1.33371080e+02] [ 4.18494215e-03 3.40781682e-04 9.99991185e-01 7.23818508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.38, Z:0.72 [[-7.44583318e-01 6.67522649e-01 3.03228075e-03 2.11685659e+02] [-6.67515077e-01 -7.44589407e-01 3.19959109e-03 1.33378052e+02] [ 4.39360365e-03 3.58269030e-04 9.99990284e-01 7.24857507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.38, Z:0.72 [[-7.45115942e-01 6.66925237e-01 3.60008604e-03 2.11685857e+02] [-6.66914557e-01 -7.45124516e-01 3.79863055e-03 1.33377382e+02] [ 5.21591495e-03 4.29470394e-04 9.99986305e-01 7.24708441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.37, Z:0.72 [[-7.45797330e-01 6.66161152e-01 3.95751334e-03 2.11683657e+02] [-6.66148232e-01 -7.45807677e-01 4.17641442e-03 1.33374785e+02] [ 5.73370887e-03 4.78468208e-04 9.99983448e-01 7.24406316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.38, Z:0.72 [[-7.46750447e-01 6.65092139e-01 4.02697501e-03 2.11688775e+02] [-6.65078762e-01 -7.46761142e-01 4.24711369e-03 1.33379796e+02] [ 5.83191039e-03 4.93278493e-04 9.99982873e-01 7.24771334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.38, Z:0.72 [[-7.48051135e-01 6.63632069e-01 3.46059016e-03 2.11691344e+02] [-6.63622174e-01 -7.48059014e-01 3.64997720e-03 1.33379887e+02] [ 5.01096759e-03 4.33845224e-04 9.99987351e-01 7.24802668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.38, Z:0.73 [[-7.48476693e-01 6.63153695e-01 3.13332188e-03 2.11698620e+02] [-6.63145587e-01 -7.48483147e-01 3.30279776e-03 1.33383905e+02] [ 4.53550116e-03 3.94218561e-04 9.99989637e-01 7.25185258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.39, Z:0.73 [[-7.48390102e-01 6.63252447e-01 2.90612967e-03 2.11704871e+02] [-6.63245472e-01 -7.48395656e-01 3.06370508e-03 1.33386273e+02] [ 4.20694471e-03 3.65369211e-04 9.99991084e-01 7.25175841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.37, Z:0.73 [[-7.46645894e-01 6.65214653e-01 3.06162095e-03 2.11690973e+02] [-6.65206919e-01 -7.46652077e-01 3.22961684e-03 1.33366568e+02] [ 4.43435409e-03 3.74768715e-04 9.99990098e-01 7.25150062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.37, Z:0.73 [[-7.45115269e-01 6.66928243e-01 3.15508877e-03 2.11692313e+02] [-6.66920040e-01 -7.45121854e-01 3.32906225e-03 1.33367840e+02] [ 4.57117123e-03 3.76343187e-04 9.99989481e-01 7.25271785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.37, Z:0.73 [[-7.43311729e-01 6.68938810e-01 2.92256477e-03 2.11690284e+02] [-6.68931784e-01 -7.43317398e-01 3.08445362e-03 1.33365935e+02] [ 4.23570397e-03 3.37714088e-04 9.99990972e-01 7.25837736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.36, Z:0.73 [[-7.41383801e-01 6.71075712e-01 2.72921662e-03 2.11683038e+02] [-6.71069596e-01 -7.41388762e-01 2.88108778e-03 1.33358398e+02] [ 3.95683857e-03 3.04497513e-04 9.99992125e-01 7.26423697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.35, Z:0.73 [[-7.37799728e-01 6.75015005e-01 2.51095150e-03 2.11674914e+02] [-6.75009849e-01 -7.37803954e-01 2.65131881e-03 1.33349130e+02] [ 3.64226993e-03 2.61225300e-04 9.99993333e-01 7.27228995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.34, Z:0.73 [[-7.36519503e-01 6.76413472e-01 1.95859581e-03 2.11669704e+02] [-6.76410338e-01 -7.36522081e-01 2.06858488e-03 1.33344260e+02] [ 2.84176774e-03 1.98738656e-04 9.99995942e-01 7.27496981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.35, Z:0.73 [[-7.35707121e-01 6.77298528e-01 1.31736334e-03 2.11672239e+02] [-6.77297111e-01 -7.35708289e-01 1.39167414e-03 1.33348834e+02] [ 1.91177398e-03 1.31618187e-04 9.99998164e-01 7.27370736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.691400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.68, Y:133.36, Z:0.73 [[-7.35294950e-01 6.77746261e-01 1.15886064e-03 2.11675438e+02] [-6.77745164e-01 -7.35295854e-01 1.22434731e-03 1.33356482e+02] [ 1.68190224e-03 1.14844199e-04 9.99998579e-01 7.27703402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.36, Z:0.73 [[-7.35318119e-01 6.77720816e-01 1.32645245e-03 2.11672967e+02] [-6.77719379e-01 -7.35319303e-01 1.40173337e-03 1.33355732e+02] [ 1.92534998e-03 1.31757415e-04 9.99998138e-01 7.27671805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.36, Z:0.73 [[-7.35563787e-01 6.77452859e-01 1.88130094e-03 2.11670273e+02] [-6.77449967e-01 -7.35566168e-01 1.98841977e-03 1.33355092e+02] [ 2.73088198e-03 1.88122312e-04 9.99996253e-01 7.27833627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.67, Y:133.36, Z:0.73 [[-7.35863515e-01 6.77125072e-01 2.55407315e-03 2.11670795e+02] [-6.77119741e-01 -7.35867903e-01 2.69931635e-03 1.33358060e+02] [ 3.70723523e-03 2.56915068e-04 9.99993095e-01 7.27768628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.36, Z:0.73 [[-7.36417047e-01 6.76522203e-01 2.76441997e-03 2.11665865e+02] [-6.76515952e-01 -7.36422182e-01 2.92184246e-03 1.33361112e+02] [ 4.01247148e-03 2.81520388e-04 9.99991910e-01 7.27400624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.38, Z:0.73 [[-7.36760710e-01 6.76147902e-01 2.76954220e-03 2.11678985e+02] [-6.76141633e-01 -7.36765861e-01 2.92544473e-03 1.33378317e+02] [ 4.01853746e-03 2.82749956e-04 9.99991886e-01 7.27579580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.38, Z:0.73 [[-7.37114603e-01 6.75762660e-01 2.62478230e-03 2.11678912e+02] [-6.75757033e-01 -7.37119228e-01 2.77075222e-03 1.33380292e+02] [ 3.80714839e-03 2.68646825e-04 9.99992717e-01 7.27413294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.37, Z:0.73 [[-7.37906092e-01 6.74899236e-01 2.37062423e-03 2.11663494e+02] [-6.74894640e-01 -7.37909859e-01 2.50296422e-03 1.33366175e+02] [ 3.43855563e-03 2.47030956e-04 9.99994058e-01 7.27609952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.38, Z:0.73 [[-7.38244146e-01 6.74528531e-01 2.61567572e-03 2.11674300e+02] [-6.74522940e-01 -7.38248729e-01 2.76001732e-03 1.33378599e+02] [ 3.79272970e-03 2.73233354e-04 9.99992770e-01 7.27165940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.38, Z:0.73 [[-7.38259264e-01 6.74509676e-01 3.15543532e-03 2.11674092e+02] [-6.74501548e-01 -7.38265934e-01 3.32739740e-03 1.33379347e+02] [ 4.57391215e-03 3.28135948e-04 9.99989486e-01 7.26895870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.38, Z:0.73 [[-7.37977944e-01 6.74816379e-01 3.37773075e-03 2.11675106e+02] [-6.74807081e-01 -7.37985592e-01 3.55950892e-03 1.33381730e+02] [ 4.89473154e-03 3.47522449e-04 9.99987960e-01 7.26393512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.37, Z:0.73 [[-7.36077298e-01 6.76889190e-01 3.35203051e-03 2.11657021e+02] [-6.76880050e-01 -7.36084855e-01 3.53317186e-03 1.33366947e+02] [ 4.85894473e-03 3.31765008e-04 9.99988140e-01 7.26982201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.37, Z:0.73 [[-7.35519002e-01 6.77496119e-01 3.28725834e-03 2.11658879e+02] [-6.77487345e-01 -7.35526279e-01 3.46275331e-03 1.33370729e+02] [ 4.76386682e-03 3.19844937e-04 9.99988602e-01 7.27333755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.36, Z:0.73 [[-7.35224956e-01 6.77816801e-01 2.94091352e-03 2.11650698e+02] [-6.77809789e-01 -7.35230783e-01 3.09615216e-03 1.33363493e+02] [ 4.26087410e-03 2.82988368e-04 9.99990882e-01 7.27484171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.111400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:211.66, Y:133.38, Z:0.73 [[-7.35428160e-01 6.77599107e-01 2.20724151e-03 2.11662988e+02] [-6.77595161e-01 -7.35431442e-01 2.32227112e-03 1.33378236e+02] [ 3.19684364e-03 2.12247409e-04 9.99994868e-01 7.28011055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.37, Z:0.73 [[-7.36134343e-01 6.76833578e-01 1.59247698e-03 2.11657268e+02] [-6.76831525e-01 -7.36136050e-01 1.67440801e-03 1.33373159e+02] [ 2.30557528e-03 1.54750616e-04 9.99997330e-01 7.28294234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.36, Z:0.73 [[-7.36508647e-01 6.76425928e-01 1.72518867e-03 2.11644130e+02] [-6.76423517e-01 -7.36510648e-01 1.81413431e-03 1.33359382e+02] [ 2.49774731e-03 1.69167420e-04 9.99996866e-01 7.28807381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.38, Z:0.73 [[-7.37395026e-01 6.75458586e-01 2.06748753e-03 2.11661286e+02] [-6.75455123e-01 -7.37397896e-01 2.17277394e-03 1.33378008e+02] [ 2.99217977e-03 2.05697654e-04 9.99995502e-01 7.28998657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.37, Z:0.73 [[-7.38461272e-01 6.74287467e-01 3.37059423e-03 2.11649075e+02] [-6.74278261e-01 -7.38468886e-01 3.53989775e-03 1.33367991e+02] [ 4.87598766e-03 3.41358980e-04 9.99988054e-01 7.29444189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.38, Z:0.73 [[-7.38949599e-01 6.73750314e-01 3.74213720e-03 2.11663629e+02] [-6.73738974e-01 -7.38958977e-01 3.92756033e-03 1.33384788e+02] [ 5.41148088e-03 3.81045459e-04 9.99985285e-01 7.29380514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.38, Z:0.73 [[-7.39323825e-01 6.73341215e-01 3.44810374e-03 2.11652979e+02] [-6.73331595e-01 -7.39331782e-01 3.61663969e-03 1.33375245e+02] [ 4.98452524e-03 3.52150699e-04 9.99987515e-01 7.29053587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.37, Z:0.73 [[-7.39601390e-01 6.73038837e-01 2.91684178e-03 2.11643397e+02] [-6.73031958e-01 -7.39607082e-01 3.05744601e-03 1.33366521e+02] [ 4.21509674e-03 2.98163585e-04 9.99991072e-01 7.29029821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.38, Z:0.73 [[-7.40128150e-01 6.72462752e-01 2.04185452e-03 2.11648751e+02] [-6.72459383e-01 -7.40130937e-01 2.13892342e-03 1.33378571e+02] [ 2.94958603e-03 2.10013201e-04 9.99995628e-01 7.29589625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.37, Z:0.73 [[-7.40633672e-01 6.71906197e-01 1.95611883e-03 2.11635518e+02] [-6.71903106e-01 -7.40636228e-01 2.04779315e-03 1.33369361e+02] [ 2.82469737e-03 2.02342240e-04 9.99995990e-01 7.29691057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.38, Z:0.73 [[-7.41069740e-01 6.71424663e-01 2.13585314e-03 2.11644535e+02] [-6.71420982e-01 -7.41072785e-01 2.23450283e-03 1.33382605e+02] [ 3.08312294e-03 2.21865822e-04 9.99995223e-01 7.30373675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.39, Z:0.73 [[-7.42195992e-01 6.70178736e-01 2.36049791e-03 2.11647563e+02] [-6.70174238e-01 -7.42199703e-01 2.46793746e-03 1.33391508e+02] [ 3.40592005e-03 2.49748398e-04 9.99994169e-01 7.28855988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.39, Z:0.73 [[-7.43298174e-01 6.68956567e-01 2.22166350e-03 2.11646909e+02] [-6.68952582e-01 -7.43301456e-01 2.32131198e-03 1.33393230e+02] [ 3.20422261e-03 2.39239423e-04 9.99994838e-01 7.27721855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.40, Z:0.73 [[-7.44503146e-01 6.67615616e-01 2.11049114e-03 2.11645820e+02] [-6.67612019e-01 -7.44506101e-01 2.20375808e-03 1.33395330e+02] [ 3.04253684e-03 2.31715574e-04 9.99995345e-01 7.27510620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.41, Z:0.73 [[-7.45486828e-01 6.66517327e-01 2.01069561e-03 2.11653050e+02] [-6.66514062e-01 -7.45489506e-01 2.09823140e-03 1.33406146e+02] [ 2.89746006e-03 2.24046977e-04 9.99995777e-01 7.27340030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.39, Z:0.73 [[-7.45549151e-01 6.66441527e-01 3.48633581e-03 2.11636187e+02] [-6.66431722e-01 -7.45557202e-01 3.63575972e-03 1.33394659e+02] [ 5.02228403e-03 3.87232801e-04 9.99987313e-01 7.27503545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.40, Z:0.73 [[-7.44840842e-01 6.67228293e-01 4.30408993e-03 2.11638055e+02] [-6.67213380e-01 -7.44853129e-01 4.48570298e-03 1.33400614e+02] [ 6.19890280e-03 4.69388390e-04 9.99980676e-01 7.26718029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:133.40, Z:0.73 [[-7.43631002e-01 6.68573493e-01 4.73463702e-03 2.11632509e+02] [-6.68555495e-01 -7.43645906e-01 4.93129231e-03 1.33400350e+02] [ 6.81782476e-03 5.01694249e-04 9.99976633e-01 7.26269220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.39, Z:0.73 [[-7.42157152e-01 6.70212377e-01 4.25806070e-03 2.11616119e+02] [-6.70197864e-01 -7.42169239e-01 4.43211214e-03 1.33389209e+02] [ 6.13065808e-03 4.35580539e-04 9.99981113e-01 7.26287923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.38, Z:0.73 [[-7.38815990e-01 6.73901147e-01 2.85959736e-03 2.11594104e+02] [-6.73894637e-01 -7.38821474e-01 2.97459954e-03 1.33377264e+02] [ 4.11731798e-03 2.70614375e-04 9.99991487e-01 7.26827045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.38, Z:0.73 [[-7.37280021e-01 6.75580621e-01 2.99923173e-03 2.11590984e+02] [-6.75573482e-01 -7.37286071e-01 3.11782940e-03 1.33379559e+02] [ 4.31763690e-03 2.72511905e-04 9.99990642e-01 7.26711130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.37, Z:0.73 [[-7.36067324e-01 6.76899833e-01 3.39277667e-03 2.11577322e+02] [-6.76890722e-01 -7.36075083e-01 3.52463817e-03 1.33371812e+02] [ 4.88316535e-03 2.97831940e-04 9.99988033e-01 7.26132407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.38, Z:0.73 [[-7.34961338e-01 6.78098645e-01 3.74962477e-03 2.11575040e+02] [-6.78087546e-01 -7.34970834e-01 3.89281881e-03 1.33384385e+02] [ 5.39558000e-03 3.18497465e-04 9.99985393e-01 7.26453288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.39, Z:0.73 [[-7.35282104e-01 6.77751010e-01 3.71420062e-03 2.11578471e+02] [-6.77740129e-01 -7.35291417e-01 3.85355574e-03 1.33394245e+02] [ 5.34277114e-03 3.16187765e-04 9.99985677e-01 7.27159937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.39, Z:0.73 [[-7.35986386e-01 6.76984532e-01 3.99787326e-03 2.11572850e+02] [-6.76971928e-01 -7.35997164e-01 4.14519900e-03 1.33392540e+02] [ 5.74865899e-03 3.44362063e-04 9.99983417e-01 7.27488664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.41, Z:0.73 [[-7.38024678e-01 6.74762256e-01 3.93354265e-03 2.11585647e+02] [-6.74750038e-01 -7.38035076e-01 4.07589606e-03 1.33413810e+02] [ 5.65335327e-03 3.53953823e-04 9.99983957e-01 7.26566783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.41, Z:0.73 [[-7.38238158e-01 6.74528679e-01 3.93483254e-03 2.11583981e+02] [-6.74516465e-01 -7.38248560e-01 4.07465083e-03 1.33411975e+02] [ 5.65335329e-03 3.53953391e-04 9.99983957e-01 7.26567219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.921400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.57, Y:133.41, Z:0.73 [[-7.39797121e-01 6.72818864e-01 3.87240823e-03 2.11573984e+02] [-6.72807025e-01 -7.39807169e-01 4.00746531e-03 1.33405848e+02] [ 5.56113363e-03 3.59327838e-04 9.99984472e-01 7.26815659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.41, Z:0.73 [[-7.41784347e-01 6.70631437e-01 3.07550313e-03 2.11578444e+02] [-6.70623960e-01 -7.41790663e-01 3.18076453e-03 1.33414247e+02] [ 4.41450019e-03 2.96935253e-04 9.99990212e-01 7.26745107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.43, Z:0.73 [[-7.44018637e-01 6.68154016e-01 2.54535106e-03 2.11592719e+02] [-6.68148886e-01 -7.44022947e-01 2.63082892e-03 1.33430827e+02] [ 3.65159850e-03 2.56712274e-04 9.99993300e-01 7.27053412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.43, Z:0.73 [[-7.48054175e-01 6.63627630e-01 3.64955295e-03 2.11590277e+02] [-6.63617043e-01 -7.48062972e-01 3.76972827e-03 1.33429193e+02] [ 5.23179127e-03 3.98055437e-04 9.99986235e-01 7.26799519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.44, Z:0.73 [[-7.50035108e-01 6.61384876e-01 4.16925473e-03 2.11600706e+02] [-6.61371040e-01 -7.50046548e-01 4.30386465e-03 1.33441800e+02] [ 5.97364611e-03 4.70625250e-04 9.99982047e-01 7.26470735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.44, Z:0.73 [[-7.51616115e-01 6.59587400e-01 4.20446389e-03 2.11601918e+02] [-6.59573318e-01 -7.51627717e-01 4.33754052e-03 1.33444396e+02] [ 6.02117867e-03 4.87013153e-04 9.99981754e-01 7.26353347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.43, Z:0.73 [[-7.53027287e-01 6.57977764e-01 3.89455142e-03 2.11587286e+02] [-6.57965673e-01 -7.53037217e-01 4.01534468e-03 1.33430359e+02] [ 5.57474968e-03 4.61182963e-04 9.99984355e-01 7.26780091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.45, Z:0.73 [[-7.54581836e-01 6.56195416e-01 3.71871478e-03 2.11610211e+02] [-6.56184384e-01 -7.54590864e-01 3.83170237e-03 1.33453328e+02] [ 5.32045372e-03 4.51170441e-04 9.99985745e-01 7.27549722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.45, Z:0.73 [[-7.54989036e-01 6.55725601e-01 3.93593503e-03 2.11606868e+02] [-6.55713250e-01 -7.54999143e-01 4.05305033e-03 1.33449780e+02] [ 5.62931644e-03 4.79163811e-04 9.99984041e-01 7.27738871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.45, Z:0.73 [[-7.55320304e-01 6.55340643e-01 4.45882431e-03 2.11603491e+02] [-6.55324803e-01 -7.55333268e-01 4.58869141e-03 1.33447233e+02] [ 6.37505432e-03 5.43953621e-04 9.99979531e-01 7.27840859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.44, Z:0.73 [[-7.54778030e-01 6.55959527e-01 5.21781116e-03 2.11596840e+02] [-6.55937875e-01 -7.54795804e-01 5.36649279e-03 1.33440587e+02] [ 7.45858404e-03 6.27950892e-04 9.99971987e-01 7.27224081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.44, Z:0.73 [[-7.54248983e-01 6.56569205e-01 5.03490215e-03 2.11596832e+02] [-6.56549081e-01 -7.54265551e-01 5.17520796e-03 1.33440019e+02] [ 7.19553542e-03 5.97734961e-04 9.99973933e-01 7.27043198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.43, Z:0.73 [[-7.53327508e-01 6.57630193e-01 4.49378595e-03 2.11589708e+02] [-6.57614199e-01 -7.53340731e-01 4.61619157e-03 1.33432848e+02] [ 6.42109894e-03 5.22326647e-04 9.99979248e-01 7.27311053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.43, Z:0.73 [[-7.52012725e-01 6.59136849e-01 3.93383701e-03 2.11584680e+02] [-6.59124627e-01 -7.52022883e-01 4.03851677e-03 1.33429547e+02] [ 5.62027067e-03 4.44127154e-04 9.99984108e-01 7.27431133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.42, Z:0.73 [[-7.50201485e-01 6.61199980e-01 3.50959736e-03 2.11574640e+02] [-6.61190285e-01 -7.50209598e-01 3.60077399e-03 1.33421806e+02] [ 5.01376531e-03 3.80794315e-04 9.99987359e-01 7.27620907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.40, Z:0.73 [[-7.46404275e-01 6.65483184e-01 3.57643238e-03 2.11552162e+02] [-6.65473176e-01 -7.46412758e-01 3.66705702e-03 1.33403780e+02] [ 5.10985953e-03 3.57087218e-04 9.99986881e-01 7.27172303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:133.41, Z:0.73 [[-7.44852788e-01 6.67217033e-01 3.96940608e-03 2.11556397e+02] [-6.67204744e-01 -7.44863267e-01 4.06743014e-03 1.33410030e+02] [ 5.67052345e-03 3.81230106e-04 9.99983850e-01 7.26765177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.40, Z:0.73 [[-7.43793744e-01 6.68395601e-01 4.26461997e-03 2.11541326e+02] [-6.68381452e-01 -7.43805864e-01 4.36718464e-03 1.33396746e+02] [ 6.09105634e-03 3.97891730e-04 9.99981370e-01 7.26275223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.39, Z:0.73 [[-7.43243813e-01 6.69006804e-01 4.30472298e-03 2.11531158e+02] [-6.68992415e-01 -7.43256174e-01 4.40546076e-03 1.33389498e+02] [ 6.14679515e-03 3.94504431e-04 9.99981030e-01 7.26202481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.40, Z:0.73 [[-7.43200673e-01 6.69062104e-01 2.94292311e-03 2.11536079e+02] [-6.69055388e-01 -7.43206451e-01 3.00991251e-03 1.33400020e+02] [ 4.20101784e-03 2.67990436e-04 9.99991140e-01 7.28050917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.41, Z:0.73 [[-7.43905594e-01 6.68281908e-01 1.93877986e-03 2.11542722e+02] [-6.68278994e-01 -7.43908099e-01 1.98169392e-03 1.33408255e+02] [ 2.76660423e-03 1.78547334e-04 9.99996157e-01 7.29201814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.40, Z:0.73 [[-7.45120998e-01 6.66927631e-01 1.49463934e-03 2.11537481e+02] [-6.66925898e-01 -7.45122483e-01 1.52678411e-03 1.33403077e+02] [ 2.13194389e-03 1.40825213e-04 9.99997718e-01 7.29677123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.40, Z:0.73 [[-7.46549083e-01 6.65327656e-01 1.89107241e-03 2.11533407e+02] [-6.65324881e-01 -7.46551456e-01 1.93051073e-03 1.33398966e+02] [ 2.69620504e-03 1.83043492e-04 9.99996349e-01 7.29092046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.41, Z:0.73 [[-7.48248343e-01 6.63408678e-01 3.65283534e-03 2.11544877e+02] [-6.63398311e-01 -7.48257171e-01 3.72661513e-03 1.33413496e+02] [ 5.20552905e-03 3.65148799e-04 9.99986385e-01 7.27000069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.41, Z:0.73 [[-7.48693940e-01 6.62902254e-01 4.24099633e-03 2.11544153e+02] [-6.62888289e-01 -7.48705830e-01 4.32396160e-03 1.33414546e+02] [ 6.04162257e-03 4.26017048e-04 9.99981659e-01 7.26964991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.40, Z:0.73 [[-7.48835040e-01 6.62741989e-01 4.37479402e-03 2.11533554e+02] [-6.62727143e-01 -7.48847691e-01 4.45760233e-03 1.33404400e+02] [ 6.23029463e-03 4.38714078e-04 9.99980495e-01 7.27628296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.39, Z:0.73 [[-7.48513760e-01 6.63109306e-01 3.63307851e-03 2.11523565e+02] [-6.63099084e-01 -7.48522490e-01 3.69954351e-03 1.33394672e+02] [ 5.17264270e-03 3.60068191e-04 9.99986557e-01 7.28724654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.40, Z:0.73 [[-7.48436751e-01 6.63196434e-01 3.59436532e-03 2.11529897e+02] [-6.63186441e-01 -7.48445298e-01 3.65783264e-03 1.33402414e+02] [ 5.11604739e-03 3.53922027e-04 9.99986850e-01 7.28923379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:133.41, Z:0.73 [[-7.48613594e-01 6.62994307e-01 4.02945774e-03 2.11535881e+02] [-6.62981760e-01 -7.48624333e-01 4.09805159e-03 1.33411305e+02] [ 5.73353499e-03 3.96400149e-04 9.99983485e-01 7.28839370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.40, Z:0.73 [[-7.48763170e-01 6.62821680e-01 4.59735165e-03 2.11517031e+02] [-6.62805363e-01 -7.48777148e-01 4.67269048e-03 1.33395116e+02] [ 6.53955241e-03 4.51589209e-04 9.99978515e-01 7.28706609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.40, Z:0.73 [[-7.48776443e-01 6.62809548e-01 4.16442027e-03 2.11518712e+02] [-6.62796175e-01 -7.48787912e-01 4.23002504e-03 1.33401368e+02] [ 5.92196854e-03 4.07181280e-04 9.99982382e-01 7.28165504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.41, Z:0.73 [[-7.48864328e-01 6.62716029e-01 3.11181806e-03 2.11523020e+02] [-6.62708570e-01 -7.48870732e-01 3.15889411e-03 1.33408834e+02] [ 4.42379923e-03 3.03354616e-04 9.99990169e-01 7.28308395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.41, Z:0.73 [[-7.49110373e-01 6.62441927e-01 2.08372288e-03 2.11523900e+02] [-6.62438585e-01 -7.49113244e-01 2.11396229e-03 1.33413976e+02] [ 2.96132166e-03 2.03252644e-04 9.99995595e-01 7.28848483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.42, Z:0.73 [[-7.49762028e-01 6.61706052e-01 1.41498870e-03 2.11520869e+02] [-6.61704511e-01 -7.49763351e-01 1.43466180e-03 1.33416282e+02] [ 2.01023106e-03 1.39350532e-04 9.99997970e-01 7.29435624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.43, Z:0.73 [[-7.50959248e-01 6.60344961e-01 2.17719965e-03 2.11521762e+02] [-6.60341312e-01 -7.50962372e-01 2.20607143e-03 1.33425878e+02] [ 3.09176316e-03 2.18974872e-04 9.99995197e-01 7.29308587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:133.41, Z:0.73 [[-7.51506887e-01 6.59720191e-01 2.58238093e-03 2.11503172e+02] [-6.59715060e-01 -7.51511278e-01 2.61499740e-03 1.33409620e+02] [ 3.66585498e-03 2.61552965e-04 9.99993247e-01 7.28694092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:133.41, Z:0.73 [[-7.52080196e-01 6.59065615e-01 2.80967200e-03 2.11502293e+02] [-6.59059544e-01 -7.52085389e-01 2.84338747e-03 1.33411352e+02] [ 3.98709217e-03 2.86714262e-04 9.99992010e-01 7.27992303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:133.42, Z:0.73 [[-7.52930332e-01 6.58093249e-01 3.03181095e-03 2.11508961e+02] [-6.58086180e-01 -7.52936370e-01 3.06629189e-03 1.33421907e+02] [ 4.30066673e-03 3.13511287e-04 9.99990703e-01 7.27991731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.44, Z:0.73 [[-7.55173939e-01 6.55516582e-01 3.21438955e-03 2.11521760e+02] [-6.55508622e-01 -7.55180701e-01 3.24895840e-03 1.33442389e+02] [ 4.55719106e-03 3.46468648e-04 9.99989556e-01 7.28637048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.44, Z:0.73 [[-7.56543827e-01 6.53934691e-01 3.29497493e-03 2.11515759e+02] [-6.53926322e-01 -7.56550915e-01 3.32838933e-03 1.33438109e+02] [ 4.66936555e-03 3.63401568e-04 9.99989032e-01 7.28991468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:133.43, Z:0.73 [[-7.57845494e-01 6.52422777e-01 3.83754694e-03 2.11506639e+02] [-6.52411418e-01 -7.57855087e-01 3.87409167e-03 1.33430052e+02] [ 5.43585012e-03 4.32303471e-04 9.99985132e-01 7.28718012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.151400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.52, Y:133.45, Z:0.73 [[-7.59322206e-01 6.50699415e-01 4.47870992e-03 2.11522914e+02] [-6.50683931e-01 -7.59335238e-01 4.51860940e-03 1.33449454e+02] [ 6.34109876e-03 5.16855878e-04 9.99979761e-01 7.27704647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.45, Z:0.73 [[-7.59622785e-01 6.50351196e-01 4.06781073e-03 2.11522708e+02] [-6.50338432e-01 -7.59633531e-01 4.10159308e-03 1.33452417e+02] [ 5.75752139e-03 4.70209910e-04 9.99983315e-01 7.27876988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:133.45, Z:0.73 [[-7.59495589e-01 6.50501353e-01 3.80002823e-03 2.11516043e+02] [-6.50490228e-01 -7.59504970e-01 3.82929237e-03 1.33448381e+02] [ 5.37710019e-03 4.36449434e-04 9.99985448e-01 7.28319096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:133.45, Z:0.73 [[-7.59216760e-01 6.50826704e-01 3.80953947e-03 2.11512570e+02] [-6.50815540e-01 -7.59226194e-01 3.83656874e-03 1.33446966e+02] [ 5.38924354e-03 4.33479803e-04 9.99985384e-01 7.28364330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:133.44, Z:0.73 [[-7.58687139e-01 6.51441070e-01 4.28446556e-03 2.11509229e+02] [-6.51426975e-01 -7.58699085e-01 4.31225943e-03 1.33444969e+02] [ 6.05980300e-03 4.80639332e-04 9.99981524e-01 7.27926784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.43, Z:0.73 [[-7.56935923e-01 6.53472247e-01 4.69384065e-03 2.11492986e+02] [-6.53455386e-01 -7.56950306e-01 4.72142598e-03 1.33432621e+02] [ 6.63832496e-03 5.06601473e-04 9.99977838e-01 7.26971286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.43, Z:0.73 [[-7.56248325e-01 6.54272174e-01 4.04881007e-03 2.11485830e+02] [-6.54259655e-01 -7.56259042e-01 4.07013535e-03 1.33428643e+02] [ 5.72492552e-03 4.29059961e-04 9.99983520e-01 7.26892340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:133.44, Z:0.73 [[-7.55650770e-01 6.54967572e-01 3.06472151e-03 2.11496377e+02] [-6.54960413e-01 -7.55656918e-01 3.07901301e-03 1.33441864e+02] [ 4.33253168e-03 3.19387290e-04 9.99990564e-01 7.27275273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.48, Y:133.43, Z:0.73 [[-7.54696640e-01 6.56071325e-01 1.84328963e-03 2.11482447e+02] [-6.56068741e-01 -7.54698868e-01 1.85079341e-03 1.33432363e+02] [ 2.60538108e-03 1.87462862e-04 9.99996588e-01 7.28837465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:133.44, Z:0.73 [[-7.54582957e-01 6.56202883e-01 1.52894360e-03 2.11484815e+02] [-6.56201107e-01 -7.54584490e-01 1.53424928e-03 1.33437663e+02] [ 2.16049592e-03 1.54423875e-04 9.99997654e-01 7.28826148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:133.43, Z:0.73 [[-7.54664555e-01 6.56108430e-01 1.77133090e-03 2.11472307e+02] [-6.56106050e-01 -7.54666613e-01 1.77638586e-03 1.33427672e+02] [ 2.50226603e-03 1.78394520e-04 9.99996853e-01 7.28473542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.44, Z:0.73 [[-7.55124171e-01 6.55577792e-01 2.28998331e-03 2.11487365e+02] [-6.55573816e-01 -7.55127608e-01 2.29510527e-03 1.33444096e+02] [ 3.23384967e-03 2.31836368e-04 9.99994744e-01 7.28572399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:133.44, Z:0.73 [[-7.57148239e-01 6.53237330e-01 2.74512480e-03 2.11480072e+02] [-6.53231607e-01 -7.57153160e-01 2.74959164e-03 1.33437761e+02] [ 3.87461582e-03 2.88646182e-04 9.99992452e-01 7.28325110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.541400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.47, Y:133.43, Z:0.73 [[-7.58607430e-01 6.51541522e-01 2.90040863e-03 2.11470013e+02] [-6.51535128e-01 -7.58612910e-01 2.90336399e-03 1.33428308e+02] [ 4.09194963e-03 3.12795384e-04 9.99991579e-01 7.28349253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:133.44, Z:0.73 [[-7.59538412e-01 6.50455199e-01 3.07173273e-03 2.11483583e+02] [-6.50448027e-01 -7.59544549e-01 3.07300088e-03 1.33442575e+02] [ 4.33196724e-03 3.36059718e-04 9.99990561e-01 7.28360555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.44, Z:0.73 [[-7.59976643e-01 6.49943227e-01 3.05007020e-03 2.11485038e+02] [-6.49936159e-01 -7.59982690e-01 3.04950058e-03 1.33444691e+02] [ 4.30000281e-03 3.35198304e-04 9.99990699e-01 7.28329072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:133.45, Z:0.73 [[-7.59598838e-01 6.50386197e-01 2.72021740e-03 2.11482860e+02] [-6.50380585e-01 -7.59603651e-01 2.71809032e-03 1.33446426e+02] [ 3.83409550e-03 2.95481667e-04 9.99992606e-01 7.28006049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:133.44, Z:0.73 [[-7.59057241e-01 6.51018621e-01 2.61926018e-03 2.11474240e+02] [-6.51013427e-01 -7.59061708e-01 2.61564669e-03 1.33440160e+02] [ 3.69101481e-03 2.80252019e-04 9.99993149e-01 7.27624550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:133.44, Z:0.73 [[-7.58433640e-01 6.51744801e-01 2.66991209e-03 2.11473236e+02] [-6.51739414e-01 -7.58438287e-01 2.66462757e-03 1.33441456e+02] [ 3.76162071e-03 2.80856244e-04 9.99992886e-01 7.27183281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.43, Z:0.73 [[-7.57232015e-01 6.53138513e-01 3.12378648e-03 2.11463560e+02] [-6.53131159e-01 -7.57238391e-01 3.11571692e-03 1.33434273e+02] [ 4.40044576e-03 3.19078320e-04 9.99990267e-01 7.27144513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.43, Z:0.73 [[-7.57125359e-01 6.53259611e-01 3.61542047e-03 2.11462423e+02] [-6.53249773e-01 -7.57133902e-01 3.60389635e-03 1.33433683e+02] [ 5.09163733e-03 3.66828716e-04 9.99986970e-01 7.27370580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.43, Z:0.73 [[-7.57322169e-01 6.53031434e-01 3.61650627e-03 2.11460744e+02] [-6.53021598e-01 -7.57330715e-01 3.60280673e-03 1.33431902e+02] [ 5.09163733e-03 3.66828702e-04 9.99986970e-01 7.27371016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.42, Z:0.73 [[-7.57599048e-01 6.52708071e-01 3.98204515e-03 2.11450361e+02] [-6.52696155e-01 -7.57609405e-01 3.96455556e-03 1.33422068e+02] [ 5.60453227e-03 4.04477965e-04 9.99984213e-01 7.27028207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.43, Z:0.73 [[-7.58098741e-01 6.52125702e-01 4.28577859e-03 2.11456158e+02] [-6.52111906e-01 -7.58110728e-01 4.26436980e-03 1.33429135e+02] [ 6.02999988e-03 4.38006132e-04 9.99981723e-01 7.26699642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.42, Z:0.73 [[-7.58821707e-01 6.51291516e-01 2.99628104e-03 2.11447906e+02] [-6.51284774e-01 -7.58827560e-01 2.97953606e-03 1.33424483e+02] [ 4.21420718e-03 3.09504424e-04 9.99991072e-01 7.27030234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.44, Z:0.73 [[-7.59048934e-01 6.51030578e-01 1.97538702e-03 2.11459195e+02] [-6.51027650e-01 -7.59051477e-01 1.96319047e-03 1.33437069e+02] [ 2.77751747e-03 2.04126064e-04 9.99996122e-01 7.27823873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.42, Z:0.73 [[-7.59116454e-01 6.50953251e-01 1.44035529e-03 2.11442347e+02] [-6.50951696e-01 -7.59117806e-01 1.43062064e-03 1.33420743e+02] [ 2.02466650e-03 1.48405954e-04 9.99997939e-01 7.28219342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.42, Z:0.73 [[-7.59001927e-01 6.51085830e-01 1.82156440e-03 2.11437966e+02] [-6.51083346e-01 -7.59004089e-01 1.80813782e-03 1.33416943e+02] [ 2.55982775e-03 1.86389846e-04 9.99996706e-01 7.28195817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.43, Z:0.73 [[-7.58346363e-01 6.51843307e-01 3.33119671e-03 2.11446597e+02] [-6.51835016e-01 -7.58353606e-01 3.30458407e-03 1.33426217e+02] [ 4.68029605e-03 3.34628653e-04 9.99988991e-01 7.28215943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.42, Z:0.73 [[-7.58226678e-01 6.51981883e-01 3.45376063e-03 2.11439017e+02] [-6.51972983e-01 -7.58234466e-01 3.42410066e-03 1.33418170e+02] [ 4.85121195e-03 3.44485845e-04 9.99988174e-01 7.28575410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.40, Z:0.73 [[-7.58188532e-01 6.52028198e-01 3.06256515e-03 2.11423362e+02] [-6.52021208e-01 -7.58194657e-01 3.03442784e-03 1.33401614e+02] [ 4.30055305e-03 3.03810963e-04 9.99990706e-01 7.28486469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.40, Z:0.73 [[-7.58252846e-01 6.51956148e-01 2.40897653e-03 2.11427458e+02] [-6.51951828e-01 -7.58256635e-01 2.38540378e-03 1.33404404e+02] [ 3.38180110e-03 2.38202552e-04 9.99994253e-01 7.28502034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.40, Z:0.73 [[-7.58038551e-01 6.52206193e-01 2.15325560e-03 2.11425213e+02] [-6.52202747e-01 -7.58041580e-01 2.13089419e-03 1.33401236e+02] [ 3.02203967e-03 2.10940725e-04 9.99995411e-01 7.29268430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.41, Z:0.73 [[-7.57937515e-01 6.52322928e-01 2.34957506e-03 2.11435994e+02] [-6.52318829e-01 -7.57941122e-01 2.32375764e-03 1.33410723e+02] [ 3.29667995e-03 2.28591041e-04 9.99994540e-01 7.29325701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.41, Z:0.73 [[-7.57975474e-01 6.52277386e-01 2.71894654e-03 2.11440197e+02] [-6.52271903e-01 -7.57980305e-01 2.68743874e-03 1.33413345e+02] [ 3.81386344e-03 2.63520221e-04 9.99992693e-01 7.29354227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.38, Z:0.73 [[-7.58150190e-01 6.52073232e-01 2.96462829e-03 2.11411796e+02] [-6.52066719e-01 -7.58155932e-01 2.92848662e-03 1.33383427e+02] [ 4.15723826e-03 2.87097240e-04 9.99991317e-01 7.29186879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.40, Z:0.73 [[-7.58290545e-01 6.51909608e-01 3.05168962e-03 2.11431481e+02] [-6.51902714e-01 -7.58296628e-01 3.01264719e-03 1.33401582e+02] [ 4.27805959e-03 2.95057137e-04 9.99990806e-01 7.29112369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.37, Z:0.73 [[-7.58031424e-01 6.52209583e-01 3.31948993e-03 2.11407755e+02] [-6.52201438e-01 -7.58038626e-01 3.27501531e-03 1.33374652e+02] [ 4.65229796e-03 3.17588418e-04 9.99989128e-01 7.28943872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.38, Z:0.73 [[-7.57751361e-01 6.52536506e-01 2.99717498e-03 2.11421579e+02] [-6.52529876e-01 -7.57757236e-01 2.95521447e-03 1.33384731e+02] [ 4.19951635e-03 2.83571567e-04 9.99991142e-01 7.28708188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.38, Z:0.73 [[-7.57262276e-01 6.53105792e-01 2.58261471e-03 2.11420051e+02] [-6.53100878e-01 -7.57266642e-01 2.54491538e-03 1.33379478e+02] [ 3.61782694e-03 2.40460477e-04 9.99993427e-01 7.29185581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.36, Z:0.73 [[-7.55634004e-01 6.54989032e-01 2.57293101e-03 2.11400595e+02] [-6.54984171e-01 -7.55638350e-01 2.53381488e-03 1.33358079e+02] [ 3.60382630e-03 2.29407605e-04 9.99993480e-01 7.29744042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.35, Z:0.73 [[-7.55154540e-01 6.55540487e-01 2.87938569e-03 2.11396508e+02] [-6.55534410e-01 -7.55159987e-01 2.83384380e-03 1.33354338e+02] [ 4.03209620e-03 2.52453610e-04 9.99991839e-01 7.29925627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.36, Z:0.73 [[-7.55037953e-01 6.55674947e-01 2.83786077e-03 2.11400903e+02] [-6.55669052e-01 -7.55043246e-01 2.79124647e-03 1.33357322e+02] [ 3.97285799e-03 2.46799537e-04 9.99992078e-01 7.29817940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.40, Y:133.35, Z:0.73 [[-7.55380805e-01 6.55280544e-01 2.69220889e-03 2.11396971e+02] [-6.55275242e-01 -7.55385566e-01 2.64635197e-03 1.33351221e+02] [ 3.76775870e-03 2.34865651e-04 9.99992874e-01 7.29709112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.36, Z:0.73 [[-7.56144817e-01 6.54398540e-01 2.75065464e-03 2.11405186e+02] [-6.54393006e-01 -7.56149781e-01 2.70213037e-03 1.33355793e+02] [ 3.84817708e-03 2.43192716e-04 9.99992566e-01 7.29752971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.35, Z:0.73 [[-7.56761449e-01 6.53682897e-01 3.28325290e-03 2.11394824e+02] [-6.53675015e-01 -7.56768515e-01 3.22332584e-03 1.33345191e+02] [ 4.59169540e-03 2.93108344e-04 9.99989415e-01 7.30254515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.34, Z:0.73 [[-7.57302669e-01 6.53054634e-01 3.50901420e-03 2.11392980e+02] [-6.53045635e-01 -7.57310732e-01 3.44282509e-03 1.33342868e+02] [ 4.90576699e-03 3.15714224e-04 9.99987917e-01 7.30303471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.34, Z:0.73 [[-7.57386761e-01 6.52957961e-01 3.34601544e-03 2.11389504e+02] [-6.52949787e-01 -7.57394092e-01 3.28086654e-03 1.33338144e+02] [ 4.67652025e-03 3.00104813e-04 9.99989020e-01 7.30550054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.33, Z:0.73 [[-7.56677093e-01 6.53784783e-01 2.28801897e-03 2.11385217e+02] [-6.53780969e-01 -7.56680526e-01 2.24209778e-03 1.33332862e+02] [ 3.19714880e-03 2.00680771e-04 9.99994869e-01 7.30036843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.33, Z:0.73 [[-7.55975527e-01 6.54596334e-01 2.15445590e-03 2.11383613e+02] [-6.54592960e-01 -7.55978575e-01 2.10990496e-03 1.33332890e+02] [ 3.00985855e-03 1.84744851e-04 9.99995453e-01 7.30112391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.33, Z:0.73 [[-7.55274278e-01 6.55404916e-01 2.27174034e-03 2.11375827e+02] [-6.55401173e-01 -7.55277670e-01 2.22337248e-03 1.33327756e+02] [ 3.17300401e-03 1.90354762e-04 9.99994948e-01 7.30441662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.681400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.37, Y:133.33, Z:0.73 [[-7.54651346e-01 6.56094180e-01 6.46323329e-03 2.11368739e+02] [-6.56090656e-01 -7.54676330e-01 2.94767707e-03 1.33327215e+02] [ 6.81160295e-03 -2.01599850e-03 9.99974769e-01 7.34084160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:133.33, Z:0.73 [[-7.55311146e-01 6.55363490e-01 1.94145466e-03 2.11372182e+02] [-6.55347719e-01 -7.55308688e-01 5.30599463e-03 1.33328904e+02] [ 4.94375273e-03 2.73534900e-03 9.99984038e-01 7.29661085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.34, Z:0.73 [[-7.56456670e-01 6.54033799e-01 3.61880656e-03 2.11380545e+02] [-6.54024309e-01 -7.56465263e-01 3.53674681e-03 1.33342036e+02] [ 5.05065341e-03 3.08608252e-04 9.99987198e-01 7.30267781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.34, Z:0.73 [[-7.57914488e-01 6.52345975e-01 3.21825387e-03 2.11375869e+02] [-6.52338463e-01 -7.57921268e-01 3.14334036e-03 1.33339097e+02] [ 4.48972849e-03 2.82992416e-04 9.99989881e-01 7.30627687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.35, Z:0.73 [[-7.59693985e-01 6.50274642e-01 2.81752519e-03 2.11387906e+02] [-6.50268877e-01 -7.59699167e-01 2.75025557e-03 1.33352078e+02] [ 3.92889300e-03 2.57203674e-04 9.99992249e-01 7.30811807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.35, Z:0.73 [[-7.61631516e-01 6.48005545e-01 2.49958344e-03 2.11388160e+02] [-6.48001000e-01 -7.61635581e-01 2.43842210e-03 1.33353502e+02] [ 3.48388273e-03 2.37446548e-04 9.99993903e-01 7.30888489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.38, Z:0.73 [[-7.65062257e-01 6.43953422e-01 1.93200890e-03 2.11407743e+02] [-6.43950697e-01 -7.65064672e-01 1.88361141e-03 1.33376015e+02] [ 2.69106977e-03 1.96961521e-04 9.99996360e-01 7.31351545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.37, Z:0.73 [[-7.66543390e-01 6.42190727e-01 1.51710449e-03 2.11400565e+02] [-6.42189045e-01 -7.66544875e-01 1.47822787e-03 1.33371135e+02] [ 2.11223290e-03 1.58857923e-04 9.99997757e-01 7.31212931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.38, Z:0.73 [[-7.67905981e-01 6.40561150e-01 1.34818323e-03 2.11406632e+02] [-6.40559821e-01 -7.67907151e-01 1.31285629e-03 1.33379073e+02] [ 1.87624428e-03 1.44558192e-04 9.99998229e-01 7.30870913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.38, Z:0.73 [[-7.68977200e-01 6.39274157e-01 1.61809271e-03 2.11406096e+02] [-6.39272242e-01 -7.68978882e-01 1.57473880e-03 1.33379993e+02] [ 2.25096894e-03 1.76536484e-04 9.99997451e-01 7.30707484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.38, Z:0.73 [[-7.70539113e-01 6.37389254e-01 2.10082405e-03 2.11405970e+02] [-6.37386023e-01 -7.70541941e-01 2.04329774e-03 1.33383464e+02] [ 2.92114906e-03 2.35404949e-04 9.99995706e-01 7.30133143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.40, Z:0.73 [[-7.70984532e-01 6.36850739e-01 1.99705733e-03 2.11417846e+02] [-6.36847820e-01 -7.70987085e-01 1.94122728e-03 1.33396197e+02] [ 2.77597744e-03 2.24834601e-04 9.99996122e-01 7.30237656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.39, Z:0.73 [[-7.71451309e-01 6.36286030e-01 1.72214118e-03 2.11411475e+02] [-6.36283861e-01 -7.71453206e-01 1.67302053e-03 1.33391042e+02] [ 2.39307093e-03 1.94883240e-04 9.99997118e-01 7.30489857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.39, Z:0.73 [[-7.71940178e-01 6.35694003e-01 1.22327292e-03 2.11407827e+02] [-6.35692909e-01 -7.71941134e-01 1.18770082e-03 1.33388732e+02] [ 1.69930898e-03 1.39208065e-04 9.99998547e-01 7.30918350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.40, Z:0.73 [[-7.72200504e-01 6.35378026e-01 1.07017779e-03 2.11417844e+02] [-6.35377189e-01 -7.72201236e-01 1.03845565e-03 1.33399696e+02] [ 1.48620451e-03 1.21929422e-04 9.99998888e-01 7.31379280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.39, Z:0.73 [[-7.72600412e-01 6.34890866e-01 1.48064524e-03 2.11409473e+02] [-6.34889265e-01 -7.72601812e-01 1.43588685e-03 1.33392042e+02] [ 2.05558064e-03 1.69321004e-04 9.99997873e-01 7.31218545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.39, Z:0.73 [[-7.73739417e-01 6.33494482e-01 3.47215462e-03 2.11406363e+02] [-6.33485673e-01 -7.73747102e-01 3.36512018e-03 1.33385159e+02] [ 4.81835465e-03 4.04165919e-04 9.99988310e-01 7.29982424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.37, Z:0.73 [[-7.74511746e-01 6.32544355e-01 4.38103492e-03 2.11394802e+02] [-6.32530331e-01 -7.74523965e-01 4.24345190e-03 1.33370532e+02] [ 6.07738809e-03 5.15465874e-04 9.99981400e-01 7.29591006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.38, Z:0.73 [[-7.74957351e-01 6.31994306e-01 4.92961642e-03 2.11406616e+02] [-6.31976559e-01 -7.74972811e-01 4.77197071e-03 1.33376999e+02] [ 6.83617701e-03 5.82671763e-04 9.99976463e-01 7.30009965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.38, Z:0.73 [[-7.74626082e-01 6.32399912e-01 4.97830005e-03 2.11406964e+02] [-6.32381841e-01 -7.74641860e-01 4.81625791e-03 1.33375395e+02] [ 6.90220069e-03 5.82612447e-04 9.99976010e-01 7.30169815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.35, Z:0.73 [[-7.73633484e-01 6.33618383e-01 4.35623763e-03 2.11385101e+02] [-6.33604580e-01 -7.73645588e-01 4.21195050e-03 1.33352477e+02] [ 6.03895330e-03 4.98373827e-04 9.99981641e-01 7.29847312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.35, Z:0.73 [[-7.72363749e-01 6.35170189e-01 3.61530166e-03 2.11378526e+02] [-6.35160709e-01 -7.72372105e-01 3.49347172e-03 1.33345439e+02] [ 5.01130724e-03 4.01933347e-04 9.99987363e-01 7.30118462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.35, Z:0.73 [[-7.70948242e-01 6.36891884e-01 2.74533294e-03 2.11386873e+02] [-6.36886434e-01 -7.70953073e-01 2.65124798e-03 1.33353335e+02] [ 3.80508119e-03 2.95509661e-04 9.99992717e-01 7.30147386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.371400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.38, Y:133.35, Z:0.73 [[-7.69739649e-01 6.38352424e-01 2.65633900e-03 2.11378032e+02] [-6.38347336e-01 -7.69744182e-01 2.56377209e-03 1.33345270e+02] [ 3.68129162e-03 2.77770108e-04 9.99993185e-01 7.30450110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:133.33, Z:0.73 [[-7.68574622e-01 6.39753193e-01 2.98380562e-03 2.11366106e+02] [-6.39746791e-01 -7.68580354e-01 2.87808495e-03 1.33333515e+02] [ 4.13455841e-03 3.03142985e-04 9.99991407e-01 7.30728990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.32, Z:0.73 [[-7.67492329e-01 6.41041351e-01 4.63803144e-03 2.11350860e+02] [-6.41025923e-01 -7.67506206e-01 4.47093892e-03 1.33315464e+02] [ 6.42577464e-03 4.58312938e-04 9.99979250e-01 7.30218134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.32, Z:0.73 [[-7.67617448e-01 6.40887757e-01 5.13191821e-03 2.11358857e+02] [-6.40868887e-01 -7.67634435e-01 4.94400791e-03 1.33321684e+02] [ 7.10799128e-03 5.06220018e-04 9.99974610e-01 7.29826543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.32, Z:0.73 [[-7.67869571e-01 6.40583709e-01 5.36976651e-03 2.11358777e+02] [-6.40563065e-01 -7.67888163e-01 5.17000199e-03 1.33321810e+02] [ 7.43519919e-03 5.30213116e-04 9.99972218e-01 7.30002223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.31, Z:0.73 [[-7.67961204e-01 6.40475856e-01 5.12513051e-03 2.11341057e+02] [-6.40457069e-01 -7.67978140e-01 4.93145763e-03 1.33305588e+02] [ 7.09446774e-03 5.04742077e-04 9.99974707e-01 7.30656084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.32, Z:0.73 [[-7.67792111e-01 6.40683410e-01 4.47695379e-03 2.11352583e+02] [-6.40669094e-01 -7.67805039e-01 4.30515193e-03 1.33317645e+02] [ 6.19566710e-03 4.37215758e-04 9.99980711e-01 7.31227313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.31, Z:0.73 [[-7.67348769e-01 6.41218924e-01 3.76284457e-03 2.11347523e+02] [-6.41208828e-01 -7.67357909e-01 3.61625639e-03 1.33313656e+02] [ 5.20626057e-03 3.62160732e-04 9.99986382e-01 7.31385993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.31, Z:0.73 [[-7.65836961e-01 6.43030805e-01 2.26585356e-03 2.11342145e+02] [-6.43027156e-01 -7.65840284e-01 2.17628470e-03 1.33311360e+02] [ 3.13470003e-03 2.09673890e-04 9.99995065e-01 7.31770950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.30, Z:0.73 [[-7.65001817e-01 6.44025734e-01 1.75326129e-03 2.11326444e+02] [-6.44023554e-01 -7.65003810e-01 1.68293911e-03 1.33297923e+02] [ 2.42510766e-03 1.58309908e-04 9.99997047e-01 7.31911921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.31, Z:0.73 [[-7.64298182e-01 6.44860987e-01 1.61156388e-03 2.11338053e+02] [-6.44859150e-01 -7.64299867e-01 1.54598265e-03 1.33311379e+02] [ 2.22866196e-03 1.42360017e-04 9.99997506e-01 7.31962531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.31, Z:0.73 [[-7.64494544e-01 6.44628183e-01 1.61203485e-03 2.11336341e+02] [-6.44626346e-01 -7.64496230e-01 1.54549154e-03 1.33309632e+02] [ 2.22866197e-03 1.42359713e-04 9.99997506e-01 7.31962962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.28, Z:0.73 [[-7.63037309e-01 6.46350395e-01 2.28736379e-03 2.11304838e+02] [-6.46346709e-01 -7.63040713e-01 2.19156259e-03 1.33283980e+02] [ 3.16186904e-03 1.93813961e-04 9.99994983e-01 7.31980194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.761400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.32, Y:133.30, Z:0.73 [[-7.63166046e-01 6.46196005e-01 2.88248107e-03 2.11323379e+02] [-6.46190157e-01 -7.63171451e-01 2.76002941e-03 1.33303539e+02] [ 3.98334724e-03 2.43729835e-04 9.99992037e-01 7.31434683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.29, Z:0.73 [[-7.63474742e-01 6.45829566e-01 3.23880730e-03 2.11306209e+02] [-6.45822187e-01 -7.63481563e-01 3.09929778e-03 1.33288303e+02] [ 4.47438780e-03 2.74541956e-04 9.99989952e-01 7.31483326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.30, Z:0.73 [[-7.64112189e-01 6.45075131e-01 3.26159092e-03 2.11313777e+02] [-6.45067650e-01 -7.64119099e-01 3.11917203e-03 1.33296799e+02] [ 4.50434422e-03 2.79450583e-04 9.99989816e-01 7.31171575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.851400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.30, Y:133.29, Z:0.73 [[-7.65061657e-01 6.43950128e-01 2.98233720e-03 2.11303057e+02] [-6.43943872e-01 -7.65067425e-01 2.85035769e-03 1.33287788e+02] [ 4.11717724e-03 2.60241615e-04 9.99991491e-01 7.30729177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.881400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.31, Y:133.30, Z:0.73 [[-7.67501850e-01 6.41038638e-01 3.22108971e-03 2.11312110e+02] [-6.41031324e-01 -7.67508552e-01 3.07664097e-03 1.33298673e+02] [ 4.44445964e-03 2.96508231e-04 9.99990079e-01 7.31986804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.31, Z:0.73 [[-7.68788251e-01 6.39494198e-01 3.43467117e-03 2.11320321e+02] [-6.39485875e-01 -7.68795855e-01 3.27863441e-03 1.33306036e+02] [ 4.73722863e-03 3.24151911e-04 9.99988727e-01 7.31640662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.30, Z:0.73 [[-7.69877372e-01 6.38177548e-01 4.27181736e-03 2.11319810e+02] [-6.38164669e-01 -7.69889114e-01 4.07525040e-03 1.33304923e+02] [ 5.88955899e-03 4.11320154e-04 9.99982572e-01 7.31016286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.32, Z:0.73 [[-7.70746295e-01 6.37123925e-01 4.82217637e-03 2.11332615e+02] [-6.37107511e-01 -7.70761236e-01 4.59749343e-03 1.33316761e+02] [ 6.64591968e-03 4.71256242e-04 9.99977805e-01 7.30427451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.31, Z:0.73 [[-7.71451204e-01 6.36271352e-01 4.66976380e-03 2.11325016e+02] [-6.36255961e-01 -7.71465199e-01 4.44950067e-03 1.33308514e+02] [ 6.43365006e-03 4.61407591e-04 9.99979197e-01 7.31125282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.30, Z:0.73 [[-7.71524907e-01 6.36183890e-01 4.40178435e-03 2.11320771e+02] [-6.36170229e-01 -7.71537342e-01 4.19162842e-03 1.33304417e+02] [ 6.06278747e-03 4.33661576e-04 9.99981527e-01 7.31870945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.31, Z:0.73 [[-7.71575318e-01 6.36124350e-01 4.16427342e-03 2.11327373e+02] [-6.36112136e-01 -7.71586447e-01 3.96306811e-03 1.33312139e+02] [ 5.73410105e-03 4.08860677e-04 9.99983476e-01 7.31623566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.31, Z:0.73 [[-7.71346926e-01 6.36399621e-01 4.40921851e-03 2.11322086e+02] [-6.36385948e-01 -7.71359409e-01 4.19364916e-03 1.33309658e+02] [ 6.06992893e-03 4.28793689e-04 9.99981486e-01 7.31528509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.31, Z:0.73 [[-7.70823580e-01 6.37031373e-01 4.69456512e-03 2.11316012e+02] [-6.37015902e-01 -7.70837744e-01 4.46234811e-03 1.33305979e+02] [ 6.46140373e-03 4.49170509e-04 9.99979024e-01 7.31329456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.31, Y:133.30, Z:0.73 [[-7.70196493e-01 6.37791676e-01 4.37490976e-03 2.11306726e+02] [-6.37778267e-01 -7.70208809e-01 4.15599176e-03 1.33297976e+02] [ 6.02025099e-03 4.10707915e-04 9.99981794e-01 7.31195675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.29, Z:0.73 [[-7.69191254e-01 6.39012920e-01 2.70231397e-03 2.11302364e+02] [-6.39007818e-01 -7.69195961e-01 2.56555895e-03 1.33294545e+02] [ 3.71803431e-03 2.46605754e-04 9.99993058e-01 7.32453550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.29, Z:0.73 [[-7.68724809e-01 6.39575628e-01 2.27684089e-03 2.11292878e+02] [-6.39572012e-01 -7.68728154e-01 2.16031074e-03 1.33287858e+02] [ 3.13195379e-03 2.04480752e-04 9.99995075e-01 7.32866746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.30, Z:0.73 [[-7.68310805e-01 6.40072555e-01 2.37302080e-03 2.11297934e+02] [-6.40068634e-01 -7.68314441e-01 2.25019280e-03 1.33296544e+02] [ 3.26351280e-03 2.09951258e-04 9.99994653e-01 7.33051535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.29, Z:0.73 [[-7.67972525e-01 6.40476508e-01 2.83594561e-03 2.11289230e+02] [-6.40470918e-01 -7.67977722e-01 2.68750586e-03 1.33292418e+02] [ 3.89922742e-03 2.47589976e-04 9.99992367e-01 7.32772544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.30, Z:0.73 [[-7.67593565e-01 6.40928202e-01 3.34056859e-03 2.11284998e+02] [-6.40920458e-01 -7.67600780e-01 3.16377364e-03 1.33295199e+02] [ 4.59197481e-03 2.87453534e-04 9.99989416e-01 7.31918113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.331400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:211.29, Y:133.30, Z:0.73 [[-7.67653970e-01 6.40854113e-01 3.65893671e-03 2.11285703e+02] [-6.40844832e-01 -7.67662626e-01 3.46317789e-03 1.33299520e+02] [ 5.02822076e-03 3.13711575e-04 9.99987309e-01 7.32125553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.29, Z:0.73 [[-7.67882486e-01 6.40583273e-01 3.09164352e-03 2.11271602e+02] [-6.40576652e-01 -7.67888664e-01 2.92446292e-03 1.33290403e+02] [ 4.24740004e-03 2.65209200e-04 9.99990945e-01 7.32481934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.31, Z:0.73 [[-7.68223050e-01 6.40176107e-01 2.81016448e-03 2.11285412e+02] [-6.40170641e-01 -7.68228152e-01 2.65659512e-03 1.33307579e+02] [ 3.85953619e-03 2.41872815e-04 9.99992523e-01 7.32845849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.30, Z:0.73 [[-7.68437703e-01 6.39918817e-01 2.72093247e-03 2.11273272e+02] [-6.39913697e-01 -7.68442485e-01 2.57068316e-03 1.33298690e+02] [ 3.73590864e-03 2.34247911e-04 9.99992994e-01 7.32785063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.31, Z:0.73 [[-7.68747147e-01 6.39547488e-01 2.61418337e-03 2.11282882e+02] [-6.39542765e-01 -7.68751559e-01 2.46833671e-03 1.33309835e+02] [ 3.58827608e-03 2.25644746e-04 9.99993537e-01 7.32415894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.31, Z:0.73 [[-7.69320292e-01 6.38858547e-01 2.45876763e-03 2.11281071e+02] [-6.38854369e-01 -7.69324192e-01 2.32019902e-03 1.33313147e+02] [ 3.37386839e-03 2.14181745e-04 9.99994286e-01 7.31457815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.30, Z:0.73 [[-7.69462409e-01 6.38685747e-01 2.84914228e-03 2.11264236e+02] [-6.38680143e-01 -7.69467644e-01 2.68693860e-03 1.33301808e+02] [ 3.90843218e-03 2.47807650e-04 9.99992331e-01 7.31169794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.31, Z:0.73 [[-7.69477321e-01 6.38666891e-01 3.04223556e-03 2.11267468e+02] [-6.38660509e-01 -7.69483290e-01 2.86729734e-03 1.33310021e+02] [ 4.17219731e-03 2.63364564e-04 9.99991262e-01 7.30619345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.571400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.27, Y:133.32, Z:0.73 [[-7.69337553e-01 6.38834899e-01 3.11480246e-03 2.11267099e+02] [-6.38828218e-01 -7.69343812e-01 2.93392013e-03 1.33315039e+02] [ 4.27064457e-03 2.67351229e-04 9.99990845e-01 7.29958417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.31, Z:0.73 [[-7.69187890e-01 6.39015452e-01 3.03997717e-03 2.11256051e+02] [-6.39009097e-01 -7.69193854e-01 2.86171469e-03 1.33310013e+02] [ 4.16701167e-03 2.58623220e-04 9.99991285e-01 7.30223418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.631400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.25, Y:133.32, Z:0.73 [[-7.69000338e-01 6.39238081e-01 3.62714391e-03 2.11250026e+02] [-6.39229046e-01 -7.69008831e-01 3.41237240e-03 1.33315133e+02] [ 4.97062408e-03 3.05539789e-04 9.99987600e-01 7.30795847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.32, Z:0.73 [[-7.69473350e-01 6.38666670e-01 3.95588075e-03 2.11248706e+02] [-6.38655928e-01 -7.69483445e-01 3.71939103e-03 1.33318965e+02] [ 5.41943584e-03 3.35525585e-04 9.99985258e-01 7.31341938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.32, Z:0.73 [[-7.70431200e-01 6.37506118e-01 4.65998246e-03 2.11248455e+02] [-6.37491207e-01 -7.70445188e-01 4.37874964e-03 1.33322976e+02] [ 6.38174074e-03 4.02827494e-04 9.99979555e-01 7.31278526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.33, Z:0.73 [[-7.71889483e-01 6.35734916e-01 5.26710189e-03 2.11247163e+02] [-6.35715848e-01 -7.71907310e-01 4.94624682e-03 1.33325368e+02] [ 7.21021625e-03 4.69575756e-04 9.99973896e-01 7.31058376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.34, Z:0.73 [[-7.75687098e-01 6.31089590e-01 5.95439510e-03 2.11253764e+02] [-6.31065111e-01 -7.75709737e-01 5.58832296e-03 1.33339402e+02] [ 8.14561470e-03 5.77179019e-04 9.99966657e-01 7.30149376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.25, Y:133.34, Z:0.73 [[-7.77663185e-01 6.28651473e-01 6.10697300e-03 2.11251524e+02] [-6.28625678e-01 -7.77686920e-01 5.72811424e-03 1.33341966e+02] [ 8.35030048e-03 6.15543523e-04 9.99964946e-01 7.29616834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.36, Z:0.73 [[-7.79353206e-01 6.26560304e-01 5.54672939e-03 2.11267253e+02] [-6.26538994e-01 -7.79372730e-01 5.19956749e-03 1.33361387e+02] [ 7.58081222e-03 5.77057336e-04 9.99971099e-01 7.30078625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.37, Z:0.73 [[-7.80696690e-01 6.24891614e-01 4.81135049e-03 2.11268196e+02] [-6.24875567e-01 -7.80711347e-01 4.50759123e-03 1.33366165e+02] [ 6.57303188e-03 5.12566194e-04 9.99978266e-01 7.30730052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.37, Z:0.73 [[-7.81686061e-01 6.23657416e-01 4.28120347e-03 2.11270943e+02] [-6.23644706e-01 -7.81697648e-01 4.00859000e-03 1.33371406e+02] [ 5.84659356e-03 4.63509044e-04 9.99982801e-01 7.31278584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.37, Z:0.73 [[-7.82504244e-01 6.22633031e-01 3.90090877e-03 2.11270425e+02] [-6.22622477e-01 -7.82513851e-01 3.65040005e-03 1.33372958e+02] [ 5.32537479e-03 4.27660047e-04 9.99985729e-01 7.31244816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.38, Z:0.73 [[-7.83128322e-01 6.21843624e-01 4.53191622e-03 2.11276824e+02] [-6.21829381e-01 -7.83141275e-01 4.23842705e-03 1.33380088e+02] [ 6.18476948e-03 5.01153600e-04 9.99980749e-01 7.31122500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.38, Z:0.73 [[-7.83420289e-01 6.21476189e-01 4.47172129e-03 2.11275369e+02] [-6.21462331e-01 -7.83432895e-01 4.17972497e-03 1.33377652e+02] [ 6.10089310e-03 4.95475004e-04 9.99981267e-01 7.30893478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.37, Z:0.73 [[-7.83739769e-01 6.21075162e-01 4.19736174e-03 2.11273366e+02] [-6.21062960e-01 -7.83750870e-01 3.92102617e-03 1.33373761e+02] [ 5.72493788e-03 4.66238238e-04 9.99983504e-01 7.30976765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.36, Z:0.73 [[-7.83670136e-01 6.21164735e-01 3.93570240e-03 2.11264728e+02] [-6.21154019e-01 -7.83679898e-01 3.67447308e-03 1.33360812e+02] [ 5.36678396e-03 4.34897451e-04 9.99985504e-01 7.31025511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.36, Z:0.73 [[-7.83369841e-01 6.21540484e-01 4.37246168e-03 2.11261513e+02] [-6.21527278e-01 -7.83381898e-01 4.07986576e-03 1.33355576e+02] [ 5.96110907e-03 4.78439582e-04 9.99982118e-01 7.31263414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.35, Z:0.73 [[-7.82953446e-01 6.22059806e-01 5.04975393e-03 2.11257784e+02] [-6.22042221e-01 -7.82969540e-01 4.70908335e-03 1.33350052e+02] [ 6.88313499e-03 5.45832887e-04 9.99976162e-01 7.31381590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.35, Z:0.73 [[-7.82241540e-01 6.22952132e-01 5.36783040e-03 2.11262784e+02] [-6.22932304e-01 -7.82259750e-01 5.00278800e-03 1.33352735e+02] [ 7.31553512e-03 5.69593637e-04 9.99973079e-01 7.31287246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.34, Z:0.73 [[-7.81238669e-01 6.24212682e-01 4.96680808e-03 2.11250891e+02] [-6.24195749e-01 -7.81254289e-01 4.62634689e-03 1.33339966e+02] [ 6.76816451e-03 5.14020593e-04 9.99976964e-01 7.31648877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.33, Z:0.73 [[-7.80087764e-01 6.25655768e-01 4.23546486e-03 2.11246884e+02] [-6.25643490e-01 -7.80099146e-01 3.94283581e-03 1.33334720e+02] [ 5.77094049e-03 4.25866962e-04 9.99983257e-01 7.32169330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.32, Z:0.73 [[-7.77066764e-01 6.29411214e-01 2.96100600e-03 2.11240079e+02] [-6.29405246e-01 -7.77072357e-01 2.75483027e-03 1.33324633e+02] [ 4.03483698e-03 2.77014335e-04 9.99991822e-01 7.33077367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.32, Z:0.73 [[-7.75876125e-01 6.30879845e-01 2.61925471e-03 2.11235863e+02] [-6.30875188e-01 -7.75880510e-01 2.43544542e-03 1.33318729e+02] [ 3.56870211e-03 2.37181144e-04 9.99993604e-01 7.32912324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.21, Y:133.29, Z:0.73 [[-7.74866596e-01 6.32118249e-01 2.87717387e-03 2.11208503e+02] [-6.32112645e-01 -7.74871896e-01 2.67366215e-03 1.33292071e+02] [ 3.91951181e-03 2.53033499e-04 9.99992287e-01 7.32948590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.29, Z:0.73 [[-7.73890811e-01 6.33311382e-01 3.11541498e-03 2.11210586e+02] [-6.33304828e-01 -7.73897036e-01 2.89330332e-03 1.33294582e+02] [ 4.24337234e-03 2.66093506e-04 9.99990961e-01 7.33102451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:132.82, Z:2.40 [[-6.35258528e-01 -7.72291432e-01 3.54216938e-03 2.11581894e+02] [-7.72281978e-01 6.35268332e-01 3.83306738e-03 1.32818525e+02] [-5.21047313e-03 -3.00564838e-04 -9.99986380e-01 2.39608684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.25, Z:0.73 [[-7.23219894e-01 6.90606914e-01 3.88265790e-03 2.11106479e+02] [-6.90594356e-01 -7.23230236e-01 4.17871948e-03 1.33253248e+02] [ 5.69390815e-03 3.40791428e-04 9.99983732e-01 7.32975868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:133.25, Z:0.73 [[-7.23626744e-01 6.90181688e-01 3.68414745e-03 2.11106138e+02] [-6.90170389e-01 -7.23636049e-01 3.96268764e-03 1.33252597e+02] [ 5.40095635e-03 3.24817280e-04 9.99985362e-01 7.33167566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.411400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.09, Y:133.24, Z:0.73 [[-7.24712658e-01 6.89042770e-01 3.40935532e-03 2.11092695e+02] [-6.89033092e-01 -7.24720613e-01 3.66490824e-03 1.33239974e+02] [ 4.99610860e-03 3.06846759e-04 9.99987472e-01 7.32872973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.25, Z:0.73 [[-7.25738400e-01 6.87962820e-01 3.30647583e-03 2.11097435e+02] [-6.87953723e-01 -7.25745869e-01 3.55083087e-03 1.33246026e+02] [ 4.84250080e-03 3.02271957e-04 9.99988229e-01 7.32950539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.25, Z:0.73 [[-7.26433048e-01 6.87230092e-01 3.13466721e-03 2.11103173e+02] [-6.87221919e-01 -7.26439754e-01 3.36426034e-03 1.33251410e+02] [ 4.58916782e-03 2.89697875e-04 9.99989428e-01 7.32461398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.10, Y:133.25, Z:0.73 [[-7.26834059e-01 6.86806120e-01 3.09892355e-03 2.11099566e+02] [-6.86798137e-01 -7.26840609e-01 3.32390504e-03 1.33246490e+02] [ 4.53530181e-03 2.87592469e-04 9.99989674e-01 7.31857434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.24, Z:0.73 [[-7.26963509e-01 6.86670695e-01 2.72281280e-03 2.11095707e+02] [-6.86664538e-01 -7.26968564e-01 2.91874373e-03 1.33243042e+02] [ 3.98361509e-03 2.52161189e-04 9.99992034e-01 7.31426180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.25, Z:0.73 [[-7.26603310e-01 6.87051697e-01 2.75604580e-03 2.11102261e+02] [-6.87045399e-01 -7.26608493e-01 2.95259808e-03 1.33253123e+02] [ 4.03115381e-03 2.51838948e-04 9.99991843e-01 7.31826055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:133.25, Z:0.73 [[-7.26807659e-01 6.86835516e-01 2.75692417e-03 2.11100664e+02] [-6.86829220e-01 -7.26812844e-01 2.95177793e-03 1.33251301e+02] [ 4.03115381e-03 2.51838731e-04 9.99991843e-01 7.31826484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.621400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.09, Y:133.24, Z:0.73 [[-7.25588289e-01 6.88122863e-01 2.92588571e-03 2.11086034e+02] [-6.88115789e-01 -7.25594142e-01 3.13080225e-03 1.33243313e+02] [ 4.27738214e-03 2.58325291e-04 9.99990819e-01 7.33361977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.24, Z:0.73 [[-7.25633078e-01 6.88075937e-01 2.85334389e-03 2.11080456e+02] [-6.88069217e-01 -7.25638645e-01 3.05134548e-03 1.33239212e+02] [ 4.17005399e-03 2.50859112e-04 9.99991274e-01 7.33821817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.681400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:211.08, Y:133.24, Z:0.73 [[-7.26127960e-01 6.87552675e-01 3.08290273e-03 2.11079092e+02] [-6.87544834e-01 -7.26134454e-01 3.29484262e-03 1.33237736e+02] [ 4.50397975e-03 2.72843500e-04 9.99989820e-01 7.32695761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.24, Z:0.73 [[-7.26924710e-01 6.86709862e-01 3.16720223e-03 2.11077194e+02] [-6.86701590e-01 -7.26931555e-01 3.38239692e-03 1.33236072e+02] [ 4.62506457e-03 2.83825093e-04 9.99989264e-01 7.32116136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.24, Z:0.73 [[-7.27910756e-01 6.85666437e-01 2.73270910e-03 2.11081158e+02] [-6.85660279e-01 -7.27915843e-01 2.91662588e-03 1.33244401e+02] [ 3.98901473e-03 2.49333262e-04 9.99992013e-01 7.31796390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:133.24, Z:0.73 [[-7.28246196e-01 6.85310483e-01 2.64951801e-03 2.11072313e+02] [-6.85304698e-01 -7.28250975e-01 2.82614407e-03 1.33238509e+02] [ 3.86630023e-03 2.42401529e-04 9.99992496e-01 7.32514236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.25, Z:0.73 [[-7.28280096e-01 6.85274307e-01 2.68802083e-03 2.11076671e+02] [-6.85268360e-01 -7.28285016e-01 2.86549694e-03 1.33246638e+02] [ 3.92129672e-03 2.44868763e-04 9.99992282e-01 7.33024176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.24, Z:0.73 [[-7.28068040e-01 6.85500539e-01 2.43731758e-03 2.11063484e+02] [-6.85495656e-01 -7.28072087e-01 2.59669174e-03 1.33235433e+02] [ 3.55457648e-03 2.19797657e-04 9.99993658e-01 7.33030148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.22, Z:0.73 [[-7.27435553e-01 6.86172981e-01 2.03883830e-03 2.11050548e+02] [-6.86169571e-01 -7.27438387e-01 2.17085709e-03 1.33223698e+02] [ 2.97271273e-03 1.80169824e-04 9.99995565e-01 7.33302024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.23, Z:0.73 [[-7.25844522e-01 6.87857943e-01 1.08609344e-03 2.11053714e+02] [-6.87856978e-01 -7.25845329e-01 1.15575605e-03 1.33233010e+02] [ 1.58333183e-03 9.18222422e-05 9.99998742e-01 7.33286941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.921400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.06, Y:133.24, Z:0.73 [[-7.25363336e-01 6.88365201e-01 1.17517861e-03 2.11059750e+02] [-6.88364073e-01 -7.25364281e-01 1.24979775e-03 1.33242502e+02] [ 1.71274987e-03 9.76067328e-05 9.99998529e-01 7.32906110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.951400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.05, Y:133.23, Z:0.73 [[-7.25340572e-01 6.88388105e-01 1.69478776e-03 2.11050454e+02] [-6.88385762e-01 -7.25342538e-01 1.80128623e-03 1.33234763e+02] [ 2.46928567e-03 1.39878221e-04 9.99996942e-01 7.32399655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.24, Z:0.73 [[-7.25734958e-01 6.87970336e-01 2.36358369e-03 2.11049425e+02] [-6.87965783e-01 -7.25738781e-01 2.51056957e-03 1.33235232e+02] [ 3.44254173e-03 1.95943395e-04 9.99994055e-01 7.31837366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.24, Z:0.73 [[-7.27497966e-01 6.86102751e-01 3.11833119e-03 2.11050472e+02] [-6.86094818e-01 -7.27504600e-01 3.31024369e-03 1.33240607e+02] [ 4.53976759e-03 2.68724684e-04 9.99989659e-01 7.32770591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.25, Z:0.73 [[-7.28807257e-01 6.84713890e-01 2.62113927e-03 2.11054906e+02] [-6.84708283e-01 -7.28811934e-01 2.78080526e-03 1.33247260e+02] [ 3.81437357e-03 2.31955286e-04 9.99992698e-01 7.33583892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.071400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.06, Y:133.25, Z:0.73 [[-7.30029516e-01 6.83411820e-01 2.27811920e-03 2.11057615e+02] [-6.83407583e-01 -7.30033041e-01 2.41546158e-03 1.33250816e+02] [ 3.31385728e-03 2.06474307e-04 9.99994488e-01 7.34063368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.05, Y:133.25, Z:0.73 [[-7.31138686e-01 6.82226812e-01 1.67308338e-03 2.11054375e+02] [-6.82224526e-01 -7.31140583e-01 1.77291745e-03 1.33247159e+02] [ 2.43279097e-03 1.54830017e-04 9.99997029e-01 7.33727246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.26, Z:0.73 [[-7.32465851e-01 6.80802340e-01 1.39707473e-03 2.11063890e+02] [-6.80800745e-01 -7.32467171e-01 1.47957703e-03 1.33257099e+02] [ 2.03061089e-03 1.32610132e-04 9.99997930e-01 7.33430861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.25, Z:0.73 [[-7.33904613e-01 6.79250976e-01 1.45967781e-03 2.11056940e+02] [-6.79249234e-01 -7.33906051e-01 1.54496333e-03 1.33249998e+02] [ 2.12068423e-03 1.42370684e-04 9.99997741e-01 7.32802303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.27, Z:0.73 [[-7.37034653e-01 6.75850940e-01 2.32977553e-03 2.11076237e+02] [-6.75846490e-01 -7.37038295e-01 2.46441213e-03 1.33271366e+02] [ 3.38270904e-03 2.41786520e-04 9.99994249e-01 7.33427064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.221400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.08, Y:133.27, Z:0.73 [[-7.38763658e-01 6.73958606e-01 2.83817064e-03 2.11076164e+02] [-6.73951996e-01 -7.38769047e-01 3.00043031e-03 1.33270075e+02] [ 4.11891845e-03 3.03818109e-04 9.99991471e-01 7.33543700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:133.27, Z:0.73 [[-7.40518558e-01 6.72030210e-01 2.76826099e-03 2.11074219e+02] [-6.72023918e-01 -7.40523669e-01 2.92399684e-03 1.33266529e+02] [ 4.01497700e-03 3.04936332e-04 9.99991893e-01 7.33713156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.27, Z:0.73 [[-7.42551341e-01 6.69784916e-01 2.38157484e-03 2.11078526e+02] [-6.69780254e-01 -7.42555110e-01 2.51390572e-03 1.33267751e+02] [ 3.45222670e-03 2.71572261e-04 9.99994004e-01 7.33143878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.27, Z:0.73 [[-7.42906898e-01 6.69391890e-01 1.95935551e-03 2.11078957e+02] [-6.69388736e-01 -7.42909448e-01 2.06703912e-03 1.33267157e+02] [ 2.83928294e-03 2.24047118e-04 9.99995944e-01 7.32793648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.27, Z:0.73 [[-7.42599299e-01 6.69733687e-01 1.75217325e-03 2.11078685e+02] [-6.69731168e-01 -7.42601339e-01 1.84741384e-03 1.33266237e+02] [ 2.53844149e-03 1.98403182e-04 9.99996759e-01 7.32719808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.25, Z:0.73 [[-7.41623233e-01 6.70814498e-01 1.69967961e-03 2.11063690e+02] [-6.70812134e-01 -7.41625157e-01 1.79103266e-03 1.33250080e+02] [ 2.46197583e-03 1.88105729e-04 9.99996952e-01 7.32761726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.25, Z:0.73 [[-7.40398884e-01 6.72165383e-01 1.78639760e-03 2.11061114e+02] [-6.72162777e-01 -7.40401014e-01 1.88131303e-03 1.33247453e+02] [ 2.58720409e-03 1.92172091e-04 9.99996635e-01 7.32551625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.24, Z:0.73 [[-7.38048504e-01 6.74743265e-01 2.43544670e-03 2.11053834e+02] [-6.74738442e-01 -7.38052481e-01 2.56332596e-03 1.33242185e+02] [ 3.52707441e-03 2.48569383e-04 9.99993749e-01 7.33054179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.24, Z:0.73 [[-7.37723475e-01 6.75099880e-01 2.05588195e-03 2.11051514e+02] [-6.75096448e-01 -7.37726310e-01 2.16257841e-03 1.33239798e+02] [ 2.97663463e-03 2.07466256e-04 9.99995548e-01 7.33378794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49140051300003 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:211.04, Y:133.22, Z:0.73 [[-7.38153712e-01 6.74630893e-01 1.50223371e-03 2.11036974e+02] [-6.74629061e-01 -7.38155225e-01 1.57928837e-03 1.33223266e+02] [ 2.17431838e-03 1.52307050e-04 9.99997625e-01 7.33731779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.25, Z:0.73 [[-7.39082425e-01 6.73614558e-01 7.72199040e-04 2.11059572e+02] [-6.73614074e-01 -7.39082824e-01 8.11367703e-04 1.33245617e+02] [ 1.11726814e-03 7.95034678e-05 9.99999373e-01 7.33819547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:133.23, Z:0.73 [[-7.42401585e-01 6.69953853e-01 1.31252471e-03 2.11051967e+02] [-6.69952450e-01 -7.42402731e-01 1.37824771e-03 1.33233150e+02] [ 1.89778429e-03 1.43884134e-04 9.99998189e-01 7.33552534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:133.25, Z:0.73 [[-7.44577512e-01 6.67532211e-01 2.25316918e-03 2.11070319e+02] [-6.67528072e-01 -7.44580877e-01 2.36457169e-03 1.33248254e+02] [ 3.25609446e-03 2.56553227e-04 9.99994666e-01 7.32689025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:133.24, Z:0.73 [[-7.46640704e-01 6.65220270e-01 3.10672563e-03 2.11069446e+02] [-6.65212390e-01 -7.46647078e-01 3.25842640e-03 1.33241772e+02] [ 4.48719890e-03 3.66241397e-04 9.99989865e-01 7.32431263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.24, Z:0.73 [[-7.48526096e-01 6.63096538e-01 3.41536151e-03 2.11076829e+02] [-6.63087005e-01 -7.48533773e-01 3.57981561e-03 1.33243831e+02] [ 4.93027677e-03 4.14903577e-04 9.99987760e-01 7.32636505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.24, Z:0.73 [[-7.49961442e-01 6.61474655e-01 3.01939627e-03 2.11081159e+02] [-6.61467199e-01 -7.49967426e-01 3.16297335e-03 1.33243007e+02] [ 4.35667555e-03 3.74876462e-04 9.99990439e-01 7.32457558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.23, Z:0.73 [[-7.50715835e-01 6.60621002e-01 2.37214926e-03 2.11076439e+02] [-6.60616400e-01 -7.50719524e-01 2.48354093e-03 1.33233216e+02] [ 3.42149806e-03 2.97352803e-04 9.99994102e-01 7.32560481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:133.23, Z:0.73 [[-7.49821558e-01 6.61638909e-01 1.25870596e-03 2.11078625e+02] [-6.61637616e-01 -7.49822599e-01 1.31708934e-03 1.33226239e+02] [ 1.81524373e-03 1.54774775e-04 9.99998341e-01 7.32309726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.761400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.09, Y:133.23, Z:0.73 [[-7.48746806e-01 6.62854554e-01 1.43550258e-03 2.11085947e+02] [-6.62852877e-01 -7.48748162e-01 1.50121653e-03 1.33230299e+02] [ 2.06991813e-03 1.72504065e-04 9.99997843e-01 7.31824072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:133.21, Z:0.73 [[-7.47610791e-01 6.64134085e-01 2.00570123e-03 2.11064979e+02] [-6.64130818e-01 -7.47613444e-01 2.09628274e-03 1.33205588e+02] [ 2.89170202e-03 2.35155592e-04 9.99995791e-01 7.31833500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:133.20, Z:0.73 [[-7.46621859e-01 6.65243751e-01 2.55966927e-03 2.11066309e+02] [-6.65238443e-01 -7.46626189e-01 2.67369840e-03 1.33204045e+02] [ 3.68977726e-03 2.93451272e-04 9.99993150e-01 7.32132969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:132.77, Z:2.40 [[-5.72632792e-01 -8.19809324e-01 2.08751847e-03 2.11463829e+02] [-8.19805331e-01 5.72636546e-01 2.56989708e-03 1.32767076e+02] [-3.30221495e-03 -2.39751435e-04 -9.99994519e-01 2.39648685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.18, Z:0.73 [[-6.90684642e-01 7.23153552e-01 1.91482483e-03 2.10997550e+02] [-7.23149812e-01 -6.90687258e-01 2.33687063e-03 1.33177156e+02] [ 3.01246141e-03 2.29335441e-04 9.99995436e-01 7.32334000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.17, Z:0.73 [[-6.90724018e-01 7.23115638e-01 2.02588547e-03 2.10999993e+02] [-7.23111457e-01 -6.90726947e-01 2.47092925e-03 1.33173643e+02] [ 3.18610127e-03 2.41789183e-04 9.99994895e-01 7.32366001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.14, Z:0.73 [[-6.90903882e-01 7.22942470e-01 2.45180580e-03 2.10979729e+02] [-7.22936352e-01 -6.90908170e-01 2.98860333e-03 1.33144722e+02] [ 3.85456094e-03 2.92338100e-04 9.99992528e-01 7.32142452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.15, Z:0.73 [[-6.91067201e-01 7.22784501e-01 2.94755975e-03 2.10987852e+02] [-7.22775667e-01 -6.91073398e-01 3.59071184e-03 1.33151010e+02] [ 4.63229100e-03 3.50998716e-04 9.99989209e-01 7.32322264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.15, Z:0.73 [[-6.91307156e-01 7.22554457e-01 3.07780769e-03 2.10993949e+02] [-7.22544834e-01 -6.91313910e-01 3.74712459e-03 1.33153533e+02] [ 4.83523284e-03 3.66559994e-04 9.99988243e-01 7.32301004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.15, Z:0.73 [[-6.91346100e-01 7.22521074e-01 1.96683097e-03 2.10999116e+02] [-7.22517148e-01 -6.91348858e-01 2.39314358e-03 1.33148208e+02] [ 3.08886302e-03 2.33421378e-04 9.99995202e-01 7.32895547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.13, Z:0.73 [[-6.91139841e-01 7.22719015e-01 1.71636073e-03 2.10986901e+02] [-7.22716030e-01 -6.91141942e-01 2.08713779e-03 1.33129308e+02] [ 2.69466306e-03 2.02062666e-04 9.99996349e-01 7.33227327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.13, Z:0.73 [[-6.90599868e-01 7.23234564e-01 1.89411264e-03 2.10987776e+02] [-7.23230934e-01 -6.90602431e-01 2.30188794e-03 1.33127022e+02] [ 2.97288371e-03 2.19802655e-04 9.99995557e-01 7.33226996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.13, Z:0.73 [[-6.89727196e-01 7.24065970e-01 2.20594303e-03 2.10993532e+02] [-7.24061057e-01 -6.89730678e-01 2.67922081e-03 1.33129237e+02] [ 3.46143920e-03 2.50694012e-04 9.99993978e-01 7.32979950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.10, Z:0.73 [[-6.88018002e-01 7.25690149e-01 2.24398261e-03 2.10980692e+02] [-7.25685079e-01 -6.88021618e-01 2.72376866e-03 1.33102992e+02] [ 3.52052063e-03 2.45577171e-04 9.99993773e-01 7.31833642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.98, Y:133.10, Z:0.73 [[-6.87666805e-01 7.26022672e-01 2.33366632e-03 2.10979453e+02] [-7.26017196e-01 -6.87670718e-01 2.83089463e-03 1.33097912e+02] [ 3.66008767e-03 2.52430388e-04 9.99993270e-01 7.32054418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.10, Z:0.73 [[-6.87389295e-01 7.26284977e-01 2.46761690e-03 2.10980735e+02] [-7.26278864e-01 -6.87393673e-01 2.99155267e-03 1.33096683e+02] [ 3.86894401e-03 2.64183277e-04 9.99992481e-01 7.32708045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.09, Z:0.73 [[-6.87339003e-01 7.26332272e-01 2.55454391e-03 2.10980493e+02] [-7.26325729e-01 -6.87343696e-01 3.09504305e-03 1.33093503e+02] [ 4.00387931e-03 2.71912834e-04 9.99991948e-01 7.33487472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.07, Z:0.73 [[-6.87420439e-01 7.26255695e-01 2.40939968e-03 2.10965498e+02] [-7.26249880e-01 -6.87424614e-01 2.91739965e-03 1.33072063e+02] [ 3.77505876e-03 2.55653921e-04 9.99992842e-01 7.33633962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.09, Z:0.73 [[-6.87672888e-01 7.26019758e-01 1.14436949e-03 2.10983822e+02] [-7.26018447e-01 -6.87673830e-01 1.38484085e-03 1.33088638e+02] [ 1.79237477e-03 1.21484144e-04 9.99998386e-01 7.34201655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.07, Z:0.73 [[-6.88231420e-01 7.25490749e-01 8.28410515e-04 2.10973472e+02] [-7.25490063e-01 -6.88231912e-01 1.00189664e-03 1.33074137e+02] [ 1.29700530e-03 8.85331513e-05 9.99999155e-01 7.34765121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:133.06, Z:0.73 [[-6.89020111e-01 7.24741616e-01 9.36337455e-04 2.10964635e+02] [-7.24740739e-01 -6.89020740e-01 1.13171735e-03 1.33060737e+02] [ 1.46535858e-03 1.01174113e-04 9.99998921e-01 7.34905856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:133.07, Z:0.73 [[-6.90009697e-01 7.23798428e-01 1.56649900e-03 2.10974844e+02] [-7.23795975e-01 -6.90011454e-01 1.89214936e-03 1.33068945e+02] [ 2.45043698e-03 1.71775737e-04 9.99996983e-01 7.34372785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.07, Z:0.73 [[-6.90991093e-01 7.22859433e-01 2.35563351e-03 2.10979341e+02] [-7.22853888e-01 -6.90995059e-01 2.84354768e-03 1.33069160e+02] [ 3.68321638e-03 2.62087281e-04 9.99993183e-01 7.33414365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.06, Z:0.73 [[-6.92016715e-01 7.21876514e-01 2.67665892e-03 2.10977803e+02] [-7.21869356e-01 -6.92021825e-01 3.22907673e-03 1.33063615e+02] [ 4.18330105e-03 3.02377020e-04 9.99991204e-01 7.32724277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:133.07, Z:0.73 [[-6.94151821e-01 7.19826833e-01 1.60630063e-03 2.10984060e+02] [-7.19824252e-01 -6.94153654e-01 1.93666236e-03 1.33067979e+02] [ 2.50908099e-03 1.88083555e-04 9.99996835e-01 7.33603104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.07, Z:0.73 [[-6.95600762e-01 7.18427506e-01 1.22389878e-03 2.10987093e+02] [-7.18426008e-01 -6.95601823e-01 1.47473478e-03 1.33070291e+02] [ 1.91083626e-03 1.46545919e-04 9.99998164e-01 7.34193746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.07, Z:0.73 [[-6.95815112e-01 7.18219904e-01 1.22433886e-03 2.10985590e+02] [-7.18218406e-01 -6.95816174e-01 1.47436944e-03 1.33068362e+02] [ 1.91083626e-03 1.46545833e-04 9.99998164e-01 7.34194175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:133.08, Z:0.73 [[-6.97530213e-01 7.16554053e-01 1.37543323e-03 2.10993343e+02] [-7.16552161e-01 -6.97531548e-01 1.65530825e-03 1.33075086e+02] [ 2.14552591e-03 1.69057867e-04 9.99997684e-01 7.34031649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.08, Z:0.73 [[-6.99305970e-01 7.14820385e-01 1.72577073e-03 2.11003097e+02] [-7.14817404e-01 -6.99308065e-01 2.07566600e-03 1.33082775e+02] [ 2.69057376e-03 2.17914676e-04 9.99996357e-01 7.33668577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.07, Z:0.73 [[-7.02372484e-01 7.11806357e-01 2.14573688e-03 2.11002009e+02] [-7.11801740e-01 -7.02375704e-01 2.57921474e-03 1.33071164e+02] [ 3.34301490e-03 2.84230216e-04 9.99994372e-01 7.31756702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.661400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.01, Y:133.07, Z:0.73 [[-7.03901768e-01 7.10294579e-01 1.97776719e-03 2.11007622e+02] [-7.10290656e-01 -7.03904496e-01 2.37589540e-03 1.33073273e+02] [ 3.07974484e-03 2.67607422e-04 9.99995222e-01 7.31563552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.08, Z:0.73 [[-7.05494780e-01 7.08713605e-01 1.46361110e-03 2.11020500e+02] [-7.08711455e-01 -7.05496269e-01 1.75721393e-03 1.33083912e+02] [ 2.27793359e-03 2.02427297e-04 9.99997385e-01 7.32440396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.09, Z:0.73 [[-7.07074735e-01 7.07137322e-01 1.45827014e-03 2.11027833e+02] [-7.07135188e-01 -7.07076209e-01 1.74976954e-03 1.33087193e+02] [ 2.26843547e-03 2.06023705e-04 9.99997406e-01 7.32453871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:133.09, Z:0.73 [[-7.08516071e-01 7.05690428e-01 2.44905958e-03 2.11032815e+02] [-7.05684405e-01 -7.08520216e-01 2.93683452e-03 1.33086362e+02] [ 3.80770423e-03 3.52531305e-04 9.99992689e-01 7.32115316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.06, Z:0.73 [[-7.10154401e-01 7.04030959e-01 4.59739638e-03 2.11021714e+02] [-7.04009724e-01 -7.10168960e-01 5.50973058e-03 1.33058323e+02] [ 7.14394910e-03 6.76147666e-04 9.99974253e-01 7.30725503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.05, Z:0.73 [[-7.10400114e-01 7.03783725e-01 4.48853939e-03 2.11021405e+02] [-7.03763501e-01 -7.10413987e-01 5.37607319e-03 1.33050932e+02] [ 6.97231397e-03 6.60292815e-04 9.99975475e-01 7.30738365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.841400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.03, Y:133.06, Z:0.73 [[-7.10109242e-01 7.04081189e-01 3.81360630e-03 2.11032031e+02] [-7.04066610e-01 -7.10119264e-01 4.56498493e-03 1.33056810e+02] [ 5.92223531e-03 5.56605128e-04 9.99982309e-01 7.30809489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:133.04, Z:0.73 [[-7.09192271e-01 7.05009704e-01 2.76426229e-03 2.11024200e+02] [-7.05002059e-01 -7.09197547e-01 3.30695086e-03 1.33040791e+02] [ 4.29184048e-03 3.96453387e-04 9.99990711e-01 7.31627949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.00, Z:0.73 [[-7.05669215e-01 7.08538904e-01 1.89202229e-03 2.10998864e+02] [-7.08535339e-01 -7.05671705e-01 2.26213032e-03 1.33001604e+02] [ 2.93795393e-03 2.55751067e-04 9.99995652e-01 7.32256285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:133.00, Z:0.73 [[-7.03221864e-01 7.10966031e-01 2.51243394e-03 2.11000414e+02] [-7.10959767e-01 -7.03226277e-01 3.00204562e-03 1.33000709e+02] [ 3.90116203e-03 3.24864665e-04 9.99992338e-01 7.31897741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.99, Z:0.73 [[-7.00577570e-01 7.13568795e-01 3.26250280e-03 2.10992969e+02] [-7.13558272e-01 -7.00585052e-01 3.89587666e-03 1.32989856e+02] [ 5.06563670e-03 4.01377942e-04 9.99987089e-01 7.31088058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.97, Z:0.73 [[-6.97761372e-01 7.16320383e-01 3.76515982e-03 2.10974503e+02] [-7.16306424e-01 -6.97771393e-01 4.49332600e-03 1.32965245e+02] [ 5.84588181e-03 4.38261148e-04 9.99982817e-01 7.30686540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.96, Z:0.73 [[-6.95388967e-01 7.18623982e-01 3.70907202e-03 2.10972054e+02] [-7.18610484e-01 -6.95398737e-01 4.42363073e-03 1.32959872e+02] [ 5.75821113e-03 4.10765965e-04 9.99983337e-01 7.30872949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.95, Z:0.73 [[-6.92271845e-01 7.21628656e-01 3.43160383e-03 2.10964038e+02] [-7.21617151e-01 -6.92280259e-01 4.09014860e-03 1.32946997e+02] [ 5.32720003e-03 3.55190537e-04 9.99985747e-01 7.32488456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.94, Z:0.73 [[-6.91952041e-01 7.21936248e-01 3.22897219e-03 2.10960677e+02] [-7.21926078e-01 -6.91959496e-01 3.84621187e-03 1.32942247e+02] [ 5.01103774e-03 3.30314924e-04 9.99987390e-01 7.33295636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.93, Z:0.73 [[-6.92411343e-01 7.21496077e-01 3.15339970e-03 2.10951026e+02] [-7.21486384e-01 -6.92418447e-01 3.75381803e-03 1.32929124e+02] [ 4.89183710e-03 3.24051239e-04 9.99987982e-01 7.34158263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.94, Z:0.73 [[-6.93505924e-01 7.20445058e-01 2.90726992e-03 2.10960631e+02] [-7.20436820e-01 -6.93511951e-01 3.45864157e-03 1.32938129e+02] [ 4.50798766e-03 3.04084126e-04 9.99989793e-01 7.34171849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.94, Z:0.73 [[-6.95123791e-01 7.18886487e-01 2.26596214e-03 2.10962851e+02] [-7.18881480e-01 -6.95127441e-01 2.69403040e-03 1.32937353e+02] [ 3.51183451e-03 2.43726408e-04 9.99993804e-01 7.34099242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.95, Z:0.73 [[-6.99091271e-01 7.15032230e-01 5.51273170e-04 2.10979766e+02] [-7.15031933e-01 -6.99091486e-01 6.55067907e-04 1.32951141e+02] [ 8.53785047e-04 6.37743356e-05 9.99999634e-01 7.34993070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.95, Z:0.73 [[-7.00984925e-01 7.13175939e-01 4.63366306e-04 2.10980949e+02] [-7.13175729e-01 -7.00985076e-01 5.50281205e-04 1.32949177e+02] [ 7.17260181e-04 5.52772264e-05 9.99999741e-01 7.34879872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.93, Z:0.73 [[-7.02375580e-01 7.11805792e-01 1.02972040e-03 2.10969864e+02] [-7.11804754e-01 -7.02376323e-01 1.22200918e-03 1.32931868e+02] [ 1.59308444e-03 1.25349528e-04 9.99998723e-01 7.34935472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.95, Z:0.73 [[-7.03452484e-01 7.10739941e-01 1.82728061e-03 2.10991716e+02] [-7.10736673e-01 -7.03454821e-01 2.16709891e-03 1.32953076e+02] [ 2.82565311e-03 2.25735769e-04 9.99995982e-01 7.34648816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.93, Z:0.73 [[-7.04221824e-01 7.09975593e-01 2.50608319e-03 2.10979609e+02] [-7.09969449e-01 -7.04226213e-01 2.97027439e-03 1.32934347e+02] [ 3.87367180e-03 3.12489544e-04 9.99992449e-01 7.33989827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:132.94, Z:0.73 [[-7.04704684e-01 7.09495628e-01 2.69481524e-03 2.10988499e+02] [-7.09488528e-01 -7.04709756e-01 3.19198514e-03 1.32940757e+02] [ 4.16376209e-03 3.37466380e-04 9.99991275e-01 7.33450539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.93, Z:0.73 [[-7.03669126e-01 7.10522841e-01 2.65574949e-03 2.10980985e+02] [-7.10515961e-01 -7.03674062e-01 3.14376984e-03 1.32927388e+02] [ 4.10250231e-03 3.25221370e-04 9.99991532e-01 7.32554545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:132.92, Z:0.73 [[-7.02192594e-01 7.11981259e-01 2.87179992e-03 2.10975893e+02] [-7.11973235e-01 -7.02198384e-01 3.39740386e-03 1.32920417e+02] [ 4.43546114e-03 3.40987150e-04 9.99990105e-01 7.32459291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:132.90, Z:0.73 [[-6.97911282e-01 7.16178833e-01 2.77864415e-03 2.10956146e+02] [-7.16171363e-01 -6.97916748e-01 3.28513908e-03 1.32895872e+02] [ 4.29200937e-03 3.02750258e-04 9.99990743e-01 7.32586271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.89, Z:0.73 [[-6.96015921e-01 7.18021927e-01 2.51988719e-03 2.10952721e+02] [-7.18015802e-01 -6.96020433e-01 2.97733677e-03 1.32891810e+02] [ 3.89168606e-03 2.62954973e-04 9.99992393e-01 7.33355881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.88, Z:0.73 [[-6.94648607e-01 7.19346396e-01 2.01852783e-03 2.10944588e+02] [-7.19342476e-01 -6.94651510e-01 2.38346333e-03 1.32883319e+02] [ 3.11670916e-03 2.03656670e-04 9.99995122e-01 7.33480544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.88, Z:0.73 [[-6.93683195e-01 7.20278664e-01 1.50699109e-03 2.10943462e+02] [-7.20276484e-01 -6.93684816e-01 1.77833236e-03 1.32884519e+02] [ 2.32627170e-03 1.48149026e-04 9.99997283e-01 7.33883553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.88, Z:0.73 [[-6.93251710e-01 7.20694697e-01 1.10478309e-03 2.10935490e+02] [-7.20693527e-01 -6.93252582e-01 1.30289547e-03 1.32877637e+02] [ 1.70488359e-03 1.07024489e-04 9.99998541e-01 7.33922809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.90, Z:0.73 [[-6.93807342e-01 7.20160310e-01 7.06630053e-04 2.10947364e+02] [-7.20159832e-01 -6.93807699e-01 8.32845148e-04 1.32895276e+02] [ 1.09004739e-03 6.89474983e-05 9.99999404e-01 7.33600320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.89, Z:0.73 [[-6.94673029e-01 7.19324510e-01 1.27732135e-03 2.10944857e+02] [-7.19322948e-01 -6.94674192e-01 1.50445513e-03 1.32894004e+02] [ 1.96951363e-03 1.26297844e-04 9.99998053e-01 7.33836988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.89, Z:0.73 [[-6.95988667e-01 7.18050200e-01 1.91958357e-03 2.10943647e+02] [-7.18046672e-01 -6.95991288e-01 2.25945950e-03 1.32893894e+02] [ 2.95841879e-03 1.94207607e-04 9.99995605e-01 7.33578917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.88, Z:0.73 [[-6.97832181e-01 7.16256628e-01 2.58648443e-03 2.10934708e+02] [-7.16250217e-01 -6.97836922e-01 3.04248864e-03 1.32883184e+02] [ 3.98414699e-03 2.70576451e-04 9.99992027e-01 7.33572836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.89, Z:0.73 [[-7.00086468e-01 7.14052253e-01 2.88405965e-03 2.10944199e+02] [-7.14044273e-01 -7.00092338e-01 3.39037802e-03 1.32893147e+02] [ 4.44001513e-03 3.14211496e-04 9.99990094e-01 7.33502355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.95, Y:132.89, Z:0.73 [[-7.03963642e-01 7.10230046e-01 2.91071753e-03 2.10945971e+02] [-7.10221895e-01 -7.03969577e-01 3.41956903e-03 1.32891760e+02] [ 4.47773725e-03 3.39996947e-04 9.99989917e-01 7.33263808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:132.92, Z:0.73 [[-7.05254761e-01 7.08949670e-01 2.46712956e-03 2.10967419e+02] [-7.08943813e-01 -7.05259015e-01 2.89664677e-03 1.32916102e+02] [ 3.79354213e-03 2.93817687e-04 9.99992761e-01 7.33105679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.90, Z:0.73 [[-7.05461323e-01 7.08744717e-01 2.29075174e-03 2.10954057e+02] [-7.08739673e-01 -7.05464990e-01 2.68790734e-03 1.32899211e+02] [ 3.52108528e-03 2.72668031e-04 9.99993764e-01 7.33039042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.89, Z:0.73 [[-7.04975538e-01 7.09229289e-01 1.81834980e-03 2.10943512e+02] [-7.09226116e-01 -7.04977851e-01 2.13229068e-03 1.32885684e+02] [ 2.79417934e-03 2.13591608e-04 9.99996073e-01 7.33614959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:132.89, Z:0.73 [[-7.03542466e-01 7.10651831e-01 1.40460162e-03 2.10950393e+02] [-7.10649943e-01 -7.03543850e-01 1.64609907e-03 1.32891217e+02] [ 2.15800215e-03 1.59920540e-04 9.99997659e-01 7.34362104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:132.88, Z:0.73 [[-7.03068719e-01 7.11120199e-01 1.56170890e-03 2.10939608e+02] [-7.11117868e-01 -7.03070432e-01 1.82906626e-03 1.32877501e+02] [ 2.39867732e-03 1.75400173e-04 9.99997108e-01 7.33987634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.921400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.95, Y:132.88, Z:0.73 [[-7.02223868e-01 7.11953325e-01 2.02532936e-03 2.10946700e+02] [-7.11949414e-01 -7.02226753e-01 2.37054938e-03 1.32883474e+02] [ 3.10996098e-03 2.22724306e-04 9.99995139e-01 7.33256868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.87, Z:0.73 [[-7.01235955e-01 7.12925390e-01 2.35017695e-03 2.10932702e+02] [-7.12920134e-01 -7.01239848e-01 2.74903072e-03 1.32865068e+02] [ 3.60789153e-03 2.52230717e-04 9.99993460e-01 7.33573138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:132.86, Z:0.73 [[-7.00216666e-01 7.13925231e-01 2.71754573e-03 2.10926742e+02] [-7.13918220e-01 -7.00221882e-01 3.17672498e-03 1.32855845e+02] [ 4.17082910e-03 2.84290367e-04 9.99991262e-01 7.33054928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.84, Z:0.73 [[-6.97624796e-01 7.16457343e-01 2.91890189e-03 2.10918574e+02] [-7.16449286e-01 -6.97630843e-01 3.40992861e-03 1.32843871e+02] [ 4.47938438e-03 2.87605575e-04 9.99989926e-01 7.33119758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.85, Z:0.73 [[-6.96517302e-01 7.17535682e-01 2.48867760e-03 2.10919799e+02] [-7.17529839e-01 -6.96521707e-01 2.90549029e-03 1.32845442e+02] [ 3.81821093e-03 2.38023822e-04 9.99992682e-01 7.33389797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.85, Z:0.73 [[-6.95610921e-01 7.18416422e-01 1.81440721e-03 2.10919057e+02] [-7.18413323e-01 -6.95613266e-01 2.11696566e-03 1.32845257e+02] [ 2.78298863e-03 1.69090119e-04 9.99996113e-01 7.33649264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.83, Z:0.73 [[-6.95128289e-01 7.18883992e-01 1.57067331e-03 2.10907339e+02] [-7.18881674e-01 -6.95130049e-01 1.83142971e-03 1.32832638e+02] [ 2.40840772e-03 1.43950348e-04 9.99997089e-01 7.33893350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.84, Z:0.73 [[-6.95313293e-01 7.18705491e-01 1.35704801e-03 2.10909167e+02] [-7.18703762e-01 -6.95314606e-01 1.58133809e-03 1.32836481e+02] [ 2.08009167e-03 1.24209887e-04 9.99997829e-01 7.32988357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.83, Z:0.73 [[-6.96202186e-01 7.17844233e-01 1.47453269e-03 2.10904449e+02] [-7.17842192e-01 -6.96203734e-01 1.71713451e-03 1.32831158e+02] [ 2.25921027e-03 1.36991014e-04 9.99997439e-01 7.32611902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.84, Z:0.73 [[-6.97466309e-01 7.16616464e-01 1.26186564e-03 2.10915538e+02] [-7.16614969e-01 -6.97467440e-01 1.46855401e-03 1.32844316e+02] [ 1.93250018e-03 1.19995132e-04 9.99998126e-01 7.32262064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.85, Z:0.73 [[-6.99133939e-01 7.14989715e-01 1.20159024e-03 2.10922449e+02] [-7.14988359e-01 -6.99134961e-01 1.39752787e-03 1.32853695e+02] [ 1.83929180e-03 1.17936131e-04 9.99998302e-01 7.32082584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.85, Z:0.73 [[-7.00859846e-01 7.13297779e-01 1.32440688e-03 2.10920226e+02] [-7.13296131e-01 -7.00861085e-01 1.53939699e-03 1.32853476e+02] [ 2.02627370e-03 1.34207232e-04 9.99997938e-01 7.31681559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.86, Z:0.73 [[-7.03569199e-01 7.10621581e-01 2.71104907e-03 2.10918908e+02] [-7.10614663e-01 -7.03574363e-01 3.14907338e-03 1.32856434e+02] [ 4.14522412e-03 2.89079817e-04 9.99991367e-01 7.31804311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.85, Z:0.73 [[-7.04833086e-01 7.09365555e-01 3.29087477e-03 2.10912844e+02] [-7.09355359e-01 -7.04840678e-01 3.82016884e-03 1.32849913e+02] [ 5.02943859e-03 3.58181740e-04 9.99987288e-01 7.31645055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.86, Z:0.73 [[-7.05754015e-01 7.08447871e-01 3.58936888e-03 2.10923899e+02] [-7.08435744e-01 -7.05763032e-01 4.16406343e-03 1.32863461e+02] [ 5.48326573e-03 3.95967275e-04 9.99984888e-01 7.31225030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.86, Z:0.73 [[-7.06121648e-01 7.08081759e-01 3.52724430e-03 2.10916732e+02] [-7.08070057e-01 -7.06130350e-01 4.08944883e-03 1.32857473e+02] [ 5.38635837e-03 3.90112270e-04 9.99985417e-01 7.31003163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:132.86, Z:0.73 [[-7.06339801e-01 7.07864136e-01 3.52850420e-03 2.10915178e+02] [-7.07852437e-01 -7.06348507e-01 4.08836179e-03 1.32855556e+02] [ 5.38635835e-03 3.90112361e-04 9.99985417e-01 7.31003592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.86, Z:0.73 [[-7.05960984e-01 7.08243949e-01 3.09806559e-03 2.10912394e+02] [-7.08234945e-01 -7.05967700e-01 3.58740106e-03 1.32855785e+02] [ 4.72788934e-03 3.38406867e-04 9.99988766e-01 7.31440901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.85, Z:0.73 [[-7.02662858e-01 7.11519432e-01 2.23763463e-03 2.10901111e+02] [-7.11514756e-01 -7.02666384e-01 2.58947125e-03 1.32850176e+02] [ 3.41476974e-03 2.27415212e-04 9.99994144e-01 7.31905918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.84, Z:0.73 [[-7.00720454e-01 7.13433617e-01 1.82199012e-03 2.10885260e+02] [-7.13430527e-01 -7.00722800e-01 2.10716123e-03 1.32836132e+02] [ 2.78002968e-03 1.76667599e-04 9.99996120e-01 7.31741811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.83, Z:0.73 [[-6.97538178e-01 7.16546436e-01 1.30174279e-03 2.10872036e+02] [-7.16544866e-01 -6.97539383e-01 1.50455546e-03 1.32832048e+02] [ 1.98610072e-03 1.16727763e-04 9.99998021e-01 7.31902987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:132.84, Z:0.73 [[-6.97022034e-01 7.17048502e-01 1.31521251e-03 2.10875764e+02] [-7.17046902e-01 -6.97023265e-01 1.51915931e-03 1.32841360e+02] [ 2.00604463e-03 1.15818453e-04 9.99997981e-01 7.32059130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.83, Z:0.73 [[-6.97041878e-01 7.17028996e-01 1.42823317e-03 2.10860889e+02] [-7.17027111e-01 -6.97043330e-01 1.64865175e-03 1.32828795e+02] [ 2.17767151e-03 1.25097401e-04 9.99997621e-01 7.31850579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.83, Z:0.73 [[-6.97368113e-01 7.16711725e-01 1.42103046e-03 2.10860177e+02] [-7.16709861e-01 -6.97369549e-01 1.63929317e-03 1.32832488e+02] [ 2.16588401e-03 1.24724239e-04 9.99997647e-01 7.31938350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.83, Z:0.73 [[-6.97930151e-01 7.16164355e-01 1.45604937e-03 2.10857024e+02] [-7.16162400e-01 -6.97931658e-01 1.67862070e-03 1.32833628e+02] [ 2.21839126e-03 1.28792189e-04 9.99997531e-01 7.32292030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.83, Z:0.73 [[-6.98758540e-01 7.15355042e-01 1.91473010e-03 2.10853198e+02] [-7.15351662e-01 -6.98761142e-01 2.20598693e-03 1.32834151e+02] [ 2.91600287e-03 1.71746852e-04 9.99995734e-01 7.32670515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.84, Z:0.73 [[-7.01196861e-01 7.12963428e-01 2.47243279e-03 2.10850900e+02] [-7.12957783e-01 -7.01201181e-01 2.84669393e-03 1.32841061e+02] [ 3.76326146e-03 2.33352648e-04 9.99992892e-01 7.33011418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.86, Z:0.73 [[-7.03398233e-01 7.10794080e-01 1.64365698e-03 2.10860198e+02] [-7.10791582e-01 -7.03400135e-01 1.89129915e-03 1.32855824e+02] [ 2.50047278e-03 1.62038935e-04 9.99996861e-01 7.33366402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.86, Z:0.73 [[-7.06104540e-01 7.08107267e-01 6.90429891e-04 2.10864370e+02] [-7.08106826e-01 -7.06104874e-01 7.94004596e-04 1.32863647e+02] [ 1.04975634e-03 7.17521310e-05 9.99999446e-01 7.34045683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.87, Z:0.73 [[-7.09125723e-01 7.05082053e-01 -8.25377029e-05 2.10868454e+02] [-7.05082047e-01 -7.09125728e-01 -9.47717274e-05 1.32869634e+02] [-1.25351453e-04 -9.00921725e-06 9.99999992e-01 7.34397854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.91, Z:0.73 [[-7.14553778e-01 6.99580512e-01 -7.83117934e-05 2.10908199e+02] [-6.99580506e-01 -7.14553782e-01 -8.98624001e-05 1.32913081e+02] [-1.18823972e-04 -9.42611335e-06 9.99999993e-01 7.33690259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:132.91, Z:0.73 [[-7.16837014e-01 6.97240568e-01 5.34335375e-04 2.10906210e+02] [-6.97240302e-01 -7.16837210e-01 6.13388717e-04 1.32908034e+02] [ 8.10710977e-04 6.71395786e-05 9.99999669e-01 7.32836466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.90, Z:0.73 [[-7.18367068e-01 6.95662856e-01 1.39547398e-03 2.10904708e+02] [-6.95661037e-01 -7.18368401e-01 1.60085022e-03 1.32904239e+02] [ 2.11611644e-03 1.79221200e-04 9.99997745e-01 7.32372239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.90, Z:0.73 [[-7.19181750e-01 6.94819453e-01 1.88105315e-03 2.10901304e+02] [-6.94816149e-01 -7.19184168e-01 2.15657606e-03 1.32898994e+02] [ 2.85125464e-03 2.43984042e-04 9.99995905e-01 7.32441248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:132.89, Z:0.73 [[-7.19034175e-01 6.94971795e-01 2.01488303e-03 2.10898697e+02] [-6.94968009e-01 -7.19036951e-01 2.30861882e-03 1.32894959e+02] [ 3.05320032e-03 2.59696581e-04 9.99995305e-01 7.32737835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.88, Z:0.73 [[-7.16210984e-01 6.97881437e-01 1.82370081e-03 2.10890760e+02] [-6.97878348e-01 -7.16213271e-01 2.08831571e-03 1.32881880e+02] [ 2.76355549e-03 2.22953341e-04 9.99996157e-01 7.32750298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:132.87, Z:0.73 [[-7.14248080e-01 6.99890690e-01 1.64382393e-03 2.10885913e+02] [-6.99888189e-01 -7.14249945e-01 1.88120835e-03 1.32874059e+02] [ 2.49074136e-03 1.93156497e-04 9.99996879e-01 7.32437409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:132.85, Z:0.73 [[-7.12077825e-01 7.02099115e-01 1.41553792e-03 2.10867722e+02] [-7.02097266e-01 -7.12079214e-01 1.61897798e-03 1.32852176e+02] [ 2.14465814e-03 1.58993012e-04 9.99997688e-01 7.31894057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:132.85, Z:0.73 [[-7.09894526e-01 7.04306649e-01 1.38060158e-03 2.10863916e+02] [-7.04304896e-01 -7.09895854e-01 1.57805079e-03 1.32847667e+02] [ 2.09151500e-03 1.47885162e-04 9.99997802e-01 7.31707782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.84, Z:0.73 [[-7.07602116e-01 7.06609673e-01 1.41943250e-03 2.10853385e+02] [-7.06607828e-01 -7.07603525e-01 1.62142933e-03 1.32835747e+02] [ 2.15011309e-03 1.44344711e-04 9.99997678e-01 7.31766418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.81, Z:0.73 [[-7.02717234e-01 7.11468122e-01 1.26525738e-03 2.10832468e+02] [-7.11466665e-01 -7.02718363e-01 1.44441821e-03 1.32813438e+02] [ 1.91677710e-03 1.14829120e-04 9.99998156e-01 7.31905958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.80, Z:0.73 [[-7.00580482e-01 7.13572021e-01 1.39957289e-03 2.10821966e+02] [-7.13570244e-01 -7.00581870e-01 1.59673246e-03 1.32802976e+02] [ 2.11989900e-03 1.19946029e-04 9.99997746e-01 7.31717024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.80, Z:0.73 [[-6.98802563e-01 7.15312591e-01 1.69550553e-03 2.10814907e+02] [-7.15309992e-01 -6.98804607e-01 1.93310395e-03 1.32797526e+02] [ 2.56760067e-03 1.38045950e-04 9.99996694e-01 7.31799703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.79, Z:0.73 [[-6.97559582e-01 7.16523771e-01 2.07732577e-03 2.10807894e+02] [-7.16519881e-01 -6.97562656e-01 2.36689686e-03 1.32792580e+02] [ 3.14500274e-03 1.62606367e-04 9.99995041e-01 7.31631527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.80, Z:0.73 [[-6.96753851e-01 7.17308736e-01 1.49949120e-03 2.10805830e+02] [-7.17306713e-01 -6.96755455e-01 1.70744406e-03 1.32797974e+02] [ 2.26954321e-03 1.14073121e-04 9.99997418e-01 7.32181590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.80, Z:0.73 [[-6.97153508e-01 7.16921571e-01 6.68620941e-04 2.10801589e+02] [-7.16921169e-01 -6.97153827e-01 7.60905664e-04 1.32798137e+02] [ 1.01164133e-03 5.11195471e-05 9.99999487e-01 7.32653449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.80, Z:0.73 [[-6.97894156e-01 7.16200912e-01 -2.33435016e-05 2.10797012e+02] [-7.16200911e-01 -6.97894157e-01 -2.64639779e-05 1.32797227e+02] [-3.52448183e-05 -1.75041833e-06 9.99999999e-01 7.33095343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.81, Z:0.73 [[-6.99163350e-01 7.14961780e-01 -5.12450350e-04 2.10807163e+02] [-7.14961544e-01 -6.99163537e-01 -5.82293434e-04 1.32812122e+02] [-7.74604149e-04 -4.07359339e-05 9.99999699e-01 7.33465646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.83, Z:0.73 [[-7.02743016e-01 7.11443469e-01 -6.66045883e-04 2.10821195e+02] [-7.11443069e-01 -7.02743330e-01 -7.56374142e-04 1.32831721e+02] [-1.00617674e-03 -5.76829186e-05 9.99999492e-01 7.33453226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.83, Z:0.73 [[-7.05048997e-01 7.09158407e-01 -5.15444502e-04 2.10818931e+02] [-7.09158167e-01 -7.05049184e-01 -5.84967212e-04 1.32831057e+02] [-7.78248141e-04 -4.68988680e-05 9.99999696e-01 7.32806249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:132.83, Z:0.73 [[-7.07252248e-01 7.06961283e-01 -4.56211724e-05 2.10818830e+02] [-7.06961281e-01 -7.07252250e-01 -5.16702053e-05 1.32832787e+02] [-6.87945113e-05 -4.29146635e-06 9.99999998e-01 7.32681445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.84, Z:0.73 [[-7.09294224e-01 7.04912355e-01 5.25867198e-04 2.10825793e+02] [-7.04912105e-01 -7.09294417e-01 5.96216642e-04 1.32842085e+02] [ 7.93275145e-04 5.22028664e-05 9.99999684e-01 7.32797909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.85, Z:0.73 [[-7.12202464e-01 7.01973273e-01 1.08397662e-03 2.10833652e+02] [-7.01972208e-01 -7.12203279e-01 1.22815196e-03 1.32849309e+02] [ 1.63414156e-03 1.13771388e-04 9.99998658e-01 7.31925644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:132.86, Z:0.73 [[-7.13384841e-01 7.00771895e-01 9.06014040e-04 2.10846444e+02] [-7.00771150e-01 -7.13385409e-01 1.02590884e-03 1.32862796e+02] [ 1.36526528e-03 9.69593138e-05 9.99999063e-01 7.31479699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.86, Z:0.73 [[-7.14200874e-01 6.99940274e-01 8.51102944e-04 2.10839862e+02] [-6.99939618e-01 -7.14201375e-01 9.63153452e-04 1.32855370e+02] [ 1.28200878e-03 9.21643676e-05 9.99999174e-01 7.31671790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:132.86, Z:0.73 [[-7.14517146e-01 6.99617262e-01 9.66738029e-04 2.10839512e+02] [-6.99616416e-01 -7.14517792e-01 1.09334015e-03 1.32855495e+02] [ 1.45567117e-03 1.04864490e-04 9.99998935e-01 7.31592029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:132.85, Z:0.73 [[-7.14241223e-01 6.99898449e-01 1.27933205e-03 2.10832284e+02] [-6.99896969e-01 -7.14242355e-01 1.44596944e-03 1.32847098e+02] [ 1.92578491e-03 1.37370356e-04 9.99998136e-01 7.31244043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.631400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:210.75, Y:132.75, Z:0.73 [[-7.12611448e-01 7.01557468e-01 1.42962637e-03 2.10748113e+02] [-7.01553348e-01 -7.12612429e-01 2.53485817e-03 1.32749892e+02] [ 2.79711820e-03 8.03409785e-04 9.99995765e-01 7.30013874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.82, Z:0.73 [[-7.11834166e-01 7.02344231e-01 2.16831066e-03 2.10804080e+02] [-7.02342698e-01 -7.11837336e-01 1.53032588e-03 1.32817224e+02] [ 2.61830004e-03 -4.33558908e-04 9.99996478e-01 7.30227015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:132.83, Z:0.73 [[-7.10652403e-01 7.03541000e-01 1.79563652e-03 2.10809928e+02] [-7.03538106e-01 -7.10654649e-01 2.02566928e-03 1.32827311e+02] [ 2.70121883e-03 1.76248026e-04 9.99996336e-01 7.29854860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:132.83, Z:0.73 [[-7.09082424e-01 7.05123156e-01 1.85777215e-03 2.10804149e+02] [-7.05120067e-01 -7.09084836e-01 2.09447194e-03 1.32826381e+02] [ 2.79417872e-03 1.75200815e-04 9.99996081e-01 7.29758893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:132.82, Z:0.73 [[-7.06243134e-01 7.07966246e-01 2.10480152e-03 2.10789715e+02] [-7.07962298e-01 -7.06246247e-01 2.37149819e-03 1.32818508e+02] [ 3.16544884e-03 1.84734198e-04 9.99994973e-01 7.29697553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.79, Z:0.73 [[-7.05614747e-01 7.08592340e-01 2.17363858e-03 2.10765040e+02] [-7.08588137e-01 -7.05618070e-01 2.44752146e-03 1.32794254e+02] [ 3.26805362e-03 1.86792725e-04 9.99994642e-01 7.29765672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.82, Z:0.73 [[-7.05406438e-01 7.08800331e-01 1.96157423e-03 2.10781211e+02] [-7.08796913e-01 -7.05409146e-01 2.20736017e-03 1.32816769e+02] [ 2.94829002e-03 1.66728319e-04 9.99995640e-01 7.29575043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.82, Z:0.73 [[-7.05754340e-01 7.08454344e-01 1.80383607e-03 2.10779835e+02] [-7.08451456e-01 -7.05756628e-01 2.02860396e-03 1.32820886e+02] [ 2.71024255e-03 1.53765764e-04 9.99996315e-01 7.29770314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.83, Z:0.73 [[-7.07106285e-01 7.07103879e-01 2.19250091e-03 2.10780521e+02] [-7.07099611e-01 -7.07109658e-01 2.46415769e-03 1.32830929e+02] [ 3.29275403e-03 1.92104845e-04 9.99994560e-01 7.30224059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.84, Z:0.73 [[-7.08285347e-01 7.05922152e-01 2.40470355e-03 2.10781868e+02] [-7.05917017e-01 -7.08289397e-01 2.70098364e-03 1.32835198e+02] [ 3.60991021e-03 2.15545978e-04 9.99993461e-01 7.29611602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.84, Z:0.73 [[-7.09067287e-01 7.05137096e-01 2.29312680e-03 2.10782839e+02] [-7.05132429e-01 -7.09070964e-01 2.57408613e-03 1.32838580e+02] [ 3.44107325e-03 2.08242199e-04 9.99994058e-01 7.28604358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:132.84, Z:0.73 [[-7.09420744e-01 7.04782155e-01 2.07913293e-03 2.10777692e+02] [-7.04778320e-01 -7.09423765e-01 2.33245298e-03 1.32836720e+02] [ 3.11885755e-03 1.89362718e-04 9.99995118e-01 7.28442458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.83, Z:0.73 [[-7.08512511e-01 7.05694077e-01 2.42726040e-03 2.10759601e+02] [-7.05688863e-01 -7.08516636e-01 2.72130815e-03 1.32827639e+02] [ 3.64016541e-03 2.15190239e-04 9.99993351e-01 7.29437698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.84, Z:0.73 [[-7.07763899e-01 7.06443542e-01 2.79014827e-03 2.10763561e+02] [-7.06436666e-01 -7.07769358e-01 3.12621995e-03 1.32837464e+02] [ 4.18327934e-03 2.41562576e-04 9.99991221e-01 7.29386174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.83, Z:0.73 [[-7.06955091e-01 7.07253617e-01 2.61161968e-03 2.10754631e+02] [-7.07247606e-01 -7.06959880e-01 2.92439427e-03 1.32832303e+02] [ 3.91459876e-03 2.20353655e-04 9.99992314e-01 7.29294613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.83, Z:0.73 [[-7.06489622e-01 7.07721664e-01 1.56842227e-03 2.10748325e+02] [-7.07719500e-01 -7.06491351e-01 1.75521073e-03 1.32830369e+02] [ 2.35027743e-03 1.30035140e-04 9.99997230e-01 7.29367776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.84, Z:0.73 [[-7.06512760e-01 7.07699615e-01 -9.87080159e-04 2.10742045e+02] [-7.07698759e-01 -7.06513445e-01 -1.10382035e-03 1.32835063e+02] [-1.47855864e-03 -8.13077570e-05 9.99998904e-01 7.30726842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.85, Z:0.73 [[-7.07296669e-01 7.06915610e-01 -1.32013317e-03 2.10751760e+02] [-7.06914078e-01 -7.07297893e-01 -1.47538672e-03 1.32852002e+02] [-1.97670132e-03 -1.10315389e-04 9.99998040e-01 7.31321791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.87, Z:0.73 [[-7.08367740e-01 7.05842801e-01 -1.04148185e-03 2.10759564e+02] [-7.05841848e-01 -7.08368500e-01 -1.16314390e-03 1.32865961e+02] [-1.55874968e-03 -8.88121473e-05 9.99998781e-01 7.31485908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.86, Z:0.73 [[-7.09691885e-01 7.04512094e-01 -3.71297977e-04 2.10750231e+02] [-7.04511973e-01 -7.09691982e-01 -4.14373645e-04 1.32860322e+02] [-5.55438442e-04 -3.24937433e-05 9.99999845e-01 7.31449742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.87, Z:0.73 [[-7.11219018e-01 7.02970489e-01 -2.61235436e-05 2.10751828e+02] [-7.02970488e-01 -7.11219018e-01 -2.90623526e-05 1.32866600e+02] [-3.90095371e-05 -2.30561765e-06 9.99999999e-01 7.30826985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.88, Z:0.73 [[-7.14173156e-01 6.99969070e-01 -6.64391901e-05 2.10755624e+02] [-6.99969066e-01 -7.14173159e-01 -7.39928107e-05 1.32879881e+02] [-9.92417650e-05 -6.33830133e-06 9.99999995e-01 7.30603000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.88, Z:0.73 [[-7.15416037e-01 6.98698661e-01 -2.72651091e-04 2.10754026e+02] [-6.98698596e-01 -7.15416089e-01 -3.03714857e-04 1.32882555e+02] [-4.07264141e-04 -2.67815449e-05 9.99999917e-01 7.30653319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.88, Z:0.73 [[-7.16503387e-01 6.97583545e-01 -3.05811635e-04 2.10752620e+02] [-6.97583463e-01 -7.16503452e-01 -3.40460435e-04 1.32884526e+02] [-4.56614689e-04 -3.06119152e-05 9.99999895e-01 7.30839860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.88, Z:0.73 [[-7.16709622e-01 6.97371655e-01 -3.05912261e-04 2.10751056e+02] [-6.97371572e-01 -7.16709686e-01 -3.40370033e-04 1.32882672e+02] [-4.56614693e-04 -3.06119627e-05 9.99999895e-01 7.30840308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.89, Z:0.73 [[-7.17877356e-01 6.96169522e-01 3.14131564e-04 2.10757415e+02] [-6.96169435e-01 -7.17877424e-01 3.49467169e-04 1.32892582e+02] [ 4.68796350e-04 3.21857735e-05 9.99999890e-01 7.31182721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.88, Z:0.73 [[-7.19186000e-01 6.94816841e-01 1.02727072e-03 2.10742548e+02] [-6.94815911e-01 -7.19186725e-01 1.14196962e-03 1.32877901e+02] [ 1.53225919e-03 1.07524518e-04 9.99998820e-01 7.31240765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.89, Z:0.73 [[-7.20645421e-01 6.93302122e-01 1.53124744e-03 2.10753113e+02] [-6.93300054e-01 -7.20647029e-01 1.70116981e-03 1.32890601e+02] [ 2.28291356e-03 1.64326299e-04 9.99997381e-01 7.31027368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.89, Z:0.73 [[-7.23195695e-01 6.90640773e-01 1.81927840e-03 2.10750158e+02] [-6.90637849e-01 -7.23197955e-01 2.01995543e-03 1.32885359e+02] [ 2.71076199e-03 2.04360550e-04 9.99996305e-01 7.30163230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.90, Z:0.73 [[-7.24332091e-01 6.89448485e-01 1.95162642e-03 2.10765395e+02] [-6.89445119e-01 -7.24334686e-01 2.16562102e-03 1.32900110e+02] [ 2.90671484e-03 2.23089493e-04 9.99995751e-01 7.29499801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:132.89, Z:0.73 [[-7.25208797e-01 6.88524605e-01 2.46357662e-03 2.10761132e+02] [-6.88519244e-01 -7.25212925e-01 2.73208909e-03 1.32894058e+02] [ 3.66772817e-03 2.85115132e-04 9.99993233e-01 7.28871259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:132.91, Z:0.73 [[-7.25719564e-01 6.87983163e-01 3.20637529e-03 2.10773658e+02] [-6.87974086e-01 -7.25726552e-01 3.55375729e-03 1.32907472e+02] [ 4.77187686e-03 3.73128086e-04 9.99988545e-01 7.28335485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.88, Z:0.73 [[-7.25092039e-01 6.88635505e-01 4.76198594e-03 2.10749203e+02] [-6.88615519e-01 -7.25107470e-01 5.27478735e-03 1.32878328e+02] [ 7.08535743e-03 5.45528896e-04 9.99974750e-01 7.28203849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:132.88, Z:0.73 [[-7.24275642e-01 6.89497018e-01 4.31936940e-03 2.10754435e+02] [-6.89480608e-01 -7.24288359e-01 4.78170214e-03 1.32882400e+02] [ 6.42543834e-03 4.85148951e-04 9.99979239e-01 7.28278521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.87, Z:0.73 [[-7.23255117e-01 6.90573293e-01 3.24996874e-03 2.10741894e+02] [-6.90564024e-01 -7.23262331e-01 3.59573533e-03 1.32867100e+02] [ 4.83369875e-03 3.56322488e-04 9.99988254e-01 7.29017854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.87, Z:0.73 [[-7.22308182e-01 6.91568263e-01 2.05639677e-03 2.10744442e+02] [-6.91564560e-01 -7.22311075e-01 2.27386233e-03 1.32869698e+02] [ 3.05788918e-03 2.20298233e-04 9.99995300e-01 7.29799766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.86, Z:0.73 [[-7.21444835e-01 6.92470798e-01 1.24282995e-03 2.10738643e+02] [-6.92469448e-01 -7.21445894e-01 1.37347876e-03 1.32863984e+02] [ 1.84772850e-03 1.30267390e-04 9.99998284e-01 7.30266518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:132.87, Z:0.73 [[-7.20391736e-01 6.93566436e-01 1.16039071e-03 2.10742544e+02] [-6.93565262e-01 -7.20392660e-01 1.28162123e-03 1.32868146e+02] [ 1.72482641e-03 1.18462654e-04 9.99998506e-01 7.30419290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.771400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.72, Y:132.85, Z:0.73 [[-7.17281696e-01 6.96782324e-01 1.16673080e-03 2.10723824e+02] [-6.96781143e-01 -7.17282637e-01 1.28785873e-03 1.32845367e+02] [ 1.73423294e-03 1.10801476e-04 9.99998490e-01 7.29200652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.84, Z:0.73 [[-7.16147686e-01 6.97948458e-01 6.64490701e-04 2.10716570e+02] [-6.97948076e-01 -7.16147991e-01 7.33071673e-04 1.32838281e+02] [ 9.87519925e-04 6.12075762e-05 9.99999511e-01 7.30028341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.83, Z:0.73 [[-7.15100449e-01 6.99021537e-01 4.89415197e-04 2.10706197e+02] [-6.99021330e-01 -7.15100615e-01 5.39622722e-04 1.32829688e+02] [ 7.27189012e-04 4.37727891e-05 9.99999735e-01 7.30716086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.84, Z:0.73 [[-7.13219866e-01 7.00936207e-01 2.42003822e-03 2.10707340e+02] [-7.00931166e-01 -7.13223942e-01 2.66638011e-03 1.32836377e+02] [ 3.59499156e-03 2.05435058e-04 9.99993517e-01 7.31284476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.82, Z:0.73 [[-7.12641139e-01 7.01519016e-01 3.69816061e-03 2.10695395e+02] [-7.01507265e-01 -7.12650669e-01 4.07210229e-03 1.32824107e+02] [ 5.49215382e-03 3.07661082e-04 9.99984871e-01 7.30780284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.80, Z:0.73 [[-7.12451322e-01 7.01710642e-01 3.91018164e-03 2.10672153e+02] [-7.01697523e-01 -7.12461979e-01 4.30292218e-03 1.32799241e+02] [ 5.80526203e-03 3.21857823e-04 9.99983098e-01 7.30514634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.82, Z:0.73 [[-7.12597071e-01 7.01567121e-01 2.99825051e-03 2.10685575e+02] [-7.01559415e-01 -7.12603336e-01 3.29739055e-03 1.32815491e+02] [ 4.44990411e-03 2.46259977e-04 9.99990069e-01 7.31385843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.83, Z:0.73 [[-7.13135504e-01 7.01024040e-01 1.74576615e-03 2.10695873e+02] [-7.01021429e-01 -7.13137626e-01 1.91881305e-03 1.32829075e+02] [ 2.59010561e-03 1.44554227e-04 9.99996635e-01 7.32520963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.011400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.71, Y:132.84, Z:0.73 [[-7.15029164e-01 6.99094352e-01 6.17537853e-04 2.10705234e+02] [-6.99094025e-01 -7.15029429e-01 6.78394211e-04 1.32842043e+02] [ 9.15819300e-04 5.33546222e-05 9.99999579e-01 7.32946950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.83, Z:0.73 [[-7.16534921e-01 6.97551024e-01 5.26509763e-04 2.10695357e+02] [-6.97550786e-01 -7.16535112e-01 5.78060904e-04 1.32830738e+02] [ 7.80489708e-04 4.69335248e-05 9.99999694e-01 7.33511441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.84, Z:0.73 [[-7.17868710e-01 6.96178504e-01 7.81090444e-05 2.10701021e+02] [-6.96178499e-01 -7.17868714e-01 8.57724728e-05 1.32835237e+02] [ 1.15784991e-04 7.19553709e-06 9.99999993e-01 7.32919804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.82, Z:0.73 [[-7.18988498e-01 6.95021752e-01 -5.51666922e-04 2.10690385e+02] [-6.95021490e-01 -7.18988708e-01 -6.04794124e-04 1.32822557e+02] [-8.16987359e-04 -5.14196525e-05 9.99999665e-01 7.33078155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.85, Z:0.73 [[-7.21144093e-01 6.92782848e-01 -1.76708293e-03 2.10715827e+02] [-6.92780164e-01 -7.21146237e-01 -1.93627974e-03 1.32853113e+02] [-2.61574660e-03 -1.72136697e-04 9.99996564e-01 7.34177744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.85, Z:0.73 [[-7.22315977e-01 6.91561550e-01 -1.50049845e-03 2.10714232e+02] [-6.91559614e-01 -7.22317520e-01 -1.64319289e-03 1.32852666e+02] [-2.22020534e-03 -1.49220349e-04 9.99997524e-01 7.34308220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.85, Z:0.73 [[-7.23390092e-01 6.90439210e-01 -6.86424611e-04 2.10712255e+02] [-6.90438805e-01 -7.23390415e-01 -7.51218622e-04 1.32849843e+02] [-1.01522378e-03 -6.94899200e-05 9.99999482e-01 7.33744976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.85, Z:0.73 [[-7.24450882e-01 6.89326356e-01 3.07830049e-04 2.10714380e+02] [-6.89326275e-01 -7.24450946e-01 3.36800992e-04 1.32849805e+02] [ 4.55173572e-04 3.18004347e-05 9.99999896e-01 7.32791795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.85, Z:0.73 [[-7.25593382e-01 6.88122936e-01 1.03406744e-03 2.10714853e+02] [-6.88122016e-01 -7.25594110e-01 1.13054185e-03 1.32848101e+02] [ 1.52826502e-03 1.08749116e-04 9.99998826e-01 7.31550513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.84, Z:0.73 [[-7.26716835e-01 6.86935825e-01 1.34713758e-03 2.10704488e+02] [-6.86934263e-01 -7.26718069e-01 1.47193062e-03 1.32835281e+02] [ 1.99011109e-03 1.44281800e-04 9.99998009e-01 7.31019760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.85, Z:0.73 [[-7.28998739e-01 6.84514571e-01 8.00748358e-04 2.10720016e+02] [-6.84514018e-01 -7.28999173e-01 8.74443997e-04 1.32850700e+02] [ 1.18231455e-03 8.93450947e-05 9.99999297e-01 7.31727221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.83, Z:0.73 [[-7.30373098e-01 6.83047975e-01 7.75588883e-04 2.10705762e+02] [-6.83047456e-01 -7.30373504e-01 8.46475119e-04 1.32833801e+02] [ 1.14465269e-03 8.84786416e-05 9.99999341e-01 7.31948573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:132.86, Z:0.73 [[-7.31319272e-01 6.82034456e-01 1.05962434e-03 2.10727195e+02] [-6.82033488e-01 -7.31320030e-01 1.15576699e-03 1.32855457e+02] [ 1.56319742e-03 1.22535390e-04 9.99998771e-01 7.31655433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.85, Z:0.73 [[-7.31863950e-01 6.81448730e-01 1.66939112e-03 2.10719857e+02] [-6.81446328e-01 -7.31865828e-01 1.81975925e-03 1.32845860e+02] [ 2.46184294e-03 1.94215748e-04 9.99996951e-01 7.31428092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.83, Z:0.73 [[-7.32207593e-01 6.81077493e-01 2.34302730e-03 2.10706154e+02] [-6.81072764e-01 -7.32211291e-01 2.55254937e-03 1.32829290e+02] [ 3.45407497e-03 2.73223952e-04 9.99993997e-01 7.30882300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.84, Z:0.73 [[-7.31657285e-01 6.81666901e-01 2.80234749e-03 2.10721054e+02] [-6.81660148e-01 -7.31662581e-01 3.05114530e-03 1.32840859e+02] [ 4.13023756e-03 3.22144087e-04 9.99991419e-01 7.29142783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:132.84, Z:0.73 [[-7.31265972e-01 6.82087933e-01 2.47603147e-03 2.10720012e+02] [-6.82082669e-01 -7.31270110e-01 2.69430087e-03 1.32836892e+02] [ 3.64839791e-03 2.81392391e-04 9.99993305e-01 7.28551542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:132.83, Z:0.73 [[-7.30615510e-01 6.82784749e-01 2.44195186e-03 2.10713515e+02] [-6.82779638e-01 -7.30619540e-01 2.65567062e-03 1.32827847e+02] [ 3.59738914e-03 2.72959134e-04 9.99993492e-01 7.28787757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.81, Z:0.73 [[-7.29804284e-01 6.83650412e-01 2.79680279e-03 2.10696934e+02] [-6.83643722e-01 -7.29809578e-01 3.03978014e-03 1.32807977e+02] [ 4.11928041e-03 3.06427897e-04 9.99991469e-01 7.29145874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.81, Z:0.73 [[-7.29064092e-01 6.84436884e-01 3.42064628e-03 2.10701111e+02] [-6.84426897e-01 -7.29072024e-01 3.71560985e-03 1.32810598e+02] [ 5.03699793e-03 3.67735402e-04 9.99987247e-01 7.29630226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:132.80, Z:0.73 [[-7.27738860e-01 6.85848007e-01 2.94331850e-03 2.10699856e+02] [-6.85840633e-01 -7.27744747e-01 3.19524769e-03 1.32804270e+02] [ 4.33343884e-03 3.06658488e-04 9.99990564e-01 7.29399369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.79, Z:0.73 [[-7.27264382e-01 6.86353819e-01 2.22590353e-03 2.10689979e+02] [-6.86349608e-01 -7.27267752e-01 2.41501442e-03 1.32791794e+02] [ 3.27638222e-03 2.28605955e-04 9.99994607e-01 7.29946777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.79, Z:0.73 [[-7.27041134e-01 6.86592681e-01 1.29629501e-03 2.10693712e+02] [-6.86591255e-01 -7.27042278e-01 1.40562509e-03 1.32794611e+02] [ 1.90755317e-03 1.31922446e-04 9.99998172e-01 7.30323407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.79, Z:0.73 [[-7.26636186e-01 6.87022163e-01 6.32974645e-04 2.10687966e+02] [-6.87021824e-01 -7.26636459e-01 6.85992356e-04 1.32786400e+02] [ 9.31234407e-04 6.35994743e-05 9.99999564e-01 7.30750117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:132.78, Z:0.73 [[-7.26100912e-01 6.87588120e-01 2.08376583e-04 2.10686318e+02] [-6.87588083e-01 -7.26100941e-01 2.25747972e-04 1.32782586e+02] [ 3.06524057e-04 2.06385528e-05 9.99999953e-01 7.30781654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.76, Z:0.73 [[-7.24172098e-01 6.89619277e-01 1.61377056e-04 2.10668627e+02] [-6.89619255e-01 -7.24172116e-01 1.74743643e-04 1.32761346e+02] [ 2.37371349e-04 1.52557453e-05 9.99999972e-01 7.30829652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:132.77, Z:0.73 [[-7.23098919e-01 6.90744186e-01 6.50642296e-04 2.10678561e+02] [-6.90743830e-01 -7.23099209e-01 7.03873706e-04 1.32773080e+02] [ 9.56675600e-04 5.95431644e-05 9.99999541e-01 7.31642282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:132.76, Z:0.73 [[-7.21966387e-01 6.91927526e-01 9.14155937e-04 2.10666722e+02] [-6.91926825e-01 -7.21966961e-01 9.88321039e-04 1.32760802e+02] [ 1.34383691e-03 8.10055543e-05 9.99999094e-01 7.32206184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:132.74, Z:0.73 [[-7.20940396e-01 6.92996613e-01 7.99763685e-04 2.10646241e+02] [-6.92996078e-01 -7.20940837e-01 8.64133772e-04 1.32737995e+02] [ 1.17542408e-03 6.87558471e-05 9.99999307e-01 7.32461884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:132.75, Z:0.73 [[-7.18555259e-01 6.95469861e-01 1.04805356e-04 2.10657433e+02] [-6.95469852e-01 -7.18555267e-01 1.13240876e-04 1.32747205e+02] [ 1.54064057e-04 8.48086130e-06 9.99999988e-01 7.32067430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:132.74, Z:0.73 [[-7.17313135e-01 6.96750889e-01 -2.57302218e-04 2.10648236e+02] [-6.96750834e-01 -7.17313180e-01 -2.77568140e-04 1.32736420e+02] [-3.77962120e-04 -1.98277376e-05 9.99999928e-01 7.31682860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:132.74, Z:0.73 [[-7.15900507e-01 6.98202234e-01 -3.22663799e-04 2.10649344e+02] [-6.98202148e-01 -7.15900580e-01 -3.47885440e-04 1.32737489e+02] [-4.73889592e-04 -2.37668058e-05 9.99999887e-01 7.31710785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:132.71, Z:0.73 [[-7.14375915e-01 6.99762135e-01 8.02910357e-05 2.10628650e+02] [-6.99762130e-01 -7.14375919e-01 8.66138114e-05 1.32714741e+02] [ 1.17967048e-04 5.69019469e-06 9.99999993e-01 7.31520967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:132.70, Z:0.73 [[-7.12650010e-01 7.01519180e-01 8.96548094e-04 2.10615048e+02] [-7.01518518e-01 -7.12650571e-01 9.65735213e-04 1.32699596e+02] [ 1.31640729e-03 5.92861189e-05 9.99999132e-01 7.31370665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:132.70, Z:0.73 [[-7.10957140e-01 7.03234284e-01 1.21956005e-03 2.10617950e+02] [-7.03233062e-01 -7.10958182e-01 1.31282451e-03 1.32702310e+02] [ 1.79027941e-03 7.57270112e-05 9.99998395e-01 7.30722771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:132.69, Z:0.73 [[-7.07730965e-01 7.06481439e-01 9.25834068e-04 2.10607951e+02] [-7.06480739e-01 -7.07731569e-01 9.95963307e-04 1.32690694e+02] [ 1.35887159e-03 5.07901357e-05 9.99999075e-01 7.30970057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:132.68, Z:0.73 [[-7.06434345e-01 7.07778147e-01 7.81050865e-04 2.10594627e+02] [-7.07777650e-01 -7.06434776e-01 8.39687506e-04 1.32675571e+02] [ 1.14607396e-03 4.03737473e-05 9.99999342e-01 7.31043633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.60, Y:132.68, Z:0.73 [[-7.04441865e-01 7.09760916e-01 1.04936394e-03 2.10596569e+02] [-7.09760022e-01 -7.04442645e-01 1.12740095e-03 1.32676179e+02] [ 1.53940184e-03 4.93918600e-05 9.99998814e-01 7.30408875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:132.66, Z:0.73 [[-7.03850693e-01 7.10346769e-01 1.29237905e-03 2.10581641e+02] [-7.10345416e-01 -7.03851877e-01 1.38758533e-03 1.32660164e+02] [ 1.89531017e-03 5.86173642e-05 9.99998202e-01 7.30397125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:132.65, Z:0.73 [[-7.03249461e-01 7.10941674e-01 1.45977308e-03 2.10575568e+02] [-7.10939952e-01 -7.03250974e-01 1.56629487e-03 1.32653645e+02] [ 2.14013114e-03 6.36850160e-05 9.99997708e-01 7.30595566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:132.65, Z:0.73 [[-7.03477496e-01 7.10716034e-01 1.46027540e-03 2.10573971e+02] [-7.10714311e-01 -7.03479009e-01 1.56582655e-03 1.32651820e+02] [ 2.14013112e-03 6.36851188e-05 9.99997708e-01 7.30596014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:132.65, Z:0.73 [[-7.02898965e-01 7.11288190e-01 1.46801764e-03 2.10575064e+02] [-7.11286453e-01 -7.02900495e-01 1.57311682e-03 1.32651986e+02] [ 2.15080974e-03 6.15611276e-05 9.99997685e-01 7.30464853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:132.63, Z:0.73 [[-7.02309033e-01 7.11870548e-01 1.53126148e-03 2.10556457e+02] [-7.11868662e-01 -7.02310700e-01 1.63982376e-03 1.32629327e+02] [ 2.24276356e-03 6.16059736e-05 9.99997483e-01 7.30496002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:132.64, Z:0.73 [[-7.01742662e-01 7.12429035e-01 1.45141932e-03 2.10570831e+02] [-7.12427344e-01 -7.01744161e-01 1.55320099e-03 1.32641639e+02] [ 2.12507052e-03 5.59165878e-05 9.99997741e-01 7.30319551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:132.62, Z:0.73 [[-7.00638766e-01 7.13514654e-01 1.46886026e-03 2.10549745e+02] [-7.13512927e-01 -7.00640304e-01 1.57083225e-03 1.32616360e+02] [ 2.14995453e-03 5.25351859e-05 9.99997688e-01 7.29867061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:132.60, Z:0.73 [[-6.96919384e-01 7.17147738e-01 1.57898658e-03 2.10538644e+02] [-7.17145754e-01 -6.96921172e-01 1.68748570e-03 1.32600295e+02] [ 2.31060574e-03 4.36779747e-05 9.99997330e-01 7.30322319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:132.60, Z:0.73 [[-6.95319594e-01 7.18699903e-01 1.05442194e-03 2.10539477e+02] [-7.18699021e-01 -6.95320393e-01 1.12615849e-03 1.32598436e+02] [ 1.54253108e-03 2.52280450e-05 9.99998810e-01 7.30764416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:132.58, Z:0.73 [[-6.93900529e-01 7.20070685e-01 5.14138023e-04 2.10526757e+02] [-7.20070476e-01 -6.93900719e-01 5.48795815e-04 1.32582346e+02] [ 7.51932522e-04 1.05940952e-05 9.99999717e-01 7.31234689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:132.59, Z:0.73 [[-6.92441626e-01 7.21473854e-01 2.70241252e-04 2.10531943e+02] [-7.21473797e-01 -6.92441678e-01 2.88265986e-04 1.32585945e+02] [ 3.95102678e-04 4.63538563e-06 9.99999922e-01 7.31697513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.55, Z:0.73 [[-6.88450450e-01 7.25281893e-01 1.46758689e-03 2.10504220e+02] [-7.25280207e-01 -6.88452014e-01 1.56385529e-03 1.32553516e+02] [ 2.14459907e-03 1.22251590e-05 9.99997700e-01 7.32198833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.511400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.50, Y:132.55, Z:0.73 [[-6.86360903e-01 7.27257917e-01 2.15242149e-03 2.10502284e+02] [-7.27254305e-01 -6.86364278e-01 2.29200704e-03 1.32548683e+02] [ 3.14422548e-03 7.78622662e-06 9.99995057e-01 7.31982388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.54, Z:0.73 [[-6.84855812e-01 7.28676100e-01 1.91255042e-03 2.10497091e+02] [-7.28673258e-01 -6.84858483e-01 2.03519575e-03 1.32540764e+02] [ 2.79282488e-03 1.91289839e-07 9.99996100e-01 7.32080550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.54, Z:0.73 [[-6.83670229e-01 7.29790260e-01 1.09335801e-03 2.10499438e+02] [-7.29789333e-01 -6.83671103e-01 1.16271222e-03 1.32541234e+02] [ 1.59603333e-03 -3.00928523e-06 9.99998726e-01 7.32367994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.53, Z:0.73 [[-6.82441054e-01 7.30940005e-01 -9.57238132e-04 2.10488091e+02] [-7.30939298e-01 -6.82441725e-01 -1.01709097e-03 1.32527164e+02] [-1.39669172e-03 5.57833672e-06 9.99999025e-01 7.33698146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.53, Z:0.73 [[-6.82266995e-01 7.31102007e-01 -1.26577325e-03 2.10490018e+02] [-7.31100772e-01 -6.82268169e-01 -1.34401764e-03 1.32528472e+02] [-1.84621079e-03 8.42892485e-06 9.99998296e-01 7.34402475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.52, Z:0.73 [[-6.82210096e-01 7.31155186e-01 -1.21597631e-03 2.10479436e+02] [-7.31154048e-01 -6.82211180e-01 -1.29024471e-03 1.32516032e+02] [-1.77292175e-03 8.84803020e-06 9.99998428e-01 7.34839281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.51, Z:0.73 [[-6.82300559e-01 7.31070629e-01 -1.29749158e-03 2.10476152e+02] [-7.31069334e-01 -6.82301792e-01 -1.37578536e-03 1.32510225e+02] [-1.89107709e-03 9.85718382e-06 9.99998212e-01 7.34861294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.52, Z:0.73 [[-6.82169336e-01 7.31192697e-01 -1.49529247e-03 2.10489066e+02] [-7.31190981e-01 -6.82170975e-01 -1.58443751e-03 1.32520942e+02] [-2.17857426e-03 1.24896873e-05 9.99997627e-01 7.34603988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.51, Z:0.73 [[-6.81637441e-01 7.31689121e-01 -1.19589658e-03 2.10479279e+02] [-7.31688025e-01 -6.81638490e-01 -1.26629765e-03 1.32505885e+02] [-1.74170535e-03 1.18673216e-05 9.99998483e-01 7.34198445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:132.50, Z:0.73 [[-6.81246675e-01 7.32053135e-01 -1.08381317e-03 2.10473228e+02] [-7.32052237e-01 -6.81247537e-01 -1.14680672e-03 1.32497402e+02] [-1.57786851e-03 1.21495960e-05 9.99998755e-01 7.33692485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:132.48, Z:0.73 [[-6.80323885e-01 7.32911094e-01 -8.60047103e-04 2.10463143e+02] [-7.32910530e-01 -6.80324429e-01 -9.09376330e-04 1.32484345e+02] [-1.25160305e-03 1.16671395e-05 9.99999217e-01 7.33373736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:132.48, Z:0.73 [[-6.78948415e-01 7.34185821e-01 -4.80002972e-04 2.10465951e+02] [-7.34185646e-01 -6.78948584e-01 -5.07136314e-04 1.32484580e+02] [-6.98229629e-04 8.09189575e-06 9.99999756e-01 7.33340934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.47, Z:0.73 [[-6.76209164e-01 7.36709422e-01 6.27279969e-04 2.10452183e+02] [-7.36709125e-01 -6.76209455e-01 6.62479232e-04 1.32465539e+02] [ 9.12227339e-04 -1.41483492e-05 9.99999584e-01 7.33473555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.45, Z:0.73 [[-6.75565802e-01 7.37298793e-01 1.15638763e-03 2.10440392e+02] [-7.37297783e-01 -6.75566791e-01 1.22032517e-03 1.32451004e+02] [ 1.68096135e-03 -2.81920809e-05 9.99998587e-01 7.33448441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.45, Z:0.73 [[-6.75356529e-01 7.37490056e-01 1.40587841e-03 2.10445666e+02] [-7.37488567e-01 -6.75357991e-01 1.48252347e-03 1.32454009e+02] [ 2.04281754e-03 -3.55873547e-05 9.99997913e-01 7.33232093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.45, Z:0.73 [[-6.75331703e-01 7.37512399e-01 1.59725754e-03 2.10444661e+02] [-7.37510480e-01 -6.75333591e-01 1.68311459e-03 1.32449821e+02] [ 2.31999955e-03 -4.13335365e-05 9.99997308e-01 7.33022203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.45, Z:0.73 [[-6.75444727e-01 7.37409260e-01 1.41599095e-03 2.10451918e+02] [-7.37407753e-01 -6.75446210e-01 1.49104756e-03 1.32454547e+02] [ 2.05593800e-03 -3.70424951e-05 9.99997886e-01 7.32815742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.44, Z:0.73 [[-6.75310550e-01 7.37532233e-01 1.36626450e-03 2.10442916e+02] [-7.37530833e-01 -6.75311931e-01 1.43765871e-03 1.32440694e+02] [ 1.98297436e-03 -3.67960978e-05 9.99998033e-01 7.33906541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.44, Z:0.73 [[-6.75328664e-01 7.37514789e-01 1.76959542e-03 2.10446151e+02] [-7.37512443e-01 -6.75330981e-01 1.86070207e-03 1.32442362e+02] [ 2.56735791e-03 -4.85131998e-05 9.99996703e-01 7.34161279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.43, Z:0.73 [[-6.75131028e-01 7.37693735e-01 2.45957391e-03 2.10438565e+02] [-7.37689211e-01 -6.75135504e-01 2.58430821e-03 1.32431535e+02] [ 3.56697365e-03 -6.96544800e-05 9.99993636e-01 7.34143801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.42, Z:0.73 [[-6.75159860e-01 7.37666373e-01 2.73600678e-03 2.10435400e+02] [-7.37660784e-01 -6.75165399e-01 2.87267238e-03 1.32424775e+02] [ 3.96633092e-03 -7.87318260e-05 9.99992131e-01 7.33542677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.41, Z:0.73 [[-6.75277262e-01 7.37558882e-01 2.74117342e-03 2.10430321e+02] [-7.37553279e-01 -6.75282821e-01 2.87600744e-03 1.32413468e+02] [ 3.97229216e-03 -7.96590098e-05 9.99992107e-01 7.33303873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.40, Z:0.73 [[-6.75736624e-01 7.37138386e-01 2.64849760e-03 2.10423369e+02] [-7.37133160e-01 -6.75741810e-01 2.77674568e-03 1.32403639e+02] [ 3.83654639e-03 -7.59466529e-05 9.99992638e-01 7.33544576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.41, Z:0.73 [[-6.76382245e-01 7.36544455e-01 3.05349107e-03 2.10434367e+02] [-7.36537513e-01 -6.76389132e-01 3.19900115e-03 1.32411891e+02] [ 4.42155474e-03 -8.52631394e-05 9.99990221e-01 7.33973731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.41, Z:0.73 [[-6.77201231e-01 7.35789391e-01 3.53065775e-03 2.10435612e+02] [-7.35780113e-01 -6.77210428e-01 3.69621034e-03 1.32408709e+02] [ 5.11063060e-03 -9.47095669e-05 9.99986936e-01 7.33845723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.41, Z:0.73 [[-6.77850303e-01 7.35188986e-01 4.01522051e-03 2.10440670e+02] [-7.35176994e-01 -6.77862187e-01 4.20044176e-03 1.32408640e+02] [ 5.80988467e-03 -1.04627023e-04 9.99983117e-01 7.33303064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.39, Z:0.73 [[-6.78168061e-01 7.34896069e-01 3.98119287e-03 2.10427036e+02] [-7.34884291e-01 -6.78179739e-01 4.16181860e-03 1.32389521e+02] [ 5.75846847e-03 -1.03303653e-04 9.99983415e-01 7.33075753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.40, Z:0.73 [[-6.77868767e-01 7.35177021e-01 2.94648235e-03 2.10439088e+02] [-7.35170582e-01 -6.77875166e-01 3.07794472e-03 1.32395525e+02] [ 4.26018144e-03 -7.97245555e-05 9.99990922e-01 7.34235011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.39, Z:0.73 [[-6.77654561e-01 7.35376979e-01 2.23512373e-03 2.10442391e+02] [-7.35373280e-01 -6.77658244e-01 2.33318037e-03 1.32394127e+02] [ 3.23041715e-03 -6.25599435e-05 9.99994780e-01 7.34875638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.38, Z:0.74 [[-6.77439311e-01 7.35577399e-01 1.36755755e-03 2.10439896e+02] [-7.35576017e-01 -6.77440690e-01 1.42655564e-03 1.32384705e+02] [ 1.97578122e-03 -3.95376617e-05 9.99998047e-01 7.35036714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.37, Z:0.73 [[-6.77260416e-01 7.35742943e-01 8.06745911e-04 2.10433387e+02] [-7.35742463e-01 -6.77260896e-01 8.40975303e-04 1.32370078e+02] [ 1.16511910e-03 -2.39979394e-05 9.99999321e-01 7.34295463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.37, Z:0.73 [[-6.76836199e-01 7.36133066e-01 9.32515053e-04 2.10439554e+02] [-7.36132425e-01 -6.76836841e-01 9.71356264e-04 1.32369114e+02] [ 1.34620801e-03 -2.90054859e-05 9.99999093e-01 7.34029619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.35, Z:0.73 [[-6.75410872e-01 7.37439334e-01 1.83944843e-03 2.10430835e+02] [-7.37436851e-01 -6.75413374e-01 1.91456858e-03 1.32347868e+02] [ 2.65426625e-03 -6.33566205e-05 9.99996475e-01 7.33730181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.34, Z:0.73 [[-6.74486565e-01 7.38284121e-01 2.10479982e-03 2.10430015e+02] [-7.38280879e-01 -6.74489845e-01 2.18912414e-03 1.32341930e+02] [ 3.03586169e-03 -7.73986399e-05 9.99995389e-01 7.34039596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.33, Z:0.73 [[-6.73288269e-01 7.39376971e-01 2.14529780e-03 2.10424537e+02] [-7.39373614e-01 -6.73291681e-01 2.22958738e-03 1.32331860e+02] [ 3.09291673e-03 -8.50215613e-05 9.99995213e-01 7.34795634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.33, Z:0.74 [[-6.72110477e-01 7.40448427e-01 1.90593527e-03 2.10428850e+02] [-7.40445786e-01 -6.72113175e-01 1.97935939e-03 1.32332016e+02] [ 2.74661775e-03 -8.08935581e-05 9.99996225e-01 7.35213874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.34, Z:0.74 [[-6.70931911e-01 7.41517758e-01 1.33605439e-03 2.10438261e+02] [-7.41516464e-01 -6.70933239e-01 1.38652814e-03 1.32337800e+02] [ 1.92453853e-03 -6.04403507e-05 9.99998146e-01 7.35621303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.34, Z:0.74 [[-6.68728460e-01 7.43506296e-01 7.96040272e-04 2.10450729e+02] [-7.43505839e-01 -6.68728933e-01 8.25546925e-04 1.32343579e+02] [ 1.14613450e-03 -3.97938662e-05 9.99999342e-01 7.35731641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:132.35, Z:0.74 [[-6.68168193e-01 7.44009470e-01 1.08353784e-03 2.10456468e+02] [-7.44008625e-01 -6.68169070e-01 1.12285246e-03 1.32346646e+02] [ 1.55939933e-03 -5.59071986e-05 9.99998783e-01 7.35411521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.33, Z:0.74 [[-6.67908125e-01 7.44241708e-01 1.73685454e-03 2.10445278e+02] [-7.44239540e-01 -6.67910377e-01 1.79851094e-03 1.32332565e+02] [ 2.49859002e-03 -9.13957564e-05 9.99996874e-01 7.35285002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.34, Z:0.74 [[-6.68005335e-01 7.44153257e-01 2.19155392e-03 2.10452463e+02] [-7.44149811e-01 -6.68008920e-01 2.26767692e-03 1.32337846e+02] [ 3.15147673e-03 -1.16024159e-04 9.99995027e-01 7.35031689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:132.34, Z:0.73 [[-6.68176440e-01 7.43999417e-01 2.26123115e-03 2.10459908e+02] [-7.43995753e-01 -6.68180255e-01 2.33808251e-03 1.32343716e+02] [ 3.25044203e-03 -1.20094721e-04 9.99994710e-01 7.34355429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:132.34, Z:0.73 [[-6.68957857e-01 7.43297537e-01 2.03907498e-03 2.10455581e+02] [-7.43294558e-01 -6.68960956e-01 2.10686683e-03 1.32336818e+02] [ 2.93009047e-03 -1.06228215e-04 9.99995702e-01 7.33715977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.33, Z:0.73 [[-6.69659709e-01 7.42665068e-01 2.11456256e-03 2.10451105e+02] [-7.42661867e-01 -6.69663038e-01 2.18328249e-03 1.32331548e+02] [ 3.03749202e-03 -1.08348662e-04 9.99995381e-01 7.33076855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.32, Z:0.73 [[-6.70692087e-01 7.41731271e-01 2.61650814e-03 2.10442076e+02] [-7.41726370e-01 -6.70697178e-01 2.69955717e-03 1.32322244e+02] [ 3.75723060e-03 -1.30161452e-04 9.99992933e-01 7.32791653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.32, Z:0.73 [[-6.73149954e-01 7.39496844e-01 3.68214937e-03 2.10442473e+02] [-7.39487119e-01 -6.73160003e-01 3.79621848e-03 1.32321938e+02] [ 5.28596727e-03 -1.67477739e-04 9.99986015e-01 7.32531983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.30, Z:0.73 [[-6.74795598e-01 7.37995181e-01 3.74336223e-03 2.10425896e+02] [-7.37985122e-01 -6.74805962e-01 3.85649691e-03 1.32302161e+02] [ 5.37211929e-03 -1.60198492e-04 9.99985557e-01 7.32623293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.30, Z:0.73 [[-6.76505259e-01 7.36428565e-01 3.68835865e-03 2.10428865e+02] [-7.36418790e-01 -6.76515297e-01 3.79702721e-03 1.32301447e+02] [ 5.29147034e-03 -1.47467737e-04 9.99985989e-01 7.32794572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.29, Z:0.73 [[-6.78015655e-01 7.35039647e-01 3.38947849e-03 2.10424843e+02] [-7.35031388e-01 -6.78024116e-01 3.48677046e-03 1.32292981e+02] [ 4.86106268e-03 -1.27288120e-04 9.99988177e-01 7.32761465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.981400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.41, Y:132.27, Z:0.73 [[-6.79598424e-01 7.33582009e-01 1.84911538e-03 2.10405657e+02] [-7.33576360e-01 -6.79600629e-01 2.95105506e-03 1.32268358e+02] [ 3.42150087e-03 6.49065037e-04 9.99993936e-01 7.30866480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.29, Z:0.73 [[-6.80341838e-01 7.32883863e-01 4.02839888e-03 2.10426473e+02] [-7.32877889e-01 -6.80353225e-01 3.08049466e-03 1.32288822e+02] [ 4.99837900e-03 -8.56535069e-04 9.99987141e-01 7.32198062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.28, Z:0.73 [[-6.81756490e-01 7.31567750e-01 4.08849158e-03 2.10422241e+02] [-7.31555712e-01 -6.81768737e-01 4.19877877e-03 1.32279615e+02] [ 5.85909688e-03 -1.28414692e-04 9.99982827e-01 7.32262103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.29, Z:0.73 [[-6.82418684e-01 7.30951837e-01 3.76200493e-03 2.10431390e+02] [-7.30941651e-01 -6.82429043e-01 3.86063578e-03 1.32287143e+02] [ 5.38924024e-03 -1.15236103e-04 9.99985471e-01 7.32342495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.28, Z:0.73 [[-6.82970050e-01 7.30438798e-01 3.32752063e-03 2.10430503e+02] [-7.30430835e-01 -6.82978149e-01 3.41225843e-03 1.32284716e+02] [ 4.76506983e-03 -1.00053362e-04 9.99988642e-01 7.32590496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.27, Z:0.73 [[-6.83364434e-01 7.30071483e-01 2.94631116e-03 2.10419016e+02] [-7.30065246e-01 -6.83370779e-01 3.01911781e-03 1.32271172e+02] [ 4.21759477e-03 -8.78416496e-05 9.99991102e-01 7.33044875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.27, Z:0.73 [[-6.83635826e-01 7.29817354e-01 2.94743321e-03 2.10417350e+02] [-7.29811119e-01 -6.83642174e-01 3.01802239e-03 1.32269358e+02] [ 4.21759477e-03 -8.78412986e-05 9.99991102e-01 7.33045323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.27, Z:0.73 [[-6.84308240e-01 7.29188673e-01 2.47215510e-03 2.10420795e+02] [-7.29184289e-01 -6.84312702e-01 2.52949715e-03 1.32268066e+02] [ 3.53620781e-03 -7.17009186e-05 9.99993745e-01 7.33559518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.27, Z:0.73 [[-6.85405378e-01 7.28157008e-01 2.61508057e-03 2.10428775e+02] [-7.28152103e-01 -6.85410363e-01 2.67375549e-03 1.32272801e+02] [ 3.73931712e-03 -7.15700189e-05 9.99993006e-01 7.34111953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.26, Z:0.73 [[-6.87166086e-01 7.26496951e-01 2.22494270e-03 2.10420919e+02] [-7.26493397e-01 -6.87169686e-01 2.27319861e-03 1.32262173e+02] [ 3.18038503e-03 -5.43411875e-05 9.99994941e-01 7.34400886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.27, Z:0.73 [[-6.89603951e-01 7.24184803e-01 1.66213819e-03 2.10434083e+02] [-7.24182815e-01 -6.89605953e-01 1.69696182e-03 1.32273891e+02] [ 2.37513435e-03 -3.34603342e-05 9.99997179e-01 7.34737375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.27, Z:0.73 [[-6.92693773e-01 7.21231424e-01 7.54239955e-04 2.10434353e+02] [-7.21231014e-01 -6.92694184e-01 7.69530366e-04 1.32273251e+02] [ 1.07746711e-03 -1.09323548e-05 9.99999420e-01 7.34888110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:132.29, Z:0.73 [[-6.96016030e-01 7.18026238e-01 8.48617238e-05 2.10446582e+02] [-7.18026233e-01 -6.96016035e-01 8.66010526e-05 1.32285439e+02] [ 1.21246949e-04 -6.57222951e-07 9.99999993e-01 7.34567366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.28, Z:0.73 [[-6.99492522e-01 7.14639878e-01 -2.36952016e-04 2.10444419e+02] [-7.14639838e-01 -6.99492562e-01 -2.41285899e-04 1.32281982e+02] [-3.38178698e-04 5.57668459e-07 9.99999943e-01 7.34635734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:132.30, Z:0.73 [[-7.06301796e-01 7.07910736e-01 -4.04115077e-04 2.10465771e+02] [-7.07910616e-01 -7.06301911e-01 -4.11278324e-04 1.32298409e+02] [-5.76575593e-04 -4.40926561e-06 9.99999834e-01 7.34297680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.31, Z:0.73 [[-7.09385511e-01 7.04820672e-01 1.30507449e-04 2.10483202e+02] [-7.04820659e-01 -7.09385523e-01 1.32845979e-04 1.32313580e+02] [ 1.86212688e-04 2.25466633e-06 9.99999983e-01 7.34082683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.31, Z:0.73 [[-7.14504747e-01 6.99628727e-01 1.61567257e-03 2.10480796e+02] [-6.99626801e-01 -7.14506572e-01 1.64246864e-03 1.32310631e+02] [ 2.30352691e-03 4.31838073e-05 9.99997346e-01 7.34071145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.31, Z:0.73 [[-7.16676852e-01 6.97402161e-01 2.12508539e-03 2.10480202e+02] [-6.97398823e-01 -7.16679999e-01 2.15880164e-03 1.32309293e+02] [ 3.02855912e-03 6.51311122e-05 9.99995412e-01 7.34489006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.32, Z:0.73 [[-7.18471761e-01 6.95551816e-01 2.44944034e-03 2.10496496e+02] [-6.95547376e-01 -7.18475932e-01 2.48657478e-03 1.32324633e+02] [ 3.48940553e-03 8.28319605e-05 9.99993909e-01 7.34146361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.33, Z:0.73 [[-7.19929941e-01 6.94042706e-01 2.36705423e-03 2.10500640e+02] [-6.94038557e-01 -7.19933827e-01 2.40130456e-03 1.32328358e+02] [ 3.37073033e-03 8.59441506e-05 9.99994315e-01 7.33312748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.33, Z:0.73 [[-7.20991325e-01 6.92940564e-01 2.20997725e-03 2.10496286e+02] [-6.92936947e-01 -7.20994708e-01 2.24043541e-03 1.32325263e+02] [ 3.14587048e-03 8.39596055e-05 9.99995048e-01 7.33050483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:132.34, Z:0.73 [[-7.21651824e-01 6.92252686e-01 2.20519063e-03 2.10505751e+02] [-6.92249087e-01 -7.21655188e-01 2.23406938e-03 1.32337089e+02] [ 3.13792779e-03 8.56790435e-05 9.99995073e-01 7.32812064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.33, Z:0.73 [[-7.22187743e-01 6.91690725e-01 2.96737162e-03 2.10494918e+02] [-6.91684211e-01 -7.22193830e-01 3.00417157e-03 1.32328983e+02] [ 4.22097508e-03 1.17091788e-04 9.99991085e-01 7.32487031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.32, Z:0.73 [[-7.22430410e-01 6.91436627e-01 3.11343445e-03 2.10484700e+02] [-6.91429463e-01 -7.22437108e-01 3.14989769e-03 1.32319317e+02] [ 4.42721521e-03 1.22861564e-04 9.99990192e-01 7.31992222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.32, Z:0.73 [[-7.22702360e-01 6.91153620e-01 2.82337372e-03 2.10484128e+02] [-6.91147735e-01 -7.22707867e-01 2.85449957e-03 1.32320483e+02] [ 4.01337211e-03 1.11585222e-04 9.99991940e-01 7.31473176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.33, Z:0.73 [[-7.23105020e-01 6.90734746e-01 2.15417550e-03 2.10491196e+02] [-6.90731322e-01 -7.23108224e-01 2.17646646e-03 1.32330908e+02] [ 3.06106302e-03 8.58573341e-05 9.99995311e-01 7.31304753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.33, Z:0.73 [[-7.23532252e-01 6.90289021e-01 1.46558561e-03 2.10488311e+02] [-6.90287437e-01 -7.23533734e-01 1.47977942e-03 1.32333830e+02] [ 2.08187612e-03 5.89928022e-05 9.99997831e-01 7.31683341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.33, Z:0.73 [[-7.23926246e-01 6.89875080e-01 1.77865421e-03 2.10487432e+02] [-6.89872750e-01 -7.23928428e-01 1.79465201e-03 1.32334194e+02] [ 2.52570405e-03 7.21506267e-05 9.99996808e-01 7.31419776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.34, Z:0.73 [[-7.24541390e-01 6.89227391e-01 2.31922644e-03 2.10491226e+02] [-6.89223430e-01 -7.24545095e-01 2.33848944e-03 1.32338779e+02] [ 3.29213512e-03 9.58671898e-05 9.99994576e-01 7.31345219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:132.31, Z:0.73 [[-7.25625141e-01 6.88084912e-01 2.70341673e-03 2.10466386e+02] [-6.88079530e-01 -7.25630168e-01 2.72401346e-03 1.32314903e+02] [ 3.83603330e-03 1.16446943e-04 9.99992636e-01 7.31368532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.34, Z:0.73 [[-7.27828739e-01 6.85756714e-01 1.74806940e-03 2.10490170e+02] [-6.85754460e-01 -7.27830834e-01 1.76022890e-03 1.32343039e+02] [ 2.47938760e-03 8.23987888e-05 9.99996923e-01 7.32028794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.35, Z:0.73 [[-7.29241867e-01 6.84255302e-01 9.89881528e-04 2.10494408e+02] [-6.84254579e-01 -7.29242538e-01 9.96140567e-04 1.32348020e+02] [ 1.40347818e-03 4.90964386e-05 9.99999014e-01 7.32832330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.36, Z:0.73 [[-7.30976373e-01 6.82402565e-01 5.30509376e-04 2.10502101e+02] [-6.82402357e-01 -7.30976565e-01 5.33549942e-04 1.32355227e+02] [ 7.51885770e-04 2.79915520e-05 9.99999717e-01 7.32790345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.35, Z:0.73 [[-7.32939892e-01 6.80292846e-01 8.70882157e-04 2.10501925e+02] [-6.80292285e-01 -7.32940407e-01 8.75244436e-04 1.32353448e+02] [ 1.23372725e-03 4.90471500e-05 9.99999238e-01 7.32576190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:132.36, Z:0.73 [[-7.35042138e-01 6.78018800e-01 1.88739692e-03 2.10512414e+02] [-6.78016160e-01 -7.35044552e-01 1.89551439e-03 1.32361909e+02] [ 2.67251521e-03 1.13597332e-04 9.99996422e-01 7.32102927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.35, Z:0.73 [[-7.37976668e-01 6.74818301e-01 3.27083007e-03 2.10502065e+02] [-6.74810351e-01 -7.37983885e-01 3.28269133e-03 1.32348704e+02] [ 4.62904007e-03 2.15359623e-04 9.99989263e-01 7.31972077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:132.36, Z:0.73 [[-7.38853016e-01 6.73856626e-01 3.66990792e-03 2.10514033e+02] [-6.73846618e-01 -7.38862089e-01 3.68080336e-03 1.32358962e+02] [ 5.19188956e-03 2.46617627e-04 9.99986492e-01 7.32292967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:132.35, Z:0.73 [[-7.39284380e-01 6.73381181e-01 4.04850402e-03 2.10508777e+02] [-6.73369010e-01 -7.39295415e-01 4.05787573e-03 1.32351457e+02] [ 5.72553761e-03 2.73786999e-04 9.99983572e-01 7.32445172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.34, Z:0.73 [[-7.39479971e-01 6.73163134e-01 4.55710764e-03 2.10501924e+02] [-6.73147728e-01 -7.39493949e-01 4.56466437e-03 1.32343061e+02] [ 6.44271730e-03 3.07871225e-04 9.99979198e-01 7.32532428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.34, Z:0.73 [[-7.38900199e-01 6.73800403e-01 4.41735006e-03 2.10499206e+02] [-6.73785957e-01 -7.38913346e-01 4.42177856e-03 1.32338432e+02] [ 6.24343509e-03 2.90904623e-04 9.99980467e-01 7.32445152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.33, Z:0.73 [[-7.38633151e-01 6.74096121e-01 3.93546984e-03 2.10492226e+02] [-6.74084673e-01 -7.38643591e-01 3.93683508e-03 1.32331331e+02] [ 5.56071483e-03 2.55037002e-04 9.99984507e-01 7.32332099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:132.34, Z:0.73 [[-7.38479487e-01 6.74267518e-01 3.37080598e-03 2.10504818e+02] [-6.74259132e-01 -7.38487148e-01 3.36977956e-03 1.32343898e+02] [ 4.76142979e-03 2.15716366e-04 9.99988641e-01 7.32917760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.33, Z:0.73 [[-7.38276728e-01 6.74492360e-01 2.74401928e-03 2.10486687e+02] [-6.74486811e-01 -7.38281807e-01 2.74140115e-03 1.32325285e+02] [ 3.87491364e-03 1.73107856e-04 9.99992478e-01 7.33680346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:132.33, Z:0.73 [[-7.38149373e-01 6.74633713e-01 2.20372533e-03 2.10490168e+02] [-6.74630139e-01 -7.38152650e-01 2.20018871e-03 1.32327504e+02] [ 3.11100717e-03 1.37368393e-04 9.99995151e-01 7.34387676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.32, Z:0.73 [[-7.38083093e-01 6.74707839e-01 1.63698496e-03 2.10482193e+02] [-6.74705869e-01 -7.38084902e-01 1.63330130e-03 1.32318791e+02] [ 2.31023507e-03 1.01028717e-04 9.99997326e-01 7.34420040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.32, Z:0.73 [[-7.36780254e-01 6.76129550e-01 1.92082228e-03 2.10483579e+02] [-6.76126847e-01 -7.36782749e-01 1.91521995e-03 1.32321469e+02] [ 2.71016552e-03 1.12376731e-04 9.99996321e-01 7.33861927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.32, Z:0.73 [[-7.35469406e-01 6.77554811e-01 2.05685284e-03 2.10484259e+02] [-6.77551721e-01 -7.35472273e-01 2.04949799e-03 1.32324693e+02] [ 2.90140546e-03 1.13718891e-04 9.99995784e-01 7.33840947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:132.32, Z:0.73 [[-7.33637347e-01 6.79539039e-01 1.71395203e-03 2.10475321e+02] [-6.79536901e-01 -7.33639344e-01 1.70671221e-03 1.32318202e+02] [ 2.41720022e-03 8.74141674e-05 9.99997075e-01 7.33784520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:132.31, Z:0.73 [[-7.31364438e-01 6.81986059e-01 1.03645826e-03 2.10462101e+02] [-6.81985280e-01 -7.31365171e-01 1.03142869e-03 1.32306935e+02] [ 1.46144946e-03 4.75009855e-05 9.99998931e-01 7.34145369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:132.28, Z:0.73 [[-7.28803163e-01 6.84723187e-01 3.25292301e-04 2.10437033e+02] [-6.84723111e-01 -7.28803236e-01 3.23554179e-04 1.32284012e+02] [ 4.58619130e-04 1.30721524e-05 9.99999895e-01 7.34479913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:132.28, Z:0.73 [[-7.23250713e-01 6.90585498e-01 -2.75107863e-04 2.10427156e+02] [-6.90585444e-01 -7.23250765e-01 -2.73294158e-04 1.32280187e+02] [-3.87704955e-04 -7.67470938e-06 9.99999925e-01 7.34315908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.28, Z:0.73 [[-7.20843083e-01 6.93098290e-01 -1.05779080e-04 2.10419324e+02] [-6.93098282e-01 -7.20843090e-01 -1.04956652e-04 1.32276013e+02] [-1.48995394e-04 -2.34197804e-06 9.99999989e-01 7.33693372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.28, Z:0.73 [[-7.18803479e-01 6.95213304e-01 1.45613096e-04 2.10415821e+02] [-6.95213288e-01 -7.18803494e-01 1.44586191e-04 1.32276462e+02] [ 2.05185446e-04 2.69689803e-06 9.99999979e-01 7.33476015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.27, Z:0.73 [[-7.16075861e-01 6.98022457e-01 -1.02403593e-04 2.10404263e+02] [-6.98022449e-01 -7.16075869e-01 -1.01464622e-04 1.32272665e+02] [-1.44153326e-04 -1.17635984e-06 9.99999990e-01 7.33787662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.28, Z:0.73 [[-7.15424997e-01 6.98689514e-01 -1.89168983e-04 2.10406544e+02] [-6.98689489e-01 -7.15425022e-01 -1.87378500e-04 1.32278048e+02] [-2.66255617e-04 -1.88488262e-06 9.99999965e-01 7.33963650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.25, Z:0.73 [[-7.15185019e-01 6.98935173e-01 1.11713632e-04 2.10377528e+02] [-6.98935164e-01 -7.15185028e-01 1.10717388e-04 1.32251500e+02] [ 1.57280194e-04 1.10283184e-06 9.99999988e-01 7.34438355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.26, Z:0.73 [[-7.15227118e-01 6.98891584e-01 8.49999665e-04 2.10379968e+02] [-6.98891078e-01 -7.15227623e-01 8.41254046e-04 1.32256061e+02] [ 1.19588861e-03 7.63052485e-06 9.99999285e-01 7.34346455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.25, Z:0.73 [[-7.15648273e-01 6.98458763e-01 1.70438495e-03 2.10374432e+02] [-6.98456730e-01 -7.15650303e-01 1.68557793e-03 1.32252994e+02] [ 2.39705028e-03 1.58418003e-05 9.99997127e-01 7.34156518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.25, Z:0.73 [[-7.16380684e-01 6.97705040e-01 2.52839137e-03 2.10367709e+02] [-6.97700566e-01 -7.16385146e-01 2.49869294e-03 1.32251802e+02] [ 3.55465267e-03 2.59552676e-05 9.99993682e-01 7.34330757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.27, Z:0.73 [[-7.16689554e-01 6.97388950e-01 2.17639832e-03 2.10379424e+02] [-6.97385638e-01 -7.16692858e-01 2.14934417e-03 1.32265423e+02] [ 3.05873800e-03 2.26235795e-05 9.99995322e-01 7.34331151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.27, Z:0.73 [[-7.16799294e-01 6.97277355e-01 1.75014594e-03 2.10377151e+02] [-6.97275215e-01 -7.16801430e-01 1.72720832e-03 1.32265062e+02] [ 2.45885036e-03 1.77283154e-05 9.99996977e-01 7.34559624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.26, Z:0.73 [[-7.16764342e-01 6.97313422e-01 1.69382987e-03 2.10371390e+02] [-6.97311421e-01 -7.16766343e-01 1.67047244e-03 1.32261095e+02] [ 2.37892310e-03 1.62081639e-05 9.99997170e-01 7.34557507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.26, Z:0.73 [[-7.16566792e-01 6.97515200e-01 2.13973153e-03 2.10367993e+02] [-6.97512013e-01 -7.16569986e-01 2.10873387e-03 1.32258328e+02] [ 3.00414132e-03 1.85602172e-05 9.99995487e-01 7.34578134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.24, Z:0.73 [[-7.16229278e-01 6.97859444e-01 2.79586130e-03 2.10351104e+02] [-6.97854013e-01 -7.16234735e-01 2.75339985e-03 1.32241274e+02] [ 3.92397906e-03 2.09625617e-05 9.99992301e-01 7.34225533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.23, Z:0.73 [[-7.14906250e-01 6.99211964e-01 3.41810881e-03 2.10342310e+02] [-6.99203872e-01 -7.14914421e-01 3.36379131e-03 1.32230632e+02] [ 4.79565841e-03 1.48405126e-05 9.99988501e-01 7.33641427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:132.24, Z:0.73 [[-7.13977102e-01 7.00162826e-01 2.95210740e-03 2.10355624e+02] [-7.00156807e-01 -7.13983205e-01 2.90315352e-03 1.32243085e+02] [ 4.14043527e-03 5.84704615e-06 9.99991428e-01 7.34092577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.23, Z:0.73 [[-7.12462367e-01 7.01707014e-01 2.15459424e-03 2.10342284e+02] [-7.01703819e-01 -7.12465625e-01 2.11739340e-03 1.32229580e+02] [ 3.02086413e-03 -3.32389364e-06 9.99995437e-01 7.34650749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.23, Z:0.73 [[-7.08008372e-01 7.06203101e-01 1.15137042e-03 2.10336310e+02] [-7.06202196e-01 -7.08009308e-01 1.13072805e-03 1.32225063e+02] [ 1.61370463e-03 -1.25353930e-05 9.99998698e-01 7.34727067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.22, Z:0.73 [[-7.08259929e-01 7.05950810e-01 1.15177312e-03 2.10334611e+02] [-7.05949905e-01 -7.08260866e-01 1.13031784e-03 1.32223289e+02] [ 1.61370462e-03 -1.25352852e-05 9.99998698e-01 7.34727516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:132.20, Z:0.73 [[-7.05860237e-01 7.08349370e-01 1.57990055e-03 2.10311565e+02] [-7.08347676e-01 -7.05862005e-01 1.54932238e-03 1.32201585e+02] [ 2.21265330e-03 -2.55138234e-05 9.99997552e-01 7.34045466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.19, Z:0.73 [[-7.03281159e-01 7.10907782e-01 2.39530799e-03 2.10301574e+02] [-7.10903909e-01 -7.03285236e-01 2.34718927e-03 1.32192868e+02] [ 3.35321986e-03 -5.20998227e-05 9.99994377e-01 7.32998170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.19, Z:0.73 [[-7.00695635e-01 7.13454547e-01 2.86986662e-03 2.10296656e+02] [-7.13449017e-01 -7.00701508e-01 2.81013550e-03 1.32190049e+02] [ 4.01582382e-03 -7.84538386e-05 9.99991934e-01 7.31892550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:132.18, Z:0.73 [[-6.98328054e-01 7.15771365e-01 3.04666568e-03 2.10286014e+02] [-7.15765164e-01 -6.98334693e-01 2.98105251e-03 1.32182307e+02] [ 4.26134437e-03 -9.89445577e-05 9.99990916e-01 7.31646052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:132.18, Z:0.73 [[-6.95140674e-01 7.18869226e-01 2.54537335e-03 2.10278695e+02] [-7.18864925e-01 -6.95145327e-01 2.48872764e-03 1.32180211e+02] [ 3.55847410e-03 -9.97638154e-05 9.99993664e-01 7.31870905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:132.19, Z:0.73 [[-6.94856769e-01 7.19143467e-01 2.59722603e-03 2.10286076e+02] [-7.19138997e-01 -6.94861615e-01 2.53755002e-03 1.32189081e+02] [ 3.62957519e-03 -1.04532714e-04 9.99993408e-01 7.32538738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:132.18, Z:0.73 [[-6.95140748e-01 7.18868135e-01 2.81863812e-03 2.10271594e+02] [-7.18862877e-01 -6.95146453e-01 2.75183292e-03 1.32176475e+02] [ 3.93757129e-03 -1.13303120e-04 9.99992241e-01 7.33124800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:132.19, Z:0.73 [[-6.95900445e-01 7.18130952e-01 3.24130116e-03 2.10279256e+02] [-7.18124001e-01 -6.95907982e-01 3.16212494e-03 1.32185394e+02] [ 4.52646715e-03 -1.27132007e-04 9.99989747e-01 7.33229523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:132.18, Z:0.73 [[-6.97570622e-01 7.16511188e-01 2.63541086e-03 2.10272814e+02] [-7.16506588e-01 -6.97575593e-01 2.56915547e-03 1.32178418e+02] [ 3.67922693e-03 -9.61218610e-05 9.99993227e-01 7.33555750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:132.17, Z:0.73 [[-6.98567646e-01 7.15542125e-01 1.64630732e-03 2.10267946e+02] [-7.15540330e-01 -6.98569584e-01 1.60376412e-03 1.32171383e+02] [ 2.29762101e-03 -5.76615583e-05 9.99997359e-01 7.34221028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:132.17, Z:0.73 [[-6.99390812e-01 7.14738988e-01 8.19185285e-04 2.10272849e+02] [-7.14738544e-01 -6.99391291e-01 7.97471529e-04 1.32173576e+02] [ 1.14291505e-03 -2.77590381e-05 9.99999347e-01 7.34581674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:132.18, Z:0.73 [[-6.99861776e-01 7.14278159e-01 4.54041288e-04 2.10280736e+02] [-7.14278023e-01 -6.99861923e-01 4.41721518e-04 1.32178890e+02] [ 6.33278242e-04 -1.51677075e-05 9.99999799e-01 7.34433274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:132.17, Z:0.73 [[-7.00092693e-01 7.14051648e-01 6.82109598e-04 2.10270762e+02] [-7.14051340e-01 -7.00093025e-01 6.63067455e-04 1.32167078e+02] [ 9.51004581e-04 -2.28525922e-05 9.99999548e-01 7.34198303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:132.16, Z:0.73 [[-6.99425486e-01 7.14703041e-01 1.88462310e-03 2.10271602e+02] [-7.14700700e-01 -6.99428022e-01 1.83049662e-03 1.32163468e+02] [ 2.62641971e-03 -6.66454659e-05 9.99996549e-01 7.34180562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.471400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.28, Y:132.17, Z:0.73 [[-6.98767473e-01 7.15344998e-01 2.35622185e-03 2.10277955e+02] [-7.15341348e-01 -6.98771440e-01 2.28684200e-03 1.32166198e+02] [ 3.28234152e-03 -8.75321145e-05 9.99994609e-01 7.34274315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:132.16, Z:0.73 [[-6.98063214e-01 7.16032297e-01 2.34500106e-03 2.10276096e+02] [-7.16028691e-01 -6.98067147e-01 2.27427878e-03 1.32160719e+02] [ 3.26542526e-03 -9.14976902e-05 9.99994664e-01 7.34494310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:132.17, Z:0.73 [[-6.96961325e-01 7.17105529e-01 2.13805225e-03 2.10285031e+02] [-7.17102541e-01 -6.96964599e-01 2.07206000e-03 1.32165507e+02] [ 2.97603241e-03 -8.90570229e-05 9.99995568e-01 7.34173013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:132.16, Z:0.73 [[-6.94433761e-01 7.19554170e-01 1.88388184e-03 2.10287191e+02] [-7.19551862e-01 -6.94436311e-01 1.82441373e-03 1.32161590e+02] [ 2.62100045e-03 -8.86161980e-05 9.99996561e-01 7.34084763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.17, Z:0.73 [[-6.93682186e-01 7.20278846e-01 1.84629602e-03 2.10297453e+02] [-7.20276636e-01 -6.93684637e-01 1.78671861e-03 1.32167542e+02] [ 2.56768281e-03 -9.04290187e-05 9.99996699e-01 7.34215401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.16, Z:0.73 [[-6.93477007e-01 7.20477302e-01 1.44853002e-03 2.10296487e+02] [-7.20475944e-01 -6.93478516e-01 1.40079416e-03 1.32162037e+02] [ 2.01376484e-03 -7.22124923e-05 9.99997970e-01 7.34291889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:132.17, Z:0.73 [[-6.93947942e-01 7.20024350e-01 1.09053948e-03 2.10308346e+02] [-7.20023581e-01 -6.93948797e-01 1.05386448e-03 1.32169178e+02] [ 1.51558665e-03 -5.38870555e-05 9.99998850e-01 7.34183204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.681400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:210.30, Y:132.15, Z:0.73 [[-6.95494197e-01 7.18530061e-01 1.54089971e-03 2.10302985e+02] [-7.18528524e-01 -6.95495900e-01 1.48797296e-03 1.32153596e+02] [ 2.14084273e-03 -7.23038311e-05 9.99997706e-01 7.33446730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:132.15, Z:0.73 [[-6.96740849e-01 7.17320002e-01 2.05015889e-03 2.10309826e+02] [-7.17317280e-01 -6.96743860e-01 1.97828694e-03 1.32153827e+02] [ 2.84750041e-03 -9.22610748e-05 9.99995942e-01 7.33166218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:132.13, Z:0.73 [[-6.98249688e-01 7.15850527e-01 2.32309486e-03 2.10294956e+02] [-7.15847029e-01 -6.98253545e-01 2.24002250e-03 1.32133006e+02] [ 3.22563051e-03 -9.88855455e-05 9.99994793e-01 7.33103106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.771400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.30, Y:132.14, Z:0.73 [[-6.99674643e-01 7.14457161e-01 2.52184921e-03 2.10304832e+02] [-7.14453036e-01 -6.99679180e-01 2.42989734e-03 1.32136164e+02] [ 3.50054294e-03 -1.01605269e-04 9.99993868e-01 7.33854187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.13, Z:0.73 [[-7.00965990e-01 7.13190639e-01 2.40691120e-03 2.10300060e+02] [-7.13186879e-01 -7.00970117e-01 2.31747307e-03 1.32126380e+02] [ 3.33997292e-03 -9.21076857e-05 9.99994418e-01 7.33961008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.831400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.31, Y:132.13, Z:0.73 [[-7.01704272e-01 7.12463619e-01 2.58962277e-03 2.10307965e+02] [-7.12459269e-01 -7.01709044e-01 2.49158289e-03 1.32129380e+02] [ 3.59232388e-03 -9.66463897e-05 9.99993543e-01 7.34156166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:132.12, Z:0.73 [[-7.01635035e-01 7.12530884e-01 2.83159013e-03 2.10305431e+02] [-7.12525691e-01 -7.01640740e-01 2.72241114e-03 1.32119289e+02] [ 3.92656101e-03 -1.07441674e-04 9.99992285e-01 7.34145603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:132.12, Z:0.73 [[-7.01206065e-01 7.12949738e-01 3.56739644e-03 2.10309637e+02] [-7.12941513e-01 -7.01215125e-01 3.42734243e-03 1.32119691e+02] [ 4.94503522e-03 -1.40071717e-04 9.99987763e-01 7.34188349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.12, Z:0.73 [[-7.00978580e-01 7.13168723e-01 4.40496843e-03 2.10315317e+02] [-7.13156206e-01 -7.00992398e-01 4.22896342e-03 1.32121584e+02] [ 6.10381382e-03 -1.77017805e-04 9.99981356e-01 7.34126968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:132.11, Z:0.73 [[-7.01110465e-01 7.13037586e-01 4.63852686e-03 2.10308862e+02] [-7.13023725e-01 -7.01125784e-01 4.44997478e-03 1.32108418e+02] [ 6.42519006e-03 -1.87455807e-04 9.99979341e-01 7.33959401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.12, Z:0.73 [[-7.01914522e-01 7.12250711e-01 3.86378779e-03 2.10319046e+02] [-7.12241096e-01 -7.01925139e-01 3.70407394e-03 1.32115962e+02] [ 5.35031909e-03 -1.52005164e-04 9.99985675e-01 7.34417660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:132.10, Z:0.73 [[-7.03191598e-01 7.10994423e-01 2.91682303e-03 2.10307782e+02] [-7.10988940e-01 -7.03197639e-01 2.79426216e-03 1.32103784e+02] [ 4.03780788e-03 -1.08927240e-04 9.99991842e-01 7.34824596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.09, Z:0.74 [[-7.05086668e-01 7.09116778e-01 2.48700305e-03 2.10297166e+02] [-7.09112787e-01 -7.05091049e-01 2.38078554e-03 1.32093100e+02] [ 3.44181856e-03 -8.49055233e-05 9.99994073e-01 7.35534042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.10, Z:0.74 [[-7.07513751e-01 7.06694069e-01 2.79003526e-03 2.10301520e+02] [-7.06689034e-01 -7.07519248e-01 2.66892144e-03 1.32097076e+02] [ 3.86011460e-03 -8.33887033e-05 9.99992546e-01 7.36237734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:132.06, Z:0.74 [[-7.13322764e-01 7.00827952e-01 3.28871670e-03 2.10267233e+02] [-7.00820904e-01 -7.13330343e-01 3.14362114e-03 1.32062449e+02] [ 4.54907897e-03 -6.23848894e-05 9.99989651e-01 7.36606534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:132.08, Z:0.74 [[-7.16876372e-01 6.97195311e-01 2.63922940e-03 2.10286443e+02] [-6.97190754e-01 -7.16881230e-01 2.52093518e-03 1.32079174e+02] [ 3.64959820e-03 -3.28474740e-05 9.99993340e-01 7.36834445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.09, Z:0.74 [[-7.20615569e-01 6.93333297e-01 1.46358009e-03 2.10300064e+02] [-6.93331889e-01 -7.20617055e-01 1.39699935e-03 1.32090104e+02] [ 2.02326694e-03 -8.04726714e-06 9.99997953e-01 7.37070832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:132.08, Z:0.74 [[-7.24656973e-01 6.89109758e-01 1.17351226e-04 2.10294117e+02] [-6.89109749e-01 -7.24656982e-01 1.12013471e-04 1.32083000e+02] [ 1.62228961e-04 3.03468791e-07 9.99999987e-01 7.37679014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.10, Z:0.74 [[-7.28618383e-01 6.84919487e-01 -7.40770705e-04 2.10318233e+02] [-6.84919123e-01 -7.28618760e-01 -7.05916036e-04 1.32104448e+02] [-1.02323508e-03 -6.97537890e-06 9.99999477e-01 7.38017913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.12, Z:0.74 [[-7.35875153e-01 6.77116499e-01 -1.00290410e-03 2.10341506e+02] [-6.77115826e-01 -7.35875836e-01 -9.55076578e-04 1.32123791e+02] [-1.38471100e-03 -2.37348829e-05 9.99999041e-01 7.37217556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:132.13, Z:0.74 [[-7.38927500e-01 6.73784688e-01 -5.86605854e-04 2.10355613e+02] [-6.73784457e-01 -7.38927732e-01 -5.58210792e-04 1.32134620e+02] [-8.09573218e-04 -1.72313982e-05 9.99999672e-01 7.36113095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:132.13, Z:0.74 [[-7.41147630e-01 6.71342057e-01 -1.83056696e-04 2.10356534e+02] [-6.71342034e-01 -7.41147653e-01 -1.74018424e-04 1.32133087e+02] [-2.52497927e-04 -6.07968779e-06 9.99999968e-01 7.35505572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:132.13, Z:0.74 [[-7.42552111e-01 6.69788258e-01 2.29116185e-04 2.10358274e+02] [-6.69788223e-01 -7.42552146e-01 2.17844006e-04 1.32132620e+02] [ 3.16040073e-04 8.30120442e-06 9.99999950e-01 7.35194735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.10, Z:0.73 [[-7.43744383e-01 6.68458792e-01 2.67140421e-03 2.10320796e+02] [-6.68459774e-01 -7.43748024e-01 6.37560723e-04 1.32097880e+02] [ 2.41303468e-03 -1.31154405e-03 9.99996229e-01 7.34920510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.12, Z:0.73 [[-7.44016614e-01 6.68160229e-01 1.08914837e-03 2.10348700e+02] [-6.68155342e-01 -7.44015973e-01 2.94465680e-03 1.32121760e+02] [ 2.77784635e-03 1.46315328e-03 9.99995071e-01 7.33959220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.12, Z:0.73 [[-7.43929400e-01 6.68253572e-01 2.49213050e-03 2.10338874e+02] [-6.68249398e-01 -7.43933569e-01 2.36375095e-03 1.32115085e+02] [ 3.43356455e-03 9.30991234e-05 9.99994101e-01 7.33941166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.12, Z:0.73 [[-7.43827789e-01 6.68366743e-01 2.47333396e-03 2.10341453e+02] [-6.68362637e-01 -7.43831896e-01 2.34430241e-03 1.32118819e+02] [ 3.40659846e-03 9.06732735e-05 9.99994193e-01 7.34009900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.12, Z:0.73 [[-7.44024607e-01 6.68148139e-01 2.33440115e-03 2.10338102e+02] [-6.68144486e-01 -7.44028264e-01 2.21109564e-03 1.32116571e+02] [ 3.21419987e-03 8.53923040e-05 9.99994831e-01 7.34194618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.12, Z:0.73 [[-7.45540043e-01 6.66455237e-01 2.73153300e-03 2.10343038e+02] [-6.66450231e-01 -7.45545039e-01 2.58545646e-03 1.32120421e+02] [ 3.75957188e-03 1.07130520e-04 9.99992927e-01 7.33779334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.12, Z:0.73 [[-7.47276530e-01 6.64504630e-01 3.37417789e-03 2.10347023e+02] [-6.64496981e-01 -7.47284134e-01 3.19152797e-03 1.32122850e+02] [ 4.64225471e-03 1.42822922e-04 9.99989215e-01 7.33349756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.11, Z:0.73 [[-7.49418526e-01 6.62084592e-01 3.98323329e-03 2.10332226e+02] [-6.62073913e-01 -7.49429089e-01 3.76501098e-03 1.32107399e+02] [ 5.47790666e-03 1.84374129e-04 9.99984979e-01 7.33207716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.14, Z:0.73 [[-7.53317046e-01 6.57641048e-01 4.65631588e-03 2.10365481e+02] [-6.57626388e-01 -7.53331394e-01 4.39820612e-03 1.32136388e+02] [ 6.40018981e-03 2.51127453e-04 9.99979487e-01 7.33566672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.14, Z:0.73 [[-7.55040444e-01 6.55663450e-01 4.40109319e-03 2.10368568e+02] [-6.55650336e-01 -7.55053229e-01 4.15435009e-03 1.32139045e+02] [ 6.04691514e-03 2.51124105e-04 9.99981686e-01 7.33987062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.14, Z:0.73 [[-7.56224832e-01 6.54299683e-01 3.99097371e-03 2.10369044e+02] [-6.54288895e-01 -7.56235326e-01 3.76471575e-03 1.32139893e+02] [ 5.48136763e-03 2.35721761e-04 9.99984949e-01 7.34689254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.14, Z:0.73 [[-7.56861315e-01 6.53567217e-01 3.29271922e-03 2.10371835e+02] [-6.53559876e-01 -7.56868452e-01 3.10399401e-03 1.32143244e+02] [ 4.52082403e-03 1.97303824e-04 9.99989762e-01 7.34896825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.731400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.39, Y:132.16, Z:0.73 [[-7.57170659e-01 6.53213030e-01 2.30891573e-03 2.10386416e+02] [-6.53209423e-01 -7.57174167e-01 2.17516582e-03 1.32157924e+02] [ 3.16909799e-03 1.38766223e-04 9.99994969e-01 7.34919908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.15, Z:0.73 [[-7.57805349e-01 6.52480534e-01 4.54176340e-04 2.10377555e+02] [-6.52480394e-01 -7.57805485e-01 4.27647920e-04 1.32152170e+02] [ 6.23209265e-04 2.77327240e-05 9.99999805e-01 7.34601000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.15, Z:0.73 [[-7.58837792e-01 6.51279662e-01 7.99864667e-05 2.10374940e+02] [-6.51279658e-01 -7.58837797e-01 7.53283587e-05 1.32150748e+02] [ 1.09756582e-04 5.06844676e-06 9.99999994e-01 7.34323473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.15, Z:0.73 [[-7.60387607e-01 6.49469487e-01 2.69013124e-04 2.10369678e+02] [-6.49469438e-01 -7.60387655e-01 2.52998313e-04 1.32146745e+02] [ 3.68868943e-04 1.76609796e-05 9.99999932e-01 7.34666240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.15, Z:0.73 [[-7.62305650e-01 6.47216956e-01 5.55502553e-04 2.10372096e+02] [-6.47216747e-01 -7.62305851e-01 5.22006610e-04 1.32150213e+02] [ 7.61314376e-04 3.83980323e-05 9.99999709e-01 7.34825131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.16, Z:0.73 [[-7.64421126e-01 6.44716663e-01 8.75775973e-04 2.10380091e+02] [-6.44716142e-01 -7.64421625e-01 8.22384971e-04 1.32158885e+02] [ 1.19966739e-03 6.40215393e-05 9.99999278e-01 7.34576195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:132.17, Z:0.73 [[-7.68426776e-01 6.39932558e-01 2.57147656e-03 2.10392701e+02] [-6.39928042e-01 -7.68431050e-01 2.41299747e-03 1.32171759e+02] [ 3.52015808e-03 2.08651904e-04 9.99993782e-01 7.34228765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.18, Z:0.73 [[-7.70454663e-01 6.37489031e-01 2.71085422e-03 2.10401015e+02] [-6.37484004e-01 -7.70459397e-01 2.54215168e-03 1.32179473e+02] [ 3.70919692e-03 2.30486414e-04 9.99993094e-01 7.33682083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.18, Z:0.73 [[-7.70657519e-01 6.37243781e-01 2.71166333e-03 2.10399254e+02] [-6.37238755e-01 -7.70662255e-01 2.54128858e-03 1.32177719e+02] [ 3.70919692e-03 2.30486188e-04 9.99993094e-01 7.33682512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.001400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.39, Y:132.17, Z:0.73 [[-7.72585093e-01 6.34905715e-01 2.64722171e-03 2.10386686e+02] [-6.34900918e-01 -7.72589592e-01 2.47930867e-03 1.32165695e+02] [ 3.61934319e-03 2.34753426e-04 9.99993423e-01 7.33842575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.18, Z:0.73 [[-7.76050965e-01 6.30668713e-01 1.36899321e-03 2.10401754e+02] [-6.30667425e-01 -7.76052161e-01 1.28137485e-03 1.32179889e+02] [ 1.87053317e-03 1.31032761e-04 9.99998242e-01 7.34540347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.19, Z:0.73 [[-7.77574916e-01 6.28789996e-01 6.25830013e-04 2.10407898e+02] [-6.28789726e-01 -7.77575165e-01 5.85444892e-04 1.32185711e+02] [ 8.54751767e-04 6.17117799e-05 9.99999633e-01 7.34625706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.18, Z:0.73 [[-7.78855552e-01 6.27203181e-01 4.46385286e-04 2.10406319e+02] [-6.27203044e-01 -7.78855679e-01 4.17337536e-04 1.32183777e+02] [ 6.09425145e-04 4.50714472e-05 9.99999813e-01 7.34925190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.18, Z:0.73 [[-7.79715205e-01 6.26133804e-01 8.11487658e-04 2.10406508e+02] [-6.26133350e-01 -7.79715623e-01 7.58143366e-04 1.32182495e+02] [ 1.10742879e-03 8.30364244e-05 9.99999383e-01 7.34703881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:132.19, Z:0.73 [[-7.80049968e-01 6.25713904e-01 2.03886714e-03 2.10415743e+02] [-6.25711044e-01 -7.80052605e-01 1.90353346e-03 1.32188844e+02] [ 2.78149098e-03 2.09109526e-04 9.99996110e-01 7.33750709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.17, Z:0.73 [[-7.79852915e-01 6.25957142e-01 2.66228565e-03 2.10397860e+02] [-6.25952272e-01 -7.79857412e-01 2.48398627e-03 1.32171837e+02] [ 3.63107214e-03 2.70680179e-04 9.99993371e-01 7.33233838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.18, Z:0.73 [[-7.79294391e-01 6.26649857e-01 3.19506065e-03 2.10403829e+02] [-6.26642857e-01 -7.79300876e-01 2.97918488e-03 1.32177409e+02] [ 4.35681935e-03 3.19500135e-04 9.99990458e-01 7.33074938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:132.16, Z:0.73 [[-7.78593614e-01 6.27518158e-01 3.59797681e-03 2.10389697e+02] [-6.27509301e-01 -7.78601847e-01 3.35274792e-03 1.32164523e+02] [ 4.90530160e-03 3.52664208e-04 9.99987907e-01 7.33126476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.17, Z:0.73 [[-7.77797440e-01 6.28505101e-01 3.53274626e-03 2.10397703e+02] [-6.28496581e-01 -7.77805389e-01 3.28988189e-03 1.32173005e+02] [ 4.81549663e-03 3.38542761e-04 9.99988348e-01 7.33210798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:132.17, Z:0.73 [[-7.75913683e-01 6.30835819e-01 2.03149442e-03 2.10387697e+02] [-6.30833013e-01 -7.75916320e-01 1.89067198e-03 1.32166426e+02] [ 2.76897329e-03 1.85464514e-04 9.99996149e-01 7.33719228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.16, Z:0.73 [[-7.75273187e-01 6.31624469e-01 1.41948878e-03 2.10378572e+02] [-6.31623102e-01 -7.75274477e-01 1.32027362e-03 1.32159931e+02] [ 1.93441054e-03 1.26990833e-04 9.99998121e-01 7.34170453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.16, Z:0.73 [[-7.74933867e-01 6.32041376e-01 1.09624422e-03 2.10377885e+02] [-6.32040561e-01 -7.74934636e-01 1.01899026e-03 1.32161021e+02] [ 1.49356162e-03 9.67792504e-05 9.99998880e-01 7.34573520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:132.15, Z:0.73 [[-7.75142957e-01 6.31785118e-01 9.80231204e-04 2.10360835e+02] [-6.31784468e-01 -7.75143572e-01 9.10578174e-04 1.32146644e+02] [ 1.33510966e-03 8.65334083e-05 9.99999105e-01 7.34888282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.16, Z:0.73 [[-7.76940216e-01 6.29574024e-01 6.70067125e-04 2.10377656e+02] [-6.29573720e-01 -7.76940503e-01 6.22079627e-04 1.32164099e+02] [ 9.12247463e-04 6.14620276e-05 9.99999582e-01 7.34687999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.16, Z:0.73 [[-7.78468495e-01 6.27683652e-01 1.88371437e-04 2.10373939e+02] [-6.27683628e-01 -7.78468517e-01 1.74822957e-04 1.32162265e+02] [ 2.56374745e-04 1.78564973e-05 9.99999967e-01 7.34645634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.17, Z:0.73 [[-7.80340789e-01 6.25354499e-01 -5.16005182e-05 2.10380895e+02] [-6.25354498e-01 -7.80340791e-01 -4.77655236e-05 1.32170231e+02] [-7.01363741e-05 -5.00477021e-06 9.99999998e-01 7.34981302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:132.17, Z:0.74 [[-7.82402011e-01 6.22773706e-01 6.82425443e-05 2.10383090e+02] [-6.22773703e-01 -7.82402014e-01 6.33007529e-05 1.32172860e+02] [ 9.28151487e-05 7.02697442e-06 9.99999996e-01 7.35297353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.19, Z:0.74 [[-7.86402161e-01 6.17713868e-01 1.10367465e-03 2.10401360e+02] [-6.17713034e-01 -7.86402926e-01 1.02200929e-03 1.32185698e+02] [ 1.49924228e-03 1.21956099e-04 9.99998869e-01 7.35289773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.19, Z:0.74 [[-7.88248898e-01 6.15354598e-01 1.54690951e-03 2.10404053e+02] [-6.15352958e-01 -7.88250396e-01 1.43153399e-03 1.32185481e+02] [ 2.10025306e-03 1.76509745e-04 9.99997779e-01 7.35235316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.19, Z:0.74 [[-7.89905807e-01 6.13226153e-01 1.58176844e-03 2.10407622e+02] [-6.13224436e-01 -7.89907369e-01 1.46289058e-03 1.32186329e+02] [ 2.14653331e-03 1.85566706e-04 9.99997679e-01 7.35195350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.18, Z:0.74 [[-7.91070866e-01 6.11723588e-01 1.06623965e-03 2.10407051e+02] [-6.11722807e-01 -7.91071574e-01 9.85523825e-04 1.32184367e+02] [ 1.44634005e-03 1.27376070e-04 9.99998946e-01 7.35141318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.18, Z:0.74 [[-7.91766627e-01 6.10822909e-01 9.90879395e-04 2.10403597e+02] [-6.10822235e-01 -7.91767238e-01 9.15310661e-04 1.32180750e+02] [ 1.34363856e-03 1.19461268e-04 9.99999090e-01 7.35198188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.19, Z:0.73 [[-7.91771515e-01 6.10816299e-01 1.14760060e-03 2.10413129e+02] [-6.10815396e-01 -7.91772334e-01 1.05941903e-03 1.32189385e+02] [ 1.55574882e-03 1.37845694e-04 9.99998780e-01 7.34642089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.19, Z:0.73 [[-7.91590433e-01 6.11050010e-01 1.57231246e-03 2.10412751e+02] [-6.11048317e-01 -7.91591972e-01 1.45058512e-03 1.32188628e+02] [ 2.13100997e-03 1.87510419e-04 9.99997712e-01 7.34138221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.18, Z:0.73 [[-7.91329317e-01 6.11386216e-01 2.19240871e-03 2.10402188e+02] [-6.11382929e-01 -7.91332312e-01 2.02141034e-03 1.32178241e+02] [ 2.97078627e-03 2.59200007e-04 9.99995554e-01 7.34032058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.17, Z:0.73 [[-7.91037568e-01 6.11762882e-01 2.39620108e-03 2.10397992e+02] [-6.11758962e-01 -7.91041148e-01 2.20794464e-03 1.32173245e+02] [ 3.24623223e-03 2.80669673e-04 9.99994692e-01 7.33880142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:132.17, Z:0.73 [[-7.90658610e-01 6.12255175e-01 1.60138492e-03 2.10395404e+02] [-6.12253427e-01 -7.90660209e-01 1.47468886e-03 1.32169833e+02] [ 2.16903722e-03 1.85522036e-04 9.99997630e-01 7.34233122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:132.18, Z:0.73 [[-7.90623037e-01 6.12302214e-01 1.10123331e-03 2.10406033e+02] [-6.12301388e-01 -7.90623794e-01 1.01350832e-03 1.32180128e+02] [ 1.49123465e-03 1.27016343e-04 9.99998880e-01 7.34244044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.871400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.39, Y:132.16, Z:0.73 [[-7.90336635e-01 6.12672292e-01 8.16290815e-04 2.10386358e+02] [-6.12671839e-01 -7.90337051e-01 7.50822044e-04 1.32162920e+02] [ 1.10515274e-03 9.32837734e-05 9.99999385e-01 7.34570598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:132.17, Z:0.73 [[-7.89710266e-01 6.13479935e-01 2.54850600e-04 2.10390733e+02] [-6.13479891e-01 -7.89710307e-01 2.34315487e-04 1.32168018e+02] [ 3.45005996e-04 2.86956271e-05 9.99999940e-01 7.34641841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:132.15, Z:0.73 [[-7.87780340e-01 6.15956064e-01 -5.13440296e-04 2.10363433e+02] [-6.15955886e-01 -7.87780505e-01 -4.71560983e-04 1.32147737e+02] [-6.94939102e-04 -5.52298988e-05 9.99999757e-01 7.33966130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.15, Z:0.73 [[-7.87170690e-01 6.16735139e-01 2.72048041e-04 2.10366084e+02] [-6.16735089e-01 -7.87170736e-01 2.49812125e-04 1.32152711e+02] [ 3.68216172e-04 2.88632099e-05 9.99999932e-01 7.32951911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:132.16, Z:0.73 [[-7.86645520e-01 6.17402761e-01 1.62997689e-03 2.10367607e+02] [-6.17400973e-01 -7.86647190e-01 1.49545932e-03 1.32156416e+02] [ 2.20551745e-03 1.70047055e-04 9.99997553e-01 7.31585848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.14, Z:0.73 [[-7.86108823e-01 6.18080293e-01 3.10966301e-03 2.10351555e+02] [-6.18073799e-01 -7.86114909e-01 2.85118511e-03 1.32143735e+02] [ 4.20681378e-03 3.19340537e-04 9.99991100e-01 7.31055003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.15, Z:0.73 [[-7.85270747e-01 6.19139180e-01 4.06558194e-03 2.10351979e+02] [-6.19128107e-01 -7.85281166e-01 3.72529040e-03 1.32149594e+02] [ 5.49909817e-03 4.08245525e-04 9.99984797e-01 7.31423052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.15, Z:0.73 [[-7.84883586e-01 6.19630966e-01 3.90161040e-03 2.10348968e+02] [-6.19620786e-01 -7.84893188e-01 3.57281207e-03 1.32151252e+02] [ 5.27617242e-03 3.86722649e-04 9.99986006e-01 7.31935473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.14, Z:0.73 [[-7.84345277e-01 6.20312200e-01 3.90655541e-03 2.10333329e+02] [-6.20302014e-01 -7.84354913e-01 3.57509557e-03 1.32142735e+02] [ 5.28180133e-03 3.80865138e-04 9.99985979e-01 7.32078609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:132.15, Z:0.73 [[-7.83912696e-01 6.20857166e-01 4.15497450e-03 2.10338808e+02] [-6.20845665e-01 -7.83923606e-01 3.80004605e-03 1.32153984e+02] [ 5.61646841e-03 3.99306434e-04 9.99984148e-01 7.32140101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.15, Z:0.73 [[-7.83783767e-01 6.21018085e-01 4.42080506e-03 2.10328967e+02] [-6.21005083e-01 -7.83796121e-01 4.04063079e-03 1.32149832e+02] [ 5.97431466e-03 4.21638412e-04 9.99982065e-01 7.31804755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.15, Z:0.73 [[-7.84705519e-01 6.19856240e-01 3.93566385e-03 2.10325217e+02] [-6.19845933e-01 -7.84715296e-01 3.59496029e-03 1.32152003e+02] [ 5.31673419e-03 3.81479949e-04 9.99985793e-01 7.30995437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.15, Z:0.73 [[-7.86019546e-01 6.18193522e-01 3.16890092e-03 2.10324498e+02] [-6.18186834e-01 -7.86025871e-01 2.89277396e-03 1.32153536e+02] [ 4.27913223e-03 3.14804052e-04 9.99990795e-01 7.31640041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.16, Z:0.73 [[-7.87905303e-01 6.15790424e-01 2.71782095e-03 2.10328275e+02] [-6.15785496e-01 -7.87909941e-01 2.47945950e-03 1.32159365e+02] [ 3.66822556e-03 2.79984566e-04 9.99993233e-01 7.32458400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.18, Z:0.73 [[-7.91498251e-01 6.11162327e-01 3.33605569e-03 2.10350664e+02] [-6.11154869e-01 -7.91505196e-01 3.04157885e-03 1.32182131e+02] [ 4.49940381e-03 3.68557661e-04 9.99989810e-01 7.33477814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.18, Z:0.73 [[-7.92899254e-01 6.09343388e-01 3.37772123e-03 2.10346890e+02] [-6.09335736e-01 -7.92906356e-01 3.07768343e-03 1.32179485e+02] [ 4.55358268e-03 3.82126641e-04 9.99989559e-01 7.33657195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.18, Z:0.73 [[-7.93917453e-01 6.08019947e-01 2.61195680e-03 2.10350893e+02] [-6.08015369e-01 -7.93921693e-01 2.37850516e-03 1.32184747e+02] [ 3.51986775e-03 3.00226881e-04 9.99993760e-01 7.33769372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.18, Z:0.73 [[-7.94530576e-01 6.07222499e-01 1.41487467e-03 2.10345099e+02] [-6.07221155e-01 -7.94531818e-01 1.28766334e-03 1.32181845e+02] [ 1.90606109e-03 1.63946059e-04 9.99998170e-01 7.34282632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.19, Z:0.73 [[-7.94304015e-01 6.07520458e-01 -1.55341872e-04 2.10347572e+02] [-6.07520442e-01 -7.94304030e-01 -1.41211592e-04 1.32188741e+02] [-2.09177606e-04 -1.77915713e-05 9.99999978e-01 7.34897457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.18, Z:0.73 [[-7.94021574e-01 6.07889379e-01 -4.93256707e-04 2.10333132e+02] [-6.07889217e-01 -7.94021725e-01 -4.48267314e-04 1.32177228e+02] [-6.64153480e-04 -5.60884849e-05 9.99999778e-01 7.34786360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.18, Z:0.73 [[-7.93738155e-01 6.08259350e-01 -5.51890148e-04 2.10334737e+02] [-6.08259146e-01 -7.93738345e-01 -5.01254418e-04 1.32180382e+02] [-7.42949059e-04 -6.21725273e-05 9.99999722e-01 7.34526702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:132.19, Z:0.73 [[-7.93424414e-01 6.08668693e-01 -3.47865613e-04 2.10345601e+02] [-6.08668612e-01 -7.93424490e-01 -3.15731812e-04 1.32192122e+02] [-4.68181165e-04 -3.87744482e-05 9.99999890e-01 7.34155062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:132.18, Z:0.73 [[-7.92556027e-01 6.09798144e-01 1.08086467e-03 2.10326943e+02] [-6.09797367e-01 -7.92556755e-01 9.80710927e-04 1.32179701e+02] [ 1.45468230e-03 1.18159923e-04 9.99998935e-01 7.33243526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.17, Z:0.73 [[-7.92358198e-01 6.10053749e-01 1.70574580e-03 2.10315740e+02] [-6.10051817e-01 -7.92360012e-01 1.54670219e-03 1.32171260e+02] [ 2.29513624e-03 1.84948835e-04 9.99997349e-01 7.32792321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.18, Z:0.73 [[-7.92106138e-01 6.10379160e-01 2.26868240e-03 2.10320398e+02] [-6.10375746e-01 -7.92109350e-01 2.05586630e-03 1.32177087e+02] [ 3.05190248e-03 2.43715598e-04 9.99995313e-01 7.33022003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.18, Z:0.73 [[-7.91814934e-01 6.10755387e-01 2.63961820e-03 2.10319202e+02] [-6.10750773e-01 -7.91819284e-01 2.39053244e-03 1.32176848e+02] [ 3.55013115e-03 2.80710432e-04 9.99993659e-01 7.33226254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:132.18, Z:0.73 [[-7.90922551e-01 6.11909148e-01 2.95189367e-03 2.10319028e+02] [-6.11903392e-01 -7.90928000e-01 2.67170026e-03 1.32178526e+02] [ 3.96957319e-03 3.06834239e-04 9.99992074e-01 7.32967815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.16, Z:0.73 [[-7.90257844e-01 6.12768044e-01 2.80431832e-03 2.10299430e+02] [-6.12762861e-01 -7.90262768e-01 2.53657844e-03 1.32161621e+02] [ 3.77048256e-03 2.86168889e-04 9.99992851e-01 7.32735369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.16, Z:0.73 [[-7.89363154e-01 6.13921261e-01 2.54875660e-03 2.10301633e+02] [-6.13916990e-01 -7.89367228e-01 2.30400042e-03 1.32164757e+02] [ 3.42637978e-03 2.53968061e-04 9.99994098e-01 7.32807644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:132.16, Z:0.73 [[-7.88116015e-01 6.15522432e-01 2.29843653e-03 2.10295073e+02] [-6.15518969e-01 -7.88119335e-01 2.07644374e-03 1.32160706e+02] [ 3.08953997e-03 2.21747286e-04 9.99995203e-01 7.32939880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:132.15, Z:0.73 [[-7.86487367e-01 6.17602544e-01 2.17252039e-03 2.10283290e+02] [-6.17599462e-01 -7.86490342e-01 1.96147642e-03 1.32152882e+02] [ 2.92007913e-03 2.00928998e-04 9.99995716e-01 7.33498105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:132.14, Z:0.73 [[-7.82903100e-01 6.22137737e-01 2.71518789e-03 2.10263380e+02] [-6.22132956e-01 -7.82907775e-01 2.44987677e-03 1.32141094e+02] [ 3.64990250e-03 2.28808252e-04 9.99993313e-01 7.33768727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:132.14, Z:0.73 [[-7.83097975e-01 6.21892423e-01 2.71595507e-03 2.10261602e+02] [-6.21887643e-01 -7.83102651e-01 2.44902623e-03 1.32139388e+02] [ 3.64990247e-03 2.28808583e-04 9.99993313e-01 7.33769157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:132.13, Z:0.73 [[-7.81497502e-01 6.23901686e-01 2.88798163e-03 2.10253738e+02] [-6.23896301e-01 -7.81502804e-01 2.60249837e-03 1.32134785e+02] [ 3.88066886e-03 2.32044917e-04 9.99992443e-01 7.33553527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:132.13, Z:0.73 [[-7.79942451e-01 6.25844373e-01 2.93154022e-03 2.10245991e+02] [-6.25838845e-01 -7.79947928e-01 2.64007694e-03 1.32129502e+02] [ 3.93872602e-03 2.24436338e-04 9.99992218e-01 7.33233113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:132.12, Z:0.73 [[-7.77181062e-01 6.29268397e-01 3.29872163e-03 2.10230563e+02] [-6.29261436e-01 -7.77188028e-01 2.96884908e-03 1.32120032e+02] [ 4.43192986e-03 2.31574977e-04 9.99990152e-01 7.33457825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:132.12, Z:0.73 [[-7.75935457e-01 6.30804186e-01 3.20100424e-03 2.10227853e+02] [-6.30797652e-01 -7.75942030e-01 2.87906041e-03 1.32120465e+02] [ 4.29991708e-03 2.14779093e-04 9.99990732e-01 7.33784928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:132.10, Z:0.73 [[-7.74710176e-01 6.32309570e-01 2.95815424e-03 2.10205870e+02] [-6.32304008e-01 -7.74715801e-01 2.65892422e-03 1.32103842e+02] [ 3.97299206e-03 1.89442872e-04 9.99992090e-01 7.34415760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:132.11, Z:0.73 [[-7.73637827e-01 6.33622808e-01 2.57888350e-03 2.10212201e+02] [-6.33618593e-01 -7.73642109e-01 2.31652633e-03 1.32112668e+02] [ 3.46293678e-03 1.58123859e-04 9.99993992e-01 7.34726134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:132.11, Z:0.73 [[-7.71770649e-01 6.35898802e-01 1.66701754e-03 2.10202359e+02] [-6.35897048e-01 -7.71772444e-01 1.49648503e-03 1.32111360e+02] [ 2.23817124e-03 9.48916896e-05 9.99997491e-01 7.34445573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.11, Z:0.73 [[-7.71065994e-01 6.36753808e-01 1.34935324e-03 2.10193369e+02] [-6.36752661e-01 -7.71067171e-01 1.21054540e-03 1.32107702e+02] [ 1.81126138e-03 7.42061238e-05 9.99998357e-01 7.34418703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.10, Z:0.73 [[-7.70292866e-01 6.37689952e-01 6.52262064e-04 2.10185026e+02] [-6.37689685e-01 -7.70293142e-01 5.84821169e-04 1.32104190e+02] [ 8.75367578e-04 3.45427847e-05 9.99999616e-01 7.33996318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.11, Z:0.73 [[-7.69890660e-01 6.38175774e-01 -2.30663075e-04 2.10186979e+02] [-6.38175741e-01 -7.69890695e-01 -2.06578466e-04 1.32110334e+02] [-3.09418727e-04 -1.18392531e-05 9.99999952e-01 7.34208576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.11, Z:0.73 [[-7.69938495e-01 6.38116653e-01 -1.36044840e-03 2.10175604e+02] [-6.38115494e-01 -7.69939694e-01 -1.21796720e-03 1.32108449e+02] [-1.82466838e-03 -6.96366315e-05 9.99998333e-01 7.34927621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.12, Z:0.73 [[-7.70688548e-01 6.37211281e-01 -9.72791390e-04 2.10181963e+02] [-6.37210688e-01 -7.70689160e-01 -8.70322696e-04 1.32117446e+02] [-1.30429922e-03 -5.08746637e-05 9.99999148e-01 7.34742021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:132.11, Z:0.73 [[-7.71801903e-01 6.35862959e-01 -3.46254910e-04 2.10171214e+02] [-6.35862883e-01 -7.71801981e-01 -3.09533444e-04 1.32109852e+02] [-4.64061077e-04 -1.87278557e-05 9.99999892e-01 7.34378570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.12, Z:0.73 [[-7.73150463e-01 6.34222589e-01 2.64975065e-04 2.10180518e+02] [-6.34222545e-01 -7.73150508e-01 2.36850260e-04 1.32119077e+02] [ 3.55081391e-04 1.50677278e-05 9.99999937e-01 7.33625813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.12, Z:0.73 [[-7.74896226e-01 6.32088270e-01 5.07158840e-04 2.10184731e+02] [-6.32088109e-01 -7.74896392e-01 4.52968536e-04 1.32123733e+02] [ 6.79311654e-04 3.04345374e-05 9.99999769e-01 7.33183445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.13, Z:0.73 [[-7.78218607e-01 6.27993349e-01 3.93032425e-04 2.10187997e+02] [-6.27993251e-01 -7.78218705e-01 3.50827952e-04 1.32131093e+02] [ 5.26182805e-04 2.61991295e-05 9.99999861e-01 7.33619157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:132.14, Z:0.73 [[-7.79292437e-01 6.26660314e-01 3.85552832e-04 2.10197720e+02] [-6.26660220e-01 -7.79292532e-01 3.43933755e-04 1.32141375e+02] [ 5.15988078e-04 2.64143516e-05 9.99999867e-01 7.33850220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:132.14, Z:0.73 [[-7.80063943e-01 6.25699560e-01 5.53028096e-04 2.10200394e+02] [-6.25699367e-01 -7.80064138e-01 4.92987517e-04 1.32143524e+02] [ 7.39859458e-04 3.85324565e-05 9.99999726e-01 7.33888517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.13, Z:0.73 [[-7.80580788e-01 6.25054420e-01 7.77255198e-04 2.10190079e+02] [-6.25054039e-01 -7.80581174e-01 6.92403972e-04 1.32133423e+02] [ 1.03950094e-03 5.46507368e-05 9.99999458e-01 7.33079814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.13, Z:0.73 [[-7.80820643e-01 6.24752410e-01 1.88426690e-03 2.10189387e+02] [-6.24750172e-01 -7.80822905e-01 1.67739909e-03 1.32133201e+02] [ 2.51923788e-03 1.32551771e-04 9.99996818e-01 7.31679198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.13, Z:0.73 [[-7.81164199e-01 6.24320555e-01 2.51769374e-03 2.10182881e+02] [-6.24316563e-01 -7.81168236e-01 2.23983691e-03 1.32128879e+02] [ 3.36511860e-03 1.77842502e-04 9.99994322e-01 7.31987216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.13, Z:0.73 [[-7.81434673e-01 6.23982078e-01 2.49369966e-03 2.10186802e+02] [-6.23978164e-01 -7.81438632e-01 2.21708423e-03 1.32133289e+02] [ 3.33209407e-03 1.76492355e-04 9.99994433e-01 7.32553341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.12, Z:0.73 [[-7.81868698e-01 6.23440395e-01 1.84729347e-03 2.10175114e+02] [-6.23438249e-01 -7.81870869e-01 1.64135642e-03 1.32122928e+02] [ 2.46763285e-03 1.31651801e-04 9.99996947e-01 7.33396972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.13, Z:0.73 [[-7.82213181e-01 6.23010136e-01 9.53450003e-04 2.10186023e+02] [-6.23009565e-01 -7.82213759e-01 8.46656287e-04 1.32134713e+02] [ 1.27327716e-03 6.82572361e-05 9.99999187e-01 7.34042930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.14, Z:0.73 [[-7.82119698e-01 6.23126472e-01 1.47601097e-03 2.10183615e+02] [-6.23125104e-01 -7.82121083e-01 1.30981979e-03 1.32135158e+02] [ 1.97060269e-03 1.04696370e-04 9.99998053e-01 7.33910545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.14, Z:0.73 [[-7.82037043e-01 6.23228063e-01 2.20137684e-03 2.10182097e+02] [-6.23225024e-01 -7.82040126e-01 1.95224662e-03 1.32136444e+02] [ 2.93825990e-03 1.54776042e-04 9.99995671e-01 7.33553975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:132.13, Z:0.73 [[-7.82374365e-01 6.22802696e-01 2.67490883e-03 2.10171257e+02] [-6.22798212e-01 -7.82378915e-01 2.37067556e-03 1.32131882e+02] [ 3.56925540e-03 1.88827351e-04 9.99993612e-01 7.33476495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.14, Z:0.73 [[-7.83203949e-01 6.21760401e-01 2.36170164e-03 2.10176560e+02] [-6.21756905e-01 -7.83207492e-01 2.09177887e-03 1.32139498e+02] [ 3.15028768e-03 1.69885174e-04 9.99995023e-01 7.33597311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:132.14, Z:0.73 [[-7.84305190e-01 6.20372003e-01 1.98647856e-03 2.10168046e+02] [-6.20369529e-01 -7.84307692e-01 1.75834301e-03 1.32135335e+02] [ 2.64883719e-03 1.46726777e-04 9.99996481e-01 7.33846102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.15, Z:0.73 [[-7.85430130e-01 6.18946969e-01 2.03984141e-03 2.10183315e+02] [-6.18944358e-01 -7.85432763e-01 1.80444336e-03 1.32152595e+02] [ 2.71901302e-03 1.54715854e-04 9.99996292e-01 7.33973557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.16, Z:0.73 [[-7.87413385e-01 6.16421286e-01 2.22681934e-03 2.10182590e+02] [-6.16418168e-01 -7.87416514e-01 1.96861343e-03 1.32158891e+02] [ 2.96692955e-03 1.77460666e-04 9.99995583e-01 7.33083446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:132.15, Z:0.73 [[-7.88623074e-01 6.14874178e-01 1.84211023e-03 2.10172681e+02] [-6.14872042e-01 -7.88625211e-01 1.62751240e-03 1.32153432e+02] [ 2.45344992e-03 1.50831752e-04 9.99996979e-01 7.32755916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:132.19, Z:0.73 [[-7.90073250e-01 6.13011008e-01 1.32831461e-03 2.10204683e+02] [-6.13009896e-01 -7.90074358e-01 1.17286935e-03 1.32185348e+02] [ 1.76844914e-03 1.12382698e-04 9.99998430e-01 7.32479403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:132.19, Z:0.73 [[-7.91699142e-01 6.10909880e-01 1.26018014e-03 2.10201820e+02] [-6.10908878e-01 -7.91700137e-01 1.11203652e-03 1.32186426e+02] [ 1.67703888e-03 1.10543121e-04 9.99998588e-01 7.32570230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:132.19, Z:0.73 [[-7.93439956e-01 6.08646813e-01 1.44680798e-03 2.10205506e+02] [-6.08645490e-01 -7.93441264e-01 1.27594310e-03 1.32193178e+02] [ 1.92455585e-03 1.31791088e-04 9.99998139e-01 7.32707151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:132.20, Z:0.73 [[-7.97037600e-01 6.03924906e-01 2.40253422e-03 2.10209339e+02] [-6.03921241e-01 -7.97041185e-01 2.11748171e-03 1.32200800e+02] [ 3.19371866e-03 2.36771092e-04 9.99994872e-01 7.32399433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:132.20, Z:0.73 [[-7.98862048e-01 6.01508421e-01 2.65476312e-03 2.10207963e+02] [-6.01503936e-01 -7.98866413e-01 2.33837599e-03 1.32201056e+02] [ 3.52735394e-03 2.71189365e-04 9.99993742e-01 7.31897199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:132.21, Z:0.73 [[-8.00497877e-01 5.99330845e-01 2.38487297e-03 2.10220219e+02] [-5.99327220e-01 -8.00501390e-01 2.09940640e-03 1.32213214e+02] [ 3.16733314e-03 2.51251080e-04 9.99994952e-01 7.31901550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:132.22, Z:0.73 [[-8.01526312e-01 5.97958196e-01 1.25142527e-03 2.10222298e+02] [-5.97957198e-01 -8.01527278e-01 1.10101143e-03 1.32216618e+02] [ 1.66141030e-03 1.34190882e-04 9.99998611e-01 7.32113860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:132.23, Z:0.73 [[-8.01642048e-01 5.97803364e-01 -1.07949096e-03 2.10231018e+02] [-5.97802622e-01 -8.01642766e-01 -9.49061122e-04 1.32228167e+02] [-1.43271805e-03 -1.15484777e-04 9.99998967e-01 7.32679124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:132.22, Z:0.73 [[-8.01016973e-01 5.98640313e-01 -1.25923896e-03 2.10223022e+02] [-5.98639305e-01 -8.01017952e-01 -1.10645354e-03 1.32222295e+02] [-1.67104070e-03 -1.32458129e-04 9.99998595e-01 7.32693458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:132.21, Z:0.73 [[-8.00325104e-01 5.99565632e-01 -8.84222898e-04 2.10211714e+02] [-5.99565136e-01 -8.00325587e-01 -7.76461073e-04 1.32213059e+02] [-1.17320558e-03 -9.12720669e-05 9.99999308e-01 7.31908384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:132.21, Z:0.73 [[-7.99430346e-01 6.00758739e-01 -2.43318081e-04 2.10204482e+02] [-6.00758702e-01 -7.99430383e-01 -2.13489484e-04 1.32207335e+02] [-3.22771539e-04 -2.44945172e-05 9.99999948e-01 7.31640976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:132.21, Z:0.73 [[-7.97703193e-01 6.03049885e-01 6.72312216e-04 2.10198689e+02] [-6.03049600e-01 -7.97703473e-01 5.89793469e-04 1.32205352e+02] [ 8.91980674e-04 6.50425203e-05 9.99999600e-01 7.31458043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:132.20, Z:0.73 [[-7.96921881e-01 6.04081166e-01 1.20846410e-03 2.10185577e+02] [-6.04080248e-01 -7.96922789e-01 1.05945293e-03 1.32195159e+02] [ 1.60304814e-03 1.14291925e-04 9.99998709e-01 7.31661921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:132.19, Z:0.73 [[-7.96353020e-01 6.04828547e-01 2.07275549e-03 2.10176325e+02] [-6.04825851e-01 -7.96355694e-01 1.81603216e-03 1.32187660e+02] [ 2.74903873e-03 1.92546593e-04 9.99996203e-01 7.31698228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.18, Z:0.73 [[-7.96051787e-01 6.05221231e-01 2.96867547e-03 2.10162703e+02] [-6.05215711e-01 -7.96057276e-01 2.59938388e-03 1.32176204e+02] [ 3.93643803e-03 2.72555147e-04 9.99992215e-01 7.31360822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.18, Z:0.73 [[-7.95925404e-01 6.05385663e-01 3.30922675e-03 2.10162758e+02] [-6.05378812e-01 -7.95932226e-01 2.89580428e-03 1.32177095e+02] [ 4.38699861e-03 3.01508431e-04 9.99990332e-01 7.30571484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.18, Z:0.73 [[-7.95967480e-01 6.05329672e-01 3.42918462e-03 2.10164462e+02] [-6.05322324e-01 -7.95974805e-01 2.99895498e-03 1.32180269e+02] [ 4.54490100e-03 3.11308634e-04 9.99989623e-01 7.30839228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.18, Z:0.73 [[-7.96191008e-01 6.05041569e-01 2.13968119e-03 2.10161070e+02] [-6.05038710e-01 -7.96193860e-01 1.87012775e-03 1.32182033e+02] [ 2.83510605e-03 1.94388951e-04 9.99995962e-01 7.31722884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.19, Z:0.73 [[-7.96512792e-01 6.04618972e-01 1.80885342e-03 2.10163761e+02] [-6.04616930e-01 -7.96514829e-01 1.58003348e-03 1.32186528e+02] [ 2.39609679e-03 1.64853481e-04 9.99997116e-01 7.32162779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.19, Z:0.73 [[-7.96804302e-01 6.04234712e-01 1.82124400e-03 2.10163797e+02] [-6.04232643e-01 -7.96806366e-01 1.58989898e-03 1.32187979e+02] [ 2.41185096e-03 1.66383272e-04 9.99997078e-01 7.32246246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.19, Z:0.73 [[-7.97717110e-01 6.03025841e-01 2.69225487e-03 2.10158530e+02] [-6.03021318e-01 -7.97721614e-01 2.34882309e-03 1.32186494e+02] [ 3.56407092e-03 2.50209285e-04 9.99993617e-01 7.31881475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.19, Z:0.73 [[-7.98454446e-01 6.02046394e-01 3.26139885e-03 2.10164338e+02] [-6.02039757e-01 -7.98461048e-01 2.84364388e-03 1.32193518e+02] [ 4.31610549e-03 3.07028331e-04 9.99990638e-01 7.31841611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:132.20, Z:0.73 [[-7.99184504e-01 6.01075495e-01 3.51824799e-03 2.10166671e+02] [-6.01067770e-01 -7.99192178e-01 3.06575558e-03 1.32197063e+02] [ 4.65450682e-03 3.35398874e-04 9.99989112e-01 7.31775290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.19, Z:0.73 [[-7.99873077e-01 6.00159853e-01 3.34842410e-03 2.10157298e+02] [-6.00152856e-01 -7.99880020e-01 2.91603267e-03 1.32189477e+02] [ 4.42842327e-03 3.22889734e-04 9.99990142e-01 7.31924796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.541400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.16, Y:132.19, Z:0.73 [[-8.00653948e-01 5.99119784e-01 2.95648572e-03 2.10161154e+02] [-5.99114327e-01 -8.00659354e-01 2.57317434e-03 1.32192925e+02] [ 3.90877760e-03 2.88949244e-04 9.99992319e-01 7.31390821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:132.21, Z:0.73 [[-8.01996949e-01 5.97323871e-01 2.25543168e-03 2.10172708e+02] [-5.97320692e-01 -8.02000089e-01 1.96186314e-03 1.32205808e+02] [ 2.98072409e-03 2.26192246e-04 9.99995532e-01 7.31406532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.20, Z:0.73 [[-8.02446832e-01 5.96718120e-01 2.56275532e-03 2.10164577e+02] [-5.96714017e-01 -8.02450882e-01 2.22785749e-03 1.32200967e+02] [ 3.38588821e-03 2.58505160e-04 9.99994234e-01 7.31490612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.20, Z:0.73 [[-8.02840090e-01 5.96188757e-01 2.59933483e-03 2.10158177e+02] [-5.96184538e-01 -8.02844254e-01 2.25831497e-03 1.32196778e+02] [ 3.43324303e-03 2.63382554e-04 9.99994072e-01 7.31197856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:132.21, Z:0.73 [[-8.03310536e-01 5.95555754e-01 2.35081759e-03 2.10167031e+02] [-5.95552304e-01 -8.03313940e-01 2.04119921e-03 1.32205534e+02] [ 3.10409247e-03 2.39682006e-04 9.99995154e-01 7.31227610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.20, Z:0.73 [[-8.03746003e-01 5.94970246e-01 1.66408342e-03 2.10163015e+02] [-5.94968518e-01 -8.03747707e-01 1.44407916e-03 1.32202631e+02] [ 2.19668737e-03 1.70595603e-04 9.99997573e-01 7.31435125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.20, Z:0.73 [[-8.04237596e-01 5.94307722e-01 4.71061231e-04 2.10162971e+02] [-5.94307583e-01 -8.04237732e-01 4.08589574e-04 1.32204429e+02] [ 6.21673155e-04 4.86478353e-05 9.99999806e-01 7.31846020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.20, Z:0.73 [[-8.04338692e-01 5.94170877e-01 4.86731500e-04 2.10157877e+02] [-5.94170729e-01 -8.04338838e-01 4.21930428e-04 1.32200221e+02] [ 6.42195822e-04 5.01733586e-05 9.99999793e-01 7.31595034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.20, Z:0.73 [[-8.04512384e-01 5.93935676e-01 4.86854806e-04 2.10156089e+02] [-5.93935528e-01 -8.04512530e-01 4.21788132e-04 1.32198571e+02] [ 6.42195810e-04 5.01734089e-05 9.99999793e-01 7.31595463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:132.19, Z:0.73 [[-8.04466723e-01 5.93997477e-01 5.37942403e-04 2.10150648e+02] [-5.93997297e-01 -8.04466901e-01 4.65765557e-04 1.32193996e+02] [ 7.09420423e-04 5.51565582e-05 9.99999747e-01 7.31598427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:132.20, Z:0.73 [[-8.04335445e-01 5.94175138e-01 6.30406510e-04 2.10156461e+02] [-5.94174891e-01 -8.04335690e-01 5.45489718e-04 1.32198793e+02] [ 8.31174883e-04 6.41849957e-05 9.99999653e-01 7.31603875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:132.18, Z:0.73 [[-8.04036063e-01 5.94579895e-01 8.70462891e-04 2.10134764e+02] [-5.94579425e-01 -8.04036530e-01 7.52738464e-04 1.32181317e+02] [ 1.14744712e-03 8.76695461e-05 9.99999338e-01 7.31420447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:132.19, Z:0.73 [[-8.03814535e-01 5.94879496e-01 7.60672865e-04 2.10145242e+02] [-5.94879138e-01 -8.03814891e-01 6.57414100e-04 1.32191016e+02] [ 1.00252235e-03 7.59305915e-05 9.99999495e-01 7.31455440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:132.19, Z:0.73 [[-8.03557502e-01 5.95226864e-01 5.65744960e-04 2.10148575e+02] [-5.95226667e-01 -8.03557700e-01 4.88674678e-04 1.32193889e+02] [ 7.45481015e-04 5.59317171e-05 9.99999721e-01 7.31642895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:132.19, Z:0.73 [[-8.03223560e-01 5.95677379e-01 6.10765427e-04 2.10139616e+02] [-5.95677148e-01 -8.03223790e-01 5.27244854e-04 1.32185287e+02] [ 8.04649154e-04 5.96764812e-05 9.99999675e-01 7.31565562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:132.18, Z:0.73 [[-8.02992954e-01 5.95987884e-01 8.70274239e-04 2.10138173e+02] [-5.95987417e-01 -8.02993422e-01 7.50792980e-04 1.32182582e+02] [ 1.14628801e-03 8.42089771e-05 9.99999340e-01 7.31285551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:132.18, Z:0.73 [[-8.02630080e-01 5.96473928e-01 1.95141078e-03 2.10132066e+02] [-5.96471585e-01 -8.02632430e-01 1.68241575e-03 1.32175918e+02] [ 2.56978270e-03 1.86396405e-04 9.99996681e-01 7.30547216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:132.18, Z:0.73 [[-8.02828543e-01 5.96206222e-01 2.11439629e-03 2.10137932e+02] [-5.96203473e-01 -8.02831302e-01 1.82184601e-03 1.32180671e+02] [ 2.78369945e-03 2.02019568e-04 9.99996105e-01 7.30542153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:132.18, Z:0.73 [[-8.03190148e-01 5.95719768e-01 1.88258950e-03 2.10132599e+02] [-5.95717590e-01 -8.03192334e-01 1.62115707e-03 1.32175445e+02] [ 2.47783676e-03 1.80605709e-04 9.99996914e-01 7.31084934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:132.16, Z:0.73 [[-8.03887854e-01 5.94778807e-01 1.57738017e-03 2.10121111e+02] [-5.94777278e-01 -8.03889387e-01 1.35753231e-03 1.32160947e+02] [ 2.07547063e-03 1.53113849e-04 9.99997835e-01 7.31533392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:132.16, Z:0.73 [[-8.04483763e-01 5.93970429e-01 2.23713805e-03 2.10122504e+02] [-5.93967353e-01 -8.04486843e-01 1.92415550e-03 1.32159496e+02] [ 2.94263959e-03 2.19164889e-04 9.99995646e-01 7.31115853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:132.17, Z:0.73 [[-8.05135895e-01 5.93083634e-01 2.82745685e-03 2.10136065e+02] [-5.93078720e-01 -8.05140811e-01 2.43042089e-03 1.32168767e+02] [ 3.71794375e-03 2.79914606e-04 9.99993049e-01 7.30554331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:132.16, Z:0.73 [[-8.05852676e-01 5.92108270e-01 3.04323042e-03 2.10132287e+02] [-5.92102577e-01 -8.05858364e-01 2.61433814e-03 1.32163044e+02] [ 4.00038392e-03 3.04866811e-04 9.99991952e-01 7.30492901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:132.15, Z:0.73 [[-8.06531659e-01 5.91184380e-01 2.77714879e-03 2.10124972e+02] [-5.91179638e-01 -8.06536391e-01 2.38434184e-03 1.32154224e+02] [ 3.64945722e-03 2.81253361e-04 9.99993301e-01 7.30844274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:132.16, Z:0.73 [[-8.07438790e-01 5.89947969e-01 1.99854416e-03 2.10138184e+02] [-5.89945513e-01 -8.07441237e-01 1.71486397e-03 1.32160732e+02] [ 2.62538749e-03 2.05615533e-04 9.99996533e-01 7.31419445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:132.15, Z:0.73 [[-8.07642432e-01 5.89667447e-01 2.45025639e-03 2.10131060e+02] [-5.89663757e-01 -8.07646110e-01 2.10119716e-03 1.32151837e+02] [ 3.21794760e-03 2.52188597e-04 9.99994791e-01 7.31094221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.321400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.14, Y:132.16, Z:0.73 [[-8.07622060e-01 5.89693101e-01 2.94201683e-03 2.10139821e+02] [-5.89687787e-01 -8.07627362e-01 2.52139490e-03 1.32156491e+02] [ 3.86290247e-03 3.01462747e-04 9.99992494e-01 7.30272071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:132.15, Z:0.73 [[-8.07633592e-01 5.89677577e-01 2.88716359e-03 2.10133756e+02] [-5.89672466e-01 -8.07638699e-01 2.47292176e-03 1.32149478e+02] [ 3.79001155e-03 2.94733808e-04 9.99992774e-01 7.30126795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:132.13, Z:0.73 [[-8.07387353e-01 5.90015623e-01 2.68824090e-03 2.10107187e+02] [-5.90011198e-01 -8.07391783e-01 2.30116788e-03 1.32125237e+02] [ 3.52818861e-03 2.71841611e-04 9.99993739e-01 7.30218579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.11, Y:132.13, Z:0.73 [[-8.06195901e-01 5.91646590e-01 1.57543780e-03 2.10114879e+02] [-5.91645075e-01 -8.06197425e-01 1.34781034e-03 1.32129373e+02] [ 2.06754129e-03 1.54499156e-04 9.99997851e-01 7.30275733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:132.13, Z:0.73 [[-8.05262721e-01 5.92916004e-01 1.60050429e-03 2.10112328e+02] [-5.92914445e-01 -8.05264298e-01 1.36843160e-03 1.32126290e+02] [ 2.10019395e-03 1.52984843e-04 9.99997783e-01 7.30347042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:132.12, Z:0.73 [[-8.04343774e-01 5.94161943e-01 1.63666289e-03 2.10107975e+02] [-5.94160316e-01 -8.04345425e-01 1.39850422e-03 1.32122515e+02] [ 2.14738030e-03 1.52438026e-04 9.99997683e-01 7.29810914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.12, Z:0.73 [[-8.02958026e-01 5.96032970e-01 1.76286165e-03 2.10101044e+02] [-5.96031090e-01 -8.02959945e-01 1.50542619e-03 1.32120590e+02] [ 2.31279094e-03 1.58073695e-04 9.99997313e-01 7.30340496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.12, Z:0.73 [[-8.03118386e-01 5.95818040e-01 1.31166356e-03 2.10097044e+02] [-5.95817000e-01 -8.03119449e-01 1.11945875e-03 1.32119116e+02] [ 1.72041623e-03 1.17546461e-04 9.99998513e-01 7.30750165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.03709773e-01 5.95020731e-01 9.64357048e-04 2.10092587e+02] [-5.95020169e-01 -8.03710347e-01 8.22565029e-04 1.32116063e+02] [ 1.26450698e-03 8.72916587e-05 9.99999197e-01 7.31185981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.11, Z:0.73 [[-8.04618020e-01 5.93791853e-01 1.03834606e-03 2.10090445e+02] [-5.93791201e-01 -8.04618684e-01 8.85134137e-04 1.32113859e+02] [ 1.36105808e-03 9.56341203e-05 9.99999069e-01 7.31046821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.11, Z:0.73 [[-8.05718941e-01 5.92296989e-01 1.12486257e-03 2.10091743e+02] [-5.92296223e-01 -8.05719719e-01 9.58299291e-04 1.32114980e+02] [ 1.47392174e-03 1.05868039e-04 9.99998908e-01 7.30860748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.12, Z:0.73 [[-8.06829864e-01 5.90782946e-01 1.03933910e-03 2.10095368e+02] [-5.90782292e-01 -8.06830528e-01 8.84910816e-04 1.32118649e+02] [ 1.36136074e-03 9.99493356e-05 9.99999068e-01 7.31040700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.08419627e-01 5.88606353e-01 5.17193863e-04 2.10092911e+02] [-5.88606191e-01 -8.08419791e-01 4.40116081e-04 1.32117817e+02] [ 6.77164876e-04 5.13749687e-05 9.99999769e-01 7.30829992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.13, Z:0.73 [[-8.09139048e-01 5.87616948e-01 5.68127180e-04 2.10103991e+02] [-5.87616752e-01 -8.09139246e-01 4.83162507e-04 1.32127512e+02] [ 7.43608476e-04 5.71046032e-05 9.99999722e-01 7.30522263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.12, Z:0.73 [[-8.09598681e-01 5.86983171e-01 8.55798331e-04 2.10096159e+02] [-5.86982727e-01 -8.09599129e-01 7.27343528e-04 1.32121257e+02] [ 1.11979199e-03 8.65175234e-05 9.99999369e-01 7.30322668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.771400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:210.10, Y:132.13, Z:0.73 [[-8.09695666e-01 5.86848933e-01 1.12182955e-03 2.10101917e+02] [-5.86848170e-01 -8.09696435e-01 9.52854105e-04 1.32126989e+02] [ 1.46752280e-03 1.13178219e-04 9.99998917e-01 7.30163655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.09289471e-01 5.87409075e-01 1.06371259e-03 2.10091910e+02] [-5.87408390e-01 -8.09290163e-01 9.02955393e-04 1.32120086e+02] [ 1.39125633e-03 1.05918592e-04 9.99999027e-01 7.30824177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.09141617e-01 5.87611843e-01 1.47141340e-03 2.10093601e+02] [-5.87610536e-01 -8.09142942e-01 1.24826960e-03 1.32121704e+02] [ 1.92408176e-03 1.45408864e-04 9.99998138e-01 7.30385903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.861400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.09146090e-01 5.87603252e-01 2.24131513e-03 2.10089619e+02] [-5.87600221e-01 -8.09149164e-01 1.90024380e-03 1.32118859e+02] [ 2.93014770e-03 2.20577576e-04 9.99995683e-01 7.29630903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.09255293e-01 5.87451909e-01 2.47488271e-03 2.10089355e+02] [-5.87448217e-01 -8.09259041e-01 2.09700849e-03 1.32120277e+02] [ 3.23471285e-03 2.43149785e-04 9.99994739e-01 7.29773844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:132.11, Z:0.73 [[-8.09662143e-01 5.86886879e-01 3.31747964e-03 2.10079510e+02] [-5.86880247e-01 -8.09668873e-01 2.80925079e-03 1.32113955e+02] [ 4.33477243e-03 3.27580743e-04 9.99990551e-01 7.29918789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.10280021e-01 5.86033196e-01 3.37343238e-03 2.10088482e+02] [-5.86026339e-01 -8.10286974e-01 2.85492392e-03 1.32121077e+02] [ 4.40652850e-03 3.36367588e-04 9.99990235e-01 7.29779621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.11256534e-01 5.84680585e-01 3.38388295e-03 2.10086252e+02] [-5.84673680e-01 -8.11263518e-01 2.86206304e-03 1.32118299e+02] [ 4.41861348e-03 3.43400041e-04 9.99990179e-01 7.29702582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.12, Z:0.73 [[-8.12339538e-01 5.83177207e-01 2.96985134e-03 2.10095820e+02] [-5.83171884e-01 -8.12344909e-01 2.51039591e-03 1.32124935e+02] [ 3.87654929e-03 3.07360049e-04 9.99992439e-01 7.30059527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.12, Z:0.73 [[-8.13496376e-01 5.81564036e-01 2.63028394e-03 2.10091241e+02] [-5.81559857e-01 -8.13500581e-01 2.22205372e-03 1.32119973e+02] [ 3.43200404e-03 2.77965100e-04 9.99994072e-01 7.29962067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.13, Z:0.73 [[-8.15570750e-01 5.78651559e-01 2.59323710e-03 2.10102764e+02] [-5.78647487e-01 -8.15574823e-01 2.18946514e-03 1.32126404e+02] [ 3.38191631e-03 2.85093594e-04 9.99994241e-01 7.30402381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.12, Z:0.73 [[-8.16527329e-01 5.77300807e-01 2.62658247e-03 2.10101465e+02] [-5.77296627e-01 -8.16531501e-01 2.21631433e-03 1.32123292e+02] [ 3.42416738e-03 2.93364018e-04 9.99994095e-01 7.30563712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:132.13, Z:0.73 [[-8.17309791e-01 5.76193768e-01 2.33401816e-03 2.10106002e+02] [-5.76190467e-01 -8.17313081e-01 1.96830007e-03 1.32125010e+02] [ 3.04174581e-03 2.63871905e-04 9.99995339e-01 7.30467463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.12, Z:0.73 [[-8.17948802e-01 5.75288641e-01 1.65428468e-03 2.10104630e+02] [-5.75286982e-01 -8.17950453e-01 1.39427596e-03 1.32121990e+02] [ 2.15523403e-03 1.88757912e-04 9.99997660e-01 7.30793317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.11, Z:0.73 [[-8.18103959e-01 5.75070283e-01 2.87829051e-04 2.10093607e+02] [-5.75070233e-01 -8.18104009e-01 2.42500928e-04 1.32107852e+02] [ 3.74929178e-04 3.28690500e-05 9.99999929e-01 7.31601352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.11, Z:0.73 [[-8.17647203e-01 5.75719563e-01 -1.89124646e-04 2.10099928e+02] [-5.75719541e-01 -8.17647225e-01 -1.59139652e-04 1.32110475e+02] [-2.46257053e-04 -2.12373370e-05 9.99999969e-01 7.31536583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:132.11, Z:0.73 [[-8.16957711e-01 5.76697512e-01 -2.80120397e-04 2.10103693e+02] [-5.76697465e-01 -8.16957758e-01 -2.35601383e-04 1.32111177e+02] [-3.64717263e-04 -3.09316440e-05 9.99999933e-01 7.31504105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:132.09, Z:0.73 [[-8.16172664e-01 5.77808080e-01 7.05454194e-05 2.10083445e+02] [-5.77808077e-01 -8.16172667e-01 5.93798184e-05 1.32091747e+02] [ 9.18873821e-05 7.70247153e-06 9.99999996e-01 7.31127683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.10, Z:0.73 [[-8.14706292e-01 5.79871818e-01 1.52714451e-03 2.10091608e+02] [-5.79870420e-01 -8.14707708e-01 1.28333616e-03 1.32096337e+02] [ 1.98834688e-03 1.59996117e-04 9.99998010e-01 7.30441518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.07, Z:0.73 [[-8.14293903e-01 5.80450444e-01 1.64982690e-03 2.10057838e+02] [-5.80448815e-01 -8.14295556e-01 1.38559907e-03 1.32066833e+02] [ 2.14771831e-03 1.70644805e-04 9.99997679e-01 7.30310603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:132.07, Z:0.73 [[-8.14275184e-01 5.80477746e-01 1.22972368e-03 2.10065509e+02] [-5.80476842e-01 -8.14276102e-01 1.03217193e-03 1.32071798e+02] [ 1.60048744e-03 1.26645869e-04 9.99998711e-01 7.30159985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.09, Z:0.73 [[-8.14672155e-01 5.79920791e-01 1.07486876e-03 2.10087169e+02] [-5.79920101e-01 -8.14672857e-01 9.01663806e-04 1.32088195e+02] [ 1.39855999e-03 1.11222394e-04 9.99999016e-01 7.30313350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:132.08, Z:0.73 [[-8.15698530e-01 5.78475180e-01 1.54114726e-03 2.10087275e+02] [-5.78473760e-01 -8.15699969e-01 1.29201273e-03 1.32084728e+02] [ 2.00451107e-03 1.62379639e-04 9.99997978e-01 7.29614121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:132.08, Z:0.73 [[-8.16216919e-01 5.77742060e-01 2.01349571e-03 2.10078045e+02] [-5.77739636e-01 -8.16219374e-01 1.68698309e-03 1.32075528e+02] [ 2.61809529e-03 2.13667859e-04 9.99996550e-01 7.29385751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:132.06, Z:0.73 [[-8.16499721e-01 5.77340178e-01 2.55414818e-03 2.10066862e+02] [-5.77336281e-01 -8.16503671e-01 2.13866773e-03 1.32064071e+02] [ 3.32021017e-03 2.71619198e-04 9.99994451e-01 7.29123779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:132.06, Z:0.73 [[-8.16689066e-01 5.77071379e-01 2.75536489e-03 2.10065881e+02] [-5.77066847e-01 -8.16693662e-01 2.30576494e-03 1.32061451e+02] [ 3.58088000e-03 2.93063282e-04 9.99993546e-01 7.28895454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:132.06, Z:0.73 [[-8.15887717e-01 5.78204341e-01 2.64075382e-03 2.10068647e+02] [-5.78200188e-01 -8.15891944e-01 2.20853501e-03 1.32061546e+02] [ 3.43155430e-03 2.75032232e-04 9.99994074e-01 7.28101024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:132.05, Z:0.73 [[-8.15383735e-01 5.78915461e-01 2.50082938e-03 2.10052125e+02] [-5.78911744e-01 -8.15387530e-01 2.09025863e-03 1.32047334e+02] [ 3.24922813e-03 2.56603395e-04 9.99994688e-01 7.28180837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.05, Z:0.73 [[-8.14876983e-01 5.79628556e-01 2.49791958e-03 2.10059547e+02] [-5.79624855e-01 -8.14880773e-01 2.08656849e-03 1.32052414e+02] [ 3.24494132e-03 2.52440359e-04 9.99994703e-01 7.28142697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.05, Z:0.73 [[-8.15048290e-01 5.79387644e-01 2.49853639e-03 2.10057720e+02] [-5.79383944e-01 -8.15052081e-01 2.08582985e-03 1.32050790e+02] [ 3.24494133e-03 2.52440184e-04 9.99994703e-01 7.28143126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.05, Z:0.73 [[-8.14835221e-01 5.79687622e-01 2.41311889e-03 2.10057213e+02] [-5.79684176e-01 -8.14838759e-01 2.01331363e-03 1.32048855e+02] [ 3.13339579e-03 2.41672019e-04 9.99995062e-01 7.27878846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:132.03, Z:0.73 [[-8.15571532e-01 5.78650616e-01 2.55759549e-03 2.10045776e+02] [-5.78646745e-01 -8.15575501e-01 2.13256226e-03 1.32033881e+02] [ 3.31992069e-03 2.59312764e-04 9.99994455e-01 7.27520575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:132.05, Z:0.73 [[-8.16659872e-01 5.77113933e-01 2.48254811e-03 2.10066231e+02] [-5.77110282e-01 -8.16663604e-01 2.06874314e-03 1.32047483e+02] [ 3.22130718e-03 2.56755468e-04 9.99994779e-01 7.27889282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.04, Z:0.73 [[-8.17929363e-01 5.75313643e-01 2.40188590e-03 2.10060906e+02] [-5.75310222e-01 -8.17932850e-01 2.00033055e-03 1.32039764e+02] [ 3.11539884e-03 2.54299581e-04 9.99995115e-01 7.27521716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.04, Z:0.73 [[-8.19843508e-01 5.72584006e-01 2.04407277e-03 2.10063853e+02] [-5.72581522e-01 -8.19846026e-01 1.70132795e-03 1.32035915e+02] [ 2.64997811e-03 2.24424379e-04 9.99996464e-01 7.26979704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:132.03, Z:0.73 [[-8.20245974e-01 5.72007681e-01 1.93785859e-03 2.10065202e+02] [-5.72005450e-01 -8.20248235e-01 1.61196170e-03 1.32033345e+02] [ 2.51157956e-03 2.13739424e-04 9.99996823e-01 7.26800113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.03, Z:0.73 [[-8.20007538e-01 5.72348405e-01 2.22274329e-03 2.10062952e+02] [-5.72345474e-01 -8.20010515e-01 1.84781997e-03 1.32027974e+02] [ 2.88026968e-03 2.43049242e-04 9.99995823e-01 7.26205156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:132.02, Z:0.73 [[-8.19510542e-01 5.73056928e-01 2.86855528e-03 2.10056070e+02] [-5.73052056e-01 -8.19515504e-01 2.38324825e-03 1.32019629e+02] [ 3.71656245e-03 3.09265568e-04 9.99993046e-01 7.25926625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:132.00, Z:0.73 [[-8.18111037e-01 5.75046359e-01 4.00203817e-03 2.10042926e+02] [-5.75036910e-01 -8.18120719e-01 3.32293017e-03 1.32004247e+02] [ 5.18498924e-03 4.17206188e-04 9.99986471e-01 7.26304137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:132.00, Z:0.73 [[-8.17878797e-01 5.75378198e-01 3.76864458e-03 2.10042337e+02] [-5.75369831e-01 -8.17887387e-01 3.12724286e-03 1.32001323e+02] [ 4.88167423e-03 3.89341232e-04 9.99988009e-01 7.27166555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:131.98, Z:0.73 [[-8.17946879e-01 5.75284560e-01 3.25260459e-03 2.10026507e+02] [-5.75278333e-01 -8.17953277e-01 2.69738869e-03 1.31984877e+02] [ 4.21224464e-03 3.35167710e-04 9.99991072e-01 7.27514359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:131.99, Z:0.73 [[-8.18269263e-01 5.74828095e-01 2.84138242e-03 2.10037437e+02] [-5.74823347e-01 -8.18274144e-01 2.35492649e-03 1.31990309e+02] [ 3.67870768e-03 2.93671010e-04 9.99993190e-01 7.27575489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:131.98, Z:0.73 [[-8.18640339e-01 5.74300490e-01 2.63487447e-03 2.10035288e+02] [-5.74296408e-01 -8.18644534e-01 2.18244455e-03 1.31984904e+02] [ 3.41040456e-03 2.73438197e-04 9.99994147e-01 7.27623361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:131.99, Z:0.73 [[-8.19107721e-01 5.73637077e-01 1.74484970e-03 2.10048523e+02] [-5.73635288e-01 -8.19109559e-01 1.44438729e-03 1.31988940e+02] [ 2.25777717e-03 1.82201423e-04 9.99997435e-01 7.27086419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:131.98, Z:0.73 [[-8.19239946e-01 5.73449291e-01 1.34959183e-03 2.10036987e+02] [-5.73448221e-01 -8.19241046e-01 1.11652799e-03 1.31977686e+02] [ 1.74591321e-03 1.40783298e-04 9.99998466e-01 7.27376715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.121400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.02, Y:131.96, Z:0.73 [[-8.19107046e-01 5.73639064e-01 1.36787564e-03 2.10018602e+02] [-5.73637967e-01 -8.19108176e-01 1.13095847e-03 1.31960869e+02] [ 1.76920008e-03 1.41710647e-04 9.99998425e-01 7.27184344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.96, Z:0.73 [[-8.19008262e-01 5.73780029e-01 1.39470208e-03 2.10022055e+02] [-5.73778890e-01 -8.19009437e-01 1.15242533e-03 1.31963281e+02] [ 1.80351281e-03 1.43595252e-04 9.99998363e-01 7.27788523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:131.97, Z:0.73 [[-8.18100387e-01 5.75074599e-01 9.81558663e-04 2.10031551e+02] [-5.75074036e-01 -8.18100969e-01 8.10571357e-04 1.31967538e+02] [ 1.26915309e-03 9.86598382e-05 9.99999190e-01 7.26967069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.95, Z:0.73 [[-8.17669208e-01 5.75688341e-01 2.96679631e-05 2.10018059e+02] [-5.75688340e-01 -8.17669208e-01 2.45495470e-05 1.31954463e+02] [ 3.83914681e-05 2.99390826e-06 9.99999999e-01 7.26795941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.95, Z:0.73 [[-8.17527160e-01 5.75888745e-01 -1.22339008e-03 2.10008837e+02] [-5.75887874e-01 -8.17528066e-01 -1.00887846e-03 1.31946281e+02] [-1.58115748e-03 -1.20250028e-04 9.99998743e-01 7.27446963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.95, Z:0.73 [[-8.17939274e-01 5.75300926e-01 -2.04649860e-03 2.10018080e+02] [-5.75298489e-01 -8.17941809e-01 -1.68666202e-03 1.31953715e+02] [-2.64425499e-03 -2.02239554e-04 9.99996484e-01 7.28057021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.96, Z:0.73 [[-8.20055331e-01 5.72283295e-01 -1.04075504e-03 2.10024902e+02] [-5.72282664e-01 -8.20055985e-01 -8.57198737e-04 1.31957081e+02] [-1.34403791e-03 -1.07344330e-04 9.99999091e-01 7.28019666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:131.96, Z:0.73 [[-8.21668794e-01 5.69964908e-01 -6.30154220e-04 2.10027198e+02] [-5.69964676e-01 -8.21669033e-01 -5.18670996e-04 1.31956200e+02] [-8.13402474e-04 -6.70101266e-05 9.99999667e-01 7.27549689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:131.97, Z:0.73 [[-8.23319723e-01 5.67577435e-01 -6.99619417e-04 2.10042821e+02] [-5.67577149e-01 -8.23320016e-01 -5.75504275e-04 1.31966308e+02] [-9.02653910e-04 -7.67360261e-05 9.99999590e-01 7.27404450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:131.96, Z:0.73 [[-8.25548354e-01 5.64330377e-01 -1.06791645e-03 2.10046288e+02] [-5.64329707e-01 -8.25549036e-01 -8.77968508e-04 1.31964401e+02] [-1.37708169e-03 -1.22148482e-04 9.99999044e-01 7.27344805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:131.97, Z:0.73 [[-8.26082254e-01 5.63549374e-01 -4.60060235e-04 2.10050841e+02] [-5.63549250e-01 -8.26082381e-01 -3.77965458e-04 1.31965697e+02] [-5.93049851e-04 -5.29639570e-05 9.99999823e-01 7.26769996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:131.95, Z:0.73 [[-8.26207613e-01 5.63365639e-01 3.71545857e-04 2.10039838e+02] [-5.63365558e-01 -8.26207695e-01 3.05179747e-04 1.31953309e+02] [ 4.78901829e-04 4.28256912e-05 9.99999884e-01 7.25994539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:131.94, Z:0.73 [[-8.26041023e-01 5.63608944e-01 1.08882214e-03 2.10031510e+02] [-5.63608249e-01 -8.26041732e-01 8.93665810e-04 1.31943176e+02] [ 1.40309057e-03 1.24535482e-04 9.99999008e-01 7.25225512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.93, Z:0.72 [[-8.25685751e-01 5.64128314e-01 1.51173018e-03 2.10018706e+02] [-5.64126977e-01 -8.25687118e-01 1.23998838e-03 1.31929734e+02] [ 1.94772869e-03 1.71032963e-04 9.99998089e-01 7.24987755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.92, Z:0.73 [[-8.24346282e-01 5.66082174e-01 2.04436335e-03 2.10010441e+02] [-5.66079738e-01 -8.24348787e-01 1.67581974e-03 1.31918225e+02] [ 2.63392013e-03 2.24183104e-04 9.99996506e-01 7.25374846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.92, Z:0.73 [[-8.23672230e-01 5.67061783e-01 2.23420589e-03 2.10016259e+02] [-5.67058880e-01 -8.23675225e-01 1.83030081e-03 1.31919984e+02] [ 2.87815368e-03 2.40641664e-04 9.99995829e-01 7.26074407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.601400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.01, Y:131.91, Z:0.73 [[-8.23011992e-01 5.68019288e-01 2.31296671e-03 2.10014319e+02] [-5.68016184e-01 -8.23015206e-01 1.89365115e-03 1.31913599e+02] [ 2.97923715e-03 2.44695083e-04 9.99995532e-01 7.26003599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.91, Z:0.73 [[-8.22799608e-01 5.68328259e-01 1.94815774e-03 2.10011087e+02] [-5.68326060e-01 -8.22801889e-01 1.59400249e-03 1.31908425e+02] [ 2.50886453e-03 2.04355813e-04 9.99996832e-01 7.27034313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.90, Z:0.73 [[-8.22542674e-01 5.68700968e-01 1.66074810e-03 2.10009023e+02] [-5.68699372e-01 -8.22544333e-01 1.35800944e-03 1.31904357e+02] [ 2.13834023e-03 1.72554317e-04 9.99997699e-01 7.27283160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.90, Z:0.73 [[-8.21800952e-01 5.69773065e-01 1.35977534e-03 2.10004534e+02] [-5.69771998e-01 -8.21802066e-01 1.11122299e-03 1.31895555e+02] [ 1.75061111e-03 1.38442193e-04 9.99998458e-01 7.27278439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.89, Z:0.73 [[-8.21411917e-01 5.70334207e-01 1.16414408e-03 2.10003045e+02] [-5.70333426e-01 -8.21412734e-01 9.50768631e-04 1.31890218e+02] [ 1.49849864e-03 1.17022404e-04 9.99998870e-01 7.26883398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.89, Z:0.73 [[-8.20952342e-01 5.70996472e-01 5.29209782e-04 2.10001624e+02] [-5.70996311e-01 -8.20952511e-01 4.31978499e-04 1.31885489e+02] [ 6.81114299e-04 5.24569273e-05 9.99999767e-01 7.26445152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.88, Z:0.73 [[-8.19698608e-01 5.72795065e-01 -7.78356910e-05 2.09997665e+02] [-5.72795061e-01 -8.19698612e-01 -6.34180572e-05 1.31880175e+02] [-1.00127358e-04 -7.39979380e-06 9.99999995e-01 7.26138751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.87, Z:0.73 [[-8.19211782e-01 5.73491080e-01 1.93354809e-04 2.09987685e+02] [-5.73491058e-01 -8.19211805e-01 1.57675501e-04 1.31871545e+02] [ 2.48824035e-04 1.82823741e-05 9.99999969e-01 7.26301963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.86, Z:0.73 [[-8.19002328e-01 5.73789403e-01 9.53098122e-04 2.09971789e+02] [-5.73788884e-01 -8.19002878e-01 7.76468370e-04 1.31856754e+02] [ 1.22611943e-03 8.90522945e-05 9.99999244e-01 7.25916887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.86, Z:0.73 [[-8.19273940e-01 5.73400026e-01 1.61944621e-03 2.09976981e+02] [-5.73398530e-01 -8.19275526e-01 1.31844243e-03 1.31858256e+02] [ 2.08276757e-03 1.51577445e-04 9.99997820e-01 7.25749425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.86, Z:0.73 [[-8.21686626e-01 5.69937492e-01 1.53084167e-03 2.09986444e+02] [-5.69936151e-01 -8.21688038e-01 1.24552310e-03 1.31861872e+02] [ 1.96774461e-03 1.50947664e-04 9.99998053e-01 7.25846242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.86, Z:0.73 [[-8.23693896e-01 5.67033214e-01 1.30357001e-03 2.09983688e+02] [-5.67032239e-01 -8.23694917e-01 1.05995227e-03 1.31857913e+02] [ 1.67477214e-03 1.33909989e-04 9.99998589e-01 7.26155074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.87, Z:0.73 [[-8.25512309e-01 5.64383051e-01 1.09538921e-03 2.10002775e+02] [-5.64382361e-01 -8.25513027e-01 8.90130449e-04 1.31870066e+02] [ 1.40663260e-03 1.16595292e-04 9.99999004e-01 7.25689375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.86, Z:0.73 [[-8.26967510e-01 5.62249377e-01 6.12164813e-04 2.09990470e+02] [-5.62249161e-01 -8.26967734e-01 4.97173800e-04 1.31855896e+02] [ 7.85776208e-04 6.69574269e-05 9.99999689e-01 7.25181854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.86, Z:0.72 [[-8.28436945e-01 5.60082138e-01 -4.75554437e-04 2.10008825e+02] [-5.60082008e-01 -8.28437080e-01 -3.85864918e-04 1.31863372e+02] [-6.10082977e-04 -5.33152704e-05 9.99999813e-01 7.24749557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.86, Z:0.73 [[-8.28949688e-01 5.59322696e-01 -7.33072956e-04 2.10011906e+02] [-5.59322386e-01 -8.28950008e-01 -5.94484313e-04 1.31864085e+02] [-9.40189401e-04 -8.27734705e-05 9.99999555e-01 7.25219916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.86, Z:0.73 [[-8.29221316e-01 5.58920255e-01 -3.96970108e-04 2.10007916e+02] [-5.58920164e-01 -8.29221410e-01 -3.21692786e-04 1.31859825e+02] [-5.08976727e-04 -4.48799173e-05 9.99999870e-01 7.25657273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.87, Z:0.73 [[-8.29236995e-01 5.58896948e-01 4.56517807e-04 2.10023819e+02] [-5.58896828e-01 -8.29237119e-01 3.69863421e-04 1.31870675e+02] [ 5.85277048e-04 5.15580777e-05 9.99999827e-01 7.25605646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.85, Z:0.73 [[-8.28979964e-01 5.59275279e-01 1.83903433e-03 2.10003740e+02] [-5.59273335e-01 -8.28981978e-01 1.48883837e-03 1.31847300e+02] [ 2.35719681e-03 2.05694312e-04 9.99997201e-01 7.25147706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.84, Z:0.73 [[-8.29164826e-01 5.58999072e-01 2.39352972e-03 2.10001950e+02] [-5.58995782e-01 -8.29168238e-01 1.93652059e-03 1.31841489e+02] [ 3.06715203e-03 2.67721739e-04 9.99995260e-01 7.25127162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.83, Z:0.72 [[-8.29695879e-01 5.58209557e-01 2.61515749e-03 2.09989219e+02] [-5.58205630e-01 -8.29699948e-01 2.11450310e-03 1.31827350e+02] [ 3.35013187e-03 2.94598874e-04 9.99994345e-01 7.24873370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.83, Z:0.72 [[-8.30188724e-01 5.57476704e-01 2.53120133e-03 2.10000253e+02] [-5.57473026e-01 -8.30192533e-01 2.04534149e-03 1.31832603e+02] [ 3.24161468e-03 2.86942981e-04 9.99994705e-01 7.24833823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.79, Z:0.73 [[-8.29868369e-01 5.57945841e-01 3.86373701e-03 2.09946806e+02] [-5.57946284e-01 -8.29876386e-01 1.06252899e-03 1.31785805e+02] [ 3.79925774e-03 -1.27399851e-03 9.99991971e-01 7.25082697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.82, Z:0.72 [[-8.29420719e-01 5.58620532e-01 2.09103851e-03 2.09998074e+02] [-5.58611291e-01 -8.29421065e-01 3.75815809e-03 1.31820997e+02] [ 3.83373566e-03 1.94901647e-03 9.99990752e-01 7.24983419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.81, Z:0.73 [[-8.28675334e-01 5.59718889e-01 3.45767241e-03 2.09987488e+02] [-5.59712052e-01 -8.28682462e-01 2.79217510e-03 1.31812394e+02] [ 4.42814563e-03 3.78505713e-04 9.99990124e-01 7.25546535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.81, Z:0.73 [[-8.27577132e-01 5.61339430e-01 3.75975864e-03 2.09991026e+02] [-5.61331372e-01 -8.27585575e-01 3.03420207e-03 1.31813708e+02] [ 4.81473928e-03 4.00565764e-04 9.99988329e-01 7.25787021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.79, Z:0.73 [[-8.24870918e-01 5.65308418e-01 3.78966528e-03 2.09970524e+02] [-5.65300283e-01 -8.24879536e-01 3.05640033e-03 1.31793657e+02] [ 4.85382617e-03 3.78836885e-04 9.99988148e-01 7.26077147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.78, Z:0.73 [[-8.24005026e-01 5.66573600e-01 3.17383668e-03 2.09960334e+02] [-5.66567909e-01 -8.24011080e-01 2.55810033e-03 1.31782926e+02] [ 4.06462870e-03 3.09693522e-04 9.99991691e-01 7.26457702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.79, Z:0.73 [[-8.23604775e-01 5.67158236e-01 2.59028116e-03 2.09969325e+02] [-5.67154453e-01 -8.23608811e-01 2.08643127e-03 1.31786779e+02] [ 3.31671507e-03 2.49305265e-04 9.99994469e-01 7.26453586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.78, Z:0.73 [[-8.23480762e-01 5.67341182e-01 1.84852073e-03 2.09974257e+02] [-5.67339258e-01 -8.23482818e-01 1.48802407e-03 1.31784330e+02] [ 2.36644239e-03 1.76620813e-04 9.99997184e-01 7.27529242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.77, Z:0.73 [[-8.23820952e-01 5.66847312e-01 1.77862746e-03 2.09963696e+02] [-5.66845531e-01 -8.23822855e-01 1.43084885e-03 1.31774082e+02] [ 2.27634677e-03 1.70556237e-04 9.99997395e-01 7.27994473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.77, Z:0.73 [[-8.24264511e-01 5.66201663e-01 1.92144953e-03 2.09966011e+02] [-5.66199587e-01 -8.24266730e-01 1.54474903e-03 1.31774351e+02] [ 2.45842639e-03 1.85357875e-04 9.99996961e-01 7.28161526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.77, Z:0.73 [[-8.24813267e-01 5.65401545e-01 2.04134555e-03 2.09962508e+02] [-5.65399201e-01 -8.24815769e-01 1.64008420e-03 1.31770046e+02] [ 2.61104014e-03 1.98588067e-04 9.99996572e-01 7.28518917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.77, Z:0.73 [[-8.24990269e-01 5.65143245e-01 2.04185897e-03 2.09960617e+02] [-5.65140902e-01 -8.24992772e-01 1.63944496e-03 1.31768430e+02] [ 2.61104013e-03 1.98588115e-04 9.99996572e-01 7.28519330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.76, Z:0.73 [[-8.26017172e-01 5.63642247e-01 1.74634355e-03 2.09955255e+02] [-5.63640531e-01 -8.26019000e-01 1.40127906e-03 1.31759999e+02] [ 2.23233303e-03 1.73170561e-04 9.99997493e-01 7.29177126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.76, Z:0.73 [[-8.26899108e-01 5.62347569e-01 1.75436442e-03 2.09958012e+02] [-5.62345837e-01 -8.26900950e-01 1.40680956e-03 1.31759815e+02] [ 2.24180154e-03 1.76730041e-04 9.99997472e-01 7.29193593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.76, Z:0.73 [[-8.27794537e-01 5.61027224e-01 2.15856701e-03 2.09967556e+02] [-5.61024600e-01 -8.27797322e-01 1.72981304e-03 1.31764946e+02] [ 2.75732820e-03 2.20920586e-04 9.99996174e-01 7.29499617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.76, Z:0.73 [[-8.28578267e-01 5.59868016e-01 2.42076090e-03 2.09972188e+02] [-5.59864715e-01 -8.28581766e-01 1.93868487e-03 1.31763517e+02] [ 3.09120599e-03 2.51053543e-04 9.99995191e-01 7.29245154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.76, Z:0.73 [[-8.28884376e-01 5.59417060e-01 1.80128931e-03 2.09969908e+02] [-5.59415233e-01 -8.28886312e-01 1.44167563e-03 1.31759773e+02] [ 2.29956200e-03 1.87313725e-04 9.99997338e-01 7.29562470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.75, Z:0.73 [[-8.29297911e-01 5.58805814e-01 1.01837016e-03 2.09960407e+02] [-5.58805231e-01 -8.29298529e-01 8.14568679e-04 1.31750154e+02] [ 1.29971859e-03 1.06449531e-04 9.99999150e-01 7.29873641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.75, Z:0.73 [[-8.29987697e-01 5.57781682e-01 1.33090471e-04 2.09963918e+02] [-5.57781672e-01 -8.29987708e-01 1.06444567e-04 1.31750723e+02] [ 1.69836285e-04 1.41122557e-05 9.99999986e-01 7.30469195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.75, Z:0.73 [[-8.31901762e-01 5.54922930e-01 -3.13809763e-05 2.09967840e+02] [-5.54922929e-01 -8.31901762e-01 -2.50015204e-05 1.31746214e+02] [-3.99798063e-05 -3.38478553e-06 9.99999999e-01 7.31045385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.76, Z:0.73 [[-8.32987784e-01 5.53291253e-01 3.75003386e-04 2.09988722e+02] [-5.53291173e-01 -8.32987868e-01 2.99423949e-04 1.31758105e+02] [ 4.78041923e-04 4.19304284e-05 9.99999885e-01 7.30544181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.73, Z:0.73 [[-8.33736075e-01 5.52162889e-01 5.48743975e-04 2.09957396e+02] [-5.52162719e-01 -8.33736253e-01 4.38133629e-04 1.31728609e+02] [ 6.99428876e-04 6.22918470e-05 9.99999753e-01 7.29823312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.75, Z:0.73 [[-8.35074477e-01 5.50136598e-01 5.84498257e-04 2.09997929e+02] [-5.50136404e-01 -8.35074679e-01 4.66475308e-04 1.31753738e+02] [ 7.44724833e-04 6.79878549e-05 9.99999720e-01 7.29087572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.74, Z:0.73 [[-8.35245060e-01 5.49876908e-01 1.03706864e-03 2.09988415e+02] [-5.49876299e-01 -8.35245695e-01 8.27660555e-04 1.31742028e+02] [ 1.32131854e-03 1.21039928e-04 9.99999120e-01 7.28605187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.74, Z:0.73 [[-8.35614852e-01 5.49311600e-01 2.14143371e-03 2.09993822e+02] [-5.49309001e-01 -8.35617558e-01 1.70804819e-03 1.31741935e+02] [ 2.72767029e-03 2.50961625e-04 9.99996248e-01 7.28391149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.72, Z:0.73 [[-8.36133197e-01 5.48513831e-01 3.72219635e-03 2.09982884e+02] [-5.48505970e-01 -8.36141365e-01 2.96946287e-03 1.31724941e+02] [ 4.74107379e-03 4.41219561e-04 9.99988664e-01 7.27958876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.72, Z:0.73 [[-8.36633129e-01 5.47748986e-01 4.00696533e-03 2.09983490e+02] [-5.47739878e-01 -8.36642588e-01 3.19469565e-03 1.31720390e+02] [ 5.10228914e-03 4.78013518e-04 9.99986869e-01 7.28189484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.72, Z:0.73 [[-8.37182304e-01 5.46909758e-01 3.93777220e-03 2.09994911e+02] [-5.46900963e-01 -8.37191431e-01 3.13753496e-03 1.31723808e+02] [ 5.01261763e-03 4.73117333e-04 9.99987325e-01 7.28504649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.71, Z:0.73 [[-8.37411511e-01 5.46560788e-01 3.64226568e-03 2.09991443e+02] [-5.46553258e-01 -8.37419316e-01 2.90246529e-03 1.31714669e+02] [ 4.63647735e-03 4.39865669e-04 9.99989155e-01 7.28652347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.73 [[-8.38167611e-01 5.45401372e-01 3.52112868e-03 2.10002985e+02] [-5.45394326e-01 -8.38174897e-01 2.80573446e-03 1.31712672e+02] [ 4.48157309e-03 4.31272147e-04 9.99989865e-01 7.29191284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.71, Z:0.73 [[-8.38421757e-01 5.45008857e-01 3.78193764e-03 2.10006821e+02] [-5.45000721e-01 -8.38430157e-01 3.01423634e-03 1.31710546e+02] [ 4.81367607e-03 4.66042587e-04 9.99988306e-01 7.28762760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.71, Z:0.73 [[-8.38543012e-01 5.44818802e-01 4.25320717e-03 2.10012485e+02] [-5.44808505e-01 -8.38553634e-01 3.39064927e-03 1.31709197e+02] [ 5.41383180e-03 5.26021810e-04 9.99985207e-01 7.28616795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.70, Z:0.73 [[-8.38353087e-01 5.45111925e-01 4.13394683e-03 2.10014216e+02] [-5.45102197e-01 -8.38363125e-01 3.29635753e-03 1.31703571e+02] [ 5.26263239e-03 5.10088015e-04 9.99986022e-01 7.28952117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.69, Z:0.73 [[-8.37108578e-01 5.47027131e-01 3.24750705e-03 2.10009213e+02] [-5.47021135e-01 -8.37114785e-01 2.59113053e-03 1.31685797e+02] [ 4.13595487e-03 3.92602594e-04 9.99991370e-01 7.29976457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.67, Z:0.73 [[-8.36081504e-01 5.48596082e-01 3.17150496e-03 2.09992190e+02] [-5.48590368e-01 -8.36087434e-01 2.53212700e-03 1.31665834e+02] [ 4.04077040e-03 3.77207477e-04 9.99991765e-01 7.30536459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.67, Z:0.73 [[-8.35070946e-01 5.50131601e-01 3.42581981e-03 2.10009062e+02] [-5.50124944e-01 -8.35077877e-01 2.73588388e-03 1.31673866e+02] [ 4.36592251e-03 4.00028215e-04 9.99990389e-01 7.30219859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.66, Z:0.73 [[-8.32538293e-01 5.53956846e-01 3.43550136e-03 2.09998015e+02] [-5.53950175e-01 -8.32545294e-01 2.74536118e-03 1.31657444e+02] [ 4.38102211e-03 3.82521735e-04 9.99990330e-01 7.29466226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.65, Z:0.73 [[-8.30834489e-01 5.56510064e-01 3.25590219e-03 2.09997187e+02] [-5.56504084e-01 -8.30840795e-01 2.60354527e-03 1.31654002e+02] [ 4.15403550e-03 3.51192338e-04 9.99991310e-01 7.29290011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.64, Z:0.73 [[-8.29049541e-01 5.59165081e-01 3.35708747e-03 2.09977848e+02] [-5.59158738e-01 -8.29056264e-01 2.68623941e-03 1.31635659e+02] [ 4.28526567e-03 3.49880757e-04 9.99990757e-01 7.29114961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.64, Z:0.73 [[-8.27383078e-01 5.61626506e-01 3.59310003e-03 2.09981275e+02] [-5.61619253e-01 -8.27390801e-01 2.87701825e-03 1.31636165e+02] [ 4.58870762e-03 3.62442060e-04 9.99989406e-01 7.29336852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.63, Z:0.73 [[-8.24313316e-01 5.66124449e-01 3.26581576e-03 2.09973890e+02] [-5.66118485e-01 -8.24319728e-01 2.61670983e-03 1.31627982e+02] [ 4.17345977e-03 3.08150085e-04 9.99991244e-01 7.29341000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.62, Z:0.73 [[-8.22599763e-01 5.68614131e-01 2.75682551e-03 2.09964392e+02] [-5.68609890e-01 -8.22604345e-01 2.21037125e-03 1.31619300e+02] [ 3.52462496e-03 2.50692617e-04 9.99993757e-01 7.29367545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.61, Z:0.73 [[-8.20821157e-01 5.71180642e-01 2.30265886e-03 2.09959658e+02] [-5.71177690e-01 -8.20824362e-01 1.84747817e-03 1.31614552e+02] [ 2.94532226e-03 2.01221798e-04 9.99995642e-01 7.29405219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.61, Z:0.73 [[-8.19206844e-01 5.73495137e-01 1.86410358e-03 2.09954131e+02] [-5.73493205e-01 -8.19208950e-01 1.49662887e-03 1.31610006e+02] [ 2.38539972e-03 1.56997872e-04 9.99997143e-01 7.29457369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.581400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.95, Y:131.61, Z:0.73 [[-8.17245827e-01 5.76286743e-01 1.68760734e-03 2.09950433e+02] [-5.76285164e-01 -8.17247558e-01 1.35585420e-03 1.31609785e+02] [ 2.16055378e-03 1.35523115e-04 9.99997657e-01 7.29037331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.62, Z:0.73 [[-8.17090647e-01 5.76505239e-01 2.14103135e-03 2.09959988e+02] [-5.76502695e-01 -8.17093434e-01 1.72134751e-03 1.31620243e+02] [ 2.74178852e-03 1.72186606e-04 9.99996227e-01 7.29464057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.61, Z:0.73 [[-8.17176786e-01 5.76382256e-01 2.36534765e-03 2.09946592e+02] [-5.76379147e-01 -8.17180187e-01 1.90301372e-03 1.31611064e+02] [ 3.02977857e-03 1.91761571e-04 9.99995392e-01 7.29611402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.63, Z:0.73 [[-8.17432930e-01 5.76020918e-01 1.81867347e-03 2.09968090e+02] [-5.76019076e-01 -8.17434939e-01 1.46418472e-03 1.31629493e+02] [ 2.33004827e-03 1.49282188e-04 9.99997274e-01 7.29262894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.62, Z:0.73 [[-8.17753993e-01 5.75564928e-01 1.84946002e-03 2.09957798e+02] [-5.75563020e-01 -8.17756070e-01 1.48999370e-03 1.31623454e+02] [ 2.36999527e-03 1.53967502e-04 9.99997180e-01 7.30042370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.63, Z:0.73 [[-8.17538395e-01 5.75869230e-01 2.36687134e-03 2.09966729e+02] [-5.75866102e-01 -8.17541798e-01 1.90816882e-03 1.31633552e+02] [ 3.03387196e-03 1.97000301e-04 9.99995378e-01 7.29149255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.64, Z:0.73 [[-8.17076407e-01 5.76519953e-01 3.29984381e-03 2.09970617e+02] [-5.76513871e-01 -8.17083025e-01 2.66217646e-03 1.31640332e+02] [ 4.23104421e-03 2.72795848e-04 9.99991012e-01 7.28450152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.65, Z:0.73 [[-8.16156228e-01 5.77815532e-01 4.26888625e-03 2.09969241e+02] [-5.77805357e-01 -8.16167319e-01 3.44632992e-03 1.31645644e+02] [ 5.47546840e-03 3.46158279e-04 9.99984950e-01 7.27697542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.65, Z:0.73 [[-8.15808269e-01 5.78307770e-01 4.12211998e-03 2.09965671e+02] [-5.78298278e-01 -8.15818615e-01 3.33011534e-03 1.31645544e+02] [ 5.28873379e-03 3.32920742e-04 9.99985959e-01 7.28304623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.66, Z:0.73 [[-8.15483288e-01 5.78765918e-01 4.12533898e-03 2.09981324e+02] [-5.78756414e-01 -8.15493656e-01 3.33333387e-03 1.31660907e+02] [ 5.29340780e-03 3.30711670e-04 9.99985935e-01 7.28434867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.65, Z:0.73 [[-8.15460795e-01 5.78797470e-01 4.14504844e-03 2.09963009e+02] [-5.78787863e-01 -8.15471261e-01 3.35148745e-03 1.31648612e+02] [ 5.32000033e-03 3.33902891e-04 9.99985793e-01 7.28658828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.65, Z:0.73 [[-8.16249624e-01 5.77683110e-01 4.33319094e-03 2.09962087e+02] [-5.77672590e-01 -8.16261047e-01 3.50455641e-03 1.31653020e+02] [ 5.56153802e-03 3.57427220e-04 9.99984471e-01 7.27637395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.66, Z:0.73 [[-8.16697985e-01 5.77048772e-01 4.37212492e-03 2.09969826e+02] [-5.77038048e-01 -8.16709606e-01 3.53695027e-03 1.31662508e+02] [ 5.61174923e-03 3.65737728e-04 9.99984187e-01 7.27606077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.68, Z:0.73 [[-8.17324351e-01 5.76161988e-01 4.27420744e-03 2.09982727e+02] [-5.76151740e-01 -8.17335447e-01 3.45549315e-03 1.31676329e+02] [ 5.48438505e-03 3.61666644e-04 9.99984895e-01 7.27331007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.68, Z:0.73 [[-8.17593921e-01 5.75780474e-01 4.12634171e-03 2.09979084e+02] [-5.75770914e-01 -8.17604257e-01 3.33669821e-03 1.31680208e+02] [ 5.29492023e-03 3.52236641e-04 9.99985920e-01 7.27644270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.69, Z:0.73 [[-8.17280913e-01 5.76226687e-01 3.83611131e-03 2.09981818e+02] [-5.76218426e-01 -8.17289851e-01 3.10253592e-03 1.31685803e+02] [ 4.92297883e-03 3.25205367e-04 9.99987829e-01 7.27976922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.69, Z:0.73 [[-8.16939795e-01 5.76713572e-01 3.29043159e-03 2.09984259e+02] [-5.76707496e-01 -8.16946375e-01 2.66164940e-03 1.31691918e+02] [ 4.22311550e-03 2.76790754e-04 9.99991044e-01 7.27916738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.70, Z:0.73 [[-8.16602946e-01 5.77191224e-01 3.14945716e-03 2.09982329e+02] [-5.77185660e-01 -8.16608977e-01 2.54803987e-03 1.31695052e+02] [ 4.04258124e-03 2.62915356e-04 9.99991794e-01 7.27696273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.70, Z:0.73 [[-8.17010572e-01 5.76612434e-01 3.43890657e-03 2.09979548e+02] [-5.76605793e-01 -8.17017758e-01 2.78245922e-03 1.31701752e+02] [ 4.41404832e-03 2.90405146e-04 9.99990216e-01 7.26493088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.151400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.98, Y:131.70, Z:0.73 [[-8.17958985e-01 5.75266252e-01 3.44049723e-03 2.09978693e+02] [-5.75259601e-01 -8.17966167e-01 2.78218748e-03 1.31704971e+02] [ 4.41470890e-03 2.96536186e-04 9.99990211e-01 7.26253422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.72, Z:0.73 [[-8.19556425e-01 5.72993188e-01 2.46424791e-03 2.09989621e+02] [-5.72989769e-01 -8.19560101e-01 1.99143546e-03 1.31717122e+02] [ 3.16067822e-03 2.20104885e-04 9.99994981e-01 7.26683825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.72, Z:0.73 [[-8.22213777e-01 5.69176365e-01 1.66453485e-03 2.09993993e+02] [-5.69174800e-01 -8.22215446e-01 1.34429750e-03 1.31724106e+02] [ 2.13374863e-03 1.57888637e-04 9.99997711e-01 7.27499330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.73, Z:0.73 [[-8.23414348e-01 5.67438446e-01 1.55619157e-03 2.10001661e+02] [-5.67437076e-01 -8.23415805e-01 1.25597981e-03 1.31732082e+02] [ 1.99408396e-03 1.51151006e-04 9.99998000e-01 7.26763152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.74, Z:0.73 [[-8.24490228e-01 5.65873550e-01 1.72907602e-03 2.10004514e+02] [-5.65871858e-01 -8.24492023e-01 1.39459704e-03 1.31736717e+02] [ 2.21477496e-03 1.71396174e-04 9.99997533e-01 7.26562253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.74, Z:0.73 [[-8.25783145e-01 5.63984358e-01 1.95998346e-03 2.09999277e+02] [-5.63982180e-01 -8.25785447e-01 1.57980160e-03 1.31737220e+02] [ 2.50950920e-03 1.99177788e-04 9.99996831e-01 7.26283917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.75, Z:0.73 [[-8.26332941e-01 5.63179209e-01 1.74631812e-03 2.10016690e+02] [-5.63177480e-01 -8.26334767e-01 1.40668088e-03 1.31752557e+02] [ 2.23525681e-03 1.78899713e-04 9.99997486e-01 7.26430885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.74, Z:0.73 [[-8.26482614e-01 5.62960964e-01 1.20100334e-03 2.10004978e+02] [-5.62960146e-01 -8.26483477e-01 9.67585652e-04 1.31743013e+02] [ 1.53732237e-03 1.23575705e-04 9.99998811e-01 7.26922537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.74, Z:0.73 [[-8.27892967e-01 5.60885982e-01 3.89062754e-04 2.10005853e+02] [-5.60885896e-01 -8.27893057e-01 3.13319532e-04 1.31742547e+02] [ 4.97838886e-04 4.11752256e-05 9.99999875e-01 7.26951122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.74, Z:0.73 [[-8.28889213e-01 5.59412706e-01 3.10770641e-04 2.10004193e+02] [-5.59412651e-01 -8.28889271e-01 2.50121255e-04 1.31741146e+02] [ 3.97515458e-04 3.34737822e-05 9.99999920e-01 7.26942092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.74, Z:0.73 [[-8.29065539e-01 5.59151353e-01 3.10849475e-04 2.10002291e+02] [-5.59151298e-01 -8.29065597e-01 2.50023260e-04 1.31739519e+02] [ 3.97515450e-04 3.34737815e-05 9.99999920e-01 7.26942505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.76, Z:0.73 [[-8.29969534e-01 5.57807940e-01 9.35571044e-04 2.10024979e+02] [-5.57807442e-01 -8.29970055e-01 7.51886217e-04 1.31758733e+02] [ 1.19590405e-03 1.02174162e-04 9.99999280e-01 7.27019784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.75, Z:0.73 [[-8.30732423e-01 5.56665640e-01 2.64697837e-03 2.10018569e+02] [-5.56661653e-01 -8.30736588e-01 2.12709963e-03 1.31753352e+02] [ 3.38302506e-03 2.93579270e-04 9.99994234e-01 7.27387883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.74, Z:0.73 [[-8.30777429e-01 5.56596965e-01 2.94674962e-03 2.10005539e+02] [-5.56592021e-01 -8.30782590e-01 2.36853745e-03 1.31741322e+02] [ 3.76642904e-03 3.27590126e-04 9.99992853e-01 7.27332725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.74, Z:0.73 [[-8.30839330e-01 5.56505729e-01 2.71681379e-03 2.10003144e+02] [-5.56501527e-01 -8.30843717e-01 2.18357504e-03 1.31737645e+02] [ 3.47241968e-03 3.02289007e-04 9.99993925e-01 7.27054374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.74, Z:0.73 [[-8.31278025e-01 5.55851980e-01 2.32868145e-03 2.10013105e+02] [-5.55848894e-01 -8.31281245e-01 1.87047904e-03 1.31744339e+02] [ 2.97549869e-03 2.60493114e-04 9.99995539e-01 7.26604854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.75, Z:0.73 [[-8.32428625e-01 5.54122225e-01 3.33833020e-03 2.10021780e+02] [-5.54115876e-01 -8.32435232e-01 2.67972585e-03 1.31748820e+02] [ 4.26383932e-03 3.80858740e-04 9.99990837e-01 7.25848094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.661400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:210.02, Y:131.75, Z:0.73 [[-8.33074959e-01 5.53139301e-01 4.79853719e-03 2.10021251e+02] [-5.53126183e-01 -8.33088596e-01 3.84937878e-03 1.31745449e+02] [ 6.12684930e-03 5.52624510e-04 9.99981078e-01 7.25188440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.74, Z:0.73 [[-8.33382160e-01 5.52667507e-01 5.72727335e-03 2.10016765e+02] [-5.52648804e-01 -8.33401575e-01 4.59504615e-03 1.31738353e+02] [ 7.31265133e-03 6.64258720e-04 9.99973042e-01 7.25376079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.74, Z:0.73 [[-8.33854455e-01 5.51956452e-01 5.55181945e-03 2.10021561e+02] [-5.51938881e-01 -8.33872685e-01 4.45151773e-03 1.31738496e+02] [ 7.08655453e-03 6.47652874e-04 9.99974680e-01 7.25613524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.73 [[-8.33299532e-01 5.52808503e-01 3.82744537e-03 2.10014467e+02] [-5.52800157e-01 -8.33308205e-01 3.06955845e-03 1.31727510e+02] [ 4.88631965e-03 4.42049217e-04 9.99987964e-01 7.26162246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:131.74, Z:0.73 [[-8.32812074e-01 5.53547444e-01 3.04575965e-03 2.10026412e+02] [-5.53542170e-01 -8.32817571e-01 2.44118072e-03 1.31735318e+02] [ 3.88787150e-03 3.47088372e-04 9.99992382e-01 7.26217990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.72, Z:0.73 [[-8.30673271e-01 5.56754595e-01 2.49736016e-03 2.10009980e+02] [-5.56751060e-01 -8.30676981e-01 2.00280296e-03 1.31717727e+02] [ 3.18956935e-03 2.73266974e-04 9.99994876e-01 7.26061655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.72, Z:0.73 [[-8.29893042e-01 5.57915940e-01 2.70969714e-03 2.10015040e+02] [-5.57911783e-01 -8.29897414e-01 2.17349547e-03 1.31719580e+02] [ 3.46139842e-03 2.91996807e-04 9.99993967e-01 7.26299522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.73 [[-8.29112145e-01 5.59077046e-01 2.43068829e-03 2.10003167e+02] [-5.59073702e-01 -8.29115667e-01 1.95091188e-03 1.31708331e+02] [ 3.10603180e-03 2.58590828e-04 9.99995143e-01 7.27131428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.71, Z:0.73 [[-8.28623620e-01 5.59803324e-01 1.77071018e-03 2.10012188e+02] [-5.59801551e-01 -8.28625491e-01 1.42135771e-03 1.31713213e+02] [ 2.26293636e-03 1.86524271e-04 9.99997422e-01 7.28180594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.71, Z:0.73 [[-8.28633030e-01 5.59791359e-01 9.67385097e-04 2.10021912e+02] [-5.59790829e-01 -8.28633589e-01 7.76692665e-04 1.31713896e+02] [ 1.23639363e-03 1.02059891e-04 9.99999230e-01 7.29017173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.71, Z:0.73 [[-8.29230119e-01 5.58905102e-01 1.58036656e-03 2.10019468e+02] [-5.58903686e-01 -8.29231607e-01 1.26963914e-03 1.31709414e+02] [ 2.02009770e-03 1.69550319e-04 9.99997945e-01 7.28229797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.70, Z:0.73 [[-8.29944308e-01 5.57840066e-01 2.62821556e-03 2.10008521e+02] [-5.57836138e-01 -8.29948419e-01 2.11288588e-03 1.31698713e+02] [ 3.35993575e-03 2.87463988e-04 9.99994314e-01 7.27429746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.71, Z:0.73 [[-8.31065086e-01 5.56163989e-01 3.52697999e-03 2.10024833e+02] [-5.56156909e-01 -8.31072477e-01 2.83373355e-03 1.31708917e+02] [ 4.50719655e-03 3.93462728e-04 9.99989765e-01 7.26357985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.70, Z:0.73 [[-8.32549214e-01 5.53933358e-01 4.43180662e-03 2.10017487e+02] [-5.53922136e-01 -8.32560853e-01 3.56288070e-03 1.31696030e+02] [ 5.66334717e-03 5.11397733e-04 9.99983832e-01 7.26465235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.081400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.03, Y:131.70, Z:0.73 [[-8.32689586e-01 5.53722638e-01 4.39249761e-03 2.10025535e+02] [-5.53711606e-01 -8.32701016e-01 3.53218278e-03 1.31699494e+02] [ 5.61348679e-03 5.09034916e-04 9.99984115e-01 7.26698670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:131.70, Z:0.73 [[-8.32482963e-01 5.54037182e-01 3.86237632e-03 2.10031462e+02] [-5.54028645e-01 -8.32491803e-01 3.10787002e-03 1.31701834e+02] [ 4.93727217e-03 4.47381718e-04 9.99987712e-01 7.27442606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:131.70, Z:0.73 [[-8.30818461e-01 5.56542954e-01 7.91179994e-04 2.10037728e+02] [-5.56542596e-01 -8.30818833e-01 6.36985823e-04 1.31700170e+02] [ 1.01183721e-03 8.88942133e-05 9.99999484e-01 7.28264996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:131.70, Z:0.73 [[-8.29553581e-01 5.58426807e-01 -5.97725014e-04 2.10043169e+02] [-5.58426603e-01 -8.29553794e-01 -4.81663466e-04 1.31701975e+02] [-7.64818845e-04 -6.57801045e-05 9.99999705e-01 7.28503881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.68, Z:0.73 [[-8.28163123e-01 5.60485914e-01 -1.17592715e-03 2.10022571e+02] [-5.60485126e-01 -8.28163948e-01 -9.48151088e-04 1.31684740e+02] [-1.50528580e-03 -1.26134090e-04 9.99998859e-01 7.28090125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.67, Z:0.73 [[-8.26697048e-01 5.62646829e-01 -7.33044186e-04 2.10007648e+02] [-5.62646523e-01 -8.26697369e-01 -5.91473447e-04 1.31674348e+02] [-9.38796359e-04 -7.65245893e-05 9.99999556e-01 7.27673927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.68, Z:0.73 [[-8.23654239e-01 5.67092227e-01 3.15308991e-04 2.10006952e+02] [-5.67092171e-01 -8.23654299e-01 2.54486189e-04 1.31678337e+02] [ 4.04022745e-04 3.07993683e-05 9.99999918e-01 7.26742290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.69, Z:0.73 [[-8.22068661e-01 5.69388203e-01 4.36317749e-04 2.10017817e+02] [-5.69388096e-01 -8.22068776e-01 3.52309873e-04 1.31689546e+02] [ 5.59284284e-04 4.11887730e-05 9.99999843e-01 7.26908141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.69, Z:0.73 [[-8.20233981e-01 5.72028142e-01 1.44218674e-04 2.10015148e+02] [-5.72028130e-01 -8.20233994e-01 1.16468507e-04 1.31690296e+02] [ 1.84916323e-04 1.30342892e-05 9.99999983e-01 7.27062993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.68, Z:0.73 [[-8.17964416e-01 5.75268810e-01 -1.00043575e-04 2.09988266e+02] [-5.75268805e-01 -8.17964422e-01 -8.09644474e-05 1.31677090e+02] [-1.28408406e-04 -8.67408926e-06 9.99999992e-01 7.27228892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.69, Z:0.73 [[-8.17767947e-01 5.75547633e-01 7.12328815e-04 2.10003154e+02] [-5.75547348e-01 -8.17768255e-01 5.75671089e-04 1.31694052e+02] [ 9.13846025e-04 6.07864040e-05 9.99999581e-01 7.27026354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.73 [[-8.17571780e-01 5.75823810e-01 1.82325119e-03 2.09988495e+02] [-5.75821944e-01 -8.17573799e-01 1.47421034e-03 1.31687066e+02] [ 2.33952781e-03 1.55404728e-04 9.99997251e-01 7.26421512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.73 [[-8.18276800e-01 5.74816153e-01 3.07727140e-03 2.09996545e+02] [-5.74810836e-01 -8.18282543e-01 2.48667747e-03 1.31697695e+02] [ 3.94745984e-03 2.65941535e-04 9.99992173e-01 7.25894713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.72 [[-8.20418459e-01 5.71748130e-01 4.19849727e-03 2.10002297e+02] [-5.71738205e-01 -8.20429114e-01 3.39043220e-03 1.31708252e+02] [ 5.38304267e-03 3.81131869e-04 9.99985439e-01 7.24256540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.72 [[-8.21303631e-01 5.70477499e-01 3.97111243e-03 2.09996458e+02] [-5.70468601e-01 -8.21313148e-01 3.20751896e-03 1.31706413e+02] [ 5.09134425e-03 3.68952016e-04 9.99986971e-01 7.23968666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.72, Z:0.72 [[-8.22128051e-01 5.69290397e-01 3.72987973e-03 2.10006528e+02] [-5.69282544e-01 -8.22136437e-01 3.01076835e-03 1.31718223e+02] [ 4.78047154e-03 3.51881690e-04 9.99988512e-01 7.23778557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.72, Z:0.72 [[-8.22006689e-01 5.69459937e-01 4.51480144e-03 2.10005762e+02] [-5.69448448e-01 -8.22018979e-01 3.64194716e-03 1.31724872e+02] [ 5.78519547e-03 4.22758252e-04 9.99983176e-01 7.23774725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.72 [[-8.21328751e-01 5.70431010e-01 5.24845420e-03 2.09996335e+02] [-5.70415499e-01 -8.21345377e-01 4.23436236e-03 1.31720614e+02] [ 6.72620519e-03 4.84003923e-04 9.99977262e-01 7.23405585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.72, Z:0.72 [[-8.20582273e-01 5.71502998e-01 5.39041533e-03 2.09993405e+02] [-5.71486679e-01 -8.20599834e-01 4.34610347e-03 1.31721434e+02] [ 6.90718509e-03 4.85784910e-04 9.99976027e-01 7.22991482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.72, Z:0.72 [[-8.19655229e-01 5.72834428e-01 5.10130869e-03 2.09981174e+02] [-5.72819834e-01 -8.19670981e-01 4.11360729e-03 1.31715159e+02] [ 6.53781057e-03 4.49608936e-04 9.99978527e-01 7.22873656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.72, Z:0.72 [[-8.18962198e-01 5.73835387e-01 3.72392111e-03 2.09984472e+02] [-5.73827629e-01 -8.18970601e-01 3.00098949e-03 1.31724941e+02] [ 4.77185588e-03 3.20808119e-04 9.99988563e-01 7.23407664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.72, Z:0.72 [[-8.18876465e-01 5.73961104e-01 3.16016501e-03 2.09974420e+02] [-5.73955518e-01 -8.18882517e-01 2.54682122e-03 1.31720001e+02] [ 4.04958020e-03 2.71737811e-04 9.99991764e-01 7.23884990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.74, Z:0.72 [[-8.19152873e-01 5.73566589e-01 3.15271319e-03 2.09989952e+02] [-5.73561032e-01 -8.19158895e-01 2.53920854e-03 1.31735384e+02] [ 4.03897823e-03 2.71726544e-04 9.99991806e-01 7.24454903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.73, Z:0.73 [[-8.19206607e-01 5.73485573e-01 3.85135349e-03 2.09973064e+02] [-5.73477280e-01 -8.19215592e-01 3.10206087e-03 1.31727609e+02] [ 4.93407599e-03 3.32565037e-04 9.99987772e-01 7.25266712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.73, Z:0.73 [[-8.19388742e-01 5.73225380e-01 3.84115590e-03 2.09973536e+02] [-5.73217137e-01 -8.19397678e-01 3.09186771e-03 1.31731098e+02] [ 4.91977127e-03 3.31625204e-04 9.99987843e-01 7.25354110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.74, Z:0.73 [[-8.19835050e-01 5.72591481e-01 3.08003173e-03 2.09985697e+02] [-5.72586183e-01 -8.19840792e-01 2.47759248e-03 1.31743950e+02] [ 3.94378400e-03 2.67633546e-04 9.99992187e-01 7.25674481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.74, Z:0.73 [[-8.21067724e-01 5.70830361e-01 7.01060488e-04 2.09974633e+02] [-5.70830086e-01 -8.21068021e-01 5.63617909e-04 1.31740273e+02] [ 8.97348563e-04 6.25820552e-05 9.99999595e-01 7.27121529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.75, Z:0.73 [[-8.22116886e-01 5.69318544e-01 -4.70352500e-04 2.09989333e+02] [-5.69318420e-01 -8.22117019e-01 -3.77780018e-04 1.31752903e+02] [-6.01761965e-04 -4.27989898e-05 9.99999818e-01 7.27324791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.76, Z:0.73 [[-8.23410609e-01 5.67445258e-01 -9.21200938e-04 2.09993667e+02] [-5.67444782e-01 -8.23411120e-01 -7.39479665e-04 1.31757412e+02] [-1.17814133e-03 -8.61647358e-05 9.99999302e-01 7.27106757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.76, Z:0.73 [[-8.25708520e-01 5.64096620e-01 -6.66538423e-04 2.09993479e+02] [-5.64096370e-01 -8.25708786e-01 -5.34689478e-04 1.31761447e+02] [-8.51983159e-04 -6.55057523e-05 9.99999635e-01 7.25734468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.77, Z:0.73 [[-8.27059212e-01 5.62114753e-01 -2.53446270e-04 2.09998725e+02] [-5.62114717e-01 -8.27059251e-01 -2.03140124e-04 1.31767852e+02] [-3.23803143e-04 -2.55430320e-05 9.99999947e-01 7.25773501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.77, Z:0.73 [[-8.28413932e-01 5.60116323e-01 2.46844485e-04 2.09996747e+02] [-5.60116289e-01 -8.28413969e-01 1.97851794e-04 1.31766873e+02] [ 3.15309439e-04 2.56415654e-05 9.99999950e-01 7.25845092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.78, Z:0.73 [[-8.30579952e-01 5.56894354e-01 2.37089378e-03 2.10010616e+02] [-5.56891177e-01 -8.30583297e-01 1.89855118e-03 1.31776622e+02] [ 3.02651721e-03 2.56568725e-04 9.99995387e-01 7.25869155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.78, Z:0.73 [[-8.31324719e-01 5.55776887e-01 3.35600615e-03 2.10012266e+02] [-5.55770520e-01 -8.31331412e-01 2.68567504e-03 1.31777974e+02] [ 4.28258944e-03 3.67498769e-04 9.99990762e-01 7.25410876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.78, Z:0.72 [[-8.31764677e-01 5.55114934e-01 3.86432511e-03 2.10013308e+02] [-5.55106494e-01 -8.31773544e-01 3.09049916e-03 1.31779894e+02] [ 4.92982563e-03 4.25456070e-04 9.99987758e-01 7.24656110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.77, Z:0.72 [[-8.32002315e-01 5.54758873e-01 3.83931329e-03 2.09998113e+02] [-5.54750548e-01 -8.32011066e-01 3.06855054e-03 1.31768872e+02] [ 4.89665678e-03 4.23180003e-04 9.99987922e-01 7.24335850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.77, Z:0.72 [[-8.31874620e-01 5.54955596e-01 2.98381228e-03 2.09993545e+02] [-5.54950574e-01 -8.31879907e-01 2.38329055e-03 1.31765883e+02] [ 3.80479391e-03 3.26730581e-04 9.99992708e-01 7.24933542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.77, Z:0.73 [[-8.31735284e-01 5.55165919e-01 2.68686784e-03 2.10000257e+02] [-5.55161853e-01 -8.31739573e-01 2.14475034e-03 1.31771397e+02] [ 3.42546661e-03 2.92218004e-04 9.99994090e-01 7.25109026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.76, Z:0.73 [[-8.31516265e-01 5.55494859e-01 2.48239834e-03 2.09988012e+02] [-5.55491394e-01 -8.31519927e-01 1.98027977e-03 1.31762257e+02] [ 3.16419892e-03 2.67683925e-04 9.99994958e-01 7.25143840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.77, Z:0.72 [[-8.30937043e-01 5.56361784e-01 2.27959657e-03 2.09998030e+02] [-5.56358868e-01 -8.30940134e-01 1.81734831e-03 1.31772746e+02] [ 2.90531143e-03 2.41828258e-04 9.99995750e-01 7.24752320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.76, Z:0.73 [[-8.30581737e-01 5.56889787e-01 2.78269146e-03 2.09980400e+02] [-5.56885450e-01 -8.30586347e-01 2.21700147e-03 1.31759241e+02] [ 3.54589101e-03 2.91760546e-04 9.99993671e-01 7.25320181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.76, Z:0.73 [[-8.30222489e-01 5.57423631e-01 3.08451660e-03 2.09982614e+02] [-5.57418312e-01 -8.30228158e-01 2.45589176e-03 1.31761151e+02] [ 3.92982464e-03 3.19570530e-04 9.99992227e-01 7.25407005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.76, Z:0.73 [[-8.29677888e-01 5.58230989e-01 3.57297413e-03 2.09975044e+02] [-5.58223868e-01 -8.29685501e-01 2.84297189e-03 1.31755159e+02] [ 4.55147984e-03 3.64231472e-04 9.99989576e-01 7.25389977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.75, Z:0.73 [[-8.28075991e-01 5.60597705e-01 4.51290583e-03 2.09961636e+02] [-5.60586393e-01 -8.28088171e-01 3.58853603e-03 1.31745284e+02] [ 5.74880899e-03 4.41706928e-04 9.99983378e-01 7.25830600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.74, Z:0.73 [[-8.28252590e-01 5.60336748e-01 4.51403619e-03 2.09959733e+02] [-5.60325440e-01 -8.28264773e-01 3.58711402e-03 1.31743674e+02] [ 5.74880896e-03 4.41707159e-04 9.99983378e-01 7.25831013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.74, Z:0.73 [[-8.27558646e-01 5.61360991e-01 4.53052182e-03 2.09955660e+02] [-5.61349629e-01 -8.27570933e-01 3.59788453e-03 1.31741068e+02] [ 5.76904020e-03 4.34253706e-04 9.99983265e-01 7.25989510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.73, Z:0.73 [[-8.26699958e-01 5.62626553e-01 4.30592222e-03 2.09940519e+02] [-5.62616319e-01 -8.26711074e-01 3.41729796e-03 1.31729315e+02] [ 5.48241615e-03 4.02497972e-04 9.99984890e-01 7.26083858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.73, Z:0.73 [[-8.25772963e-01 5.63988493e-01 3.99912841e-03 2.09945665e+02] [-5.63979692e-01 -8.25782567e-01 3.17175148e-03 1.31732923e+02] [ 5.09124185e-03 3.63719410e-04 9.99986973e-01 7.26819675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.73, Z:0.73 [[-8.24135494e-01 5.66385978e-01 2.75897366e-03 2.09941633e+02] [-5.66381807e-01 -8.24140077e-01 2.18676585e-03 1.31727877e+02] [ 3.51233428e-03 2.39558867e-04 9.99993803e-01 7.26395916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.72, Z:0.73 [[-8.23557680e-01 5.67226409e-01 2.63607031e-03 2.09928846e+02] [-5.67222611e-01 -8.23561868e-01 2.08798651e-03 1.31716522e+02] [ 3.35532808e-03 2.24338646e-04 9.99994346e-01 7.26232978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.71, Z:0.73 [[-8.21918571e-01 5.69594903e-01 3.39260145e-03 2.09920723e+02] [-5.69588639e-01 -8.21925526e-01 2.68542891e-03 1.31708790e+02] [ 4.31807236e-03 2.74816649e-04 9.99990639e-01 7.26374635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.69, Z:0.73 [[-8.20840325e-01 5.71146638e-01 3.56066577e-03 2.09898670e+02] [-5.71139753e-01 -8.20848000e-01 2.81839045e-03 1.31691182e+02] [ 4.53247961e-03 2.79810772e-04 9.99989689e-01 7.26564064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.70, Z:0.73 [[-8.19725483e-01 5.72746237e-01 3.44683619e-03 2.09905922e+02] [-5.72739807e-01 -8.19732688e-01 2.72652695e-03 1.31696668e+02] [ 4.38709235e-03 2.60863324e-04 9.99990343e-01 7.26781665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.69, Z:0.73 [[-8.18421066e-01 5.74610809e-01 3.06224489e-03 2.09899308e+02] [-5.74605752e-01 -8.18426765e-01 2.42068986e-03 1.31691258e+02] [ 3.89717774e-03 2.21560053e-04 9.99992381e-01 7.26816397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:131.68, Z:0.73 [[-8.15042416e-01 5.79399123e-01 1.58622263e-03 2.09886580e+02] [-5.79397777e-01 -8.15043953e-01 1.25308858e-03 1.31680315e+02] [ 2.01887958e-03 1.02266478e-04 9.99997957e-01 7.26762137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.67, Z:0.73 [[-8.13080843e-01 5.82149427e-01 1.25954910e-03 2.09872188e+02] [-5.82148583e-01 -8.13081816e-01 9.94359032e-04 1.31668465e+02] [ 1.60298201e-03 7.52495570e-05 9.99998712e-01 7.27078747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.65, Z:0.73 [[-8.10755475e-01 5.85384145e-01 9.81770458e-04 2.09852531e+02] [-5.85383634e-01 -8.10756067e-01 7.74952980e-04 1.31653000e+02] [ 1.24962154e-03 5.35850127e-05 9.99999218e-01 7.27337434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.66, Z:0.73 [[-8.08491347e-01 5.88507443e-01 8.54975211e-04 2.09859060e+02] [-5.88507058e-01 -8.08491798e-01 6.74463052e-04 1.31658595e+02] [ 1.08816697e-03 4.21385952e-05 9.99999407e-01 7.28115367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.64, Z:0.73 [[-8.03522160e-01 5.95274212e-01 8.66592065e-04 2.09834285e+02] [-5.95273820e-01 -8.03522627e-01 6.83555875e-04 1.31641286e+02] [ 1.10322952e-03 3.33927243e-05 9.99999391e-01 7.28297865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.63, Z:0.73 [[-8.01333731e-01 5.98217314e-01 5.44622821e-04 2.09813416e+02] [-5.98217160e-01 -8.01333916e-01 4.29358098e-04 1.31626570e+02] [ 6.93274186e-04 1.82564091e-05 9.99999760e-01 7.27461493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.63, Z:0.73 [[-7.99276920e-01 6.00962858e-01 2.18091727e-04 2.09821819e+02] [-6.00962834e-01 -7.99276950e-01 1.71855480e-04 1.31634995e+02] [ 2.77594451e-04 6.29509644e-06 9.99999961e-01 7.27170264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.61, Z:0.73 [[-7.97042901e-01 6.03922678e-01 1.11986475e-04 2.09786163e+02] [-6.03922672e-01 -7.97042909e-01 8.82042811e-05 1.31608696e+02] [ 1.42526591e-04 2.67142524e-06 9.99999990e-01 7.27239906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.941400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.73 [[-7.92738503e-01 6.09558911e-01 1.89712598e-03 2.09721468e+02] [-6.09559374e-01 -7.92740321e-01 3.90926214e-04 1.31562750e+02] [ 1.74222081e-03 -8.46508660e-04 9.99998124e-01 7.27529702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.61, Z:0.73 [[-7.91979118e-01 6.10547413e-01 9.66170150e-04 2.09786053e+02] [-6.10545189e-01 -7.91979201e-01 1.87535825e-03 1.31614578e+02] [ 1.91018179e-03 8.95354032e-04 9.99997775e-01 7.27699966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.61, Z:0.73 [[-7.92098107e-01 6.10391072e-01 1.82439108e-03 2.09771113e+02] [-6.10389382e-01 -7.92100208e-01 1.43642086e-03 1.31608987e+02] [ 2.32187902e-03 2.41973024e-05 9.99997304e-01 7.27757947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.61, Z:0.73 [[-7.93273598e-01 6.08863670e-01 1.42479931e-03 2.09764333e+02] [-6.08862639e-01 -7.93274877e-01 1.12099511e-03 1.31605791e+02] [ 1.81279070e-03 2.17487567e-05 9.99998357e-01 7.27523005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.62, Z:0.73 [[-7.94690802e-01 6.07013186e-01 1.23338197e-03 2.09781753e+02] [-6.07012412e-01 -7.94691759e-01 9.69692173e-04 1.31621418e+02] [ 1.56877442e-03 2.19272863e-05 9.99998769e-01 7.27891420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.091400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.78, Y:131.63, Z:0.73 [[-7.96030160e-01 6.05254978e-01 1.54795089e-03 2.09784983e+02] [-6.05253757e-01 -7.96031665e-01 1.21610747e-03 1.31625233e+02] [ 1.96827302e-03 3.11551306e-05 9.99998063e-01 7.27758387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.63, Z:0.73 [[-7.98346656e-01 6.02189039e-01 3.31320823e-03 2.09780937e+02] [-6.02183427e-01 -7.98353527e-01 2.60097232e-03 1.31625387e+02] [ 4.21138850e-03 8.13184732e-05 9.99991129e-01 7.27360636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.64, Z:0.73 [[-7.99397432e-01 6.00792721e-01 3.44275203e-03 2.09791993e+02] [-6.00786657e-01 -7.99404840e-01 2.70072418e-03 1.31636868e+02] [ 4.37472807e-03 9.05924920e-05 9.99990427e-01 7.26928861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.64, Z:0.73 [[-8.00453317e-01 5.99387476e-01 3.02332451e-03 2.09797208e+02] [-5.99382797e-01 -8.00459022e-01 2.37001811e-03 1.31643840e+02] [ 3.84060655e-03 8.49601618e-05 9.99992621e-01 7.27586818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.64, Z:0.73 [[-8.02591766e-01 5.96525988e-01 1.78978395e-03 2.09791232e+02] [-5.96524343e-01 -8.02593759e-01 1.40206551e-03 1.31644744e+02] [ 2.27283794e-03 5.76365400e-05 9.99997415e-01 7.28289101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.79, Y:131.65, Z:0.73 [[-8.04008063e-01 5.94614717e-01 2.09124841e-03 2.09791937e+02] [-5.94612468e-01 -8.04010779e-01 1.63705084e-03 1.31647460e+02] [ 2.65480078e-03 7.27196965e-05 9.99996473e-01 7.28040355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.65, Z:0.73 [[-8.05635561e-01 5.92406767e-01 2.35891729e-03 2.09790736e+02] [-5.92403900e-01 -8.05639010e-01 1.84526934e-03 1.31648658e+02] [ 2.99358584e-03 8.91827961e-05 9.99995515e-01 7.27226510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.67, Z:0.73 [[-8.08739720e-01 5.88158328e-01 3.13786219e-03 2.09806945e+02] [-5.88153229e-01 -8.08745796e-01 2.45285623e-03 1.31665594e+02] [ 3.98040067e-03 1.38178480e-04 9.99992069e-01 7.26320759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.67, Z:0.73 [[-8.10389754e-01 5.85880467e-01 3.53916817e-03 2.09807545e+02] [-5.85873968e-01 -8.10397465e-01 2.76462511e-03 1.31668123e+02] [ 4.48787276e-03 1.66917362e-04 9.99989916e-01 7.26037865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.68, Z:0.73 [[-8.11807189e-01 5.83913895e-01 3.69481372e-03 2.09824066e+02] [-5.83906800e-01 -8.11815576e-01 2.88421831e-03 1.31682990e+02] [ 4.68364248e-03 1.84002298e-04 9.99989015e-01 7.25821245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.69, Z:0.73 [[-8.13487479e-01 5.81573159e-01 3.28348393e-03 2.09825215e+02] [-5.81567545e-01 -8.13494087e-01 2.56139002e-03 1.31688762e+02] [ 4.16073045e-03 1.74091023e-04 9.99991329e-01 7.26530237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.68, Z:0.73 [[-8.14293033e-01 5.80446112e-01 3.02769340e-03 2.09816849e+02] [-5.80441337e-01 -8.14298645e-01 2.36024830e-03 1.31684573e+02] [ 3.83544359e-03 1.64535340e-04 9.99992631e-01 7.26485721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.69, Z:0.73 [[-8.15106281e-01 5.79302134e-01 3.28459810e-03 2.09815833e+02] [-5.79296512e-01 -8.15112878e-01 2.55876636e-03 1.31685754e+02] [ 4.15961702e-03 1.82910306e-04 9.99991332e-01 7.26998646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.69, Z:0.73 [[-8.17240651e-01 5.76281592e-01 4.15258899e-03 2.09811908e+02] [-5.76272579e-01 -8.17251164e-01 3.23272402e-03 1.31685711e+02] [ 5.25666753e-03 2.48890316e-04 9.99986153e-01 7.26422873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.69, Z:0.73 [[-8.18853537e-01 5.73982328e-01 4.81368523e-03 2.09820795e+02] [-5.73970192e-01 -8.18867630e-01 3.74481993e-03 1.31693316e+02] [ 6.09123147e-03 3.03547209e-04 9.99981402e-01 7.25967874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.70, Z:0.73 [[-8.20678352e-01 5.71368759e-01 4.97832515e-03 2.09834010e+02] [-5.71355747e-01 -8.20693384e-01 3.87029468e-03 1.31703433e+02] [ 6.29704398e-03 3.31872373e-04 9.99980118e-01 7.25809832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.71, Z:0.73 [[-8.22384890e-01 5.68908403e-01 5.13044781e-03 2.09840133e+02] [-5.68894554e-01 -8.22400814e-01 3.98589814e-03 1.31707755e+02] [ 6.48689541e-03 3.59258585e-04 9.99978895e-01 7.25689531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.72, Z:0.73 [[-8.25214579e-01 5.64805646e-01 3.93455014e-03 2.09851139e+02] [-5.64797464e-01 -8.25223905e-01 3.05478630e-03 1.31715398e+02] [ 4.97224538e-03 2.98630252e-04 9.99987594e-01 7.26200834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.72, Z:0.73 [[-8.26132416e-01 5.63464842e-01 3.55021046e-03 2.09852679e+02] [-5.63458176e-01 -8.26139998e-01 2.75457878e-03 1.31715886e+02] [ 4.48507916e-03 2.75251713e-04 9.99989904e-01 7.26700233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.72, Z:0.73 [[-8.26541929e-01 5.62864815e-01 3.41172266e-03 2.09855766e+02] [-5.62858661e-01 -8.26548927e-01 2.64539433e-03 1.31716960e+02] [ 4.30895510e-03 2.66211678e-04 9.99990681e-01 7.26292780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.71, Z:0.73 [[-8.26077955e-01 5.63548345e-01 2.91143015e-03 2.09843964e+02] [-5.63543873e-01 -8.26083055e-01 2.25600127e-03 1.31705642e+02] [ 3.67644889e-03 2.22914287e-04 9.99993217e-01 7.25472316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.70, Z:0.73 [[-8.25871470e-01 5.63851358e-01 2.82159079e-03 2.09831629e+02] [-5.63847165e-01 -8.25876262e-01 2.18493984e-03 1.31696011e+02] [ 3.56226615e-03 2.13533513e-04 9.99993632e-01 7.25592086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.70, Z:0.73 [[-8.25786828e-01 5.63977089e-01 2.44087941e-03 2.09838674e+02] [-5.63973955e-01 -8.25790415e-01 1.88888562e-03 1.31701748e+02] [ 3.08094303e-03 1.83224445e-04 9.99995237e-01 7.25600324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.781400513 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:209.83, Y:131.69, Z:0.73 [[-8.26044070e-01 5.63602340e-01 1.89635614e-03 2.09827923e+02] [-5.63600450e-01 -8.26046235e-01 1.46654499e-03 1.31692622e+02] [ 2.39302604e-03 1.42643620e-04 9.99997127e-01 7.26103500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.811400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.85, Y:131.71, Z:0.73 [[-8.26703131e-01 5.62637029e-01 1.22701842e-03 2.09852905e+02] [-5.62636238e-01 -8.26704037e-01 9.48310805e-04 1.31709260e+02] [ 1.54793585e-03 9.36064874e-05 9.99998798e-01 7.26400069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.70, Z:0.73 [[-8.28554678e-01 5.59908082e-01 2.91848121e-04 2.09854886e+02] [-5.59908037e-01 -8.28554729e-01 2.25459463e-04 1.31704386e+02] [ 3.68048717e-04 2.33973841e-05 9.99999932e-01 7.26424058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.71, Z:0.73 [[-8.29783453e-01 5.58085294e-01 4.75012484e-04 2.09859504e+02] [-5.58085175e-01 -8.29783588e-01 3.66678084e-04 1.31705470e+02] [ 5.98795210e-04 3.91659821e-05 9.99999820e-01 7.26134024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.901400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.83, Y:131.68, Z:0.73 [[-8.30907687e-01 5.56408624e-01 1.36330504e-03 2.09833715e+02] [-5.56407642e-01 -8.30908798e-01 1.05156897e-03 1.31683575e+02] [ 1.71788420e-03 1.15203395e-04 9.99998518e-01 7.26446669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.69, Z:0.73 [[-8.31665092e-01 5.55273990e-01 1.99249100e-03 2.09850580e+02] [-5.55271892e-01 -8.31667462e-01 1.53584243e-03 1.31694742e+02] [ 2.50990329e-03 1.70932286e-04 9.99996836e-01 7.26221726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.69, Z:0.73 [[-8.32047659e-01 5.54697161e-01 2.78456392e-03 2.09846744e+02] [-5.54693065e-01 -8.32052284e-01 2.14495309e-03 1.31689794e+02] [ 3.50670216e-03 2.40124902e-04 9.99993823e-01 7.26342381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.69, Z:0.73 [[-8.31926217e-01 5.54872019e-01 3.97642294e-03 2.09844181e+02] [-5.54863680e-01 -8.31935650e-01 3.06100719e-03 1.31685619e+02] [ 5.00659525e-03 3.40159466e-04 9.99987409e-01 7.26243523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.68, Z:0.73 [[-8.31824127e-01 5.55028165e-01 3.51532548e-03 2.09844151e+02] [-5.55021657e-01 -8.31831502e-01 2.70429219e-03 1.31684822e+02] [ 4.42511681e-03 2.98413715e-04 9.99990165e-01 7.26107399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.69, Z:0.73 [[-8.32005076e-01 5.54760644e-01 2.86046750e-03 2.09849304e+02] [-5.54756338e-01 -8.32009958e-01 2.19909172e-03 1.31687527e+02] [ 3.59990698e-03 2.42792995e-04 9.99993491e-01 7.26237309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.68, Z:0.73 [[-8.32578562e-01 5.53903115e-01 2.06826058e-03 2.09840887e+02] [-5.53900864e-01 -8.32581112e-01 1.58903068e-03 1.31679419e+02] [ 2.60216374e-03 1.77381551e-04 9.99996599e-01 7.26328010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.68, Z:0.73 [[-8.34089483e-01 5.51624224e-01 2.33434948e-03 2.09844176e+02] [-5.51621351e-01 -8.34092724e-01 1.79228163e-03 1.31679152e+02] [ 2.93572988e-03 2.07246241e-04 9.99995669e-01 7.26389526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.73 [[-8.35120281e-01 5.50057614e-01 3.27671800e-03 2.09850905e+02] [-5.50051949e-01 -8.35126657e-01 2.51415148e-03 1.31683024e+02] [ 4.11940271e-03 2.97253772e-04 9.99991471e-01 7.26066607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.72 [[-8.36234542e-01 5.48355713e-01 4.21933207e-03 2.09851904e+02] [-5.48346309e-01 -8.36245095e-01 3.23527561e-03 1.31682845e+02] [ 5.30247761e-03 3.91794050e-04 9.99985865e-01 7.24990830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.72 [[-8.37241332e-01 5.46814194e-01 4.60328052e-03 2.09847095e+02] [-5.46802990e-01 -8.37253873e-01 3.52737703e-03 1.31678547e+02] [ 5.78293427e-03 4.36178283e-04 9.99983184e-01 7.24758846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.73 [[-8.38139670e-01 5.45440054e-01 4.12806412e-03 2.09849595e+02] [-5.45431039e-01 -8.38149741e-01 3.16118155e-03 1.31679338e+02] [ 5.18417091e-03 3.97937362e-04 9.99986483e-01 7.25101379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.73 [[-8.38845959e-01 5.44357614e-01 3.49935108e-03 2.09853864e+02] [-5.44351134e-01 -8.38853188e-01 2.67800067e-03 1.31681499e+02] [ 4.39323187e-03 3.41554312e-04 9.99990291e-01 7.25083510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.73 [[-8.39015815e-01 5.44095774e-01 3.50018680e-03 2.09851936e+02] [-5.44089296e-01 -8.39023046e-01 2.67690828e-03 1.31679928e+02] [ 4.39323187e-03 3.41554208e-04 9.99990291e-01 7.25083922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.68, Z:0.73 [[-8.39833150e-01 5.42827724e-01 4.28275716e-03 2.09858822e+02] [-5.42818020e-01 -8.39843963e-01 3.27328410e-03 1.31683333e+02] [ 5.37367711e-03 4.24254737e-04 9.99985472e-01 7.26026947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.73 [[-8.40063740e-01 5.42463621e-01 5.11206447e-03 2.09849686e+02] [-5.42449806e-01 -8.40079141e-01 3.90458759e-03 1.31675218e+02] [ 6.41263545e-03 5.07064071e-04 9.99979310e-01 7.25602974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.67, Z:0.72 [[-8.40266284e-01 5.42143010e-01 5.79043160e-03 2.09844542e+02] [-5.42125298e-01 -8.40286038e-01 4.41985124e-03 1.31669746e+02] [ 7.26181029e-03 5.74712515e-04 9.99973468e-01 7.24853411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.66, Z:0.72 [[-8.40087359e-01 5.42427512e-01 5.06199462e-03 2.09840305e+02] [-5.42413997e-01 -8.40102462e-01 3.86133238e-03 1.31664105e+02] [ 6.34708705e-03 4.98159787e-04 9.99979733e-01 7.24471589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.67, Z:0.73 [[-8.39798132e-01 5.42884657e-01 3.91765094e-03 2.09843351e+02] [-5.42876576e-01 -8.39807183e-01 2.98649129e-03 1.31665114e+02] [ 4.91139170e-03 3.81248880e-04 9.99987866e-01 7.25109343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.66, Z:0.73 [[-8.39681688e-01 5.43069637e-01 3.16743246e-03 2.09835060e+02] [-5.43064362e-01 -8.39687606e-01 2.41302980e-03 1.31657393e+02] [ 3.97009699e-03 3.06057245e-04 9.99992072e-01 7.25656633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.66, Z:0.72 [[-8.39703860e-01 5.43032188e-01 3.67035898e-03 2.09843437e+02] [-5.43025113e-01 -8.39711807e-01 2.79434523e-03 1.31661579e+02] [ 4.59946317e-03 3.53325376e-04 9.99989360e-01 7.24763990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.66, Z:0.72 [[-8.40033835e-01 5.42520375e-01 3.84686480e-03 2.09837713e+02] [-5.42512607e-01 -8.40042561e-01 2.92682182e-03 1.31657275e+02] [ 4.81939063e-03 3.71656708e-04 9.99988318e-01 7.24771682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.66, Z:0.73 [[-8.40286202e-01 5.42129436e-01 3.84352492e-03 2.09835943e+02] [-5.42121687e-01 -8.40294910e-01 2.92238242e-03 1.31656558e+02] [ 4.81400396e-03 3.71979412e-04 9.99988343e-01 7.25200452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.66, Z:0.73 [[-8.40417710e-01 5.41927553e-01 3.54957690e-03 2.09840589e+02] [-5.41920950e-01 -8.40425136e-01 2.69713910e-03 1.31660335e+02] [ 4.44480764e-03 3.43133375e-04 9.99990063e-01 7.25131566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.65, Z:0.72 [[-8.40465216e-01 5.41855809e-01 3.24073796e-03 2.09829179e+02] [-5.41850311e-01 -8.40471406e-01 2.46087728e-03 1.31652032e+02] [ 4.05718824e-03 3.12286879e-04 9.99991721e-01 7.24952011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.65, Z:0.72 [[-8.40563145e-01 5.41706480e-01 2.77289918e-03 2.09823576e+02] [-5.41702459e-01 -8.40567676e-01 2.10425836e-03 1.31648667e+02] [ 3.47069981e-03 2.66675725e-04 9.99993942e-01 7.24808626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.66, Z:0.72 [[-8.40697684e-01 5.41500953e-01 2.03029724e-03 2.09833812e+02] [-5.41498799e-01 -8.40700113e-01 1.53974030e-03 1.31660343e+02] [ 2.54064196e-03 1.95052588e-04 9.99996754e-01 7.24217293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.65, Z:0.72 [[-8.40749956e-01 5.41418595e-01 2.32736049e-03 2.09819619e+02] [-5.41415768e-01 -8.40753148e-01 1.76387369e-03 1.31652102e+02] [ 2.91172967e-03 2.22907062e-04 9.99995736e-01 7.24138130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.66, Z:0.72 [[-8.40703934e-01 5.41488702e-01 2.62316544e-03 2.09822499e+02] [-5.41485115e-01 -8.40707989e-01 1.98676043e-03 1.31656749e+02] [ 3.28112447e-03 2.49872269e-04 9.99994586e-01 7.24093989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.65, Z:0.72 [[-8.40622022e-01 5.41616529e-01 2.48037840e-03 2.09816205e+02] [-5.41613326e-01 -8.40625648e-01 1.87739905e-03 1.31653999e+02] [ 3.10190005e-03 2.34776988e-04 9.99995162e-01 7.24559413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.66, Z:0.72 [[-8.40455444e-01 5.41877883e-01 1.73384751e-03 2.09814862e+02] [-5.41876320e-01 -8.40457217e-01 1.31151670e-03 1.31657183e+02] [ 2.16790655e-03 1.62740445e-04 9.99997637e-01 7.24828840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.831400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.81, Y:131.65, Z:0.72 [[-8.40670497e-01 5.41543931e-01 1.81266476e-03 2.09807935e+02] [-5.41542224e-01 -8.40672435e-01 1.37024172e-03 1.31653668e+02] [ 2.26590338e-03 1.70287282e-04 9.99997418e-01 7.24642494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.65, Z:0.72 [[-8.41045553e-01 5.40958538e-01 2.49767778e-03 2.09801352e+02] [-5.40955299e-01 -8.41049228e-01 1.88680646e-03 1.31650312e+02] [ 3.12135403e-03 2.35758157e-04 9.99995101e-01 7.24399713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.66, Z:0.72 [[-8.41336274e-01 5.40500293e-01 3.56475878e-03 2.09808314e+02] [-5.40493699e-01 -8.41343758e-01 2.69112548e-03 1.31655867e+02] [ 4.45374166e-03 3.37411830e-04 9.99990025e-01 7.24087122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.65, Z:0.72 [[-8.41699426e-01 5.39934608e-01 3.56308997e-03 2.09803866e+02] [-5.39928023e-01 -8.41706899e-01 2.68811915e-03 1.31652117e+02] [ 4.45048597e-03 3.38776225e-04 9.99990039e-01 7.24106107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.66, Z:0.72 [[-8.41748969e-01 5.39859709e-01 3.18865288e-03 2.09811349e+02] [-5.39854441e-01 -8.41754954e-01 2.40407942e-03 1.31658487e+02] [ 3.98192997e-03 3.02222955e-04 9.99992026e-01 7.24068674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.981400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:209.68, Y:131.56, Z:0.72 [[-8.41363268e-01 5.40457078e-01 3.74129176e-03 2.09682619e+02] [-5.40450662e-01 -8.41371563e-01 2.64121280e-03 1.31563914e+02] [ 4.57527865e-03 2.00235821e-04 9.99989513e-01 7.24661665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.65, Z:0.72 [[-8.40672827e-01 5.41531931e-01 3.51635205e-03 2.09789672e+02] [-5.41524732e-01 -8.40680046e-01 2.83275445e-03 1.31645003e+02] [ 4.49015399e-03 4.77228085e-04 9.99989805e-01 7.23775734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.64, Z:0.72 [[-8.39136097e-01 5.43901665e-01 4.64638785e-03 2.09780306e+02] [-5.43890554e-01 -8.39148861e-01 3.50077576e-03 1.31638068e+02] [ 5.80308883e-03 4.10500845e-04 9.99983078e-01 7.23927290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.64, Z:0.72 [[-8.38705451e-01 5.44564551e-01 4.75577971e-03 2.09786333e+02] [-5.44552934e-01 -8.38718832e-01 3.58084003e-03 1.31642330e+02] [ 5.93876054e-03 4.13496258e-04 9.99982280e-01 7.23999802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.101400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.77, Y:131.63, Z:0.72 [[-8.38663510e-01 5.44629078e-01 4.76276027e-03 2.09773834e+02] [-5.44617443e-01 -8.38676933e-01 3.58373662e-03 1.31632806e+02] [ 5.94622435e-03 4.11666816e-04 9.99982236e-01 7.23972911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.64, Z:0.72 [[-8.38860608e-01 5.44328490e-01 4.40185535e-03 2.09779133e+02] [-5.44318559e-01 -8.38872070e-01 3.30999659e-03 1.31637172e+02] [ 5.49431895e-03 3.80614193e-04 9.99984834e-01 7.23982684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.64, Z:0.72 [[-8.38754928e-01 5.44494769e-01 3.95178113e-03 2.09789911e+02] [-5.44486777e-01 -8.38764169e-01 2.96962316e-03 1.31643125e+02] [ 4.93155669e-03 3.39093496e-04 9.99987782e-01 7.23452226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.72 [[-8.38500528e-01 5.44883339e-01 4.36024658e-03 2.09752788e+02] [-5.44873614e-01 -8.38511782e-01 3.27650011e-03 1.31613509e+02] [ 5.44142845e-03 3.71563760e-04 9.99985126e-01 7.23673703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.63, Z:0.72 [[-8.38402756e-01 5.45024689e-01 5.37649482e-03 2.09776143e+02] [-5.45009924e-01 -8.38419872e-01 4.03753970e-03 1.31630661e+02] [ 6.70831892e-03 4.54841386e-04 9.99977396e-01 7.23576967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.72 [[-8.38312690e-01 5.45152783e-01 6.34637708e-03 2.09764681e+02] [-5.45132239e-01 -8.38336543e-01 4.76272607e-03 1.31623003e+02] [ 7.91681319e-03 5.33038961e-04 9.99968520e-01 7.23833981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.72 [[-8.38024691e-01 5.45590191e-01 6.77942530e-03 2.09759812e+02] [-5.45566790e-01 -8.38051924e-01 5.08433499e-03 1.31620227e+02] [ 8.45547371e-03 5.62168959e-04 9.99964094e-01 7.23897597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.72 [[-8.37009100e-01 5.47161598e-01 5.47292608e-03 2.09755249e+02] [-5.47146399e-01 -8.37026877e-01 4.10179009e-03 1.31615044e+02] [ 6.82532824e-03 4.38743836e-04 9.99976611e-01 7.24747306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.60, Z:0.72 [[-8.36774134e-01 5.47530342e-01 4.42416131e-03 2.09742615e+02] [-5.47520427e-01 -8.36785756e-01 3.31356927e-03 1.31604569e+02] [ 5.51635489e-03 3.50390366e-04 9.99984723e-01 7.24905559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.73 [[-8.36755462e-01 5.47559451e-01 4.35260343e-03 2.09749041e+02] [-5.47549867e-01 -8.36766712e-01 3.25779381e-03 1.31609818e+02] [ 5.42594945e-03 3.42709332e-04 9.99985221e-01 7.25118540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.73 [[-8.36861765e-01 5.47393950e-01 4.71698952e-03 2.09746326e+02] [-5.47382705e-01 -8.36874976e-01 3.52816420e-03 1.31608797e+02] [ 5.87882623e-03 3.70587233e-04 9.99982651e-01 7.25535431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.60, Z:0.73 [[-8.36987938e-01 5.47197871e-01 5.06774298e-03 2.09737671e+02] [-5.47184904e-01 -8.37003185e-01 3.78797634e-03 1.31602931e+02] [ 6.31448960e-03 3.97498051e-04 9.99979984e-01 7.25403190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.73 [[-8.37441341e-01 5.46502305e-01 5.21831443e-03 2.09742227e+02] [-5.46488560e-01 -8.37457498e-01 3.89791160e-03 1.31605650e+02] [ 6.50033422e-03 4.12523181e-04 9.99978788e-01 7.25928195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.60, Z:0.73 [[-8.38185238e-01 5.45362968e-01 4.97383720e-03 2.09735601e+02] [-5.45350476e-01 -8.38199900e-01 3.71281275e-03 1.31600680e+02] [ 6.19390043e-03 3.99540356e-04 9.99980738e-01 7.25936079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.73 [[-8.39017299e-01 5.44085858e-01 4.53337109e-03 2.09743578e+02] [-5.44075474e-01 -8.39029464e-01 3.38176428e-03 1.31606499e+02] [ 5.64360203e-03 3.70862706e-04 9.99984006e-01 7.25940172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.61, Z:0.73 [[-8.41184839e-01 5.40737796e-01 3.27146934e-03 2.09758158e+02] [-5.40732370e-01 -8.41191154e-01 2.43882465e-03 1.31614544e+02] [ 4.07069573e-03 2.82512949e-04 9.99991675e-01 7.27081988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.73 [[-8.42609283e-01 5.38518547e-01 2.71487207e-03 2.09762651e+02] [-5.38514804e-01 -8.42613622e-01 2.02257237e-03 1.31615390e+02] [ 3.37678092e-03 2.42239455e-04 9.99994269e-01 7.27325075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.62, Z:0.73 [[-8.44069401e-01 5.36227353e-01 2.65959718e-03 2.09768140e+02] [-5.36223753e-01 -8.44073555e-01 1.98009833e-03 1.31618381e+02] [ 3.30667853e-03 2.45201233e-04 9.99994503e-01 7.27212746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.62, Z:0.73 [[-8.45264609e-01 5.34340018e-01 2.91312688e-03 2.09769102e+02] [-5.34335693e-01 -8.45269584e-01 2.16743477e-03 1.31619759e+02] [ 3.62052468e-03 2.75468232e-04 9.99993408e-01 7.27095110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.61, Z:0.73 [[-8.45889325e-01 5.33350247e-01 2.96053333e-03 2.09758207e+02] [-5.33345779e-01 -8.45894458e-01 2.20126767e-03 1.31612780e+02] [ 3.67834539e-03 2.83040868e-04 9.99993195e-01 7.26577783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.63, Z:0.73 [[-8.45972098e-01 5.33218650e-01 3.01331598e-03 2.09782694e+02] [-5.33214026e-01 -8.45977416e-01 2.23905939e-03 1.31632019e+02] [ 3.74310549e-03 2.87439424e-04 9.99992953e-01 7.26295197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.73 [[-8.45051492e-01 5.34678098e-01 2.70322121e-03 2.09749807e+02] [-5.34674389e-01 -8.45055778e-01 2.00734436e-03 1.31609354e+02] [ 3.35765577e-03 2.50966202e-04 9.99994332e-01 7.26292883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.73 [[-8.44560524e-01 5.35454945e-01 2.35023883e-03 2.09752188e+02] [-5.35452147e-01 -8.44563767e-01 1.74409349e-03 1.31613412e+02] [ 2.91881004e-03 2.14552079e-04 9.99995717e-01 7.26284576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.73 [[-8.44049357e-01 5.36260611e-01 2.28922130e-03 2.09749280e+02] [-5.36257963e-01 -8.44052436e-01 1.69770337e-03 1.31614115e+02] [ 2.84263426e-03 2.05332285e-04 9.99995939e-01 7.26393331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.73 [[-8.43567718e-01 5.37017678e-01 2.34916032e-03 2.09740630e+02] [-5.37014895e-01 -8.43570964e-01 1.74101117e-03 1.31609841e+02] [ 2.91663721e-03 2.07126742e-04 9.99995725e-01 7.26203960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.59, Z:0.73 [[-8.43049951e-01 5.37827959e-01 2.80488198e-03 2.09715606e+02] [-5.37824001e-01 -8.43054582e-01 2.07736782e-03 1.31594951e+02] [ 3.48193510e-03 2.42791986e-04 9.99993909e-01 7.25729243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.881400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.72, Y:131.60, Z:0.73 [[-8.43452895e-01 5.37191471e-01 3.54080554e-03 2.09716812e+02] [-5.37185167e-01 -8.43460271e-01 2.62064757e-03 1.31598793e+02] [ 4.39431832e-03 3.08324565e-04 9.99990297e-01 7.25866974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.62, Z:0.73 [[-8.44239144e-01 5.35951183e-01 4.07394563e-03 2.09734716e+02] [-5.35942833e-01 -8.44248897e-01 3.01323895e-03 1.31615497e+02] [ 5.05437308e-03 3.60492307e-04 9.99987162e-01 7.25982654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.61, Z:0.73 [[-8.45188735e-01 5.34446912e-01 4.74350879e-03 2.09726217e+02] [-5.34435583e-01 -8.45201937e-01 3.50615943e-03 1.31611669e+02] [ 5.88307890e-03 4.28266567e-04 9.99982603e-01 7.26456070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.61, Z:0.73 [[-8.46269515e-01 5.32732763e-01 4.86945816e-03 2.09725918e+02] [-5.32720810e-01 -8.46283405e-01 3.59688822e-03 1.31612935e+02] [ 6.03712183e-03 4.49875147e-04 9.99981675e-01 7.25809251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.63, Z:0.73 [[-8.48565416e-01 5.29073922e-01 4.18561075e-03 2.09750770e+02] [-5.29065057e-01 -8.48575641e-01 3.08975477e-03 1.31633863e+02] [ 5.18651600e-03 4.07398653e-04 9.99986467e-01 7.25382198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.63, Z:0.73 [[-8.49667996e-01 5.27304875e-01 3.72372247e-03 2.09747820e+02] [-5.27297849e-01 -8.49676075e-01 2.74703403e-03 1.31633789e+02] [ 4.61248233e-03 3.70556046e-04 9.99989294e-01 7.25568915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.63, Z:0.73 [[-8.50685360e-01 5.25661097e-01 3.85073095e-03 2.09741558e+02] [-5.25653577e-01 -8.50693986e-01 2.83889794e-03 1.31631242e+02] [ 4.76809187e-03 3.90858419e-04 9.99988556e-01 7.26252774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.64, Z:0.73 [[-8.51458915e-01 5.24402112e-01 4.48785312e-03 2.09756718e+02] [-5.24391891e-01 -8.51470617e-01 3.30647642e-03 1.31643260e+02] [ 5.55519829e-03 4.61935044e-04 9.99984463e-01 7.26329127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.63, Z:0.73 [[-8.52705545e-01 5.22360481e-01 5.72545088e-03 2.09743427e+02] [-5.22343820e-01 -8.52724553e-01 4.21557520e-03 1.31632593e+02] [ 7.08428243e-03 6.03990463e-04 9.99974724e-01 7.26668181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.64, Z:0.73 [[-8.53740420e-01 5.20670058e-01 5.47590317e-03 2.09758903e+02] [-5.20654800e-01 -8.53757778e-01 4.02926470e-03 1.31642995e+02] [ 6.77301241e-03 5.88890869e-04 9.99976890e-01 7.26252593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.65, Z:0.73 [[-8.54615833e-01 5.19235351e-01 5.14082995e-03 2.09774778e+02] [-5.19221893e-01 -8.54631111e-01 3.78032867e-03 1.31653505e+02] [ 6.35639349e-03 5.61497277e-04 9.99979640e-01 7.26674591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.65, Z:0.73 [[-8.54771216e-01 5.18979506e-01 5.14196148e-03 2.09772827e+02] [-5.18966053e-01 -8.54786498e-01 3.77878942e-03 1.31651977e+02] [ 6.35639351e-03 5.61496972e-04 9.99979640e-01 7.26674999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.63, Z:0.73 [[-8.55609983e-01 5.17598345e-01 4.84864111e-03 2.09751226e+02] [-5.17586374e-01 -8.55623553e-01 3.56098296e-03 1.31634263e+02] [ 5.99177042e-03 5.37221996e-04 9.99981905e-01 7.26571845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.63, Z:0.73 [[-8.56495071e-01 5.16124376e-01 5.64103546e-03 2.09756145e+02] [-5.16108159e-01 -8.56513413e-01 4.14029684e-03 1.31630492e+02] [ 6.96853065e-03 6.34759410e-04 9.99975518e-01 7.26044117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.73 [[-8.56575757e-01 5.15986367e-01 6.00344101e-03 2.09751607e+02] [-5.15968018e-01 -8.56596529e-01 4.40348121e-03 1.31623179e+02] [ 7.41466301e-03 6.74331696e-04 9.99972284e-01 7.25563344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.73 [[-8.56331844e-01 5.16394147e-01 5.73209255e-03 2.09747261e+02] [-5.16377447e-01 -8.56350791e-01 4.20176903e-03 1.31616925e+02] [ 7.07845092e-03 6.38185305e-04 9.99974744e-01 7.25957970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.73 [[-8.55955951e-01 5.17026073e-01 4.84253543e-03 2.09749494e+02] [-5.17014177e-01 -8.55969483e-01 3.54744445e-03 1.31616428e+02] [ 5.97918382e-03 5.32796721e-04 9.99981983e-01 7.26836752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.73 [[-8.54516202e-01 5.19420325e-01 2.14174714e-03 2.09755588e+02] [-5.19418008e-01 -8.54518856e-01 1.56799184e-03 1.31615166e+02] [ 2.64461015e-03 2.27412396e-04 9.99996477e-01 7.28678641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.60, Z:0.73 [[-8.53758587e-01 5.20666668e-01 1.58000875e-03 2.09739902e+02] [-5.20665411e-01 -8.53760033e-01 1.15601512e-03 1.31598958e+02] [ 1.95084686e-03 1.64301932e-04 9.99998084e-01 7.28666607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.59, Z:0.73 [[-8.53219725e-01 5.21548312e-01 1.85967421e-03 2.09740732e+02] [-5.21546574e-01 -8.53221731e-01 1.35974749e-03 1.31594471e+02] [ 2.29588845e-03 1.90256665e-04 9.99997346e-01 7.28397051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.58, Z:0.73 [[-8.52742238e-01 5.22323744e-01 2.92955781e-03 2.09721139e+02] [-5.22319441e-01 -8.52747219e-01 2.14059774e-03 1.31575249e+02] [ 3.61625730e-03 2.95213110e-04 9.99993418e-01 7.27735125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.57, Z:0.73 [[-8.52555417e-01 5.22622998e-01 3.80316168e-03 2.09722080e+02] [-5.22615757e-01 -8.52563815e-01 2.77710083e-03 1.31571990e+02] [ 4.69381479e-03 3.80040136e-04 9.99988912e-01 7.27463668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.57, Z:0.73 [[-8.52601828e-01 5.22538198e-01 4.89437758e-03 2.09724585e+02] [-5.22526219e-01 -8.52615736e-01 3.57156903e-03 1.31567084e+02] [ 6.03930459e-03 4.87685674e-04 9.99981644e-01 7.27753102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.571400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.73 [[-8.52898123e-01 5.22048328e-01 5.50772735e-03 2.09717582e+02] [-5.22033167e-01 -8.52915729e-01 4.01651554e-03 1.31558078e+02] [ 6.79444251e-03 5.50462211e-04 9.99976766e-01 7.27678026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.55, Z:0.73 [[-8.53314230e-01 5.21363124e-01 5.94295191e-03 2.09716634e+02] [-5.21345476e-01 -8.53334715e-01 4.33105925e-03 1.31553507e+02] [ 7.32938175e-03 5.97423397e-04 9.99972961e-01 7.28035760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.55, Z:0.73 [[-8.53781507e-01 5.20593594e-01 6.28085892e-03 2.09714005e+02] [-5.20573885e-01 -8.53804372e-01 4.57430986e-03 1.31547383e+02] [ 7.74398121e-03 6.35810039e-04 9.99969813e-01 7.27973004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.54, Z:0.73 [[-8.54746830e-01 5.19015743e-01 5.52407785e-03 2.09714277e+02] [-5.19000483e-01 -8.54764491e-01 4.02051383e-03 1.31538919e+02] [ 6.80849556e-03 5.69522383e-04 9.99976660e-01 7.28111645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.55, Z:0.73 [[-8.55177414e-01 5.18311865e-01 4.93978077e-03 2.09729053e+02] [-5.18299666e-01 -8.55191527e-01 3.59290706e-03 1.31545457e+02] [ 6.08670502e-03 5.12286246e-04 9.99981345e-01 7.28347146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.53, Z:0.73 [[-8.55249140e-01 5.18196103e-01 4.65908538e-03 2.09709092e+02] [-5.18185244e-01 -8.55261694e-01 3.38949707e-03 1.31527281e+02] [ 5.74116142e-03 4.84595162e-04 9.99983402e-01 7.28422283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.53, Z:0.73 [[-8.55415533e-01 5.17922357e-01 4.54962358e-03 2.09717646e+02] [-5.17912010e-01 -8.55427500e-01 3.30776395e-03 1.31530118e+02] [ 5.60503803e-03 4.73207970e-04 9.99984180e-01 7.28406895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.52, Z:0.73 [[-8.55057307e-01 5.18511921e-01 4.73186850e-03 2.09716631e+02] [-5.18500751e-01 -8.55070261e-01 3.43799525e-03 1.31522882e+02] [ 5.82872156e-03 4.86205588e-04 9.99982895e-01 7.28737180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.51, Z:0.73 [[-8.54716659e-01 5.19071359e-01 4.93528948e-03 2.09706227e+02] [-5.19059215e-01 -8.54730760e-01 3.58601618e-03 1.31512151e+02] [ 6.07974202e-03 5.03320280e-04 9.99981392e-01 7.28659534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.51, Z:0.73 [[-8.54744483e-01 5.19023879e-01 5.10701583e-03 2.09708117e+02] [-5.19010890e-01 -8.54759582e-01 3.70839823e-03 1.31510478e+02] [ 6.29001795e-03 5.19136099e-04 9.99980083e-01 7.28612338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.51, Z:0.73 [[-8.54770448e-01 5.18977416e-01 5.47016382e-03 2.09717900e+02] [-5.18962531e-01 -8.54787772e-01 3.96946035e-03 1.31514435e+02] [ 6.73588942e-03 5.54167349e-04 9.99977160e-01 7.28583675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.51, Z:0.73 [[-8.54899074e-01 5.18764206e-01 5.59218873e-03 2.09717157e+02] [-5.18748664e-01 -8.54917176e-01 4.05533039e-03 1.31510819e+02] [ 6.88461845e-03 5.65957760e-04 9.99976141e-01 7.28090746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.49, Z:0.73 [[-8.54910340e-01 5.18746356e-01 5.52525685e-03 2.09702881e+02] [-5.18731177e-01 -8.54928011e-01 4.00770389e-03 1.31493056e+02] [ 6.80267864e-03 5.60104506e-04 9.99976705e-01 7.28359882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.49, Z:0.73 [[-8.55089942e-01 5.18454451e-01 5.11599642e-03 2.09709798e+02] [-5.18441447e-01 -8.55105089e-01 3.70845779e-03 1.31494100e+02] [ 6.29738102e-03 5.18720377e-04 9.99980037e-01 7.29049811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.50, Z:0.73 [[-8.55203065e-01 5.18272127e-01 4.66051540e-03 2.09720509e+02] [-5.18261346e-01 -8.55215634e-01 3.37605538e-03 1.31497917e+02] [ 5.73546104e-03 4.71847926e-04 9.99983441e-01 7.29463683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.49, Z:0.73 [[-8.55423012e-01 5.17899852e-01 5.58689970e-03 2.09717928e+02] [-5.17884347e-01 -8.55441067e-01 4.04770197e-03 1.31489234e+02] [ 6.87556770e-03 5.69129509e-04 9.99976201e-01 7.29738460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.49, Z:0.73 [[-8.55710022e-01 5.17418116e-01 6.23309660e-03 2.09718428e+02] [-5.17398799e-01 -8.55732484e-01 4.51662238e-03 1.31485529e+02] [ 7.67084548e-03 6.39922345e-04 9.99970374e-01 7.29173034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.49, Z:0.73 [[-8.56207144e-01 5.16593332e-01 6.37625694e-03 2.09724519e+02] [-5.16573096e-01 -8.56230630e-01 4.62000005e-03 1.31485371e+02] [ 7.84620771e-03 6.61874260e-04 9.99968999e-01 7.28796935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.48, Z:0.73 [[-8.56713454e-01 5.15756348e-01 6.11939821e-03 2.09727900e+02] [-5.15737682e-01 -8.56735067e-01 4.43496013e-03 1.31482636e+02] [ 7.53006188e-03 6.43485768e-04 9.99971442e-01 7.28931917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.47, Z:0.73 [[-8.57287725e-01 5.14803286e-01 5.94416250e-03 2.09722321e+02] [-5.14785642e-01 -8.57308098e-01 4.30903486e-03 1.31473229e+02] [ 7.31428396e-03 6.34113184e-04 9.99973049e-01 7.29207533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.48, Z:0.73 [[-8.57835599e-01 5.13891998e-01 5.75321094e-03 2.09733970e+02] [-5.13875447e-01 -8.57854666e-01 4.17097259e-03 1.31476531e+02] [ 7.07884829e-03 6.21574930e-04 9.99974751e-01 7.29446422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.46, Z:0.73 [[-8.58038726e-01 5.13552641e-01 5.76448387e-03 2.09728878e+02] [-5.13535998e-01 -8.58057860e-01 4.18188180e-03 1.31464158e+02] [ 7.09387713e-03 6.27946554e-04 9.99974641e-01 7.30348148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.47, Z:0.73 [[-8.57649591e-01 5.14205998e-01 5.41950129e-03 2.09743180e+02] [-5.14191296e-01 -8.57666513e-01 3.93231076e-03 1.31470650e+02] [ 6.67014256e-03 5.85884320e-04 9.99977583e-01 7.31124054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.46, Z:0.73 [[-8.56798567e-01 5.15627539e-01 4.94537786e-03 2.09732642e+02] [-5.15615305e-01 -8.56812677e-01 3.59064497e-03 1.31459159e+02] [ 6.08869788e-03 5.26546949e-04 9.99981325e-01 7.31881783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.45, Z:0.73 [[-8.55744187e-01 5.17380751e-01 4.36414699e-03 2.09728626e+02] [-5.17371235e-01 -8.55755194e-01 3.17076498e-03 1.31452401e+02] [ 5.37513421e-03 4.55479578e-04 9.99985450e-01 7.32007007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.44, Z:0.73 [[-8.53644092e-01 5.20841185e-01 4.02801269e-03 2.09719561e+02] [-5.20833107e-01 -8.53653500e-01 2.92853069e-03 1.31441027e+02] [ 4.96382652e-03 4.02000552e-04 9.99987599e-01 7.32281888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.43, Z:0.73 [[-8.52401217e-01 5.22871784e-01 4.15487333e-03 2.09706730e+02] [-5.22863202e-01 -8.52411247e-01 3.02284060e-03 1.31430565e+02] [ 5.12221882e-03 4.04242631e-04 9.99986800e-01 7.32869422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.42, Z:0.73 [[-8.51122876e-01 5.24952401e-01 3.85050732e-03 2.09700591e+02] [-5.24945042e-01 -8.51131508e-01 2.80333918e-03 1.31424890e+02] [ 4.74890773e-03 3.64681383e-04 9.99988657e-01 7.33144713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.44, Z:0.73 [[-8.49992160e-01 5.26782335e-01 3.70127811e-03 2.09718819e+02] [-5.26775544e-01 -8.50000150e-01 2.69655439e-03 1.31437048e+02] [ 4.56658417e-03 3.42307297e-04 9.99989515e-01 7.33920832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.43, Z:0.73 [[-8.48951869e-01 5.28463464e-01 2.66314412e-03 2.09713856e+02] [-5.28459952e-01 -8.48956012e-01 1.94154433e-03 1.31431398e+02] [ 3.28692745e-03 2.40912670e-04 9.99994569e-01 7.34468771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.43, Z:0.73 [[-8.49104533e-01 5.28218710e-01 2.54670463e-03 2.09714016e+02] [-5.28215494e-01 -8.49108321e-01 1.85793628e-03 1.31430927e+02] [ 3.14382480e-03 2.32373275e-04 9.99995031e-01 7.34497350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.73 [[-8.49552994e-01 5.27498027e-01 2.35437641e-03 2.09728071e+02] [-5.27495271e-01 -8.49556228e-01 1.71880326e-03 1.31440473e+02] [ 2.90684047e-03 2.18292031e-04 9.99995751e-01 7.34449451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.73 [[-8.50063550e-01 5.26676735e-01 1.89134158e-03 2.09734445e+02] [-5.26674953e-01 -8.50065636e-01 1.38169953e-03 1.31444766e+02] [ 2.33547348e-03 1.78410171e-04 9.99997257e-01 7.34640552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.73 [[-8.50410536e-01 5.26117725e-01 1.43531998e-03 2.09725502e+02] [-5.26116697e-01 -8.50411736e-01 1.04926178e-03 1.31437921e+02] [ 1.77264818e-03 1.37157464e-04 9.99998419e-01 7.34852501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.45, Z:0.73 [[-8.50455716e-01 5.26043372e-01 1.85628085e-03 2.09741588e+02] [-5.26041649e-01 -8.50457723e-01 1.35794672e-03 1.31447188e+02] [ 2.29302726e-03 1.78392512e-04 9.99997355e-01 7.34917213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.44, Z:0.73 [[-8.50351783e-01 5.26207279e-01 2.78306906e-03 2.09737158e+02] [-5.26203403e-01 -8.50356295e-01 2.03735716e-03 1.31442050e+02] [ 3.43867246e-03 2.68009881e-04 9.99994052e-01 7.34305233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.44, Z:0.73 [[-8.50320620e-01 5.26251213e-01 3.80849561e-03 2.09738602e+02] [-5.26243946e-01 -8.50329069e-01 2.78996249e-03 1.31442269e+02] [ 4.70669567e-03 3.68164872e-04 9.99988856e-01 7.33633209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.681400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.73 [[-8.50135481e-01 5.26544504e-01 4.53316603e-03 2.09729895e+02] [-5.26534200e-01 -8.50147454e-01 3.32313095e-03 1.31435519e+02] [ 5.60363589e-03 4.38244583e-04 9.99984204e-01 7.33422086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.44, Z:0.73 [[-8.49917517e-01 5.26896625e-01 4.49009788e-03 2.09738335e+02] [-5.26886508e-01 -8.49929267e-01 3.29383139e-03 1.31440624e+02] [ 5.55177424e-03 4.33713005e-04 9.99984495e-01 7.33464289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.73 [[-8.49668557e-01 5.27298413e-01 4.44142421e-03 2.09734841e+02] [-5.27288507e-01 -8.49680058e-01 3.26037506e-03 1.31436304e+02] [ 5.49298018e-03 4.28326231e-04 9.99984822e-01 7.33764733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.43, Z:0.73 [[-8.49571783e-01 5.27455265e-01 4.32784674e-03 2.09727988e+02] [-5.27445849e-01 -8.49582703e-01 3.17920531e-03 1.31428949e+02] [ 5.35375231e-03 4.18258323e-04 9.99985581e-01 7.33924000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.45, Z:0.73 [[-8.49840043e-01 5.27023533e-01 4.25407127e-03 2.09760814e+02] [-5.27014419e-01 -8.49850588e-01 3.12716590e-03 1.31446547e+02] [ 5.26341499e-03 4.15633900e-04 9.99986062e-01 7.34449286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.44, Z:0.73 [[-8.49881441e-01 5.26954133e-01 4.56936945e-03 2.09755373e+02] [-5.26943604e-01 -8.49893606e-01 3.36124722e-03 1.31438654e+02] [ 5.65470099e-03 4.48861623e-04 9.99983911e-01 7.34488333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.43, Z:0.73 [[-8.49578088e-01 5.27438764e-01 5.04211409e-03 2.09748889e+02] [-5.27425936e-01 -8.49592906e-01 3.71156529e-03 1.31430833e+02] [ 6.24136777e-03 4.93922792e-04 9.99980401e-01 7.34498171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.43, Z:0.73 [[-8.48830596e-01 5.28642594e-01 4.86068064e-03 2.09749835e+02] [-5.28630678e-01 -8.48844383e-01 3.58048673e-03 1.31429563e+02] [ 6.01875925e-03 4.69721784e-04 9.99981777e-01 7.34823604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.44, Z:0.73 [[-8.47641094e-01 5.30553122e-01 4.23795419e-03 2.09763314e+02] [-5.30544076e-01 -8.47651594e-01 3.12391969e-03 1.31437952e+02] [ 5.24971397e-03 3.99541219e-04 9.99986140e-01 7.34906385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.44, Z:0.74 [[-8.46200861e-01 5.32851542e-01 3.65202087e-03 2.09762482e+02] [-5.32844836e-01 -8.46208676e-01 2.69385531e-03 1.31436265e+02] [ 4.52579670e-03 3.33582223e-04 9.99989703e-01 7.35698058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.41, Z:0.74 [[-8.43160457e-01 5.37656496e-01 2.43655029e-03 2.09736357e+02] [-5.37653527e-01 -8.43163952e-01 1.79851288e-03 1.31414316e+02] [ 3.02139350e-03 2.06415084e-04 9.99995414e-01 7.36375257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.42, Z:0.74 [[-8.41705858e-01 5.39930920e-01 2.41878026e-03 2.09744282e+02] [-5.39928000e-01 -8.41709310e-01 1.78665119e-03 1.31419618e+02] [ 3.00057808e-03 1.97867579e-04 9.99995479e-01 7.36335465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.42, Z:0.74 [[-8.40501062e-01 5.41805145e-01 2.26929846e-03 2.09746673e+02] [-5.41802579e-01 -8.40504106e-01 1.67740777e-03 1.31421452e+02] [ 2.81618283e-03 1.80351259e-04 9.99996018e-01 7.36116391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.41, Z:0.74 [[-8.39631255e-01 5.43152589e-01 2.14969066e-03 2.09736488e+02] [-5.43150287e-01 -8.39633990e-01 1.59011330e-03 1.31414215e+02] [ 2.66862750e-03 1.67503730e-04 9.99996425e-01 7.36347018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.42, Z:0.74 [[-8.39447292e-01 5.43436863e-01 2.14915226e-03 2.09738476e+02] [-5.43434561e-01 -8.39450027e-01 1.59084089e-03 1.31415779e+02] [ 2.66862751e-03 1.67503465e-04 9.99996425e-01 7.36346610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.42, Z:0.74 [[-8.39024278e-01 5.44091268e-01 1.71831497e-03 2.09743794e+02] [-5.44089795e-01 -8.39026027e-01 1.27281326e-03 1.31419816e+02] [ 2.13423757e-03 1.33003590e-04 9.99997714e-01 7.36314628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.42, Z:0.74 [[-8.39189666e-01 5.43835467e-01 1.92098112e-03 2.09740280e+02] [-5.43833623e-01 -8.39191851e-01 1.42394972e-03 1.31416963e+02] [ 2.38646606e-03 1.50269771e-04 9.99997141e-01 7.36798110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.43, Z:0.74 [[-8.40450490e-01 5.41868866e-01 4.59405462e-03 2.09752611e+02] [-5.41858279e-01 -8.40462963e-01 3.40789720e-03 1.31425041e+02] [ 5.70776615e-03 3.74842342e-04 9.99983640e-01 7.36108608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.75, Y:131.42, Z:0.74 [[-8.41058520e-01 5.40908268e-01 6.22988537e-03 2.09750434e+02] [-5.40888748e-01 -8.41081432e-01 4.62464790e-03 1.31422568e+02] [ 7.74135119e-03 5.19924622e-04 9.99969900e-01 7.35344748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.42, Z:0.74 [[-8.42025726e-01 5.39397254e-01 6.57871581e-03 2.09750695e+02] [-5.39375412e-01 -8.42051234e-01 4.88705022e-03 1.31422969e+02] [ 8.17567724e-03 5.66624457e-04 9.99966418e-01 7.35143664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.43, Z:0.74 [[-8.42941064e-01 5.37975820e-01 5.69024378e-03 2.09764689e+02] [-5.37959427e-01 -8.42960119e-01 4.23000623e-03 1.31433283e+02] [ 7.07228964e-03 5.04525672e-04 9.99974864e-01 7.35059428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.44, Z:0.74 [[-8.44634976e-01 5.35331249e-01 3.49434573e-03 2.09768855e+02] [-5.35325037e-01 -8.44642142e-01 2.59941264e-03 1.31437184e+02] [ 4.34301848e-03 3.24944082e-04 9.99990516e-01 7.35440930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.44, Z:0.74 [[-8.45048172e-01 5.34680683e-01 3.18661487e-03 2.09776746e+02] [-5.34675506e-01 -8.45054126e-01 2.37214045e-03 1.31442277e+02] [ 3.96119972e-03 3.00768027e-04 9.99992109e-01 7.35862240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.45, Z:0.74 [[-8.45271350e-01 5.34325225e-01 3.59143313e-03 2.09795772e+02] [-5.34318637e-01 -8.45278911e-01 2.67534614e-03 1.31454798e+02] [ 4.46526761e-03 3.42423792e-04 9.99989972e-01 7.35609398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.44, Z:0.73 [[-8.45517606e-01 5.33930240e-01 4.29846320e-03 2.09776561e+02] [-5.33920785e-01 -8.45528431e-01 3.20425931e-03 1.31439279e+02] [ 5.34532379e-03 4.14218809e-04 9.99985628e-01 7.34883708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.431400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.78, Y:131.44, Z:0.73 [[-8.45251573e-01 5.34345176e-01 5.00109067e-03 2.09783980e+02] [-5.34332369e-01 -8.45266231e-01 3.73063582e-03 1.31444206e+02] [ 6.22070031e-03 4.81081167e-04 9.99980536e-01 7.33911049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.46, Z:0.73 [[-8.44731926e-01 5.35168937e-01 4.70983676e-03 2.09800724e+02] [-5.35157577e-01 -8.44744936e-01 3.51579425e-03 1.31457312e+02] [ 5.86015463e-03 4.49398819e-04 9.99982728e-01 7.33825804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.45, Z:0.73 [[-8.43893637e-01 5.36493254e-01 4.30331827e-03 2.09788284e+02] [-5.36483775e-01 -8.43904512e-01 3.21454944e-03 1.31447196e+02] [ 5.35617379e-03 4.04077387e-04 9.99985574e-01 7.33777686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.45, Z:0.73 [[-8.42864339e-01 5.38109632e-01 4.21076153e-03 2.09788093e+02] [-5.38100565e-01 -8.42874768e-01 3.14759551e-03 1.31446179e+02] [ 5.24289611e-03 3.87182845e-04 9.99986181e-01 7.33882767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.45, Z:0.73 [[-8.40723880e-01 5.41439879e-01 5.12010478e-03 2.09789421e+02] [-5.41426518e-01 -8.40739351e-01 3.83001951e-03 1.31448065e+02] [ 6.37839887e-03 4.47828359e-04 9.99979558e-01 7.33237719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.44, Z:0.73 [[-8.39644928e-01 5.43106673e-01 5.61575646e-03 2.09776350e+02] [-5.43090616e-01 -8.39663570e-01 4.20373106e-03 1.31439690e+02] [ 6.99842051e-03 4.79776823e-04 9.99975396e-01 7.33436103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.43, Z:0.73 [[-8.38646257e-01 5.44645404e-01 5.81718006e-03 2.09757951e+02] [-5.44628188e-01 -8.38666291e-01 4.35760037e-03 1.31426973e+02] [ 7.25201984e-03 4.86284999e-04 9.99973586e-01 7.33773619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.44, Z:0.73 [[-8.37827140e-01 5.45904975e-01 5.78287049e-03 2.09770739e+02] [-5.45887970e-01 -8.37846962e-01 4.33498315e-03 1.31436797e+02] [ 7.21164934e-03 4.75167108e-04 9.99973883e-01 7.34209064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.44, Z:0.73 [[-8.36434583e-01 5.48040861e-01 5.32934795e-03 2.09777574e+02] [-5.48026443e-01 -8.36451454e-01 3.99783200e-03 1.31443262e+02] [ 6.64871614e-03 4.23301343e-04 9.99977807e-01 7.33532419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.44, Z:0.73 [[-8.35458420e-01 5.49524860e-01 5.62638161e-03 2.09773648e+02] [-5.49508802e-01 -8.35477251e-01 4.22364141e-03 1.31441310e+02] [ 7.02170979e-03 4.36930565e-04 9.99975252e-01 7.33696674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.43, Z:0.73 [[-8.34390601e-01 5.51147181e-01 5.39534539e-03 2.09760405e+02] [-5.51132429e-01 -8.34407945e-01 4.05308943e-03 1.31432330e+02] [ 6.73576787e-03 4.08309910e-04 9.99977231e-01 7.33533232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.43, Z:0.73 [[-8.33533846e-01 5.52447038e-01 4.85778954e-03 2.09750451e+02] [-5.52435085e-01 -8.33547923e-01 3.65188831e-03 1.31425515e+02] [ 6.06667526e-03 3.60359135e-04 9.99981533e-01 7.34376940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.44, Z:0.74 [[-8.33270964e-01 5.52854213e-01 3.42349472e-03 2.09763817e+02] [-5.52848272e-01 -8.33277958e-01 2.57547695e-03 1.31436638e+02] [ 4.27658597e-03 2.53397026e-04 9.99990823e-01 7.35367939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.45, Z:0.74 [[-8.33583906e-01 5.52381927e-01 3.47547507e-03 2.09778707e+02] [-5.52375792e-01 -8.33591110e-01 2.61644636e-03 1.31449361e+02] [ 4.34240280e-03 2.61259283e-04 9.99990538e-01 7.35350662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.45, Z:0.74 [[-8.34097685e-01 5.51601287e-01 4.13184687e-03 2.09781421e+02] [-5.51592595e-01 -8.34107858e-01 3.11280037e-03 1.31452468e+02] [ 5.16343063e-03 3.17283448e-04 9.99986619e-01 7.35242361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.46, Z:0.73 [[-8.34849796e-01 5.50460773e-01 4.33080888e-03 2.09789054e+02] [-5.50451196e-01 -8.34860959e-01 3.26499922e-03 1.31458482e+02] [ 5.41287725e-03 3.41885006e-04 9.99985292e-01 7.34947998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.46, Z:0.74 [[-8.35513260e-01 5.49455265e-01 4.06243622e-03 2.09794012e+02] [-5.49446816e-01 -8.35523072e-01 3.06482399e-03 1.31461400e+02] [ 5.07824287e-03 3.28608440e-04 9.99987052e-01 7.35457147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.46, Z:0.74 [[-8.37311075e-01 5.46720787e-01 2.55825167e-03 2.09798503e+02] [-5.46717419e-01 -8.37314955e-01 1.93135190e-03 1.31464226e+02] [ 3.19797261e-03 2.18501581e-04 9.99994863e-01 7.36914381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.47, Z:0.74 [[-8.38056233e-01 5.45580048e-01 2.04008806e-03 2.09806585e+02] [-5.45577901e-01 -8.38058697e-01 1.54122803e-03 1.31471291e+02] [ 2.55057680e-03 1.78608799e-04 9.99996731e-01 7.37063985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.48, Z:0.74 [[-8.38562364e-01 5.44800548e-01 2.35042887e-03 2.09812583e+02] [-5.44797690e-01 -8.38565632e-01 1.77692876e-03 1.31477063e+02] [ 2.93906063e-03 2.09557362e-04 9.99995659e-01 7.37221265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.49, Z:0.74 [[-8.38796809e-01 5.44436745e-01 2.92308929e-03 2.09831081e+02] [-5.44432317e-01 -8.38801861e-01 2.21140350e-03 1.31492017e+02] [ 3.65586206e-03 2.63493920e-04 9.99993283e-01 7.37050036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.48, Z:0.74 [[-8.38912136e-01 5.44255533e-01 3.51321258e-03 2.09820351e+02] [-5.44249128e-01 -8.38919432e-01 2.65969355e-03 1.31484101e+02] [ 4.39485524e-03 3.19186315e-04 9.99990292e-01 7.36608453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.50, Z:0.74 [[-8.39522281e-01 5.43313519e-01 3.57210154e-03 2.09837791e+02] [-5.43306881e-01 -8.39529815e-01 2.70613724e-03 1.31496999e+02] [ 4.46916669e-03 3.31115165e-04 9.99989958e-01 7.36491119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.49, Z:0.74 [[-8.39789716e-01 5.42902856e-01 3.11787268e-03 2.09832612e+02] [-5.42897789e-01 -8.39795453e-01 2.36363563e-03 1.31493227e+02] [ 3.90159984e-03 2.92270710e-04 9.99992346e-01 7.36484377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.49, Z:0.74 [[-8.40437332e-01 5.41902343e-01 2.63479341e-03 2.09834907e+02] [-5.41898716e-01 -8.40441424e-01 1.99877947e-03 1.31493779e+02] [ 3.29753280e-03 2.52057721e-04 9.99994531e-01 7.36060662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.50, Z:0.74 [[-8.40593525e-01 5.41658643e-01 2.90517144e-03 2.09848269e+02] [-5.41654226e-01 -8.40598499e-01 2.20540677e-03 1.31502794e+02] [ 3.63666039e-03 2.80252264e-04 9.99993348e-01 7.35668201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.51, Z:0.73 [[-8.40619449e-01 5.41614786e-01 3.51638626e-03 2.09853431e+02] [-5.41608306e-01 -8.40626735e-01 2.67123083e-03 1.31505549e+02] [ 4.40274642e-03 3.40984580e-04 9.99990250e-01 7.34887248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.51, Z:0.73 [[-8.40568152e-01 5.41693001e-01 3.72489010e-03 2.09855486e+02] [-5.41685721e-01 -8.40576327e-01 2.83154955e-03 1.31506449e+02] [ 4.66488501e-03 3.62390590e-04 9.99989054e-01 7.34613718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.51, Z:0.73 [[-8.40050142e-01 5.42495969e-01 3.72597626e-03 2.09856114e+02] [-5.42488684e-01 -8.40058328e-01 2.83430265e-03 1.31506630e+02] [ 4.66763515e-03 3.59656382e-04 9.99989042e-01 7.34596861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.51, Z:0.73 [[-8.39282173e-01 5.43684382e-01 3.56740369e-03 2.09854169e+02] [-5.43677707e-01 -8.39289686e-01 2.71552533e-03 1.31505249e+02] [ 4.47047383e-03 3.39574145e-04 9.99989950e-01 7.34879783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.50, Z:0.74 [[-8.37361082e-01 5.46634036e-01 4.20114052e-03 2.09846828e+02] [-5.46624803e-01 -8.37371533e-01 3.20013242e-03 1.31498675e+02] [ 5.26721678e-03 3.83218734e-04 9.99986055e-01 7.35087410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.49, Z:0.73 [[-8.36376217e-01 5.48138925e-01 4.30599900e-03 2.09840083e+02] [-5.48129233e-01 -8.36387213e-01 3.28227177e-03 1.31492883e+02] [ 5.40062342e-03 3.84970113e-04 9.99985342e-01 7.34466210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.49, Z:0.73 [[-8.35689819e-01 5.49184416e-01 4.35921356e-03 2.09834558e+02] [-5.49174485e-01 -8.35701100e-01 3.32514476e-03 1.31488102e+02] [ 5.46911725e-03 3.84820765e-04 9.99984970e-01 7.34912695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.49, Z:0.74 [[-8.35427453e-01 5.49583046e-01 4.40989258e-03 2.09838839e+02] [-5.49572874e-01 -8.35439001e-01 3.36614533e-03 1.31490632e+02] [ 5.53417265e-03 3.88612878e-04 9.99984611e-01 7.35488313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.50, Z:0.74 [[-8.36912122e-01 5.47311532e-01 5.30914202e-03 2.09858848e+02] [-5.47296725e-01 -8.36928820e-01 4.05537268e-03 1.31504720e+02] [ 6.66292620e-03 4.88314517e-04 9.99977683e-01 7.35750431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.50, Z:0.74 [[-8.38163329e-01 5.45388036e-01 5.84158420e-03 2.09854983e+02] [-5.45370042e-01 -8.38183500e-01 4.46515351e-03 1.31501200e+02] [ 7.33156080e-03 5.56702908e-04 9.99972969e-01 7.36022648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.51, Z:0.74 [[-8.39432445e-01 5.43431857e-01 5.91507838e-03 2.09862291e+02] [-5.43413335e-01 -8.39453082e-01 4.52444263e-03 1.31505207e+02] [ 7.42415703e-03 5.83631467e-04 9.99972270e-01 7.36068747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.51, Z:0.74 [[-8.40751014e-01 5.41392318e-01 5.66494599e-03 2.09866915e+02] [-5.41375262e-01 -8.40769899e-01 4.33608763e-03 1.31506194e+02] [ 7.11044060e-03 5.78708452e-04 9.99974553e-01 7.36366193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:131.52, Z:0.74 [[-8.41804483e-01 5.39761657e-01 4.75036113e-03 2.09891535e+02] [-5.39749623e-01 -8.41817739e-01 3.63850413e-03 1.31522482e+02] [ 5.96286328e-03 4.98903457e-04 9.99982098e-01 7.36795542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.51, Z:0.74 [[-8.42665144e-01 5.38424530e-01 3.80531927e-03 2.09879814e+02] [-5.38416786e-01 -8.42673637e-01 2.91661952e-03 1.31512136e+02] [ 4.77702172e-03 4.08885841e-04 9.99988506e-01 7.37038742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.53, Z:0.74 [[-8.43833499e-01 5.36595664e-01 3.18111920e-03 2.09899799e+02] [-5.36590233e-01 -8.43839422e-01 2.43983609e-03 1.31526009e+02] [ 3.99355925e-03 3.51857928e-04 9.99991964e-01 7.37587849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.52, Z:0.74 [[-8.43727896e-01 5.36761604e-01 3.19643222e-03 2.09898895e+02] [-5.36756115e-01 -8.43733877e-01 2.45323248e-03 1.31524101e+02] [ 4.01373915e-03 3.54156137e-04 9.99991882e-01 7.37851967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.53, Z:0.74 [[-8.43191742e-01 5.37604759e-01 2.96787128e-03 2.09902093e+02] [-5.37600026e-01 -8.43196902e-01 2.27934448e-03 1.31525243e+02] [ 3.72788631e-03 3.26396765e-04 9.99992998e-01 7.37786089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.52, Z:0.74 [[-8.42460336e-01 5.38751404e-01 2.73984748e-03 2.09899105e+02] [-5.38747372e-01 -8.42464739e-01 2.10563609e-03 1.31522537e+02] [ 3.44263929e-03 2.97829264e-04 9.99994030e-01 7.38155083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.54, Z:0.74 [[-8.41248078e-01 5.40644555e-01 2.26648451e-03 2.09914352e+02] [-5.40641799e-01 -8.41251096e-01 1.74300620e-03 1.31535236e+02] [ 2.84902939e-03 2.40944354e-04 9.99995913e-01 7.39206712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.52, Z:0.74 [[-8.40665764e-01 5.41549949e-01 2.17413567e-03 2.09899755e+02] [-5.41547413e-01 -8.40668544e-01 1.67311023e-03 1.31523294e+02] [ 2.73380022e-03 2.29128943e-04 9.99996237e-01 7.39559170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.52, Z:0.74 [[-8.40292225e-01 5.42128989e-01 2.26607535e-03 2.09895213e+02] [-5.42126233e-01 -8.40295247e-01 1.74505040e-03 1.31518002e+02] [ 2.85021475e-03 2.37853388e-04 9.99995910e-01 7.39542494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.52, Z:0.74 [[-8.39510732e-01 5.43337493e-01 2.46974439e-03 2.09903734e+02] [-5.43334220e-01 -8.39514326e-01 1.90319134e-03 1.31520375e+02] [ 3.10746101e-03 2.55852913e-04 9.99995139e-01 7.38384846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.53, Z:0.74 [[-8.38937141e-01 5.44221246e-01 2.77658020e-03 2.09914392e+02] [-5.44217109e-01 -8.38941687e-01 2.14109712e-03 1.31527564e+02] [ 3.49461942e-03 2.85183447e-04 9.99993853e-01 7.37967047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.53, Z:0.74 [[-8.38227588e-01 5.45309959e-01 3.39991101e-03 2.09914372e+02] [-5.45303757e-01 -8.38234412e-01 2.62355074e-03 1.31526635e+02] [ 4.28057075e-03 3.45148358e-04 9.99990779e-01 7.37993492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.931400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.90, Y:131.52, Z:0.74 [[-8.37350270e-01 5.46648729e-01 4.43763821e-03 2.09903112e+02] [-5.46638169e-01 -8.37361911e-01 3.42666296e-03 1.31516681e+02] [ 5.58909016e-03 4.43534730e-04 9.99984283e-01 7.37552916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.51, Z:0.74 [[-8.36343743e-01 5.48182208e-01 5.04084662e-03 2.09895943e+02] [-5.48168593e-01 -8.36358788e-01 3.89512796e-03 1.31510706e+02] [ 6.35119621e-03 4.94432098e-04 9.99979709e-01 7.37169569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:131.51, Z:0.74 [[-8.34387598e-01 5.51163773e-01 3.97904330e-03 2.09894702e+02] [-5.51155312e-01 -8.34397001e-01 3.07676396e-03 1.31508505e+02] [ 5.01590263e-03 3.74142844e-04 9.99987350e-01 7.36881557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.51, Z:0.74 [[-8.34203496e-01 5.51442384e-01 3.97801564e-03 2.09896662e+02] [-5.51433920e-01 -8.34212897e-01 3.07809251e-03 1.31510116e+02] [ 5.01590263e-03 3.74142773e-04 9.99987350e-01 7.36881149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.51, Z:0.74 [[-8.33775053e-01 5.52098474e-01 2.53702844e-03 2.09897470e+02] [-5.52095030e-01 -8.33778879e-01 1.96442218e-03 1.31510076e+02] [ 3.19987521e-03 2.37205415e-04 9.99994852e-01 7.37248512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.51, Z:0.74 [[-8.33770503e-01 5.52108914e-01 1.57972326e-03 2.09904572e+02] [-5.52107578e-01 -8.33771986e-01 1.22399816e-03 1.31514625e+02] [ 1.99290929e-03 1.48356378e-04 9.99998003e-01 7.37657842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.52, Z:0.74 [[-8.34209266e-01 5.51445969e-01 1.49767606e-03 2.09909040e+02] [-5.51444765e-01 -8.34210598e-01 1.16122120e-03 1.31517907e+02] [ 1.88972800e-03 1.42815862e-04 9.99998204e-01 7.37489972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.52, Z:0.74 [[-8.34710130e-01 5.50684714e-01 2.31191097e-03 2.09910765e+02] [-5.50681838e-01 -8.34713302e-01 1.79380575e-03 1.31519764e+02] [ 2.91760424e-03 2.24180449e-04 9.99995719e-01 7.36965863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.52, Z:0.74 [[-8.35756256e-01 5.49077914e-01 4.99252120e-03 2.09913398e+02] [-5.49064457e-01 -8.35771019e-01 3.87642318e-03 1.31521785e+02] [ 6.30106289e-03 4.98528979e-04 9.99980024e-01 7.35949682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.53, Z:0.74 [[-8.36134503e-01 5.48496739e-01 5.51541345e-03 2.09922297e+02] [-5.48480282e-01 -8.36152508e-01 4.28535864e-03 1.31528707e+02] [ 6.96223203e-03 5.58040696e-04 9.99975608e-01 7.35907384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.53, Z:0.74 [[-8.36477357e-01 5.47971842e-01 5.70014026e-03 2.09925896e+02] [-5.47954231e-01 -8.36496574e-01 4.43191058e-03 1.31531552e+02] [ 7.19671001e-03 5.83776879e-04 9.99973933e-01 7.36398837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.54, Z:0.74 [[-8.37161388e-01 5.46929853e-01 5.34294664e-03 2.09934194e+02] [-5.46914339e-01 -8.37178252e-01 4.15700840e-03 1.31538840e+02] [ 6.74659072e-03 5.57952784e-04 9.99977086e-01 7.37338106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.54, Z:0.74 [[-8.37219204e-01 5.46838920e-01 5.58566209e-03 2.09938974e+02] [-5.46821942e-01 -8.37237631e-01 4.34879514e-03 1.31543026e+02] [ 7.05461694e-03 5.86532217e-04 9.99974944e-01 7.37686393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.54, Z:0.74 [[-8.37244033e-01 5.46798860e-01 5.78237497e-03 2.09935145e+02] [-5.46780642e-01 -8.37263778e-01 4.50500072e-03 1.31539892e+02] [ 7.30470237e-03 6.10094270e-04 9.99973134e-01 7.37422987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.55, Z:0.74 [[-8.37238301e-01 5.46804465e-01 6.07489160e-03 2.09943557e+02] [-5.46784332e-01 -8.37260093e-01 4.73610704e-03 1.31546459e+02] [ 7.67598879e-03 6.43594667e-04 9.99970332e-01 7.37158037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.54, Z:0.74 [[-8.36978971e-01 5.47203205e-01 5.90384690e-03 2.09938922e+02] [-5.47184177e-01 -8.36999560e-01 4.60587222e-03 1.31543220e+02] [ 7.46186529e-03 6.24526586e-04 9.99971965e-01 7.36891721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.54, Z:0.74 [[-8.36199797e-01 5.48397023e-01 5.53203772e-03 2.09933060e+02] [-5.48380322e-01 -8.36217897e-01 4.31873959e-03 1.31540167e+02] [ 6.99437289e-03 5.77668547e-04 9.99975372e-01 7.37408880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.54, Z:0.74 [[-8.33182819e-01 5.52979113e-01 4.52679600e-03 2.09926698e+02] [-5.52967982e-01 -8.33194998e-01 3.53637513e-03 1.31538762e+02] [ 5.72724537e-03 4.43273750e-04 9.99983501e-01 7.38228010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.53, Z:0.74 [[-8.31403987e-01 5.55650407e-01 4.47619419e-03 2.09913816e+02] [-5.55639549e-01 -8.31415929e-01 3.49925614e-03 1.31530189e+02] [ 5.66594224e-03 4.22144988e-04 9.99983859e-01 7.38217216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.54, Z:0.74 [[-8.29889535e-01 5.57909085e-01 4.56206663e-03 2.09920014e+02] [-5.57897826e-01 -8.29901970e-01 3.56885732e-03 1.31537380e+02] [ 5.77716601e-03 4.16590286e-04 9.99983225e-01 7.37933137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.54, Z:0.74 [[-8.27775518e-01 5.61044225e-01 4.13159031e-03 2.09919862e+02] [-5.61035017e-01 -8.27785751e-01 3.23432562e-03 1.31543101e+02] [ 5.23467130e-03 3.59328725e-04 9.99986234e-01 7.37347518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.54, Z:0.74 [[-8.26941354e-01 5.62278488e-01 3.30130478e-03 2.09910955e+02] [-5.62272612e-01 -8.26947896e-01 2.58613102e-03 1.31539170e+02] [ 4.18413288e-03 2.82345432e-04 9.99991207e-01 7.37427209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.54, Z:0.74 [[-8.26154523e-01 5.63439848e-01 2.05928544e-03 2.09908263e+02] [-5.63437563e-01 -8.26157072e-01 1.61427212e-03 1.31539371e+02] [ 2.61083847e-03 1.73359448e-04 9.99996577e-01 7.38080543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.55, Z:0.74 [[-8.25460551e-01 5.64458965e-01 9.77138565e-04 2.09915625e+02] [-5.64458451e-01 -8.25461126e-01 7.66474350e-04 1.31547314e+02] [ 1.23923322e-03 8.11402190e-05 9.99999229e-01 7.38850884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.55, Z:0.74 [[-8.24845711e-01 5.65357471e-01 6.95475267e-04 2.09915672e+02] [-5.65357210e-01 -8.24846002e-01 5.45894288e-04 1.31549860e+02] [ 8.82285407e-04 5.70866055e-05 9.99999609e-01 7.39100898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.56, Z:0.74 [[-8.24405417e-01 5.65997946e-01 1.42626646e-03 2.09923109e+02] [-5.65996849e-01 -8.24406642e-01 1.12035668e-03 1.31559360e+02] [ 1.80994312e-03 1.16365799e-04 9.99998355e-01 7.38791752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.711400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.92, Y:131.56, Z:0.74 [[-8.23937289e-01 5.66672774e-01 3.05143580e-03 2.09915985e+02] [-5.66667751e-01 -8.23942902e-01 2.39869114e-03 1.31560291e+02] [ 3.87348183e-03 2.47220808e-04 9.99992468e-01 7.38309256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.57, Z:0.74 [[-8.23883047e-01 5.66753710e-01 2.63760401e-03 2.09926785e+02] [-5.66749953e-01 -8.23887241e-01 2.07480534e-03 1.31571360e+02] [ 3.34899191e-03 2.14534997e-04 9.99994369e-01 7.38012258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.56, Z:0.74 [[-8.23848217e-01 5.66806883e-01 2.01806792e-03 2.09912994e+02] [-5.66804681e-01 -8.23850672e-01 1.58854395e-03 1.31563135e+02] [ 2.56298426e-03 1.64868757e-04 9.99996702e-01 7.38240582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.57, Z:0.74 [[-8.23985075e-01 5.66609582e-01 1.47577178e-03 2.09922019e+02] [-5.66608403e-01 -8.23986387e-01 1.16245574e-03 1.31573312e+02] [ 1.87467442e-03 1.21661490e-04 9.99998235e-01 7.38037850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.58, Z:0.74 [[-8.24598990e-01 5.65712780e-01 2.35705582e-03 2.09917958e+02] [-5.65709764e-01 -8.24602335e-01 1.85796236e-03 1.31577147e+02] [ 2.99470678e-03 1.98664392e-04 9.99995496e-01 7.37274732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.59, Z:0.74 [[-8.24542397e-01 5.65791021e-01 3.21793834e-03 2.09932892e+02] [-5.65785393e-01 -8.24548632e-01 2.53832731e-03 1.31592485e+02] [ 4.08950946e-03 2.72295976e-04 9.99991601e-01 7.37026777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.59, Z:0.74 [[-8.24377095e-01 5.66029803e-01 3.55918209e-03 2.09929296e+02] [-5.66022911e-01 -8.24384723e-01 2.80943124e-03 1.31593543e+02] [ 4.52435715e-03 3.01452162e-04 9.99989720e-01 7.36698805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.60, Z:0.74 [[-8.24171605e-01 5.66327620e-01 3.76737973e-03 2.09932301e+02] [-5.66319891e-01 -8.24180153e-01 2.97581096e-03 1.31600320e+02] [ 4.79028354e-03 3.19036820e-04 9.99988476e-01 7.36754486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.60, Z:0.74 [[-8.24199887e-01 5.66285243e-01 3.94588223e-03 2.09923559e+02] [-5.66276753e-01 -8.24209264e-01 3.11894704e-03 1.31603069e+02] [ 5.01844637e-03 3.36174424e-04 9.99987351e-01 7.36872003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.62, Z:0.74 [[-8.24768585e-01 5.65452964e-01 4.44136432e-03 2.09942413e+02] [-5.65442200e-01 -8.24780454e-01 3.51008820e-03 1.31622140e+02] [ 5.64794026e-03 3.83675664e-04 9.99983977e-01 7.36561100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.61, Z:0.74 [[-8.25456473e-01 5.64441606e-01 5.22341320e-03 2.09925180e+02] [-5.64426679e-01 -8.25472871e-01 4.13087083e-03 1.31612423e+02] [ 6.64342126e-03 4.61620300e-04 9.99977826e-01 7.36361419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.62, Z:0.74 [[-8.26405875e-01 5.63045371e-01 5.76535648e-03 2.09934045e+02] [-5.63027143e-01 -8.26425821e-01 4.56067220e-03 1.31622659e+02] [ 7.33250483e-03 5.22914116e-04 9.99972980e-01 7.35545104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.62, Z:0.74 [[-8.27437547e-01 5.61526028e-01 5.96869168e-03 2.09928141e+02] [-5.61506428e-01 -8.27458887e-01 4.72469289e-03 1.31621878e+02] [ 7.59188500e-03 5.57929549e-04 9.99971026e-01 7.35245392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.64, Z:0.74 [[-8.28960370e-01 5.59277898e-01 5.73920785e-03 2.09947466e+02] [-5.59259744e-01 -8.28980052e-01 4.54010490e-03 1.31640760e+02] [ 7.29686914e-03 5.53859124e-04 9.99973224e-01 7.35189406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.65, Z:0.74 [[-8.31775131e-01 5.55084366e-01 5.61054732e-03 2.09956116e+02] [-5.55066917e-01 -8.31793853e-01 4.43898130e-03 1.31651488e+02] [ 7.13082789e-03 5.78005052e-04 9.99974408e-01 7.35513914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.68, Z:0.73 [[-8.33350231e-01 5.52714448e-01 5.84218639e-03 2.09990019e+02] [-5.52695493e-01 -8.33370478e-01 4.61930678e-03 1.31678593e+02] [ 7.42186327e-03 6.20550284e-04 9.99972265e-01 7.34999921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.66, Z:0.73 [[-8.34239886e-01 5.51369754e-01 5.93347980e-03 2.09965121e+02] [-5.51350146e-01 -8.34260738e-01 4.69442361e-03 1.31659236e+02] [ 7.53843242e-03 6.44850460e-04 9.99971378e-01 7.34776120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.68, Z:0.73 [[-8.35285256e-01 5.49793079e-01 5.10991090e-03 2.09986095e+02] [-5.49778524e-01 -8.35300695e-01 4.04031648e-03 1.31676384e+02] [ 6.48965016e-03 5.65497518e-04 9.99978782e-01 7.34594125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.67, Z:0.73 [[-8.35093502e-01 5.50086448e-01 4.87259563e-03 2.09981748e+02] [-5.50073204e-01 -8.35107544e-01 3.85505267e-03 1.31671857e+02] [ 6.18975359e-03 5.39045151e-04 9.99980698e-01 7.34499010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.67, Z:0.73 [[-8.34934255e-01 5.50330531e-01 4.59304135e-03 2.09978860e+02] [-5.50318752e-01 -8.34946734e-01 3.63624769e-03 1.31667705e+02] [ 5.83608299e-03 5.08390972e-04 9.99982841e-01 7.33973181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.66, Z:0.73 [[-8.34780614e-01 5.50562704e-01 4.69422790e-03 2.09975777e+02] [-5.50550390e-01 -8.34793650e-01 3.71879558e-03 1.31662838e+02] [ 5.96614180e-03 5.19969457e-04 9.99982067e-01 7.33626280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.66, Z:0.73 [[-8.34506783e-01 5.50979874e-01 4.42809393e-03 2.09972209e+02] [-5.50968909e-01 -8.34518388e-01 3.51027237e-03 1.31657634e+02] [ 5.62941523e-03 4.89604022e-04 9.99984035e-01 7.33725746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.67, Z:0.73 [[-8.33352457e-01 5.52732356e-01 3.25965306e-03 2.09993215e+02] [-5.52726425e-01 -8.33358758e-01 2.58447222e-03 1.31670941e+02] [ 4.14498184e-03 3.52079891e-04 9.99991348e-01 7.34785526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.67, Z:0.74 [[-8.32118676e-01 5.54587908e-01 3.28053163e-03 2.09988902e+02] [-5.54581908e-01 -8.32125070e-01 2.60267702e-03 1.31666194e+02] [ 4.17322582e-03 3.46412667e-04 9.99991232e-01 7.35043431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.65, Z:0.73 [[-8.30651482e-01 5.56782116e-01 3.43377984e-03 2.09974540e+02] [-5.56775554e-01 -8.30658504e-01 2.72605891e-03 1.31653719e+02] [ 4.37011928e-03 3.52560197e-04 9.99990389e-01 7.34764749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.66, Z:0.73 [[-8.29462487e-01 5.58552459e-01 3.33682670e-03 2.09986133e+02] [-5.58546273e-01 -8.29469131e-01 2.64978329e-03 1.31662576e+02] [ 4.24783771e-03 3.34123718e-04 9.99990922e-01 7.34361200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.65, Z:0.73 [[-8.28211985e-01 5.60406127e-01 3.14347564e-03 2.09972186e+02] [-5.60400644e-01 -8.28217893e-01 2.49785440e-03 1.31652062e+02] [ 4.00329568e-03 3.07147174e-04 9.99991940e-01 7.34007943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.64, Z:0.73 [[-8.26265552e-01 5.63272889e-01 2.98166096e-03 2.09956543e+02] [-5.63267969e-01 -8.26270885e-01 2.37086102e-03 1.31640329e+02] [ 3.79910138e-03 2.79486679e-04 9.99992744e-01 7.34173871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.64, Z:0.73 [[-8.25671487e-01 5.64141892e-01 3.24371767e-03 2.09955080e+02] [-5.64136069e-01 -8.25677803e-01 2.58098702e-03 1.31638447e+02] [ 4.13430858e-03 3.01149256e-04 9.99991408e-01 7.34504441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.64, Z:0.73 [[-8.25428182e-01 5.64497773e-01 3.25286784e-03 2.09959871e+02] [-5.64491912e-01 -8.25434536e-01 2.59002104e-03 1.31641893e+02] [ 4.14709057e-03 3.01658772e-04 9.99991355e-01 7.34735835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.65, Z:0.73 [[-8.25528633e-01 5.64349928e-01 3.41087080e-03 2.09973111e+02] [-5.64343480e-01 -8.25535619e-01 2.71655747e-03 1.31653680e+02] [ 4.34888435e-03 3.17693281e-04 9.99990493e-01 7.34705339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.64, Z:0.73 [[-8.25534486e-01 5.64339442e-01 3.71573442e-03 2.09959336e+02] [-5.64331780e-01 -8.25542775e-01 2.96131766e-03 1.31644403e+02] [ 4.73868606e-03 3.47762835e-04 9.99988712e-01 7.34568860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.66, Z:0.73 [[-8.25700372e-01 5.64093466e-01 4.17823198e-03 2.09971840e+02] [-5.64083771e-01 -8.25710850e-01 3.33053282e-03 1.31656176e+02] [ 5.32874328e-03 3.93149338e-04 9.99985725e-01 7.34514376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.66, Z:0.73 [[-8.26089530e-01 5.63520405e-01 4.56526342e-03 2.09977027e+02] [-5.63508816e-01 -8.26102031e-01 3.63994714e-03 1.31662891e+02] [ 5.82255786e-03 4.34356034e-04 9.99982954e-01 7.34057777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.67, Z:0.73 [[-8.26389128e-01 5.63080339e-01 4.64128910e-03 2.09978635e+02] [-5.63068349e-01 -8.26402041e-01 3.70148935e-03 1.31666127e+02] [ 5.91980666e-03 4.45507567e-04 9.99982379e-01 7.33854571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.68, Z:0.73 [[-8.26605245e-01 5.62766620e-01 4.18327861e-03 2.09988169e+02] [-5.62756871e-01 -8.26615732e-01 3.33704949e-03 1.31675087e+02] [ 5.33594397e-03 4.04253832e-04 9.99985682e-01 7.33576591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.67, Z:0.73 [[-8.26685856e-01 5.62647337e-01 4.29756721e-03 2.09986581e+02] [-5.62637042e-01 -8.26696922e-01 3.42907271e-03 1.31674486e+02] [ 5.48214421e-03 4.16795406e-04 9.99984886e-01 7.33062090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.68, Z:0.73 [[-8.26602853e-01 5.62768789e-01 4.36036469e-03 2.09991522e+02] [-5.62758188e-01 -8.26614246e-01 3.48004520e-03 1.31680099e+02] [ 5.56280039e-03 4.22784365e-04 9.99984438e-01 7.32563473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.62, Z:0.73 [[-8.26097317e-01 5.63492704e-01 6.26062364e-03 2.09916097e+02] [-5.63491702e-01 -8.26119078e-01 2.09076784e-03 1.31624682e+02] [ 6.35015305e-03 -1.80063176e-03 9.99978216e-01 7.32049315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.68, Z:0.73 [[-8.25186345e-01 5.64855252e-01 2.45753996e-03 2.09988384e+02] [-5.64840300e-01 -8.25185766e-01 4.88751669e-03 1.31681390e+02] [ 4.78866646e-03 2.64499443e-03 9.99985036e-01 7.32248631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.68, Z:0.73 [[-8.25111170e-01 5.64957054e-01 3.88380837e-03 2.09989174e+02] [-5.64948664e-01 -8.25120230e-01 3.10047043e-03 1.31684413e+02] [ 4.95624150e-03 3.64080432e-04 9.99987652e-01 7.32286954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.68, Z:0.73 [[-8.24358380e-01 5.66054918e-01 3.88469181e-03 2.09982678e+02] [-5.66046526e-01 -8.24367455e-01 3.10320191e-03 1.31680728e+02] [ 4.95899621e-03 3.59234195e-04 9.99987640e-01 7.32751637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.73 [[-8.23923362e-01 5.66688418e-01 3.81184193e-03 2.09992110e+02] [-5.66680345e-01 -8.23932106e-01 3.04482732e-03 1.31690395e+02] [ 4.86616732e-03 3.48608462e-04 9.99988099e-01 7.32638345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.68, Z:0.73 [[-8.23252046e-01 5.67660281e-01 4.22781494e-03 2.09975127e+02] [-5.67650351e-01 -8.23262813e-01 3.37927754e-03 1.31679856e+02] [ 5.39888445e-03 3.82076515e-04 9.99985353e-01 7.32216366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.68, Z:0.73 [[-8.22548970e-01 5.68677328e-01 4.39198909e-03 2.09973670e+02] [-5.68666621e-01 -8.22560602e-01 3.51142801e-03 1.31681653e+02] [ 5.60954669e-03 3.90743891e-04 9.99984190e-01 7.32178850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.69, Z:0.73 [[-8.21020025e-01 5.70891757e-01 2.95309473e-03 2.09977542e+02] [-5.70886930e-01 -8.21025297e-01 2.36141697e-03 1.31686320e+02] [ 3.77267896e-03 2.52887435e-04 9.99992851e-01 7.32865554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.68, Z:0.73 [[-8.20523990e-01 5.71607386e-01 2.31931714e-03 2.09972729e+02] [-5.71604409e-01 -8.20527244e-01 1.85507694e-03 1.31683815e+02] [ 2.96343858e-03 1.96403227e-04 9.99995590e-01 7.33823149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.68, Z:0.73 [[-8.20164994e-01 5.72121421e-01 2.54208966e-03 2.09969118e+02] [-5.72117846e-01 -8.20168906e-01 2.03377491e-03 1.31683553e+02] [ 3.24850908e-03 2.13656127e-04 9.99994701e-01 7.34206425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.69, Z:0.73 [[-8.20267113e-01 5.71971382e-01 3.25598480e-03 2.09972705e+02] [-5.71965523e-01 -8.20273530e-01 2.60326302e-03 1.31689948e+02] [ 4.15979009e-03 2.73059995e-04 9.99991311e-01 7.34769245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.68, Z:0.73 [[-8.20288677e-01 5.71931383e-01 4.58022367e-03 2.09962487e+02] [-5.71919784e-01 -8.20301374e-01 3.66284103e-03 1.31683820e+02] [ 5.85205751e-03 3.85066495e-04 9.99982802e-01 7.33631158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.69, Z:0.73 [[-8.20582784e-01 5.71505794e-01 5.00214084e-03 2.09965149e+02] [-5.71491966e-01 -8.20597922e-01 3.99797236e-03 1.31685995e+02] [ 6.38961075e-03 4.21983992e-04 9.99979497e-01 7.33289005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.69, Z:0.73 [[-8.21021598e-01 5.70875839e-01 4.93060517e-03 2.09968119e+02] [-5.70862409e-01 -8.21036297e-01 3.93814973e-03 1.31691136e+02] [ 6.29640034e-03 4.18608836e-04 9.99980090e-01 7.32916951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.69, Z:0.73 [[-8.21322188e-01 5.70445746e-01 4.63838537e-03 2.09967618e+02] [-5.70433868e-01 -8.21335191e-01 3.70226472e-03 1.31694934e+02] [ 5.92161029e-03 3.94860053e-04 9.99982389e-01 7.33671699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.74 [[-8.21689838e-01 5.69923639e-01 3.58547671e-03 2.09976175e+02] [-5.69916545e-01 -8.21697604e-01 2.85995911e-03 1.31706015e+02] [ 4.57613593e-03 3.06576841e-04 9.99989482e-01 7.35307452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.74 [[-8.22291948e-01 5.69056357e-01 3.28865791e-03 2.09975614e+02] [-5.69050389e-01 -8.22298475e-01 2.62167665e-03 1.31705423e+02] [ 4.19614015e-03 2.84371535e-04 9.99991156e-01 7.35216901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.70, Z:0.73 [[-8.23205818e-01 5.67734964e-01 3.03173171e-03 2.09974898e+02] [-5.67729889e-01 -8.23211358e-01 2.41546113e-03 1.31704686e+02] [ 3.86709772e-03 2.67216950e-04 9.99992487e-01 7.34814802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.70, Z:0.73 [[-8.24217020e-01 5.66266674e-01 2.89099991e-03 2.09966763e+02] [-5.66262049e-01 -8.24222049e-01 2.30364856e-03 1.31699162e+02] [ 3.68730528e-03 2.61642821e-04 9.99993168e-01 7.34207213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.73 [[-8.25976285e-01 5.63697196e-01 2.94070789e-03 2.09976668e+02] [-5.63692400e-01 -8.25981474e-01 2.34178125e-03 1.31710147e+02] [ 3.74902576e-03 2.76601085e-04 9.99992934e-01 7.33840019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.73 [[-8.26527336e-01 5.62888068e-01 3.09617263e-03 2.09981643e+02] [-5.62882752e-01 -8.26533083e-01 2.46395234e-03 1.31714345e+02] [ 3.94601848e-03 2.93741787e-04 9.99992171e-01 7.34255053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.73 [[-8.26929577e-01 5.62296251e-01 3.22518245e-03 2.09980530e+02] [-5.62290485e-01 -8.26935809e-01 2.56492793e-03 1.31713160e+02] [ 4.10926822e-03 3.07525365e-04 9.99991510e-01 7.34383809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.511400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.73 [[-8.27302448e-01 5.61746982e-01 3.31482590e-03 2.09979363e+02] [-5.61740894e-01 -8.27309028e-01 2.63448453e-03 1.31712541e+02] [ 4.22229913e-03 3.17442237e-04 9.99991036e-01 7.34863474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.72, Z:0.73 [[-8.27471007e-01 5.61498114e-01 3.40588000e-03 2.09982695e+02] [-5.61491693e-01 -8.27477952e-01 2.70507296e-03 1.31715494e+02] [ 4.33718398e-03 3.25996124e-04 9.99990541e-01 7.34874326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.71, Z:0.73 [[-8.28182383e-01 5.60448652e-01 3.35394449e-03 2.09970970e+02] [-5.60442414e-01 -8.28189110e-01 2.66439317e-03 1.31706413e+02] [ 4.27095587e-03 3.26910738e-04 9.99990826e-01 7.34727458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.72, Z:0.74 [[-8.29305027e-01 5.58786530e-01 3.28410187e-03 2.09988093e+02] [-5.58780543e-01 -8.29311465e-01 2.60728412e-03 1.31718503e+02] [ 4.18045858e-03 3.27141607e-04 9.99991208e-01 7.35115149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.72, Z:0.74 [[-8.30694624e-01 5.56720468e-01 2.96020040e-03 2.09994842e+02] [-5.56715596e-01 -8.30699843e-01 2.34861232e-03 1.31721778e+02] [ 3.76655856e-03 3.02989898e-04 9.99992861e-01 7.35531394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.32063055e-01 5.54675000e-01 2.59190983e-03 2.09995935e+02] [-5.54671256e-01 -8.32067047e-01 2.05619771e-03 1.31721284e+02] [ 3.29716422e-03 2.73228267e-04 9.99994527e-01 7.35938842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.34170696e-01 5.51499279e-01 2.79210461e-03 2.10001896e+02] [-5.51494921e-01 -8.34175312e-01 2.21363838e-03 1.31723555e+02] [ 3.54992471e-03 3.06720758e-04 9.99993652e-01 7.36900446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.74 [[-8.34644243e-01 5.50781350e-01 2.98211326e-03 2.10007388e+02] [-5.50776381e-01 -8.34649505e-01 2.36275623e-03 1.31726826e+02] [ 3.79038142e-03 3.29583331e-04 9.99992762e-01 7.36776026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.74 [[-8.34760552e-01 5.50605779e-01 2.84542586e-03 2.10009583e+02] [-5.50601259e-01 -8.34765342e-01 2.25319065e-03 1.31728019e+02] [ 3.61588268e-03 3.14179613e-04 9.99993413e-01 7.36290667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.34346690e-01 5.51233851e-01 2.61574724e-03 2.10000172e+02] [-5.51230032e-01 -8.34350741e-01 2.07174110e-03 1.31720696e+02] [ 3.32446447e-03 2.86671893e-04 9.99994433e-01 7.36183266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.33848869e-01 5.51988869e-01 2.08620779e-03 2.10001745e+02] [-5.51986443e-01 -8.33851448e-01 1.65222553e-03 1.31723122e+02] [ 2.65159748e-03 2.26147971e-04 9.99996459e-01 7.36253442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.33574795e-01 5.52403110e-01 1.96592464e-03 2.09995305e+02] [-5.52400956e-01 -8.33577086e-01 1.55719201e-03 1.31718717e+02] [ 2.49894744e-03 2.12057358e-04 9.99996855e-01 7.36184598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.72, Z:0.74 [[-8.33421157e-01 5.52635149e-01 1.88872971e-03 2.09994901e+02] [-5.52633161e-01 -8.33423272e-01 1.49606172e-03 1.31719098e+02] [ 2.40088758e-03 2.03074819e-04 9.99997097e-01 7.35907450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.901400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.33693266e-01 5.52225444e-01 1.61162043e-03 2.10000694e+02] [-5.52223997e-01 -8.33694806e-01 1.27580259e-03 1.31724237e+02] [ 2.04813023e-03 1.73652554e-04 9.99997888e-01 7.35346490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.73, Z:0.74 [[-8.34304065e-01 5.51302109e-01 1.64661178e-03 2.10002648e+02] [-5.51300599e-01 -8.34305671e-01 1.30266312e-03 1.31726274e+02] [ 2.09193847e-03 1.79039075e-04 9.99997796e-01 7.35542385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.73, Z:0.74 [[-8.35382847e-01 5.49663926e-01 2.25138062e-03 2.10002916e+02] [-5.49661100e-01 -8.35385843e-01 1.77994083e-03 1.31727099e+02] [ 2.85914076e-03 2.49435687e-04 9.99995882e-01 7.35846309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.74 [[-8.37891361e-01 5.45820710e-01 4.22142867e-03 2.10011775e+02] [-5.45810740e-01 -8.37901851e-01 3.33527409e-03 1.31732119e+02] [ 5.35760457e-03 4.90496241e-04 9.99985528e-01 7.36205550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.38884311e-01 5.44290303e-01 4.60199426e-03 2.10004972e+02] [-5.44278427e-01 -8.38896756e-01 3.63672996e-03 1.31724526e+02] [ 5.84003491e-03 5.46029509e-04 9.99982798e-01 7.36615617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.74 [[-8.40393156e-01 5.41966560e-01 3.40455033e-03 2.10009921e+02] [-5.41960048e-01 -8.40399950e-01 2.68880865e-03 1.31727547e+02] [ 4.31842830e-03 4.14526128e-04 9.99990590e-01 7.36979041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.74 [[-8.40637851e-01 5.41591135e-01 2.65431386e-03 2.10011158e+02] [-5.41587176e-01 -8.40641979e-01 2.09624638e-03 1.31729328e+02] [ 3.36663611e-03 3.24641699e-04 9.99994280e-01 7.36850300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.74, Z:0.74 [[-8.40744228e-01 5.41425841e-01 2.68368680e-03 2.10018772e+02] [-5.41421797e-01 -8.40748447e-01 2.11816054e-03 1.31735305e+02] [ 3.40313236e-03 3.27824721e-04 9.99994156e-01 7.36148616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.74 [[-8.40403245e-01 5.41949007e-01 3.69579689e-03 2.10012073e+02] [-5.41941340e-01 -8.40411252e-01 2.91757645e-03 1.31728784e+02] [ 4.68716695e-03 4.49035600e-04 9.99988914e-01 7.35793849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.72, Z:0.74 [[-8.39842870e-01 5.42808116e-01 4.82734246e-03 2.10007883e+02] [-5.42795045e-01 -8.39856542e-01 3.81147601e-03 1.31723434e+02] [ 6.12317526e-03 5.80783377e-04 9.99981085e-01 7.35058683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.201400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.38864301e-01 5.44312044e-01 5.57533088e-03 2.09999625e+02] [-5.44294633e-01 -8.38882569e-01 4.40311107e-03 1.31716457e+02] [ 7.07371428e-03 6.58990012e-04 9.99974764e-01 7.35190761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.72, Z:0.74 [[-8.38816480e-01 5.44387484e-01 5.40186540e-03 2.10007449e+02] [-5.44371160e-01 -8.38833632e-01 4.26346002e-03 1.31722128e+02] [ 6.85224065e-03 6.35640794e-04 9.99976321e-01 7.35889240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.73, Z:0.74 [[-8.39161377e-01 5.43856565e-01 5.31222539e-03 2.10013123e+02] [-5.43840786e-01 -8.39177957e-01 4.19003280e-03 1.31725165e+02] [ 6.73667930e-03 6.27108862e-04 9.99977112e-01 7.36211563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.72, Z:0.74 [[-8.39367896e-01 5.43529851e-01 6.06921117e-03 2.10006324e+02] [-5.43509238e-01 -8.39389529e-01 4.78815949e-03 1.31716346e+02] [ 7.69693992e-03 7.20355021e-04 9.99970119e-01 7.36065563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.74 [[-8.39507125e-01 5.43307851e-01 6.66071445e-03 2.10003551e+02] [-5.43283007e-01 -8.39533173e-01 5.25608135e-03 1.31710289e+02] [ 8.44756100e-03 7.93864775e-04 9.99964004e-01 7.35818526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.74 [[-8.39299400e-01 5.43631866e-01 6.39623292e-03 2.10000612e+02] [-5.43608954e-01 -8.39323428e-01 5.04859677e-03 1.31705155e+02] [ 8.11308622e-03 7.60234758e-04 9.99966799e-01 7.36229462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.72, Z:0.74 [[-8.39068756e-01 5.44000512e-01 5.20250582e-03 2.10015875e+02] [-5.43985378e-01 -8.39084660e-01 4.10381425e-03 1.31716696e+02] [ 6.59781988e-03 6.13295218e-04 9.99978046e-01 7.36819806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:131.71, Z:0.74 [[-8.38283636e-01 5.45218421e-01 4.17367810e-03 2.10014721e+02] [-5.45208692e-01 -8.38293885e-01 3.29297650e-03 1.31713765e+02] [ 5.29416028e-03 4.84922740e-04 9.99985868e-01 7.37136048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:131.71, Z:0.74 [[-8.37207460e-01 5.46871921e-01 3.84335995e-03 2.10017977e+02] [-5.46863684e-01 -8.37216168e-01 3.03308746e-03 1.31713577e+02] [ 4.87643345e-03 4.37529470e-04 9.99988014e-01 7.36612588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.34471349e-01 5.51033086e-01 4.48394041e-03 2.10002672e+02] [-5.51021922e-01 -8.34483256e-01 3.54087347e-03 1.31700265e+02] [ 5.69291163e-03 4.84007999e-04 9.99983678e-01 7.35322420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.74 [[-8.33240518e-01 5.52892166e-01 4.52673305e-03 2.09991552e+02] [-5.52880810e-01 -8.33252678e-01 3.57558132e-03 1.31692012e+02] [ 5.74882334e-03 4.76575399e-04 9.99983362e-01 7.35418835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.32177472e-01 5.54492094e-01 4.37855852e-03 2.10000049e+02] [-5.54481493e-01 -8.32188870e-01 3.45828957e-03 1.31698830e+02] [ 5.56138189e-03 4.50081011e-04 9.99984434e-01 7.36225257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.74 [[-8.31226782e-01 5.55919928e-01 3.88200577e-03 2.09988567e+02] [-5.55911600e-01 -8.31235755e-01 3.06804419e-03 1.31689555e+02] [ 4.93244890e-03 3.92188462e-04 9.99987759e-01 7.37172213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.74 [[-8.30175456e-01 5.57495039e-01 2.82710006e-03 2.09990414e+02] [-5.57490630e-01 -8.30180223e-01 2.23490115e-03 1.31688277e+02] [ 3.59294886e-03 2.79278287e-04 9.99993506e-01 7.37777875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.74 [[-8.30001228e-01 5.57754106e-01 2.88408845e-03 2.09994439e+02] [-5.57749516e-01 -8.30006191e-01 2.28051613e-03 1.31691094e+02] [ 3.66577850e-03 2.84232249e-04 9.99993241e-01 7.37887629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.29927905e-01 5.57862568e-01 3.00455238e-03 2.10002362e+02] [-5.57857586e-01 -8.29933291e-01 2.37616898e-03 1.31697245e+02] [ 3.81915378e-03 2.95936607e-04 9.99992663e-01 7.37065673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.29924356e-01 5.57863916e-01 3.66272890e-03 2.09999327e+02] [-5.57856508e-01 -8.29932359e-01 2.89739996e-03 1.31696305e+02] [ 4.65617212e-03 3.61345642e-04 9.99989095e-01 7.36199056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.74 [[-8.29702806e-01 5.58192156e-01 3.84333857e-03 2.09991564e+02] [-5.58184000e-01 -8.29711621e-01 3.04102442e-03 1.31690831e+02] [ 4.88633865e-03 3.77856403e-04 9.99987990e-01 7.36617959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.69, Z:0.74 [[-8.29489701e-01 5.58507180e-01 4.07009729e-03 2.09994463e+02] [-5.58498034e-01 -8.29499591e-01 3.22098846e-03 1.31693118e+02] [ 5.17508922e-03 3.98635415e-04 9.99986530e-01 7.36625205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.29435268e-01 5.58580642e-01 4.98019406e-03 2.09997711e+02] [-5.58566946e-01 -8.29450076e-01 3.94187430e-03 1.31695803e+02] [ 6.33267702e-03 4.87757788e-04 9.99979829e-01 7.36911049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.29367985e-01 5.58680542e-01 4.97972315e-03 2.09999695e+02] [-5.58666844e-01 -8.29382791e-01 3.94246917e-03 1.31697329e+02] [ 6.33267750e-03 4.87751491e-04 9.99979829e-01 7.36910654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.29497330e-01 5.58478943e-01 5.95404049e-03 2.09997420e+02] [-5.58459346e-01 -8.29518491e-01 4.71501383e-03 1.31695627e+02] [ 7.57222262e-03 5.86001828e-04 9.99971159e-01 7.36481816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.30366759e-01 5.57179865e-01 6.45310604e-03 2.09997358e+02] [-5.57156800e-01 -8.30391581e-01 5.11108083e-03 1.31697214e+02] [ 8.20639625e-03 6.48679716e-04 9.99966117e-01 7.36079737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.70, Z:0.74 [[-8.30776121e-01 5.56574343e-01 6.00307760e-03 2.09994179e+02] [-5.56554358e-01 -8.30797586e-01 4.75581694e-03 1.31696515e+02] [ 7.63430807e-03 6.09980152e-04 9.99970672e-01 7.36566874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.921400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.00, Y:131.70, Z:0.74 [[-8.31321762e-01 5.55765133e-01 5.40775811e-03 2.09999268e+02] [-5.55748915e-01 -8.31339166e-01 4.28178278e-03 1.31703015e+02] [ 6.87534670e-03 5.54183500e-04 9.99976211e-01 7.37018299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.74 [[-8.31469100e-01 5.55548511e-01 4.99879281e-03 2.10003288e+02] [-5.55534664e-01 -8.31483968e-01 3.95569220e-03 1.31709107e+02] [ 6.35399500e-03 5.12033143e-04 9.99979682e-01 7.37219400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.71, Z:0.74 [[-8.30282817e-01 5.57323989e-01 4.51828716e-03 2.10004203e+02] [-5.57312704e-01 -8.30294989e-01 3.57511776e-03 1.31714591e+02] [ 5.74401008e-03 4.50260012e-04 9.99983402e-01 7.36624896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.71, Z:0.74 [[-8.29265041e-01 5.58840283e-01 4.12662525e-03 2.09990654e+02] [-5.58830884e-01 -8.29275211e-01 3.26598885e-03 1.31705791e+02] [ 5.24727416e-03 4.02284739e-04 9.99986152e-01 7.36515617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:131.70, Z:0.74 [[-8.28144986e-01 5.60497360e-01 4.31175991e-03 2.09986731e+02] [-5.60487118e-01 -8.28156109e-01 3.41308772e-03 1.31704994e+02] [ 5.48383697e-03 4.09845599e-04 9.99984880e-01 7.36399006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:131.72, Z:0.74 [[-8.27315752e-01 5.61720006e-01 4.39100974e-03 2.09995750e+02] [-5.61709413e-01 -8.27327305e-01 3.47359813e-03 1.31715821e+02] [ 5.58399181e-03 4.07290947e-04 9.99984326e-01 7.36703430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.74 [[-8.25715582e-01 5.64072712e-01 3.96908595e-03 2.09980988e+02] [-5.64064080e-01 -8.25725045e-01 3.14052342e-03 1.31711482e+02] [ 5.04885724e-03 3.54360307e-04 9.99987192e-01 7.38175069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.74 [[-8.25474727e-01 5.64427983e-01 3.53948277e-03 2.09980384e+02] [-5.64421130e-01 -8.25482256e-01 2.79882428e-03 1.31712913e+02] [ 4.50151496e-03 3.12599840e-04 9.99989819e-01 7.38633976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.71, Z:0.74 [[-8.25474452e-01 5.64430640e-01 3.15947907e-03 2.09977350e+02] [-5.64425186e-01 -8.25480451e-01 2.49668392e-03 1.31712412e+02] [ 4.01729312e-03 2.77659227e-04 9.99991892e-01 7.38742317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.71, Z:0.74 [[-8.26011880e-01 5.63642040e-01 3.46768966e-03 2.09970702e+02] [-5.63635472e-01 -8.26019102e-01 2.73840743e-03 1.31712446e+02] [ 4.40785945e-03 3.07444172e-04 9.99990238e-01 7.38865759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.72, Z:0.74 [[-8.26701905e-01 5.62625387e-01 4.07845384e-03 2.09974775e+02] [-5.62616300e-01 -8.26711884e-01 3.21857083e-03 1.31717603e+02] [ 5.18255592e-03 3.66194026e-04 9.99986503e-01 7.38994910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.72, Z:0.74 [[-8.27372520e-01 5.61633281e-01 4.77191917e-03 2.09978779e+02] [-5.61620840e-01 -8.27386167e-01 3.76332715e-03 1.31721268e+02] [ 6.06182969e-03 4.33664213e-04 9.99981533e-01 7.38884040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.71, Z:0.74 [[-8.27610575e-01 5.61276809e-01 5.39257972e-03 2.09964250e+02] [-5.61260910e-01 -8.27627996e-01 4.25342101e-03 1.31709299e+02] [ 6.85039652e-03 4.93532010e-04 9.99976414e-01 7.38714030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.71, Z:0.74 [[-8.27903905e-01 5.60845623e-01 5.22597452e-03 2.09969605e+02] [-5.60830700e-01 -8.27920260e-01 4.11934476e-03 1.31712983e+02] [ 6.63700667e-03 4.79534666e-04 9.99977860e-01 7.39373293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:131.72, Z:0.74 [[-8.27201008e-01 5.61891812e-01 4.01037562e-03 2.09976921e+02] [-5.61883047e-01 -8.27210651e-01 3.15907702e-03 1.31718104e+02] [ 5.09248494e-03 3.59829619e-04 9.99986969e-01 7.40692831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:131.72, Z:0.74 [[-8.26431941e-01 5.63023625e-01 3.82687128e-03 2.09974574e+02] [-5.63015665e-01 -8.26440733e-01 3.01253857e-03 1.31716605e+02] [ 4.85881269e-03 3.35069620e-04 9.99988140e-01 7.40617064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.70, Z:0.74 [[-8.25032766e-01 5.65070183e-01 4.07717099e-03 2.09953424e+02] [-5.65061169e-01 -8.25042768e-01 3.21028402e-03 1.31700088e+02] [ 5.17787622e-03 3.44738502e-04 9.99986535e-01 7.40679666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:131.71, Z:0.74 [[-8.23843597e-01 5.66804538e-01 3.78727095e-03 2.09960358e+02] [-5.66796788e-01 -8.23852244e-01 2.98011260e-03 1.31705114e+02] [ 4.80929302e-03 3.08533677e-04 9.99988388e-01 7.40042863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.70, Z:0.74 [[-8.22319997e-01 5.69015815e-01 3.29012666e-03 2.09953107e+02] [-5.69009984e-01 -8.22326539e-01 2.58865681e-03 1.31698989e+02] [ 4.17854513e-03 2.56589337e-04 9.99991237e-01 7.39675803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.68, Z:0.74 [[-8.18828731e-01 5.74032218e-01 2.55382365e-03 2.09932460e+02] [-5.74028728e-01 -8.18832694e-01 2.00981562e-03 1.31684806e+02] [ 3.24485322e-03 1.79726629e-04 9.99994719e-01 7.39643135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.67, Z:0.74 [[-8.17382458e-01 5.76085229e-01 3.42428626e-03 2.09911275e+02] [-5.76078969e-01 -8.17389598e-01 2.69555819e-03 1.31669746e+02] [ 4.35184723e-03 2.30642680e-04 9.99990504e-01 7.39408072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.551400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.92, Y:131.68, Z:0.74 [[-8.16781224e-01 5.76927958e-01 4.75010598e-03 2.09924140e+02] [-5.76915940e-01 -8.16794977e-01 3.73674580e-03 1.31681091e+02] [ 6.03569583e-03 3.11691948e-04 9.99981736e-01 7.39409794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.68, Z:0.74 [[-8.16463127e-01 5.77381880e-01 4.25753598e-03 2.09922861e+02] [-5.77372245e-01 -8.16474181e-01 3.34696520e-03 1.31682966e+02] [ 5.40864526e-03 2.74490569e-04 9.99985336e-01 7.38882742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.69, Z:0.74 [[-8.16678888e-01 5.77080641e-01 3.67806560e-03 2.09927443e+02] [-5.77073456e-01 -8.16687136e-01 2.88945884e-03 1.31688428e+02] [ 4.67127962e-03 2.37246008e-04 9.99989061e-01 7.39591712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.69, Z:0.74 [[-8.16890854e-01 5.76785000e-01 2.89782320e-03 2.09929866e+02] [-5.76780543e-01 -8.16895972e-01 2.27497111e-03 1.31691611e+02] [ 3.67938931e-03 1.86995054e-04 9.99993214e-01 7.40168930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.68, Z:0.74 [[-8.16734896e-01 5.77006017e-01 2.85767057e-03 2.09909652e+02] [-5.77001683e-01 -8.16739874e-01 2.24393423e-03 1.31677491e+02] [ 3.62873706e-03 1.83818661e-04 9.99993399e-01 7.40589709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.69, Z:0.74 [[-8.15557366e-01 5.78667218e-01 3.22996838e-03 2.09921412e+02] [-5.78661701e-01 -8.15563738e-01 2.53462808e-03 1.31691784e+02] [ 4.10095127e-03 1.98075601e-04 9.99991571e-01 7.39595139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.68, Z:0.74 [[-8.14342141e-01 5.80376199e-01 3.21646142e-03 2.09907939e+02] [-5.80370748e-01 -8.14348471e-01 2.52230031e-03 1.31684548e+02] [ 4.08320351e-03 1.87275308e-04 9.99991646e-01 7.39380763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.68, Z:0.74 [[-8.12624980e-01 5.82778210e-01 3.19372447e-03 2.09895575e+02] [-5.82772862e-01 -8.12631237e-01 2.50274254e-03 1.31677977e+02] [ 4.05386409e-03 1.72575155e-04 9.99991768e-01 7.39408347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.67, Z:0.74 [[-8.10615373e-01 5.85571178e-01 3.01880426e-03 2.09882538e+02] [-5.85566425e-01 -8.10620980e-01 2.36402567e-03 1.31670308e+02] [ 3.83141136e-03 1.48605128e-04 9.99992649e-01 7.39699813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.821400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.84, Y:131.65, Z:0.74 [[-8.05951986e-01 5.91967845e-01 3.93275395e-03 2.09843433e+02] [-5.91959850e-01 -8.05961566e-01 3.08044436e-03 1.31645087e+02] [ 4.99317254e-03 1.54657810e-04 9.99987522e-01 7.40659115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.83, Y:131.64, Z:0.74 [[-8.03949429e-01 5.94683075e-01 4.16612127e-03 2.09830187e+02] [-5.94674152e-01 -8.03960210e-01 3.26097028e-03 1.31637495e+02] [ 5.28863957e-03 1.44170559e-04 9.99986005e-01 7.41038513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.64, Z:0.74 [[-8.02123570e-01 5.97147519e-01 3.55217629e-03 2.09827600e+02] [-5.97141065e-01 -8.02131429e-01 2.77840201e-03 1.31638302e+02] [ 4.50842811e-03 1.07471404e-04 9.99989831e-01 7.40810456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.911400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.81, Y:131.63, Z:0.74 [[-8.00834817e-01 5.98876784e-01 3.19277470e-03 2.09814464e+02] [-5.98871591e-01 -8.00841177e-01 2.49547252e-03 1.31630995e+02] [ 4.05138600e-03 8.63992150e-05 9.99991789e-01 7.41262642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.63, Z:0.74 [[-7.99813008e-01 6.00244630e-01 2.35319284e-03 2.09812470e+02] [-6.00241819e-01 -7.99816467e-01 1.83792598e-03 1.31632292e+02] [ 2.98532758e-03 5.75123598e-05 9.99995542e-01 7.41048279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.971400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.80, Y:131.63, Z:0.74 [[-7.99244597e-01 6.01001692e-01 2.24509604e-03 2.09804125e+02] [-6.00999140e-01 -7.99247748e-01 1.75221547e-03 1.31633037e+02] [ 2.84747241e-03 5.11479558e-05 9.99995945e-01 7.40987990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.001400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.81, Y:131.65, Z:0.74 [[-7.99737361e-01 6.00345121e-01 2.42672867e-03 2.09814843e+02] [-6.00342141e-01 -7.99741041e-01 1.89258429e-03 1.31645863e+02] [ 3.07695826e-03 5.67028796e-05 9.99995265e-01 7.40677930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.65, Z:0.74 [[-8.00286148e-01 5.99611498e-01 2.85171112e-03 2.09810882e+02] [-5.99607383e-01 -8.00291226e-01 2.22239776e-03 1.31647783e+02] [ 3.61477464e-03 6.86470990e-05 9.99993464e-01 7.40081783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.65, Z:0.74 [[-8.01412997e-01 5.98100530e-01 3.60042985e-03 2.09811251e+02] [-5.98093966e-01 -8.01421080e-01 2.80383982e-03 1.31652767e+02] [ 4.56243846e-03 9.36383064e-05 9.99989588e-01 7.39830547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.091400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.82, Y:131.67, Z:0.74 [[-8.05781771e-01 5.92200172e-01 3.83329993e-03 2.09820204e+02] [-5.92192674e-01 -8.05790878e-01 2.98303744e-03 1.31665726e+02] [ 4.85539340e-03 1.33625050e-04 9.99988204e-01 7.40446385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.68, Z:0.74 [[-8.08693766e-01 5.88220125e-01 3.38780923e-03 2.09836302e+02] [-5.88214241e-01 -8.08700851e-01 2.63449879e-03 1.31678779e+02] [ 4.28938941e-03 1.37745109e-04 9.99990791e-01 7.40736317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.151400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.85, Y:131.69, Z:0.74 [[-8.11966617e-01 5.83692345e-01 3.66877697e-03 2.09852879e+02] [-5.83685408e-01 -8.11974886e-01 2.85099098e-03 1.31691595e+02] [ 4.64305637e-03 1.73497914e-04 9.99989206e-01 7.40512806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.69, Z:0.74 [[-8.16837740e-01 5.76845890e-01 4.99255667e-03 2.09858013e+02] [-5.76832933e-01 -8.16852947e-01 3.87698629e-03 1.31694199e+02] [ 6.31460823e-03 2.86997610e-04 9.99980022e-01 7.40110564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.69, Z:0.74 [[-8.18455687e-01 5.74547596e-01 5.03481630e-03 2.09856636e+02] [-5.74534392e-01 -8.18471116e-01 3.90710496e-03 1.31691917e+02] [ 6.36566948e-03 3.05117153e-04 9.99979692e-01 7.40015179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.70, Z:0.74 [[-8.19039628e-01 5.73718541e-01 4.59606870e-03 2.09864271e+02] [-5.73707539e-01 -8.19052475e-01 3.56418222e-03 1.31696324e+02] [ 5.80925887e-03 2.82407216e-04 9.99983086e-01 7.40093824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.69, Z:0.74 [[-8.18782875e-01 5.74085658e-01 4.50114711e-03 2.09857927e+02] [-5.74075125e-01 -8.18795202e-01 3.48817636e-03 1.31690285e+02] [ 5.68802968e-03 2.72062482e-04 9.99983786e-01 7.39842868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.68, Z:0.74 [[-8.15621841e-01 5.78566944e-01 4.61564210e-03 2.09849555e+02] [-5.78555954e-01 -8.15634864e-01 3.57443489e-03 1.31682633e+02] [ 5.83272849e-03 2.44979943e-04 9.99982960e-01 7.38973216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.84, Y:131.68, Z:0.74 [[-8.13387143e-01 5.81704661e-01 4.58724281e-03 2.09840898e+02] [-5.81693870e-01 -8.13400049e-01 3.54997765e-03 1.31675430e+02] [ 5.79630207e-03 2.19135156e-04 9.99983177e-01 7.38854500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.66, Z:0.74 [[-8.11145420e-01 5.84835038e-01 3.32953587e-03 2.09825244e+02] [-5.84829387e-01 -8.11152241e-01 2.57487768e-03 1.31662106e+02] [ 4.20663916e-03 1.41389815e-04 9.99991142e-01 7.39298731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.65, Z:0.74 [[-8.09548623e-01 5.87047618e-01 2.47405151e-03 2.09806914e+02] [-5.87044512e-01 -8.09552398e-01 1.91195491e-03 1.31647227e+02] [ 3.12528291e-03 9.54421022e-05 9.99995112e-01 7.40105096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.65, Z:0.74 [[-8.08493100e-01 5.88502748e-01 1.85006821e-03 2.09808365e+02] [-5.88501017e-01 -8.08495214e-01 1.42873640e-03 1.31649052e+02] [ 2.33658660e-03 6.63564975e-05 9.99997268e-01 7.41618727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.66, Z:0.74 [[-8.08965127e-01 5.87851715e-01 2.40523464e-03 2.09817745e+02] [-5.87848791e-01 -8.08968698e-01 1.85613248e-03 1.31656413e+02] [ 3.03689020e-03 8.76321696e-05 9.99995385e-01 7.41698459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.65, Z:0.74 [[-8.09785121e-01 5.86718280e-01 3.11724522e-03 2.09808540e+02] [-5.86713367e-01 -8.09791113e-01 2.40387154e-03 1.31648118e+02] [ 3.93471285e-03 1.17689966e-04 9.99992252e-01 7.41333789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.64, Z:0.74 [[-8.10797989e-01 5.85314039e-01 3.75465306e-03 2.09801851e+02] [-5.85306906e-01 -8.10806669e-01 2.89333486e-03 1.31641621e+02] [ 4.73780725e-03 1.48285722e-04 9.99988766e-01 7.40805430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.64, Z:0.74 [[-8.11938814e-01 5.83731609e-01 3.57354823e-03 2.09806577e+02] [-5.83725142e-01 -8.11946665e-01 2.75181892e-03 1.31644696e+02] [ 4.50785425e-03 1.48338645e-04 9.99989829e-01 7.40177997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.67, Z:0.74 [[-8.14267715e-01 5.80486681e-01 1.81687156e-03 2.09830928e+02] [-5.80485003e-01 -8.14269738e-01 1.39813665e-03 1.31666119e+02] [ 2.29102323e-03 8.37908446e-05 9.99997372e-01 7.40637745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.67, Z:0.74 [[-8.15293850e-01 5.79046388e-01 1.10411535e-03 2.09828623e+02] [-5.79045768e-01 -8.15294596e-01 8.49085447e-04 1.31666265e+02] [ 1.39183914e-03 5.29208254e-05 9.99999030e-01 7.41087693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.68, Z:0.74 [[-8.16158896e-01 5.77826911e-01 8.47178553e-04 2.09841060e+02] [-5.77826546e-01 -8.16159334e-01 6.51061859e-04 1.31676994e+02] [ 1.06763375e-03 4.18476705e-05 9.99999429e-01 7.40851718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.67, Z:0.74 [[-8.16789508e-01 5.76931204e-01 2.29903491e-03 2.09826758e+02] [-5.76928514e-01 -8.16792736e-01 1.76549143e-03 1.31669397e+02] [ 2.89640211e-03 1.15656087e-04 9.99995799e-01 7.39831342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.67, Z:0.74 [[-8.17456940e-01 5.75985210e-01 2.27773132e-03 2.09828268e+02] [-5.75982570e-01 -8.17460105e-01 1.74792470e-03 1.31674389e+02] [ 2.86873327e-03 1.16919639e-04 9.99995878e-01 7.39960959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.67, Z:0.74 [[-8.17648668e-01 5.75713006e-01 2.27831323e-03 2.09826346e+02] [-5.75710367e-01 -8.17651834e-01 1.74716614e-03 1.31672819e+02] [ 2.86873326e-03 1.16919524e-04 9.99995878e-01 7.39961356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.67, Z:0.74 [[-8.18678048e-01 5.74250071e-01 1.76342320e-03 2.09817812e+02] [-5.74248489e-01 -8.18679942e-01 1.35139471e-03 1.31671330e+02] [ 2.21971772e-03 9.37140773e-05 9.99997532e-01 7.40151128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.68, Z:0.74 [[-8.19729413e-01 5.72749376e-01 1.35718117e-03 2.09822983e+02] [-5.72748438e-01 -8.19730533e-01 1.03937076e-03 1.31679921e+02] [ 1.70782180e-03 7.46793887e-05 9.99998539e-01 7.40427307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.69, Z:0.74 [[-8.21676079e-01 5.69951342e-01 1.97221554e-03 2.09826709e+02] [-5.69949355e-01 -8.21678438e-01 1.50931891e-03 1.31688934e+02] [ 2.48076532e-03 1.16108272e-04 9.99996916e-01 7.39775417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.69, Z:0.74 [[-8.22942699e-01 5.68119569e-01 2.33861079e-03 2.09831060e+02] [-5.68116772e-01 -8.22946010e-01 1.78848840e-03 1.31694723e+02] [ 2.94062568e-03 1.43219452e-04 9.99995666e-01 7.39049083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.71, Z:0.74 [[-8.24491714e-01 5.65870839e-01 1.89926996e-03 2.09845702e+02] [-5.65868991e-01 -8.24493892e-01 1.45152943e-03 1.31708470e+02] [ 2.38731466e-03 1.22036010e-04 9.99997143e-01 7.38967783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.71, Z:0.74 [[-8.26245245e-01 5.63308185e-01 1.63831247e-03 2.09848635e+02] [-5.63306806e-01 -8.26246862e-01 1.25126386e-03 1.31713113e+02] [ 2.05849771e-03 1.10978252e-04 9.99997875e-01 7.39434202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.72, Z:0.74 [[-8.28415063e-01 5.60112389e-01 1.61125160e-03 2.09855186e+02] [-5.60111051e-01 -8.28416621e-01 1.22978038e-03 1.31719433e+02] [ 2.02360283e-03 1.16288769e-04 9.99997946e-01 7.39803991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.72, Z:0.74 [[-8.32548751e-01 5.53941908e-01 3.30773455e-03 2.09855668e+02] [-5.53936227e-01 -8.32555278e-01 2.52287910e-03 1.31722026e+02] [ 4.15140031e-03 2.68145843e-04 9.99991347e-01 7.38825556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99140051300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.87, Y:131.73, Z:0.74 [[-8.34384152e-01 5.51163823e-01 4.63974159e-03 2.09865480e+02] [-5.51152618e-01 -8.34396959e-01 3.53648023e-03 1.31731881e+02] [ 5.82056624e-03 3.93577333e-04 9.99982983e-01 7.37357853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.73, Z:0.74 [[-8.35055179e-01 5.50139599e-01 5.41012180e-03 2.09859927e+02] [-5.50124361e-01 -8.35072575e-01 4.12096890e-03 1.31730088e+02] [ 6.78495252e-03 4.64996624e-04 9.99976874e-01 7.37357269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.73, Z:0.74 [[-8.35187802e-01 5.49939920e-01 5.23629186e-03 2.09862471e+02] [-5.49925659e-01 -8.35204096e-01 3.98595684e-03 1.31734758e+02] [ 6.56540920e-03 4.49451285e-04 9.99978347e-01 7.37216060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.74, Z:0.74 [[-8.34371463e-01 5.51188045e-01 4.00010602e-03 2.09855833e+02] [-5.51179747e-01 -8.34380984e-01 3.04297978e-03 1.31737255e+02] [ 5.01486647e-03 3.34198063e-04 9.99987370e-01 7.38237998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.73, Z:0.74 [[-8.33883234e-01 5.51924433e-01 4.26293401e-03 2.09839359e+02] [-5.51915029e-01 -8.33894057e-01 3.24078991e-03 1.31728944e+02] [ 5.34350647e-03 3.49663023e-04 9.99985662e-01 7.38816665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.74, Z:0.74 [[-8.33800451e-01 5.52045214e-01 4.78428851e-03 2.09849421e+02] [-5.52033386e-01 -8.33814086e-01 3.63474596e-03 1.31740463e+02] [ 5.99575127e-03 3.89565841e-04 9.99981949e-01 7.38475395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.74, Z:0.74 [[-8.34122087e-01 5.51552487e-01 5.49535161e-03 2.09846328e+02] [-5.51536889e-01 -8.34140068e-01 4.17222698e-03 1.31740648e+02] [ 6.88509514e-03 4.49257544e-04 9.99976197e-01 7.37970621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.73, Z:0.74 [[-8.36289961e-01 5.48253000e-01 6.14401196e-03 2.09825045e+02] [-5.48233438e-01 -8.36312362e-01 4.66163935e-03 1.31727002e+02] [ 7.69407091e-03 5.30129392e-04 9.99970260e-01 7.37684681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.75, Z:0.74 [[-8.37921835e-01 5.45760543e-01 5.69452364e-03 2.09855431e+02] [-5.45743701e-01 -8.37941030e-01 4.31778225e-03 1.31750340e+02] [ 7.12815019e-03 5.10213620e-04 9.99974464e-01 7.37847819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.74, Z:0.74 [[-8.39403140e-01 5.43488122e-01 4.79889499e-03 2.09837856e+02] [-5.43476139e-01 -8.39416740e-01 3.63633360e-03 1.31737237e+02] [ 6.00457690e-03 4.44264924e-04 9.99981874e-01 7.38733638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.75, Z:0.74 [[-8.40545649e-01 5.41726573e-01 3.91550183e-03 2.09861386e+02] [-5.41718586e-01 -8.40554687e-01 2.96503981e-03 1.31754762e+02] [ 4.89743427e-03 3.71151197e-04 9.99987939e-01 7.39465012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.76, Z:0.74 [[-8.40942485e-01 5.41113395e-01 3.46855191e-03 2.09867553e+02] [-5.41107129e-01 -8.40949573e-01 2.62491189e-03 1.31757972e+02] [ 4.33725223e-03 3.30541767e-04 9.99990539e-01 7.39485899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.74, Z:0.74 [[-8.40486114e-01 5.41820133e-01 3.74647435e-03 2.09850045e+02] [-5.41812838e-01 -8.40494390e-01 2.83341400e-03 1.31744280e+02] [ 4.68409142e-03 3.51557224e-04 9.99988968e-01 7.38723828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.74, Z:0.74 [[-8.39696290e-01 5.43040215e-01 4.17901895e-03 2.09841704e+02] [-5.43031165e-01 -8.39706602e-01 3.15849207e-03 1.31736612e+02] [ 5.22433801e-03 3.82836547e-04 9.99986280e-01 7.38087789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.74, Z:0.74 [[-8.38778716e-01 5.44457357e-01 4.05616422e-03 2.09847715e+02] [-5.44448857e-01 -8.38788445e-01 3.06365785e-03 1.31739164e+02] [ 5.07029474e-03 3.61357027e-04 9.99987081e-01 7.37722262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.72, Z:0.74 [[-8.37784639e-01 5.45990273e-01 3.39426774e-03 2.09830574e+02] [-5.45984340e-01 -8.37791463e-01 2.56206739e-03 1.31724139e+02] [ 4.24255241e-03 2.93243671e-04 9.99990957e-01 7.37854589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.71, Z:0.74 [[-8.36209837e-01 5.48408345e-01 1.18126729e-03 2.09822048e+02] [-5.48407629e-01 -8.36210666e-01 8.91102946e-04 1.31714094e+02] [ 1.47647660e-03 9.73330535e-05 9.99998905e-01 7.39153433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.72, Z:0.74 [[-8.35974217e-01 5.48768497e-01 4.96346587e-04 2.09830405e+02] [-5.48768371e-01 -8.35974363e-01 3.74215738e-04 1.31719680e+02] [ 6.20290830e-04 4.04554006e-05 9.99999807e-01 7.39860037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.71, Z:0.74 [[-8.35855443e-01 5.48949239e-01 6.41665754e-04 2.09823293e+02] [-5.48949028e-01 -8.35855688e-01 4.83443070e-04 1.31713725e+02] [ 8.01725675e-04 5.18467295e-05 9.99999677e-01 7.40120946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.71, Z:0.74 [[-8.35939252e-01 5.48820570e-01 1.24417737e-03 2.09817283e+02] [-5.48819780e-01 -8.35940172e-01 9.36713331e-04 1.31708511e+02] [ 1.55414539e-03 1.00206289e-04 9.99998787e-01 7.39518448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.71, Z:0.74 [[-8.36510637e-01 5.47946639e-01 2.10587400e-03 2.09826743e+02] [-5.47944375e-01 -8.36513271e-01 1.58438340e-03 1.31712990e+02] [ 2.62974911e-03 1.71451751e-04 9.99996528e-01 7.38581355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.71, Z:0.74 [[-8.36865500e-01 5.47402887e-01 2.49282881e-03 2.09817670e+02] [-5.47399716e-01 -8.36869188e-01 1.87427509e-03 1.31705674e+02] [ 3.11215522e-03 2.03942376e-04 9.99995136e-01 7.38045017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.71, Z:0.74 [[-8.37000734e-01 5.47194805e-01 2.75973428e-03 2.09822597e+02] [-5.47190922e-01 -8.37005254e-01 2.07358703e-03 1.31709472e+02] [ 3.44456815e-03 2.25492321e-04 9.99994042e-01 7.37766782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.70, Z:0.74 [[-8.36583996e-01 5.47822513e-01 4.20842495e-03 2.09806316e+02] [-5.47813504e-01 -8.36594513e-01 3.15998404e-03 1.31697754e+02] [ 5.25185562e-03 3.38160064e-04 9.99986152e-01 7.37184056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.70, Z:0.74 [[-8.36422510e-01 5.48064358e-01 4.77967992e-03 2.09815375e+02] [-5.48052754e-01 -8.36436080e-01 3.58655497e-03 1.31704572e+02] [ 5.96355968e-03 3.80358561e-04 9.99982146e-01 7.36876236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.69, Z:0.74 [[-8.36019440e-01 5.48674071e-01 5.31610271e-03 2.09797580e+02] [-5.48659746e-01 -8.36036238e-01 3.98643860e-03 1.31691864e+02] [ 6.63171000e-03 4.16008600e-04 9.99977923e-01 7.36750733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.69, Z:0.74 [[-8.35482022e-01 5.49492747e-01 5.24520683e-03 2.09798570e+02] [-5.49478836e-01 -8.35498390e-01 3.93067378e-03 1.31694436e+02] [ 6.54223860e-03 4.01877134e-04 9.99978519e-01 7.36870775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.68, Z:0.74 [[-8.34713488e-01 5.50659368e-01 5.25860977e-03 2.09779582e+02] [-5.50645425e-01 -8.34729961e-01 3.93809801e-03 1.31683230e+02] [ 6.55806968e-03 3.91554117e-04 9.99978419e-01 7.37177189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.68, Z:0.74 [[-8.33266846e-01 5.52837834e-01 6.05749826e-03 2.09770983e+02] [-5.52819413e-01 -8.33288753e-01 4.53332645e-03 1.31682925e+02] [ 7.55383954e-03 4.28768002e-04 9.99971377e-01 7.37579454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.69, Z:0.74 [[-8.33048337e-01 5.53162064e-01 6.49612822e-03 2.09781678e+02] [-5.53140915e-01 -8.33073541e-01 4.85834019e-03 1.31693232e+02] [ 8.09920203e-03 4.53957906e-04 9.99967098e-01 7.37342633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.68, Z:0.74 [[-8.33185623e-01 5.52950782e-01 6.86668232e-03 2.09761634e+02] [-5.52927173e-01 -8.33213780e-01 5.13203582e-03 1.31680777e+02] [ 8.55917755e-03 4.79163218e-04 9.99963255e-01 7.36674259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.68, Z:0.74 [[-8.33522741e-01 5.52441370e-01 6.95512850e-03 2.09762178e+02] [-5.52417161e-01 -8.33551615e-01 5.19464668e-03 1.31684363e+02] [ 8.66719632e-03 4.87723792e-04 9.99962320e-01 7.36018261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.68, Z:0.74 [[-8.33920591e-01 5.51844063e-01 6.67669101e-03 2.09758511e+02] [-5.51821763e-01 -8.33947185e-01 4.98334359e-03 1.31684750e+02] [ 8.31803625e-03 4.71369425e-04 9.99965293e-01 7.35949794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.69, Z:0.74 [[-8.34388510e-01 5.51150197e-01 5.41059985e-03 2.09756756e+02] [-5.51135556e-01 -8.34405964e-01 4.03566517e-03 1.31690805e+02] [ 6.73889443e-03 3.85338689e-04 9.99977219e-01 7.36392925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.71, Z:0.74 [[-8.34812952e-01 5.50512572e-01 4.82119618e-03 2.09769355e+02] [-5.50500951e-01 -8.34826801e-01 3.59365518e-03 1.31705353e+02] [ 6.00321614e-03 3.45956805e-04 9.99981921e-01 7.37173616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.70, Z:0.74 [[-8.35369632e-01 5.49670113e-01 4.51056584e-03 2.09759744e+02] [-5.49659942e-01 -8.35381745e-01 3.35989332e-03 1.31704148e+02] [ 5.61487730e-03 3.27475484e-04 9.99984183e-01 7.37789249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.71, Z:0.74 [[-8.36011683e-01 5.48693097e-01 4.51120332e-03 2.09759040e+02] [-5.48682921e-01 -8.36023789e-01 3.35814239e-03 1.31709604e+02] [ 5.61406284e-03 3.32226058e-04 9.99984186e-01 7.38161075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.73, Z:0.74 [[-8.37824106e-01 5.45933458e-01 2.72525840e-03 2.09770054e+02] [-5.45929735e-01 -8.37828512e-01 2.02737514e-03 1.31726678e+02] [ 3.39011111e-03 2.10784167e-04 9.99994231e-01 7.37719572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.72, Z:0.74 [[-8.39042270e-01 5.44063522e-01 1.71839325e-03 2.09760929e+02] [-5.44062039e-01 -8.39044019e-01 1.27753390e-03 1.31723809e+02] [ 2.13686717e-03 1.36992410e-04 9.99997708e-01 7.37637850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.76, Z:0.74 [[-8.41540830e-01 5.40193198e-01 5.84043617e-04 2.09793359e+02] [-5.40193026e-01 -8.41541031e-01 4.33964520e-04 1.31756211e+02] [ 7.25921350e-04 4.97025735e-05 9.99999735e-01 7.37370585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.76, Z:0.74 [[-8.42880092e-01 5.38101043e-01 6.46943155e-04 2.09796073e+02] [-5.38100831e-01 -8.42880338e-01 4.80387846e-04 1.31762843e+02] [ 8.03792866e-04 5.67887028e-05 9.99999675e-01 7.37516104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.76, Z:0.74 [[-8.44142860e-01 5.36116478e-01 1.39761571e-03 2.09785854e+02] [-5.36115490e-01 -8.44144008e-01 1.03707082e-03 1.31759911e+02] [ 1.73577969e-03 1.26152500e-04 9.99998486e-01 7.37992762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.76, Z:0.74 [[-8.45452150e-01 5.34046220e-01 2.30170168e-03 2.09782147e+02] [-5.34043535e-01 -8.45455256e-01 1.70680166e-03 1.31761917e+02] [ 2.85749676e-03 2.13810230e-04 9.99995895e-01 7.37822471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.78, Z:0.74 [[-8.46779621e-01 5.31933236e-01 3.36238193e-03 2.09801884e+02] [-5.31927497e-01 -8.46786236e-01 2.49173407e-03 1.31781033e+02] [ 4.17265491e-03 3.21406234e-04 9.99991243e-01 7.38029763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.77, Z:0.74 [[-8.48251284e-01 5.29582829e-01 3.43327498e-03 2.09775363e+02] [-5.29576833e-01 -8.48258164e-01 2.54266300e-03 1.31768566e+02] [ 4.25885419e-03 3.38634267e-04 9.99990874e-01 7.37689333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.78, Z:0.74 [[-8.48535647e-01 5.29130671e-01 2.82647051e-03 2.09790421e+02] [-5.29126609e-01 -8.48540309e-01 2.09195472e-03 1.31782470e+02] [ 3.50529156e-03 2.79537396e-04 9.99993817e-01 7.37464668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.79, Z:0.74 [[-8.48552904e-01 5.29104586e-01 2.51142532e-03 2.09796536e+02] [-5.29101382e-01 -8.48556584e-01 1.85762285e-03 1.31789473e+02] [ 3.11396326e-03 2.47492657e-04 9.99995121e-01 7.37192546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.79, Z:0.74 [[-8.48613812e-01 5.29006460e-01 2.60074228e-03 2.09792433e+02] [-5.29003028e-01 -8.48617759e-01 1.92248485e-03 1.31789524e+02] [ 3.22404298e-03 2.55646652e-04 9.99994770e-01 7.36716850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:209.80, Y:131.80, Z:0.74 [[-8.48836576e-01 5.28645421e-01 3.23822892e-03 2.09797627e+02] [-5.28640104e-01 -8.48842693e-01 2.39221469e-03 1.31797169e+02] [ 4.01338030e-03 3.18741654e-04 9.99991896e-01 7.35561600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.79, Z:0.74 [[-8.48394146e-01 5.29351233e-01 3.82696637e-03 2.09788905e+02] [-5.29343823e-01 -8.48402696e-01 2.82537118e-03 1.31793825e+02] [ 4.74242230e-03 3.71247356e-04 9.99988686e-01 7.36185690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49140051300003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:209.77, Y:131.79, Z:0.73 [[-8.47998374e-01 5.29972897e-01 5.24280311e-03 2.09769162e+02] [-5.29959018e-01 -8.48014432e-01 3.86820924e-03 1.31785047e+02] [ 6.49601876e-03 5.01764360e-04 9.99978775e-01 7.34887454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.78, Z:0.74 [[-8.47398377e-01 5.30932237e-01 5.19141304e-03 2.09754076e+02] [-5.30918661e-01 -8.47414139e-01 3.82787116e-03 1.31775944e+02] [ 6.43161700e-03 4.87513744e-04 9.99979198e-01 7.35731473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.79, Z:0.74 [[-8.47217112e-01 5.31222195e-01 5.11317519e-03 2.09775650e+02] [-5.31209046e-01 -8.47232408e-01 3.76780827e-03 1.31793775e+02] [ 6.33359111e-03 4.75986727e-04 9.99979829e-01 7.35417396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.79, Z:0.74 [[-8.47721933e-01 5.30418395e-01 4.88365536e-03 2.09769991e+02] [-5.30406401e-01 -8.47735876e-01 3.59643206e-03 1.31793258e+02] [ 6.04766358e-03 4.58452282e-04 9.99981608e-01 7.35583587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.79, Z:0.74 [[-8.47880355e-01 5.30165109e-01 4.88472955e-03 2.09768068e+02] [-5.30153119e-01 -8.47894302e-01 3.59497292e-03 1.31791748e+02] [ 6.04766357e-03 4.58452312e-04 9.99981608e-01 7.35583984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.79, Z:0.74 [[-8.48469994e-01 5.29223301e-01 4.62247808e-03 2.09764574e+02] [-5.29212562e-01 -8.48482472e-01 3.39984005e-03 1.31790035e+02] [ 5.72136620e-03 4.38388799e-04 9.99983537e-01 7.35823553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.79, Z:0.74 [[-8.49129699e-01 5.28166855e-01 4.30437530e-03 2.09765053e+02] [-5.28157540e-01 -8.49140508e-01 3.16389854e-03 1.31791563e+02] [ 5.32608577e-03 4.13171950e-04 9.99985731e-01 7.35359990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.80, Z:0.74 [[-8.49735092e-01 5.27191354e-01 4.42155739e-03 2.09773461e+02] [-5.27181523e-01 -8.49746487e-01 3.24800730e-03 1.31799323e+02] [ 5.46952423e-03 4.28982427e-04 9.99984950e-01 7.35323870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.79, Z:0.73 [[-8.50150288e-01 5.26519220e-01 4.69039024e-03 2.09760554e+02] [-5.26508159e-01 -8.50163103e-01 3.44333897e-03 1.31791042e+02] [ 5.80058087e-03 4.57826881e-04 9.99983072e-01 7.34586229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.79, Z:0.73 [[-8.50483626e-01 5.25976592e-01 5.12111875e-03 2.09763133e+02] [-5.25963412e-01 -8.50498896e-01 3.75719772e-03 1.31794215e+02] [ 6.33170390e-03 5.01914051e-04 9.99979829e-01 7.34023621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.80, Z:0.73 [[-8.51247163e-01 5.24748636e-01 4.13950603e-03 2.09765197e+02] [-5.24740020e-01 -8.51257129e-01 3.03514369e-03 1.31798881e+02] [ 5.11647153e-03 4.11492978e-04 9.99986826e-01 7.34738796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.81, Z:0.74 [[-8.51817091e-01 5.23825662e-01 3.78408241e-03 2.09774598e+02] [-5.23818460e-01 -8.51825412e-01 2.77283243e-03 1.31806339e+02] [ 4.67585834e-03 3.79773828e-04 9.99988996e-01 7.35389237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.81, Z:0.74 [[-8.52480852e-01 5.22746086e-01 3.59526351e-03 2.09777742e+02] [-5.22739583e-01 -8.52488355e-01 2.63285667e-03 1.31808007e+02] [ 4.44123580e-03 3.65073347e-04 9.99990071e-01 7.35137591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.81, Z:0.73 [[-8.53828701e-01 5.20540733e-01 3.72760227e-03 2.09782385e+02] [-5.20533730e-01 -8.53836749e-01 2.72809541e-03 1.31807730e+02] [ 4.60284859e-03 3.88983448e-04 9.99989331e-01 7.34879975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.80, Z:0.73 [[-8.54584327e-01 5.19297946e-01 3.90786159e-03 2.09775715e+02] [-5.19290244e-01 -8.54593162e-01 2.85826499e-03 1.31801696e+02] [ 4.82392293e-03 4.13314066e-04 9.99988279e-01 7.34718977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.80, Z:0.74 [[-8.55046320e-01 5.18534517e-01 4.21249252e-03 2.09775652e+02] [-5.18525569e-01 -8.55056579e-01 3.07918111e-03 1.31800986e+02] [ 5.19858114e-03 4.48557397e-04 9.99986387e-01 7.35212004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.80, Z:0.74 [[-8.55223186e-01 5.18240681e-01 4.46092033e-03 2.09776588e+02] [-5.18230653e-01 -8.55234688e-01 3.25877078e-03 1.31801244e+02] [ 5.50396139e-03 4.75190671e-04 9.99984740e-01 7.35431355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.79, Z:0.74 [[-8.54178655e-01 5.19964632e-01 3.95056801e-03 2.09769473e+02] [-5.19956794e-01 -8.54187693e-01 2.88418540e-03 1.31792534e+02] [ 4.87420097e-03 4.09484937e-04 9.99988037e-01 7.35509800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.78, Z:0.74 [[-8.53235548e-01 5.21513250e-01 3.60980559e-03 2.09757909e+02] [-5.21506727e-01 -8.53243106e-01 2.63378299e-03 1.31782441e+02] [ 4.45359446e-03 3.64699371e-04 9.99990016e-01 7.35348655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.78, Z:0.74 [[-8.52182029e-01 5.23234671e-01 3.35688029e-03 2.09749129e+02] [-5.23229049e-01 -8.52188577e-01 2.44772584e-03 1.31775730e+02] [ 4.14143006e-03 3.29490693e-04 9.99991370e-01 7.35197295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.77, Z:0.73 [[-8.50896468e-01 5.25324440e-01 3.07132296e-03 2.09739182e+02] [-5.25319753e-01 -8.50901961e-01 2.23811263e-03 1.31768262e+02] [ 3.78912999e-03 2.90975517e-04 9.99992779e-01 7.34981035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.77, Z:0.73 [[-8.49766616e-01 5.27149258e-01 3.21841479e-03 2.09735577e+02] [-5.27144130e-01 -8.49772659e-01 2.34382696e-03 1.31765540e+02] [ 3.97046754e-03 2.95137435e-04 9.99992074e-01 7.34848236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.75, Z:0.74 [[-8.48932061e-01 5.28489898e-01 3.57542479e-03 2.09720208e+02] [-5.28483589e-01 -8.48939530e-01 2.60217299e-03 1.31753544e+02] [ 4.41054158e-03 3.19514751e-04 9.99990223e-01 7.35406469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.75, Z:0.74 [[-8.48135347e-01 5.29764263e-01 4.03214219e-03 2.09724848e+02] [-5.29756262e-01 -8.48144859e-01 2.93270544e-03 1.31754893e+02] [ 4.97348320e-03 3.51278567e-04 9.99987570e-01 7.35914577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.75, Z:0.74 [[-8.48314756e-01 5.29476791e-01 4.05012731e-03 2.09712528e+02] [-5.29468724e-01 -8.48324351e-01 2.94391932e-03 1.31745750e+02] [ 4.99455857e-03 3.52954461e-04 9.99987465e-01 7.35858781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.75, Z:0.74 [[-8.48736779e-01 5.28803941e-01 3.50309241e-03 2.09716573e+02] [-5.28797908e-01 -8.48743953e-01 2.54468669e-03 1.31747728e+02] [ 4.31886885e-03 3.07341244e-04 9.99990626e-01 7.35743015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.76, Z:0.74 [[-8.49921283e-01 5.26904571e-01 2.32060343e-03 2.09731907e+02] [-5.26901919e-01 -8.49924426e-01 1.68467001e-03 1.31756748e+02] [ 2.85999786e-03 2.09106499e-04 9.99995888e-01 7.35232729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.75, Z:0.74 [[-8.50613786e-01 5.25784954e-01 2.52383926e-03 2.09723756e+02] [-5.25781816e-01 -8.50617499e-01 1.83105510e-03 1.31751032e+02] [ 3.10956306e-03 2.30531914e-04 9.99995139e-01 7.35015037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.74, Z:0.73 [[-8.51285806e-01 5.24690580e-01 3.50303177e-03 2.09707222e+02] [-5.24684533e-01 -8.51292952e-01 2.53983239e-03 1.31739044e+02] [ 4.31473238e-03 3.24136674e-04 9.99990639e-01 7.34943273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.75, Z:0.73 [[-8.51746775e-01 5.23931735e-01 4.79253931e-03 2.09719794e+02] [-5.23920417e-01 -8.51760141e-01 3.47255362e-03 1.31748077e+02] [ 5.90147500e-03 4.46827158e-04 9.99982486e-01 7.34606153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.75, Z:0.73 [[-8.51845820e-01 5.23761770e-01 5.68399775e-03 2.09723580e+02] [-5.23745865e-01 -8.51864619e-01 4.11588100e-03 1.31750154e+02] [ 6.99773769e-03 5.29125710e-04 9.99975376e-01 7.33952245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.73, Z:0.73 [[-8.51707391e-01 5.23984320e-01 5.91199989e-03 2.09697017e+02] [-5.23967139e-01 -8.51727735e-01 4.27826830e-03 1.31730236e+02] [ 7.27715978e-03 5.46139068e-04 9.99973372e-01 7.34100878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.74, Z:0.73 [[-8.51088761e-01 5.25006141e-01 4.05869867e-03 2.09714804e+02] [-5.24998064e-01 -8.51098359e-01 2.93526622e-03 1.31743154e+02] [ 4.99538457e-03 3.67363148e-04 9.99987456e-01 7.34471369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.481400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.70, Y:131.74, Z:0.73 [[-8.50956851e-01 5.25225254e-01 3.29707772e-03 2.09703213e+02] [-5.25219931e-01 -8.50963187e-01 2.38296236e-03 1.31735442e+02] [ 4.05728378e-03 2.96107213e-04 9.99991725e-01 7.34150868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.74, Z:0.73 [[-8.50737064e-01 5.25585915e-01 2.42778964e-03 2.09704396e+02] [-5.25583034e-01 -8.50740500e-01 1.75358820e-03 1.31736428e+02] [ 2.98708023e-03 2.15837427e-04 9.99995515e-01 7.34646089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.74, Z:0.73 [[-8.50669392e-01 5.25695247e-01 2.46841052e-03 2.09704587e+02] [-5.25692273e-01 -8.50672945e-01 1.78179957e-03 1.31736367e+02] [ 3.03649361e-03 2.18098025e-04 9.99995366e-01 7.34222955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.73, Z:0.73 [[-8.50809936e-01 5.25465872e-01 2.84089594e-03 2.09702450e+02] [-5.25461935e-01 -8.50814642e-01 2.04936905e-03 1.31734180e+02] [ 3.49394936e-03 2.50840872e-04 9.99993865e-01 7.33956972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.73, Z:0.73 [[-8.51170480e-01 5.24879128e-01 3.27328277e-03 2.09697519e+02] [-5.24873904e-01 -8.51176725e-01 2.35978024e-03 1.31729803e+02] [ 4.02474150e-03 2.90514573e-04 9.99991859e-01 7.33594255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.73, Z:0.73 [[-8.52068661e-01 5.23423575e-01 2.59952846e-03 2.09699905e+02] [-5.23420277e-01 -8.52072594e-01 1.87288085e-03 1.31729195e+02] [ 3.19529695e-03 2.35177175e-04 9.99994867e-01 7.33984303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.73, Z:0.73 [[-8.52427477e-01 5.22843472e-01 1.44944771e-03 2.09708869e+02] [-5.22842447e-01 -8.52428699e-01 1.04364976e-03 1.31734496e+02] [ 1.78121628e-03 1.31802944e-04 9.99998405e-01 7.34470262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.73, Z:0.74 [[-8.52618609e-01 5.22533301e-01 6.76334438e-04 2.09698380e+02] [-5.22533078e-01 -8.52618875e-01 4.86706881e-04 1.31726054e+02] [ 8.30976060e-04 6.15682277e-05 9.99999653e-01 7.35033516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.73, Z:0.74 [[-8.52475647e-01 5.22766527e-01 6.55078083e-04 2.09702582e+02] [-5.22766318e-01 -8.52475897e-01 4.71114619e-04 1.31728532e+02] [ 8.04721230e-04 5.91609830e-05 9.99999674e-01 7.35093174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.73, Z:0.74 [[-8.52041045e-01 5.23473848e-01 1.08979326e-03 2.09704203e+02] [-5.23473271e-01 -8.52041737e-01 7.83218251e-04 1.31729086e+02] [ 1.33854361e-03 9.68564566e-05 9.99999099e-01 7.35433032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.72, Z:0.74 [[-8.51306572e-01 5.24667199e-01 1.20495393e-03 2.09696040e+02] [-5.24666495e-01 -8.51307418e-01 8.65430884e-04 1.31723089e+02] [ 1.47984941e-03 1.04548045e-04 9.99998900e-01 7.35000917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.71, Z:0.74 [[-8.48958386e-01 5.28459352e-01 6.09616323e-04 2.09674255e+02] [-5.28459173e-01 -8.48958604e-01 4.37593964e-04 1.31710136e+02] [ 7.48789645e-04 4.93417278e-05 9.99999718e-01 7.35546223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.69, Z:0.74 [[-8.47676977e-01 5.30512678e-01 2.03298022e-04 2.09648354e+02] [-5.30512658e-01 -8.47677001e-01 1.45876767e-04 1.31693648e+02] [ 2.49720532e-04 1.58042028e-05 9.99999969e-01 7.35819183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.69, Z:0.74 [[-8.46436816e-01 5.32489084e-01 3.02697778e-04 2.09638295e+02] [-5.32489040e-01 -8.46436870e-01 2.17031189e-04 1.31688178e+02] [ 3.71781299e-04 2.25199400e-05 9.99999931e-01 7.35365500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.69, Z:0.73 [[-8.44698040e-01 5.35242744e-01 6.53170733e-04 2.09638073e+02] [-5.35242541e-01 -8.44698291e-01 4.67941486e-04 1.31693217e+02] [ 8.02194487e-04 4.56644931e-05 9.99999677e-01 7.34421081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.70, Z:0.73 [[-8.44519778e-01 5.35524035e-01 5.94024842e-04 2.09635802e+02] [-5.35523868e-01 -8.44519986e-01 4.25296291e-04 1.31695694e+02] [ 7.29422237e-04 4.10566484e-05 9.99999733e-01 7.33761390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.71, Z:0.73 [[-8.44862357e-01 5.34983289e-01 6.92341609e-04 2.09648498e+02] [-5.34983061e-01 -8.44862639e-01 4.95355468e-04 1.31710169e+02] [ 8.49940457e-04 4.81161547e-05 9.99999638e-01 7.33751789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.70, Z:0.73 [[-8.45544796e-01 5.33903537e-01 1.00563544e-03 2.09631603e+02] [-5.33903058e-01 -8.45545391e-01 7.19018208e-04 1.31704232e+02] [ 1.23419678e-03 7.10502677e-05 9.99999236e-01 7.34305103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.71, Z:0.73 [[-8.46480883e-01 5.32417216e-01 1.42189555e-03 2.09631558e+02] [-5.32416257e-01 -8.46482071e-01 1.01595580e-03 1.31709385e+02] [ 1.74452144e-03 1.02946858e-04 9.99998473e-01 7.34588443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.73, Z:0.73 [[-8.49013835e-01 5.28364359e-01 2.57125508e-03 2.09645209e+02] [-5.28361207e-01 -8.49017705e-01 1.83595191e-03 1.31726356e+02] [ 3.15309264e-03 2.00197135e-04 9.99995009e-01 7.33693869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.73, Z:0.73 [[-8.50707952e-01 5.25631190e-01 2.79861088e-03 2.09644135e+02] [-5.25627446e-01 -8.50712525e-01 1.99700917e-03 1.31728895e+02] [ 3.43050364e-03 2.27844887e-04 9.99994090e-01 7.33266136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.74, Z:0.73 [[-8.52481049e-01 5.22750236e-01 2.87253860e-03 2.09655710e+02] [-5.22746279e-01 -8.52485854e-01 2.04845889e-03 1.31740811e+02] [ 3.51963089e-03 2.44663515e-04 9.99993776e-01 7.33047985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.75, Z:0.73 [[-8.54243660e-01 5.19863180e-01 3.16923578e-03 2.09657738e+02] [-5.19858350e-01 -8.54249492e-01 2.25860825e-03 1.31745439e+02] [ 3.88148533e-03 2.81848097e-04 9.99992427e-01 7.33244818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.66, Y:131.75, Z:0.73 [[-8.56024960e-01 5.16921279e-01 3.69594610e-03 2.09657044e+02] [-5.16914690e-01 -8.56032870e-01 2.63231173e-03 1.31747367e+02] [ 4.52454930e-03 3.42835710e-04 9.99989705e-01 7.33056201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.76, Z:0.73 [[-8.58732218e-01 5.12407162e-01 4.22829980e-03 2.09671396e+02] [-5.12398494e-01 -8.58742526e-01 3.00957345e-03 1.31760599e+02] [ 5.17314784e-03 4.17843232e-04 9.99986532e-01 7.32857360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.77, Z:0.73 [[-8.59865269e-01 5.10506773e-01 3.81486370e-03 2.09679784e+02] [-5.10499707e-01 -8.59873645e-01 2.71362855e-03 1.31768446e+02] [ 4.66562651e-03 3.85868144e-04 9.99989041e-01 7.32390536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.77, Z:0.73 [[-8.60783496e-01 5.08962223e-01 3.03781374e-03 2.09683289e+02] [-5.08957738e-01 -8.60788800e-01 2.15957237e-03 1.31772815e+02] [ 3.71405680e-03 3.12805444e-04 9.99993054e-01 7.32570034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.291400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.68, Y:131.77, Z:0.73 [[-8.61583494e-01 5.07612324e-01 1.90068786e-03 2.09682435e+02] [-5.07610566e-01 -8.61585567e-01 1.35038566e-03 1.31774119e+02] [ 2.32307763e-03 1.98660748e-04 9.99997282e-01 7.32414571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.321400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.68, Y:131.77, Z:0.73 [[-8.62351101e-01 5.06309363e-01 1.18663100e-03 2.09680218e+02] [-5.06308677e-01 -8.62351908e-01 8.42572650e-04 1.31773730e+02] [ 1.44989593e-03 1.25791881e-04 9.99998941e-01 7.32896152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.78, Z:0.73 [[-8.63561680e-01 5.04240289e-01 1.71944920e-03 2.09690870e+02] [-5.04238847e-01 -8.63563371e-01 1.22013237e-03 1.31781050e+02] [ 2.10009324e-03 1.86646479e-04 9.99997777e-01 7.33818931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.78, Z:0.73 [[-8.64367828e-01 5.02854629e-01 2.34090328e-03 2.09687518e+02] [-5.02851954e-01 -8.64370960e-01 1.66008991e-03 1.31777919e+02] [ 2.85819271e-03 2.57800524e-04 9.99995882e-01 7.33510470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.78, Z:0.73 [[-8.65194450e-01 5.01427633e-01 2.98187700e-03 2.09696964e+02] [-5.01423290e-01 -8.65199525e-01 2.11334968e-03 1.31784125e+02] [ 3.63961049e-03 3.33275842e-04 9.99993321e-01 7.33318625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.78, Z:0.73 [[-8.65876295e-01 5.00249084e-01 3.01578461e-03 2.09691054e+02] [-5.00244640e-01 -8.65881480e-01 2.13608727e-03 1.31778772e+02] [ 3.67988775e-03 3.40957248e-04 9.99993171e-01 7.33129098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.77, Z:0.73 [[-8.66549062e-01 4.99088105e-01 1.94570069e-03 2.09684384e+02] [-4.99086254e-01 -8.66551218e-01 1.37732718e-03 1.31770884e+02] [ 2.37345692e-03 2.22449112e-04 9.99997159e-01 7.33774941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.77, Z:0.73 [[-8.66432905e-01 4.99291667e-01 1.36132222e-03 2.09686341e+02] [-4.99290762e-01 -8.66433960e-01 9.63086745e-04 1.31771306e+02] [ 1.66035699e-03 1.54754438e-04 9.99998610e-01 7.33783161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.77, Z:0.73 [[-8.66575859e-01 4.99043511e-01 1.36159801e-03 2.09684396e+02] [-4.99042607e-01 -8.66576915e-01 9.62696788e-04 1.31769838e+02] [ 1.66035699e-03 1.54754376e-04 9.99998610e-01 7.33783558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.77, Z:0.73 [[-8.66263426e-01 4.99586620e-01 9.41816142e-04 2.09685152e+02] [-4.99586188e-01 -8.66263931e-01 6.65509350e-04 1.31769845e+02] [ 1.14834092e-03 1.05988073e-04 9.99999335e-01 7.34152856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.77, Z:0.73 [[-8.65674384e-01 5.00607007e-01 6.96991084e-04 2.09684225e+02] [-5.00606771e-01 -8.65674661e-01 4.92225868e-04 1.31768544e+02] [ 8.49779240e-04 7.71888695e-05 9.99999636e-01 7.34569493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.75, Z:0.73 [[-8.64790749e-01 5.02131664e-01 8.67418403e-04 2.09663308e+02] [-5.02131299e-01 -8.64791179e-01 6.12197250e-04 1.31752437e+02] [ 1.05753941e-03 9.38645880e-05 9.99999436e-01 7.34975634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.75, Z:0.74 [[-8.63841566e-01 5.03762177e-01 1.19085653e-03 2.09666226e+02] [-5.03761493e-01 -8.63842377e-01 8.39933800e-04 1.31752725e+02] [ 1.45183922e-03 1.25662065e-04 9.99998938e-01 7.35239410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.74, Z:0.74 [[-8.62268027e-01 5.06450174e-01 1.43913599e-03 2.09658328e+02] [-5.06449179e-01 -8.62269215e-01 1.01441462e-03 1.31743357e+02] [ 1.75467312e-03 1.45848051e-04 9.99998450e-01 7.35923330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.74, Z:0.74 [[-8.62007145e-01 5.06894182e-01 1.40384524e-03 2.09656059e+02] [-5.06893237e-01 -8.62008277e-01 9.88930484e-04 1.31739878e+02] [ 1.71140933e-03 1.40865483e-04 9.99998526e-01 7.36117297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.73, Z:0.74 [[-8.62119887e-01 5.06702344e-01 1.42678422e-03 2.09648417e+02] [-5.06701369e-01 -8.62121055e-01 1.00446751e-03 1.31732290e+02] [ 1.73902676e-03 1.43017897e-04 9.99998478e-01 7.36139027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.73, Z:0.74 [[-8.62445893e-01 5.06147155e-01 1.46236970e-03 2.09645301e+02] [-5.06146131e-01 -8.62447121e-01 1.02888006e-03 1.31727438e+02] [ 1.78198125e-03 1.47180614e-04 9.99998401e-01 7.35517739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.801400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:209.65, Y:131.73, Z:0.74 [[-8.62790417e-01 5.05559411e-01 1.54234636e-03 2.09649054e+02] [-5.05558272e-01 -8.62791781e-01 1.08447323e-03 1.31726985e+02] [ 1.87898942e-03 1.55927152e-04 9.99998223e-01 7.35529073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.71, Z:0.74 [[-8.63547786e-01 5.04265049e-01 1.40770190e-03 2.09631353e+02] [-5.04264100e-01 -8.63548921e-01 9.89188537e-04 1.31706974e+02] [ 1.71443267e-03 1.44358038e-04 9.99998520e-01 7.36512398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.71, Z:0.74 [[-8.63614755e-01 5.04150658e-01 1.29185485e-03 2.09637467e+02] [-5.04149859e-01 -8.63615711e-01 9.07219304e-04 1.31706334e+02] [ 1.57304135e-03 1.32199538e-04 9.99998754e-01 7.36413816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.70, Z:0.74 [[-8.63259472e-01 5.04758952e-01 1.21823170e-03 2.09642352e+02] [-5.04758243e-01 -8.63260323e-01 8.54985499e-04 1.31704849e+02] [ 1.48321268e-03 1.23161837e-04 9.99998892e-01 7.36245358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.70, Z:0.74 [[-8.62653803e-01 5.05793366e-01 1.21955974e-03 2.09636449e+02] [-5.05792657e-01 -8.62654657e-01 8.55382708e-04 1.31696377e+02] [ 1.48470579e-03 1.21054786e-04 9.99998891e-01 7.35752704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.70, Z:0.74 [[-8.61876787e-01 5.07116800e-01 9.77787447e-04 2.09639398e+02] [-5.07116345e-01 -8.61877336e-01 6.85389166e-04 1.31695047e+02] [ 1.19030520e-03 9.48690154e-05 9.99999287e-01 7.35801006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.68, Z:0.74 [[-8.60936345e-01 5.08711997e-01 8.44723598e-04 2.09622047e+02] [-5.08711659e-01 -8.60936756e-01 5.91752663e-04 1.31679888e+02] [ 1.02828527e-03 7.97406320e-05 9.99999468e-01 7.36214505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.67, Z:0.74 [[-8.58904885e-01 5.12134824e-01 5.66163157e-04 2.09610992e+02] [-5.12134673e-01 -8.58905070e-01 3.96380798e-04 1.31667606e+02] [ 6.89280817e-04 5.05016205e-05 9.99999761e-01 7.36920615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.68, Z:0.74 [[-8.58267513e-01 5.13202446e-01 3.54055041e-04 2.09625085e+02] [-5.13202387e-01 -8.58267586e-01 2.47744451e-04 1.31675458e+02] [ 4.31017023e-04 3.09291218e-05 9.99999907e-01 7.37594448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.67, Z:0.74 [[-8.57822760e-01 5.13945627e-01 6.87221336e-05 2.09614252e+02] [-5.13945625e-01 -8.57822763e-01 4.81028604e-05 1.31665671e+02] [ 8.36736655e-05 5.94428864e-06 9.99999997e-01 7.37608261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.66, Z:0.74 [[-8.57585692e-01 5.14341110e-01 -6.73009213e-05 2.09608106e+02] [-5.14341108e-01 -8.57585694e-01 -4.69646639e-05 1.31659892e+02] [-8.18721644e-05 -5.66059333e-06 9.99999997e-01 7.37493633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:131.65, Z:0.74 [[-8.57471049e-01 5.14532213e-01 4.51892557e-05 2.09594316e+02] [-5.14532213e-01 -8.57471050e-01 3.16106219e-05 1.31649207e+02] [ 5.50131620e-05 3.85386544e-06 9.99999999e-01 7.37646766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.161400513 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:209.59, Y:131.65, Z:0.74 [[-8.57392332e-01 5.14663183e-01 4.45410214e-04 2.09592629e+02] [-5.14663090e-01 -8.57392446e-01 3.10860024e-04 1.31646290e+02] [ 5.41879563e-04 3.72928036e-05 9.99999853e-01 7.37873787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.191400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.59, Y:131.64, Z:0.74 [[-8.57742965e-01 5.14075698e-01 1.78387842e-03 2.09588985e+02] [-5.14074215e-01 -8.57744807e-01 1.24402517e-03 1.31638185e+02] [ 2.16963556e-03 1.50007941e-04 9.99997635e-01 7.37508170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:131.62, Z:0.74 [[-8.58402346e-01 5.12970155e-01 2.65194186e-03 2.09562522e+02] [-5.12966876e-01 -8.58406412e-01 1.84815503e-03 1.31617783e+02] [ 3.22449227e-03 2.26102275e-04 9.99994776e-01 7.37010893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:131.63, Z:0.74 [[-8.59075168e-01 5.11836261e-01 3.67403978e-03 2.09585063e+02] [-5.11829963e-01 -8.59082965e-01 2.55876959e-03 1.31631553e+02] [ 4.46597605e-03 3.17691768e-04 9.99989977e-01 7.36729121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:131.63, Z:0.74 [[-8.59939633e-01 5.10379720e-01 4.04583016e-03 2.09592195e+02] [-5.10372077e-01 -8.59949076e-01 2.81587811e-03 1.31634609e+02] [ 4.91637499e-03 3.56606443e-04 9.99987851e-01 7.37001229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.63, Z:0.74 [[-8.61446048e-01 5.07846152e-01 1.73002555e-03 2.09597672e+02] [-5.07844751e-01 -8.61447771e-01 1.20334936e-03 1.31633719e+02] [ 2.10144299e-03 1.58036161e-04 9.99997780e-01 7.37936142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.64, Z:0.74 [[-8.62268256e-01 5.06451828e-01 2.09089819e-05 2.09609149e+02] [-5.06451828e-01 -8.62268257e-01 1.45910586e-05 1.31639091e+02] [ 2.54188198e-05 1.99201459e-06 1.00000000e+00 7.38251925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.63, Z:0.74 [[-8.63166161e-01 5.04919087e-01 -9.46090651e-04 2.09597879e+02] [-5.04918667e-01 -8.63166674e-01 -6.57141386e-04 1.31628778e+02] [-1.14843715e-03 -8.95233768e-05 9.99999337e-01 7.38259108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.64, Z:0.74 [[-8.64122049e-01 5.03281065e-01 -1.12000969e-03 2.09621732e+02] [-5.03280476e-01 -8.64122768e-01 -7.77459983e-04 1.31643151e+02] [-1.35910676e-03 -1.08141305e-04 9.99999071e-01 7.37890677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:209.62, Y:131.64, Z:0.74 [[-8.65052977e-01 5.01680309e-01 -4.63435137e-04 2.09615684e+02] [-5.01680208e-01 -8.65053100e-01 -3.21459689e-04 1.31636060e+02] [-5.62165998e-04 -4.55834254e-05 9.99999841e-01 7.37652477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.64, Z:0.74 [[-8.67213500e-01 4.97936025e-01 6.79038310e-04 2.09629702e+02] [-4.97935807e-01 -8.67213763e-01 4.70854991e-04 1.31639834e+02] [ 8.23327031e-04 7.02143153e-05 9.99999659e-01 7.37044004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.63, Z:0.74 [[-8.68038127e-01 4.96497073e-01 6.82948895e-04 2.09624718e+02] [-4.96496853e-01 -8.68038393e-01 4.73269017e-04 1.31633781e+02] [ 8.27802543e-04 7.17335743e-05 9.99999655e-01 7.37811101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.63, Z:0.74 [[-8.68582110e-01 4.95545273e-01 3.69233519e-05 2.09622809e+02] [-4.95545272e-01 -8.68582111e-01 2.56243795e-05 1.31630734e+02] [ 4.47690032e-05 3.95968516e-06 9.99999999e-01 7.37915814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.62, Z:0.74 [[-8.68973400e-01 4.94858700e-01 -3.12577548e-04 2.09615244e+02] [-4.94858654e-01 -8.68973455e-01 -2.16254753e-04 1.31624851e+02] [-3.78637137e-04 -3.32379233e-05 9.99999928e-01 7.38009769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:131.61, Z:0.74 [[-8.69489040e-01 4.93951859e-01 6.09245393e-04 2.09589928e+02] [-4.93951683e-01 -8.69489251e-01 4.21401273e-04 1.31605981e+02] [ 7.37884263e-04 6.54660001e-05 9.99999726e-01 7.37151731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.62, Z:0.74 [[-8.69583419e-01 4.93784602e-01 1.20161800e-03 2.09618557e+02] [-4.93783921e-01 -8.69584240e-01 8.30548235e-04 1.31624161e+02] [ 1.45502001e-03 1.28891327e-04 9.99998933e-01 7.36307180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.61, Z:0.74 [[-8.69699893e-01 4.93578177e-01 1.63664214e-03 2.09596604e+02] [-4.93576914e-01 -8.69701415e-01 1.13049566e-03 1.31607448e+02] [ 1.98137797e-03 1.75383173e-04 9.99998022e-01 7.36107664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.62, Z:0.74 [[-8.69826775e-01 4.93354560e-01 1.63090162e-03 2.09617075e+02] [-4.93353307e-01 -8.69828286e-01 1.12581699e-03 1.31620782e+02] [ 1.97403130e-03 1.74655051e-04 9.99998036e-01 7.35452949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.61, Z:0.74 [[-8.69932964e-01 4.93167334e-01 1.61814694e-03 2.09605922e+02] [-4.93166101e-01 -8.69934452e-01 1.11630783e-03 1.31613211e+02] [ 1.95820833e-03 1.73097760e-04 9.99998068e-01 7.35506691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.61, Z:0.74 [[-8.70006629e-01 4.93037813e-01 1.47661959e-03 2.09606664e+02] [-4.93036787e-01 -8.70007868e-01 1.01803358e-03 1.31614098e+02] [ 1.78659971e-03 1.57668186e-04 9.99998392e-01 7.35527874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.61, Z:0.74 [[-8.69987645e-01 4.93071454e-01 1.42779533e-03 2.09604880e+02] [-4.93070496e-01 -8.69988804e-01 9.83752174e-04 1.31610799e+02] [ 1.72722607e-03 1.51848487e-04 9.99998497e-01 7.35080645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:131.59, Z:0.74 [[-8.70135994e-01 4.92808750e-01 1.69948764e-03 2.09579340e+02] [-4.92807393e-01 -8.70137635e-01 1.17019150e-03 1.31591552e+02] [ 2.05546877e-03 1.80705667e-04 9.99997871e-01 7.35162184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.821400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.61, Y:131.61, Z:0.74 [[-8.70244259e-01 4.92615470e-01 2.21994850e-03 2.09614685e+02] [-4.92613158e-01 -8.70247059e-01 1.52756944e-03 1.31614755e+02] [ 2.68440799e-03 2.35782695e-04 9.99996369e-01 7.35678055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.61, Z:0.74 [[-8.70450722e-01 4.92250570e-01 2.21741165e-03 2.09605583e+02] [-4.92248265e-01 -8.70453514e-01 1.52486416e-03 1.31608882e+02] [ 2.68076902e-03 2.35802074e-04 9.99996379e-01 7.36116952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.60, Z:0.74 [[-8.70450345e-01 4.92252076e-01 2.02285625e-03 2.09596512e+02] [-4.92250159e-01 -8.70452669e-01 1.39019911e-03 1.31602863e+02] [ 2.44512902e-03 2.14347982e-04 9.99996988e-01 7.36449059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:131.59, Z:0.74 [[-8.70335191e-01 4.92457273e-01 1.57803818e-03 2.09580905e+02] [-4.92456108e-01 -8.70336605e-01 1.08382244e-03 1.31591717e+02] [ 1.90716064e-03 1.66174270e-04 9.99998168e-01 7.37021972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:131.58, Z:0.74 [[-8.70207994e-01 4.92682510e-01 1.41145006e-03 2.09565661e+02] [-4.92681580e-01 -8.70209126e-01 9.68790431e-04 1.31579188e+02] [ 1.70556282e-03 1.47653734e-04 9.99998535e-01 7.36680864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:131.59, Z:0.74 [[-8.70313000e-01 4.92493934e-01 2.23758504e-03 2.09580105e+02] [-4.92491598e-01 -8.70315845e-01 1.53481220e-03 1.31587639e+02] [ 2.70329141e-03 2.33775174e-04 9.99996319e-01 7.36351483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:131.58, Z:0.74 [[-8.70504166e-01 4.92152448e-01 2.90954042e-03 2.09577363e+02] [-4.92148501e-01 -8.70508975e-01 1.99442829e-03 1.31583874e+02] [ 3.51434382e-03 3.04232173e-04 9.99993778e-01 7.35937091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:131.57, Z:0.74 [[-8.70541563e-01 4.92084111e-01 3.25813898e-03 2.09555515e+02] [-4.92079167e-01 -8.70547593e-01 2.23193904e-03 1.31566492e+02] [ 3.93466679e-03 3.39733382e-04 9.99992201e-01 7.36208113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:131.58, Z:0.74 [[-8.70378975e-01 4.92374590e-01 2.77549036e-03 2.09581751e+02] [-4.92371007e-01 -8.70383353e-01 1.90009267e-03 1.31582102e+02] [ 3.35129796e-03 2.87229730e-04 9.99994343e-01 7.36615203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:131.56, Z:0.74 [[-8.69213321e-01 4.94436153e-01 1.04497380e-03 2.09558085e+02] [-4.94435648e-01 -8.69213943e-01 7.14961956e-04 1.31563875e+02] [ 1.26180883e-03 1.04782161e-04 9.99999198e-01 7.38141201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:131.55, Z:0.74 [[-8.68563159e-01 4.95578192e-01 5.42363441e-04 2.09543141e+02] [-4.95578056e-01 -8.68563327e-01 3.70867093e-04 1.31553466e+02] [ 6.54870638e-04 5.33380735e-05 9.99999784e-01 7.38441169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.56, Z:0.74 [[-8.68042927e-01 4.96489017e-01 3.63710741e-04 2.09554697e+02] [-4.96488956e-01 -8.68043003e-01 2.48561923e-04 1.31560944e+02] [ 4.39124829e-04 3.51840534e-05 9.99999903e-01 7.38548577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:131.56, Z:0.74 [[-8.67777950e-01 4.96952126e-01 1.18727047e-04 2.09558119e+02] [-4.96952119e-01 -8.67777958e-01 8.11248553e-05 1.31561605e+02] [ 1.43343884e-04 1.13967029e-05 9.99999990e-01 7.38894500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.55, Z:0.74 [[-8.67957503e-01 4.96638474e-01 -1.59693751e-06 2.09547139e+02] [-4.96638474e-01 -8.67957503e-01 -1.03208745e-06 1.31551747e+02] [-1.89864805e-06 -1.02707407e-07 1.00000000e+00 7.39065356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.55, Z:0.74 [[-8.68521726e-01 4.95651072e-01 1.62037858e-04 2.09550796e+02] [-4.95651060e-01 -8.68521741e-01 1.10554305e-04 1.31551655e+02] [ 1.95529762e-04 1.57045798e-05 9.99999981e-01 7.39319211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:131.55, Z:0.74 [[-8.70153270e-01 4.92780031e-01 1.06210362e-03 2.09559532e+02] [-4.92779511e-01 -8.70153912e-01 7.23856884e-04 1.31552269e+02] [ 1.28089584e-03 1.06483532e-04 9.99999174e-01 7.39563780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:131.55, Z:0.74 [[-8.71143385e-01 4.91027161e-01 1.23682353e-03 2.09555175e+02] [-4.91026455e-01 -8.71144254e-01 8.42379886e-04 1.31545728e+02] [ 1.49108311e-03 1.26520594e-04 9.99998880e-01 7.39003819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.331400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.55, Y:131.54, Z:0.74 [[-8.71790078e-01 4.89877061e-01 1.58914611e-03 2.09549546e+02] [-4.89875895e-01 -8.71791511e-01 1.08162296e-03 1.31538194e+02] [ 1.91526636e-03 1.64463789e-04 9.99998152e-01 7.38847628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:131.55, Z:0.74 [[-8.72211786e-01 4.89126795e-01 1.25659863e-03 2.09566434e+02] [-4.89126066e-01 -8.72212681e-01 8.54740281e-04 1.31547559e+02] [ 1.51409764e-03 1.30879401e-04 9.99998845e-01 7.38078202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.54, Z:0.74 [[-8.72229339e-01 4.89096339e-01 8.67446517e-04 2.09554714e+02] [-4.89095991e-01 -8.72229765e-01 5.89675955e-04 1.31537942e+02] [ 1.04502102e-03 9.00680544e-05 9.99999450e-01 7.37833922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.54, Z:0.74 [[-8.72376372e-01 4.88834034e-01 8.67623692e-04 2.09552717e+02] [-4.88833687e-01 -8.72376799e-01 5.89415224e-04 1.31536493e+02] [ 1.04502100e-03 9.00682260e-05 9.99999450e-01 7.37834318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.53, Z:0.74 [[-8.72154282e-01 4.89229574e-01 1.15438333e-03 2.09548514e+02] [-4.89228961e-01 -8.72155038e-01 7.83697088e-04 1.31531555e+02] [ 1.39020903e-03 1.18747013e-04 9.99999027e-01 7.37488660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:131.52, Z:0.74 [[-8.71716105e-01 4.90006190e-01 2.22836970e-03 2.09541564e+02] [-4.90003910e-01 -8.71718924e-01 1.51177671e-03 1.31519059e+02] [ 2.68329198e-03 2.25930239e-04 9.99996374e-01 7.37413209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.52, Z:0.74 [[-8.71785042e-01 4.89881730e-01 2.59450190e-03 2.09551082e+02] [-4.89878642e-01 -8.71788863e-01 1.75901498e-03 1.31520914e+02] [ 3.12356716e-03 2.62491876e-04 9.99995087e-01 7.37405283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:131.51, Z:0.74 [[-8.71940185e-01 4.89605603e-01 2.58220302e-03 2.09534216e+02] [-4.89602547e-01 -8.71943969e-01 1.74953539e-03 1.31505003e+02] [ 3.10811868e-03 2.61237031e-04 9.99995136e-01 7.37216506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:131.50, Z:0.74 [[-8.72096846e-01 4.89327078e-01 2.47041186e-03 2.09534775e+02] [-4.89324283e-01 -8.72100309e-01 1.67269757e-03 1.31500614e+02] [ 2.97294316e-03 2.49921761e-04 9.99995550e-01 7.37834974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:131.49, Z:0.74 [[-8.71872429e-01 4.89728204e-01 2.18009399e-03 2.09539903e+02] [-4.89726031e-01 -8.71875128e-01 1.47516436e-03 1.31492470e+02] [ 2.62319931e-03 2.18506355e-04 9.99996536e-01 7.38718928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:131.49, Z:0.74 [[-8.71493900e-01 4.90401862e-01 2.09666974e-03 2.09542219e+02] [-4.90399856e-01 -8.71496398e-01 1.41778797e-03 1.31488737e+02] [ 2.52252599e-03 2.07387029e-04 9.99996797e-01 7.38167360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:131.47, Z:0.74 [[-8.70784470e-01 4.91658912e-01 2.43341074e-03 2.09524605e+02] [-4.91656218e-01 -8.70787838e-01 1.64440254e-03 1.31473247e+02] [ 2.92746964e-03 2.35518666e-04 9.99995687e-01 7.38270332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:131.47, Z:0.74 [[-8.69895301e-01 4.93230506e-01 2.41504778e-03 2.09524015e+02] [-4.93227862e-01 -8.69898624e-01 1.63091275e-03 1.31470591e+02] [ 2.90526266e-03 2.27554485e-04 9.99995754e-01 7.38325074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:131.46, Z:0.74 [[-8.68672851e-01 4.95380612e-01 2.35110600e-03 2.09513790e+02] [-4.95378117e-01 -8.68676006e-01 1.58667787e-03 1.31462149e+02] [ 2.82835882e-03 2.13617524e-04 9.99995977e-01 7.38855174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:131.46, Z:0.74 [[-8.67107421e-01 4.98117179e-01 1.99904131e-03 2.09505493e+02] [-4.98115385e-01 -8.67109708e-01 1.34818854e-03 1.31455116e+02] [ 2.40494400e-03 1.73271057e-04 9.99997093e-01 7.39284085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.45, Z:0.74 [[-8.65469600e-01 5.00958522e-01 1.71202848e-03 2.09494656e+02] [-5.00957213e-01 -8.65471282e-01 1.15385395e-03 1.31447215e+02] [ 2.05974446e-03 1.40972503e-04 9.99997869e-01 7.39720750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.43, Z:0.74 [[-8.61861215e-01 5.07142829e-01 1.18176917e-03 2.09468966e+02] [-5.07142212e-01 -8.61862021e-01 7.95952368e-04 1.31430738e+02] [ 1.42218350e-03 8.66754437e-05 9.99998985e-01 7.40393638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.42, Z:0.74 [[-8.60558310e-01 5.09351671e-01 5.19659738e-04 2.09446218e+02] [-5.09351552e-01 -8.60558467e-01 3.49796738e-04 1.31416682e+02] [ 6.25367140e-04 3.63309959e-05 9.99999804e-01 7.40747470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.42, Z:0.74 [[-8.59750308e-01 5.10714361e-01 -4.99197745e-04 2.09450760e+02] [-5.10714252e-01 -8.59750452e-01 -3.35669881e-04 1.31421472e+02] [-6.00616916e-04 -3.36448808e-05 9.99999819e-01 7.41302648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.43, Z:0.74 [[-8.59422200e-01 5.11265516e-01 -1.02674792e-03 2.09460241e+02] [-5.11265055e-01 -8.59422811e-01 -6.89992638e-04 1.31429666e+02] [-1.23518002e-03 -6.80546611e-05 9.99999235e-01 7.41743990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.42, Z:0.74 [[-8.59482156e-01 5.11163916e-01 -1.36936115e-03 2.09444669e+02] [-5.11163096e-01 -8.59483242e-01 -9.19619223e-04 1.31420808e+02] [-1.64701913e-03 -9.04294258e-05 9.99998640e-01 7.42131422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.43, Z:0.74 [[-8.60028651e-01 5.10243667e-01 -1.45585385e-03 2.09456387e+02] [-5.10242740e-01 -8.60029878e-01 -9.77033536e-04 1.31430387e+02] [-1.75060298e-03 -9.74379780e-05 9.99998463e-01 7.42570022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.44, Z:0.74 [[-8.62314169e-01 5.06370510e-01 -1.78347857e-03 2.09461046e+02] [-5.06369114e-01 -8.62316003e-01 -1.19609906e-03 1.31437211e+02] [-2.14359141e-03 -1.28314706e-04 9.99997694e-01 7.42406250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.44, Z:0.74 [[-8.63852569e-01 5.03741444e-01 -1.81576931e-03 2.09457387e+02] [-5.03739993e-01 -8.63854466e-01 -1.21692421e-03 1.31436164e+02] [-2.18157559e-03 -1.36567489e-04 9.99997611e-01 7.41966720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.43, Z:0.74 [[-8.65352780e-01 5.01159779e-01 -1.85505725e-03 2.09453294e+02] [-5.01158260e-01 -8.65354757e-01 -1.24240563e-03 1.31434839e+02] [-2.22792635e-03 -1.45441898e-04 9.99997508e-01 7.41273505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.45, Z:0.74 [[-8.66476524e-01 4.99214987e-01 -1.68242393e-03 2.09469202e+02] [-4.99213736e-01 -8.66478146e-01 -1.12601483e-03 1.31447358e+02] [-2.01990705e-03 -1.35776275e-04 9.99997951e-01 7.41094743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.45, Z:0.74 [[-8.67349708e-01 4.97697126e-01 -1.43368045e-03 2.09472859e+02] [-4.97696216e-01 -8.67350885e-01 -9.58880379e-04 1.31451526e+02] [-1.72073602e-03 -1.18147282e-04 9.99998513e-01 7.40673649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.45, Z:0.74 [[-8.67878455e-01 4.96775532e-01 -1.02853036e-03 2.09473725e+02] [-4.96775064e-01 -8.67879060e-01 -6.87427655e-04 1.31453677e+02] [-1.23413720e-03 -8.56554149e-05 9.99999235e-01 7.40807183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.46, Z:0.74 [[-8.69089091e-01 4.94655359e-01 -4.77398210e-04 2.09473811e+02] [-4.94655258e-01 -8.69089221e-01 -3.18828228e-04 1.31456078e+02] [-5.72611730e-04 -4.09426000e-05 9.99999835e-01 7.39881276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.46, Z:0.74 [[-8.69872144e-01 4.93276214e-01 -1.01472268e-03 2.09478034e+02] [-4.93275757e-01 -8.69872731e-01 -6.77291441e-04 1.31459702e+02] [-1.21677134e-03 -8.86188610e-05 9.99999256e-01 7.39311389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.46, Z:0.74 [[-8.70636092e-01 4.91925120e-01 -1.57237549e-03 2.09475252e+02] [-4.91924022e-01 -8.70637500e-01 -1.04883731e-03 1.31458401e+02] [-1.88491849e-03 -1.39666343e-04 9.99998214e-01 7.38976438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.46, Z:0.74 [[-8.71552232e-01 4.90300366e-01 -1.50244086e-03 2.09475984e+02] [-4.90299362e-01 -8.71553517e-01 -1.00151772e-03 1.31458659e+02] [-1.80050212e-03 -1.36229212e-04 9.99998370e-01 7.38415969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.47, Z:0.74 [[-8.72677510e-01 4.88296659e-01 -5.80662606e-04 2.09494181e+02] [-4.88296509e-01 -8.72677701e-01 -3.86774800e-04 1.31470046e+02] [-6.95592150e-04 -5.39941465e-05 9.99999757e-01 7.37891809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.46, Z:0.74 [[-8.74970615e-01 4.84172964e-01 1.72175974e-03 2.09480553e+02] [-4.84171637e-01 -8.74972292e-01 1.14632276e-03 1.31458122e+02] [ 2.06151055e-03 1.69371496e-04 9.99997861e-01 7.36875427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.46, Z:0.74 [[-8.75803066e-01 4.82660416e-01 2.81304930e-03 2.09484192e+02] [-4.82656869e-01 -8.75807538e-01 1.87161168e-03 1.31458290e+02] [ 3.36704266e-03 2.81425683e-04 9.99994292e-01 7.36438792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.48, Y:131.46, Z:0.74 [[-8.76348081e-01 4.81666727e-01 3.34732566e-03 2.09483492e+02] [-4.81661704e-01 -8.76354409e-01 2.22559961e-03 1.31455431e+02] [ 4.00544088e-03 3.38121359e-04 9.99991921e-01 7.36297839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.45, Z:0.74 [[-8.76669349e-01 4.81082254e-01 3.27371066e-03 2.09483422e+02] [-4.81077451e-01 -8.76675399e-01 2.17521677e-03 1.31452909e+02] [ 3.91643979e-03 3.32037490e-04 9.99992276e-01 7.35993182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.44, Z:0.74 [[-8.76883378e-01 4.80694200e-01 2.93736475e-03 2.09474432e+02] [-4.80690335e-01 -8.76888247e-01 1.95044444e-03 1.31444819e+02] [ 3.51330795e-03 2.98349462e-04 9.99993784e-01 7.35948751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.45, Z:0.74 [[-8.76578474e-01 4.81249987e-01 2.93754269e-03 2.09487205e+02] [-4.81246129e-01 -8.76583347e-01 1.94927210e-03 1.31450615e+02] [ 3.51308817e-03 2.95008912e-04 9.99993786e-01 7.35223930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.44, Z:0.74 [[-8.76275559e-01 4.81800070e-01 3.13646207e-03 2.09474001e+02] [-4.81795682e-01 -8.76281117e-01 2.07988926e-03 1.31440653e+02] [ 3.75051327e-03 3.11422240e-04 9.99992918e-01 7.35158681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.44, Z:0.73 [[-8.75769262e-01 4.82719492e-01 3.17692281e-03 2.09474041e+02] [-4.82715000e-01 -8.75774969e-01 2.10532107e-03 1.31439093e+02] [ 3.79854900e-03 3.10227184e-04 9.99992737e-01 7.34749805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.43, Z:0.73 [[-8.75203815e-01 4.83743267e-01 3.27621253e-03 2.09455713e+02] [-4.83738503e-01 -8.75209891e-01 2.16966841e-03 1.31425660e+02] [ 3.91693610e-03 3.14071924e-04 9.99992279e-01 7.34409120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.43, Z:0.73 [[-8.74596691e-01 4.84836943e-01 3.71043878e-03 2.09466761e+02] [-4.84830850e-01 -8.74604492e-01 2.45558313e-03 1.31431871e+02] [ 4.43572384e-03 3.48709690e-04 9.99990101e-01 7.34162640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.43, Z:0.73 [[-8.73986871e-01 4.85934726e-01 3.79374131e-03 2.09458524e+02] [-4.85928374e-01 -8.73995034e-01 2.50903589e-03 1.31426176e+02] [ 4.53493873e-03 3.49377875e-04 9.99989656e-01 7.33712312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.41, Z:0.73 [[-8.72342088e-01 4.88888707e-01 2.66727067e-03 2.09437379e+02] [-4.88885585e-01 -8.72346134e-01 1.76286075e-03 1.31412646e+02] [ 3.18862597e-03 2.33827444e-04 9.99994889e-01 7.33806167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.681400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.43, Y:131.41, Z:0.73 [[-8.71658286e-01 4.90112191e-01 1.36821814e-03 2.09427616e+02] [-4.90111372e-01 -8.71659352e-01 9.03700989e-04 1.31406540e+02] [ 1.63553501e-03 1.17139188e-04 9.99998656e-01 7.34208279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.41, Z:0.73 [[-8.71144203e-01 4.91027261e-01 -8.51685079e-05 2.09424948e+02] [-4.91027257e-01 -8.71144207e-01 -5.61520629e-05 1.31405499e+02] [-1.01766246e-04 -7.09648519e-06 9.99999995e-01 7.34911967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.41, Z:0.74 [[-8.70656986e-01 4.91890055e-01 -7.65587292e-04 2.09435372e+02] [-4.91889800e-01 -8.70657321e-01 -5.04886235e-04 1.31412848e+02] [-9.14912698e-04 -6.29981479e-05 9.99999580e-01 7.35783820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.40, Z:0.74 [[-8.70543464e-01 4.92089556e-01 -1.39505743e-03 2.09422227e+02] [-4.92088710e-01 -8.70544574e-01 -9.19430182e-04 1.31404451e+02] [-1.66690167e-03 -1.13911923e-04 9.99998604e-01 7.35963449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:131.41, Z:0.74 [[-8.70622213e-01 4.91950947e-01 -1.10856146e-03 2.09430899e+02] [-4.91950413e-01 -8.70622914e-01 -7.30102834e-04 1.31409959e+02] [-1.32431379e-03 -9.02864740e-05 9.99999119e-01 7.35898407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.831400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.43, Y:131.41, Z:0.73 [[-8.70984370e-01 4.91310542e-01 -4.23431435e-04 2.09428098e+02] [-4.91310464e-01 -8.70984472e-01 -2.78648412e-04 1.31406490e+02] [-5.05705107e-04 -3.46621171e-05 9.99999872e-01 7.34745891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.40, Z:0.73 [[-8.71385570e-01 4.90598267e-01 -7.27047902e-04 2.09413804e+02] [-4.90598037e-01 -8.71385872e-01 -4.78165848e-04 1.31395918e+02] [-8.68126605e-04 -5.99785462e-05 9.99999621e-01 7.34855510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.40, Z:0.73 [[-8.71691734e-01 4.90053374e-01 -1.10058620e-03 2.09417361e+02] [-4.90052848e-01 -8.71692424e-01 -7.23370694e-04 1.31396939e+02] [-1.31386291e-03 -9.12108505e-05 9.99999133e-01 7.34929464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.40, Z:0.73 [[-8.71755640e-01 4.89938540e-01 -1.52662223e-03 2.09416600e+02] [-4.89937531e-01 -8.71756968e-01 -1.00272570e-03 1.31395335e+02] [-1.82211754e-03 -1.26182258e-04 9.99998332e-01 7.34953935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.39, Z:0.73 [[-8.71273694e-01 4.90794937e-01 -1.57478968e-03 2.09409566e+02] [-4.90793865e-01 -8.71275108e-01 -1.03365855e-03 1.31390004e+02] [-1.87938943e-03 -1.27702385e-04 9.99998226e-01 7.34808643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.39, Z:0.73 [[-8.70381274e-01 4.92376478e-01 -1.35738212e-03 2.09412754e+02] [-4.92375684e-01 -8.70382326e-01 -8.90339894e-04 1.31392389e+02] [-1.61982383e-03 -1.06593221e-04 9.99998682e-01 7.34937806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.38, Z:0.73 [[-8.67924323e-01 4.96695070e-01 -1.17373638e-03 2.09396084e+02] [-4.96694481e-01 -8.67925112e-01 -7.69346248e-04 1.31384665e+02] [-1.40084577e-03 -8.47459381e-05 9.99999015e-01 7.34781489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:131.38, Z:0.73 [[-8.66922933e-01 4.98438167e-01 -2.00538253e-03 2.09379302e+02] [-4.98436456e-01 -8.66925241e-01 -1.31359502e-03 1.31376950e+02] [-2.39326262e-03 -1.39229890e-04 9.99997126e-01 7.34699701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.39, Z:0.73 [[-8.66312752e-01 4.99494139e-01 -2.79645495e-03 2.09387980e+02] [-4.99490820e-01 -8.66317245e-01 -1.83052952e-03 1.31385202e+02] [-3.33695591e-03 -1.89007493e-04 9.99994415e-01 7.34632893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.37, Z:0.73 [[-8.66349326e-01 4.99432212e-01 -2.51227769e-03 2.09366487e+02] [-4.99429537e-01 -8.66352952e-01 -1.64336193e-03 1.31374018e+02] [-2.99726708e-03 -1.69019820e-04 9.99995494e-01 7.34842332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.38, Z:0.73 [[-8.67175497e-01 4.97999668e-01 -1.72861124e-03 2.09374868e+02] [-4.97998401e-01 -8.67177212e-01 -1.12993453e-03 1.31382706e+02] [-2.06171929e-03 -1.19005905e-04 9.99997868e-01 7.34396311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.40, Z:0.73 [[-8.70208851e-01 4.92682992e-01 -1.59049559e-04 2.09390808e+02] [-4.92682982e-01 -8.70208865e-01 -1.03839961e-04 1.31400343e+02] [-1.89566518e-04 -1.20014421e-05 9.99999982e-01 7.34034548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.40, Z:0.73 [[-8.72117958e-01 4.89295659e-01 1.59239228e-04 2.09389821e+02] [-4.89295648e-01 -8.72117973e-01 1.04011016e-04 1.31402170e+02] [ 1.89767531e-04 1.27948134e-05 9.99999982e-01 7.34550935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.41, Z:0.73 [[-8.74136153e-01 4.85680949e-01 -4.65255916e-05 2.09395170e+02] [-4.85680948e-01 -8.74136154e-01 -3.02929092e-05 1.31406908e+02] [-5.53823904e-05 -3.88353362e-06 9.99999998e-01 7.34375149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.42, Z:0.73 [[-8.75990214e-01 4.82328808e-01 2.55420864e-04 2.09411554e+02] [-4.82328780e-01 -8.75990251e-01 1.66572405e-04 1.31418409e+02] [ 3.04088857e-04 2.27189630e-05 9.99999954e-01 7.34367082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.42, Z:0.73 [[-8.77741889e-01 4.79133630e-01 3.75285385e-04 2.09415891e+02] [-4.79133569e-01 -8.77741969e-01 2.44550692e-04 1.31422187e+02] [ 4.46576194e-04 3.48405604e-05 9.99999900e-01 7.33959232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.42, Z:0.73 [[-8.79202619e-01 4.76447651e-01 6.25525878e-04 2.09411135e+02] [-4.76447481e-01 -8.79202839e-01 4.07306908e-04 1.31419955e+02] [ 7.44024548e-04 6.00750714e-05 9.99999721e-01 7.33722855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.42, Z:0.73 [[-8.79348107e-01 4.76179079e-01 6.25650230e-04 2.09409107e+02] [-4.76178909e-01 -8.79348328e-01 4.07115857e-04 1.31418545e+02] [ 7.44024537e-04 6.00751151e-05 9.99999721e-01 7.33723252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:131.43, Z:0.73 [[-8.81351395e-01 4.72461283e-01 2.33603681e-04 2.09428241e+02] [-4.72461259e-01 -8.81351426e-01 1.51942632e-04 1.31431015e+02] [ 2.77673948e-04 2.35461611e-05 9.99999961e-01 7.33626284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:131.43, Z:0.73 [[-8.82032967e-01 4.71187674e-01 1.43627660e-04 2.09429416e+02] [-4.71187665e-01 -8.82032979e-01 9.33796410e-05 1.31430449e+02] [ 1.70683669e-04 1.46883402e-05 9.99999985e-01 7.33367168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.42, Z:0.73 [[-8.82501285e-01 4.70309934e-01 2.21465251e-04 2.09411337e+02] [-4.70309912e-01 -8.82501312e-01 1.43860295e-04 1.31416635e+02] [ 2.63102300e-04 2.27995927e-05 9.99999965e-01 7.32806151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:131.42, Z:0.73 [[-8.82974969e-01 4.69419800e-01 5.05032464e-04 2.09426103e+02] [-4.69419688e-01 -8.82975112e-01 3.27771306e-04 1.31423993e+02] [ 5.99793437e-04 5.23416777e-05 9.99999819e-01 7.32772763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.42, Z:0.73 [[-8.83252195e-01 4.68897670e-01 7.32143334e-04 2.09422067e+02] [-4.68897436e-01 -8.83252495e-01 4.74829720e-04 1.31418919e+02] [ 8.69313976e-04 7.60942599e-05 9.99999619e-01 7.32655106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.42, Z:0.73 [[-8.83417601e-01 4.68585332e-01 1.06305743e-03 2.09420500e+02] [-4.68584838e-01 -8.83418233e-01 6.88962681e-04 1.31415497e+02] [ 1.26196213e-03 1.10509162e-04 9.99999198e-01 7.32381235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.41, Z:0.73 [[-8.83158479e-01 4.69071016e-01 1.86619310e-03 2.09422851e+02] [-4.69069498e-01 -8.83160430e-01 1.20863059e-03 1.31413790e+02] [ 2.21508148e-03 1.92038097e-04 9.99997528e-01 7.32049206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.41, Z:0.73 [[-8.82702783e-01 4.69925964e-01 2.32071220e-03 2.09416873e+02] [-4.69923622e-01 -8.82705802e-01 1.50199147e-03 1.31407988e+02] [ 2.75433092e-03 2.35254563e-04 9.99996179e-01 7.31990267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.611400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.40, Y:131.40, Z:0.73 [[-8.82096828e-01 4.71060495e-01 2.68255900e-03 2.09400860e+02] [-4.71057376e-01 -8.82100866e-01 1.73501986e-03 1.31395012e+02] [ 3.18358694e-03 2.66816313e-04 9.99994897e-01 7.32084002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.39, Z:0.73 [[-8.81638702e-01 4.71917234e-01 2.70613647e-03 2.09398166e+02] [-4.71914067e-01 -8.81642816e-01 1.74909805e-03 1.31390494e+02] [ 3.21127529e-03 2.65008663e-04 9.99994809e-01 7.32352605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.38, Z:0.73 [[-8.81098209e-01 4.72927332e-01 2.38423142e-03 2.09385051e+02] [-4.72924880e-01 -8.81101405e-01 1.54000659e-03 1.31378453e+02] [ 2.82906087e-03 2.29334693e-04 9.99995972e-01 7.31907624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.38, Z:0.73 [[-8.80878677e-01 4.73340063e-01 1.39296327e-03 2.09389043e+02] [-4.73339228e-01 -8.80879769e-01 8.99150343e-04 1.31377815e+02] [ 1.65263705e-03 1.32698205e-04 9.99998626e-01 7.31830744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:131.37, Z:0.73 [[-8.81208679e-01 4.72726825e-01 -7.82930230e-04 2.09382803e+02] [-4.72726562e-01 -8.81209023e-01 -5.04945846e-04 1.31368997e+02] [-9.28626630e-04 -7.48507460e-05 9.99999566e-01 7.32547311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.37, Z:0.73 [[-8.81926136e-01 4.71386747e-01 -9.08183352e-04 2.09394232e+02] [-4.71386392e-01 -8.81926599e-01 -5.85341472e-04 1.31373482e+02] [-1.07687327e-03 -8.81226683e-05 9.99999416e-01 7.32672657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.791400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:209.39, Y:131.37, Z:0.73 [[-8.82601468e-01 4.70121530e-01 -6.29457103e-04 2.09393144e+02] [-4.70121359e-01 -8.82601690e-01 -4.05407086e-04 1.31369084e+02] [-7.46150502e-04 -6.18916604e-05 9.99999720e-01 7.32306834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.37, Z:0.73 [[-8.83379348e-01 4.68658598e-01 -2.16476145e-04 2.09393727e+02] [-4.68658578e-01 -8.83379374e-01 -1.39291983e-04 1.31365711e+02] [-2.56510946e-04 -2.15942587e-05 9.99999967e-01 7.32296151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:131.37, Z:0.73 [[-8.83979192e-01 4.67526240e-01 4.58479356e-05 2.09405416e+02] [-4.67526240e-01 -8.83979194e-01 2.95504047e-05 1.31368940e+02] [ 5.43442109e-05 4.68682994e-06 9.99999999e-01 7.31922362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.36, Z:0.73 [[-8.84587416e-01 4.66374275e-01 3.71883657e-04 2.09403636e+02] [-4.66374215e-01 -8.84587494e-01 2.39124876e-04 1.31363738e+02] [ 4.40485323e-04 3.80899072e-05 9.99999902e-01 7.32108791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.35, Z:0.73 [[-8.85462191e-01 4.64711351e-01 2.60800683e-04 2.09397831e+02] [-4.64711322e-01 -8.85462229e-01 1.67602389e-04 1.31351869e+02] [ 3.08815887e-04 2.72085484e-05 9.99999952e-01 7.31688318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.35, Z:0.73 [[-8.85657798e-01 4.64338457e-01 2.50666629e-04 2.09401194e+02] [-4.64338430e-01 -8.85657833e-01 1.60984143e-04 1.31349341e+02] [ 2.96755992e-04 2.61827128e-05 9.99999956e-01 7.32280129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.35, Z:0.73 [[-8.85752753e-01 4.64157335e-01 1.69177780e-04 2.09401742e+02] [-4.64157323e-01 -8.85752769e-01 1.08595799e-04 1.31345572e+02] [ 2.00255224e-04 1.76639225e-05 9.99999980e-01 7.31736734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.34, Z:0.73 [[-8.85245380e-01 4.65123974e-01 5.52560968e-04 2.09403357e+02] [-4.65123842e-01 -8.85245551e-01 3.54324308e-04 1.31338716e+02] [ 6.53956869e-04 5.66546760e-05 9.99999785e-01 7.31570391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.33, Z:0.73 [[-8.85062025e-01 4.65472723e-01 5.96578020e-04 2.09401352e+02] [-4.65472570e-01 -8.85062224e-01 3.82289039e-04 1.31333883e+02] [ 7.05953789e-04 6.06588071e-05 9.99999749e-01 7.31049464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:131.32, Z:0.73 [[-8.84609654e-01 4.66331774e-01 6.60653140e-04 2.09378933e+02] [-4.66331587e-01 -8.84609898e-01 4.23342603e-04 1.31315181e+02] [ 7.81838414e-04 6.64095261e-05 9.99999692e-01 7.31031189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.32, Z:0.73 [[-8.84350960e-01 4.66821858e-01 8.56353685e-04 2.09394116e+02] [-4.66821544e-01 -8.84351370e-01 5.48450079e-04 1.31319815e+02] [ 1.01334604e-03 8.52580044e-05 9.99999483e-01 7.31085972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.31, Z:0.73 [[-8.84068247e-01 4.67355412e-01 1.50116576e-03 2.09388862e+02] [-4.67354448e-01 -8.84069509e-01 9.60724238e-04 1.31311305e+02] [ 1.77613455e-03 1.47769296e-04 9.99998412e-01 7.31117860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:131.30, Z:0.73 [[-8.83626548e-01 4.68189581e-01 1.62461066e-03 2.09378243e+02] [-4.68188454e-01 -8.83628028e-01 1.03966491e-03 1.31299884e+02] [ 1.92231179e-03 1.58051561e-04 9.99998140e-01 7.30840349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.28, Z:0.73 [[-8.82150672e-01 4.70965555e-01 1.27960740e-03 2.09363498e+02] [-4.70964858e-01 -8.82151592e-01 8.19070558e-04 1.31283219e+02] [ 1.51456172e-03 1.19893526e-04 9.99998846e-01 7.31874671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.28, Z:0.73 [[-8.81618417e-01 4.71960924e-01 1.36112686e-03 2.09359585e+02] [-4.71960138e-01 -8.81619459e-01 8.70727424e-04 1.31276429e+02] [ 1.61094525e-03 1.25251713e-04 9.99998695e-01 7.32298659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.27, Z:0.73 [[-8.81122629e-01 4.72885214e-01 1.57701517e-03 2.09360614e+02] [-4.72884160e-01 -8.81124029e-01 1.00812196e-03 1.31272492e+02] [ 1.86627193e-03 1.42533571e-04 9.99998248e-01 7.32186229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.27, Z:0.73 [[-8.80731386e-01 4.73613922e-01 1.44174956e-03 2.09362043e+02] [-4.73613044e-01 -8.80732557e-01 9.21016017e-04 1.31269008e+02] [ 1.70600178e-03 1.28336317e-04 9.99998537e-01 7.32408815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.26, Z:0.73 [[-8.80343045e-01 4.74335756e-01 1.30953214e-03 2.09347032e+02] [-4.74335032e-01 -8.80344011e-01 8.36696549e-04 1.31255468e+02] [ 1.54971386e-03 1.15423020e-04 9.99998793e-01 7.32121005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.25, Z:0.73 [[-8.79565029e-01 4.75775595e-01 1.71568428e-03 2.09348810e+02] [-4.75774355e-01 -8.79566690e-01 1.09613861e-03 1.31250373e+02] [ 2.03057474e-03 1.47846609e-04 9.99997927e-01 7.31200094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.25, Z:0.73 [[-8.79007100e-01 4.76804563e-01 1.98183599e-03 2.09354800e+02] [-4.76802913e-01 -8.79009318e-01 1.26534137e-03 1.31251458e+02] [ 2.34537285e-03 1.67298877e-04 9.99997236e-01 7.30736581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.24, Z:0.73 [[-8.78146292e-01 4.78388236e-01 1.94548693e-03 2.09344497e+02] [-4.78386650e-01 -8.78148433e-01 1.24238078e-03 1.31242579e+02] [ 2.30276665e-03 1.60297101e-04 9.99997336e-01 7.30609688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.24, Z:0.73 [[-8.77198404e-01 4.80124977e-01 1.72241542e-03 2.09338156e+02] [-4.80123736e-01 -8.77200084e-01 1.10021834e-03 1.31237317e+02] [ 2.03914526e-03 1.38137242e-04 9.99997911e-01 7.30941471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.24, Z:0.73 [[-8.76307683e-01 4.81749130e-01 1.61895055e-03 2.09339240e+02] [-4.81748038e-01 -8.76309169e-01 1.03347333e-03 1.31237594e+02] [ 1.91657609e-03 1.25714366e-04 9.99998156e-01 7.30797428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.23, Z:0.73 [[-8.75237881e-01 4.83688902e-01 1.92318838e-03 2.09322316e+02] [-4.83687365e-01 -8.75239982e-01 1.22792146e-03 1.31227848e+02] [ 2.27718334e-03 1.44501457e-04 9.99997397e-01 7.31039514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.23, Z:0.73 [[-8.74137363e-01 4.85671673e-01 2.62606987e-03 2.09323856e+02] [-4.85668819e-01 -8.74141288e-01 1.67558307e-03 1.31231206e+02] [ 3.10933933e-03 1.89289508e-04 9.99995148e-01 7.30375580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.23, Z:0.73 [[-8.74471468e-01 4.85071328e-01 2.33636095e-03 2.09326075e+02] [-4.85069070e-01 -8.74474573e-01 1.48966818e-03 1.31233107e+02] [ 2.76568356e-03 1.69375892e-04 9.99996161e-01 7.30167044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.23, Z:0.73 [[-8.75230523e-01 4.83702661e-01 1.80781975e-03 2.09315334e+02] [-4.83701305e-01 -8.75232379e-01 1.15291026e-03 1.31226280e+02] [ 2.13992814e-03 1.34617481e-04 9.99997701e-01 7.30074258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.24, Z:0.73 [[-8.76803745e-01 4.80846763e-01 1.25829450e-03 2.09339559e+02] [-4.80846104e-01 -8.76804642e-01 8.01960072e-04 1.31241632e+02] [ 1.48889837e-03 9.81155840e-05 9.99998887e-01 7.30381824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.24, Z:0.73 [[-8.78721285e-01 4.77334162e-01 1.00035822e-03 2.09344542e+02] [-4.77333743e-01 -8.78721851e-01 6.37127229e-04 1.31244857e+02] [ 1.18315922e-03 8.23525241e-05 9.99999297e-01 7.30589194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.25, Z:0.73 [[-8.80629532e-01 4.73803128e-01 1.49118883e-03 2.09345057e+02] [-4.73802195e-01 -8.80630785e-01 9.49036536e-04 1.31245262e+02] [ 1.76284326e-03 1.29221061e-04 9.99998438e-01 7.30479991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.26, Z:0.73 [[-8.83448206e-01 4.68522078e-01 2.51595696e-03 2.09362523e+02] [-4.68519404e-01 -8.83451757e-01 1.60006558e-03 1.31255080e+02] [ 2.97239265e-03 2.34800407e-04 9.99995555e-01 7.30490403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.721400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.36, Y:131.25, Z:0.73 [[-8.84448941e-01 4.66629808e-01 2.58720220e-03 2.09358488e+02] [-4.66626973e-01 -8.84452690e-01 1.64558612e-03 1.31251068e+02] [ 3.05613748e-03 2.48178572e-04 9.99995299e-01 7.30323845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.25, Z:0.73 [[-8.85378325e-01 4.64864490e-01 2.49557708e-03 2.09360117e+02] [-4.64861847e-01 -8.85381808e-01 1.58640521e-03 1.31251310e+02] [ 2.94700200e-03 2.44470212e-04 9.99995628e-01 7.30462638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:131.26, Z:0.73 [[-8.85816000e-01 4.64030007e-01 2.48306027e-03 2.09379863e+02] [-4.64027391e-01 -8.85819447e-01 1.57736224e-03 1.31263944e+02] [ 2.93148649e-03 2.45044731e-04 9.99995673e-01 7.30450620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.25, Z:0.73 [[-8.85471750e-01 4.64687716e-01 2.25960860e-03 2.09363576e+02] [-4.64685551e-01 -8.85474606e-01 1.43571146e-03 1.31254678e+02] [ 2.66798351e-03 2.21274475e-04 9.99996416e-01 7.30035428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.26, Z:0.73 [[-8.84807157e-01 4.65952447e-01 2.14759667e-03 2.09363219e+02] [-4.65950495e-01 -8.84809739e-01 1.36445092e-03 1.31255865e+02] [ 2.53598369e-03 2.06602207e-04 9.99996763e-01 7.30051823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.25, Z:0.73 [[-8.82822426e-01 4.69700558e-01 2.43905265e-03 2.09346118e+02] [-4.69698054e-01 -8.82825768e-01 1.54999999e-03 1.31248086e+02] [ 2.88129439e-03 2.22756468e-04 9.99995824e-01 7.29178780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.25, Z:0.73 [[-8.81787280e-01 4.71638738e-01 2.84509771e-03 2.09341379e+02] [-4.71635339e-01 -8.81791833e-01 1.80821639e-03 1.31247040e+02] [ 3.36160882e-03 2.52613585e-04 9.99994318e-01 7.28504772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.25, Z:0.73 [[-8.81055838e-01 4.73002337e-01 3.06599643e-03 2.09337774e+02] [-4.72998403e-01 -8.81061132e-01 1.94729941e-03 1.31247211e+02] [ 3.62240746e-03 2.65468094e-04 9.99993404e-01 7.28055692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.25, Z:0.73 [[-8.80508319e-01 4.74020321e-01 3.13616651e-03 2.09332057e+02] [-4.74016216e-01 -8.80513864e-01 1.99062536e-03 1.31246206e+02] [ 3.70503496e-03 2.66168405e-04 9.99993101e-01 7.28152139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.25, Z:0.73 [[-8.80167754e-01 4.74653833e-01 2.90916785e-03 2.09341226e+02] [-4.74650309e-01 -8.80172528e-01 1.84524946e-03 1.31254631e+02] [ 3.43642435e-03 2.43291655e-04 9.99994066e-01 7.28458297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.25, Z:0.73 [[-8.80097671e-01 4.74780087e-01 3.45818650e-03 2.09332316e+02] [-4.74775114e-01 -8.80104418e-01 2.19192837e-03 1.31251693e+02] [ 4.08424916e-03 2.87250160e-04 9.99991618e-01 7.28552201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.25, Z:0.73 [[-8.80441831e-01 4.74118095e-01 5.84932107e-03 2.09322690e+02] [-4.74103871e-01 -8.80461126e-01 3.70485507e-03 1.31249256e+02] [ 6.90663864e-03 4.88723624e-04 9.99976029e-01 7.28424862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:131.24, Z:0.73 [[-8.80699539e-01 4.73626651e-01 6.79108065e-03 2.09307325e+02] [-4.73607464e-01 -8.80725536e-01 4.30127941e-03 1.31241692e+02] [ 8.01827870e-03 5.71828301e-04 9.99967690e-01 7.28047492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:131.24, Z:0.73 [[-8.81311075e-01 4.72482305e-01 7.15967225e-03 2.09300648e+02] [-4.72460969e-01 -8.81339945e-01 4.53154117e-03 1.31239903e+02] [ 8.45117816e-03 6.11031730e-04 9.99964102e-01 7.27822047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.25, Z:0.73 [[-8.82121324e-01 4.70973276e-01 6.79296481e-03 2.09315025e+02] [-4.70954049e-01 -8.82147281e-01 4.29637417e-03 1.31251050e+02] [ 8.01587285e-03 5.90748982e-04 9.99967698e-01 7.27924547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.26, Z:0.73 [[-8.83028516e-01 4.69284749e-01 5.69783488e-03 2.09323781e+02] [-4.69271204e-01 -8.83046753e-01 3.60119369e-03 1.31257943e+02] [ 6.72143987e-03 5.06126884e-04 9.99977283e-01 7.28360386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.27, Z:0.73 [[-8.83970931e-01 4.67520215e-01 4.49912982e-03 2.09340538e+02] [-4.67511758e-01 -8.83982286e-01 2.84160087e-03 1.31269684e+02] [ 5.30565691e-03 4.08496475e-04 9.99985842e-01 7.28589341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.27, Z:0.73 [[-8.84117578e-01 4.67242826e-01 4.50002138e-03 2.09338470e+02] [-4.67234373e-01 -8.84128935e-01 2.84018875e-03 1.31268289e+02] [ 5.30565693e-03 4.08496129e-04 9.99985842e-01 7.28589738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.27, Z:0.73 [[-8.86029141e-01 4.63609000e-01 4.36538745e-03 2.09341315e+02] [-4.63601011e-01 -8.86039797e-01 2.75330563e-03 1.31274126e+02] [ 5.14436428e-03 4.15710981e-04 9.99986681e-01 7.28604597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.28, Z:0.73 [[-8.86974528e-01 4.61792367e-01 4.89865458e-03 2.09347211e+02] [-4.61782291e-01 -8.86987927e-01 3.08750565e-03 1.31280778e+02] [ 5.77083402e-03 4.76426935e-04 9.99983235e-01 7.28529655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.29, Z:0.73 [[-8.87801403e-01 4.60199830e-01 4.97849567e-03 2.09352622e+02] [-4.60189411e-01 -8.87815225e-01 3.13567488e-03 1.31286548e+02] [ 5.86302130e-03 4.92805565e-04 9.99982691e-01 7.28353694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.351400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.34, Y:131.28, Z:0.73 [[-8.89006041e-01 4.57874559e-01 4.37581098e-03 2.09340766e+02] [-4.57866492e-01 -8.89016698e-01 2.75419437e-03 1.31281561e+02] [ 5.15124456e-03 4.44958211e-04 9.99986633e-01 7.28375017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.29, Z:0.73 [[-8.89699697e-01 4.56527225e-01 4.16436383e-03 2.09352709e+02] [-4.56519913e-01 -8.89709339e-01 2.61931500e-03 1.31289245e+02] [ 4.90086200e-03 4.29288745e-04 9.99987899e-01 7.28992707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.28, Z:0.73 [[-8.90494966e-01 4.54975582e-01 3.99184946e-03 2.09343169e+02] [-4.54968855e-01 -8.90503815e-01 2.50909272e-03 1.31282921e+02] [ 4.69633309e-03 4.18167259e-04 9.99988885e-01 7.28817482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.28, Z:0.73 [[-8.91422588e-01 4.53157097e-01 3.79677136e-03 2.09344880e+02] [-4.53151003e-01 -8.91430581e-01 2.38484468e-03 1.31283153e+02] [ 4.46526739e-03 4.05393670e-04 9.99989949e-01 7.28857230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.29, Z:0.73 [[-8.92389258e-01 4.51251479e-01 3.67630164e-03 2.09364296e+02] [-4.51245756e-01 -8.92396741e-01 2.30760813e-03 1.31294414e+02] [ 4.32203118e-03 4.00369189e-04 9.99990580e-01 7.28753749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.29, Z:0.73 [[-8.93938706e-01 4.48175653e-01 3.48902509e-03 2.09369572e+02] [-4.48170481e-01 -8.93945429e-01 2.18858356e-03 1.31294326e+02] [ 4.09986790e-03 3.92781498e-04 9.99991518e-01 7.28741999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.28, Z:0.73 [[-8.94527396e-01 4.46998360e-01 3.63387677e-03 2.09356411e+02] [-4.46992739e-01 -8.94534680e-01 2.27957184e-03 1.31283867e+02] [ 4.26959367e-03 4.14822934e-04 9.99990799e-01 7.29118798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.28, Z:0.73 [[-8.95041471e-01 4.45965948e-01 3.89085431e-03 2.09359817e+02] [-4.45959502e-01 -8.95049816e-01 2.43918721e-03 1.31282726e+02] [ 4.57030287e-03 4.48010252e-04 9.99989456e-01 7.29736517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.28, Z:0.73 [[-8.95465022e-01 4.45112873e-01 4.11404539e-03 2.09357173e+02] [-4.45105666e-01 -8.95474345e-01 2.57735589e-03 1.31277123e+02] [ 4.83123638e-03 4.76747135e-04 9.99988216e-01 7.29946238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.28, Z:0.73 [[-8.95786002e-01 4.44463123e-01 4.46880163e-03 2.09367837e+02] [-4.44454622e-01 -8.95796998e-01 2.79770601e-03 1.31279228e+02] [ 5.24661623e-03 5.19966342e-04 9.99986101e-01 7.29768231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.27, Z:0.73 [[-8.95861042e-01 4.44311013e-01 4.55163702e-03 2.09360207e+02] [-4.44302191e-01 -8.95872448e-01 2.84974106e-03 1.31269431e+02] [ 5.34385754e-03 5.30669694e-04 9.99985581e-01 7.29690453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.26, Z:0.73 [[-8.95873555e-01 4.44285541e-01 4.57505976e-03 2.09359757e+02] [-4.44276626e-01 -8.95885078e-01 2.86464872e-03 1.31258987e+02] [ 5.37144978e-03 5.33770921e-04 9.99985431e-01 7.29098951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.25, Z:0.73 [[-8.95759309e-01 4.44517843e-01 4.37574609e-03 2.09356290e+02] [-4.44509688e-01 -8.95769852e-01 2.74030900e-03 1.31251444e+02] [ 5.13777767e-03 5.09595770e-04 9.99986672e-01 7.29123359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.25, Z:0.73 [[-8.95763939e-01 4.44508219e-01 4.40552417e-03 2.09362488e+02] [-4.44499962e-01 -8.95774627e-01 2.75714494e-03 1.31249962e+02] [ 5.17193036e-03 5.11495684e-04 9.99986495e-01 7.29621383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.25, Z:0.73 [[-8.95657390e-01 4.44723459e-01 4.34569402e-03 2.09368242e+02] [-4.44715437e-01 -8.95667792e-01 2.71785090e-03 1.31248821e+02] [ 5.10099022e-03 5.01666028e-04 9.99986864e-01 7.30055257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.24, Z:0.73 [[-8.94423887e-01 4.47183916e-01 5.69694537e-03 2.09364331e+02] [-4.47170174e-01 -8.94441801e-01 3.56375381e-03 1.31237891e+02] [ 6.68923946e-03 6.40002481e-04 9.99977422e-01 7.30897808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.23, Z:0.73 [[-8.93594789e-01 4.48829592e-01 6.35225363e-03 2.09354461e+02] [-4.48812539e-01 -8.93617092e-01 3.97470984e-03 1.31227500e+02] [ 7.46044980e-03 7.00808920e-04 9.99971925e-01 7.30311616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.22, Z:0.73 [[-8.92710203e-01 4.50583774e-01 6.53887360e-03 2.09356796e+02] [-4.50565745e-01 -8.92733870e-01 4.09219440e-03 1.31224584e+02] [ 7.68135033e-03 7.06951243e-04 9.99970248e-01 7.29875972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.21, Z:0.73 [[-8.91780359e-01 4.52427984e-01 6.05886084e-03 2.09333696e+02] [-4.52412529e-01 -8.91800710e-01 3.79439260e-03 1.31206601e+02] [ 7.11998579e-03 6.42660239e-04 9.99974446e-01 7.29732289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.21, Z:0.73 [[-8.91309463e-01 4.53362438e-01 5.47185152e-03 2.09349274e+02] [-4.53349864e-01 -8.91326076e-01 3.42448860e-03 1.31213458e+02] [ 6.42973845e-03 5.71615954e-04 9.99979166e-01 7.29745210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.20, Z:0.73 [[-8.90652612e-01 4.54650875e-01 5.52335241e-03 2.09332119e+02] [-4.54638073e-01 -8.90669556e-01 3.45902776e-03 1.31200558e+02] [ 6.49213184e-03 5.69665810e-04 9.99978764e-01 7.29884648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.20, Z:0.73 [[-8.89886371e-01 4.56129319e-01 6.94918293e-03 2.09339714e+02] [-4.56109093e-01 -8.89913225e-01 4.35278636e-03 1.31199606e+02] [ 8.16960327e-03 7.03899737e-04 9.99966381e-01 7.30005685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.20, Z:0.73 [[-8.89695122e-01 4.56496467e-01 7.31883295e-03 2.09337741e+02] [-4.56474034e-01 -8.89724918e-01 4.58552965e-03 1.31195236e+02] [ 8.60502613e-03 7.38866159e-04 9.99962703e-01 7.30304860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.19, Z:0.73 [[-8.89503400e-01 4.56878158e-01 6.78596782e-03 2.09328493e+02] [-4.56858859e-01 -8.89529022e-01 4.25465168e-03 1.31187072e+02] [ 7.98017274e-03 6.84297614e-04 9.99967924e-01 7.30438719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.19, Z:0.73 [[-8.89364085e-01 4.57160970e-01 5.94746909e-03 2.09332766e+02] [-4.57146145e-01 -8.89383769e-01 3.72995583e-03 1.31187687e+02] [ 6.99477270e-03 5.98426180e-04 9.99975357e-01 7.30699069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.19, Z:0.73 [[-8.89211222e-01 4.57467977e-01 5.14328961e-03 2.09345711e+02] [-4.57456890e-01 -8.89225947e-01 3.22646870e-03 1.31194279e+02] [ 6.04955268e-03 5.16178906e-04 9.99981568e-01 7.31036555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.18, Z:0.73 [[-8.88591231e-01 4.58677265e-01 4.55970510e-03 2.09325584e+02] [-4.58668556e-01 -8.88602815e-01 2.86237821e-03 1.31178219e+02] [ 5.36467459e-03 4.52090821e-04 9.99985508e-01 7.31616214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.19, Z:0.73 [[-8.87927932e-01 4.59961057e-01 4.45122237e-03 2.09343832e+02] [-4.59952772e-01 -8.87938983e-01 2.79457762e-03 1.31187810e+02] [ 5.23781075e-03 4.34031463e-04 9.99986188e-01 7.31673696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.18, Z:0.73 [[-8.86715230e-01 4.62296740e-01 4.22209919e-03 2.09329198e+02] [-4.62289303e-01 -8.86725191e-01 2.65257260e-03 1.31177630e+02] [ 4.97011738e-03 4.00245234e-04 9.99987569e-01 7.31793829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:131.19, Z:0.73 [[-8.85150343e-01 4.65292402e-01 3.44245079e-03 2.09340243e+02] [-4.65287478e-01 -8.85156982e-01 2.16335785e-03 1.31185027e+02] [ 4.05370332e-03 3.13167698e-04 9.99991735e-01 7.31949620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.17, Z:0.73 [[-8.83093456e-01 4.69189342e-01 2.70338989e-03 2.09316721e+02] [-4.69186320e-01 -8.83097564e-01 1.70008865e-03 1.31171952e+02] [ 3.18502050e-03 2.32943606e-04 9.99994901e-01 7.32325960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:131.18, Z:0.73 [[-8.80980723e-01 4.73147462e-01 2.10814862e-03 2.09319388e+02] [-4.73145635e-01 -8.80983229e-01 1.32614253e-03 1.31176034e+02] [ 2.48470455e-03 1.70844685e-04 9.99996899e-01 7.32123090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:131.17, Z:0.73 [[-8.78638487e-01 4.77483196e-01 2.05074547e-03 2.09312421e+02] [-4.77481477e-01 -8.78640867e-01 1.29093428e-03 1.31174543e+02] [ 2.41826820e-03 1.55071564e-04 9.99997064e-01 7.32044895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:131.16, Z:0.73 [[-8.74616938e-01 4.84802160e-01 3.47510007e-03 2.09275675e+02] [-4.84797272e-01 -8.74623812e-01 2.18922075e-03 1.31156125e+02] [ 4.10074422e-03 2.30010518e-04 9.99991565e-01 7.31985608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.15, Z:0.73 [[-8.73015640e-01 4.87676499e-01 3.91460711e-03 2.09263873e+02] [-4.87670316e-01 -8.73024382e-01 2.46796674e-03 1.31151281e+02] [ 4.62111684e-03 2.45535878e-04 9.99989292e-01 7.31819330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.15, Z:0.73 [[-8.71746852e-01 4.89942017e-01 3.77437218e-03 2.09260308e+02] [-4.89936287e-01 -8.71754994e-01 2.38026859e-03 1.31152390e+02] [ 4.45652139e-03 2.25789757e-04 9.99990044e-01 7.31704862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.16, Z:0.73 [[-8.70895468e-01 4.91458013e-01 3.17887117e-03 2.09273327e+02] [-4.91453964e-01 -8.70901251e-01 2.00329247e-03 1.31164552e+02] [ 3.75301701e-03 1.82389498e-04 9.99992941e-01 7.32060622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.16, Z:0.73 [[-8.69382964e-01 4.94131254e-01 2.75074811e-03 2.09260522e+02] [-4.94128234e-01 -8.69387303e-01 1.73390417e-03 1.31163848e+02] [ 3.24824172e-03 1.48204439e-04 9.99994714e-01 7.32260562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.16, Z:0.73 [[-8.68756212e-01 4.95231391e-01 2.91784473e-03 2.09252218e+02] [-4.95227998e-01 -8.68761098e-01 1.83975586e-03 1.31162238e+02] [ 3.44601485e-03 1.53300929e-04 9.99994051e-01 7.31833848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.17, Z:0.73 [[-8.68289696e-01 4.96045189e-01 3.48928295e-03 2.09253838e+02] [-4.96040343e-01 -8.68296688e-01 2.19988615e-03 1.31167484e+02] [ 4.12097577e-03 1.79313361e-04 9.99991493e-01 7.31689924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.17, Z:0.73 [[-8.67623078e-01 4.97208464e-01 3.73325582e-03 2.09243970e+02] [-4.97202925e-01 -8.67631090e-01 2.35434277e-03 1.31165332e+02] [ 4.40968797e-03 1.86496410e-04 9.99990260e-01 7.30983571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.17, Z:0.73 [[-8.67011370e-01 4.98271690e-01 4.07514348e-03 2.09242568e+02] [-4.98265111e-01 -8.67020925e-01 2.56807672e-03 1.31168111e+02] [ 4.81283460e-03 1.96049897e-04 9.99988399e-01 7.31422782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.17, Z:0.73 [[-8.65516506e-01 5.00868963e-01 3.38523243e-03 2.09233646e+02] [-5.00864441e-01 -8.65523113e-01 2.13364657e-03 1.31169626e+02] [ 3.99867425e-03 1.51163780e-04 9.99991994e-01 7.31436761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:131.16, Z:0.73 [[-8.64686904e-01 5.02300530e-01 3.27647718e-03 2.09212351e+02] [-5.02296302e-01 -8.64693100e-01 2.06569059e-03 1.31160783e+02] [ 3.87074468e-03 1.40413232e-04 9.99992499e-01 7.31362095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.18, Z:0.73 [[-8.63947998e-01 5.03569122e-01 3.46361696e-03 2.09234628e+02] [-5.03564414e-01 -8.63954929e-01 2.18207778e-03 1.31179781e+02] [ 4.09123593e-03 1.41047487e-04 9.99991621e-01 7.31559038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:131.17, Z:0.73 [[-8.62938370e-01 5.05295894e-01 3.66452255e-03 2.09218906e+02] [-5.05290638e-01 -8.62946139e-01 2.30900703e-03 1.31174550e+02] [ 4.32901736e-03 1.40881824e-04 9.99990620e-01 7.31109040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:131.18, Z:0.73 [[-8.62119663e-01 5.06687760e-01 4.14731328e-03 2.09222974e+02] [-5.06681053e-01 -8.62129626e-01 2.61127845e-03 1.31180553e+02] [ 4.89862447e-03 1.49869434e-04 9.99987990e-01 7.31303225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:131.18, Z:0.73 [[-8.61395604e-01 5.07914584e-01 4.51538976e-03 2.09222383e+02] [-5.07906662e-01 -8.61407425e-01 2.84083848e-03 1.31182427e+02] [ 5.33249356e-03 1.53689232e-04 9.99985770e-01 7.31179734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:131.17, Z:0.73 [[-8.59811508e-01 5.10586291e-01 5.08035372e-03 2.09202846e+02] [-5.10576308e-01 -8.59826503e-01 3.19651121e-03 1.31174931e+02] [ 6.00031758e-03 1.54488880e-04 9.99981986e-01 7.31731510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:131.17, Z:0.73 [[-8.59118535e-01 5.11748465e-01 5.37135312e-03 2.09188649e+02] [-5.11737345e-01 -8.59135313e-01 3.37703426e-03 1.31168633e+02] [ 6.34291124e-03 1.52550743e-04 9.99979872e-01 7.31876868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:131.17, Z:0.73 [[-8.58459342e-01 5.12853615e-01 5.35991982e-03 2.09182110e+02] [-5.12842580e-01 -8.58476063e-01 3.36719256e-03 1.31166832e+02] [ 6.32823974e-03 1.41802800e-04 9.99979966e-01 7.32190410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:131.17, Z:0.73 [[-8.57855462e-01 5.13866671e-01 5.00497378e-03 2.09177063e+02] [-5.13857082e-01 -8.57870054e-01 3.14173111e-03 1.31165067e+02] [ 5.90804804e-03 1.23309971e-04 9.99982540e-01 7.32272550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:131.17, Z:0.73 [[-8.57194766e-01 5.14971583e-01 4.62624981e-03 2.09188272e+02] [-5.14963418e-01 -8.57207243e-01 2.90171948e-03 1.31173137e+02] [ 5.45995792e-03 1.04989332e-04 9.99985089e-01 7.32343038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:131.16, Z:0.73 [[-8.56436196e-01 5.16236866e-01 4.06688327e-03 2.09170912e+02] [-5.16230579e-01 -8.56445848e-01 2.54911461e-03 1.31163404e+02] [ 4.79901223e-03 8.37045133e-05 9.99988481e-01 7.32810756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:131.16, Z:0.73 [[-8.54748221e-01 5.19029600e-01 3.70850020e-03 2.09163130e+02] [-5.19024407e-01 -8.54756264e-01 2.32265052e-03 1.31161827e+02] [ 4.37538814e-03 6.04792853e-05 9.99990426e-01 7.32822734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:131.16, Z:0.73 [[-8.53963298e-01 5.20318338e-01 3.93866890e-03 2.09158906e+02] [-5.20312502e-01 -8.53972379e-01 2.46483963e-03 1.31160323e+02] [ 4.64601571e-03 5.55439109e-05 9.99989206e-01 7.32822814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:131.15, Z:0.73 [[-8.53158183e-01 5.21634050e-01 4.36256897e-03 2.09145163e+02] [-5.21626920e-01 -8.53169335e-01 2.72792695e-03 1.31151844e+02] [ 5.14498965e-03 5.17197814e-05 9.99986763e-01 7.32725251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:131.14, Z:0.73 [[-8.51650240e-01 5.24087105e-01 4.95744169e-03 2.09129276e+02] [-5.24077953e-01 -8.51664667e-01 3.09738673e-03 1.31142322e+02] [ 5.84537837e-03 3.98042532e-05 9.99982915e-01 7.32353723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:131.15, Z:0.73 [[-8.51288140e-01 5.24675463e-01 4.91537027e-03 2.09135426e+02] [-5.24666490e-01 -8.51302331e-01 3.06861206e-03 1.31146772e+02] [ 5.79449161e-03 3.33429851e-05 9.99983211e-01 7.32425778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.121400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.14, Y:131.15, Z:0.73 [[-8.51120564e-01 5.24949096e-01 4.71518821e-03 2.09135219e+02] [-5.24940857e-01 -8.51133624e-01 2.94126631e-03 1.31146847e+02] [ 5.55727032e-03 2.81773041e-05 9.99984558e-01 7.32952221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.13, Y:131.15, Z:0.73 [[-8.51310828e-01 5.24640478e-01 4.71625428e-03 2.09133148e+02] [-5.24632244e-01 -8.51323891e-01 2.93955657e-03 1.31145467e+02] [ 5.55727031e-03 2.81772679e-05 9.99984558e-01 7.32952618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:131.14, Z:0.73 [[-8.51244068e-01 5.24754354e-01 4.05035038e-03 2.09118831e+02] [-5.24748292e-01 -8.51253703e-01 2.52247200e-03 1.31136142e+02] [ 4.77155393e-03 2.18248790e-05 9.99988616e-01 7.33018593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:131.13, Z:0.73 [[-8.51138313e-01 5.24928477e-01 3.69681852e-03 2.09116564e+02] [-5.24923436e-01 -8.51146341e-01 2.30042693e-03 1.31133874e+02] [ 4.35409316e-03 1.74348179e-05 9.99990521e-01 7.33098929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:131.13, Z:0.73 [[-8.50848158e-01 5.25397551e-01 3.85034593e-03 2.09111956e+02] [-5.25392097e-01 -8.50856870e-01 2.39400146e-03 1.31130440e+02] [ 4.53389579e-03 1.39904084e-05 9.99989722e-01 7.32992570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:131.13, Z:0.73 [[-8.49264518e-01 5.27951119e-01 4.17075102e-03 2.09110514e+02] [-5.27944760e-01 -8.49274759e-01 2.59108919e-03 1.31129649e+02] [ 4.91008200e-03 -1.40603650e-06 9.99987946e-01 7.33139879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.12, Z:0.73 [[-8.48344192e-01 5.29431824e-01 3.75192595e-03 2.09095748e+02] [-5.29426701e-01 -8.48352488e-01 2.32898222e-03 1.31120018e+02] [ 4.41599302e-03 -1.05912348e-05 9.99990249e-01 7.33501205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.09, Y:131.12, Z:0.73 [[-8.47373887e-01 5.30984478e-01 3.60278684e-03 2.09089599e+02] [-5.30979777e-01 -8.47381545e-01 2.23455433e-03 1.31115758e+02] [ 4.23944874e-03 -1.95039655e-05 9.99991013e-01 7.34066651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.11, Z:0.73 [[-8.46496842e-01 5.32383812e-01 3.25170197e-03 2.09086855e+02] [-5.32379999e-01 -8.46503087e-01 2.01513193e-03 1.31113854e+02] [ 3.82539937e-03 -2.53382790e-05 9.99992683e-01 7.33610550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:131.11, Z:0.73 [[-8.45519885e-01 5.33933107e-01 3.40032140e-03 2.09084479e+02] [-5.33928956e-01 -8.45526721e-01 2.10547817e-03 1.31112162e+02] [ 3.99924710e-03 -3.53063957e-05 9.99992002e-01 7.33055870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.12, Z:0.73 [[-8.43642782e-01 5.36892820e-01 3.59944556e-03 2.09092194e+02] [-5.36888204e-01 -8.43650459e-01 2.22692385e-03 1.31115755e+02] [ 4.23229333e-03 -5.37716332e-05 9.99991042e-01 7.32872848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.12, Z:0.73 [[-8.42900159e-01 5.38057442e-01 3.67560630e-03 2.09094073e+02] [-5.38052648e-01 -8.42908171e-01 2.27216621e-03 1.31116529e+02] [ 4.32075452e-03 -6.24604418e-05 9.99990664e-01 7.32546682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:131.12, Z:0.73 [[-8.42347215e-01 5.38919044e-01 4.17523507e-03 2.09105800e+02] [-5.38912879e-01 -8.42357559e-01 2.57890052e-03 1.31124366e+02] [ 4.90685943e-03 -7.77582850e-05 9.99987958e-01 7.32680661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.12, Z:0.73 [[-8.42003923e-01 5.39448432e-01 4.97834252e-03 2.09101480e+02] [-5.39439691e-01 -8.42018634e-01 3.07243250e-03 1.31122342e+02] [ 5.84927606e-03 -9.85153361e-05 9.99982888e-01 7.32885913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.12, Z:0.73 [[-8.41684619e-01 5.39922863e-01 7.09251337e-03 2.09091800e+02] [-5.39905169e-01 -8.41714488e-01 4.37360022e-03 1.31115190e+02] [ 8.33127801e-03 -1.48092592e-04 9.99965283e-01 7.32675339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.11, Z:0.73 [[-8.41915156e-01 5.39557333e-01 7.53358896e-03 2.09090036e+02] [-5.39537389e-01 -8.41948847e-01 4.64176606e-03 1.31111892e+02] [ 8.84739545e-03 -1.56679721e-04 9.99960849e-01 7.32758760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.11, Z:0.73 [[-8.42276900e-01 5.39000014e-01 6.97201702e-03 2.09095765e+02] [-5.38982942e-01 -8.42305743e-01 4.29223821e-03 1.31113157e+02] [ 8.18608643e-03 -1.42545155e-04 9.99966483e-01 7.32439071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.11, Z:0.73 [[-8.42661710e-01 5.38408784e-01 6.10112070e-03 2.09092178e+02] [-5.38395717e-01 -8.42683788e-01 3.75301246e-03 1.31108816e+02] [ 7.16197038e-03 -1.22297350e-04 9.99974345e-01 7.32912084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.10, Z:0.73 [[-8.43055899e-01 5.37798556e-01 5.42812516e-03 2.09087259e+02] [-5.37788218e-01 -8.43073367e-01 3.33629474e-03 1.31104201e+02] [ 6.37056224e-03 -1.06498799e-04 9.99979702e-01 7.33511324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.11, Z:0.73 [[-8.43309411e-01 5.37402715e-01 5.24964683e-03 2.09096389e+02] [-5.37393054e-01 -8.43325745e-01 3.22395388e-03 1.31107553e+02] [ 6.15972389e-03 -1.02333092e-04 9.99981024e-01 7.33768028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.10, Z:0.73 [[-8.43542919e-01 5.37025838e-01 6.21227580e-03 2.09093004e+02] [-5.37012322e-01 -8.43565785e-01 3.81200022e-03 1.31101772e+02] [ 7.28760593e-03 -1.20482859e-04 9.99973438e-01 7.32883942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.11, Z:0.73 [[-8.43550935e-01 5.37014123e-01 6.13604560e-03 2.09102572e+02] [-5.37000959e-01 -8.43573243e-01 3.76215625e-03 1.31106610e+02] [ 7.19653493e-03 -1.21491949e-04 9.99974097e-01 7.32064163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.10, Z:0.73 [[-8.43310277e-01 5.37391766e-01 6.15364235e-03 2.09095738e+02] [-5.37378558e-01 -8.43332718e-01 3.76987682e-03 1.31101641e+02] [ 7.21546870e-03 -1.27659589e-04 9.99973960e-01 7.31896019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.811400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.09, Y:131.10, Z:0.73 [[-8.43148657e-01 5.37642567e-01 6.38845775e-03 2.09091359e+02] [-5.37628363e-01 -8.43172848e-01 3.91053456e-03 1.31097838e+02] [ 7.48904395e-03 -1.37454116e-04 9.99971947e-01 7.32188206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:131.10, Z:0.73 [[-8.43240816e-01 5.37501389e-01 6.09772829e-03 2.09105034e+02] [-5.37488466e-01 -8.43262853e-01 3.72954229e-03 1.31104267e+02] [ 7.14662191e-03 -1.32556341e-04 9.99974454e-01 7.32071658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:131.09, Z:0.73 [[-8.43309477e-01 5.37395762e-01 5.90941420e-03 2.09083722e+02] [-5.37383615e-01 -8.43330172e-01 3.61537813e-03 1.31088788e+02] [ 6.92647618e-03 -1.26739727e-04 9.99976004e-01 7.32499423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.09, Z:0.73 [[-8.44537780e-01 5.35462894e-01 5.95205882e-03 2.09094440e+02] [-5.35450543e-01 -8.44558747e-01 3.63857326e-03 1.31088468e+02] [ 6.97518431e-03 -1.14120543e-04 9.99975667e-01 7.33045028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.08, Z:0.73 [[-8.45180871e-01 5.34445290e-01 6.12594738e-03 2.09086933e+02] [-5.34432184e-01 -8.45203065e-01 3.74442934e-03 1.31080121e+02] [ 7.17886212e-03 -1.09183379e-04 9.99974226e-01 7.32777920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:131.07, Z:0.73 [[-8.45762994e-01 5.33523053e-01 6.17339867e-03 2.09082496e+02] [-5.33509718e-01 -8.45785518e-01 3.77342503e-03 1.31073224e+02] [ 7.23458043e-03 -1.02144931e-04 9.99973825e-01 7.32926017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:131.08, Z:0.73 [[-8.46321638e-01 5.32643482e-01 5.53231709e-03 2.09093047e+02] [-5.32632772e-01 -8.46339715e-01 3.37885184e-03 1.31075232e+02] [ 6.48194308e-03 -8.70979621e-05 9.99978988e-01 7.32977110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.07, Z:0.73 [[-8.46427156e-01 5.32486459e-01 4.38641295e-03 2.09095484e+02] [-5.32479734e-01 -8.46438519e-01 2.67707966e-03 1.31072432e+02] [ 5.13833754e-03 -6.97230778e-05 9.99986796e-01 7.33467029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:131.08, Z:0.73 [[-8.45372136e-01 5.34166177e-01 3.52801033e-03 2.09110947e+02] [-5.34161849e-01 -8.45379495e-01 2.15145194e-03 1.31075596e+02] [ 4.13174045e-03 -6.57509973e-05 9.99991462e-01 7.33987060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:131.08, Z:0.73 [[-8.44543796e-01 5.35467882e-01 4.46375910e-03 2.09115862e+02] [-5.35460980e-01 -8.44555587e-01 2.72014191e-03 1.31075286e+02] [ 5.22644131e-03 -9.28898540e-05 9.99986338e-01 7.34024998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:131.07, Z:0.73 [[-8.43431422e-01 5.37206509e-01 5.70991875e-03 2.09118844e+02] [-5.37195257e-01 -8.43450739e-01 3.47945715e-03 1.31073563e+02] [ 6.68522222e-03 -1.32657781e-04 9.99977645e-01 7.33978222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:131.08, Z:0.73 [[-8.42328823e-01 5.38926082e-01 6.39002045e-03 2.09136584e+02] [-5.38912062e-01 -8.42353044e-01 3.89083986e-03 1.31081181e+02] [ 7.47952826e-03 -1.66292538e-04 9.99972014e-01 7.33917500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:131.08, Z:0.74 [[-8.39616541e-01 5.43147721e-01 5.88365519e-03 2.09146603e+02] [-5.43135955e-01 -8.39637134e-01 3.58003502e-03 1.31081869e+02] [ 6.88462324e-03 -1.89768061e-04 9.99976283e-01 7.35410502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.14, Y:131.08, Z:0.74 [[-8.38550201e-01 5.44789713e-01 6.14246742e-03 2.09141915e+02] [-5.44776926e-01 -8.38572671e-01 3.73853971e-03 1.31076481e+02] [ 7.18762329e-03 -2.11321298e-04 9.99974146e-01 7.35517645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:131.08, Z:0.74 [[-8.37919108e-01 5.45753581e-01 6.67811638e-03 2.09144967e+02] [-5.45738491e-01 -8.37945686e-01 4.06537194e-03 1.31075991e+02] [ 7.81459010e-03 -2.38052320e-04 9.99969437e-01 7.35024362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:131.08, Z:0.73 [[-8.37794019e-01 5.45939071e-01 7.19106239e-03 2.09154699e+02] [-5.45921609e-01 -8.37824840e-01 4.37425442e-03 1.31079411e+02] [ 8.41292709e-03 -2.61032158e-04 9.99964577e-01 7.34474368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.291400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.17, Y:131.08, Z:0.73 [[-8.37613930e-01 5.46209960e-01 7.58839311e-03 2.09165492e+02] [-5.46190527e-01 -8.37648257e-01 4.61587854e-03 1.31083041e+02] [ 8.87764309e-03 -2.78384271e-04 9.99960554e-01 7.34355584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:131.07, Z:0.73 [[-8.37440482e-01 5.46487357e-01 6.70880012e-03 2.09149139e+02] [-5.46472152e-01 -8.37467318e-01 4.08399268e-03 1.31070393e+02] [ 7.85025121e-03 -2.46071633e-04 9.99969156e-01 7.34531460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.351400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.14, Y:131.06, Z:0.74 [[-8.37100274e-01 5.47006335e-01 6.87034750e-03 2.09141443e+02] [-5.47007372e-01 -8.37125647e-01 1.89383948e-03 1.31061661e+02] [ 6.78728629e-03 -2.17279718e-03 9.99974606e-01 7.36174861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:131.08, Z:0.74 [[-8.37255567e-01 5.46799474e-01 3.66749906e-03 2.09188778e+02] [-5.46783404e-01 -8.37261618e-01 4.57074662e-03 1.31083613e+02] [ 5.56993804e-03 1.82155544e-03 9.99982829e-01 7.36361590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.411400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.19, Y:131.08, Z:0.74 [[-8.36743221e-01 5.47574609e-01 4.77810152e-03 2.09185378e+02] [-5.47566901e-01 -8.36756844e-01 2.91096171e-03 1.31080875e+02] [ 5.59207787e-03 -1.80602760e-04 9.99984348e-01 7.36461517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:131.07, Z:0.74 [[-8.36054684e-01 5.48629188e-01 4.31042450e-03 2.09176807e+02] [-5.48622919e-01 -8.36065778e-01 2.62808000e-03 1.31073514e+02] [ 5.04563981e-03 -1.67579078e-04 9.99987257e-01 7.36199701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:131.09, Z:0.74 [[-8.34277969e-01 5.51331139e-01 3.77450772e-03 2.09211638e+02] [-5.51326366e-01 -8.34286491e-01 2.29969048e-03 1.31090597e+02] [ 4.41691178e-03 -1.62404524e-04 9.99990232e-01 7.35786557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.501400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.22, Y:131.09, Z:0.74 [[-8.32926093e-01 5.53369827e-01 3.99473875e-03 2.09220556e+02] [-5.53364497e-01 -8.32935653e-01 2.43557436e-03 1.31093887e+02] [ 4.67513369e-03 -1.81893162e-04 9.99989055e-01 7.36368634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.10, Z:0.74 [[-8.31532660e-01 5.55458989e-01 4.32986046e-03 2.09227563e+02] [-5.55452745e-01 -8.31543906e-01 2.64190380e-03 1.31095956e+02] [ 5.06793829e-03 -2.08203587e-04 9.99987136e-01 7.36273470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.561400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.24, Y:131.10, Z:0.74 [[-8.29123852e-01 5.59026823e-01 6.53060713e-03 2.09236707e+02] [-5.59012706e-01 -8.29149499e-01 3.98775456e-03 1.31097800e+02] [ 7.64411140e-03 -3.44349940e-04 9.99970724e-01 7.35984497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.09, Z:0.74 [[-8.28261585e-01 5.60291632e-01 7.48562666e-03 2.09230890e+02] [-5.60273105e-01 -8.28295312e-01 4.57437865e-03 1.31093129e+02] [ 8.76329555e-03 -4.05213181e-04 9.99961520e-01 7.35828155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:131.09, Z:0.74 [[-8.27654144e-01 5.61186336e-01 7.64947409e-03 2.09223544e+02] [-5.61166995e-01 -8.27689386e-01 4.67806052e-03 1.31087753e+02] [ 8.95665216e-03 -4.20816214e-04 9.99959800e-01 7.35817870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.10, Z:0.74 [[-8.27557487e-01 5.61336360e-01 7.07785413e-03 2.09248989e+02] [-5.61319810e-01 -8.27587662e-01 4.32815204e-03 1.31102265e+02] [ 8.28709386e-03 -3.91145115e-04 9.99965585e-01 7.36263803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.10, Z:0.74 [[-8.27629412e-01 5.61242392e-01 6.04424407e-03 2.09245699e+02] [-5.61230302e-01 -8.27651417e-01 3.69878859e-03 1.31099255e+02] [ 7.07844412e-03 -3.30986697e-04 9.99974893e-01 7.37019360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.10, Z:0.74 [[-8.28406020e-01 5.60108820e-01 4.64499412e-03 2.09257422e+02] [-5.60101650e-01 -8.28419006e-01 2.84462794e-03 1.31104099e+02] [ 5.44130261e-03 -2.45161963e-04 9.99985166e-01 7.37423778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.10, Z:0.74 [[-8.28445207e-01 5.60049017e-01 4.86188121e-03 2.09255576e+02] [-5.60041148e-01 -8.28459434e-01 2.97968174e-03 1.31101577e+02] [ 5.69663919e-03 -2.54350486e-04 9.99983742e-01 7.37266134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.11, Z:0.74 [[-8.28284560e-01 5.60282269e-01 5.33545315e-03 2.09265394e+02] [-5.60272782e-01 -8.28301697e-01 3.27236780e-03 1.31106253e+02] [ 6.25281456e-03 -2.78857463e-04 9.99980412e-01 7.37098040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.09, Z:0.74 [[-8.27932164e-01 5.60797416e-01 5.88143386e-03 2.09236221e+02] [-5.60785882e-01 -8.27952996e-01 3.60995729e-03 1.31087812e+02] [ 6.89400551e-03 -3.09425321e-04 9.99976188e-01 7.36410105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.10, Z:0.74 [[-8.27556046e-01 5.61347578e-01 6.31565545e-03 2.09250913e+02] [-5.61334273e-01 -8.27580077e-01 3.87942412e-03 1.31096912e+02] [ 7.40441596e-03 -3.34752979e-04 9.99972531e-01 7.36547814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.10, Z:0.74 [[-8.27215370e-01 5.61845985e-01 6.61974349e-03 2.09262086e+02] [-5.61831360e-01 -8.27241781e-01 4.06927579e-03 1.31103439e+02] [ 7.76243466e-03 -3.53012007e-04 9.99969810e-01 7.36359106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.891400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.27, Y:131.11, Z:0.74 [[-8.26882905e-01 5.62319350e-01 7.84912618e-03 2.09269572e+02] [-5.62298776e-01 -8.26920051e-01 4.82862445e-03 1.31106388e+02] [ 9.20582879e-03 -4.20847031e-04 9.99957537e-01 7.36292174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.921400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.27, Y:131.11, Z:0.74 [[-8.26680305e-01 5.62614486e-01 8.03829410e-03 2.09268496e+02] [-5.62592886e-01 -8.26719272e-01 4.94869731e-03 1.31105199e+02] [ 9.42962144e-03 -4.31296481e-04 9.99955447e-01 7.35729404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.10, Z:0.74 [[-8.26238572e-01 5.63270454e-01 7.49782933e-03 2.09268566e+02] [-5.63251658e-01 -8.26272492e-01 4.61941864e-03 1.31104810e+02] [ 8.79723216e-03 -4.06422943e-04 9.99961221e-01 7.35534291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.981400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.28, Y:131.11, Z:0.74 [[-8.25830325e-01 5.63872386e-01 7.22549705e-03 2.09281020e+02] [-5.63854925e-01 -8.25861839e-01 4.45495634e-03 1.31111964e+02] [ 8.47928914e-03 -3.95094056e-04 9.99963972e-01 7.36589324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.27, Y:131.10, Z:0.74 [[-8.25424971e-01 5.64471686e-01 6.73294172e-03 2.09269302e+02] [-5.64456521e-01 -8.25452347e-01 4.15436594e-03 1.31103044e+02] [ 7.90274449e-03 -3.71335477e-04 9.99968704e-01 7.37490485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.041400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.27, Y:131.10, Z:0.74 [[-8.25235329e-01 5.64748916e-01 6.73154610e-03 2.09271410e+02] [-5.64733742e-01 -8.25262700e-01 4.15662695e-03 1.31104433e+02] [ 7.90274447e-03 -3.71335810e-04 9.99968704e-01 7.37490031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.071400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.29, Y:131.12, Z:0.74 [[-8.25152122e-01 5.64872577e-01 6.55344783e-03 2.09294922e+02] [-5.64858175e-01 -8.25178067e-01 4.04967052e-03 1.31116981e+02] [ 7.69530923e-03 -3.60174355e-04 9.99970326e-01 7.38203295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.101400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.30, Y:131.12, Z:0.74 [[-8.25162927e-01 5.64858160e-01 6.43448220e-03 2.09297900e+02] [-5.64844254e-01 -8.25187940e-01 3.97909731e-03 1.31116669e+02] [ 7.55728269e-03 -3.51076713e-04 9.99971382e-01 7.38588105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.131400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.27, Y:131.09, Z:0.74 [[-8.25685675e-01 5.64105066e-01 5.35163236e-03 2.09266300e+02] [-5.64095415e-01 -8.25702969e-01 3.31192771e-03 1.31093999e+02] [ 6.28713393e-03 -2.84220010e-04 9.99980195e-01 7.38469692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:131.11, Z:0.74 [[-8.25925473e-01 5.63759802e-01 4.69033198e-03 2.09303941e+02] [-5.63752371e-01 -8.25938754e-01 2.90483937e-03 1.31114764e+02] [ 5.51155862e-03 -2.45004946e-04 9.99984781e-01 7.38633489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:131.11, Z:0.74 [[-8.26060835e-01 5.63564295e-01 4.33380804e-03 2.09306641e+02] [-5.63557939e-01 -8.26072173e-01 2.68601648e-03 1.31113370e+02] [ 5.09378121e-03 -2.23538913e-04 9.99987002e-01 7.39271168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:131.11, Z:0.74 [[-8.25960219e-01 5.63714249e-01 3.99515919e-03 2.09307020e+02] [-5.63708840e-01 -8.25969856e-01 2.47795592e-03 1.31111229e+02] [ 4.69674012e-03 -2.05413542e-04 9.99988949e-01 7.39728711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.251400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.30, Y:131.11, Z:0.74 [[-8.25352904e-01 5.64603722e-01 3.90144485e-03 2.09302922e+02] [-5.64598566e-01 -8.25362099e-01 2.42162635e-03 1.31107543e+02] [ 4.58736396e-03 -2.04053831e-04 9.99989457e-01 7.39763456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.281400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.32, Y:131.11, Z:0.74 [[-8.22929039e-01 5.68126897e-01 4.43006548e-03 2.09315072e+02] [-5.68120289e-01 -8.22940924e-01 2.75179079e-03 1.31113335e+02] [ 5.20904854e-03 -2.52281525e-04 9.99986401e-01 7.39383784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.34, Y:131.13, Z:0.74 [[-8.21093065e-01 5.70768888e-01 5.39026275e-03 2.09337106e+02] [-5.70759146e-01 -8.21110693e-01 3.35070279e-03 1.31125721e+02] [ 6.33847929e-03 -3.25302937e-04 9.99979859e-01 7.39338067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:131.12, Z:0.74 [[-8.19169784e-01 5.73515372e-01 6.40185651e-03 2.09332222e+02] [-5.73501691e-01 -8.19194697e-01 3.98245182e-03 1.31121385e+02] [ 7.52836424e-03 -4.09171337e-04 9.99971578e-01 7.39076136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.371400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.34, Y:131.13, Z:0.74 [[-8.17185684e-01 5.76326375e-01 7.44765154e-03 2.09340789e+02] [-5.76307945e-01 -8.17219466e-01 4.63641341e-03 1.31126754e+02] [ 8.75845315e-03 -5.03330093e-04 9.99961517e-01 7.38811513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.36, Y:131.14, Z:0.74 [[-8.14405602e-01 5.80245125e-01 7.68834965e-03 2.09357465e+02] [-5.80225626e-01 -8.14441699e-01 4.78972708e-03 1.31138673e+02] [ 9.04092834e-03 -5.60196920e-04 9.99958973e-01 7.39002539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.431400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.37, Y:131.15, Z:0.74 [[-8.13675673e-01 5.81276277e-01 7.05612301e-03 2.09371540e+02] [-5.81259866e-01 -8.13706100e-01 4.39900706e-03 1.31147646e+02] [ 8.29864878e-03 -5.22076084e-04 9.99965429e-01 7.39008534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:131.15, Z:0.74 [[-8.13538156e-01 5.81480797e-01 5.97932857e-03 2.09377159e+02] [-5.81468999e-01 -8.13560009e-01 3.73034795e-03 1.31151136e+02] [ 7.03366830e-03 -4.42013809e-04 9.99975166e-01 7.38915610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.15, Z:0.74 [[-8.13655091e-01 5.81323492e-01 5.32831752e-03 2.09368466e+02] [-5.81314106e-01 -8.13672443e-01 3.32656681e-03 1.31145887e+02] [ 6.26931657e-03 -3.90748114e-04 9.99980271e-01 7.39222123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.15, Z:0.74 [[-8.14170032e-01 5.80607490e-01 4.70126157e-03 2.09371887e+02] [-5.80600159e-01 -8.14183535e-01 2.93717990e-03 1.31149204e+02] [ 5.53303842e-03 -3.38189360e-04 9.99984635e-01 7.39529498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.551400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.36, Y:131.14, Z:0.74 [[-8.16064365e-01 5.77946617e-01 4.08166604e-03 2.09357729e+02] [-5.77941049e-01 -8.16074526e-01 2.55190582e-03 1.31142344e+02] [ 4.80580901e-03 -2.76442949e-04 9.99988414e-01 7.40488530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.14, Z:0.74 [[-8.17000038e-01 5.76624317e-01 3.91589828e-03 2.09360786e+02] [-5.76619169e-01 -8.17009383e-01 2.45003443e-03 1.31143802e+02] [ 4.61207507e-03 -2.56303788e-04 9.99989332e-01 7.40783707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.14, Z:0.74 [[-8.18040533e-01 5.75143646e-01 4.41278651e-03 2.09355056e+02] [-5.75137076e-01 -8.18052388e-01 2.76293139e-03 1.31137978e+02] [ 5.19897298e-03 -2.77767266e-04 9.99986447e-01 7.40626695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.14, Z:0.74 [[-8.19327393e-01 5.73305429e-01 4.84865661e-03 2.09361551e+02] [-5.73297453e-01 -8.19341688e-01 3.03805221e-03 1.31139056e+02] [ 5.71443832e-03 -2.90563090e-04 9.99983630e-01 7.40479357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.671400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.35, Y:131.12, Z:0.74 [[-8.21561373e-01 5.70101903e-01 4.55312988e-03 2.09347780e+02] [-5.70094809e-01 -8.21573951e-01 2.85496284e-03 1.31124632e+02] [ 5.36835265e-03 -2.50188520e-04 9.99985559e-01 7.40104507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:131.13, Z:0.74 [[-8.21972168e-01 5.69517719e-01 3.36497195e-03 2.09358430e+02] [-5.69513833e-01 -8.21979036e-01 2.11147813e-03 1.31128771e+02] [ 3.96846060e-03 -1.80821819e-04 9.99992109e-01 7.40132795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:131.14, Z:0.74 [[-8.21641663e-01 5.69997788e-01 2.73839655e-03 2.09373708e+02] [-5.69995213e-01 -8.21646213e-01 1.71954883e-03 1.31135125e+02] [ 3.23013219e-03 -1.48019967e-04 9.99994772e-01 7.40135804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.761400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.38, Y:131.13, Z:0.74 [[-8.19386807e-01 5.73232718e-01 3.08419628e-03 2.09380948e+02] [-5.73229470e-01 -8.19392592e-01 1.93810234e-03 1.31134216e+02] [ 3.63815125e-03 -1.79896711e-04 9.99993366e-01 7.39891941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.14, Z:0.74 [[-8.17686429e-01 5.75654890e-01 3.21739669e-03 2.09390853e+02] [-5.75651369e-01 -8.17692735e-01 2.02326709e-03 1.31138777e+02] [ 3.79554549e-03 -1.97700770e-04 9.99992777e-01 7.39402631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:131.14, Z:0.74 [[-8.15834131e-01 5.78276238e-01 3.35609049e-03 2.09399759e+02] [-5.78272422e-01 -8.15841005e-01 2.11200338e-03 1.31142196e+02] [ 3.95935761e-03 -2.17690131e-04 9.99992138e-01 7.39678226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.41, Y:131.15, Z:0.74 [[-8.13847668e-01 5.81065224e-01 3.89601991e-03 2.09413311e+02] [-5.81060105e-01 -8.13856950e-01 2.45354469e-03 1.31147732e+02] [ 4.59647237e-03 -2.67010112e-04 9.99989401e-01 7.39934975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.15, Z:0.74 [[-8.11858722e-01 5.83840852e-01 3.90848174e-03 2.09424718e+02] [-5.83835724e-01 -8.11868081e-01 2.46313763e-03 1.31152574e+02] [ 4.61125194e-03 -2.82191501e-04 9.99989328e-01 7.39926711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.16, Z:0.74 [[-8.08634017e-01 5.88296374e-01 4.28997178e-03 2.09445935e+02] [-5.88290249e-01 -8.08645326e-01 2.70545913e-03 1.31161588e+02] [ 5.06067742e-03 -3.36022286e-04 9.99987138e-01 7.39816359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.16, Z:0.74 [[-8.07184452e-01 5.90282298e-01 4.47989212e-03 2.09445054e+02] [-5.90275638e-01 -8.07196803e-01 2.82720826e-03 1.31159543e+02] [ 5.28500558e-03 -3.62292628e-04 9.99985969e-01 7.39250736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.46, Y:131.17, Z:0.74 [[-8.05663127e-01 5.92352987e-01 4.98645142e-03 2.09461035e+02] [-5.92344763e-01 -8.05678450e-01 3.14908966e-03 1.31168460e+02] [ 5.88284912e-03 -4.16592959e-04 9.99982609e-01 7.39164499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.17, Z:0.74 [[-8.04296839e-01 5.94206639e-01 5.00663224e-03 2.09463699e+02] [-5.94198370e-01 -8.04312306e-01 3.16402416e-03 1.31169977e+02] [ 5.90698008e-03 -4.30118089e-04 9.99982461e-01 7.39205419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.17, Z:0.74 [[-8.03011927e-01 5.95941084e-01 5.10576991e-03 2.09469335e+02] [-5.95932506e-01 -8.03028033e-01 3.22890730e-03 1.31173389e+02] [ 6.02431488e-03 -4.49843182e-04 9.99981753e-01 7.39180902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.18, Z:0.74 [[-8.01204454e-01 5.98369784e-01 5.00250735e-03 2.09474203e+02] [-5.98361584e-01 -8.01219940e-01 3.16578241e-03 1.31179011e+02] [ 5.90241718e-03 -4.56869255e-04 9.99982476e-01 7.39060742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.091400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.48, Y:131.18, Z:0.74 [[-8.00556487e-01 5.99234813e-01 5.19137249e-03 2.09476626e+02] [-5.99225986e-01 -8.00573175e-01 3.28756600e-03 1.31182145e+02] [ 6.12609756e-03 -4.78923021e-04 9.99981121e-01 7.38977040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.121400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:209.49, Y:131.19, Z:0.74 [[-8.00285403e-01 5.99597090e-01 5.15779773e-03 2.09486352e+02] [-5.99588371e-01 -8.00301882e-01 3.26854246e-03 1.31189704e+02] [ 6.08760378e-03 -4.76788715e-04 9.99981357e-01 7.38964517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.19, Z:0.74 [[-8.00623336e-01 5.99130090e-01 6.73869262e-03 2.09479818e+02] [-5.99115167e-01 -8.00651457e-01 4.27331526e-03 1.31188766e+02] [ 7.95561582e-03 -6.15937040e-04 9.99968164e-01 7.38133393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.18, Z:0.74 [[-8.00795479e-01 5.98890055e-01 7.56987856e-03 2.09460297e+02] [-5.98871183e-01 -8.00830962e-01 4.80373471e-03 1.31179114e+02] [ 8.93910208e-03 -6.86573099e-04 9.99959810e-01 7.37804975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.211400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.48, Y:131.20, Z:0.74 [[-8.00904966e-01 5.98737451e-01 8.04364185e-03 2.09481055e+02] [-5.98716101e-01 -8.00945029e-01 5.10791086e-03 1.31195006e+02] [ 9.50081248e-03 -7.24906712e-04 9.99954604e-01 7.37763980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.19, Z:0.74 [[-8.01149521e-01 5.98421911e-01 7.11767113e-03 2.09469402e+02] [-5.98405155e-01 -8.01180887e-01 4.52300477e-03 1.31190788e+02] [ 8.40920722e-03 -6.35647990e-04 9.99964440e-01 7.37448138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.20, Z:0.74 [[-8.01873508e-01 5.97474348e-01 4.82496790e-03 2.09476537e+02] [-5.97466619e-01 -8.01887913e-01 3.06817611e-03 1.31199272e+02] [ 5.70223996e-03 -4.22468116e-04 9.99983653e-01 7.38254104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.19, Z:0.74 [[-8.02274071e-01 5.96939422e-01 4.43188727e-03 2.09461900e+02] [-5.96932883e-01 -8.02286221e-01 2.82016352e-03 1.31192149e+02] [ 5.23910887e-03 -3.82995172e-04 9.99986202e-01 7.38496898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.19, Z:0.74 [[-8.02650570e-01 5.96427131e-01 5.17097741e-03 2.09451373e+02] [-5.96418205e-01 -8.02667106e-01 3.29278320e-03 1.31187578e+02] [ 6.11447871e-03 -4.41110750e-04 9.99981209e-01 7.38297347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.361400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.46, Y:131.19, Z:0.74 [[-8.02842493e-01 5.96155944e-01 6.48247427e-03 2.09455546e+02] [-5.96141884e-01 -8.02868476e-01 4.13083189e-03 1.31191830e+02] [ 7.66719423e-03 -5.48067060e-04 9.99970456e-01 7.37938193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.19, Z:0.74 [[-8.02834302e-01 5.96156415e-01 7.39000316e-03 2.09451430e+02] [-5.96138114e-01 -8.02868073e-01 4.71245067e-03 1.31190843e+02] [ 8.74255529e-03 -6.22145503e-04 9.99961590e-01 7.36794148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.421400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.45, Y:131.19, Z:0.74 [[-8.01767256e-01 5.97578543e-01 8.31579372e-03 2.09446446e+02] [-5.97555409e-01 -8.01810061e-01 5.30655059e-03 1.31190595e+02] [ 9.83876784e-03 -7.14529009e-04 9.99951343e-01 7.35634252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.20, Z:0.74 [[-8.00885093e-01 5.98768948e-01 7.66911263e-03 2.09453199e+02] [-5.98749295e-01 -8.00921531e-01 4.89732458e-03 1.31198154e+02] [ 9.07472331e-03 -6.69681530e-04 9.99958600e-01 7.35763014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.20, Z:0.74 [[-7.99743388e-01 6.00300445e-01 7.06328569e-03 2.09457939e+02] [-6.00283806e-01 -7.99774330e-01 4.51361491e-03 1.31204599e+02] [ 8.35855962e-03 -6.30242341e-04 9.99964868e-01 7.36167014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.22, Z:0.74 [[-7.98587419e-01 6.01841967e-01 6.66189145e-03 2.09481237e+02] [-6.01827196e-01 -7.98614975e-01 4.26006640e-03 1.31222679e+02] [ 7.88417301e-03 -6.07272023e-04 9.99968735e-01 7.36784438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.23, Z:0.74 [[-7.96598177e-01 6.04480572e-01 5.88061881e-03 2.09479733e+02] [-6.04469116e-01 -7.96619688e-01 3.76304999e-03 1.31227112e+02] [ 6.95930733e-03 -5.57013692e-04 9.99975629e-01 7.36780832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.23, Z:0.74 [[-7.95761975e-01 6.05582183e-01 5.75319002e-03 2.09481439e+02] [-6.05571228e-01 -7.95782580e-01 3.68404133e-03 1.31231012e+02] [ 6.80927819e-03 -5.52346338e-04 9.99976664e-01 7.36643159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.24, Z:0.74 [[-7.95006176e-01 6.06573857e-01 5.77369066e-03 2.09492622e+02] [-6.06562833e-01 -7.95026944e-01 3.69970518e-03 1.31240205e+02] [ 6.83438408e-03 -5.60817699e-04 9.99976488e-01 7.37061632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.24, Z:0.74 [[-7.94539641e-01 6.07182301e-01 6.03433541e-03 2.09482978e+02] [-6.07170258e-01 -7.94562336e-01 3.86937798e-03 1.31235221e+02] [ 7.14407346e-03 -5.89494797e-04 9.99974307e-01 7.37575921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.24, Z:0.74 [[-7.94447684e-01 6.07301403e-01 6.15497144e-03 2.09486711e+02] [-6.07288857e-01 -7.94471300e-01 3.94944987e-03 1.31238039e+02] [ 7.28845461e-03 -6.00214264e-04 9.99973259e-01 7.38024866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.691400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:209.49, Y:131.24, Z:0.74 [[-7.94565391e-01 6.07148182e-01 6.07664354e-03 2.09493082e+02] [-6.07135929e-01 -7.94588408e-01 3.90186542e-03 1.31241667e+02] [ 7.19744101e-03 -5.89061405e-04 9.99973925e-01 7.38306765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.721400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:209.48, Y:131.24, Z:0.74 [[-7.95706234e-01 6.05652508e-01 6.05220297e-03 2.09484063e+02] [-6.05640292e-01 -7.95729046e-01 3.88884475e-03 1.31236930e+02] [ 7.17120227e-03 -5.71079960e-04 9.99974124e-01 7.38620004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.24, Z:0.74 [[-7.96265393e-01 6.04922563e-01 5.48786783e-03 2.09487496e+02] [-6.04912486e-01 -7.96284141e-01 3.52865682e-03 1.31240095e+02] [ 6.50446625e-03 -5.09932459e-04 9.99978716e-01 7.38423507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.49, Y:131.24, Z:0.74 [[-7.96848489e-01 6.04153797e-01 5.53856541e-03 2.09485724e+02] [-6.04143498e-01 -7.96867576e-01 3.56371356e-03 1.31238193e+02] [ 6.56653427e-03 -5.06348519e-04 9.99978312e-01 7.38785050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.811400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:209.48, Y:131.23, Z:0.74 [[-7.97611959e-01 6.03144388e-01 5.65774707e-03 2.09481019e+02] [-6.03133599e-01 -7.97631864e-01 3.64292310e-03 1.31234392e+02] [ 6.71000796e-03 -5.06738320e-04 9.99977359e-01 7.39310688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.23, Z:0.74 [[-7.99266761e-01 6.00956303e-01 4.91593894e-03 2.09478772e+02] [-6.00948104e-01 -7.99281767e-01 3.16747889e-03 1.31231196e+02] [ 5.83273677e-03 -4.22563590e-04 9.99982900e-01 7.40068090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.48, Y:131.23, Z:0.74 [[-7.99947347e-01 6.00051446e-01 4.74395526e-03 2.09476582e+02] [-6.00043783e-01 -7.99961313e-01 3.05879641e-03 1.31227997e+02] [ 5.63041589e-03 -3.99704785e-04 9.99984069e-01 7.40664138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.23, Z:0.74 [[-8.00763613e-01 5.98967584e-01 3.93313715e-03 2.09488664e+02] [-5.98962295e-01 -8.00773207e-01 2.53775485e-03 1.31234366e+02] [ 4.66958373e-03 -3.23659114e-04 9.99989045e-01 7.40435771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.22, Z:0.74 [[-8.01533434e-01 5.97937327e-01 3.88679647e-03 2.09475007e+02] [-5.97932142e-01 -8.01542797e-01 2.50960585e-03 1.31222955e+02] [ 4.61602073e-03 -3.12507540e-04 9.99989297e-01 7.40397194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.22, Z:0.74 [[-8.01341959e-01 5.98193919e-01 3.88599297e-03 2.09477089e+02] [-5.98188731e-01 -8.01351320e-01 2.51084982e-03 1.31224388e+02] [ 4.61602069e-03 -3.12507889e-04 9.99989297e-01 7.40396740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.22, Z:0.74 [[-8.02086724e-01 5.97193152e-01 4.15043816e-03 2.09479849e+02] [-5.97187212e-01 -8.02097396e-01 2.68360448e-03 1.31223632e+02] [ 4.93168586e-03 -3.26105063e-04 9.99987786e-01 7.39804195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.021400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.48, Y:131.22, Z:0.74 [[-8.03027340e-01 5.95914787e-01 5.71474542e-03 2.09476190e+02] [-5.95903474e-01 -8.03047556e-01 3.69768844e-03 1.31217166e+02] [ 6.79271956e-03 -4.36091739e-04 9.99976834e-01 7.39011736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.051400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.49, Y:131.22, Z:0.74 [[-8.03172288e-01 5.95712907e-01 6.35669926e-03 2.09489493e+02] [-5.95698882e-01 -8.03197299e-01 4.11596215e-03 1.31224090e+02] [ 7.55761545e-03 -4.80851906e-04 9.99971325e-01 7.38959550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.081400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.49, Y:131.22, Z:0.74 [[-8.03301893e-01 5.95535538e-01 6.59476640e-03 2.09487196e+02] [-5.95520413e-01 -8.03328811e-01 4.27311138e-03 1.31220478e+02] [ 7.84255553e-03 -4.94719552e-04 9.99969124e-01 7.38758856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.111400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.49, Y:131.22, Z:0.74 [[-8.03577005e-01 5.95164865e-01 6.54062819e-03 2.09486144e+02] [-5.95149952e-01 -8.03603477e-01 4.24101732e-03 1.31217073e+02] [ 7.78017605e-03 -4.84670554e-04 9.99969617e-01 7.38644620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:131.22, Z:0.74 [[-8.04130808e-01 5.94418177e-01 6.37772391e-03 2.09498851e+02] [-5.94403952e-01 -8.04155965e-01 4.13829383e-03 1.31222443e+02] [ 7.58856180e-03 -4.63214738e-04 9.99971099e-01 7.38711573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.21, Z:0.74 [[-8.05662679e-01 5.92351835e-01 5.19145483e-03 2.09486214e+02] [-5.92342352e-01 -8.05679325e-01 3.37092468e-03 1.31207932e+02] [ 6.17942124e-03 -3.59290364e-04 9.99980843e-01 7.39776843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:131.21, Z:0.74 [[-8.06352858e-01 5.91412296e-01 5.15411993e-03 2.09500346e+02] [-5.91402916e-01 -8.06369255e-01 3.34904674e-03 1.31213492e+02] [ 6.13679127e-03 -3.47648144e-04 9.99981109e-01 7.40423410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.50, Y:131.21, Z:0.74 [[-8.07126330e-01 5.90352241e-01 5.59630413e-03 2.09496629e+02] [-5.90341140e-01 -8.07145648e-01 3.63894136e-03 1.31207187e+02] [ 6.66528971e-03 -3.66643179e-04 9.99977720e-01 7.40663132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.50, Y:131.20, Z:0.74 [[-8.07620528e-01 5.89674218e-01 5.77921907e-03 2.09496163e+02] [-5.89662344e-01 -8.07641120e-01 3.76054509e-03 1.31203161e+02] [ 6.88503145e-03 -3.70694453e-04 9.99976229e-01 7.40413251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:131.20, Z:0.74 [[-8.07821254e-01 5.89412785e-01 4.17026909e-03 2.09508683e+02] [-5.89406589e-01 -8.07831975e-01 2.71550035e-03 1.31203935e+02] [ 4.96942734e-03 -2.64345181e-04 9.99987617e-01 7.39842352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:131.21, Z:0.74 [[-8.07233263e-01 5.90222281e-01 3.48117305e-03 2.09523134e+02] [-5.90217964e-01 -8.07240738e-01 2.26837272e-03 1.31209221e+02] [ 4.14898882e-03 -2.23544955e-04 9.99991368e-01 7.40150265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.53, Y:131.21, Z:0.74 [[-8.06419631e-01 5.91331131e-01 3.85658863e-03 2.09527432e+02] [-5.91325837e-01 -8.06428813e-01 2.51476496e-03 1.31207693e+02] [ 4.59712300e-03 -2.52544674e-04 9.99989401e-01 7.41010199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.381400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.52, Y:131.20, Z:0.74 [[-8.05281258e-01 5.92871448e-01 5.05388689e-03 2.09523267e+02] [-5.92862374e-01 -8.05297045e-01 3.29782181e-03 1.31200443e+02] [ 6.02506457e-03 -3.40585281e-04 9.99981791e-01 7.41207397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.411400513 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:209.54, Y:131.20, Z:0.74 [[-8.03479644e-01 5.95278215e-01 8.01923873e-03 2.09535077e+02] [-5.95255452e-01 -8.03519462e-01 5.23652344e-03 1.31199953e+02] [ 9.56080272e-03 -5.66055581e-04 9.99954134e-01 7.40941894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.55, Y:131.21, Z:0.74 [[-8.02480956e-01 5.96628454e-01 7.66835781e-03 2.09554522e+02] [-5.96607668e-01 -8.02517402e-01 5.01088609e-03 1.31208668e+02] [ 9.14362781e-03 -5.53860413e-04 9.99958043e-01 7.41139666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.471400513 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:209.55, Y:131.20, Z:0.74 [[-8.01479499e-01 5.97981434e-01 6.98693634e-03 2.09545830e+02] [-5.97964203e-01 -8.01509786e-01 4.56878185e-03 1.31199094e+02] [ 8.33214458e-03 -5.16152839e-04 9.99965154e-01 7.40813857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.501400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:209.56, Y:131.21, Z:0.74 [[-8.00453298e-01 5.99364035e-01 6.10497106e-03 2.09563448e+02] [-5.99350900e-01 -8.00476446e-01 3.99482856e-03 1.31206203e+02] [ 7.28124210e-03 -4.61346205e-04 9.99973385e-01 7.40979807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:131.21, Z:0.74 [[-7.99579500e-01 6.00537629e-01 5.21336894e-03 2.09574932e+02] [-6.00528060e-01 -7.99596395e-01 3.41374741e-03 1.31209429e+02] [ 6.21867479e-03 -4.01211882e-04 9.99980583e-01 7.40993722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.561400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.60, Y:131.22, Z:0.74 [[-7.98477186e-01 6.02005867e-01 4.80825688e-03 2.09595812e+02] [-6.01997742e-01 -7.98491573e-01 3.15062599e-03 1.31218918e+02] [ 5.73604793e-03 -3.78856812e-04 9.99983477e-01 7.40560950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.591400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.61, Y:131.22, Z:0.74 [[-7.96114593e-01 6.05122412e-01 5.33106125e-03 2.09613270e+02] [-6.05112478e-01 -7.96132319e-01 3.49556627e-03 1.31224618e+02] [ 6.35947565e-03 -4.43020364e-04 9.99979680e-01 7.40551769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.22, Z:0.74 [[-7.94549988e-01 6.07174480e-01 5.42835557e-03 2.09606070e+02] [-6.07164212e-01 -7.94568394e-01 3.56176804e-03 1.31218614e+02] [ 6.47581443e-03 -4.65900476e-04 9.99978923e-01 7.39897115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.23, Z:0.74 [[-7.92848734e-01 6.09394449e-01 5.41201809e-03 2.09632648e+02] [-6.09384279e-01 -7.92867060e-01 3.55343513e-03 1.31234531e+02] [ 6.45645452e-03 -4.80662195e-04 9.99979041e-01 7.39596558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.23, Z:0.74 [[-7.91365057e-01 6.11318192e-01 5.60483273e-03 2.09628538e+02] [-6.11307315e-01 -7.91384739e-01 3.68249477e-03 1.31230267e+02] [ 6.68675513e-03 -5.12077563e-04 9.99977512e-01 7.39854926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.22, Z:0.74 [[-7.89721226e-01 6.13440376e-01 5.59375897e-03 2.09619078e+02] [-6.13429578e-01 -7.89740861e-01 3.67769088e-03 1.31219927e+02] [ 6.67366410e-03 -5.27026651e-04 9.99977592e-01 7.39606785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.23, Z:0.74 [[-7.89494588e-01 6.13731262e-01 5.67738820e-03 2.09643045e+02] [-6.13720130e-01 -7.89514820e-01 3.73517891e-03 1.31233037e+02] [ 6.77477819e-03 -5.35423889e-04 9.99976908e-01 7.39775355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.23, Z:0.74 [[-7.89847257e-01 6.13276475e-01 5.76856930e-03 2.09638966e+02] [-6.13264952e-01 -7.89868138e-01 3.79770249e-03 1.31227153e+02] [ 6.88545069e-03 -5.38056482e-04 9.99976150e-01 7.40167420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.24, Z:0.74 [[-7.90537041e-01 6.12385797e-01 5.90105753e-03 2.09657591e+02] [-6.12373696e-01 -7.90558880e-01 3.88751314e-03 1.31235724e+02] [ 7.04579127e-03 -5.40429279e-04 9.99975032e-01 7.40624949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.831400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.66, Y:131.23, Z:0.74 [[-7.93068105e-01 6.09102667e-01 6.07638642e-03 2.09657825e+02] [-6.09089721e-01 -7.93091210e-01 4.00567518e-03 1.31226803e+02] [ 7.25899608e-03 -5.24291282e-04 9.99973516e-01 7.41039293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.21, Z:0.74 [[-7.94454832e-01 6.07293771e-01 5.98302355e-03 2.09641054e+02] [-6.07281150e-01 -7.94477204e-01 3.94676788e-03 1.31211327e+02] [ 7.15022337e-03 -4.97848603e-04 9.99974313e-01 7.40930541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.21, Z:0.74 [[-7.95596815e-01 6.05802693e-01 5.36713740e-03 2.09637864e+02] [-6.05792487e-01 -7.95614800e-01 3.54287831e-03 1.31205062e+02] [ 6.41645917e-03 -4.32668815e-04 9.99979321e-01 7.40548845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.21, Z:0.74 [[-7.96524372e-01 6.04591489e-01 4.24930564e-03 2.09649590e+02] [-6.04585065e-01 -7.96535637e-01 2.80687336e-03 1.31208341e+02] [ 5.08173512e-03 -3.33323684e-04 9.99987032e-01 7.40820704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.951400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.66, Y:131.21, Z:0.74 [[-7.97351865e-01 6.03503815e-01 3.62613517e-03 2.09664241e+02] [-6.03499119e-01 -7.97360062e-01 2.39683912e-03 1.31207391e+02] [ 4.33783692e-03 -2.77245234e-04 9.99990553e-01 7.40811511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.981400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:209.65, Y:131.20, Z:0.74 [[-7.97069845e-01 6.03869314e-01 4.63829296e-03 2.09653481e+02] [-6.03861625e-01 -7.97083261e-01 3.06794917e-03 1.31195526e+02] [ 5.54974604e-03 -3.55517356e-04 9.99984537e-01 7.40492484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.19, Z:0.74 [[-7.96334554e-01 6.04827124e-01 5.95213284e-03 2.09652386e+02] [-6.04814470e-01 -7.96356664e-01 3.93966353e-03 1.31191405e+02] [ 7.12283601e-03 -4.62645867e-04 9.99974525e-01 7.40918572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.041400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.69, Y:131.21, Z:0.74 [[-7.95186905e-01 6.06326573e-01 6.77295549e-03 2.09687337e+02] [-6.06310218e-01 -7.95215566e-01 4.48598016e-03 1.31212188e+02] [ 8.10592861e-03 -5.39319444e-04 9.99967001e-01 7.40007186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.071400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.71, Y:131.22, Z:0.74 [[-7.91401433e-01 6.11266242e-01 6.11171203e-03 2.09709756e+02] [-6.11253050e-01 -7.91424855e-01 4.05067994e-03 1.31222241e+02] [ 7.31300471e-03 -5.30088702e-04 9.99973119e-01 7.40748412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.101400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.72, Y:131.23, Z:0.74 [[-7.88883691e-01 6.14513357e-01 5.98800216e-03 2.09722660e+02] [-6.14500768e-01 -7.88906227e-01 3.97128094e-03 1.31228904e+02] [ 7.16437738e-03 -5.46753158e-04 9.99974186e-01 7.40502852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.131400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.74, Y:131.24, Z:0.74 [[-7.86520483e-01 6.17535094e-01 5.99473947e-03 2.09735507e+02] [-6.17522545e-01 -7.86543120e-01 3.97832844e-03 1.31236969e+02] [ 7.17187851e-03 -5.72849966e-04 9.99974118e-01 7.39662868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.24, Z:0.74 [[-7.84552581e-01 6.20028996e-01 6.42584803e-03 2.09738374e+02] [-6.20014638e-01 -7.84578638e-01 4.26718699e-03 1.31239522e+02] [ 7.68736276e-03 -6.36287280e-04 9.99970249e-01 7.39935020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.24, Z:0.74 [[-7.83113889e-01 6.21840178e-01 6.88690520e-03 2.09739239e+02] [-6.21823731e-01 -7.83143860e-01 4.57631698e-03 1.31240755e+02] [ 8.23917528e-03 -6.98663696e-04 9.99965813e-01 7.40018630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.221400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.75, Y:131.25, Z:0.74 [[-7.82151693e-01 6.23040340e-01 7.71133322e-03 2.09749671e+02] [-6.23019746e-01 -7.82189303e-01 5.12745403e-03 1.31247530e+02] [ 9.22633305e-03 -7.93866017e-04 9.99957121e-01 7.39666964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.26, Z:0.74 [[-7.82071367e-01 6.23135106e-01 8.18644100e-03 2.09766044e+02] [-6.23111867e-01 -7.82113759e-01 5.44684855e-03 1.31256344e+02] [ 9.79685070e-03 -8.41244252e-04 9.99951656e-01 7.40872709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.26, Z:0.74 [[-7.82717418e-01 6.22333837e-01 7.35115027e-03 2.09778120e+02] [-6.22315037e-01 -7.82751584e-01 4.89418313e-03 1.31263275e+02] [ 8.79994028e-03 -7.43968966e-04 9.99961003e-01 7.40842975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.311400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.76, Y:131.25, Z:0.74 [[-7.83571130e-01 6.21267038e-01 6.59945419e-03 2.09759009e+02] [-6.21251826e-01 -7.83598647e-01 4.39651585e-03 1.31249707e+02] [ 7.90273375e-03 -6.54940070e-04 9.99968558e-01 7.40090112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.341400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.74, Y:131.24, Z:0.74 [[-7.84503377e-01 6.20094016e-01 6.15327256e-03 2.09744743e+02] [-6.20080737e-01 -7.84527281e-01 4.10191018e-03 1.31239402e+02] [ 7.37098015e-03 -5.97563391e-04 9.99972655e-01 7.40614868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.371400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.76, Y:131.24, Z:0.74 [[-7.85339663e-01 6.19037366e-01 5.86118496e-03 2.09760179e+02] [-6.19025271e-01 -7.85361336e-01 3.90971818e-03 1.31244654e+02] [ 7.02340970e-03 -5.57764851e-04 9.99975180e-01 7.40629722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.401400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:209.77, Y:131.25, Z:0.74 [[-7.84876685e-01 6.19626261e-01 5.64682694e-03 2.09768232e+02] [-6.19615033e-01 -7.84896812e-01 3.76914790e-03 1.31247076e+02] [ 6.76763948e-03 -5.40542549e-04 9.99976953e-01 7.40986673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.23, Z:0.74 [[-7.84130999e-01 6.20575974e-01 4.90266478e-03 2.09747331e+02] [-6.20567516e-01 -7.84146182e-01 3.27454052e-03 1.31231215e+02] [ 5.87650704e-03 -4.74765772e-04 9.99982621e-01 7.41310141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.461400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.75, Y:131.23, Z:0.74 [[-7.82839580e-01 6.22185683e-01 6.86784166e-03 2.09745398e+02] [-6.22194103e-01 -7.82862249e-01 1.09395632e-03 1.31231237e+02] [ 6.05721793e-03 -3.41673828e-03 9.99975818e-01 7.38960480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.25, Z:0.74 [[-7.82012689e-01 6.23255034e-01 3.05234331e-03 2.09783096e+02] [-6.23235044e-01 -7.82014827e-01 5.55790989e-03 1.31250132e+02] [ 5.85097304e-03 2.44402874e-03 9.99979896e-01 7.40540706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.521400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.79, Y:131.26, Z:0.74 [[-7.79795913e-01 6.26018792e-01 4.33648873e-03 2.09793598e+02] [-6.26012236e-01 -7.79807840e-01 2.90062111e-03 1.31257705e+02] [ 5.19747124e-03 -4.52802519e-04 9.99986391e-01 7.39876610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.551400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.74, Y:131.22, Z:0.74 [[-7.78547948e-01 6.27570323e-01 4.31082774e-03 2.09740795e+02] [-6.27569091e-01 -7.78558792e-01 1.80111313e-03 1.31222588e+02] [ 4.48655798e-03 -1.30308932e-03 9.99989086e-01 7.40736119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.581400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.81, Y:131.26, Z:0.74 [[-7.78029816e-01 6.28218654e-01 3.30590666e-03 2.09805659e+02] [-6.28210176e-01 -7.78036684e-01 3.30043005e-03 1.31264491e+02] [ 4.64550838e-03 4.91028779e-04 9.99989089e-01 7.41483163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.611400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.82, Y:131.27, Z:0.74 [[-7.77351914e-01 6.29056431e-01 3.46530106e-03 2.09818295e+02] [-6.29052261e-01 -7.77359547e-01 2.32123552e-03 1.31274429e+02] [ 4.15397299e-03 -3.75438590e-04 9.99991302e-01 7.41087188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.27, Z:0.74 [[-7.76149319e-01 6.30537083e-01 3.90164812e-03 2.09803474e+02] [-6.30531806e-01 -7.76159006e-01 2.61517708e-03 1.31265814e+02] [ 4.67726545e-03 -4.30345333e-04 9.99988969e-01 7.40860572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.27, Z:0.74 [[-7.75480426e-01 6.31356059e-01 4.43120000e-03 2.09809946e+02] [-6.31349256e-01 -7.75492930e-01 2.97200879e-03 1.31270857e+02] [ 5.31276003e-03 -4.92900179e-04 9.99985766e-01 7.40277369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.82, Y:131.28, Z:0.74 [[-7.74634750e-01 6.32386896e-01 5.27420370e-03 2.09824972e+02] [-6.32377268e-01 -7.74652478e-01 3.53964759e-03 1.31282027e+02] [ 6.32410172e-03 -5.93352498e-04 9.99979827e-01 7.39616367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.81, Y:131.28, Z:0.74 [[-7.74040529e-01 6.33107344e-01 6.02918803e-03 2.09812240e+02] [-6.33094765e-01 -7.74063709e-01 4.04888650e-03 1.31275682e+02] [ 7.23035542e-03 -6.83045131e-04 9.99973627e-01 7.39640827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.761400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.81, Y:131.28, Z:0.74 [[-7.73882792e-01 6.33295989e-01 6.45101696e-03 2.09814918e+02] [-6.33281574e-01 -7.73909334e-01 4.33489927e-03 1.31280389e+02] [ 7.73777655e-03 -7.30606222e-04 9.99969796e-01 7.39670375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.791400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.82, Y:131.28, Z:0.74 [[-7.74129691e-01 6.32994323e-01 6.43494639e-03 2.09815409e+02] [-6.32979948e-01 -7.74156098e-01 4.32682229e-03 1.31283651e+02] [ 7.72050693e-03 -7.23670426e-04 9.99969935e-01 7.40267158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.82, Y:131.29, Z:0.74 [[-7.76098516e-01 6.30578721e-01 6.44749276e-03 2.09819748e+02] [-6.30564187e-01 -7.76124982e-01 4.33798338e-03 1.31291730e+02] [ 7.73950022e-03 -6.98855572e-04 9.99969805e-01 7.40574099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.82, Y:131.29, Z:0.74 [[-7.75915311e-01 6.30804150e-01 6.44623229e-03 2.09821834e+02] [-6.30789608e-01 -7.75941774e-01 4.33985620e-03 1.31293224e+02] [ 7.73950022e-03 -6.98855467e-04 9.99969805e-01 7.40573551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.881400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.80, Y:131.28, Z:0.74 [[-7.77442070e-01 6.28921219e-01 6.47524570e-03 2.09804051e+02] [-6.28906459e-01 -7.77468737e-01 4.36214079e-03 1.31283206e+02] [ 7.77774399e-03 -6.81012081e-04 9.99969521e-01 7.40169644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.28, Z:0.74 [[-7.79631891e-01 6.26205920e-01 6.34504627e-03 2.09795254e+02] [-6.26191639e-01 -7.79657449e-01 4.27715194e-03 1.31279816e+02] [ 7.62534046e-03 -6.38610864e-04 9.99970723e-01 7.40711800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.941400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.63, Y:131.18, Z:0.74 [[-7.82626620e-01 6.22408095e-01 1.01851651e-02 2.09633471e+02] [-6.22413615e-01 -7.82682734e-01 3.00495504e-03 1.31177255e+02] [ 9.84206125e-03 -3.98762765e-03 9.99943615e-01 7.42150855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.26, Z:0.74 [[-7.84653394e-01 6.19915379e-01 4.89629472e-03 2.09763383e+02] [-6.19879811e-01 -7.84664544e-01 7.11158784e-03 1.31260528e+02] [ 8.25053153e-03 2.54501730e-03 9.99962725e-01 7.40755579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.27, Z:0.74 [[-7.85760670e-01 6.18496809e-01 6.47049331e-03 2.09765825e+02] [-6.18481646e-01 -7.85787104e-01 4.36809396e-03 1.31266207e+02] [ 7.78608238e-03 -5.69604926e-04 9.99969526e-01 7.40117683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.26, Z:0.74 [[-7.86741329e-01 6.17254625e-01 5.89999568e-03 2.09757878e+02] [-6.17241965e-01 -7.86763288e-01 3.98556764e-03 1.31262057e+02] [ 7.10201006e-03 -5.06114144e-04 9.99974652e-01 7.40180105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.27, Z:0.74 [[-7.88243450e-01 6.15347020e-01 4.50647520e-03 2.09760006e+02] [-6.15339592e-01 -7.88256245e-01 3.04620030e-03 1.31266729e+02] [ 5.42672749e-03 -3.71865177e-04 9.99985206e-01 7.40040981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.27, Z:0.74 [[-7.88882197e-01 6.14527789e-01 4.52505781e-03 2.09755444e+02] [-6.14520276e-01 -7.88895090e-01 3.06077428e-03 1.31265149e+02] [ 5.45072674e-03 -3.66149441e-04 9.99985078e-01 7.40394051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.26, Z:0.74 [[-7.89818898e-01 6.13322716e-01 4.62114612e-03 2.09748787e+02] [-6.13314848e-01 -7.89832333e-01 3.12783593e-03 1.31262469e+02] [ 5.56830345e-03 -3.63793608e-04 9.99984431e-01 7.40272459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.26, Z:0.74 [[-7.90833968e-01 6.12010732e-01 4.94972254e-03 2.09738821e+02] [-6.12001667e-01 -7.90849367e-01 3.35246754e-03 1.31257142e+02] [ 5.96623105e-03 -3.77993240e-04 9.99982130e-01 7.40530715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.26, Z:0.74 [[-7.91837688e-01 6.10697395e-01 6.46283983e-03 2.09736980e+02] [-6.10701375e-01 -7.91859440e-01 1.56781644e-03 1.31258860e+02] [ 6.07512214e-03 -2.70540902e-03 9.99977887e-01 7.39831653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.25, Z:0.74 [[-7.93633632e-01 6.08383522e-01 3.89207749e-03 2.09724433e+02] [-6.08362431e-01 -7.93640813e-01 5.42330362e-03 1.31245937e+02] [ 6.38836010e-03 1.93632243e-03 9.99977720e-01 7.41770083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24140051300003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:209.72, Y:131.24, Z:0.74 [[-7.95068614e-01 6.06497739e-01 5.13723382e-03 2.09715028e+02] [-6.06487826e-01 -7.95085136e-01 3.48470518e-03 1.31241364e+02] [ 6.19800407e-03 -3.45090050e-04 9.99980733e-01 7.41021485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.24, Z:0.74 [[-7.99560196e-01 6.00570912e-01 4.25119020e-03 2.09709296e+02] [-6.00564030e-01 -7.99571460e-01 2.88564117e-03 1.31239458e+02] [ 5.13216250e-03 -2.45868098e-04 9.99986800e-01 7.41787284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.23, Z:0.74 [[-8.01765349e-01 5.97626162e-01 3.91088656e-03 2.09699608e+02] [-5.97620294e-01 -8.01774861e-01 2.65646939e-03 1.31233739e+02] [ 4.72322614e-03 -2.07360071e-04 9.99988824e-01 7.41860074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.22, Z:0.74 [[-8.05591515e-01 5.92457673e-01 4.02699786e-03 2.09684686e+02] [-5.92451377e-01 -8.05601560e-01 2.73724071e-03 1.31223295e+02] [ 4.86585502e-03 -1.80702539e-04 9.99988145e-01 7.41522135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.21, Z:0.74 [[-8.06726174e-01 5.90908707e-01 4.44737942e-03 2.09670975e+02] [-5.90900993e-01 -8.06738412e-01 3.02511731e-03 1.31213432e+02] [ 5.37543997e-03 -1.87519600e-04 9.99985535e-01 7.41597697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.22, Z:0.74 [[-8.07554558e-01 5.89770935e-01 5.08721084e-03 2.09684671e+02] [-5.89760804e-01 -8.07570556e-01 3.46278039e-03 1.31222951e+02] [ 6.15052892e-03 -2.03853469e-04 9.99981065e-01 7.41953767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.22, Z:0.74 [[-8.08327067e-01 5.88712823e-01 4.95632869e-03 2.09676024e+02] [-5.88703173e-01 -8.08342239e-01 3.37606511e-03 1.31218019e+02] [ 5.99394266e-03 -1.88841627e-04 9.99982018e-01 7.41886645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.22, Z:0.74 [[-8.09346394e-01 5.87317197e-01 4.11402647e-03 2.09677655e+02] [-5.87310520e-01 -8.09356836e-01 2.80428894e-03 1.31221232e+02] [ 4.97672258e-03 -1.46569886e-04 9.99987605e-01 7.41720893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.22, Z:0.74 [[-8.10445266e-01 5.85803909e-01 3.50005630e-03 2.09672850e+02] [-5.85799055e-01 -8.10452816e-01 2.38746054e-03 1.31219473e+02] [ 4.23521420e-03 -1.15423578e-04 9.99991025e-01 7.42011027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.21, Z:0.74 [[-8.12830725e-01 5.82493799e-01 2.68079454e-03 2.09652852e+02] [-5.82490930e-01 -8.12835142e-01 1.82991692e-03 1.31206788e+02] [ 3.24495927e-03 -7.41258061e-05 9.99994732e-01 7.41947007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.21, Z:0.74 [[-8.13769929e-01 5.81181709e-01 2.51496505e-03 2.09651932e+02] [-5.81179173e-01 -8.13773812e-01 1.71795617e-03 1.31206208e+02] [ 3.04505740e-03 -6.36242426e-05 9.99995362e-01 7.42103607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.21, Z:0.74 [[-8.14646298e-01 5.79950716e-01 2.92861975e-03 2.09660148e+02] [-5.79947264e-01 -8.14651559e-01 2.00197488e-03 1.31212076e+02] [ 3.54685141e-03 -6.75435840e-05 9.99993708e-01 7.42354938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.15642810e-01 5.78545344e-01 3.47733983e-03 2.09643546e+02] [-5.78540457e-01 -8.15650219e-01 2.37880877e-03 1.31200971e+02] [ 4.21254173e-03 -7.15235056e-05 9.99991125e-01 7.42133789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.17751327e-01 5.75558899e-01 3.83667697e-03 2.09628351e+02] [-5.75552909e-01 -8.17760325e-01 2.62656082e-03 1.31190767e+02] [ 4.64922267e-03 -6.03369968e-05 9.99989191e-01 7.41429801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.21, Z:0.74 [[-8.18691666e-01 5.74222032e-01 3.60749286e-03 2.09650859e+02] [-5.74216715e-01 -8.18699613e-01 2.47147016e-03 1.31206044e+02] [ 4.37262563e-03 -4.81106810e-05 9.99990439e-01 7.41050666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.19631105e-01 5.72880851e-01 3.51897883e-03 2.09632560e+02] [-5.72875772e-01 -8.19638658e-01 2.41259565e-03 1.31193737e+02] [ 4.26642093e-03 -3.84992733e-05 9.99990898e-01 7.41122905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.20479920e-01 5.71664378e-01 3.54117472e-03 2.09644509e+02] [-5.71659216e-01 -8.20487561e-01 2.42959996e-03 1.31202539e+02] [ 4.29440556e-03 -3.09071873e-05 9.99990779e-01 7.41413933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.21313839e-01 5.70465770e-01 3.51884911e-03 2.09629445e+02] [-5.70460654e-01 -8.21321377e-01 2.41606257e-03 1.31193037e+02] [ 4.26838699e-03 -2.30193413e-05 9.99990890e-01 7.42110929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.22777652e-01 5.68352485e-01 3.51959206e-03 2.09636309e+02] [-5.68347340e-01 -8.22785180e-01 2.41836271e-03 1.31198160e+02] [ 4.27035064e-03 -1.05759949e-05 9.99990882e-01 7.42517533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.23219371e-01 5.67716048e-01 2.89059625e-03 2.09642876e+02] [-5.67712568e-01 -8.23224446e-01 1.98762432e-03 1.31201405e+02] [ 3.50801572e-03 -4.77697911e-06 9.99993847e-01 7.42714315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.841400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.23225993e-01 5.67707644e-01 2.64471123e-03 2.09630311e+02] [-5.67704727e-01 -8.23230242e-01 1.81989153e-03 1.31191030e+02] [ 3.21037260e-03 -3.23305775e-06 9.99994847e-01 7.41829755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.23703148e-01 5.67013761e-01 2.91881793e-03 2.09643363e+02] [-5.67010198e-01 -8.23708319e-01 2.01001019e-03 1.31199682e+02] [ 3.54395805e-03 6.52190027e-07 9.99993720e-01 7.42409428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.901400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.24342806e-01 5.66072133e-01 4.61296309e-03 2.09644348e+02] [-5.66063206e-01 -8.24355713e-01 3.17905638e-03 1.31196964e+02] [ 5.60229770e-03 9.40358466e-06 9.99984307e-01 7.41551158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.25133243e-01 5.64915714e-01 5.03659048e-03 2.09634736e+02] [-5.64905035e-01 -8.25148615e-01 3.47359271e-03 1.31187423e+02] [ 6.11822276e-03 2.09815012e-05 9.99981283e-01 7.42744083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.19, Z:0.74 [[-8.25867280e-01 5.63840675e-01 5.18931712e-03 2.09637602e+02] [-5.63829300e-01 -8.25883583e-01 3.58160471e-03 1.31185548e+02] [ 6.30522623e-03 3.20411040e-05 9.99980121e-01 7.42643244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.18, Z:0.74 [[-8.26653754e-01 5.62686665e-01 5.22388282e-03 2.09637455e+02] [-5.62675098e-01 -8.26670258e-01 3.60816577e-03 1.31182156e+02] [ 6.34869532e-03 4.33550050e-05 9.99979846e-01 7.42252180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.17, Z:0.74 [[-8.27288475e-01 5.61752595e-01 5.27270362e-03 2.09624256e+02] [-5.61740774e-01 -8.27305276e-01 3.64464018e-03 1.31170529e+02] [ 6.40952160e-03 5.32762084e-05 9.99979457e-01 7.41938016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.18, Z:0.74 [[-8.27772167e-01 5.61043130e-01 4.88320451e-03 2.09638640e+02] [-5.61032964e-01 -8.27786568e-01 3.37795845e-03 1.31178454e+02] [ 5.93743148e-03 5.65412886e-05 9.99982372e-01 7.41181912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.17, Z:0.74 [[-8.28229045e-01 5.60382104e-01 2.92341253e-03 2.09633359e+02] [-5.60378451e-01 -8.28234204e-01 2.02377242e-03 1.31169597e+02] [ 3.55535610e-03 3.79297120e-05 9.99993679e-01 7.42008054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.111400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.66, Y:131.18, Z:0.74 [[-8.27721319e-01 5.61136778e-01 1.71286724e-03 2.09656680e+02] [-5.61135524e-01 -8.27723091e-01 1.18661920e-03 1.31182695e+02] [ 2.08363545e-03 2.10393527e-05 9.99997829e-01 7.40851814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.18, Z:0.74 [[-8.27443342e-01 5.61547647e-01 1.32485086e-03 2.09654991e+02] [-5.61546896e-01 -8.27444403e-01 9.18484821e-04 1.31180686e+02] [ 1.61201342e-03 1.60282613e-05 9.99998701e-01 7.42518151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.18, Z:0.74 [[-8.27073471e-01 5.62092844e-01 1.05307930e-03 2.09660122e+02] [-5.62092369e-01 -8.27074141e-01 7.30604390e-04 1.31183785e+02] [ 1.28164216e-03 1.23356689e-05 9.99999179e-01 7.42072445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.18, Z:0.74 [[-8.27130411e-01 5.62008033e-01 1.50141163e-03 2.09661801e+02] [-5.62007066e-01 -8.27131774e-01 1.04245786e-03 1.31184986e+02] [ 1.82773496e-03 1.84446495e-05 9.99998330e-01 7.41652954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.17, Z:0.74 [[-8.28845646e-01 5.59471892e-01 2.46919922e-03 2.09640063e+02] [-5.59469263e-01 -8.28849323e-01 1.71575128e-03 1.31168712e+02] [ 3.00650871e-03 4.06519135e-05 9.99995480e-01 7.41072775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.18, Z:0.74 [[-8.30114738e-01 5.57586663e-01 2.57576282e-03 2.09663386e+02] [-5.57583789e-01 -8.30118733e-01 1.79115476e-03 1.31184013e+02] [ 3.13691297e-03 5.06603697e-05 9.99995079e-01 7.41079290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.17, Z:0.74 [[-8.31402063e-01 5.55666823e-01 2.23424977e-03 2.09648088e+02] [-5.55664650e-01 -8.31405063e-01 1.55483404e-03 1.31173055e+02] [ 2.72153626e-03 5.11986116e-05 9.99996295e-01 7.41131684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.17, Z:0.74 [[-8.32701927e-01 5.53719262e-01 1.57509562e-03 2.09645648e+02] [-5.53718177e-01 -8.32703415e-01 1.09693529e-03 1.31171745e+02] [ 1.91898170e-03 4.12610529e-05 9.99998158e-01 7.41000497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.16, Z:0.74 [[-8.33749557e-01 5.52141441e-01 1.22689023e-03 2.09627761e+02] [-5.52140780e-01 -8.33750459e-01 8.55076580e-04 1.31159589e+02] [ 1.49504350e-03 3.55035948e-05 9.99998882e-01 7.41087223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.16, Z:0.74 [[-8.35384341e-01 5.49662543e-01 2.02292068e-03 2.09625214e+02] [-5.49660736e-01 -8.35386787e-01 1.41101015e-03 1.31158276e+02] [ 2.46550063e-03 6.68157087e-05 9.99996958e-01 7.39833842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.16, Z:0.74 [[-8.35543946e-01 5.49413734e-01 3.29578968e-03 2.09625978e+02] [-5.49408928e-01 -8.35550439e-01 2.30068762e-03 1.31160390e+02] [ 4.01782789e-03 1.11589338e-04 9.99991922e-01 7.39402272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.17, Z:0.74 [[-8.34947027e-01 5.50311560e-01 4.54422987e-03 2.09627632e+02] [-5.50302423e-01 -8.34959379e-01 3.17468017e-03 1.31167129e+02] [ 5.54131055e-03 1.49989056e-04 9.99984636e-01 7.38436208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.17, Z:0.74 [[-8.34534808e-01 5.50938179e-01 4.33326755e-03 2.09627314e+02] [-5.50929867e-01 -8.34546046e-01 3.02964737e-03 1.31169004e+02] [ 5.28545970e-03 1.41019671e-04 9.99986022e-01 7.38652002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.17, Z:0.74 [[-8.34101317e-01 5.51599022e-01 3.67574812e-03 2.09632195e+02] [-5.51593039e-01 -8.34109408e-01 2.57191925e-03 1.31174046e+02] [ 4.48464423e-03 1.17724157e-04 9.99989937e-01 7.39047712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.18, Z:0.74 [[-8.33748876e-01 5.52133442e-01 3.38720635e-03 2.09632824e+02] [-5.52128358e-01 -8.33755750e-01 2.37185801e-03 1.31176117e+02] [ 4.13368490e-03 1.07361271e-04 9.99991451e-01 7.39170084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.18, Z:0.74 [[-8.33531774e-01 5.52463767e-01 2.92705123e-03 2.09634210e+02] [-5.52459967e-01 -8.33536908e-01 2.05121752e-03 1.31179230e+02] [ 3.57302859e-03 9.26763525e-05 9.99993612e-01 7.39220690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.19, Z:0.74 [[-8.33432223e-01 5.52615366e-01 2.64338350e-03 2.09640156e+02] [-5.52612262e-01 -8.33436411e-01 1.85385408e-03 1.31185963e+02] [ 3.22756031e-03 8.42955970e-05 9.99994788e-01 7.39584206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.18, Z:0.74 [[-8.33428751e-01 5.52622662e-01 2.17040627e-03 2.09632482e+02] [-5.52620567e-01 -8.33431574e-01 1.52331048e-03 1.31184732e+02] [ 2.65070101e-03 7.01596077e-05 9.99996484e-01 7.40260366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.33215507e-01 5.52942641e-01 2.52079955e-03 2.09644257e+02] [-5.52939812e-01 -8.33219316e-01 1.77061521e-03 1.31195033e+02] [ 3.07942753e-03 8.14536264e-05 9.99995255e-01 7.40250771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.33016683e-01 5.53238737e-01 3.17890798e-03 2.09632539e+02] [-5.53234234e-01 -8.33022742e-01 2.23461781e-03 1.31189427e+02] [ 3.88437978e-03 1.02793200e-04 9.99992451e-01 7.40078786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.32794897e-01 5.53570287e-01 3.54928324e-03 2.09627777e+02] [-5.53564668e-01 -8.32802452e-01 2.49692480e-03 1.31189173e+02] [ 4.33807517e-03 1.14668435e-04 9.99990584e-01 7.39911031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.32645476e-01 5.53795443e-01 3.48108195e-03 2.09628509e+02] [-5.53790032e-01 -8.32652745e-01 2.45085493e-03 1.31192556e+02] [ 4.25580474e-03 1.12904781e-04 9.99990938e-01 7.40037525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.19, Z:0.74 [[-8.32442061e-01 5.54101167e-01 3.48018172e-03 2.09630568e+02] [-5.54095753e-01 -8.32449328e-01 2.45213306e-03 1.31194097e+02] [ 4.25580473e-03 1.12904781e-04 9.99990938e-01 7.40037097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.20, Z:0.74 [[-8.32353526e-01 5.54237555e-01 2.88806956e-03 2.09631242e+02] [-5.54233821e-01 -8.32358531e-01 2.03650534e-03 1.31198771e+02] [ 3.53261707e-03 9.44265748e-05 9.99993756e-01 7.40429107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.20, Z:0.74 [[-8.32391720e-01 5.54181787e-01 2.56356449e-03 2.09636180e+02] [-5.54178841e-01 -8.32395663e-01 1.80908097e-03 1.31204107e+02] [ 3.13645969e-03 8.51908232e-05 9.99995078e-01 7.40755507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.20, Z:0.74 [[-8.32561965e-01 5.53927075e-01 2.31760961e-03 2.09629425e+02] [-5.53924662e-01 -8.32565187e-01 1.63678053e-03 1.31201555e+02] [ 2.83621813e-03 7.89400950e-05 9.99995975e-01 7.40747540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.20, Z:0.74 [[-8.32920203e-01 5.53388112e-01 2.35204454e-03 2.09616498e+02] [-5.53385621e-01 -8.32923520e-01 1.66240687e-03 1.31195168e+02] [ 2.87902942e-03 8.30646401e-05 9.99995852e-01 7.40552865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.20, Z:0.74 [[-8.33212576e-01 5.52946111e-01 2.72068793e-03 2.09620861e+02] [-5.52942771e-01 -8.33217012e-01 1.92449161e-03 1.31200863e+02] [ 3.33106362e-03 9.91258879e-05 9.99994447e-01 7.39932549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.20, Z:0.74 [[-8.33470171e-01 5.52555027e-01 3.22744694e-03 2.09616617e+02] [-5.52550316e-01 -8.33476411e-01 2.28476833e-03 1.31200201e+02] [ 3.95246112e-03 1.20959427e-04 9.99992182e-01 7.39742168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.21, Z:0.74 [[-8.34860256e-01 5.50453715e-01 3.01018930e-03 2.09627835e+02] [-5.50449598e-01 -8.34865673e-01 2.13264176e-03 1.31211682e+02] [ 3.68702429e-03 1.23500359e-04 9.99993195e-01 7.40030154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.21, Z:0.74 [[-8.35872923e-01 5.48915636e-01 2.84288314e-03 2.09624155e+02] [-5.48911949e-01 -8.35877748e-01 2.01568829e-03 1.31210467e+02] [ 3.48274558e-03 1.24366739e-04 9.99993928e-01 7.40254777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.22, Z:0.74 [[-8.37990117e-01 5.45682018e-01 1.92326882e-03 2.09636943e+02] [-5.45680319e-01 -8.37992319e-01 1.36469801e-03 1.31222410e+02] [ 2.35637566e-03 9.41135069e-05 9.99997219e-01 7.40098354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.22, Z:0.74 [[-8.38918280e-01 5.44255885e-01 1.28519783e-03 2.09624852e+02] [-5.44255124e-01 -8.38919261e-01 9.12629783e-04 1.31215261e+02] [ 1.57488135e-03 6.61463019e-05 9.99998758e-01 7.40290075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.24, Z:0.74 [[-8.39707243e-01 5.43039160e-01 4.64918486e-04 2.09660656e+02] [-5.43039060e-01 -8.39707372e-01 3.30350401e-04 1.31242198e+02] [ 5.69788685e-04 2.49287271e-05 9.99999837e-01 7.40132024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.24, Z:0.74 [[-8.40107601e-01 5.42419766e-01 1.26538654e-04 2.09657230e+02] [-5.42419759e-01 -8.40107611e-01 8.99270438e-05 1.31241728e+02] [ 1.55084292e-04 6.91132704e-06 9.99999988e-01 7.40406078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.24, Z:0.74 [[-8.40111646e-01 5.42413414e-01 3.32677684e-04 2.09653301e+02] [-5.42413363e-01 -8.40111712e-01 2.36728147e-04 1.31241946e+02] [ 4.07890941e-04 1.84292522e-05 9.99999917e-01 7.40017705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.25, Z:0.74 [[-8.39685923e-01 5.43070913e-01 1.23901061e-03 2.09663524e+02] [-5.43070200e-01 -8.39686834e-01 8.82543346e-04 1.31253436e+02] [ 1.51966451e-03 6.81894861e-05 9.99998843e-01 7.39838212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.25, Z:0.74 [[-8.37888799e-01 5.45833270e-01 2.89855777e-03 2.09646233e+02] [-5.45829379e-01 -8.37893800e-01 2.06632109e-03 1.31251576e+02] [ 3.55655038e-03 1.49229308e-04 9.99993664e-01 7.39323327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.26, Z:0.74 [[-8.36553575e-01 5.47878061e-01 2.78339004e-03 2.09650200e+02] [-5.47874479e-01 -8.36558194e-01 1.98574827e-03 1.31259068e+02] [ 3.41641565e-03 1.36236449e-04 9.99994155e-01 7.39503077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.281400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.64, Y:131.26, Z:0.74 [[-8.35239448e-01 5.49882361e-01 2.11044699e-03 2.09643863e+02] [-5.49880305e-01 -8.35242108e-01 1.50679614e-03 1.31259169e+02] [ 2.59129482e-03 9.80423398e-05 9.99996638e-01 7.38704149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.26, Z:0.74 [[-8.34521043e-01 5.50975045e-01 1.06215456e-03 2.09636990e+02] [-5.50974524e-01 -8.34521718e-01 7.58896959e-04 1.31260620e+02] [ 1.30452434e-03 4.80953782e-05 9.99999148e-01 7.40003733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.27, Z:0.74 [[-8.33975920e-01 5.51800804e-01 1.92774045e-04 2.09647155e+02] [-5.51800787e-01 -8.33975943e-01 1.37778888e-04 1.31274957e+02] [ 2.36795417e-04 8.53140563e-06 9.99999972e-01 7.40144267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.29, Z:0.74 [[-8.33717671e-01 5.52190927e-01 1.58738367e-04 2.09654647e+02] [-5.52190916e-01 -8.33717686e-01 1.13527242e-04 1.31287905e+02] [ 1.95031697e-04 6.99578324e-06 9.99999981e-01 7.40427765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.31, Z:0.74 [[-8.34535592e-01 5.50951147e-01 1.78310714e-03 2.09660575e+02] [-5.50949674e-01 -8.34537493e-01 1.27699753e-03 1.31305988e+02] [ 2.19163302e-03 8.32975877e-05 9.99997595e-01 7.40239027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.31, Z:0.74 [[-8.35527123e-01 5.49442861e-01 2.63991551e-03 2.09659188e+02] [-5.49439619e-01 -8.35531283e-01 1.89208090e-03 1.31311595e+02] [ 3.24532234e-03 1.30410740e-04 9.99994725e-01 7.40050935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.33, Z:0.74 [[-8.36774399e-01 5.47538991e-01 3.10784333e-03 2.09670855e+02] [-5.47534478e-01 -8.36780154e-01 2.22914531e-03 1.31327513e+02] [ 3.82112559e-03 1.63640352e-04 9.99992686e-01 7.39887067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.33, Z:0.74 [[-8.38109964e-01 5.45491039e-01 3.34887730e-03 2.09658325e+02] [-5.45485775e-01 -8.38116633e-01 2.40384273e-03 1.31326451e+02] [ 4.11802444e-03 1.87919618e-04 9.99991503e-01 7.39310756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.35, Z:0.74 [[-8.39319485e-01 5.43627773e-01 3.41274581e-03 2.09685449e+02] [-5.43622283e-01 -8.39326399e-01 2.45151817e-03 1.31353617e+02] [ 4.19712101e-03 2.02362306e-04 9.99991172e-01 7.39211628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.36, Z:0.74 [[-8.40537014e-01 5.41744476e-01 3.23283618e-03 2.09679277e+02] [-5.41739529e-01 -8.40543207e-01 2.32399382e-03 1.31356041e+02] [ 3.97634930e-03 2.02047682e-04 9.99992074e-01 7.39498805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.36, Z:0.74 [[-8.42067613e-01 5.39369937e-01 1.48532594e-03 2.09662276e+02] [-5.39367787e-01 -8.42068732e-01 1.62517145e-03 1.31355504e+02] [ 2.12731516e-03 5.67367279e-04 9.99997576e-01 7.38431989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.39, Z:0.74 [[-8.43710333e-01 5.36792156e-01 2.65626763e-03 2.09695419e+02] [-5.36790505e-01 -8.43714468e-01 1.36016905e-03 1.31386069e+02] [ 2.97125951e-03 -2.78270556e-04 9.99995547e-01 7.39032852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.641400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.71, Y:131.40, Z:0.74 [[-8.44834134e-01 5.35020671e-01 2.85801048e-03 2.09714782e+02] [-5.35016751e-01 -8.44838942e-01 2.05898031e-03 1.31404640e+02] [ 3.51615557e-03 2.10413370e-04 9.99993796e-01 7.37797202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.42, Z:0.74 [[-8.47933393e-01 5.30090076e-01 3.67053813e-03 2.09727461e+02] [-5.30083554e-01 -8.47941285e-01 2.64624616e-03 1.31423122e+02] [ 4.51514965e-03 2.98148588e-04 9.99989762e-01 7.38323074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.42, Z:0.74 [[-8.48768204e-01 5.28750557e-01 3.92224236e-03 2.09721472e+02] [-5.28743086e-01 -8.48777204e-01 2.82971919e-03 1.31421927e+02] [ 4.82532550e-03 3.27917144e-04 9.99988304e-01 7.38314091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.43, Z:0.74 [[-8.49115821e-01 5.28192885e-01 3.82077822e-03 2.09730611e+02] [-5.28185782e-01 -8.49124355e-01 2.75846674e-03 1.31431469e+02] [ 4.70131835e-03 3.24177018e-04 9.99988896e-01 7.38502376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.74 [[-8.48973268e-01 5.28424879e-01 3.39673142e-03 2.09731734e+02] [-5.28419259e-01 -8.48980014e-01 2.45404185e-03 1.31435618e+02] [ 4.18053385e-03 2.88517634e-04 9.99991220e-01 7.38851548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.74 [[-8.48312387e-01 5.29489887e-01 2.56021740e-03 2.09731632e+02] [-5.29486695e-01 -8.48316223e-01 1.85097151e-03 1.31438982e+02] [ 3.15194465e-03 2.14601007e-04 9.99995010e-01 7.38908114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.44, Z:0.74 [[-8.47182780e-01 5.31298860e-01 1.69084553e-03 2.09730224e+02] [-5.31297470e-01 -8.47184456e-01 1.22327724e-03 1.31440719e+02] [ 2.08238385e-03 1.37997455e-04 9.99997822e-01 7.38807914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.45, Z:0.74 [[-8.44875713e-01 5.34960638e-01 1.46456993e-03 2.09736384e+02] [-5.34959599e-01 -8.44876975e-01 1.06031068e-03 1.31448982e+02] [ 1.80460589e-03 1.12345000e-04 9.99998365e-01 7.38556465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.43, Z:0.74 [[-8.43690045e-01 5.36828404e-01 1.54019936e-03 2.09710800e+02] [-5.36827257e-01 -8.43691443e-01 1.11585909e-03 1.31433003e+02] [ 1.89847787e-03 1.14618209e-04 9.99998191e-01 7.38295676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.45, Z:0.74 [[-8.42645886e-01 5.38465411e-01 1.70630616e-03 2.09730338e+02] [-5.38464006e-01 -8.42647605e-01 1.23648003e-03 1.31450970e+02] [ 2.10361652e-03 1.23130364e-04 9.99997780e-01 7.38585165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.44, Z:0.74 [[-8.41565428e-01 5.40152044e-01 1.84355901e-03 2.09715066e+02] [-5.40150405e-01 -8.41567438e-01 1.33683931e-03 1.31443830e+02] [ 2.27357572e-03 1.29238603e-04 9.99997407e-01 7.39111109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.44, Z:0.74 [[-8.40891045e-01 5.41200735e-01 2.00379913e-03 2.09710124e+02] [-5.41198799e-01 -8.40893421e-01 1.45408190e-03 1.31443036e+02] [ 2.47193170e-03 1.38270766e-04 9.99996935e-01 7.39465474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.45, Z:0.74 [[-8.40850751e-01 5.41262271e-01 2.27346352e-03 2.09720359e+02] [-5.41259778e-01 -8.40853810e-01 1.65026093e-03 1.31453106e+02] [ 2.80487444e-03 1.57088777e-04 9.99996054e-01 7.40077597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.46, Z:0.74 [[-8.41374198e-01 5.40446934e-01 2.56321385e-03 2.09723216e+02] [-5.40443759e-01 -8.41378083e-01 1.86108319e-03 1.31457595e+02] [ 3.16244867e-03 1.80594450e-04 9.99994983e-01 7.39946195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.47, Z:0.74 [[-8.42254305e-01 5.39074229e-01 2.58108660e-03 2.09729220e+02] [-5.39071002e-01 -8.42258239e-01 1.87455755e-03 1.31465093e+02] [ 3.18446712e-03 1.87465229e-04 9.99994912e-01 7.39721245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.48, Z:0.74 [[-8.43395767e-01 5.37286852e-01 2.53360396e-03 2.09744418e+02] [-5.37283736e-01 -8.43399551e-01 1.83994503e-03 1.31478828e+02] [ 3.12541871e-03 1.90537649e-04 9.99995098e-01 7.39486238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.47, Z:0.74 [[-8.44642246e-01 5.35324931e-01 2.58738708e-03 2.09733461e+02] [-5.35321667e-01 -8.44646185e-01 1.88024483e-03 1.31472930e+02] [ 3.19196856e-03 2.03049848e-04 9.99994885e-01 7.39613924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.48, Z:0.74 [[-8.48261687e-01 5.29564172e-01 3.72809726e-03 2.09746510e+02] [-5.29557349e-01 -8.48269818e-01 2.70746571e-03 1.31484217e+02] [ 4.59620922e-03 3.22398126e-04 9.99989385e-01 7.38967586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.50, Z:0.74 [[-8.50241077e-01 5.26372470e-01 4.70460233e-03 2.09764913e+02] [-5.26361569e-01 -8.50253986e-01 3.41426091e-03 1.31499036e+02] [ 5.79727983e-03 4.26623006e-04 9.99983105e-01 7.38907273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.50, Z:0.74 [[-8.51697619e-01 5.24003015e-01 5.65746296e-03 2.09765478e+02] [-5.23987193e-01 -8.51716242e-01 4.10672532e-03 1.31501089e+02] [ 6.97048953e-03 5.33250042e-04 9.99975564e-01 7.38862406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.51, Z:0.74 [[-8.53202366e-01 5.21545215e-01 6.02586318e-03 2.09776482e+02] [-5.21527226e-01 -8.53223444e-01 4.37125936e-03 1.31509685e+02] [ 7.42121714e-03 5.86917124e-04 9.99972290e-01 7.38610670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.51, Z:0.74 [[-8.54314127e-01 5.19718497e-01 6.32895695e-03 2.09779465e+02] [-5.19698595e-01 -8.54337335e-01 4.59219978e-03 1.31511007e+02] [ 7.79371538e-03 6.34031109e-04 9.99969428e-01 7.38052149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.55288054e-01 5.18109801e-01 6.67680173e-03 2.09787067e+02] [-5.18087596e-01 -8.55313840e-01 4.84541768e-03 1.31515278e+02] [ 8.22121932e-03 6.85059702e-04 9.99965971e-01 7.37583210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.52, Z:0.74 [[-8.56838291e-01 5.15552467e-01 5.81339934e-03 2.09796716e+02] [-5.15535571e-01 -8.56857789e-01 4.21954441e-03 1.31520703e+02] [ 7.15665304e-03 6.18453077e-04 9.99974200e-01 7.36937742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.52, Z:0.74 [[-8.57024692e-01 5.15253855e-01 4.70549207e-03 2.09797179e+02] [-5.15242776e-01 -8.57037462e-01 3.41623792e-03 1.31521375e+02] [ 5.79301274e-03 5.03329458e-04 9.99983094e-01 7.37311192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.47, Z:0.74 [[-8.55840674e-01 5.17227307e-01 3.55730307e-03 2.09719629e+02] [-5.17220804e-01 -8.55847970e-01 2.62529674e-03 1.31465127e+02] [ 4.40238578e-03 4.06924573e-04 9.99990227e-01 7.37490098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.52, Z:0.74 [[-8.55588428e-01 5.17646713e-01 3.21280101e-03 2.09802436e+02] [-5.17641661e-01 -8.55594403e-01 2.30814664e-03 1.31523473e+02] [ 3.94365909e-03 3.11743902e-04 9.99992175e-01 7.38208085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.47, Z:0.74 [[-8.53851681e-01 5.20508510e-01 2.86318512e-03 2.09734620e+02] [-5.20503132e-01 -8.53856277e-01 2.43892994e-03 1.31472700e+02] [ 3.71423237e-03 5.92187606e-04 9.99992927e-01 7.37370294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.51, Z:0.74 [[-8.54012829e-01 5.20241743e-01 3.25840672e-03 2.09785481e+02] [-5.20237817e-01 -8.54019044e-01 2.02137127e-03 1.31511144e+02] [ 3.83434310e-03 3.11305934e-05 9.99992648e-01 7.37277297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.51, Z:0.74 [[-8.53236552e-01 5.21517267e-01 2.66971605e-03 2.09788062e+02] [-5.21513729e-01 -8.53240688e-01 1.93862013e-03 1.31514491e+02] [ 3.28893423e-03 2.61807979e-04 9.99994557e-01 7.37387234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.52459279e-01 5.22790290e-01 1.86829575e-03 2.09787269e+02] [-5.22788560e-01 -8.52461307e-01 1.35700374e-03 1.31515657e+02] [ 2.30207821e-03 1.80066788e-04 9.99997334e-01 7.37811847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.51795726e-01 5.23872142e-01 1.42148377e-03 2.09787867e+02] [-5.23871141e-01 -8.51796901e-01 1.03272594e-03 1.31516620e+02] [ 1.75183182e-03 1.34997222e-04 9.99998456e-01 7.38675204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.50949907e-01 5.25245119e-01 1.34960620e-03 2.09793924e+02] [-5.25244218e-01 -8.50950968e-01 9.80753396e-04 1.31520322e+02] [ 1.66358463e-03 1.25699160e-04 9.99998608e-01 7.38959193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.50663809e-01 5.25708097e-01 1.44278795e-03 2.09792005e+02] [-5.25707067e-01 -8.50665022e-01 1.04913923e-03 1.31519301e+02] [ 1.77887023e-03 1.33980954e-04 9.99998409e-01 7.39221675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.50600318e-01 5.25810820e-01 1.44264139e-03 2.09794050e+02] [-5.25809790e-01 -8.50601531e-01 1.04934074e-03 1.31520746e+02] [ 1.77886769e-03 1.34014601e-04 9.99998409e-01 7.39221255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.51, Z:0.74 [[-8.50488131e-01 5.25992205e-01 1.46297819e-03 2.09777824e+02] [-5.25991145e-01 -8.50489378e-01 1.06481877e-03 1.31509993e+02] [ 1.80433378e-03 1.36102153e-04 9.99998363e-01 7.38972774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.50814196e-01 5.25464977e-01 1.32699111e-03 2.09793963e+02] [-5.25464105e-01 -8.50815222e-01 9.65310539e-04 1.31521833e+02] [ 1.63626112e-03 1.24013713e-04 9.99998654e-01 7.39072345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.53, Z:0.74 [[-8.51045773e-01 5.25090052e-01 1.23704295e-03 2.09806380e+02] [-5.25089293e-01 -8.51046664e-01 8.99950739e-04 1.31530502e+02] [ 1.52533645e-03 1.16341265e-04 9.99998830e-01 7.39246976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.51149476e-01 5.24921662e-01 1.34867267e-03 2.09793202e+02] [-5.24920759e-01 -8.51150535e-01 9.81777332e-04 1.31520213e+02] [ 1.66327965e-03 1.27692983e-04 9.99998609e-01 7.39404996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.48, Z:0.74 [[-8.50394212e-01 5.26144613e-01 1.23747856e-03 2.09737664e+02] [-5.26142595e-01 -8.50394792e-01 1.63342324e-03 1.31479921e+02] [ 1.91176216e-03 7.37963487e-04 9.99997900e-01 7.39776861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.51914503e-01 5.23677079e-01 1.99931408e-03 2.09791635e+02] [-5.23676745e-01 -8.51916742e-01 7.28636074e-04 1.31521368e+02] [ 2.08481915e-03 -4.26258651e-04 9.99997736e-01 7.39463469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.51988753e-01 5.23557130e-01 1.75971621e-03 2.09792490e+02] [-5.23555590e-01 -8.51990553e-01 1.28138342e-03 1.31520979e+02] [ 2.17013901e-03 1.70415007e-04 9.99997631e-01 7.39152558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.53, Z:0.74 [[-8.51884131e-01 5.23724032e-01 2.56240281e-03 2.09802244e+02] [-5.23720766e-01 -8.51887949e-01 1.86621715e-03 1.31525108e+02] [ 3.16026284e-03 2.47817212e-04 9.99994976e-01 7.37807846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.53, Z:0.74 [[-8.51371531e-01 5.24553831e-01 3.12969304e-03 2.09811214e+02] [-5.24548963e-01 -8.51377230e-01 2.27976725e-03 1.31530845e+02] [ 3.86041003e-03 2.99251697e-04 9.99992504e-01 7.37763915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.52, Z:0.74 [[-8.50248821e-01 5.26369894e-01 3.41706199e-03 2.09799961e+02] [-5.26364098e-01 -8.50255628e-01 2.49073468e-03 1.31522875e+02] [ 4.21642394e-03 3.19125477e-04 9.99991060e-01 7.38325723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.50, Z:0.74 [[-8.48953179e-01 5.28454618e-01 3.77045825e-03 2.09770838e+02] [-5.28447572e-01 -8.48961483e-01 2.75022979e-03 1.31502955e+02] [ 4.65434546e-03 3.42326815e-04 9.99989110e-01 7.39116736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.52, Z:0.74 [[-8.47810375e-01 5.30283370e-01 4.13706058e-03 2.09785873e+02] [-5.30274919e-01 -8.47820391e-01 3.01569168e-03 1.31515624e+02] [ 5.10665547e-03 3.62955227e-04 9.99986895e-01 7.39707567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.46, Z:0.74 [[-8.45523100e-01 5.33915165e-01 5.02835423e-03 2.09708445e+02] [-5.33904436e-01 -8.45538032e-01 3.38970994e-03 1.31461933e+02] [ 6.06148228e-03 1.81417423e-04 9.99981613e-01 7.40103058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.51, Z:0.74 [[-8.44425528e-01 5.35655552e-01 4.31932466e-03 2.09770579e+02] [-5.35644777e-01 -8.44436362e-01 3.45009540e-03 1.31511790e+02] [ 5.49545756e-03 5.99724937e-04 9.99984720e-01 7.39899084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.50, Z:0.74 [[-8.43777592e-01 5.36680679e-01 3.63653170e-03 2.09756016e+02] [-5.36674201e-01 -8.43785380e-01 2.65242605e-03 1.31503692e+02] [ 4.49195809e-03 2.86424921e-04 9.99989870e-01 7.39846817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.50, Z:0.74 [[-8.43546558e-01 5.37049035e-01 2.74575512e-03 2.09752482e+02] [-5.37045342e-01 -8.43550999e-01 2.00326148e-03 1.31503088e+02] [ 3.39203412e-03 2.15249328e-04 9.99994224e-01 7.39988690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.50, Z:0.74 [[-8.43580619e-01 5.36997735e-01 2.27396897e-03 2.09751403e+02] [-5.36995201e-01 -8.43583665e-01 1.65948656e-03 1.31504528e+02] [ 2.80942360e-03 1.78800277e-04 9.99996038e-01 7.39963108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.201400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:209.77, Y:131.52, Z:0.74 [[-8.44148612e-01 5.36102894e-01 2.60902749e-03 2.09773139e+02] [-5.36099558e-01 -8.44152619e-01 1.90277284e-03 1.31522794e+02] [ 3.22249941e-03 2.07524569e-04 9.99994786e-01 7.39420017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.52, Z:0.74 [[-8.44693093e-01 5.35243174e-01 2.88498418e-03 2.09770347e+02] [-5.35239088e-01 -8.44697988e-01 2.10429980e-03 1.31524662e+02] [ 3.56325243e-03 2.33331202e-04 9.99993624e-01 7.39917211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.53, Z:0.74 [[-8.45532518e-01 5.33913743e-01 3.29802394e-03 2.09773501e+02] [-5.33908400e-01 -8.45538906e-01 2.40399557e-03 1.31533129e+02] [ 4.07213383e-03 2.71813738e-04 9.99991672e-01 7.40100357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.54, Z:0.74 [[-8.45978007e-01 5.33205960e-01 3.55175930e-03 2.09776209e+02] [-5.33199765e-01 -8.45985412e-01 2.58716417e-03 1.31538468e+02] [ 4.38422791e-03 2.94886760e-04 9.99990346e-01 7.39586880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.55, Z:0.74 [[-8.46453892e-01 5.32449349e-01 3.67414434e-03 2.09786683e+02] [-5.32442721e-01 -8.46461810e-01 2.67448451e-03 1.31550049e+02] [ 4.53405040e-03 3.07556417e-04 9.99989674e-01 7.39510325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.55, Z:0.74 [[-8.46634138e-01 5.32166275e-01 3.11329163e-03 2.09782428e+02] [-5.32161515e-01 -8.46639821e-01 2.26617164e-03 1.31551238e+02] [ 3.84181679e-03 2.61844288e-04 9.99992586e-01 7.39191493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.55, Z:0.74 [[-8.46672353e-01 5.32111054e-01 1.93713331e-03 2.09777263e+02] [-5.32109210e-01 -8.46674554e-01 1.41015486e-03 1.31551394e+02] [ 2.39048047e-03 1.63172654e-04 9.99997130e-01 7.39042465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.55, Z:0.74 [[-8.46862763e-01 5.31810711e-01 9.10353041e-04 2.09775105e+02] [-5.31810304e-01 -8.46863249e-01 6.62319837e-04 1.31552744e+02] [ 1.12317332e-03 7.67588795e-05 9.99999366e-01 7.39297354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.57, Z:0.74 [[-8.47639478e-01 5.30571524e-01 1.08274190e-03 2.09789363e+02] [-5.30570949e-01 -8.47640165e-01 7.87194241e-04 1.31567218e+02] [ 1.33543837e-03 9.27855179e-05 9.99999104e-01 7.38132831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.57, Z:0.74 [[-8.48277874e-01 5.29545661e-01 2.45790991e-03 2.09784965e+02] [-5.29542693e-01 -8.48281408e-01 1.78570811e-03 1.31567244e+02] [ 3.03061326e-03 2.13208452e-04 9.99995385e-01 7.37466211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.57, Z:0.74 [[-8.49019363e-01 5.28348206e-01 3.78085635e-03 2.09778308e+02] [-5.28341180e-01 -8.49027716e-01 2.74496446e-03 1.31565629e+02] [ 4.66034888e-03 3.32945874e-04 9.99989085e-01 7.37503241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.57, Z:0.74 [[-8.50216379e-01 5.26417488e-01 4.09112228e-03 2.09781597e+02] [-5.26409250e-01 -8.50226141e-01 2.96822013e-03 1.31570175e+02] [ 5.04090209e-03 3.70024754e-04 9.99987226e-01 7.38327034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.57, Z:0.74 [[-8.51611319e-01 5.24161371e-01 3.60810211e-03 2.09786835e+02] [-5.24154950e-01 -8.51618896e-01 2.61603210e-03 1.31573589e+02] [ 4.44395091e-03 3.36637961e-04 9.99990069e-01 7.39530498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.58, Z:0.74 [[-8.54480224e-01 5.19479338e-01 2.18259480e-03 2.09793952e+02] [-5.19476976e-01 -8.54482984e-01 1.58144921e-03 1.31575521e+02] [ 2.68652031e-03 2.17509324e-04 9.99996368e-01 7.39858562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.58, Z:0.74 [[-8.55853192e-01 5.17216198e-01 1.64894154e-03 2.09803919e+02] [-5.17214848e-01 -8.55854763e-01 1.19400437e-03 1.31583143e+02] [ 2.02881287e-03 1.69035401e-04 9.99997928e-01 7.39243828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.58, Z:0.74 [[-8.56518323e-01 5.16112680e-01 2.01577343e-03 2.09794000e+02] [-5.16110659e-01 -8.56520670e-01 1.45943741e-03 1.31577864e+02] [ 2.47978577e-03 2.09672732e-04 9.99996903e-01 7.38753714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.59, Z:0.74 [[-8.56855649e-01 5.15546881e-01 3.13221771e-03 2.09805552e+02] [-5.15542003e-01 -8.56861311e-01 2.26631152e-03 1.31588711e+02] [ 3.85226601e-03 3.27112033e-04 9.99992527e-01 7.38349536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.59, Z:0.74 [[-8.55925698e-01 5.17067092e-01 5.72902482e-03 2.09800235e+02] [-5.17050827e-01 -8.55944673e-01 4.14245756e-03 1.31589804e+02] [ 7.04565675e-03 5.83438861e-04 9.99975009e-01 7.37765579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.59, Z:0.74 [[-8.55013614e-01 5.18575172e-01 5.61350628e-03 2.09790191e+02] [-5.18559607e-01 -8.55031859e-01 4.05626421e-03 1.31585547e+02] [ 6.90320462e-03 5.57223505e-04 9.99976017e-01 7.38027794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.58, Z:0.74 [[-8.54045366e-01 5.20179332e-01 4.46938249e-03 2.09778246e+02] [-5.20169499e-01 -8.54056951e-01 3.22741045e-03 1.31580246e+02] [ 5.49593940e-03 4.31518487e-04 9.99984804e-01 7.38255719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.58, Z:0.74 [[-8.53292740e-01 5.21422071e-01 3.24403495e-03 2.09776320e+02] [-5.21416906e-01 -8.53298852e-01 2.34103333e-03 1.31581884e+02] [ 3.98879774e-03 3.06092081e-04 9.99991998e-01 7.39001172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.57, Z:0.74 [[-8.52920922e-01 5.22035494e-01 2.20076827e-03 2.09760444e+02] [-5.22033122e-01 -8.52923737e-01 1.58713167e-03 1.31573028e+02] [ 2.70562656e-03 2.04823882e-04 9.99996319e-01 7.39107437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.58, Z:0.74 [[-8.52929523e-01 5.22021293e-01 2.23568417e-03 2.09766756e+02] [-5.22018847e-01 -8.52932428e-01 1.61123624e-03 1.31579828e+02] [ 2.74798716e-03 2.07201687e-04 9.99996203e-01 7.38906900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.59, Z:0.74 [[-8.54185262e-01 5.19955370e-01 3.73514929e-03 2.09773773e+02] [-5.19948533e-01 -8.54193355e-01 2.69006085e-03 1.31588540e+02] [ 4.58925129e-03 3.55724942e-04 9.99989406e-01 7.38182718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.59, Z:0.74 [[-8.55360637e-01 5.18018621e-01 3.85878880e-03 2.09777433e+02] [-5.18011313e-01 -8.55369258e-01 2.77727580e-03 1.31592113e+02] [ 4.73936989e-03 3.76676139e-04 9.99988698e-01 7.38228383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.58, Z:0.74 [[-8.56695016e-01 5.15811327e-01 3.51061712e-03 2.09763779e+02] [-5.15805267e-01 -8.56702136e-01 2.52502722e-03 1.31582252e+02] [ 4.30999083e-03 3.52383434e-04 9.99990650e-01 7.38877325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.59, Z:0.74 [[-8.58227416e-01 5.13262068e-01 2.78420102e-03 2.09770917e+02] [-5.13258248e-01 -8.58231884e-01 2.00124089e-03 1.31586973e+02] [ 3.41665112e-03 2.88505660e-04 9.99994122e-01 7.38887925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.011400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.78, Y:131.59, Z:0.74 [[-8.59634997e-01 5.10902866e-01 2.43611520e-03 2.09776933e+02] [-5.10899935e-01 -8.59638409e-01 1.74990110e-03 1.31591028e+02] [ 2.98820769e-03 2.59665129e-04 9.99995502e-01 7.38830268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.61, Z:0.74 [[-8.60548999e-01 5.09362717e-01 2.24573174e-03 2.09798502e+02] [-5.09360224e-01 -8.60551894e-01 1.61210313e-03 1.31606323e+02] [ 2.75371393e-03 2.43407314e-04 9.99996179e-01 7.39026162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.60, Z:0.74 [[-8.61011666e-01 5.08577842e-01 2.73656153e-03 2.09783729e+02] [-5.08574141e-01 -8.61015964e-01 1.96316224e-03 1.31595393e+02] [ 3.35464398e-03 2.98561159e-04 9.99994329e-01 7.38746503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.59, Z:0.74 [[-8.60749908e-01 5.09020714e-01 2.74012578e-03 2.09780537e+02] [-5.09017010e-01 -8.60754219e-01 1.96444200e-03 1.31592522e+02] [ 3.35851650e-03 2.96122637e-04 9.99994316e-01 7.38442003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.59, Z:0.74 [[-8.60020010e-01 5.10255266e-01 2.26871666e-03 2.09776216e+02] [-5.10252733e-01 -8.60022968e-01 1.62543315e-03 1.31588544e+02] [ 2.78053426e-03 2.40286160e-04 9.99996105e-01 7.38044806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.58, Z:0.74 [[-8.59127275e-01 5.11758103e-01 1.99247013e-03 2.09770305e+02] [-5.11756156e-01 -8.59129561e-01 1.42659119e-03 1.31584395e+02] [ 2.44185959e-03 2.05964547e-04 9.99996997e-01 7.37418559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.191400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.76, Y:131.58, Z:0.74 [[-8.58063241e-01 5.13541683e-01 1.55388789e-03 2.09758989e+02] [-5.13540503e-01 -8.58064633e-01 1.11185472e-03 1.31577229e+02] [ 1.90431998e-03 1.56057296e-04 9.99998175e-01 7.36601340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.50, Z:0.74 [[-8.56198035e-01 5.16627797e-01 4.54363439e-03 2.09646419e+02] [-5.16626866e-01 -8.56209395e-01 1.46727332e-03 1.31502445e+02] [ 4.64833663e-03 -1.09108706e-03 9.99988601e-01 7.39980123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.57, Z:0.74 [[-8.56098884e-01 5.16809762e-01 1.53957404e-03 2.09748397e+02] [-5.16804395e-01 -8.56098615e-01 2.89454734e-03 1.31573356e+02] [ 2.81395753e-03 1.68236012e-03 9.99994626e-01 7.38089376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.57, Z:0.74 [[-8.56028514e-01 5.16922620e-01 2.48758853e-03 2.09744018e+02] [-5.16919614e-01 -8.56032096e-01 1.77870908e-03 1.31572039e+02] [ 3.04891058e-03 2.36742386e-04 9.99995324e-01 7.37890249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.56, Z:0.74 [[-8.56267654e-01 5.16528729e-01 1.94361231e-03 2.09727798e+02] [-5.16526895e-01 -8.56269840e-01 1.38883525e-03 1.31561600e+02] [ 2.38162991e-03 1.85286673e-04 9.99997147e-01 7.37203345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.58, Z:0.74 [[-8.56564687e-01 5.16037790e-01 1.39184680e-03 2.09748616e+02] [-5.16036850e-01 -8.56565807e-01 9.93920193e-04 1.31578175e+02] [ 1.70510876e-03 1.33112698e-04 9.99998537e-01 7.36700264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.58, Z:0.74 [[-8.57005032e-01 5.15307759e-01 5.38254897e-04 2.09747539e+02] [-5.15307618e-01 -8.57005199e-01 3.84153085e-04 1.31579718e+02] [ 6.59244311e-04 5.18542782e-05 9.99999781e-01 7.36432284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.74 [[-8.58037101e-01 5.13587607e-01 3.23174516e-04 2.09740618e+02] [-5.13587556e-01 -8.58037161e-01 2.30522570e-04 1.31577986e+02] [ 3.95689279e-04 3.18185079e-05 9.99999921e-01 7.36665279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.74 [[-8.58505395e-01 5.12803113e-01 1.20594388e-03 2.09741929e+02] [-5.12802406e-01 -8.58506234e-01 8.59474032e-04 1.31578821e+02] [ 1.47605130e-03 1.19452169e-04 9.99998904e-01 7.36551241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.57, Z:0.74 [[-8.58901260e-01 5.12137189e-01 2.03125203e-03 2.09736426e+02] [-5.12135186e-01 -8.58903638e-01 1.44667346e-03 1.31574007e+02] [ 2.48554504e-03 2.02274021e-04 9.99996891e-01 7.36674591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.57, Z:0.74 [[-8.59435034e-01 5.11238411e-01 2.59021385e-03 2.09724466e+02] [-5.11235153e-01 -8.59438898e-01 1.84353135e-03 1.31565019e+02] [ 3.16861457e-03 2.60187052e-04 9.99994946e-01 7.36432395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.521400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.74 [[-8.59703850e-01 5.10783503e-01 3.08269414e-03 2.09742045e+02] [-5.10778891e-01 -8.59709321e-01 2.19258296e-03 1.31577585e+02] [ 3.77015609e-03 3.10396916e-04 9.99992845e-01 7.35916299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.551400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.74 [[-8.59862091e-01 5.10517068e-01 3.08337364e-03 2.09740061e+02] [-5.10512458e-01 -8.59867563e-01 2.19162728e-03 1.31576082e+02] [ 3.77015611e-03 3.10396560e-04 9.99992845e-01 7.35916703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.74 [[-8.60273711e-01 5.09819574e-01 3.62555592e-03 2.09738024e+02] [-5.09813201e-01 -8.60281272e-01 2.57530292e-03 1.31575592e+02] [ 4.43193770e-03 3.67109126e-04 9.99990112e-01 7.36664289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.57, Z:0.74 [[-8.60410570e-01 5.09585032e-01 4.09222304e-03 2.09733087e+02] [-5.09576921e-01 -8.60420202e-01 2.90486881e-03 1.31571613e+02] [ 5.00130904e-03 4.14077410e-04 9.99987408e-01 7.36743724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.57, Z:0.74 [[-8.60535897e-01 5.09370529e-01 4.43103091e-03 2.09733460e+02] [-5.09361027e-01 -8.60547188e-01 3.14329935e-03 1.31570788e+02] [ 5.41421525e-03 4.47927464e-04 9.99985243e-01 7.36885939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.57, Z:0.74 [[-8.60600479e-01 5.09261644e-01 4.40370599e-03 2.09731130e+02] [-5.09252269e-01 -8.60611632e-01 3.12186327e-03 1.31567724e+02] [ 5.37972582e-03 4.44079763e-04 9.99985431e-01 7.36614541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.74 [[-8.60721735e-01 5.09058185e-01 4.22593442e-03 2.09723118e+02] [-5.09049560e-01 -8.60732004e-01 2.99386641e-03 1.31561013e+02] [ 5.16144920e-03 4.25675836e-04 9.99986589e-01 7.36575945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.56, Z:0.74 [[-8.60721906e-01 5.09058382e-01 4.16702144e-03 2.09728562e+02] [-5.09050005e-01 -8.60731892e-01 2.95018455e-03 1.31564386e+02] [ 5.08850442e-03 4.18066185e-04 9.99986966e-01 7.37030584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.56, Z:0.74 [[-8.60672343e-01 5.09147933e-01 3.39112376e-03 2.09727247e+02] [-5.09142392e-01 -8.60678957e-01 2.39929449e-03 1.31562797e+02] [ 4.14026469e-03 3.38441543e-04 9.99991372e-01 7.37304684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.55, Z:0.74 [[-8.60323963e-01 5.09739728e-01 2.84409805e-03 2.09714121e+02] [-5.09735838e-01 -8.60328618e-01 2.01094336e-03 1.31552913e+02] [ 3.47191667e-03 2.80324063e-04 9.99993934e-01 7.37973654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.55, Z:0.74 [[-8.59928159e-01 5.10409761e-01 2.33187861e-03 2.09710675e+02] [-5.10407152e-01 -8.59931290e-01 1.64769195e-03 1.31550355e+02] [ 2.84625344e-03 2.26689190e-04 9.99995924e-01 7.38546218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.55, Z:0.74 [[-8.59470881e-01 5.11181497e-01 1.81181498e-03 2.09707238e+02] [-5.11179925e-01 -8.59472773e-01 1.27938136e-03 1.31548091e+02] [ 2.21120172e-03 1.73427578e-04 9.99997540e-01 7.38290693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.54, Z:0.74 [[-8.58701380e-01 5.12474694e-01 1.27605415e-03 2.09698336e+02] [-5.12473917e-01 -8.58702320e-01 9.00481265e-04 1.31542941e+02] [ 1.55722452e-03 1.19300038e-04 9.99998780e-01 7.37873362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.55, Z:0.74 [[-8.58833884e-01 5.12253686e-01 7.21768716e-04 2.09709864e+02] [-5.12253438e-01 -8.58834184e-01 5.09023208e-04 1.31551918e+02] [ 8.80628661e-04 6.74378726e-05 9.99999610e-01 7.37796064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.53, Z:0.74 [[-8.59096324e-01 5.11813251e-01 8.37448106e-04 2.09682866e+02] [-5.11813585e-01 -8.59096502e-01 -2.33438754e-04 1.31534062e+02] [ 5.99971692e-04 -6.29163693e-04 9.99999622e-01 7.39797751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.55, Z:0.74 [[-8.60343027e-01 5.09711564e-01 -1.99922247e-03 2.09703386e+02] [-5.09711496e-01 -8.60345194e-01 -5.81990428e-04 1.31546732e+02] [-2.01666869e-03 5.18315267e-04 9.99997832e-01 7.39374970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.74 [[-8.61969494e-01 5.06954183e-01 -2.45920092e-03 2.09717290e+02] [-5.06951283e-01 -8.61972967e-01 -1.73218126e-03 1.31556056e+02] [-2.99790125e-03 -2.46392341e-04 9.99995476e-01 7.39866453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.57, Z:0.74 [[-8.65942031e-01 5.00138208e-01 -2.48445785e-03 2.09737383e+02] [-5.00135224e-01 -8.65945552e-01 -1.74883101e-03 1.31566585e+02] [-3.02606243e-03 -2.71821391e-04 9.99995385e-01 7.39488469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.57, Z:0.74 [[-8.68170737e-01 4.96263096e-01 -1.58438205e-03 2.09742195e+02] [-4.96261878e-01 -8.68172164e-01 -1.11451837e-03 1.31568447e+02] [-1.92861073e-03 -1.81323817e-04 9.99998124e-01 7.39135475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.57, Z:0.74 [[-8.70208460e-01 4.92683362e-01 -5.83966328e-04 2.09750012e+02] [-4.92683196e-01 -8.70208653e-01 -4.10484707e-04 1.31572149e+02] [-7.10411537e-04 -6.94968680e-05 9.99999745e-01 7.38777494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.57, Z:0.74 [[-8.72026429e-01 4.89458741e-01 2.18098146e-04 2.09750317e+02] [-4.89458718e-01 -8.72026456e-01 1.53288085e-04 1.31570001e+02] [ 2.65215546e-04 2.69212223e-05 9.99999965e-01 7.39001482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.57, Z:0.74 [[-8.73545954e-01 4.86741139e-01 7.27396668e-04 2.09756909e+02] [-4.86740880e-01 -8.73546252e-01 5.10781361e-04 1.31572003e+02] [ 8.84032935e-04 9.21372972e-05 9.99999605e-01 7.38670348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.57, Z:0.74 [[-8.74620530e-01 4.84806130e-01 1.39441082e-03 2.09762230e+02] [-4.84805176e-01 -8.74621623e-01 9.78485582e-04 1.31572341e+02] [ 1.69395767e-03 1.79785994e-04 9.99998549e-01 7.38317114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.56, Z:0.74 [[-8.76185278e-01 4.81970771e-01 1.87984462e-03 2.09758054e+02] [-4.81969033e-01 -8.76187260e-01 1.31826466e-03 1.31562742e+02] [ 2.28246094e-03 2.49017198e-04 9.99997364e-01 7.36963671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.51, Z:0.74 [[-8.76412811e-01 4.81556524e-01 1.97427577e-03 2.09680675e+02] [-4.81554490e-01 -8.76414982e-01 1.43262704e-03 1.31505067e+02] [ 2.42017576e-03 3.04851330e-04 9.99997025e-01 7.36868290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.57, Z:0.74 [[-8.77224268e-01 4.80075827e-01 2.18736877e-03 2.09781831e+02] [-4.80073585e-01 -8.77226958e-01 1.48940446e-03 1.31572645e+02] [ 2.63384593e-03 2.56443775e-04 9.99996499e-01 7.36421824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.56, Z:0.74 [[-8.77458140e-01 4.79647219e-01 2.39952850e-03 2.09771681e+02] [-4.79644377e-01 -8.77461361e-01 1.68292054e-03 1.31561649e+02] [ 2.91270170e-03 3.25771975e-04 9.99995705e-01 7.36719088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.56, Z:0.74 [[-8.77600073e-01 4.79388516e-01 2.18225987e-03 2.09778767e+02] [-4.79386167e-01 -8.77602736e-01 1.52963956e-03 1.31562875e+02] [ 2.64844887e-03 2.96266594e-04 9.99996449e-01 7.37209599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.56, Z:0.74 [[-8.77290200e-01 4.79955582e-01 2.13183876e-03 2.09774442e+02] [-4.79953343e-01 -8.77292743e-01 1.49413072e-03 1.31556704e+02] [ 2.58736305e-03 2.87603098e-04 9.99996611e-01 7.37766530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.55, Z:0.74 [[-8.76662829e-01 4.81097531e-01 2.72946821e-03 2.09771012e+02] [-4.81093869e-01 -8.76667003e-01 1.91182296e-03 1.31551178e+02] [ 3.31260802e-03 3.62893705e-04 9.99994447e-01 7.37674584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.54, Z:0.74 [[-8.75569948e-01 4.83076666e-01 3.76852831e-03 2.09763824e+02] [-4.83069703e-01 -8.75577920e-01 2.63974394e-03 1.31543304e+02] [ 4.57483888e-03 4.90818612e-04 9.99989415e-01 7.37394179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.54, Z:0.74 [[-8.74097828e-01 4.85730441e-01 4.35039382e-03 2.09757104e+02] [-4.85721191e-01 -8.74108480e-01 3.04780518e-03 1.31535941e+02] [ 5.28312789e-03 5.51001420e-04 9.99985892e-01 7.36640039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.50, Z:0.74 [[-8.70570287e-01 4.92030315e-01 3.68015912e-03 2.09719405e+02] [-4.92023744e-01 -8.70577957e-01 2.57988978e-03 1.31504994e+02] [ 4.47324939e-03 4.35249716e-04 9.99989900e-01 7.37429555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.52, Z:0.74 [[-8.69164510e-01 4.94514480e-01 2.91260636e-03 2.09737392e+02] [-4.94510382e-01 -8.69169327e-01 2.04057715e-03 1.31516055e+02] [ 3.54064306e-03 3.33283159e-04 9.99993676e-01 7.38209559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.51, Z:0.74 [[-8.67899273e-01 4.96733243e-01 2.63394008e-03 2.09731532e+02] [-4.96729901e-01 -8.67903220e-01 1.84557661e-03 1.31510518e+02] [ 3.20276433e-03 2.93417809e-04 9.99994828e-01 7.39147635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.50, Z:0.74 [[-8.67162035e-01 4.98018759e-01 2.70580812e-03 2.09712920e+02] [-4.98015237e-01 -8.67166205e-01 1.89639697e-03 1.31495698e+02] [ 3.29082663e-03 2.96949784e-04 9.99994541e-01 7.39600810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.50, Z:0.74 [[-8.66998737e-01 4.98300439e-01 3.14053199e-03 2.09719004e+02] [-4.98295701e-01 -8.67004357e-01 2.19969841e-03 1.31498155e+02] [ 3.81896560e-03 3.42222156e-04 9.99992649e-01 7.39536026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.49, Z:0.74 [[-8.66809709e-01 4.98623605e-01 3.92805704e-03 2.09716443e+02] [-4.98616195e-01 -8.66818504e-01 2.75166555e-03 1.31494153e+02] [ 4.77695792e-03 4.26577554e-04 9.99988499e-01 7.39349144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.49, Z:0.74 [[-8.66252386e-01 4.99587176e-01 4.41099434e-03 2.09719898e+02] [-4.99577854e-01 -8.66263489e-01 3.08799081e-03 1.31492745e+02] [ 5.36380395e-03 4.71344324e-04 9.99985504e-01 7.39104623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.49, Z:0.74 [[-8.65462267e-01 5.00961036e-01 3.62007729e-03 2.09711104e+02] [-5.00954767e-01 -8.65469754e-01 2.53485818e-03 1.31485424e+02] [ 4.40293259e-03 3.80329129e-04 9.99990235e-01 7.39419763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.46, Z:0.74 [[-8.63217544e-01 5.04818849e-01 3.66090649e-03 2.09679951e+02] [-5.04819708e-01 -8.63224476e-01 7.53344092e-04 1.31463980e+02] [ 3.54048638e-03 -1.19779791e-03 9.99993015e-01 7.41389099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.49, Z:0.74 [[-8.62521773e-01 5.06019951e-01 -2.28022004e-05 2.09717129e+02] [-5.06019157e-01 -8.62520338e-01 1.81106151e-03 1.31486363e+02] [ 8.96765896e-04 1.57361834e-03 9.99998360e-01 7.40161144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.48, Z:0.74 [[-8.61414210e-01 5.07902626e-01 6.93608643e-04 2.09704805e+02] [-5.07902398e-01 -8.61414487e-01 4.85785789e-04 1.31478259e+02] [ 8.44216411e-04 6.61772885e-05 9.99999641e-01 7.40414596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.47, Z:0.74 [[-8.60548826e-01 5.09367293e-01 8.24453984e-04 2.09694427e+02] [-5.09366971e-01 -8.60549217e-01 5.77577268e-04 1.31469885e+02] [ 1.00368220e-03 7.70838102e-05 9.99999493e-01 7.40369453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.47, Z:0.74 [[-8.60164371e-01 5.10015470e-01 1.21461690e-03 2.09699550e+02] [-5.10014772e-01 -8.60165221e-01 8.50877995e-04 1.31472627e+02] [ 1.47873216e-03 1.12422373e-04 9.99998900e-01 7.40127314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.47, Z:0.74 [[-8.60112775e-01 5.10101870e-01 1.44790637e-03 2.09693940e+02] [-5.10100878e-01 -8.60113984e-01 1.01453124e-03 1.31468486e+02] [ 1.76287880e-03 1.34032974e-04 9.99998437e-01 7.40140800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.47, Z:0.74 [[-8.60238808e-01 5.09891278e-01 2.78987226e-04 2.09689478e+02] [-5.09891241e-01 -8.60238853e-01 1.95514513e-04 1.31465742e+02] [ 3.39686796e-04 2.59360283e-05 9.99999942e-01 7.41456684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.47, Z:0.74 [[-8.60301380e-01 5.09785773e-01 -4.09069682e-05 2.09700111e+02] [-5.09785772e-01 -8.60301381e-01 -2.85898335e-05 1.31473894e+02] [-4.97670114e-05 -3.74208285e-06 9.99999999e-01 7.41996485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.47, Z:0.74 [[-8.60045388e-01 5.10217361e-01 4.18225580e-04 2.09692762e+02] [-5.10217278e-01 -8.60045489e-01 2.92979210e-04 1.31470044e+02] [ 5.09176103e-04 3.85895011e-05 9.99999870e-01 7.41330087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.48, Z:0.74 [[-8.60000786e-01 5.10289564e-01 1.79144088e-03 2.09704000e+02] [-5.10288049e-01 -8.60002636e-01 1.25426292e-03 1.31479415e+02] [ 2.18068116e-03 1.64516224e-04 9.99997609e-01 7.40371470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.47, Z:0.74 [[-8.59806444e-01 5.10610397e-01 3.14669405e-03 2.09692584e+02] [-5.10605724e-01 -8.59812153e-01 2.20356301e-03 1.31473394e+02] [ 3.83072798e-03 2.87917680e-04 9.99992621e-01 7.39502780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.47, Z:0.74 [[-8.59759280e-01 5.10685880e-01 3.72983387e-03 2.09685514e+02] [-5.10679313e-01 -8.59767303e-01 2.61238205e-03 1.31471300e+02] [ 4.54089583e-03 3.41270713e-04 9.99989632e-01 7.39569760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.48, Z:0.74 [[-8.60349146e-01 5.09694259e-01 3.33303333e-03 2.09688200e+02] [-5.09689013e-01 -8.60355547e-01 2.33293953e-03 1.31480730e+02] [ 4.05667960e-03 3.08332065e-04 9.99991724e-01 7.39754974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.48, Z:0.74 [[-8.60895345e-01 5.08772775e-01 3.07697588e-03 2.09689359e+02] [-5.08768304e-01 -8.60900796e-01 2.15224979e-03 1.31484365e+02] [ 3.74397708e-03 2.87394025e-04 9.99992950e-01 7.39837500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.50, Z:0.74 [[-8.61453231e-01 5.07824396e-01 3.56566378e-03 2.09704200e+02] [-5.07818391e-01 -8.61460545e-01 2.49237518e-03 1.31496171e+02] [ 4.33736758e-03 3.36355009e-04 9.99990537e-01 7.39493871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.49, Z:0.74 [[-8.62211089e-01 5.06531532e-01 4.22422071e-03 2.09697810e+02] [-5.06523091e-01 -8.62221342e-01 2.95238931e-03 1.31492439e+02] [ 5.13769153e-03 4.05917474e-04 9.99986720e-01 7.38517906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.49, Z:0.74 [[-8.63569783e-01 5.04201442e-01 5.30432430e-03 2.09690895e+02] [-5.04188103e-01 -8.63585914e-01 3.70484118e-03 1.31489295e+02] [ 6.44872601e-03 5.25011681e-04 9.99979069e-01 7.38502471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.50, Z:0.74 [[-8.65342536e-01 5.01148255e-01 5.72027106e-03 2.09707054e+02] [-5.01132695e-01 -8.65361243e-01 3.99267170e-03 1.31502125e+02] [ 6.95102133e-03 5.88413804e-04 9.99975668e-01 7.38265833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.261400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.71, Y:131.50, Z:0.74 [[-8.67184602e-01 4.97951248e-01 5.95155078e-03 2.09710687e+02] [-4.97934350e-01 -8.67204791e-01 4.15133132e-03 1.31504510e+02] [ 7.22837396e-03 6.36489026e-04 9.99973672e-01 7.37736736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.51, Z:0.74 [[-8.69317739e-01 4.94213245e-01 6.31962971e-03 2.09718773e+02] [-4.94194117e-01 -8.69340422e-01 4.40514929e-03 1.31509588e+02] [ 7.67099269e-03 7.06350595e-04 9.99970328e-01 7.38863971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.52, Z:0.74 [[-8.72352281e-01 4.88845989e-01 5.57641269e-03 2.09733347e+02] [-4.88831004e-01 -8.72369853e-01 3.88453625e-03 1.31515016e+02] [ 6.76363428e-03 6.62760642e-04 9.99976907e-01 7.39436166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.52, Z:0.74 [[-8.73281434e-01 4.87192095e-01 4.83734827e-03 2.09740288e+02] [-4.87180807e-01 -8.73294636e-01 3.36751369e-03 1.31518013e+02] [ 5.86505635e-03 5.84123952e-04 9.99982630e-01 7.39494234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.51, Z:0.74 [[-8.73516912e-01 4.86773508e-01 4.44478185e-03 2.09736609e+02] [-4.86763972e-01 -8.73528054e-01 3.09441946e-03 1.31513890e+02] [ 5.38892305e-03 5.39468067e-04 9.99985334e-01 7.39846493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.51, Z:0.74 [[-8.73405817e-01 4.86972361e-01 4.49429577e-03 2.09737359e+02] [-4.86962624e-01 -8.73417212e-01 3.12691597e-03 1.31511974e+02] [ 5.44811693e-03 5.42512536e-04 9.99985012e-01 7.39750337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.50, Z:0.74 [[-8.72815790e-01 4.88026913e-01 4.72543117e-03 2.09721924e+02] [-4.88016160e-01 -8.72828399e-01 3.28845351e-03 1.31498203e+02] [ 5.72934433e-03 5.64127374e-04 9.99983428e-01 7.39984035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.50, Z:0.74 [[-8.72834650e-01 4.87993180e-01 4.72554443e-03 2.09721233e+02] [-4.87982427e-01 -8.72847260e-01 3.28829075e-03 1.31497736e+02] [ 5.72934196e-03 5.64151468e-04 9.99983428e-01 7.39984165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.501400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:209.72, Y:131.50, Z:0.74 [[-8.72174395e-01 4.89170150e-01 4.93851863e-03 2.09724203e+02] [-4.89158437e-01 -8.72188184e-01 3.43427318e-03 1.31495461e+02] [ 5.98726153e-03 5.79567080e-04 9.99981908e-01 7.39281463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.48, Z:0.74 [[-8.70479037e-01 4.92181557e-01 4.85402282e-03 2.09718097e+02] [-4.92170284e-01 -8.70492397e-01 3.37627117e-03 1.31483456e+02] [ 5.88712836e-03 5.49967489e-04 9.99982520e-01 7.40608532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.48, Z:0.74 [[-8.69841978e-01 4.93315049e-01 3.89818333e-03 2.09720148e+02] [-4.93307788e-01 -8.69850603e-01 2.71187962e-03 1.31480771e+02] [ 4.72864815e-03 4.35902539e-04 9.99988725e-01 7.40870104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.48, Z:0.74 [[-8.69575400e-01 4.93792044e-01 2.83560272e-03 2.09728508e+02] [-4.93788204e-01 -8.69579966e-01 1.97298914e-03 1.31482334e+02] [ 3.44002965e-03 3.15475649e-04 9.99994033e-01 7.41367353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.47, Z:0.74 [[-8.69639016e-01 4.93684215e-01 1.96913115e-03 2.09724853e+02] [-4.93682361e-01 -8.69641218e-01 1.37043465e-03 1.31473989e+02] [ 2.38899957e-03 2.19658123e-04 9.99997122e-01 7.41979875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.48, Z:0.74 [[-8.70092453e-01 4.92887028e-01 1.22491416e-03 2.09741418e+02] [-4.92886310e-01 -8.70093304e-01 8.52567246e-04 1.31478865e+02] [ 1.48600894e-03 1.38068908e-04 9.99998886e-01 7.41957690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.46, Z:0.74 [[-8.70501487e-01 4.92164417e-01 1.16113482e-03 2.09728612e+02] [-4.92163770e-01 -8.70502251e-01 8.08661103e-04 1.31462823e+02] [ 1.40876470e-03 1.32472200e-04 9.99998999e-01 7.41931159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.46, Z:0.74 [[-8.71332324e-01 4.90690962e-01 1.53689141e-03 2.09749666e+02] [-4.90689826e-01 -8.71333661e-01 1.07067710e-03 1.31463905e+02] [ 1.86451680e-03 1.78778590e-04 9.99998246e-01 7.41029258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.46, Z:0.74 [[-8.71311833e-01 4.90726917e-01 1.66835828e-03 2.09752345e+02] [-4.90725577e-01 -8.71313408e-01 1.16300094e-03 1.31459312e+02] [ 2.02437880e-03 1.94630406e-04 9.99997932e-01 7.41438606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.44, Z:0.74 [[-8.70819207e-01 4.91601343e-01 1.42449007e-03 2.09739730e+02] [-4.91600366e-01 -8.70820356e-01 9.93657928e-04 1.31443511e+02] [ 1.72895852e-03 1.65016569e-04 9.99998492e-01 7.41795225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.44, Z:0.74 [[-8.69804051e-01 4.93393481e-01 1.94595511e-03 2.09741080e+02] [-4.93391660e-01 -8.69806199e-01 1.35834530e-03 1.31437765e+02] [ 2.36280253e-03 2.21376226e-04 9.99997184e-01 7.42050034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.43, Z:0.74 [[-8.68406446e-01 4.95846581e-01 2.53223895e-03 2.09740832e+02] [-4.95843506e-01 -8.68410093e-01 1.76880676e-03 1.31431912e+02] [ 3.07607865e-03 2.80448956e-04 9.99995230e-01 7.41446101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.43, Z:0.74 [[-8.66655301e-01 4.98896630e-01 3.27758903e-03 2.09741275e+02] [-4.98891492e-01 -8.66661428e-01 2.29101727e-03 1.31427818e+02] [ 3.98354078e-03 3.50360980e-04 9.99992004e-01 7.40899967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.40, Z:0.74 [[-8.63079975e-01 5.05055719e-01 3.41734818e-03 2.09712219e+02] [-5.05050174e-01 -8.63086674e-01 2.39035452e-03 1.31401073e+02] [ 4.15672989e-03 3.37134820e-04 9.99991304e-01 7.40817952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.40, Z:0.74 [[-8.61322279e-01 5.08052146e-01 2.63583814e-03 2.09718490e+02] [-5.08048858e-01 -8.61326276e-01 1.84497628e-03 1.31401304e+02] [ 3.20766081e-03 2.49984618e-04 9.99994824e-01 7.40956222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.38, Z:0.74 [[-8.59473181e-01 5.11175183e-01 2.40479252e-03 2.09697988e+02] [-5.11172454e-01 -8.59476518e-01 1.68443040e-03 1.31383398e+02] [ 2.92790172e-03 2.18459066e-04 9.99995690e-01 7.41552397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.39, Z:0.74 [[-8.57624922e-01 5.14270131e-01 2.39274429e-03 2.09704114e+02] [-5.14267438e-01 -8.57628235e-01 1.67717682e-03 1.31385933e+02] [ 2.91460700e-03 2.07878166e-04 9.99995731e-01 7.41121869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.38, Z:0.74 [[-8.55723172e-01 5.17426890e-01 2.69571955e-03 2.09694062e+02] [-5.17423483e-01 -8.55727389e-01 1.89089507e-03 1.31379063e+02] [ 3.28520101e-03 2.23254127e-04 9.99994579e-01 7.40630950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.38, Z:0.74 [[-8.53881814e-01 5.20458485e-01 2.96862652e-03 2.09692210e+02] [-5.20454366e-01 -8.53886942e-01 2.08381749e-03 1.31379739e+02] [ 3.61941192e-03 2.34299221e-04 9.99993422e-01 7.39815375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.36, Z:0.74 [[-8.50320478e-01 5.26250255e-01 3.96909892e-03 2.09656820e+02] [-5.26242945e-01 -8.50329695e-01 2.78813626e-03 1.31359726e+02] [ 4.84230009e-03 2.82099056e-04 9.99988236e-01 7.39483971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.37, Z:0.74 [[-8.48899276e-01 5.28536575e-01 4.37126996e-03 2.09671121e+02] [-5.28527727e-01 -8.48910478e-01 3.07289677e-03 1.31372458e+02] [ 5.33495520e-03 2.98242465e-04 9.99985725e-01 7.39742755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.131400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.66, Y:131.37, Z:0.74 [[-8.48030213e-01 5.29926580e-01 4.75167523e-03 2.09660404e+02] [-5.29916131e-01 -8.48043466e-01 3.34275735e-03 1.31368349e+02] [ 5.80104310e-03 3.16769874e-04 9.99983124e-01 7.39583865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.38, Z:0.74 [[-8.47949632e-01 5.30055774e-01 4.72209542e-03 2.09669407e+02] [-5.30045444e-01 -8.47962721e-01 3.32437465e-03 1.31379950e+02] [ 5.76626486e-03 3.15977098e-04 9.99983325e-01 7.40011496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.191400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.67, Y:131.39, Z:0.74 [[-8.48277917e-01 5.29529597e-01 4.79392548e-03 2.09674429e+02] [-5.29518927e-01 -8.48291400e-01 3.37739506e-03 1.31387876e+02] [ 5.85507641e-03 3.26495371e-04 9.99982806e-01 7.39822304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.40, Z:0.74 [[-8.50598056e-01 5.25798330e-01 4.36618849e-03 2.09682163e+02] [-5.25789418e-01 -8.50609201e-01 3.07826280e-03 1.31399916e+02] [ 5.33246554e-03 3.22668643e-04 9.99985730e-01 7.39830697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.41, Z:0.74 [[-8.51810523e-01 5.23831156e-01 4.44442754e-03 2.09690956e+02] [-5.23821883e-01 -8.51822048e-01 3.13567160e-03 1.31407925e+02] [ 5.42842385e-03 3.42909661e-04 9.99985207e-01 7.39363999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.41, Z:0.74 [[-8.53022521e-01 5.21855562e-01 4.39897916e-03 2.09692690e+02] [-5.21846440e-01 -8.53033790e-01 3.10582383e-03 1.31412064e+02] [ 5.37326931e-03 3.53746053e-04 9.99985501e-01 7.38794926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.43, Z:0.74 [[-8.54027001e-01 5.20211543e-01 4.22291243e-03 2.09713453e+02] [-5.20203105e-01 -8.54037369e-01 2.98362533e-03 1.31429982e+02] [ 5.15864135e-03 3.51324438e-04 9.99986632e-01 7.38614494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.43, Z:0.74 [[-8.55494440e-01 5.17800003e-01 3.52421694e-03 2.09710359e+02] [-5.17794098e-01 -8.55501644e-01 2.49171536e-03 1.31432804e+02] [ 4.30518361e-03 3.06829906e-04 9.99990686e-01 7.38830758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.44, Z:0.74 [[-8.55808095e-01 5.17283313e-01 3.23723744e-03 2.09714088e+02] [-5.17278321e-01 -8.55814170e-01 2.29041794e-03 1.31436548e+02] [ 3.95526865e-03 2.85605470e-04 9.99992137e-01 7.39336001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.45, Z:0.74 [[-8.56190986e-01 5.16650841e-01 2.98378794e-03 2.09733629e+02] [-5.16646591e-01 -8.56196144e-01 2.11256580e-03 1.31450883e+02] [ 3.64616663e-03 2.67195922e-04 9.99993317e-01 7.39077624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.45, Z:0.74 [[-8.56579344e-01 5.16005005e-01 3.26523581e-03 2.09728063e+02] [-5.15999904e-01 -8.56585516e-01 2.31344794e-03 1.31447165e+02] [ 3.99070441e-03 2.96790354e-04 9.99991993e-01 7.39252525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.45, Z:0.74 [[-8.57094457e-01 5.15149074e-01 3.24395453e-03 2.09738737e+02] [-5.15144027e-01 -8.57100543e-01 2.29996605e-03 1.31454226e+02] [ 3.96522057e-03 3.00184356e-04 9.99992093e-01 7.38894937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.45, Z:0.74 [[-8.58352863e-01 5.13055766e-01 2.03562314e-03 2.09735225e+02] [-5.13053771e-01 -8.58355254e-01 1.44423633e-03 1.31449626e+02] [ 2.48826159e-03 1.95280256e-04 9.99996885e-01 7.39092368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.46, Z:0.74 [[-8.58764033e-01 5.12368609e-01 1.65653926e-03 2.09752458e+02] [-5.12367284e-01 -8.58765616e-01 1.17608477e-03 1.31461371e+02] [ 2.02516788e-03 1.61222775e-04 9.99997936e-01 7.39634901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.47, Z:0.74 [[-8.58912615e-01 5.12118679e-01 1.89186647e-03 2.09765488e+02] [-5.12116949e-01 -8.58914678e-01 1.34408806e-03 1.31471043e+02] [ 2.31328448e-03 1.85597306e-04 9.99997307e-01 7.39656747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.47, Z:0.74 [[-8.58823912e-01 5.12264893e-01 2.48354987e-03 2.09759495e+02] [-5.12261908e-01 -8.58827468e-01 1.76567872e-03 1.31468288e+02] [ 3.03743607e-03 2.44179115e-04 9.99995357e-01 7.39767039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.48, Z:0.74 [[-8.58517893e-01 5.12776250e-01 2.74701375e-03 2.09769407e+02] [-5.12772596e-01 -8.58522245e-01 1.95432869e-03 1.31476637e+02] [ 3.36050574e-03 2.69232777e-04 9.99994317e-01 7.40060163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.47, Z:0.74 [[-8.58126766e-01 5.13432107e-01 2.43407584e-03 2.09764419e+02] [-5.13429237e-01 -8.58130186e-01 1.73286743e-03 1.31474284e+02] [ 2.97846373e-03 2.37294226e-04 9.99995536e-01 7.39730836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.47, Z:0.74 [[-8.57480590e-01 5.14514850e-01 1.22771667e-03 2.09754131e+02] [-5.14514121e-01 -8.57481460e-01 8.74605367e-04 1.31467565e+02] [ 1.50274174e-03 1.18279561e-04 9.99998864e-01 7.39537263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.701400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.75, Y:131.46, Z:0.74 [[-8.57353637e-01 5.14726060e-01 1.35108543e-03 2.09748693e+02] [-5.14725175e-01 -8.57354691e-01 9.63163226e-04 1.31463908e+02] [ 1.65412464e-03 1.30333811e-04 9.99998623e-01 7.39256983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.47, Z:0.74 [[-8.57718332e-01 5.14116820e-01 1.77742512e-03 2.09757663e+02] [-5.14115286e-01 -8.57720156e-01 1.26748011e-03 1.31471927e+02] [ 2.17616620e-03 1.73339502e-04 9.99997617e-01 7.39203826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.48, Z:0.74 [[-8.57987612e-01 5.13662542e-01 2.83726178e-03 2.09764982e+02] [-5.13658631e-01 -8.57992258e-01 2.02378342e-03 1.31478527e+02] [ 3.47389038e-03 2.78997104e-04 9.99993927e-01 7.39009631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.49, Z:0.74 [[-8.58235764e-01 5.13242436e-01 3.68437151e-03 2.09778862e+02] [-5.13235834e-01 -8.58243595e-01 2.62869476e-03 1.31490267e+02] [ 4.51124595e-03 3.65088370e-04 9.99989758e-01 7.38639326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.49, Z:0.74 [[-8.58313160e-01 5.13109106e-01 4.19104172e-03 2.09773359e+02] [-5.13100552e-01 -8.58323290e-01 2.99219167e-03 1.31488782e+02] [ 5.13258951e-03 4.17811669e-04 9.99986741e-01 7.39066698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.51, Z:0.74 [[-8.59191255e-01 5.11643970e-01 3.29184924e-03 2.09795559e+02] [-5.11638688e-01 -8.59197496e-01 2.34873726e-03 1.31509282e+02] [ 4.03006588e-03 3.33777085e-04 9.99991824e-01 7.40157132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.50, Z:0.74 [[-8.59588945e-01 5.10976889e-01 3.07632786e-03 2.09786630e+02] [-5.10972267e-01 -8.59594392e-01 2.19631883e-03 1.31504079e+02] [ 3.76666234e-03 3.16013165e-04 9.99992856e-01 7.40795102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.51, Z:0.74 [[-8.60166822e-01 5.10004743e-01 2.86358956e-03 2.09800012e+02] [-5.10000731e-01 -8.60171537e-01 2.04482021e-03 1.31514166e+02] [ 3.50604623e-03 2.98453734e-04 9.99993809e-01 7.40366223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.52, Z:0.74 [[-8.60775076e-01 5.08976089e-01 3.10001917e-03 2.09803836e+02] [-5.08971378e-01 -8.60780595e-01 2.21419593e-03 1.31517128e+02] [ 3.79540913e-03 3.28103637e-04 9.99992744e-01 7.40136079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.51, Z:0.74 [[-8.61316852e-01 5.08056717e-01 3.41344913e-03 2.09797606e+02] [-5.08050992e-01 -8.61323538e-01 2.43966033e-03 1.31513112e+02] [ 4.17956990e-03 3.67114340e-04 9.99991198e-01 7.40133994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.52, Z:0.74 [[-8.61938869e-01 5.07000249e-01 3.48332810e-03 2.09808871e+02] [-5.06994275e-01 -8.61945824e-01 2.49026715e-03 1.31520372e+02] [ 4.26500617e-03 3.80430644e-04 9.99990832e-01 7.39957153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.52, Z:0.74 [[-8.62941092e-01 5.05292324e-01 3.51263023e-03 2.09814840e+02] [-5.05286234e-01 -8.62948152e-01 2.51184149e-03 1.31521885e+02] [ 4.30043199e-03 3.92687545e-04 9.99990676e-01 7.40764761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.53, Z:0.74 [[-8.62939069e-01 5.05294313e-01 3.71758794e-03 2.09824380e+02] [-5.05287488e-01 -8.62946976e-01 2.65906601e-03 1.31528348e+02] [ 4.55169221e-03 4.16161278e-04 9.99989554e-01 7.40733135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.51, Z:0.74 [[-8.62136409e-01 5.06658819e-01 4.20166222e-03 2.09795110e+02] [-5.06650107e-01 -8.62146522e-01 3.00728488e-03 1.31507571e+02] [ 5.14611587e-03 4.63917173e-04 9.99986651e-01 7.40680639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.52, Z:0.74 [[-8.60939347e-01 5.08688508e-01 4.40937663e-03 2.09811562e+02] [-5.08678940e-01 -8.60950508e-01 3.15576112e-03 1.31519292e+02] [ 5.40155446e-03 4.73961890e-04 9.99985299e-01 7.40361711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.51, Z:0.74 [[-8.58960020e-01 5.12026860e-01 4.02221226e-03 2.09795010e+02] [-5.12018925e-01 -8.58969337e-01 2.88054044e-03 1.31507074e+02] [ 4.92987107e-03 4.14820273e-04 9.99987762e-01 7.40263324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.50, Z:0.74 [[-8.56526992e-01 5.16093590e-01 2.98629406e-03 2.09787696e+02] [-5.16089236e-01 -8.56532148e-01 2.14009784e-03 1.31502445e+02] [ 3.66234764e-03 2.91857353e-04 9.99993251e-01 7.40269099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.49, Z:0.74 [[-8.51909313e-01 5.23688038e-01 1.16726247e-03 2.09759098e+02] [-5.23687378e-01 -8.51910106e-01 8.37045391e-04 1.31486350e+02] [ 1.43275336e-03 1.01806139e-04 9.99998968e-01 7.41462596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.49, Z:0.74 [[-8.50141171e-01 5.26554256e-01 7.77803322e-04 2.09759049e+02] [-5.26553964e-01 -8.50141525e-01 5.57927599e-04 1.31488287e+02] [ 9.55022054e-04 6.47618002e-05 9.99999542e-01 7.42209480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.49, Z:0.74 [[-8.48803152e-01 5.28708843e-01 4.10121261e-04 2.09760628e+02] [-5.28708763e-01 -8.48803250e-01 2.94250377e-04 1.31489648e+02] [ 5.03685036e-04 3.29259430e-05 9.99999873e-01 7.42349520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.49, Z:0.74 [[-8.47982022e-01 5.30024882e-01 3.39617405e-04 2.09763175e+02] [-5.30024827e-01 -8.47982089e-01 2.43725372e-04 1.31491265e+02] [ 4.17169988e-04 2.66690772e-05 9.99999913e-01 7.41898606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.48, Z:0.74 [[-8.47602922e-01 5.30630765e-01 5.26885062e-04 2.09751330e+02] [-5.30630632e-01 -8.47603085e-01 3.78355525e-04 1.31484130e+02] [ 6.47356486e-04 4.11138949e-05 9.99999790e-01 7.41594242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.49, Z:0.74 [[-8.47536600e-01 5.30736689e-01 5.26818748e-04 2.09753384e+02] [-5.30736556e-01 -8.47536763e-01 3.78447850e-04 1.31485562e+02] [ 6.47354416e-04 4.11464364e-05 9.99999790e-01 7.41593847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.391400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.76, Y:131.49, Z:0.74 [[-8.47572611e-01 5.30678600e-01 9.44444145e-04 2.09762921e+02] [-5.30678171e-01 -8.47573134e-01 6.78601211e-04 1.31494766e+02] [ 1.16060462e-03 7.39679084e-05 9.99999324e-01 7.40967042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.50, Z:0.74 [[-8.48804765e-01 5.28704191e-01 1.53284113e-03 2.09755236e+02] [-5.28703058e-01 -8.48806139e-01 1.10211027e-03 1.31495178e+02] [ 1.88377528e-03 1.25058654e-04 9.99998218e-01 7.41117679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.451400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.75, Y:131.49, Z:0.74 [[-8.49194442e-01 5.28075628e-01 2.22055277e-03 2.09754398e+02] [-5.28073245e-01 -8.49197325e-01 1.59706335e-03 1.31494986e+02] [ 2.72905771e-03 1.83602815e-04 9.99996259e-01 7.40043707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.51, Z:0.74 [[-8.49698655e-01 5.27263702e-01 2.27676925e-03 2.09777806e+02] [-5.27261197e-01 -8.49701684e-01 1.63644294e-03 1.31513866e+02] [ 2.79741162e-03 1.90031284e-04 9.99996069e-01 7.39819310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.51, Z:0.74 [[-8.49313097e-01 5.27885520e-01 2.03523927e-03 2.09774400e+02] [-5.27883519e-01 -8.49315518e-01 1.46313924e-03 1.31514589e+02] [ 2.50093031e-03 1.68294050e-04 9.99996859e-01 7.40151806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.51, Z:0.74 [[-8.48452766e-01 5.29269842e-01 1.15632586e-03 2.09763513e+02] [-5.29269198e-01 -8.48453549e-01 8.31491777e-04 1.31511593e+02] [ 1.42117230e-03 9.34738404e-05 9.99998986e-01 7.41338678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.52, Z:0.74 [[-8.47869718e-01 5.30204487e-01 3.77799293e-04 2.09774373e+02] [-5.30204418e-01 -8.47869802e-01 2.71551298e-04 1.31523982e+02] [ 4.64302329e-04 2.99292682e-05 9.99999892e-01 7.42334530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.53, Z:0.74 [[-8.47655982e-01 5.30545778e-01 7.16529479e-04 2.09769764e+02] [-5.30545531e-01 -8.47656283e-01 5.14972910e-04 1.31528401e+02] [ 8.80587418e-04 5.63683551e-05 9.99999611e-01 7.42310274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.54, Z:0.74 [[-8.48490313e-01 5.29210129e-01 9.09656434e-04 2.09779828e+02] [-5.29209731e-01 -8.48490798e-01 6.53408049e-04 1.31540325e+02] [ 1.11762527e-03 7.30113636e-05 9.99999373e-01 7.41019045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.54, Z:0.74 [[-8.49391884e-01 5.27760620e-01 1.46812236e-03 2.09775768e+02] [-5.27759580e-01 -8.49393144e-01 1.05437129e-03 1.31542759e+02] [ 1.80346871e-03 1.20758776e-04 9.99998366e-01 7.40539559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.54, Z:0.74 [[-8.50394530e-01 5.26142125e-01 1.89917678e-03 2.09759822e+02] [-5.26140381e-01 -8.50396636e-01 1.36426217e-03 1.31537105e+02] [ 2.33284934e-03 1.60927493e-04 9.99997266e-01 7.40528984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.56, Z:0.74 [[-8.51708344e-01 5.24011761e-01 2.13813122e-03 2.09783536e+02] [-5.24009546e-01 -8.51711007e-01 1.53495160e-03 1.31558998e+02] [ 2.62540259e-03 1.86929915e-04 9.99996536e-01 7.41380914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.57, Z:0.74 [[-8.52945199e-01 5.21995916e-01 2.17977740e-03 2.09786527e+02] [-5.21993610e-01 -8.52947962e-01 1.56379001e-03 1.31565854e+02] [ 2.67552869e-03 1.95997312e-04 9.99996402e-01 7.41752200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.58, Z:0.74 [[-8.54663990e-01 5.19175740e-01 2.45255321e-03 2.09787674e+02] [-5.19172813e-01 -8.54667478e-01 1.75829145e-03 1.31578212e+02] [ 3.00897973e-03 2.29449434e-04 9.99995447e-01 7.41150160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.59, Z:0.74 [[-8.55204563e-01 5.18283586e-01 2.69823491e-03 2.09793424e+02] [-5.18280043e-01 -8.55208782e-01 1.93312924e-03 1.31588287e+02] [ 3.30946335e-03 2.54779640e-04 9.99994491e-01 7.40257648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.60, Z:0.74 [[-8.55660191e-01 5.17531381e-01 2.62808991e-03 2.09790089e+02] [-5.17528021e-01 -8.55664191e-01 1.88162621e-03 1.31597517e+02] [ 3.22256304e-03 2.49922469e-04 9.99994776e-01 7.39167473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.61, Z:0.74 [[-8.55953498e-01 5.17049229e-01 1.92441778e-03 2.09793417e+02] [-5.17047428e-01 -8.55955642e-01 1.37692563e-03 1.31605415e+02] [ 2.35915459e-03 1.83569047e-04 9.99997200e-01 7.39581738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.61, Z:0.74 [[-8.56294747e-01 5.16485813e-01 1.30818767e-03 2.09784524e+02] [-5.16484981e-01 -8.56295737e-01 9.35413080e-04 1.31605205e+02] [ 1.60332311e-03 1.25330023e-04 9.99998707e-01 7.39894634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.61, Z:0.74 [[-8.56694083e-01 5.15823583e-01 1.13086465e-03 2.09782779e+02] [-5.15822962e-01 -8.56694823e-01 8.08093479e-04 1.31609852e+02] [ 1.38563957e-03 1.08962947e-04 9.99999034e-01 7.40000759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.61, Z:0.74 [[-8.57316159e-01 5.14787578e-01 1.65902377e-03 2.09770595e+02] [-5.14786240e-01 -8.57317750e-01 1.18469309e-03 1.31605576e+02] [ 2.03217582e-03 1.61613922e-04 9.99997922e-01 7.39829065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.62, Z:0.74 [[-8.58362774e-01 5.13036963e-01 2.53422890e-03 2.09780407e+02] [-5.13033838e-01 -8.58366478e-01 1.80844142e-03 1.31615520e+02] [ 3.10309443e-03 2.52153614e-04 9.99995154e-01 7.39131294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.63, Z:0.74 [[-8.61247030e-01 5.08171403e-01 3.92143610e-03 2.09797889e+02] [-5.08163879e-01 -8.61255858e-01 2.79650177e-03 1.31632335e+02] [ 4.79846204e-03 4.15746668e-04 9.99988401e-01 7.37486191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.62, Z:0.74 [[-8.62609397e-01 5.05856308e-01 3.79790938e-03 2.09778259e+02] [-5.05849236e-01 -8.62617659e-01 2.70664857e-03 1.31620632e+02] [ 4.64531895e-03 4.13610931e-04 9.99989125e-01 7.37028760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.64, Z:0.74 [[-8.63578982e-01 5.04202112e-01 3.40180292e-03 2.09798149e+02] [-5.04196432e-01 -8.63585600e-01 2.42278657e-03 1.31637245e+02] [ 4.15932213e-03 3.77090667e-04 9.99991279e-01 7.37266755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.64, Z:0.74 [[-8.63871475e-01 5.03701362e-01 3.31860296e-03 2.09793625e+02] [-5.03695958e-01 -8.63877771e-01 2.36200756e-03 1.31636075e+02] [ 4.05661375e-03 3.68904052e-04 9.99991704e-01 7.37111550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.64, Z:0.74 [[-8.63514177e-01 5.04310923e-01 3.70935497e-03 2.09798452e+02] [-5.04304186e-01 -8.63522047e-01 2.63841768e-03 1.31641433e+02] [ 4.53369266e-03 4.07667830e-04 9.99989640e-01 7.37030195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.63, Z:0.74 [[-8.62815756e-01 5.05501339e-01 4.16742976e-03 2.09780812e+02] [-5.05492859e-01 -8.62825703e-01 2.96232021e-03 1.31630841e+02] [ 5.09322234e-03 4.49330567e-04 9.99986929e-01 7.36655273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.64, Z:0.74 [[-8.61185455e-01 5.08271466e-01 4.44178714e-03 2.09783425e+02] [-5.08261880e-01 -8.61196787e-01 3.15529282e-03 1.31637489e+02] [ 5.42899812e-03 4.59701203e-04 9.99985157e-01 7.36641871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.74 [[-8.60746906e-01 5.09013442e-01 4.48099223e-03 2.09761714e+02] [-5.09003707e-01 -8.60758449e-01 3.18107206e-03 1.31623659e+02] [ 5.47626035e-03 4.57256280e-04 9.99984901e-01 7.37116085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.63, Z:0.74 [[-8.60548043e-01 5.09352884e-01 4.08724794e-03 2.09765059e+02] [-5.09344798e-01 -8.60557650e-01 2.89966055e-03 1.31626872e+02] [ 4.99426294e-03 4.13478738e-04 9.99987443e-01 7.37059483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.74 [[-8.60675032e-01 5.09139518e-01 3.92955617e-03 2.09753078e+02] [-5.09132050e-01 -8.60683911e-01 2.78596469e-03 1.31618986e+02] [ 4.80055050e-03 3.97147261e-04 9.99988398e-01 7.37048529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.63, Z:0.74 [[-8.61174338e-01 5.08292921e-01 4.13120346e-03 2.09765219e+02] [-5.08284667e-01 -8.61184144e-01 2.92701006e-03 1.31627479e+02] [ 5.04550541e-03 4.20838575e-04 9.99987183e-01 7.36652993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.63, Z:0.74 [[-8.61317140e-01 5.08048120e-01 4.46009053e-03 2.09766182e+02] [-5.08038508e-01 -8.61328568e-01 3.15797200e-03 1.31627742e+02] [ 5.44600513e-03 4.54117674e-04 9.99985067e-01 7.36839798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.74 [[-8.61177467e-01 5.08283922e-01 4.56344855e-03 2.09757591e+02] [-5.08273875e-01 -8.61189434e-01 3.22904955e-03 1.31620501e+02] [ 5.57126765e-03 4.61303034e-04 9.99984374e-01 7.36764883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.74 [[-8.60871937e-01 5.08803379e-01 4.31619752e-03 2.09738494e+02] [-5.08794407e-01 -8.60882649e-01 3.05209424e-03 1.31605922e+02] [ 5.26865541e-03 4.31405119e-04 9.99986028e-01 7.37153653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.74 [[-8.60286884e-01 5.09797607e-01 3.58840842e-03 2.09743806e+02] [-5.09791422e-01 -8.60294296e-01 2.53579219e-03 1.31608962e+02] [ 4.37982809e-03 3.52168932e-04 9.99990347e-01 7.37279391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.60, Z:0.74 [[-8.59595448e-01 5.10968318e-01 2.65409508e-03 2.09737696e+02] [-5.10964944e-01 -8.59599507e-01 1.87432769e-03 1.31604455e+02] [ 3.23918089e-03 2.55014002e-04 9.99994721e-01 7.37990051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.60, Z:0.74 [[-8.58417212e-01 5.12951060e-01 1.04876664e-03 2.09733051e+02] [-5.12950535e-01 -8.58417847e-01 7.40188071e-04 1.31601458e+02] [ 1.27996026e-03 9.74247715e-05 9.99999176e-01 7.38637163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.60, Z:0.74 [[-8.58493602e-01 5.12822377e-01 1.39444624e-03 2.09729889e+02] [-5.12821450e-01 -8.58494725e-01 9.83487277e-04 1.31599236e+02] [ 1.70147902e-03 1.29215592e-04 9.99998544e-01 7.38852383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.74 [[-8.58827638e-01 5.12260359e-01 2.10067808e-03 2.09741136e+02] [-5.12258257e-01 -8.58830185e-01 1.48057748e-03 1.31607326e+02] [ 2.56256690e-03 1.95471166e-04 9.99996698e-01 7.38775287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.60, Z:0.74 [[-8.59606102e-01 5.10951082e-01 2.51819459e-03 2.09727084e+02] [-5.10948059e-01 -8.59609757e-01 1.77366564e-03 1.31598403e+02] [ 3.07092102e-03 2.37987173e-04 9.99995256e-01 7.38752085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.60, Z:0.74 [[-8.60347245e-01 5.09701384e-01 2.66775485e-03 2.09732337e+02] [-5.09697990e-01 -8.60351343e-01 1.87776329e-03 1.31603124e+02] [ 3.25230502e-03 2.55779191e-04 9.99994679e-01 7.38444651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.74 [[-8.61296874e-01 5.08096050e-01 2.46976494e-03 2.09739607e+02] [-5.08093137e-01 -8.61300381e-01 1.73726726e-03 1.31609542e+02] [ 3.00990812e-03 2.41432243e-04 9.99995441e-01 7.38190700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.74 [[-8.63068592e-01 5.05079964e-01 2.61458047e-03 2.09743826e+02] [-5.05076689e-01 -8.63072511e-01 1.83792932e-03 1.31613248e+02] [ 3.18487380e-03 2.65695423e-04 9.99994893e-01 7.37674367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.74 [[-8.63911137e-01 5.03637380e-01 2.63377014e-03 2.09753414e+02] [-5.03634054e-01 -8.63915109e-01 1.85021828e-03 1.31620298e+02] [ 3.20719291e-03 2.71967848e-04 9.99994820e-01 7.37657822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.74 [[-8.64637264e-01 5.02389825e-01 2.62031517e-03 2.09753402e+02] [-5.02386532e-01 -8.64641191e-01 1.83957914e-03 1.31620313e+02] [ 3.18981827e-03 2.74157622e-04 9.99994875e-01 7.37426437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.74 [[-8.65272863e-01 5.01293618e-01 2.75320155e-03 2.09750202e+02] [-5.01289981e-01 -8.65277195e-01 1.93162166e-03 1.31617313e+02] [ 3.35059212e-03 2.91227457e-04 9.99994344e-01 7.37341915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.74 [[-8.65892396e-01 5.00221920e-01 2.89639288e-03 2.09749897e+02] [-5.00217894e-01 -8.65897185e-01 2.03076938e-03 1.31615752e+02] [ 3.52381380e-03 3.09600221e-04 9.99993743e-01 7.37349960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.74 [[-8.66732672e-01 4.98763470e-01 3.07845313e-03 2.09758385e+02] [-4.98758917e-01 -8.66738075e-01 2.15702706e-03 1.31619959e+02] [ 3.74405884e-03 3.34159871e-04 9.99992935e-01 7.36825373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.74 [[-8.67272802e-01 4.97821063e-01 3.47513808e-03 2.09745843e+02] [-4.97815261e-01 -8.67279681e-01 2.43340466e-03 1.31611119e+02] [ 4.22531674e-03 3.80448902e-04 9.99991001e-01 7.36489934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.74 [[-8.67798955e-01 4.96900139e-01 3.90194528e-03 2.09741202e+02] [-4.96892823e-01 -8.67807621e-01 2.73049561e-03 1.31607408e+02] [ 4.74292150e-03 4.30672633e-04 9.99988660e-01 7.36491870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.61, Z:0.74 [[-8.68243429e-01 4.96119255e-01 4.36269935e-03 2.09744410e+02] [-4.96110110e-01 -8.68254254e-01 3.05094161e-03 1.31608103e+02] [ 5.30156314e-03 4.84580747e-04 9.99985829e-01 7.36103429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.951400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.74 [[-8.68746792e-01 4.95230595e-01 5.06646619e-03 2.09750636e+02] [-4.95218261e-01 -8.68761380e-01 3.54081263e-03 1.31610134e+02] [ 6.15506891e-03 5.67063037e-04 9.99980897e-01 7.36547017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.74 [[-8.69409763e-01 4.94065223e-01 5.12041464e-03 2.09748188e+02] [-4.94052620e-01 -8.69424649e-01 3.57621562e-03 1.31606066e+02] [ 6.21869847e-03 5.79442509e-04 9.99980496e-01 7.36789571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.61, Z:0.74 [[-8.70900542e-01 4.91433522e-01 5.03384405e-03 2.09756298e+02] [-4.91421311e-01 -8.70914893e-01 3.51349934e-03 1.31607677e+02] [ 6.11070111e-03 5.86170238e-04 9.99981158e-01 7.37085700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.60, Z:0.74 [[-8.71372969e-01 4.90597548e-01 4.81598492e-03 2.09746213e+02] [-4.90586372e-01 -8.71386095e-01 3.35928522e-03 1.31597817e+02] [ 5.84463939e-03 5.64533767e-04 9.99982761e-01 7.37384236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.56, Z:0.74 [[-8.71233280e-01 4.90826508e-01 6.47379762e-03 2.09693990e+02] [-4.90828714e-01 -8.71255039e-01 1.35292041e-03 1.31561356e+02] [ 6.30437800e-03 -1.99881647e-03 9.99978130e-01 7.37039085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.101400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.75, Y:131.60, Z:0.74 [[-8.71099775e-01 4.91097222e-01 2.94955692e-03 2.09754120e+02] [-4.91079118e-01 -8.71099174e-01 5.24684152e-03 1.31595393e+02] [ 5.14606589e-03 3.12205666e-03 9.99981885e-01 7.36524373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.59, Z:0.74 [[-8.69306383e-01 4.94262381e-01 3.33322716e-03 2.09745887e+02] [-4.94257060e-01 -8.69312694e-01 2.32355192e-03 1.31590832e+02] [ 4.04606099e-03 3.72407464e-04 9.99991745e-01 7.36670778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.57, Z:0.74 [[-8.68183702e-01 4.96233957e-01 2.98656599e-03 2.09722855e+02] [-4.96229701e-01 -8.68188779e-01 2.08055324e-03 1.31574603e+02] [ 3.62534425e-03 3.24279668e-04 9.99993376e-01 7.37144331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.58, Z:0.74 [[-8.67160798e-01 4.98020419e-01 2.79511686e-03 2.09731105e+02] [-4.98016705e-01 -8.67165253e-01 1.94591664e-03 1.31579196e+02] [ 3.39293444e-03 2.95407737e-04 9.99994200e-01 7.37306969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.57, Z:0.74 [[-8.66424380e-01 4.99298560e-01 3.12111144e-03 2.09718921e+02] [-4.99293942e-01 -8.66429942e-01 2.17144368e-03 1.31568593e+02] [ 3.78842311e-03 3.23039711e-04 9.99992772e-01 7.37642028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.56, Z:0.74 [[-8.66220657e-01 4.99647503e-01 3.76116594e-03 2.09710262e+02] [-4.99640809e-01 -8.66228736e-01 2.61501559e-03 1.31560245e+02] [ 4.56461603e-03 3.85948528e-04 9.99989508e-01 7.37833911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.56, Z:0.74 [[-8.66375031e-01 4.99379768e-01 3.76197386e-03 2.09708264e+02] [-4.99373077e-01 -8.66383113e-01 2.61385317e-03 1.31558764e+02] [ 4.56461601e-03 3.85948657e-04 9.99989508e-01 7.37834309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.74 [[-8.66800704e-01 4.98635212e-01 4.41187958e-03 2.09715625e+02] [-4.98626010e-01 -8.66811812e-01 3.06338822e-03 1.31562291e+02] [ 5.35178257e-03 4.55469151e-04 9.99985575e-01 7.37611967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.74 [[-8.68239520e-01 4.96122064e-01 4.79939383e-03 2.09720024e+02] [-4.96111149e-01 -8.68252634e-01 3.33027259e-03 1.31562563e+02] [ 5.81930805e-03 5.10441484e-04 9.99982937e-01 7.37652575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.56, Z:0.74 [[-8.69173458e-01 4.94486137e-01 4.57826897e-03 2.09725413e+02] [-4.94476194e-01 -8.69185374e-01 3.17476702e-03 1.31563849e+02] [ 5.54924271e-03 4.95578214e-04 9.99984480e-01 7.37534706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.55, Z:0.74 [[-8.70118618e-01 4.92824009e-01 4.25282820e-03 2.09713225e+02] [-4.92815419e-01 -8.70128885e-01 2.94717073e-03 1.31552513e+02] [ 5.15294516e-03 4.68528809e-04 9.99986614e-01 7.37758723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.74 [[-8.70739027e-01 4.91730440e-01 3.83677397e-03 2.09722624e+02] [-4.91723446e-01 -8.70747376e-01 2.65711695e-03 1.31556094e+02] [ 4.64744616e-03 4.27023708e-04 9.99989109e-01 7.37810610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.55, Z:0.74 [[-8.70735394e-01 4.91740590e-01 3.32643629e-03 2.09719851e+02] [-4.91735339e-01 -8.70741670e-01 2.30219403e-03 1.31551110e+02] [ 4.02854894e-03 3.68875549e-04 9.99991817e-01 7.38087335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.54, Z:0.74 [[-8.70300871e-01 4.92509211e-01 3.32742687e-03 2.09708072e+02] [-4.92503969e-01 -8.70307155e-01 2.30137179e-03 1.31541647e+02] [ 4.02933022e-03 3.64114936e-04 9.99991816e-01 7.38375472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.54, Z:0.74 [[-8.69743059e-01 4.93496055e-01 2.94208256e-03 2.09705297e+02] [-4.93491967e-01 -8.69747977e-01 2.03352175e-03 1.31538357e+02] [ 3.56240532e-03 3.16747313e-04 9.99993604e-01 7.38380173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.57, Z:0.74 [[-8.69243039e-01 4.94379404e-01 2.35434858e-03 2.09751867e+02] [-4.94376793e-01 -8.69246192e-01 1.62624676e-03 1.31568920e+02] [ 2.85049144e-03 2.49668373e-04 9.99995906e-01 7.38544267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.53, Z:0.74 [[-8.68250053e-01 4.96123773e-01 1.74537330e-03 2.09708263e+02] [-4.96122340e-01 -8.68251789e-01 1.20628220e-03 1.31534705e+02] [ 2.11388876e-03 1.81435895e-04 9.99997749e-01 7.38670412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.53, Z:0.74 [[-8.68109543e-01 4.96367365e-01 2.29370094e-03 2.09699116e+02] [-4.96364893e-01 -8.68112541e-01 1.58433769e-03 1.31525443e+02] [ 2.77760407e-03 2.36866051e-04 9.99996114e-01 7.38087469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.641400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.70, Y:131.52, Z:0.74 [[-8.67911594e-01 4.96709514e-01 3.02067098e-03 2.09695965e+02] [-4.96705233e-01 -8.67916795e-01 2.08507910e-03 1.31520209e+02] [ 3.65736970e-03 3.09281237e-04 9.99993264e-01 7.38054828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.52, Z:0.74 [[-8.67865431e-01 4.96791819e-01 2.73536002e-03 2.09698926e+02] [-4.96788314e-01 -8.67869697e-01 1.88689147e-03 1.31519603e+02] [ 3.31132832e-03 2.78672985e-04 9.99994479e-01 7.37966164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.51, Z:0.74 [[-8.67816834e-01 4.96880850e-01 1.83413996e-03 2.09689179e+02] [-4.96879276e-01 -8.67818752e-01 1.26449460e-03 1.31510232e+02] [ 2.22000420e-03 1.86003561e-04 9.99997519e-01 7.38115648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.51, Z:0.74 [[-8.67708082e-01 4.97073423e-01 8.34495070e-04 2.09689068e+02] [-4.97073098e-01 -8.67708479e-01 5.74971074e-04 1.31507868e+02] [ 1.00990129e-03 8.41019987e-05 9.99999487e-01 7.38686565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.50, Z:0.74 [[-8.67429924e-01 4.97559241e-01 3.59572441e-04 2.09679398e+02] [-4.97559180e-01 -8.67429998e-01 2.47721368e-04 1.31498731e+02] [ 4.35159977e-04 3.59723584e-05 9.99999905e-01 7.38768287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.49, Z:0.74 [[-8.67300795e-01 4.97778689e-01 2.38933629e-03 2.09678966e+02] [-4.97776027e-01 -8.67304053e-01 1.64504685e-03 1.31493451e+02] [ 2.89115031e-03 2.37396110e-04 9.99995792e-01 7.38243345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.50, Z:0.74 [[-8.67558143e-01 4.97325109e-01 3.25642315e-03 2.09686669e+02] [-4.97320168e-01 -8.67564194e-01 2.24050736e-03 1.31496807e+02] [ 3.93941670e-03 3.24285497e-04 9.99992188e-01 7.37898193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.49, Z:0.74 [[-8.67861002e-01 4.96797342e-01 3.11156015e-03 2.09680156e+02] [-4.96792833e-01 -8.67866525e-01 2.13940683e-03 1.31489991e+02] [ 3.76327052e-03 3.10906971e-04 9.99992871e-01 7.38020860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.48, Z:0.74 [[-8.68453866e-01 4.95764530e-01 2.32651988e-03 2.09678402e+02] [-4.95762006e-01 -8.68456951e-01 1.59946740e-03 1.31483175e+02] [ 2.81344156e-03 2.35663482e-04 9.99996015e-01 7.38746293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.49, Z:0.74 [[-8.68922567e-01 4.94942444e-01 2.35555450e-03 2.09692145e+02] [-4.94939857e-01 -8.68925727e-01 1.61839678e-03 1.31489541e+02] [ 2.84781516e-03 2.40403678e-04 9.99995916e-01 7.39028433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.48, Z:0.74 [[-8.69311719e-01 4.94255401e-01 2.95526825e-03 2.09679398e+02] [-4.94251323e-01 -8.69316689e-01 2.03084522e-03 1.31478712e+02] [ 3.57282022e-03 3.04792305e-04 9.99993571e-01 7.39261402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.48, Z:0.74 [[-8.69747385e-01 4.93484832e-01 3.49395208e-03 2.09681098e+02] [-4.93479132e-01 -8.69754327e-01 2.39949710e-03 1.31478119e+02] [ 4.22299536e-03 3.62763891e-04 9.99991017e-01 7.38595139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.48, Z:0.74 [[-8.70071429e-01 4.92906743e-01 4.31875323e-03 2.09690311e+02] [-4.92898037e-01 -8.70082031e-01 2.96393411e-03 1.31482751e+02] [ 5.21861269e-03 4.50129396e-04 9.99986282e-01 7.38711317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.48, Z:0.74 [[-8.70164804e-01 4.92738701e-01 4.66768320e-03 2.09684862e+02] [-4.92728528e-01 -8.70177186e-01 3.20359797e-03 1.31477049e+02] [ 5.64024814e-03 4.87757528e-04 9.99983975e-01 7.38624837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.48, Z:0.74 [[-8.70444431e-01 4.92237530e-01 5.35791202e-03 2.09687734e+02] [-4.92224132e-01 -8.70460739e-01 3.67493138e-03 1.31475498e+02] [ 6.47279120e-03 5.61529963e-04 9.99978894e-01 7.38146807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.47, Z:0.74 [[-8.70121365e-01 4.92804691e-01 5.68738915e-03 2.09684206e+02] [-4.92789604e-01 -8.70139751e-01 3.90117150e-03 1.31471488e+02] [ 6.87133899e-03 5.91806421e-04 9.99976217e-01 7.38351368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.46, Z:0.74 [[-8.69551885e-01 4.93813617e-01 5.25654634e-03 2.09675527e+02] [-4.93800742e-01 -8.69567605e-01 3.60653767e-03 1.31463290e+02] [ 6.35187982e-03 5.40385151e-04 9.99979681e-01 7.38295663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.46, Z:0.74 [[-8.68847910e-01 4.95059930e-01 4.35594844e-03 2.09674265e+02] [-4.95051102e-01 -8.68858718e-01 2.98914354e-03 1.31459964e+02] [ 5.26450897e-03 4.40694038e-04 9.99986045e-01 7.38772557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.46, Z:0.74 [[-8.68314020e-01 4.96005714e-01 3.01572079e-03 2.09678010e+02] [-4.96001488e-01 -8.68319205e-01 2.06946158e-03 1.31461119e+02] [ 3.64507305e-03 3.01140507e-04 9.99993311e-01 7.39206399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.46, Z:0.74 [[-8.67696557e-01 4.97088799e-01 2.32624940e-03 2.09679197e+02] [-4.97086288e-01 -8.67699645e-01 1.59658435e-03 1.31461252e+02] [ 2.81212998e-03 2.29004065e-04 9.99996020e-01 7.39395665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.46, Z:0.74 [[-8.66460166e-01 4.99239877e-01 2.51510675e-03 2.09680556e+02] [-4.99236951e-01 -8.66463783e-01 1.72621995e-03 1.31462171e+02] [ 3.04104675e-03 2.40066598e-04 9.99995347e-01 7.39470121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.65814801e-01 5.00356098e-01 2.91647523e-03 2.09669966e+02] [-5.00352167e-01 -8.65819670e-01 2.00218312e-03 1.31453476e+02] [ 3.52694615e-03 2.74255077e-04 9.99993743e-01 7.39392218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.65197618e-01 5.01422177e-01 2.98022943e-03 2.09673225e+02] [-5.01418078e-01 -8.65202707e-01 2.04614114e-03 1.31453823e+02] [ 3.60448312e-03 2.75975528e-04 9.99993466e-01 7.39576070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.45, Z:0.74 [[-8.64599603e-01 5.02454221e-01 2.69866337e-03 2.09664176e+02] [-5.02450863e-01 -8.64603779e-01 1.85328569e-03 1.31446984e+02] [ 3.26446577e-03 2.46404328e-04 9.99994641e-01 7.39478924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.64323502e-01 5.02932483e-01 1.94995755e-03 2.09669549e+02] [-5.02930733e-01 -8.64325683e-01 1.33838442e-03 1.31450886e+02] [ 2.35851539e-03 1.76103528e-04 9.99997203e-01 7.39416470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.63931437e-01 5.03607646e-01 1.34591883e-03 2.09667940e+02] [-5.03606812e-01 -8.63932477e-01 9.23970191e-04 1.31449403e+02] [ 1.62810144e-03 1.20433004e-04 9.99998667e-01 7.38958974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.63316623e-01 5.04658366e-01 2.08386412e-03 2.09665089e+02] [-5.04656371e-01 -8.63319118e-01 1.43094955e-03 1.31445220e+02] [ 2.52118039e-03 1.83727230e-04 9.99996805e-01 7.39039692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.63082949e-01 5.05054347e-01 2.81601936e-03 2.09667686e+02] [-5.05050705e-01 -8.63087507e-01 1.93405551e-03 1.31446587e+02] [ 3.40727427e-03 2.47017771e-04 9.99994165e-01 7.39208967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.63261048e-01 5.04746883e-01 3.30873162e-03 2.09672260e+02] [-5.04741857e-01 -8.63267340e-01 2.27115818e-03 1.31450271e+02] [ 4.00267995e-03 2.90547048e-04 9.99991947e-01 7.39466466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.63562487e-01 5.04232609e-01 3.05081981e-03 2.09671653e+02] [-5.04228332e-01 -8.63567834e-01 2.09441822e-03 1.31450295e+02] [ 3.69066382e-03 2.70351223e-04 9.99993153e-01 7.39888413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.45, Z:0.74 [[-8.63944717e-01 5.03580042e-01 2.58221616e-03 2.09669724e+02] [-5.03576973e-01 -8.63948545e-01 1.77316442e-03 1.31448293e+02] [ 3.12383211e-03 2.31571436e-04 9.99995094e-01 7.39773333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.45, Z:0.74 [[-8.65191579e-01 5.01433971e-01 2.73939629e-03 2.09675755e+02] [-5.01430506e-01 -8.65195878e-01 1.88127590e-03 1.31449311e+02] [ 3.31345003e-03 2.54047199e-04 9.99994478e-01 7.39738066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.45, Z:0.74 [[-8.66038341e-01 4.99966075e-01 3.39345562e-03 2.09679942e+02] [-4.99960745e-01 -8.66044930e-01 2.33084403e-03 1.31450003e+02] [ 4.10422797e-03 3.22005697e-04 9.99991526e-01 7.39412320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.45, Z:0.74 [[-8.67039355e-01 4.98220113e-01 4.41321429e-03 2.09682090e+02] [-4.98211074e-01 -8.67050479e-01 3.03180453e-03 1.31449184e+02] [ 5.33698556e-03 4.29981614e-04 9.99985666e-01 7.38880202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.45, Z:0.74 [[-8.68007126e-01 4.96525553e-01 5.09948272e-03 2.09692597e+02] [-4.96513470e-01 -8.68021957e-01 3.50094196e-03 1.31453662e+02] [ 6.16477011e-03 5.06880708e-04 9.99980869e-01 7.39017966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.45, Z:0.74 [[-8.68685060e-01 4.95338174e-01 5.13417447e-03 2.09691167e+02] [-4.95325900e-01 -8.68700077e-01 3.52557547e-03 1.31449587e+02] [ 6.20640987e-03 5.19525148e-04 9.99980605e-01 7.39195281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.44, Z:0.74 [[-8.68767586e-01 4.95202563e-01 4.15972274e-03 2.09680801e+02] [-4.95194495e-01 -8.68777441e-01 2.85835551e-03 1.31435022e+02] [ 5.02933825e-03 4.23374812e-04 9.99987263e-01 7.39697009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.44, Z:0.74 [[-8.68583266e-01 4.95528276e-01 3.85192424e-03 2.09698589e+02] [-4.95521369e-01 -8.68591720e-01 2.64515185e-03 1.31444390e+02] [ 4.65649704e-03 3.88823856e-04 9.99989083e-01 7.39801786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.44, Z:0.74 [[-8.67878685e-01 4.96761252e-01 3.85321333e-03 2.09693346e+02] [-4.96754344e-01 -8.67887154e-01 2.64772778e-03 1.31438063e+02] [ 4.65944291e-03 3.83806050e-04 9.99989071e-01 7.39839751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.44, Z:0.74 [[-8.67138441e-01 4.98049152e-01 4.23865834e-03 2.09693376e+02] [-4.98040804e-01 -8.67148701e-01 2.91338002e-03 1.31435698e+02] [ 5.12655352e-03 4.15278996e-04 9.99986773e-01 7.39854548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.42, Z:0.74 [[-8.66407079e-01 4.99310719e-01 5.25167027e-03 2.09671767e+02] [-4.99297911e-01 -8.66422846e-01 3.61213612e-03 1.31418340e+02] [ 6.35374539e-03 5.07432305e-04 9.99979686e-01 7.39492142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.43, Z:0.74 [[-8.66148900e-01 4.99747069e-01 6.24105173e-03 2.09692918e+02] [-4.99729013e-01 -8.66171179e-01 4.28979153e-03 1.31429943e+02] [ 7.54962987e-03 5.96763586e-04 9.99971323e-01 7.39522403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.901400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:209.68, Y:131.42, Z:0.74 [[-8.65206083e-01 5.01385632e-01 5.55726758e-03 2.09682552e+02] [-5.01371332e-01 -8.65223773e-01 3.82232721e-03 1.31416240e+02] [ 6.72473996e-03 5.20846104e-04 9.99977253e-01 7.40071956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.41, Z:0.74 [[-8.64655482e-01 5.02349841e-01 3.94139465e-03 2.09674173e+02] [-5.02342649e-01 -8.64664388e-01 2.71280169e-03 1.31407898e+02] [ 4.77075909e-03 3.65708227e-04 9.99988553e-01 7.40742555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.42, Z:0.74 [[-8.64206015e-01 5.03130951e-01 2.68511878e-03 2.09691202e+02] [-5.03127615e-01 -8.64210151e-01 1.84863009e-03 1.31416991e+02] [ 3.25060992e-03 2.46639833e-04 9.99994686e-01 7.41344726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.991400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:209.70, Y:131.42, Z:0.74 [[-8.63748622e-01 5.03919116e-01 1.96020788e-03 2.09697935e+02] [-5.03917339e-01 -8.63750828e-01 1.35044335e-03 1.31418862e+02] [ 2.37364540e-03 1.78660849e-04 9.99997167e-01 7.41202941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.41, Z:0.74 [[-8.63693288e-01 5.04015014e-01 1.66413724e-03 2.09682687e+02] [-5.04013731e-01 -8.63694878e-01 1.14726461e-03 1.31406338e+02] [ 2.01554540e-03 1.52136729e-04 9.99997957e-01 7.41024997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.40, Z:0.74 [[-8.63782159e-01 5.03862878e-01 1.60702048e-03 2.09682919e+02] [-5.03861680e-01 -8.63783641e-01 1.10866708e-03 1.31403997e+02] [ 1.94673419e-03 1.47930803e-04 9.99998094e-01 7.41077670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.41, Z:0.74 [[-8.64113575e-01 5.03295116e-01 1.32539001e-03 2.09704175e+02] [-5.03294299e-01 -8.64114582e-01 9.15004100e-04 1.31411920e+02] [ 1.60580593e-03 1.23606226e-04 9.99998703e-01 7.41400028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.41, Z:0.74 [[-8.64388698e-01 5.02821843e-01 1.54029389e-03 2.09708932e+02] [-5.02820738e-01 -8.64390059e-01 1.06411856e-03 1.31411547e+02] [ 1.86647678e-03 1.45320349e-04 9.99998248e-01 7.41375175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.141400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.71, Y:131.41, Z:0.74 [[-8.64723036e-01 5.02245319e-01 1.92617325e-03 2.09707029e+02] [-5.02243588e-01 -8.64725162e-01 1.33164973e-03 1.31406722e+02] [ 2.33442532e-03 1.84100032e-04 9.99997258e-01 7.41218054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.171400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.71, Y:131.41, Z:0.74 [[-8.64558674e-01 5.02528198e-01 1.92573754e-03 2.09709061e+02] [-5.02526466e-01 -8.64560800e-01 1.33227974e-03 1.31408218e+02] [ 2.33442532e-03 1.84099921e-04 9.99997258e-01 7.41217656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.201400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.72, Y:131.41, Z:0.74 [[-8.64854318e-01 5.02018208e-01 2.17438751e-03 2.09720302e+02] [-5.02015995e-01 -8.64857026e-01 1.50536025e-03 1.31412890e+02] [ 2.63625257e-03 2.10340010e-04 9.99996503e-01 7.41053926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.41, Z:0.74 [[-8.65126963e-01 5.01549091e-01 1.96163226e-03 2.09726133e+02] [-5.01547286e-01 -8.65129165e-01 1.35900422e-03 1.31413449e+02] [ 2.37867261e-03 1.91859855e-04 9.99997153e-01 7.41309524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.40, Z:0.74 [[-8.65855560e-01 5.00290774e-01 1.81414366e-03 2.09716462e+02] [-5.00289226e-01 -8.65857441e-01 1.25769766e-03 1.31397175e+02] [ 2.20000432e-03 1.81387988e-04 9.99997564e-01 7.41439707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.40, Z:0.74 [[-8.66115281e-01 4.99840061e-01 2.05721714e-03 2.09731608e+02] [-4.99838067e-01 -8.66117700e-01 1.42721970e-03 1.31403721e+02] [ 2.49517376e-03 2.07861359e-04 9.99996865e-01 7.41487448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.40, Z:0.74 [[-8.66085553e-01 4.99889045e-01 2.59958649e-03 2.09734521e+02] [-4.99885857e-01 -8.66089414e-01 1.80476782e-03 1.31402616e+02] [ 3.15365800e-03 2.63586815e-04 9.99994993e-01 7.41839719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.40, Z:0.74 [[-8.65930816e-01 5.00156269e-01 2.74358540e-03 2.09734919e+02] [-5.00152715e-01 -8.65935118e-01 1.90607080e-03 1.31399911e+02] [ 3.32910021e-03 2.78313760e-04 9.99994420e-01 7.41536539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.40, Z:0.74 [[-8.65759166e-01 5.00451695e-01 3.02778397e-03 2.09734822e+02] [-5.00447362e-01 -8.65764406e-01 2.10499036e-03 1.31396420e+02] [ 3.67479359e-03 3.07168195e-04 9.99993201e-01 7.41937406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.40, Z:0.74 [[-8.65670582e-01 5.00606107e-01 2.82305079e-03 2.09752620e+02] [-5.00602336e-01 -8.65675137e-01 1.96401682e-03 1.31404415e+02] [ 3.42704369e-03 2.86965759e-04 9.99994087e-01 7.41502301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.40, Z:0.74 [[-8.65575527e-01 5.00774196e-01 2.05243156e-03 2.09753265e+02] [-5.00772201e-01 -8.65577935e-01 1.42886530e-03 1.31395026e+02] [ 2.49207834e-03 2.08990165e-04 9.99996873e-01 7.41525488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.40, Z:0.74 [[-8.65616810e-01 5.00700908e-01 2.47766114e-03 2.09762163e+02] [-5.00697997e-01 -8.65620319e-01 1.72611228e-03 1.31396406e+02] [ 3.00897981e-03 2.53591834e-04 9.99995441e-01 7.41563967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.39, Z:0.74 [[-8.65773895e-01 5.00426151e-01 3.03827308e-03 2.09759587e+02] [-5.00421766e-01 -8.65779169e-01 2.11815785e-03 1.31389534e+02] [ 3.69045513e-03 3.13427791e-04 9.99993141e-01 7.41338563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.38, Z:0.74 [[-8.65919616e-01 5.00166806e-01 4.04785262e-03 2.09756796e+02] [-5.00159011e-01 -8.65928975e-01 2.82398566e-03 1.31382522e+02] [ 4.91761676e-03 4.20774615e-04 9.99987820e-01 7.41060765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.38, Z:0.74 [[-8.65703742e-01 5.00533625e-01 4.80853562e-03 2.09759926e+02] [-5.00522617e-01 -8.65716952e-01 3.35703713e-03 1.31379669e+02] [ 5.84314076e-03 4.99418777e-04 9.99982804e-01 7.40693772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.38, Z:0.74 [[-8.65206881e-01 5.01389546e-01 5.05729611e-03 2.09763185e+02] [-5.01377368e-01 -8.65221504e-01 3.53318419e-03 1.31377923e+02] [ 6.14718297e-03 5.21321464e-04 9.99980970e-01 7.40471064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.37, Z:0.74 [[-8.63835289e-01 5.03754114e-01 4.51500228e-03 2.09763473e+02] [-5.03744428e-01 -8.63846970e-01 3.15652707e-03 1.31374261e+02] [ 5.49038453e-03 4.52312234e-04 9.99984825e-01 7.40626532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.37, Z:0.74 [[-8.63082754e-01 5.05043821e-01 4.34728778e-03 2.09760870e+02] [-5.05034846e-01 -8.63093596e-01 3.04141119e-03 1.31370990e+02] [ 5.28816217e-03 4.29457734e-04 9.99985925e-01 7.41171911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.37, Z:0.74 [[-8.62420184e-01 5.06178927e-01 3.78424433e-03 2.09760283e+02] [-5.06172129e-01 -8.62428407e-01 2.64936090e-03 1.31368178e+02] [ 4.60469047e-03 3.69383312e-04 9.99989330e-01 7.41219202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.36, Z:0.74 [[-8.61963199e-01 5.06961091e-01 3.14562361e-03 2.09751996e+02] [-5.06956393e-01 -8.61968885e-01 2.20381357e-03 1.31359583e+02] [ 3.82867741e-03 3.04912196e-04 9.99992624e-01 7.41443871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.37, Z:0.74 [[-8.61801890e-01 5.07239069e-01 2.45557175e-03 2.09768462e+02] [-5.07236203e-01 -8.61805355e-01 1.72157229e-03 1.31368685e+02] [ 2.98947361e-03 2.38099363e-04 9.99995503e-01 7.40750431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.36, Z:0.74 [[-8.62533138e-01 5.05992233e-01 2.90625806e-03 2.09754613e+02] [-5.05988207e-01 -8.62537986e-01 2.03900276e-03 1.31356270e+02] [ 3.53847754e-03 2.88175148e-04 9.99993698e-01 7.40304700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.37, Z:0.74 [[-8.63262786e-01 5.04742209e-01 3.55877719e-03 2.09775534e+02] [-5.04736153e-01 -8.63270046e-01 2.49859175e-03 1.31369289e+02] [ 4.33333047e-03 3.60697766e-04 9.99990546e-01 7.40496009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.37, Z:0.74 [[-8.64074977e-01 5.03344736e-01 4.30246570e-03 2.09781055e+02] [-5.03335857e-01 -8.64085573e-01 3.02287202e-03 1.31371175e+02] [ 5.23924526e-03 4.46402806e-04 9.99986175e-01 7.40476203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.37, Z:0.74 [[-8.64768318e-01 5.02147518e-01 4.86077654e-03 2.09783091e+02] [-5.02136152e-01 -8.64781825e-01 3.41754782e-03 1.31370603e+02] [ 5.91962436e-03 5.14615452e-04 9.99982346e-01 7.40833830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.38, Z:0.74 [[-8.65146167e-01 5.01495534e-01 4.93344067e-03 2.09793195e+02] [-5.01483800e-01 -8.65160072e-01 3.47107273e-03 1.31376737e+02] [ 6.00894335e-03 5.28944692e-04 9.99981806e-01 7.40385984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.38, Z:0.74 [[-8.65171323e-01 5.01452959e-01 4.84878970e-03 2.09792828e+02] [-5.01441610e-01 -8.65184753e-01 3.41390247e-03 1.31375987e+02] [ 5.90701042e-03 5.22225598e-04 9.99982417e-01 7.40217633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.64504919e-01 5.02613768e-01 3.26279652e-03 2.09787321e+02] [-5.02608631e-01 -8.64511006e-01 2.29884180e-03 1.31369318e+02] [ 3.97615304e-03 3.47450351e-04 9.99992035e-01 7.40486057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.38, Z:0.74 [[-8.63959139e-01 5.03557632e-01 2.07792885e-03 2.09800131e+02] [-5.03555548e-01 -8.63961610e-01 1.46503516e-03 1.31376912e+02] [ 2.53298039e-03 2.19377916e-04 9.99996768e-01 7.41392823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.38, Z:0.74 [[-8.63435424e-01 5.04458312e-01 1.03900063e-03 2.09802769e+02] [-5.04457791e-01 -8.63436043e-01 7.33024104e-04 1.31377814e+02] [ 1.26689069e-03 1.08787016e-04 9.99999192e-01 7.41449684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.38, Z:0.74 [[-8.62884166e-01 5.05401073e-01 8.19477855e-04 2.09807145e+02] [-5.05400749e-01 -8.62884551e-01 5.78539627e-04 1.31381098e+02] [ 9.99509329e-04 8.50479621e-05 9.99999497e-01 7.41388719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.38, Z:0.74 [[-8.62232265e-01 5.06512269e-01 9.17845131e-04 2.09801658e+02] [-5.06511863e-01 -8.62232748e-01 6.48446901e-04 1.31377186e+02] [ 1.11984244e-03 9.42123930e-05 9.99999369e-01 7.40972886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.61572163e-01 5.07632731e-01 1.55516976e-03 2.09790919e+02] [-5.07631565e-01 -8.61573552e-01 1.09952867e-03 1.31369126e+02] [ 1.89804988e-03 1.57870032e-04 9.99998186e-01 7.41422458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.60323633e-01 5.09741556e-01 2.60637471e-03 2.09794758e+02] [-5.09738286e-01 -8.60327542e-01 1.84409595e-03 1.31371028e+02] [ 3.18234829e-03 2.57950348e-04 9.99994903e-01 7.40846025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.38, Z:0.74 [[-8.59564513e-01 5.11015493e-01 3.46617197e-03 2.09803681e+02] [-5.11009711e-01 -8.59571435e-01 2.45418474e-03 1.31377618e+02] [ 4.23354884e-03 3.38282571e-04 9.99990981e-01 7.40632761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.58818639e-01 5.12263378e-01 4.09611339e-03 2.09787062e+02] [-5.12255308e-01 -8.58828316e-01 2.90227663e-03 1.31365633e+02] [ 5.00458820e-03 3.94273437e-04 9.99987399e-01 7.40468112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.58261318e-01 5.13196663e-01 4.08595667e-03 2.09790678e+02] [-5.13188633e-01 -8.58270956e-01 2.89714723e-03 1.31367711e+02] [ 4.99366423e-03 3.89642877e-04 9.99987456e-01 7.40779594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.36, Z:0.74 [[-8.57899620e-01 5.13803893e-01 3.71499407e-03 2.09783912e+02] [-5.13797252e-01 -8.57907591e-01 2.63599649e-03 1.31362816e+02] [ 4.54150687e-03 3.52666647e-04 9.99989625e-01 7.41055136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.57787138e-01 5.13993821e-01 3.40268616e-03 2.09792163e+02] [-5.13988244e-01 -8.57793826e-01 2.41612136e-03 1.31369241e+02] [ 4.16067463e-03 3.23577142e-04 9.99991292e-01 7.41661823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.58616387e-01 5.12608894e-01 3.16569480e-03 2.09791018e+02] [-5.12604051e-01 -8.58622168e-01 2.24944662e-03 1.31369025e+02] [ 3.87122207e-03 3.08663755e-04 9.99992459e-01 7.42058019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.38, Z:0.74 [[-8.59009855e-01 5.11949303e-01 3.15909283e-03 2.09811111e+02] [-5.11944470e-01 -8.59015607e-01 2.24635230e-03 1.31382687e+02] [ 3.86372853e-03 3.12358657e-04 9.99992487e-01 7.41427583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.38, Z:0.74 [[-8.59496211e-01 5.11129640e-01 3.57136996e-03 2.09802818e+02] [-5.11123448e-01 -8.59503556e-01 2.54132179e-03 1.31376345e+02] [ 4.36855008e-03 3.58845522e-04 9.99990393e-01 7.40647634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.38, Z:0.74 [[-8.60037775e-01 5.10211270e-01 4.41426896e-03 2.09806276e+02] [-5.10201787e-01 -8.60048985e-01 3.14336315e-03 1.31378813e+02] [ 5.40026684e-03 4.51243141e-04 9.99985317e-01 7.39752667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.38, Z:0.74 [[-8.60500532e-01 5.09421682e-01 5.32766275e-03 2.09811178e+02] [-5.09407835e-01 -8.60516847e-01 3.79649071e-03 1.31382446e+02] [ 6.51855823e-03 5.52929133e-04 9.99978601e-01 7.40005346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.40, Z:0.74 [[-8.60723635e-01 5.09034665e-01 6.20761072e-03 2.09830637e+02] [-5.09015832e-01 -8.60745774e-01 4.42666908e-03 1.31395252e+02] [ 7.59650270e-03 6.50366565e-04 9.99970935e-01 7.40740383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.39, Z:0.74 [[-8.60835780e-01 5.08836600e-01 6.86112380e-03 2.09827228e+02] [-5.08813558e-01 -8.60862818e-01 4.89613048e-03 1.31391130e+02] [ 8.39781676e-03 7.23731481e-04 9.99964476e-01 7.41354654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.38, Z:0.74 [[-8.60703748e-01 5.09074355e-01 5.68852760e-03 2.09819362e+02] [-5.09058502e-01 -8.60722336e-01 4.06221569e-03 1.31382229e+02] [ 6.96421260e-03 6.00570929e-04 9.99975569e-01 7.42164999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.39, Z:0.74 [[-8.59994717e-01 5.10284722e-01 4.31152347e-03 2.09834224e+02] [-5.10275618e-01 -8.60005408e-01 3.08104454e-03 1.31392919e+02] [ 5.28014345e-03 4.49616719e-04 9.99985959e-01 7.42112736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.40, Z:0.74 [[-8.58986822e-01 5.11986930e-01 3.32016857e-03 2.09838327e+02] [-5.11981537e-01 -8.58993171e-01 2.37426472e-03 1.31396334e+02] [ 4.06759463e-03 3.39597093e-04 9.99991670e-01 7.42036316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.40, Z:0.74 [[-8.57687595e-01 5.14161834e-01 3.09824498e-03 2.09843428e+02] [-5.14157146e-01 -8.57693135e-01 2.21711235e-03 1.31400099e+02] [ 3.79729800e-03 3.08604965e-04 9.99992743e-01 7.41748464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.39, Z:0.74 [[-8.56115746e-01 5.16773607e-01 3.29670975e-03 2.09824807e+02] [-5.16768312e-01 -8.56122034e-01 2.36079990e-03 1.31386581e+02] [ 4.04238493e-03 3.17482831e-04 9.99991779e-01 7.41904806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.38, Z:0.74 [[-8.54448327e-01 5.19524968e-01 3.44449724e-03 2.09812040e+02] [-5.19519202e-01 -8.54455210e-01 2.46839570e-03 1.31377192e+02] [ 4.22556180e-03 3.19634117e-04 9.99991021e-01 7.41547938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.37, Z:0.74 [[-8.51302406e-01 5.24661414e-01 3.82287027e-03 2.09803137e+02] [-5.24654354e-01 -8.51310926e-01 2.74152764e-03 1.31373730e+02] [ 4.69282500e-03 3.28183540e-04 9.99988935e-01 7.40932303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.37, Z:0.74 [[-8.49545766e-01 5.27502925e-01 3.55763458e-03 2.09795125e+02] [-5.27496827e-01 -8.49553164e-01 2.55316451e-03 1.31371255e+02] [ 4.36920146e-03 2.92389143e-04 9.99990412e-01 7.40853374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.37, Z:0.74 [[-8.47785276e-01 5.30332064e-01 2.83328188e-03 2.09785855e+02] [-5.30328207e-01 -8.47789981e-01 2.03480047e-03 1.31367562e+02] [ 3.48114792e-03 2.22504575e-04 9.99993916e-01 7.41273951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.38, Z:0.74 [[-8.46321541e-01 5.32666159e-01 2.57151049e-03 2.09799057e+02] [-5.32662988e-01 -8.46325425e-01 1.84814522e-03 1.31379519e+02] [ 3.16077913e-03 1.94376646e-04 9.99994986e-01 7.41728044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.38, Z:0.74 [[-8.45284960e-01 5.34308864e-01 2.71562633e-03 2.09793412e+02] [-5.34305332e-01 -8.45289298e-01 1.95314768e-03 1.31378066e+02] [ 3.33907399e-03 1.99992736e-04 9.99994405e-01 7.41963881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.38, Z:0.74 [[-8.44501415e-01 5.35545969e-01 2.80630539e-03 2.09789275e+02] [-5.35542198e-01 -8.44506053e-01 2.01984566e-03 1.31378378e+02] [ 3.45166209e-03 2.02867559e-04 9.99994022e-01 7.42140913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.38, Z:0.74 [[-8.43649502e-01 5.36887400e-01 2.72725449e-03 2.09776409e+02] [-5.36883841e-01 -8.43653888e-01 1.96439224e-03 1.31376062e+02] [ 3.35551630e-03 1.93039667e-04 9.99994352e-01 7.42049178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.39, Z:0.74 [[-8.43329686e-01 5.37388574e-01 2.92612086e-03 2.09785849e+02] [-5.37384474e-01 -8.43334737e-01 2.10919133e-03 1.31385075e+02] [ 3.60115468e-03 2.06291741e-04 9.99993495e-01 7.41528905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.39, Z:0.74 [[-8.43211543e-01 5.37572828e-01 3.12215832e-03 2.09793342e+02] [-5.37568156e-01 -8.43217295e-01 2.25215186e-03 1.31392354e+02] [ 3.84335354e-03 2.20667559e-04 9.99992590e-01 7.41131691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.39, Z:0.74 [[-8.43205344e-01 5.37578844e-01 3.70599192e-03 2.09784737e+02] [-5.37572251e-01 -8.43213447e-01 2.67527041e-03 1.31388693e+02] [ 4.56311099e-03 2.63563884e-04 9.99989554e-01 7.41050444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.40, Z:0.74 [[-8.43220207e-01 5.37550544e-01 4.36977641e-03 2.09800963e+02] [-5.37541366e-01 -8.43231472e-01 3.15676140e-03 1.31402971e+02] [ 5.38165180e-03 3.12909417e-04 9.99985470e-01 7.40546452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.39, Z:0.74 [[-8.43270804e-01 5.37464360e-01 5.13943945e-03 2.09785641e+02] [-5.37451645e-01 -8.43286383e-01 3.71550064e-03 1.31393884e+02] [ 6.33096848e-03 3.70973022e-04 9.99979890e-01 7.40629983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.40, Z:0.74 [[-8.43126459e-01 5.37682520e-01 5.93985563e-03 2.09788787e+02] [-5.37665519e-01 -8.43147273e-01 4.29732308e-03 1.31399024e+02] [ 7.31876857e-03 4.29531232e-04 9.99973125e-01 7.41085809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.41, Z:0.74 [[-8.42544924e-01 5.38593354e-01 5.93724557e-03 2.09801032e+02] [-5.38576367e-01 -8.42565736e-01 4.29857757e-03 1.31410298e+02] [ 7.31770499e-03 4.24084563e-04 9.99973135e-01 7.40651165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.41, Z:0.74 [[-8.42358675e-01 5.38884617e-01 5.93575894e-03 2.09803046e+02] [-5.38867622e-01 -8.42379481e-01 4.30063016e-03 1.31411849e+02] [ 7.31770497e-03 4.24084817e-04 9.99973135e-01 7.40650768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.41, Z:0.74 [[-8.41530794e-01 5.40183268e-01 5.28764599e-03 2.09797247e+02] [-5.40169790e-01 -8.41547325e-01 3.83384103e-03 1.31411040e+02] [ 6.52078112e-03 3.70068665e-04 9.99978671e-01 7.40460977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.41, Z:0.74 [[-8.40574233e-01 5.41679159e-01 4.31825638e-03 2.09791871e+02] [-5.41670177e-01 -8.40585273e-01 3.13326146e-03 1.31411329e+02] [ 5.32708515e-03 2.94668151e-04 9.99985768e-01 7.40336600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.42, Z:0.74 [[-8.39647215e-01 5.43117984e-01 3.92549084e-03 2.09796146e+02] [-5.43110567e-01 -8.39656351e-01 2.85035867e-03 1.31418398e+02] [ 4.84414437e-03 2.61320161e-04 9.99988233e-01 7.39988298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.42, Z:0.74 [[-8.38794694e-01 5.44429658e-01 4.45072629e-03 2.09791214e+02] [-5.44420129e-01 -8.38806452e-01 3.23411936e-03 1.31418140e+02] [ 5.49404843e-03 2.89697183e-04 9.99984866e-01 7.39536334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.42, Z:0.74 [[-8.37550659e-01 5.46340004e-01 4.63611101e-03 2.09785855e+02] [-5.46329679e-01 -8.37563440e-01 3.37131123e-03 1.31422763e+02] [ 5.72491927e-03 2.90798901e-04 9.99983570e-01 7.38753162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.43, Z:0.74 [[-8.37000770e-01 5.47187635e-01 3.92473115e-03 2.09788077e+02] [-5.47180235e-01 -8.37009936e-01 2.85609658e-03 1.31429250e+02] [ 4.84785970e-03 2.43019727e-04 9.99988220e-01 7.39357061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.331400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.79, Y:131.43, Z:0.74 [[-8.36624901e-01 5.47766532e-01 3.25596838e-03 2.09787987e+02] [-5.47761436e-01 -8.36631213e-01 2.37115629e-03 1.31433834e+02] [ 4.02288483e-03 2.00274481e-04 9.99991888e-01 7.40431772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.45, Z:0.74 [[-8.36463189e-01 5.48018188e-01 2.32363289e-03 2.09798943e+02] [-5.48015590e-01 -8.36466404e-01 1.69340236e-03 1.31446342e+02] [ 2.87165614e-03 1.43081689e-04 9.99995867e-01 7.41067767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.391400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.79, Y:131.45, Z:0.74 [[-8.36569239e-01 5.47856607e-01 2.24644185e-03 2.09794647e+02] [-5.47854175e-01 -8.36572243e-01 1.63833976e-03 1.31446949e+02] [ 2.77688616e-03 1.39862101e-04 9.99996135e-01 7.41763251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.45, Z:0.74 [[-8.37060847e-01 5.47103680e-01 2.58863290e-03 2.09798451e+02] [-5.47100443e-01 -8.37064834e-01 1.88928881e-03 1.31454023e+02] [ 3.20049043e-03 1.65207490e-04 9.99994865e-01 7.42258513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:131.46, Z:0.74 [[-8.37803078e-01 5.45963160e-01 3.19838861e-03 2.09804302e+02] [-5.45958203e-01 -8.37809157e-01 2.33602538e-03 1.31462798e+02] [ 3.95502306e-03 2.10942754e-04 9.99992157e-01 7.41664355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.481400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.75, Y:131.42, Z:0.74 [[-8.38537697e-01 5.44839196e-01 2.18650582e-03 2.09747497e+02] [-5.44832562e-01 -8.38539508e-01 2.99543400e-03 1.31424635e+02] [ 3.46550137e-03 1.32050476e-03 9.99993123e-01 7.40374835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.49, Z:0.74 [[-8.41201835e-01 5.40705309e-01 4.15230679e-03 2.09817237e+02] [-5.40703609e-01 -8.41211619e-01 1.61850894e-03 1.31486789e+02] [ 4.36810510e-03 -8.83674578e-04 9.99990069e-01 7.40900128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.50, Z:0.74 [[-8.42077930e-01 5.39347008e-01 3.09270173e-03 2.09830495e+02] [-5.39342323e-01 -8.42083576e-01 2.26047735e-03 1.31499477e+02] [ 3.82349503e-03 2.35473152e-04 9.99992663e-01 7.41241134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.51, Z:0.74 [[-8.42895859e-01 5.38070320e-01 2.62696802e-03 2.09837705e+02] [-5.38066929e-01 -8.42899928e-01 1.92141129e-03 1.31508446e+02] [ 3.24812554e-03 2.06064998e-04 9.99994704e-01 7.41880826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.51, Z:0.74 [[-8.43813673e-01 5.36631919e-01 2.16099622e-03 2.09832873e+02] [-5.36629616e-01 -8.43816422e-01 1.58169137e-03 1.31507992e+02] [ 2.67227017e-03 1.74998226e-04 9.99996414e-01 7.42258533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.52, Z:0.74 [[-8.44847447e-01 5.35003961e-01 1.88498138e-03 2.09850522e+02] [-5.35002202e-01 -8.44849535e-01 1.38062637e-03 1.31523212e+02] [ 2.33116622e-03 1.57949477e-04 9.99997270e-01 7.41983356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.52, Z:0.74 [[-8.46002419e-01 5.33174919e-01 2.10071049e-03 2.09846261e+02] [-5.33172727e-01 -8.46005008e-01 1.53971294e-03 1.31521929e+02] [ 2.59814792e-03 1.82559336e-04 9.99996608e-01 7.41450501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.54, Z:0.74 [[-8.48307934e-01 5.29495525e-01 2.85277776e-03 2.09863947e+02] [-5.29491457e-01 -8.48312689e-01 2.09241160e-03 1.31537780e+02] [ 3.52797015e-03 2.64487912e-04 9.99993742e-01 7.40913436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.53, Z:0.74 [[-8.49064074e-01 5.28281601e-01 2.95787651e-03 2.09855047e+02] [-5.28277214e-01 -8.49069180e-01 2.17099980e-03 1.31532907e+02] [ 3.65834103e-03 2.80739168e-04 9.99993269e-01 7.41153593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.55, Z:0.74 [[-8.49686528e-01 5.27280930e-01 2.76129264e-03 2.09879637e+02] [-5.27277101e-01 -8.49690973e-01 2.02693607e-03 1.31552645e+02] [ 3.41501017e-03 2.66293888e-04 9.99994133e-01 7.41321833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:131.54, Z:0.74 [[-8.49677015e-01 5.27297075e-01 2.60112789e-03 2.09861365e+02] [-5.27293673e-01 -8.49680959e-01 1.91062217e-03 1.31540732e+02] [ 3.21759432e-03 2.51853462e-04 9.99994792e-01 7.41614598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.55, Z:0.74 [[-8.49569923e-01 5.27470915e-01 2.31955086e-03 2.09867441e+02] [-5.27468207e-01 -8.49573059e-01 1.70496153e-03 1.31546992e+02] [ 2.86994554e-03 2.24994699e-04 9.99995856e-01 7.41472888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.56, Z:0.74 [[-8.49420149e-01 5.27711166e-01 2.51719761e-03 2.09880988e+02] [-5.27707974e-01 -8.49423844e-01 1.85151251e-03 1.31558596e+02] [ 3.11523149e-03 2.44366784e-04 9.99995118e-01 7.41100449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.55, Z:0.74 [[-8.49529033e-01 5.27524011e-01 4.34045141e-03 2.09870418e+02] [-5.27514507e-01 -8.49540015e-01 3.19482772e-03 1.31553252e+02] [ 5.37273550e-03 4.24447817e-04 9.99985477e-01 7.40201051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.55, Z:0.74 [[-8.49355913e-01 5.27802712e-01 4.33940310e-03 2.09872400e+02] [-5.27793204e-01 -8.49366892e-01 3.19625145e-03 1.31554805e+02] [ 5.37273551e-03 4.24447600e-04 9.99985477e-01 7.40200672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.56, Z:0.74 [[-8.49943324e-01 5.26843044e-01 5.72303039e-03 2.09877294e+02] [-5.26826465e-01 -8.49962400e-01 4.21829480e-03 1.31559974e+02] [ 7.08673992e-03 5.70267633e-04 9.99974726e-01 7.39556725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.56, Z:0.74 [[-8.50426562e-01 5.26059230e-01 6.02907390e-03 2.09870295e+02] [-5.26040788e-01 -8.50447714e-01 4.44692982e-03 1.31555168e+02] [ 7.46676060e-03 6.10248454e-04 9.99971937e-01 7.39618827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.58, Z:0.74 [[-8.51437237e-01 5.24418763e-01 6.29228676e-03 2.09897244e+02] [-5.24398640e-01 -8.51460238e-01 4.63996527e-03 1.31575424e+02] [ 7.79091683e-03 6.50972589e-04 9.99969438e-01 7.39855692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.59, Z:0.74 [[-8.52435373e-01 5.22791007e-01 6.59524296e-03 2.09912785e+02] [-5.22768825e-01 -8.52460598e-01 4.86654639e-03 1.31587124e+02] [ 8.16637146e-03 7.00628875e-04 9.99966409e-01 7.40054955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.58, Z:0.74 [[-8.53448650e-01 5.21127575e-01 7.17300168e-03 2.09904065e+02] [-5.21101247e-01 -8.53478435e-01 5.29641935e-03 1.31580049e+02] [ 8.88211242e-03 7.82361825e-04 9.99960247e-01 7.40135736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.59, Z:0.74 [[-8.54322784e-01 5.19689892e-01 7.41600227e-03 2.09913827e+02] [-5.19661663e-01 -8.54354570e-01 5.47952296e-03 1.31585790e+02] [ 9.18354813e-03 8.27469239e-04 9.99957488e-01 7.39495315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.60, Z:0.74 [[-8.55604107e-01 5.17605475e-01 5.11712849e-03 2.09935386e+02] [-5.17591981e-01 -8.55619206e-01 3.78343042e-03 1.31597969e+02] [ 6.33663771e-03 5.88533931e-04 9.99979750e-01 7.39043762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.60, Z:0.74 [[-8.55803369e-01 5.17289930e-01 3.42373745e-03 2.09938487e+02] [-5.17283881e-01 -8.55810125e-01 2.53304623e-03 1.31598972e+02] [ 4.24038848e-03 3.96745299e-04 9.99990931e-01 7.39003478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.60, Z:0.74 [[-8.55636442e-01 5.17570982e-01 2.56087354e-03 2.09942796e+02] [-5.17567594e-01 -8.55640223e-01 1.89589220e-03 1.31600864e+02] [ 3.17244520e-03 2.96769303e-04 9.99994924e-01 7.39563400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.59, Z:0.74 [[-8.55286378e-01 5.18148760e-01 2.65978683e-03 2.09934767e+02] [-5.18145104e-01 -8.55290459e-01 1.97042545e-03 1.31593121e+02] [ 3.29586380e-03 3.07122528e-04 9.99994522e-01 7.39399653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:131.60, Z:0.74 [[-8.54800479e-01 5.18945506e-01 3.42106058e-03 2.09945342e+02] [-5.18939457e-01 -8.54807235e-01 2.53608818e-03 1.31599495e+02] [ 4.24043890e-03 3.92526067e-04 9.99990932e-01 7.38827730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:131.59, Z:0.74 [[-8.54009444e-01 5.20237928e-01 4.51316335e-03 2.09940516e+02] [-5.20227406e-01 -8.54021216e-01 3.34791539e-03 1.31594964e+02] [ 5.59604981e-03 5.11280103e-04 9.99984211e-01 7.38648581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.59, Z:0.74 [[-8.51728510e-01 5.23961267e-01 4.81008828e-03 2.09931339e+02] [-5.23949360e-01 -8.51741933e-01 3.57055828e-03 1.31589535e+02] [ 5.96778813e-03 5.20903610e-04 9.99982057e-01 7.38511153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.57, Z:0.74 [[-8.50182969e-01 5.26471808e-01 4.04410778e-03 2.09903847e+02] [-5.26463409e-01 -8.50192481e-01 3.00398565e-03 1.31570685e+02] [ 5.01978378e-03 4.24862665e-04 9.99987311e-01 7.38981348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.59, Z:0.74 [[-8.48639590e-01 5.28961975e-01 3.17406592e-03 2.09921922e+02] [-5.28956812e-01 -8.48645465e-01 2.35930174e-03 1.31585348e+02] [ 3.94163755e-03 3.23253070e-04 9.99992180e-01 7.39519287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.59, Z:0.74 [[-8.47274859e-01 5.31149778e-01 2.28605698e-03 2.09919909e+02] [-5.31147104e-01 -8.47277913e-01 1.70037051e-03 1.31585524e+02] [ 2.84007701e-03 2.26448640e-04 9.99995941e-01 7.39827263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.57, Z:0.74 [[-8.46078313e-01 5.33055159e-01 1.91973593e-03 2.09897550e+02] [-5.33053276e-01 -8.46080471e-01 1.42886487e-03 1.31571084e+02] [ 2.38591487e-03 1.85610058e-04 9.99997137e-01 7.39887383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.58, Z:0.74 [[-8.45021555e-01 5.34728378e-01 2.03317799e-03 2.09903037e+02] [-5.34726269e-01 -8.45023979e-01 1.51434317e-03 1.31578408e+02] [ 2.52784642e-03 1.92458940e-04 9.99996787e-01 7.39983253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.57, Z:0.74 [[-8.43725324e-01 5.36765453e-01 3.22888023e-03 2.09882675e+02] [-5.36760141e-01 -8.43731450e-01 2.40661859e-03 1.31570318e+02] [ 4.01609752e-03 2.97390838e-04 9.99991891e-01 7.40537638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:131.58, Z:0.74 [[-8.43445561e-01 5.37202094e-01 3.67368834e-03 2.09888679e+02] [-5.37195217e-01 -8.43453494e-01 2.73891081e-03 1.31577604e+02] [ 4.56993389e-03 3.36634356e-04 9.99989501e-01 7.40826174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.60, Z:0.74 [[-8.43831433e-01 5.36594713e-01 3.82448731e-03 2.09912506e+02] [-5.36587262e-01 -8.43840027e-01 2.84947187e-03 1.31597260e+02] [ 4.75626701e-03 3.52302758e-04 9.99988627e-01 7.40962167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.59, Z:0.74 [[-8.44082333e-01 5.36201468e-01 3.60572880e-03 2.09899029e+02] [-5.36194834e-01 -8.44089968e-01 2.68819808e-03 1.31589046e+02] [ 4.48497526e-03 3.35687351e-04 9.99989886e-01 7.40734169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.591400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.92, Y:131.61, Z:0.74 [[-8.44747087e-01 5.35153575e-01 3.60684385e-03 2.09922523e+02] [-5.35146936e-01 -8.44754719e-01 2.68732740e-03 1.31608769e+02] [ 4.48503122e-03 3.39920558e-04 9.99989884e-01 7.40637335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:131.62, Z:0.74 [[-8.44970625e-01 5.34800869e-01 3.55991697e-03 2.09927542e+02] [-5.34794396e-01 -8.44978057e-01 2.65294691e-03 1.31615997e+02] [ 4.42685004e-03 3.37838561e-04 9.99990144e-01 7.40569397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:131.61, Z:0.74 [[-8.44791814e-01 5.35081240e-01 3.85466192e-03 2.09917648e+02] [-5.35073644e-01 -8.44800528e-01 2.87449511e-03 1.31611408e+02] [ 4.79450883e-03 3.65821942e-04 9.99988439e-01 7.40632254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.61, Z:0.74 [[-8.44407175e-01 5.35686887e-01 4.01035915e-03 2.09911430e+02] [-5.35678661e-01 -8.44416613e-01 2.99262874e-03 1.31609301e+02] [ 4.98952587e-03 3.78733358e-04 9.99987481e-01 7.41029201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.61, Z:0.74 [[-8.43295154e-01 5.37436000e-01 3.97855375e-03 2.09907744e+02] [-5.37427920e-01 -8.43304460e-01 2.96968728e-03 1.31612095e+02] [ 4.95114897e-03 3.66137026e-04 9.99987676e-01 7.41045703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:131.62, Z:0.74 [[-8.42361598e-01 5.38900623e-01 3.61354872e-03 2.09913388e+02] [-5.38893970e-01 -8.42369286e-01 2.69748021e-03 1.31620505e+02] [ 4.49761622e-03 3.24934131e-04 9.99989833e-01 7.41273443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.62, Z:0.74 [[-8.41206410e-01 5.40705728e-01 3.01518890e-03 2.09900425e+02] [-5.40701105e-01 -8.41211773e-01 2.25136603e-03 1.31615113e+02] [ 3.75373891e-03 2.63547572e-04 9.99992920e-01 7.41540134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.62, Z:0.74 [[-8.39901066e-01 5.42731693e-01 2.91707597e-03 2.09899004e+02] [-5.42727376e-01 -8.39906095e-01 2.17848581e-03 1.31617357e+02] [ 3.63240318e-03 2.46535569e-04 9.99993372e-01 7.41993386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:131.62, Z:0.74 [[-8.38731238e-01 5.44537283e-01 3.00949711e-03 2.09900211e+02] [-5.44532699e-01 -8.38736601e-01 2.24789010e-03 1.31620526e+02] [ 3.74823535e-03 2.46606065e-04 9.99992945e-01 7.42086277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:131.60, Z:0.74 [[-8.37669416e-01 5.46167180e-01 3.37064991e-03 2.09867227e+02] [-5.46161436e-01 -8.37676154e-01 2.51934548e-03 1.31597742e+02] [ 4.19949687e-03 2.69459660e-04 9.99991146e-01 7.42161816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.61, Z:0.74 [[-8.36704298e-01 5.47641373e-01 3.85271686e-03 2.09883361e+02] [-5.47633893e-01 -8.36713115e-01 2.87779046e-03 1.31612603e+02] [ 4.79961584e-03 2.97981320e-04 9.99988437e-01 7.41126100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.61, Z:0.74 [[-8.36060865e-01 5.48625127e-01 3.56374559e-03 2.09882402e+02] [-5.48618734e-01 -8.36068416e-01 2.66232856e-03 1.31613683e+02] [ 4.44015547e-03 2.70731124e-04 9.99990106e-01 7.41177106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.62, Z:0.74 [[-8.35472611e-01 5.49525086e-01 2.77425362e-03 2.09884267e+02] [-5.49521221e-01 -8.35477192e-01 2.07117550e-03 1.31617276e+02] [ 3.45598852e-03 2.05899167e-04 9.99994007e-01 7.41909685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.62, Z:0.74 [[-8.34285067e-01 5.51328251e-01 2.36358536e-03 2.09883247e+02] [-5.51325453e-01 -8.34288398e-01 1.76452979e-03 1.31618670e+02] [ 2.94474697e-03 1.69016085e-04 9.99995650e-01 7.42452465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:131.62, Z:0.74 [[-8.34285067e-01 5.51328251e-01 2.36358536e-03 2.09883247e+02] [-5.51325453e-01 -8.34288398e-01 1.76452979e-03 1.31618670e+02] [ 2.94474697e-03 1.69016085e-04 9.99995650e-01 7.42452465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:131.60, Z:0.74 [[-8.32492678e-01 5.54029868e-01 2.61639673e-03 2.09849932e+02] [-5.54026449e-01 -8.32496771e-01 1.95456804e-03 1.31595823e+02] [ 3.26103091e-03 1.77610589e-04 9.99994667e-01 7.42807432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.59, Z:0.74 [[-8.28671658e-01 5.59727789e-01 2.84343277e-03 2.09835211e+02] [-5.59723782e-01 -8.28676519e-01 2.12478536e-03 1.31588343e+02] [ 3.54558738e-03 1.69212463e-04 9.99993700e-01 7.42249035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.60, Z:0.74 [[-8.27258617e-01 5.61815149e-01 2.63046200e-03 2.09844899e+02] [-5.61811734e-01 -8.27262786e-01 1.96432617e-03 1.31597504e+02] [ 3.27967152e-03 1.47181332e-04 9.99994611e-01 7.42314090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.59, Z:0.74 [[-8.25792869e-01 5.63967472e-01 2.61308826e-03 2.09831724e+02] [-5.63964111e-01 -8.25796992e-01 1.95178569e-03 1.31589745e+02] [ 3.25862407e-03 1.38082708e-04 9.99994681e-01 7.42082543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:131.59, Z:0.74 [[-8.24448722e-01 5.65928862e-01 2.97127541e-03 2.09825423e+02] [-5.65924530e-01 -8.24454063e-01 2.21916167e-03 1.31586495e+02] [ 3.70556772e-03 1.48067357e-04 9.99993123e-01 7.42106918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:131.60, Z:0.74 [[-8.23367757e-01 5.67498824e-01 3.25910462e-03 2.09836368e+02] [-5.67493631e-01 -8.23374193e-01 2.43244517e-03 1.31596044e+02] [ 4.06387241e-03 1.53275812e-04 9.99991731e-01 7.42184304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.58, Z:0.74 [[-8.21648386e-01 5.69986125e-01 3.12193190e-03 2.09808917e+02] [-5.69981373e-01 -8.21654306e-01 2.33162119e-03 1.31577421e+02] [ 3.89414052e-03 1.36329757e-04 9.99992409e-01 7.42204134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:131.59, Z:0.74 [[-8.20126849e-01 5.72174567e-01 2.86649685e-03 2.09819952e+02] [-5.72170579e-01 -8.20131850e-01 2.13942164e-03 1.31587543e+02] [ 3.57502802e-03 1.14471962e-04 9.99993603e-01 7.42338596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:131.58, Z:0.74 [[-8.18295794e-01 5.74790400e-01 2.82673311e-03 2.09809287e+02] [-5.74786537e-01 -8.18300670e-01 2.10986197e-03 1.31581948e+02] [ 3.52584600e-03 1.01723041e-04 9.99993779e-01 7.42758257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.58, Z:0.74 [[-8.14549870e-01 5.80088592e-01 2.39454108e-03 2.09793438e+02] [-5.80085842e-01 -8.14553387e-01 1.78759234e-03 1.31575495e+02] [ 2.98744347e-03 6.70437319e-05 9.99995535e-01 7.43927394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.57, Z:0.74 [[-8.13035359e-01 5.82207181e-01 2.88168845e-03 2.09786606e+02] [-5.82203216e-01 -8.13040462e-01 2.14976181e-03 1.31572434e+02] [ 3.59453608e-03 7.01040771e-05 9.99993537e-01 7.44577484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.56, Z:0.74 [[-8.11512856e-01 5.84322441e-01 3.76422310e-03 2.09760965e+02] [-5.84315695e-01 -8.11521583e-01 2.80881283e-03 1.31555077e+02] [ 4.69600066e-03 7.98930854e-05 9.99988971e-01 7.44501453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.401400513 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:209.75, Y:131.55, Z:0.74 [[-8.10470376e-01 5.85761931e-01 4.55296789e-03 2.09753020e+02] [-5.85752099e-01 -8.10483161e-01 3.39488947e-03 1.31551734e+02] [ 5.67870082e-03 8.45468496e-05 9.99983873e-01 7.44094135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.56, Z:0.74 [[-8.09568835e-01 5.87004090e-01 4.94975605e-03 2.09753073e+02] [-5.86992511e-01 -8.09583962e-01 3.68794956e-03 1.31555823e+02] [ 6.17208459e-03 8.01792993e-05 9.99980949e-01 7.44493698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.56, Z:0.74 [[-8.08678906e-01 5.88235279e-01 4.20520597e-03 2.09752759e+02] [-5.88226949e-01 -8.08689838e-01 3.13084617e-03 1.31559926e+02] [ 5.24238150e-03 5.82337739e-05 9.99986257e-01 7.44999685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.56, Z:0.75 [[-8.06747768e-01 5.90890695e-01 2.49502974e-03 2.09744339e+02] [-5.90887780e-01 -8.06751626e-01 1.85621622e-03 1.31559942e+02] [ 3.10969019e-03 2.32157067e-05 9.99995165e-01 7.46487675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.56, Z:0.75 [[-8.06109751e-01 5.91763396e-01 1.77569425e-03 2.09739868e+02] [-5.91761924e-01 -8.06111706e-01 1.32007526e-03 1.31559429e+02] [ 2.21258014e-03 1.33372878e-05 9.99997552e-01 7.46220373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.57, Z:0.75 [[-8.05778671e-01 5.92214283e-01 1.72523960e-03 2.09743135e+02] [-5.92212896e-01 -8.05780518e-01 1.28159974e-03 1.31565072e+02] [ 2.14914613e-03 1.09765929e-05 9.99997691e-01 7.45839190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.56, Z:0.75 [[-8.05513202e-01 5.92573195e-01 2.34294310e-03 2.09733705e+02] [-5.92570643e-01 -8.05516609e-01 1.73912434e-03 1.31561706e+02] [ 2.91783805e-03 1.25283154e-05 9.99995743e-01 7.45061881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.55, Z:0.75 [[-8.05624711e-01 5.92419109e-01 2.90264941e-03 2.09716072e+02] [-5.92415197e-01 -8.05629940e-01 2.15292782e-03 1.31551960e+02] [ 3.61389685e-03 1.48782283e-05 9.99993470e-01 7.45049515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.641400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:209.68, Y:131.53, Z:0.75 [[-8.05200251e-01 5.92982919e-01 4.87999368e-03 2.09682191e+02] [-5.92983140e-01 -8.05213369e-01 1.55763286e-03 1.31530753e+02] [ 4.85308583e-03 -1.63954760e-03 9.99986880e-01 7.45347716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.55, Z:0.75 [[-8.06143232e-01 5.91716266e-01 2.22487365e-03 2.09715417e+02] [-5.91706912e-01 -8.06144524e-01 3.73315686e-03 1.31554318e+02] [ 4.00253935e-03 1.69298602e-03 9.99990557e-01 7.45020207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.75 [[-8.06762135e-01 5.90867916e-01 3.15643577e-03 2.09715369e+02] [-5.90863292e-01 -8.06768309e-01 2.33777553e-03 1.31558596e+02] [ 3.92782891e-03 2.10067502e-05 9.99992286e-01 7.45718300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.58, Z:0.75 [[-8.08321077e-01 5.88737704e-01 2.22545148e-03 2.09734351e+02] [-5.88735400e-01 -8.08324140e-01 1.64702776e-03 1.31577384e+02] [ 2.76855350e-03 2.11251828e-05 9.99996167e-01 7.46012770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.57, Z:0.75 [[-8.09281464e-01 5.87418143e-01 1.85405670e-03 2.09720636e+02] [-5.87416543e-01 -8.09283588e-01 1.37114294e-03 1.31568012e+02] [ 2.30589190e-03 2.05369839e-05 9.99997341e-01 7.46121400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.75 [[-8.10479137e-01 5.85766368e-01 1.15342667e-03 2.09743905e+02] [-5.85765748e-01 -8.10479958e-01 8.52388561e-04 1.31584549e+02] [ 1.43412975e-03 1.52053085e-05 9.99998972e-01 7.46147270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.75 [[-8.11865139e-01 5.83844768e-01 5.31854479e-04 2.09737756e+02] [-5.83844636e-01 -8.11865313e-01 3.92787039e-04 1.31579233e+02] [ 6.61120861e-04 8.36971910e-06 9.99999781e-01 7.46164401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.59, Z:0.75 [[-8.13198090e-01 5.81986899e-01 3.40223515e-04 2.09748561e+02] [-5.81986845e-01 -8.13198161e-01 2.51100787e-04 1.31586567e+02] [ 4.22806506e-04 6.18907077e-06 9.99999911e-01 7.46090363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.59, Z:0.75 [[-8.14261810e-01 5.80497174e-01 8.57675736e-04 2.09748077e+02] [-5.80496830e-01 -8.14262262e-01 6.32440199e-04 1.31586110e+02] [ 1.06550273e-03 1.70938559e-05 9.99999432e-01 7.46001486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.57, Z:0.75 [[-8.14876821e-01 5.79624775e-01 3.29949557e-03 2.09724378e+02] [-5.79619681e-01 -8.14883498e-01 2.43102314e-03 1.31567339e+02] [ 4.09778573e-03 6.85318378e-05 9.99991602e-01 7.45521470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.56, Z:0.75 [[-8.14907740e-01 5.79578904e-01 3.69738041e-03 2.09721033e+02] [-5.79572516e-01 -8.14916124e-01 2.72213200e-03 1.31563845e+02] [ 4.59074519e-03 7.53863689e-05 9.99989460e-01 7.45408947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.57, Z:0.75 [[-8.14893164e-01 5.79599779e-01 3.63708053e-03 2.09727442e+02] [-5.79593607e-01 -8.14901277e-01 2.67573775e-03 1.31568426e+02] [ 4.51471857e-03 7.24117776e-05 9.99989806e-01 7.45765452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.75 [[-8.14867352e-01 5.79638004e-01 3.31411209e-03 2.09735670e+02] [-5.79632888e-01 -8.14874088e-01 2.43633318e-03 1.31575004e+02] [ 4.11277537e-03 6.43200037e-05 9.99991540e-01 7.46361520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.57, Z:0.75 [[-8.15080790e-01 5.79340959e-01 2.71294703e-03 2.09726991e+02] [-5.79337533e-01 -8.15085303e-01 1.99292859e-03 1.31569576e+02] [ 3.36586841e-03 5.26857676e-05 9.99994334e-01 7.46411376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.57, Z:0.75 [[-8.15451062e-01 5.78820808e-01 2.45711751e-03 2.09725222e+02] [-5.78818000e-01 -8.15454763e-01 1.80366315e-03 1.31568469e+02] [ 3.04766594e-03 4.85751890e-05 9.99995355e-01 7.46576680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.75 [[-8.17036198e-01 5.76582276e-01 2.17488512e-03 2.09737288e+02] [-5.76580071e-01 -8.17039091e-01 1.59531770e-03 1.31577013e+02] [ 2.69679807e-03 4.94368887e-05 9.99996362e-01 7.46403847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.75 [[-8.18433536e-01 5.74597025e-01 2.19214605e-03 2.09736134e+02] [-5.74594781e-01 -8.18436470e-01 1.60679843e-03 1.31576187e+02] [ 2.71739387e-03 5.54620422e-05 9.99996306e-01 7.46453792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.75 [[-8.19972886e-01 5.72396892e-01 2.50294641e-03 2.09740365e+02] [-5.72393960e-01 -8.19976703e-01 1.83325740e-03 1.31579965e+02] [ 3.10170858e-03 7.05499540e-05 9.99995187e-01 7.46618140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.58, Z:0.75 [[-8.21629116e-01 5.70016388e-01 2.62914024e-03 2.09742825e+02] [-5.70013146e-01 -8.21633319e-01 1.92428125e-03 1.31582703e+02] [ 3.25706107e-03 8.24010023e-05 9.99994692e-01 7.46692192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.59, Z:0.75 [[-8.23167703e-01 5.67791168e-01 2.84988751e-03 2.09749944e+02] [-5.67787350e-01 -8.23172631e-01 2.08433111e-03 1.31588560e+02] [ 3.52941420e-03 9.76239720e-05 9.99993767e-01 7.46752719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.59, Z:0.75 [[-8.25965915e-01 5.63710060e-01 3.35810379e-03 2.09751093e+02] [-5.63704733e-01 -8.25972730e-01 2.45424602e-03 1.31591154e+02] [ 4.15718533e-03 1.34144559e-04 9.99991350e-01 7.46638777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.59, Z:0.75 [[-8.26159080e-01 5.63426918e-01 3.35894485e-03 2.09749132e+02] [-5.63421594e-01 -8.26165897e-01 2.45309479e-03 1.31589628e+02] [ 4.15718533e-03 1.34144475e-04 9.99991350e-01 7.46639151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.60, Z:0.75 [[-8.27743499e-01 5.61095573e-01 3.52963030e-03 2.09760217e+02] [-5.61089680e-01 -8.27751011e-01 2.57590156e-03 1.31599323e+02] [ 4.36698201e-03 1.51746631e-04 9.99990453e-01 7.46659422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.61, Z:0.75 [[-8.30363727e-01 5.57212940e-01 3.13371518e-03 2.09774948e+02] [-5.57208274e-01 -8.30369627e-01 2.28535599e-03 1.31612762e+02] [ 3.87557183e-03 1.51544692e-04 9.99992478e-01 7.46253799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.61, Z:0.75 [[-8.31828774e-01 5.55025839e-01 2.68501024e-03 2.09770230e+02] [-5.55022407e-01 -8.31833096e-01 1.95675785e-03 1.31610261e+02] [ 3.31953155e-03 1.37446636e-04 9.99994481e-01 7.46576970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:131.62, Z:0.75 [[-8.33237337e-01 5.52911231e-01 2.17037045e-03 2.09786144e+02] [-5.52908984e-01 -8.33240155e-01 1.58061072e-03 1.31622682e+02] [ 2.68237723e-03 1.17006552e-04 9.99996396e-01 7.46603236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.421400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.77, Y:131.61, Z:0.75 [[-8.34269147e-01 5.51352130e-01 2.41235309e-03 2.09772965e+02] [-5.51349351e-01 -8.34272624e-01 1.75560887e-03 1.31614246e+02] [ 2.98051883e-03 1.34600998e-04 9.99995549e-01 7.46831262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.62, Z:0.75 [[-8.35065471e-01 5.50144954e-01 2.48767438e-03 2.09781338e+02] [-5.50141998e-01 -8.35069165e-01 1.80916252e-03 1.31622358e+02] [ 3.07268180e-03 1.42194998e-04 9.99995269e-01 7.46467402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.62, Z:0.75 [[-8.35698414e-01 5.49180029e-01 3.07524445e-03 2.09775855e+02] [-5.49175511e-01 -8.35704053e-01 2.23490700e-03 1.31619661e+02] [ 3.79736054e-03 1.78859291e-04 9.99992774e-01 7.46197316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:131.63, Z:0.75 [[-8.36615230e-01 5.47779332e-01 3.57218517e-03 2.09782862e+02] [-5.47773230e-01 -8.36622829e-01 2.59424804e-03 1.31627177e+02] [ 4.40964712e-03 2.13640014e-04 9.99990255e-01 7.45178562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.62, Z:0.74 [[-8.36772387e-01 5.47534846e-01 4.19113099e-03 2.09766174e+02] [-5.47526455e-01 -8.36782845e-01 3.04162889e-03 1.31617341e+02] [ 5.17246432e-03 2.50395977e-04 9.99986591e-01 7.44883453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.62, Z:0.75 [[-8.36503042e-01 5.47940111e-01 4.92903696e-03 2.09770918e+02] [-5.47928527e-01 -8.36517514e-01 3.57465369e-03 1.31623437e+02] [ 6.08192189e-03 2.89448720e-04 9.99981463e-01 7.45054272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:131.62, Z:0.75 [[-8.36136321e-01 5.48497016e-01 5.20338186e-03 2.09768679e+02] [-5.48484135e-01 -8.36152458e-01 3.77099867e-03 1.31624237e+02] [ 6.41920205e-03 2.99096559e-04 9.99979352e-01 7.45617725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.61, Z:0.75 [[-8.35683401e-01 5.49187299e-01 5.15398536e-03 2.09751208e+02] [-5.49174691e-01 -8.35699244e-01 3.73260003e-03 1.31613194e+02] [ 6.35707820e-03 2.88833573e-04 9.99979752e-01 7.45796169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.62, Z:0.75 [[-8.35251220e-01 5.49844693e-01 5.11990830e-03 2.09764261e+02] [-5.49832279e-01 -8.35266865e-01 3.70533957e-03 1.31624633e+02] [ 6.31385105e-03 2.79798543e-04 9.99980028e-01 7.45287881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.74 [[-8.34368933e-01 5.51182385e-01 5.14416507e-03 2.09749670e+02] [-5.51169895e-01 -8.34384747e-01 3.72030803e-03 1.31620584e+02] [ 6.34278112e-03 2.68800521e-04 9.99979848e-01 7.44505263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.62, Z:0.74 [[-8.33969827e-01 5.51789048e-01 4.81391045e-03 2.09750504e+02] [-5.51778134e-01 -8.33983685e-01 3.47904546e-03 1.31624352e+02] [ 5.93442196e-03 2.45208419e-04 9.99982361e-01 7.44745120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.62, Z:0.75 [[-8.33615269e-01 5.52329143e-01 4.25453865e-03 2.09743917e+02] [-5.52320636e-01 -8.33626099e-01 3.07265061e-03 1.31622021e+02] [ 5.24380893e-03 2.11538970e-04 9.99986229e-01 7.45512731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.62, Z:0.75 [[-8.33287998e-01 5.52829438e-01 3.27479490e-03 2.09731286e+02] [-5.52824409e-01 -8.33294418e-01 2.36343386e-03 1.31615294e+02] [ 4.03544413e-03 1.59034516e-04 9.99991845e-01 7.45948635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.61, Z:0.75 [[-8.33000965e-01 5.53266349e-01 2.39561636e-03 2.09722223e+02] [-5.53263663e-01 -8.33004402e-01 1.72772622e-03 1.31611616e+02] [ 2.95145175e-03 1.13790121e-04 9.99995638e-01 7.46011032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.62, Z:0.75 [[-8.32726474e-01 5.53681283e-01 1.91201267e-03 2.09727288e+02] [-5.53679575e-01 -8.32728665e-01 1.37799208e-03 1.31618612e+02] [ 2.35515618e-03 8.88481297e-05 9.99997223e-01 7.45972501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.62, Z:0.75 [[-8.32377781e-01 5.54202844e-01 2.53723610e-03 2.09721094e+02] [-5.54199844e-01 -8.32381640e-01 1.82728927e-03 1.31619989e+02] [ 3.12463765e-03 1.14859136e-04 9.99995112e-01 7.46262266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.62, Z:0.75 [[-8.32562308e-01 5.53925592e-01 2.53784450e-03 2.09719133e+02] [-5.53922593e-01 -8.32566168e-01 1.82644417e-03 1.31618484e+02] [ 3.12463764e-03 1.14859171e-04 9.99995112e-01 7.46262640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.62, Z:0.75 [[-8.32990644e-01 5.53281078e-01 2.57612170e-03 2.09719679e+02] [-5.53277989e-01 -8.32994619e-01 1.85269066e-03 1.31621557e+02] [ 3.17095420e-03 1.17962558e-04 9.99994966e-01 7.46472258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.63, Z:0.75 [[-8.33638897e-01 5.52305383e-01 2.22569416e-03 2.09722609e+02] [-5.52303077e-01 -8.33641861e-01 1.59956092e-03 1.31627155e+02] [ 2.73887793e-03 1.04198467e-04 9.99996244e-01 7.46458045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.62, Z:0.75 [[-8.34458934e-01 5.51068311e-01 1.41547847e-03 2.09712036e+02] [-5.51067377e-01 -8.34460132e-01 1.01658688e-03 1.31624012e+02] [ 1.74136916e-03 6.82759970e-05 9.99998482e-01 7.46080186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.021400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:209.71, Y:131.63, Z:0.75 [[-8.35263034e-01 5.49849792e-01 9.33135217e-04 2.09711253e+02] [-5.49849386e-01 -8.35263554e-01 6.69723137e-04 1.31627783e+02] [ 1.14766097e-03 4.63111537e-05 9.99999340e-01 7.45983145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.051400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.73, Y:131.64, Z:0.75 [[-8.36114696e-01 5.48553765e-01 9.90766005e-04 2.09727849e+02] [-5.48553307e-01 -8.36115282e-01 7.10588159e-04 1.31643508e+02] [ 1.21819041e-03 5.06452343e-05 9.99999257e-01 7.46008342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.081400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:209.72, Y:131.64, Z:0.75 [[-8.36900174e-01 5.47353314e-01 1.56459189e-03 2.09715354e+02] [-5.47352172e-01 -8.36901633e-01 1.12133248e-03 1.31638043e+02] [ 1.92317456e-03 8.20605831e-05 9.99998147e-01 7.45210167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.64, Z:0.74 [[-8.38151242e-01 5.45427227e-01 3.41116180e-03 2.09709937e+02] [-5.45421788e-01 -8.38158163e-01 2.44299265e-03 1.31641996e+02] [ 4.19156782e-03 1.87075357e-04 9.99991198e-01 7.44787279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.65, Z:0.75 [[-8.39300538e-01 5.43653759e-01 3.89833316e-03 2.09714473e+02] [-5.43646646e-01 -8.39309562e-01 2.78995629e-03 1.31650254e+02] [ 4.78867853e-03 2.22296068e-04 9.99988510e-01 7.45163661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.66, Z:0.75 [[-8.40744290e-01 5.41419898e-01 3.67881822e-03 2.09717208e+02] [-5.41413550e-01 -8.40752309e-01 2.63104960e-03 1.31657377e+02] [ 4.51747751e-03 2.20277895e-04 9.99989772e-01 7.45116855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.68, Z:0.75 [[-8.42375317e-01 5.38881371e-01 3.27015277e-03 2.09738103e+02] [-5.38876342e-01 -8.42381639e-01 2.33719633e-03 1.31676835e+02] [ 4.01418821e-03 2.06588536e-04 9.99991922e-01 7.45700063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.67, Z:0.75 [[-8.44016631e-01 5.36310833e-01 2.57225602e-03 2.09723052e+02] [-5.36307714e-01 -8.44020534e-01 1.83717683e-03 1.31669531e+02] [ 3.15633474e-03 1.71087055e-04 9.99995004e-01 7.45970058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.68, Z:0.75 [[-8.45622253e-01 5.33778874e-01 1.76629605e-03 2.09727376e+02] [-5.33777399e-01 -8.45624088e-01 1.26070327e-03 1.31675524e+02] [ 2.16655926e-03 1.23269824e-04 9.99997645e-01 7.46653927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.70, Z:0.75 [[-8.47363461e-01 5.31012311e-01 1.04400955e-03 2.09753562e+02] [-5.31011794e-01 -8.47364101e-01 7.44693554e-04 1.31697318e+02] [ 1.28009766e-03 7.66447235e-05 9.99999178e-01 7.46383514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.70, Z:0.75 [[-8.50238665e-01 5.26395859e-01 1.27005411e-03 2.09750557e+02] [-5.26395090e-01 -8.50239607e-01 9.05321143e-04 1.31702853e+02] [ 1.55640761e-03 1.01188791e-04 9.99998784e-01 7.45298637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.71, Z:0.74 [[-8.51576053e-01 5.24228094e-01 1.76927822e-03 2.09757307e+02] [-5.24226599e-01 -8.51577879e-01 1.26032826e-03 1.31710806e+02] [ 2.16737767e-03 1.45762662e-04 9.99997641e-01 7.44726210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.72, Z:0.74 [[-8.52802898e-01 5.22227833e-01 2.30383501e-03 2.09760337e+02] [-5.22225295e-01 -8.52805987e-01 1.64002631e-03 1.31715084e+02] [ 2.82119167e-03 1.95498277e-04 9.99996001e-01 7.44038741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:131.72, Z:0.74 [[-8.53873214e-01 5.20471000e-01 3.23599593e-03 2.09758772e+02] [-5.20465985e-01 -8.53879300e-01 2.30207939e-03 1.31715209e+02] [ 3.96131550e-03 2.81458122e-04 9.99992114e-01 7.43188058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.71, Z:0.74 [[-8.54857788e-01 5.18846436e-01 4.06669256e-03 2.09748505e+02] [-5.18838507e-01 -8.54867384e-01 2.89113273e-03 1.31709295e+02] [ 4.97653675e-03 3.61550629e-04 9.99987552e-01 7.42358082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.71, Z:0.74 [[-8.55653095e-01 5.17531552e-01 4.34440181e-03 2.09750099e+02] [-5.17522496e-01 -8.55664034e-01 3.08654236e-03 1.31712313e+02] [ 5.31473144e-03 3.92683853e-04 9.99985800e-01 7.42046851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:131.72, Z:0.74 [[-8.55778109e-01 5.17325048e-01 4.31549890e-03 2.09754891e+02] [-5.17316121e-01 -8.55788901e-01 3.06401381e-03 1.31721609e+02] [ 5.27824715e-03 3.89638790e-04 9.99985994e-01 7.41837211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.71, Z:0.74 [[-8.55338321e-01 5.18045725e-01 4.99832709e-03 2.09743097e+02] [-5.18033776e-01 -8.55352810e-01 3.54650640e-03 1.31714760e+02] [ 6.11258560e-03 4.44160576e-04 9.99981219e-01 7.41187137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.75, Y:131.72, Z:0.74 [[-8.55057717e-01 5.18498451e-01 5.97138233e-03 2.09752365e+02] [-5.18481427e-01 -8.55078407e-01 4.23416216e-03 1.31721910e+02] [ 7.30140660e-03 5.24402192e-04 9.99973207e-01 7.40483737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.70, Z:0.74 [[-8.54940836e-01 5.18685731e-01 6.42493781e-03 2.09719055e+02] [-5.18666052e-01 -8.54964794e-01 4.55278096e-03 1.31698923e+02] [ 7.85455815e-03 5.59961226e-04 9.99968996e-01 7.39996253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.71, Z:0.74 [[-8.55129528e-01 5.18376712e-01 6.25096570e-03 2.09732622e+02] [-5.18358098e-01 -8.55152201e-01 4.42658847e-03 1.31709659e+02] [ 7.64016745e-03 5.45067818e-04 9.99970665e-01 7.39730585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.70, Z:0.74 [[-8.55331796e-01 5.18048786e-01 5.74225318e-03 2.09722271e+02] [-5.18033090e-01 -8.55350925e-01 4.06368142e-03 1.31703542e+02] [ 7.01682679e-03 5.01118774e-04 9.99975256e-01 7.40066805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.72, Z:0.74 [[-8.55853746e-01 5.17193635e-01 5.01086023e-03 2.09742294e+02] [-5.17181682e-01 -8.55868301e-01 3.54378007e-03 1.31720468e+02] [ 6.12145693e-03 4.41432326e-04 9.99981166e-01 7.40692163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.71, Z:0.74 [[-8.56374601e-01 5.16327679e-01 5.31703909e-03 2.09726209e+02] [-5.16314220e-01 -8.56390977e-01 3.75786440e-03 1.31709238e+02] [ 6.49375370e-03 4.72876732e-04 9.99978804e-01 7.40628404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.72, Z:0.74 [[-8.56967297e-01 5.15339388e-01 5.68916760e-03 2.09736198e+02] [-5.15323976e-01 -8.56986029e-01 4.01824519e-03 1.31715679e+02] [ 6.94629716e-03 5.11740253e-04 9.99975743e-01 7.40458604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.70, Z:0.74 [[-8.57613078e-01 5.14259484e-01 6.08202453e-03 2.09720292e+02] [-5.14241864e-01 -8.57634465e-01 4.29291355e-03 1.31704354e+02] [ 7.42382537e-03 5.54027170e-04 9.99972290e-01 7.40036236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.71, Z:0.74 [[-8.58014780e-01 5.13586216e-01 6.31154254e-03 2.09733828e+02] [-5.13567246e-01 -8.58037799e-01 4.45200894e-03 1.31714766e+02] [ 7.70203250e-03 5.78487954e-04 9.99970172e-01 7.40182634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.72, Z:0.74 [[-8.57531820e-01 5.14409097e-01 4.73909880e-03 2.09732660e+02] [-5.14398426e-01 -8.57544809e-01 3.34069352e-03 1.31717531e+02] [ 5.78247271e-03 4.26966028e-04 9.99983190e-01 7.40664946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.73, Z:0.74 [[-8.57040133e-01 5.15239078e-01 3.30215517e-03 2.09742290e+02] [-5.15233909e-01 -8.57046444e-01 2.32627697e-03 1.31726178e+02] [ 4.02868915e-03 2.92330404e-04 9.99991842e-01 7.41161994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:131.73, Z:0.74 [[-8.56509227e-01 5.16126200e-01 2.38520501e-03 2.09742858e+02] [-5.16123510e-01 -8.56512523e-01 1.67924892e-03 1.31728985e+02] [ 2.90966232e-03 2.07231809e-04 9.99995745e-01 7.41437070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:131.72, Z:0.74 [[-8.55809482e-01 5.17283915e-01 2.73528650e-03 2.09725037e+02] [-5.17280387e-01 -8.55813822e-01 1.92446878e-03 1.31719437e+02] [ 3.33639274e-03 2.32068573e-04 9.99994407e-01 7.41673275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.71, Z:0.74 [[-8.55158313e-01 5.18356460e-01 3.29250643e-03 2.09702914e+02] [-5.18351362e-01 -8.55164608e-01 2.31499316e-03 1.31707042e+02] [ 4.01562663e-03 2.73010454e-04 9.99991900e-01 7.41353368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.72, Z:0.74 [[-8.54601174e-01 5.19273911e-01 3.38211208e-03 2.09711106e+02] [-5.19268546e-01 -8.54607822e-01 2.37644148e-03 1.31715590e+02] [ 4.12440350e-03 2.74685259e-04 9.99991457e-01 7.40959971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.71, Z:0.74 [[-8.53849053e-01 5.20516874e-01 1.99437164e-03 2.09690395e+02] [-5.20515014e-01 -8.53851368e-01 1.40045157e-03 1.31706119e+02] [ 2.43185563e-03 1.57673861e-04 9.99997031e-01 7.41226768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.70, Z:0.74 [[-8.53809466e-01 5.20583716e-01 1.41067669e-03 2.09684522e+02] [-5.20582786e-01 -8.53810625e-01 9.89943873e-04 1.31704785e+02] [ 1.71979941e-03 1.10849445e-04 9.99998515e-01 7.41737525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.72, Z:0.74 [[-8.53987970e-01 5.20292204e-01 7.54561207e-04 2.09701111e+02] [-5.20291938e-01 -8.53988301e-01 5.29193101e-04 1.31719194e+02] [ 9.19721488e-04 5.93324293e-05 9.99999575e-01 7.41717732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.72, Z:0.74 [[-8.54238788e-01 5.19880434e-01 6.53792871e-04 2.09699105e+02] [-5.19880235e-01 -8.54239037e-01 4.58230602e-04 1.31720278e+02] [ 7.96720517e-04 5.15443627e-05 9.99999681e-01 7.42511890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:131.73, Z:0.74 [[-8.54518259e-01 5.19421144e-01 4.69406456e-04 2.09709498e+02] [-5.19421041e-01 -8.54518387e-01 3.28800257e-04 1.31729374e+02] [ 5.71902254e-04 3.71462325e-05 9.99999836e-01 7.42998680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:131.73, Z:0.74 [[-8.54893759e-01 5.18802994e-01 3.38241907e-04 2.09715047e+02] [-5.18802941e-01 -8.54893825e-01 2.36787626e-04 1.31734805e+02] [ 4.12007047e-04 2.69473676e-05 9.99999915e-01 7.43258814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.72, Z:0.74 [[-8.55345976e-01 5.18056835e-01 6.14293608e-04 2.09697597e+02] [-5.18056659e-01 -8.55346195e-01 4.29717293e-04 1.31722901e+02] [ 7.48051681e-04 4.93180633e-05 9.99999719e-01 7.42341520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.71, Z:0.74 [[-8.55361802e-01 5.18028926e-01 1.48962778e-03 2.09687120e+02] [-5.18027893e-01 -8.55363091e-01 1.04128570e-03 1.31714689e+02] [ 1.81358873e-03 1.19007272e-04 9.99998348e-01 7.40984593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.71, Z:0.74 [[-8.54977559e-01 5.18658656e-01 2.56379970e-03 2.09686856e+02] [-5.18655603e-01 -8.54981379e-01 1.79095048e-03 1.31714409e+02] [ 3.12089297e-03 2.01493389e-04 9.99995110e-01 7.39694709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:131.72, Z:0.74 [[-8.54173971e-01 5.19971327e-01 4.07997757e-03 2.09689229e+02] [-5.19963620e-01 -8.54183658e-01 2.84819505e-03 1.31716615e+02] [ 4.96602992e-03 3.11414174e-04 9.99987621e-01 7.39213243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.70, Z:0.74 [[-8.53035977e-01 5.21822017e-01 5.60402954e-03 2.09658751e+02] [-5.21807533e-01 -8.53054286e-01 3.90953617e-03 1.31697015e+02] [ 6.82062347e-03 4.10750173e-04 9.99976655e-01 7.39000928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.69, Z:0.74 [[-8.50628594e-01 5.25715622e-01 7.35388597e-03 2.09638038e+02] [-5.25690855e-01 -8.50660238e-01 5.12685168e-03 1.31686943e+02] [ 8.95092440e-03 4.95176032e-04 9.99959817e-01 7.38725553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.68, Z:0.74 [[-8.50023932e-01 5.26695472e-01 7.15508131e-03 2.09622390e+02] [-5.26672090e-01 -8.50053916e-01 4.98489316e-03 1.31676769e+02] [ 8.70772554e-03 4.68896854e-04 9.99961977e-01 7.38749362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.68, Z:0.74 [[-8.50264368e-01 5.26314600e-01 6.59138405e-03 2.09633439e+02] [-5.26294771e-01 -8.50289806e-01 4.58907729e-03 1.31683950e+02] [ 8.01988505e-03 4.32917945e-04 9.99967747e-01 7.39408673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.68, Z:0.74 [[-8.51065627e-01 5.25026186e-01 5.89944912e-03 2.09622473e+02] [-5.25010290e-01 -8.51085981e-01 4.10457487e-03 1.31675065e+02] [ 7.17594773e-03 3.95991092e-04 9.99974174e-01 7.39919413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.68, Z:0.74 [[-8.52122049e-01 5.23313885e-01 5.53094065e-03 2.09637948e+02] [-5.23299894e-01 -8.52139913e-01 3.84560060e-03 1.31684424e+02] [ 6.72559147e-03 3.82580404e-04 9.99977310e-01 7.40431419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.491400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.63, Y:131.68, Z:0.74 [[-8.53375524e-01 5.21268765e-01 5.39346281e-03 2.09629664e+02] [-5.21255438e-01 -8.53392480e-01 3.74750349e-03 1.31677743e+02] [ 6.55619712e-03 3.86655936e-04 9.99978433e-01 7.40774043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.70, Z:0.74 [[-8.55563946e-01 5.17678539e-01 4.38902668e-03 2.09667603e+02] [-5.17669677e-01 -8.55575139e-01 3.04758908e-03 1.31703607e+02] [ 5.33281357e-03 3.35341318e-04 9.99985724e-01 7.40619159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.70, Z:0.74 [[-8.56589273e-01 5.15986317e-01 3.59702139e-03 2.09661199e+02] [-5.15980357e-01 -8.56596779e-01 2.49602445e-03 1.31699093e+02] [ 4.36911140e-03 2.82075381e-04 9.99990416e-01 7.40779712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.69, Z:0.74 [[-8.57347504e-01 5.14728081e-01 3.20313739e-03 2.09644057e+02] [-5.14723351e-01 -8.57353450e-01 2.22124544e-03 1.31686418e+02] [ 3.88955830e-03 2.55649624e-04 9.99992403e-01 7.41349918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.69, Z:0.74 [[-8.57999963e-01 5.13636907e-01 3.63186560e-03 2.09650590e+02] [-5.13630825e-01 -8.58007600e-01 2.51687987e-03 1.31688695e+02] [ 4.40893068e-03 2.94044713e-04 9.99990237e-01 7.41304671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:131.70, Z:0.74 [[-8.58641539e-01 5.12555609e-01 4.63203651e-03 2.09667841e+02] [-5.12545712e-01 -8.58653948e-01 3.20787965e-03 1.31698031e+02] [ 5.62153314e-03 3.80288272e-04 9.99984127e-01 7.41320495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.68, Z:0.74 [[-8.59032171e-01 5.11892847e-01 5.42607427e-03 2.09650738e+02] [-5.11879269e-01 -8.59049190e-01 3.75531565e-03 1.31683647e+02] [ 6.58358393e-03 4.48442028e-04 9.99978227e-01 7.41018289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:131.69, Z:0.74 [[-8.59000015e-01 5.11938065e-01 6.19609490e-03 2.09656495e+02] [-5.11920382e-01 -8.59022210e-01 4.28541287e-03 1.31686307e+02] [ 7.51644911e-03 5.09262450e-04 9.99971621e-01 7.41538886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.68, Z:0.74 [[-8.58519794e-01 5.12746288e-01 5.91671572e-03 2.09651911e+02] [-5.12730202e-01 -8.58540049e-01 4.08950428e-03 1.31683069e+02] [ 7.17661554e-03 4.77241525e-04 9.99974134e-01 7.42359305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:131.68, Z:0.74 [[-8.57715395e-01 5.14101046e-01 4.94131576e-03 2.09646508e+02] [-5.14089862e-01 -8.57729541e-01 3.41309341e-03 1.31679383e+02] [ 5.99298739e-03 3.87182424e-04 9.99981967e-01 7.43137736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.68, Z:0.74 [[-8.57873620e-01 5.13836964e-01 4.94236624e-03 2.09644540e+02] [-5.13825784e-01 -8.57887769e-01 3.41157207e-03 1.31677932e+02] [ 5.99298738e-03 3.87182472e-04 9.99981967e-01 7.43138110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.821400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:209.64, Y:131.68, Z:0.74 [[-8.56919631e-01 5.15434307e-01 4.02751972e-03 2.09642308e+02] [-5.15426910e-01 -8.56929041e-01 2.77825936e-03 1.31675533e+02] [ 4.88330880e-03 3.04852939e-04 9.99988030e-01 7.43566394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.55954389e-01 5.17042766e-01 2.97674824e-03 2.09632258e+02] [-5.17038740e-01 -8.55959538e-01 2.05207454e-03 1.31667054e+02] [ 3.60898635e-03 2.17388053e-04 9.99993464e-01 7.44125705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.64, Z:0.74 [[-8.55206469e-01 5.18283592e-01 2.00363270e-03 2.09600539e+02] [-5.18281773e-01 -8.55208804e-01 1.38033288e-03 1.31643925e+02] [ 2.42892821e-03 1.42023298e-04 9.99997040e-01 7.44444461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.911400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:209.62, Y:131.66, Z:0.74 [[-8.53742211e-01 5.20695876e-01 -2.06097301e-04 2.09622515e+02] [-5.20695857e-01 -8.53742235e-01 -1.41825584e-04 1.31656819e+02] [-2.49801967e-04 -1.37684768e-05 9.99999969e-01 7.43715797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.65, Z:0.74 [[-8.53284574e-01 5.21445308e-01 -4.76082232e-04 2.09615633e+02] [-5.21445207e-01 -8.53284706e-01 -3.27470954e-04 1.31652602e+02] [-5.76991879e-04 -3.11751154e-05 9.99999833e-01 7.44212408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.65, Z:0.74 [[-8.52867979e-01 5.22126505e-01 -3.51201976e-04 2.09610760e+02] [-5.22126449e-01 -8.52868051e-01 -2.41395890e-04 1.31650032e+02] [-4.25568137e-04 -2.25069842e-05 9.99999909e-01 7.44360426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.001400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.60, Y:131.64, Z:0.74 [[-8.52636241e-01 5.22504811e-01 4.03995630e-04 2.09596746e+02] [-5.22504738e-01 -8.52636336e-01 2.77617638e-04 1.31640996e+02] [ 4.89517905e-04 2.56172284e-05 9.99999880e-01 7.44543781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.64, Z:0.74 [[-8.52694360e-01 5.22408433e-01 1.32556537e-03 2.09598622e+02] [-5.22407647e-01 -8.52695387e-01 9.10157079e-04 1.31642765e+02] [ 1.60577721e-03 8.36003234e-05 9.99998707e-01 7.44317767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.65, Z:0.74 [[-8.53068591e-01 5.21795162e-01 1.94623922e-03 2.09609841e+02] [-5.21793468e-01 -8.53070802e-01 1.33539835e-03 1.31650574e+02] [ 2.35708425e-03 1.23651479e-04 9.99997214e-01 7.43935688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.66, Z:0.74 [[-8.54725977e-01 5.19076753e-01 1.68192167e-03 2.09618773e+02] [-5.19075485e-01 -8.54727624e-01 1.15327742e-03 1.31657076e+02] [ 2.03622441e-03 1.12691863e-04 9.99997921e-01 7.43962799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.66, Z:0.74 [[-8.56151973e-01 5.16722227e-01 1.39241396e-03 2.09620923e+02] [-5.16721355e-01 -8.56153100e-01 9.54141599e-04 1.31658666e+02] [ 1.68514570e-03 9.74001848e-05 9.99998575e-01 7.44162416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.66, Z:0.74 [[-8.57942935e-01 5.13743321e-01 1.31162160e-03 2.09617801e+02] [-5.13742545e-01 -8.57943932e-01 8.98187535e-04 1.31656419e+02] [ 1.58673564e-03 9.67578308e-05 9.99998736e-01 7.44368728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.66, Z:0.74 [[-8.59879862e-01 5.10492219e-01 2.07788872e-03 2.09629540e+02] [-5.10490265e-01 -8.59882357e-01 1.42195034e-03 1.31664055e+02] [ 2.51263444e-03 1.61964500e-04 9.99996830e-01 7.44597221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.61677182e-01 5.07447984e-01 2.99647392e-03 2.09634508e+02] [-5.07443905e-01 -8.61682357e-01 2.04919394e-03 1.31666428e+02] [ 3.62186804e-03 2.45201231e-04 9.99993411e-01 7.44366782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.66, Z:0.74 [[-8.63210268e-01 5.04831166e-01 3.67786402e-03 2.09628107e+02] [-5.04825006e-01 -8.63218047e-01 2.51351661e-03 1.31660795e+02] [ 4.44370011e-03 3.13015621e-04 9.99990078e-01 7.43861595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.67, Z:0.74 [[-8.65086925e-01 5.01607565e-01 3.80312670e-03 2.09643565e+02] [-5.01600954e-01 -8.65095218e-01 2.59742724e-03 1.31670197e+02] [ 4.59295588e-03 3.39348362e-04 9.99989395e-01 7.42676867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.67, Z:0.74 [[-8.65517001e-01 5.00865362e-01 3.76954242e-03 2.09636381e+02] [-5.00858869e-01 -8.65525144e-01 2.57281933e-03 1.31666092e+02] [ 4.55126983e-03 3.38810124e-04 9.99989586e-01 7.42527966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.331400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:209.64, Y:131.67, Z:0.74 [[-8.65543121e-01 5.00817685e-01 4.09293127e-03 2.09641761e+02] [-5.00810038e-01 -8.65552721e-01 2.79172466e-03 1.31671027e+02] [ 4.94079287e-03 3.66577013e-04 9.99987727e-01 7.41664750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.65545430e-01 5.00776802e-01 7.32820546e-03 2.09632821e+02] [-5.00776790e-01 -8.65574220e-01 1.96873048e-03 1.31668783e+02] [ 7.32900028e-03 -1.96576954e-03 9.99971210e-01 7.42324898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.66, Z:0.74 [[-8.65482766e-01 5.00907844e-01 5.56000606e-03 2.09631820e+02] [-5.00871021e-01 -8.65494973e-01 6.83166867e-03 1.31663573e+02] [ 8.23419372e-03 3.12784558e-03 9.99961207e-01 7.41406855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.66, Z:0.74 [[-8.65374941e-01 5.01060490e-01 8.03726784e-03 2.09619068e+02] [-5.01031116e-01 -8.65411974e-01 5.47136936e-03 1.31657618e+02] [ 9.69703484e-03 7.07864657e-04 9.99952732e-01 7.41367701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.65554417e-01 5.00764227e-01 7.12317774e-03 2.09634787e+02] [-5.00741172e-01 -8.65583500e-01 4.84595537e-03 1.31670208e+02] [ 8.59238622e-03 6.27569699e-04 9.99962888e-01 7.41566947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.65957397e-01 5.00088805e-01 5.38277300e-03 2.09629589e+02] [-5.00075642e-01 -8.65973995e-01 3.65958731e-03 1.31668192e+02] [ 6.49146008e-03 4.77253040e-04 9.99978816e-01 7.42166366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.66512764e-01 4.99135277e-01 4.42774712e-03 2.09630231e+02] [-4.99126368e-01 -8.66523986e-01 3.00835559e-03 1.31669752e+02] [ 5.33832548e-03 3.96773181e-04 9.99985672e-01 7.43025891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:131.68, Z:0.74 [[-8.67082434e-01 4.98145383e-01 4.38515617e-03 2.09638731e+02] [-4.98136643e-01 -8.67093432e-01 2.97749998e-03 1.31676147e+02] [ 5.28556798e-03 3.97330954e-04 9.99985952e-01 7.42916603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:131.66, Z:0.74 [[-8.67479069e-01 4.97445539e-01 5.29157583e-03 2.09616374e+02] [-4.97432815e-01 -8.67495073e-01 3.59062338e-03 1.31661018e+02] [ 6.37655554e-03 4.82587166e-04 9.99979553e-01 7.42737648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.67745246e-01 4.96970588e-01 6.19868816e-03 2.09627371e+02] [-4.96953134e-01 -8.67767200e-01 4.20341533e-03 1.31668325e+02] [ 7.46799205e-03 5.67036160e-04 9.99971953e-01 7.42690645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.68045965e-01 4.96446743e-01 6.06909129e-03 2.09626457e+02] [-4.96430019e-01 -8.68067002e-01 4.11288012e-03 1.31666008e+02] [ 7.31020382e-03 5.57289887e-04 9.99973125e-01 7.42895354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.661400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:209.63, Y:131.67, Z:0.74 [[-8.67831604e-01 4.96826556e-01 5.62846853e-03 2.09632062e+02] [-4.96812197e-01 -8.67849705e-01 3.81182946e-03 1.31668660e+02] [ 6.77848286e-03 5.11734261e-04 9.99976895e-01 7.41994726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.65, Z:0.74 [[-8.67265804e-01 4.97810722e-01 5.87444852e-03 2.09610249e+02] [-4.97795121e-01 -8.67285541e-01 3.97584279e-03 1.31654013e+02] [ 7.07404144e-03 5.23840686e-04 9.99974841e-01 7.42544037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:131.65, Z:0.74 [[-8.66408901e-01 4.99294794e-01 6.35013847e-03 2.09606915e+02] [-4.99276625e-01 -8.66431997e-01 4.29498766e-03 1.31651306e+02] [ 7.64642813e-03 5.50739836e-04 9.99970614e-01 7.42543353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.64, Z:0.74 [[-8.65453212e-01 5.00952205e-01 6.13394625e-03 2.09598831e+02] [-5.00935313e-01 -8.65474796e-01 4.14605440e-03 1.31644692e+02] [ 7.38575097e-03 5.15505816e-04 9.99972592e-01 7.42604370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:131.64, Z:0.74 [[-8.63679832e-01 5.04021075e-01 4.46138905e-03 2.09598995e+02] [-5.04012190e-01 -8.63691282e-01 3.01357902e-03 1.31641100e+02] [ 5.37217017e-03 3.54172949e-04 9.99985507e-01 7.42951256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.811400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.57, Y:131.62, Z:0.74 [[-8.63072767e-01 5.05062407e-01 4.16697480e-03 2.09569381e+02] [-5.05054677e-01 -8.63082766e-01 2.81284967e-03 1.31619467e+02] [ 5.01710876e-03 3.23143830e-04 9.99987362e-01 7.42937909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:131.62, Z:0.74 [[-8.62742944e-01 5.05627397e-01 3.94303274e-03 2.09572378e+02] [-5.05620490e-01 -8.62751902e-01 2.65990822e-03 1.31620977e+02] [ 4.74678147e-03 3.01138904e-04 9.99988689e-01 7.44014077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:131.63, Z:0.74 [[-8.62496479e-01 5.06050799e-01 3.52322024e-03 2.09580029e+02] [-5.06045295e-01 -8.62503634e-01 2.37513602e-03 1.31625423e+02] [ 4.24072974e-03 2.65637428e-04 9.99990973e-01 7.44592505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:131.61, Z:0.74 [[-8.62362699e-01 5.06281735e-01 3.06262568e-03 2.09562147e+02] [-5.06277582e-01 -8.62368108e-01 2.06326359e-03 1.31612850e+02] [ 3.68570338e-03 2.28742838e-04 9.99993182e-01 7.44696960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:131.62, Z:0.74 [[-8.62103384e-01 5.06725858e-01 2.58056368e-03 2.09573067e+02] [-5.06722916e-01 -8.62107226e-01 1.73735136e-03 1.31619177e+02] [ 3.10508345e-03 1.90145736e-04 9.99995161e-01 7.44993858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.60, Z:0.75 [[-8.61717861e-01 5.07383154e-01 2.15950240e-03 2.09552511e+02] [-5.07381098e-01 -8.61720552e-01 1.45291026e-03 1.31604767e+02] [ 2.59806979e-03 1.56308024e-04 9.99996613e-01 7.45234689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.60, Z:0.75 [[-8.61147325e-01 5.08352505e-01 1.73672507e-03 2.09552797e+02] [-5.08351178e-01 -8.61149067e-01 1.16769044e-03 1.31604242e+02] [ 2.08917753e-03 1.22687259e-04 9.99997810e-01 7.45289718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:131.60, Z:0.75 [[-8.59786996e-01 5.10648824e-01 2.02476293e-03 2.09548929e+02] [-5.10647030e-01 -8.59789370e-01 1.36042806e-03 1.31599996e+02] [ 2.43557063e-03 1.35739179e-04 9.99997025e-01 7.45955066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:131.60, Z:0.75 [[-8.59063743e-01 5.11862167e-01 2.57045642e-03 2.09543794e+02] [-5.11859284e-01 -8.59067573e-01 1.72589738e-03 1.31595894e+02] [ 3.09161734e-03 1.66943880e-04 9.99995207e-01 7.46015526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:131.59, Z:0.75 [[-8.58068537e-01 5.13528033e-01 2.71028672e-03 2.09536777e+02] [-5.13524841e-01 -8.58072801e-01 1.81854980e-03 1.31591222e+02] [ 3.25949962e-03 1.68640814e-04 9.99994674e-01 7.45733273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.111400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.51, Y:131.57, Z:0.75 [[-8.56919127e-01 5.15440749e-01 3.23175994e-03 2.09506872e+02] [-5.15436230e-01 -8.56925199e-01 2.16695295e-03 1.31571539e+02] [ 3.88631239e-03 1.91137270e-04 9.99992430e-01 7.45771447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:131.58, Z:0.75 [[-8.55638373e-01 5.17567784e-01 2.56201186e-03 2.09524616e+02] [-5.17564956e-01 -8.55642197e-01 1.71670536e-03 1.31584828e+02] [ 3.08067684e-03 1.42871421e-04 9.99995245e-01 7.45794914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:131.57, Z:0.75 [[-8.52090224e-01 5.23389169e-01 2.45545334e-03 2.09502091e+02] [-5.23386599e-01 -8.52093754e-01 1.64417636e-03 1.31573851e+02] [ 2.95282056e-03 1.15835228e-04 9.99995634e-01 7.45996260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.57, Z:0.75 [[-8.50773620e-01 5.25524249e-01 2.91732159e-03 2.09488437e+02] [-5.25520639e-01 -8.50778613e-01 1.95207847e-03 1.31568104e+02] [ 3.50785938e-03 1.27664158e-04 9.99993839e-01 7.45984424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.231400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.47, Y:131.56, Z:0.75 [[-8.49808766e-01 5.27079098e-01 3.56180365e-03 2.09466457e+02] [-5.27073737e-01 -8.49816217e-01 2.38163872e-03 1.31556164e+02] [ 4.28219049e-03 1.46604295e-04 9.99990821e-01 7.46012939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.56, Z:0.75 [[-8.49301168e-01 5.27895864e-01 3.67204186e-03 2.09463815e+02] [-5.27890181e-01 -8.49309093e-01 2.45361317e-03 1.31556533e+02] [ 4.41395079e-03 1.45421688e-04 9.99990248e-01 7.46186012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.56, Z:0.75 [[-8.49143469e-01 5.28151596e-01 3.35586912e-03 2.09462929e+02] [-5.28146858e-01 -8.49150090e-01 2.24077062e-03 1.31557596e+02] [ 4.03310314e-03 1.30344003e-04 9.99991859e-01 7.46197793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.55, Z:0.75 [[-8.49277402e-01 5.27940008e-01 2.69111231e-03 2.09455467e+02] [-5.27936964e-01 -8.49281660e-01 1.79564044e-03 1.31553587e+02] [ 3.23350276e-03 1.04259184e-04 9.99994767e-01 7.46646783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.56, Z:0.75 [[-8.49768850e-01 5.27154484e-01 1.02553775e-03 2.09460257e+02] [-5.27154042e-01 -8.49769468e-01 6.83838356e-04 1.31559194e+02] [ 1.23195912e-03 4.04881645e-05 9.99999240e-01 7.47770760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.57, Z:0.75 [[-8.50088050e-01 5.26640456e-01 3.71168251e-04 2.09468868e+02] [-5.26640398e-01 -8.50088131e-01 2.47359119e-04 1.31566012e+02] [ 4.45795044e-04 1.48048361e-05 9.99999901e-01 7.48496093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.57, Z:0.75 [[-8.50593387e-01 5.25823973e-01 1.98774368e-04 2.09473981e+02] [-5.25823956e-01 -8.50593410e-01 1.32402336e-04 1.31569740e+02] [ 2.38696490e-04 8.10022692e-06 9.99999972e-01 7.48340288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.55, Z:0.75 [[-8.51144248e-01 5.24931528e-01 5.99374611e-04 2.09450846e+02] [-5.24931377e-01 -8.51144459e-01 3.98851670e-04 1.31553667e+02] [ 7.19524196e-04 2.48497645e-05 9.99999741e-01 7.47602116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.56, Z:0.75 [[-8.51709065e-01 5.24013180e-01 1.36236927e-03 2.09454684e+02] [-5.24012400e-01 -8.51710152e-01 9.05875537e-04 1.31556135e+02] [ 1.63503446e-03 5.76440126e-05 9.99998662e-01 7.47027131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.57, Z:0.75 [[-8.52109228e-01 5.23360612e-01 1.87964047e-03 2.09468857e+02] [-5.23359128e-01 -8.52111298e-01 1.24892685e-03 1.31566397e+02] [ 2.25530200e-03 8.04950983e-05 9.99997454e-01 7.46527586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.531400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.44, Y:131.55, Z:0.75 [[-8.51987092e-01 5.23552702e-01 3.25009928e-03 2.09442540e+02] [-5.23548272e-01 -8.51993280e-01 2.15797197e-03 1.31548373e+02] [ 3.89887480e-03 1.36980398e-04 9.99992390e-01 7.46768297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.55, Z:0.75 [[-8.52065455e-01 5.23423204e-01 3.55109925e-03 2.09453555e+02] [-5.23417922e-01 -8.52072841e-01 2.35615849e-03 1.31553871e+02] [ 4.25906325e-03 1.48892261e-04 9.99990919e-01 7.46794151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.55, Z:0.75 [[-8.52211977e-01 5.23182102e-01 3.90327835e-03 2.09457059e+02] [-5.23175726e-01 -8.52220900e-01 2.58800708e-03 1.31554817e+02] [ 4.68045437e-03 1.63430140e-04 9.99989033e-01 7.46290335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.55, Z:0.75 [[-8.52327778e-01 5.22989410e-01 4.40863223e-03 2.09450671e+02] [-5.22981285e-01 -8.52339160e-01 2.92101627e-03 1.31550736e+02] [ 5.28531046e-03 1.84031160e-04 9.99986016e-01 7.46306738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.54, Z:0.75 [[-8.52464101e-01 5.22765253e-01 4.63108137e-03 2.09435338e+02] [-5.22756296e-01 -8.52476659e-01 3.06623421e-03 1.31540984e+02] [ 5.55080947e-03 1.92927645e-04 9.99984576e-01 7.46545786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.55, Z:0.75 [[-8.53068735e-01 5.21785411e-01 3.70391997e-03 2.09447415e+02] [-5.21779680e-01 -8.53076761e-01 2.45064030e-03 1.31548897e+02] [ 4.43843641e-03 1.57934444e-04 9.99990138e-01 7.47207624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7114005130001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.45, Y:131.55, Z:0.75 [[-8.53433779e-01 5.21188139e-01 3.70269682e-03 2.09449650e+02] [-5.21182413e-01 -8.53441796e-01 2.44811173e-03 1.31549665e+02] [ 4.43596302e-03 1.59520781e-04 9.99990148e-01 7.47120139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.741400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.45, Y:131.55, Z:0.75 [[-8.53601797e-01 5.20912907e-01 3.70348609e-03 2.09447657e+02] [-5.20907184e-01 -8.53609816e-01 2.44691756e-03 1.31548258e+02] [ 4.43596302e-03 1.59520711e-04 9.99990148e-01 7.47120489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:131.54, Z:0.75 [[-8.54258443e-01 5.19836283e-01 3.57088705e-03 2.09432166e+02] [-5.19830961e-01 -8.54265892e-01 2.35764809e-03 1.31537833e+02] [ 4.27607803e-03 1.57783144e-04 9.99990845e-01 7.46996281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.54, Z:0.75 [[-8.55064018e-01 5.18511809e-01 3.32107790e-03 2.09439219e+02] [-5.18507202e-01 -8.55070454e-01 2.19116953e-03 1.31542491e+02] [ 3.97590287e-03 1.51587411e-04 9.99992085e-01 7.46735094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.55, Z:0.75 [[-8.56043094e-01 5.16896877e-01 2.79991229e-03 2.09444522e+02] [-5.16893598e-01 -8.56047663e-01 1.84602827e-03 1.31546474e+02] [ 3.35106462e-03 1.33023019e-04 9.99994376e-01 7.46095403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:131.54, Z:0.75 [[-8.56943310e-01 5.15405629e-01 2.28076183e-03 2.09431596e+02] [-5.15403450e-01 -8.56946338e-01 1.50269698e-03 1.31538930e+02] [ 2.72898897e-03 1.12213606e-04 9.99996270e-01 7.46172394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.56, Z:0.75 [[-8.58322565e-01 5.13108441e-01 1.45016178e-03 2.09461464e+02] [-5.13107558e-01 -8.58323787e-01 9.54803037e-04 1.31561577e+02] [ 1.73462585e-03 7.54400231e-05 9.99998493e-01 7.46352418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.56, Z:0.75 [[-8.58992965e-01 5.11983998e-01 1.86328793e-03 2.09457817e+02] [-5.11982540e-01 -8.58994980e-01 1.22594894e-03 1.31561497e+02] [ 2.22822122e-03 9.91106299e-05 9.99997513e-01 7.46659845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.55, Z:0.75 [[-8.59580317e-01 5.10994321e-01 2.54591223e-03 2.09443078e+02] [-5.10991598e-01 -8.59584077e-01 1.67390268e-03 1.31554288e+02] [ 3.04378037e-03 1.37914039e-04 9.99995358e-01 7.46082751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.56, Z:0.75 [[-8.60182602e-01 5.09976549e-01 3.13221992e-03 2.09444298e+02] [-5.09972426e-01 -8.60188287e-01 2.05795028e-03 1.31557765e+02] [ 3.74380527e-03 1.72867236e-04 9.99992977e-01 7.45674263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:131.56, Z:0.75 [[-8.60720515e-01 5.09067698e-01 3.20522589e-03 2.09441866e+02] [-5.09063380e-01 -8.60726464e-01 2.10445656e-03 1.31559094e+02] [ 3.83013360e-03 1.79685805e-04 9.99992649e-01 7.45513907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.57, Z:0.75 [[-8.61286848e-01 5.08111410e-01 2.78592638e-03 2.09459869e+02] [-5.08108147e-01 -8.61291339e-01 1.82790550e-03 1.31573891e+02] [ 3.32827390e-03 1.58799081e-04 9.99994449e-01 7.45337004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.58, Z:0.75 [[-8.61894796e-01 5.07082661e-01 2.12986396e-03 2.09458898e+02] [-5.07080753e-01 -8.61897419e-01 1.39650798e-03 1.31576318e+02] [ 2.54386923e-03 1.23629938e-04 9.99996757e-01 7.45809463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.59, Z:0.75 [[-8.63360191e-01 5.04585948e-01 1.48374333e-03 2.09463733e+02] [-5.04585020e-01 -8.63361461e-01 9.72214721e-04 1.31585114e+02] [ 1.77157269e-03 9.06968304e-05 9.99998427e-01 7.45365532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.58, Z:0.75 [[-8.64258971e-01 5.03043031e-01 2.03464762e-03 2.09449402e+02] [-5.03041283e-01 -8.64261357e-01 1.33226621e-03 1.31577993e+02] [ 2.42865455e-03 1.27911280e-04 9.99997043e-01 7.45197590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.60, Z:0.74 [[-8.65188069e-01 5.01438986e-01 2.92388675e-03 2.09473285e+02] [-5.01435371e-01 -8.65192989e-01 1.91321328e-03 1.31595669e+02] [ 3.48908604e-03 1.89149070e-04 9.99993895e-01 7.44646333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.59, Z:0.74 [[-8.66146208e-01 4.99774001e-01 4.08582566e-03 2.09468595e+02] [-4.99766934e-01 -8.66155802e-01 2.67170197e-03 1.31594504e+02] [ 4.87420878e-03 2.72123968e-04 9.99988084e-01 7.44231240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.58, Z:0.74 [[-8.66994124e-01 4.98295272e-01 4.79699350e-03 2.09450936e+02] [-4.98285520e-01 -8.67007332e-01 3.13460669e-03 1.31584669e+02] [ 5.72098823e-03 3.27413174e-04 9.99983581e-01 7.43939517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.59, Z:0.74 [[-8.67766701e-01 4.96948106e-01 4.85091296e-03 2.09464412e+02] [-4.96938125e-01 -8.67780194e-01 3.16770157e-03 1.31594759e+02] [ 5.78370949e-03 3.38222349e-04 9.99983217e-01 7.44064647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.61, Z:0.74 [[-8.68852656e-01 4.95061976e-01 2.94995322e-03 2.09486319e+02] [-4.95058278e-01 -8.68857638e-01 1.92509120e-03 1.31609931e+02] [ 3.51612884e-03 2.12221845e-04 9.99993796e-01 7.44621635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.61, Z:0.74 [[-8.69497740e-01 4.93929273e-01 2.74848000e-03 2.09482099e+02] [-4.93926061e-01 -8.69502061e-01 1.79243176e-03 1.31606980e+02] [ 3.27514354e-03 2.00969468e-04 9.99994617e-01 7.44680057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:131.61, Z:0.74 [[-8.70003606e-01 4.93036549e-01 2.94739732e-03 2.09485403e+02] [-4.93032855e-01 -8.70008571e-01 1.92088434e-03 1.31608854e+02] [ 3.51132712e-03 2.18012592e-04 9.99993812e-01 7.44519249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.60, Z:0.74 [[-8.70337393e-01 4.92444550e-01 3.34460602e-03 2.09477142e+02] [-4.92439795e-01 -8.70343784e-01 2.17830816e-03 1.31602480e+02] [ 3.98365304e-03 2.48845941e-04 9.99992034e-01 7.44514748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.401400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.47, Y:131.60, Z:0.74 [[-8.70608283e-01 4.91963721e-01 3.59367496e-03 2.09471341e+02] [-4.91958234e-01 -8.70615659e-01 2.33896866e-03 1.31597288e+02] [ 4.27939741e-03 2.68387500e-04 9.99990807e-01 7.43778680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.60, Z:0.74 [[-8.70952855e-01 4.91353498e-01 3.58665445e-03 2.09471238e+02] [-4.91348034e-01 -8.70960199e-01 2.33284961e-03 1.31595751e+02] [ 4.27008709e-03 2.69506417e-04 9.99990847e-01 7.43879372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:131.59, Z:0.74 [[-8.71424925e-01 4.90514198e-01 3.79754111e-03 2.09473406e+02] [-4.90508072e-01 -8.71433152e-01 2.46837458e-03 1.31594573e+02] [ 4.52007599e-03 2.88278564e-04 9.99989743e-01 7.44100207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.59, Z:0.74 [[-8.71431746e-01 4.90500531e-01 3.99262334e-03 2.09477084e+02] [-4.90493767e-01 -8.71440840e-01 2.59345703e-03 1.31594815e+02] [ 4.75142709e-03 3.01663924e-04 9.99988666e-01 7.44641177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.58, Z:0.74 [[-8.71249555e-01 4.90823104e-01 4.11016428e-03 2.09464337e+02] [-4.90815949e-01 -8.71259196e-01 2.66803489e-03 1.31584318e+02] [ 4.89055159e-03 3.07190033e-04 9.99987994e-01 7.44554095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:131.59, Z:0.74 [[-8.70850810e-01 4.91529992e-01 4.13931313e-03 2.09482449e+02] [-4.91522751e-01 -8.70860594e-01 2.68517772e-03 1.31594358e+02] [ 4.92461007e-03 3.03822617e-04 9.99987828e-01 7.44137485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:131.58, Z:0.74 [[-8.70166504e-01 4.92744171e-01 3.66574112e-03 2.09458686e+02] [-4.92738510e-01 -8.70174186e-01 2.37640141e-03 1.31578427e+02] [ 4.36079123e-03 2.61613089e-04 9.99990458e-01 7.43879730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:131.58, Z:0.74 [[-8.67809041e-01 4.96893503e-01 2.07734324e-03 2.09449939e+02] [-4.96891699e-01 -8.67811517e-01 1.34580695e-03 1.31576166e+02] [ 2.47146512e-03 1.35688822e-04 9.99996937e-01 7.44121188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:131.57, Z:0.74 [[-8.66374475e-01 4.99392026e-01 1.69514878e-03 2.09433076e+02] [-4.99390831e-01 -8.66376127e-01 1.09747221e-03 1.31567921e+02] [ 2.01670531e-03 1.04280151e-04 9.99997961e-01 7.44404340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.57, Z:0.74 [[-8.65048457e-01 5.01686204e-01 1.45587643e-03 2.09423858e+02] [-5.01685327e-01 -8.65049678e-01 9.41930831e-04 1.31565212e+02] [ 1.73195914e-03 8.44239675e-05 9.99998497e-01 7.44333533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:131.56, Z:0.74 [[-8.64087874e-01 5.03339043e-01 1.39776291e-03 2.09415797e+02] [-5.03338238e-01 -8.64089001e-01 9.03718717e-04 1.31563592e+02] [ 1.66266847e-03 7.73448647e-05 9.99998615e-01 7.44804785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.731400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.41, Y:131.56, Z:0.74 [[-8.63519674e-01 5.04313432e-01 1.31717310e-03 2.09406362e+02] [-5.04312718e-01 -8.63520676e-01 8.51034692e-04 1.31561234e+02] [ 1.56659443e-03 7.06180527e-05 9.99998770e-01 7.44952182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:131.56, Z:0.75 [[-8.63488365e-01 5.04367726e-01 1.02008719e-03 2.09393117e+02] [-5.04367299e-01 -8.63488966e-01 6.58644286e-04 1.31556112e+02] [ 1.21303296e-03 5.42330552e-05 9.99999263e-01 7.45880234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:131.12, Z:2.38 [[-7.66218595e-01 -6.42579888e-01 3.90513737e-04 2.09699250e+02] [-6.42579812e-01 7.66218695e-01 3.11220735e-04 1.31119429e+02] [-4.99203111e-04 -1.24731295e-05 -9.99999875e-01 2.38372843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:131.59, Z:0.75 [[-8.23934642e-01 5.66684816e-01 1.59044124e-04 2.09350845e+02] [-5.66684803e-01 -8.23934657e-01 1.21190488e-04 1.31585427e+02] [ 1.99718775e-04 9.72515324e-06 9.99999980e-01 7.45518614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:131.16, Z:2.38 [[-7.11979000e-01 -7.02200515e-01 -5.83300470e-04 2.09681976e+02] [-7.02200334e-01 7.11979238e-01 -5.05645748e-04 1.31157511e+02] [ 7.70362528e-04 4.95846307e-05 -9.99999702e-01 2.38418578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:131.60, Z:0.75 [[-7.80493856e-01 6.25162534e-01 -1.07049195e-03 2.09296003e+02] [-6.25161812e-01 -7.80494587e-01 -9.53543532e-04 1.31601268e+02] [-1.43163286e-03 -7.50041829e-05 9.99998972e-01 7.46029092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:131.61, Z:0.75 [[-7.82006143e-01 6.23269250e-01 -1.35471716e-03 2.09308065e+02] [-6.23268091e-01 -7.82007310e-01 -1.20599090e-03 1.31614480e+02] [-1.81105577e-03 -9.87403168e-05 9.99998355e-01 7.46515500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:131.62, Z:0.75 [[-7.83651180e-01 6.21200599e-01 -8.02442309e-04 2.09310035e+02] [-6.21199606e-01 -7.83651470e-01 -1.19303594e-03 1.31618737e+02] [-1.36994974e-03 -4.36447180e-04 9.99998966e-01 7.46865004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:130.75, Z:1.25 [[-7.45785200e-01 -5.59021263e-02 -6.63836868e-01 2.09985311e+02] [-6.53963060e-01 -1.28577308e-01 7.45520082e-01 1.30746115e+02] [-1.27030515e-01 9.90122633e-01 5.93331280e-02 1.25460071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.58, Z:0.78 [[-7.87100876e-01 6.14707725e-01 -5.10550963e-02 2.09269323e+02] [-6.13068324e-01 -7.88743983e-01 -4.50572879e-02 1.31582718e+02] [-6.79664630e-02 -4.16436845e-03 9.97678915e-01 7.84084425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:131.59, Z:0.78 [[-7.87527193e-01 6.14123053e-01 -5.15150123e-02 2.09276727e+02] [-6.12454621e-01 -7.89198946e-01 -4.54352393e-02 1.31590515e+02] [-6.85584212e-02 -4.23087911e-03 9.97638132e-01 7.84605583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.58, Z:0.78 [[-7.88149695e-01 6.13266144e-01 -5.21986112e-02 2.09258985e+02] [-6.11553190e-01 -7.89864417e-01 -4.60097627e-02 1.31577174e+02] [-6.94460554e-02 -4.34035321e-03 9.97576266e-01 7.83470521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:131.60, Z:0.79 [[-7.88641385e-01 6.12700660e-01 -5.14068766e-02 2.09282100e+02] [-6.11040017e-01 -7.90303358e-01 -4.52846598e-02 1.31597848e+02] [-6.83729681e-02 -4.30169813e-03 9.97650556e-01 7.85393274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.59, Z:0.78 [[-7.89271786e-01 6.11988020e-01 -5.02066852e-02 2.09270841e+02] [-6.10404436e-01 -7.90855665e-01 -4.42011500e-02 1.31588038e+02] [-6.67568157e-02 -4.24033722e-03 9.97760265e-01 7.83452763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:131.59, Z:0.78 [[-7.89881445e-01 6.11302847e-01 -4.89503117e-02 2.09276683e+02] [-6.09797968e-01 -7.91385772e-01 -4.30696918e-02 1.31593313e+02] [-6.50672054e-02 -4.17014973e-03 9.97872171e-01 7.82921692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.59, Z:0.78 [[-7.90394804e-01 6.10696759e-01 -4.82236666e-02 2.09269980e+02] [-6.09236772e-01 -7.91853744e-01 -4.24052376e-02 1.31588719e+02] [-6.40828321e-02 -4.13724850e-03 9.97936007e-01 7.81625381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.58, Z:0.78 [[-7.90709024e-01 6.10288285e-01 -4.82436385e-02 2.09262222e+02] [-6.08828198e-01 -7.92168540e-01 -4.23937581e-02 1.31583170e+02] [-6.40895066e-02 -4.14903959e-03 9.97935529e-01 7.80722990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.59, Z:0.78 [[-7.90987315e-01 6.09828946e-01 -4.94744757e-02 2.09273298e+02] [-6.08294203e-01 -7.92521549e-01 -4.34483164e-02 1.31593465e+02] [-6.57056291e-02 -4.27203036e-03 9.97829905e-01 7.81745362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:131.59, Z:0.78 [[-7.91286748e-01 6.09394911e-01 -5.00312392e-02 2.09275415e+02] [-6.07826315e-01 -7.92854997e-01 -4.39104116e-02 1.31594835e+02] [-6.64262994e-02 -4.33542307e-03 9.97781916e-01 7.82322128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.59, Z:0.78 [[-7.91540357e-01 6.09052380e-01 -5.01902459e-02 2.09272984e+02] [-6.07474874e-01 -7.93118033e-01 -4.40234335e-02 1.31592531e+02] [-6.66193661e-02 -4.35701098e-03 9.97768950e-01 7.82233082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.58, Z:0.78 [[-7.91710698e-01 6.08848489e-01 -4.99768837e-02 2.09265072e+02] [-6.07285720e-01 -7.93274687e-01 -4.38101109e-02 1.31584951e+02] [-6.63191166e-02 -4.33468565e-03 9.97789049e-01 7.81663773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.59, Z:0.78 [[-7.91901961e-01 6.08635509e-01 -4.95388880e-02 2.09269568e+02] [-6.07101338e-01 -7.93438329e-01 -4.34002745e-02 1.31586643e+02] [-6.57210007e-02 -4.29363730e-03 9.97828800e-01 7.82149167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.57, Z:0.78 [[-7.92245828e-01 6.08196547e-01 -4.94318527e-02 2.09252210e+02] [-6.06669867e-01 -7.93774824e-01 -4.32805061e-02 1.31567879e+02] [-6.55608145e-02 -4.29998496e-03 9.97839311e-01 7.80603914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.421400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:209.26, Y:131.57, Z:0.78 [[-7.92342713e-01 6.08060119e-01 -4.95572061e-02 2.09264520e+02] [-6.06527144e-01 -7.93879330e-01 -4.33639656e-02 1.31574820e+02] [-6.57103396e-02 -4.30133143e-03 9.97829469e-01 7.81030870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.56, Z:0.78 [[-7.92499036e-01 6.07852789e-01 -4.96010643e-02 2.09254826e+02] [-6.06318427e-01 -7.94038088e-01 -4.33760263e-02 1.31563670e+02] [-6.57513728e-02 -4.30141970e-03 9.97826766e-01 7.80342117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.55, Z:0.78 [[-7.91679487e-01 6.08934604e-01 -4.94189987e-02 2.09242253e+02] [-6.07415298e-01 -7.93209439e-01 -4.31907633e-02 1.31550041e+02] [-6.54999666e-02 -4.17538548e-03 9.97843836e-01 7.79825939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.54, Z:0.78 [[-7.91046730e-01 6.09753034e-01 -4.94601611e-02 2.09238851e+02] [-6.08234507e-01 -7.92580915e-01 -4.32004350e-02 1.31543936e+02] [-6.55427761e-02 -4.09018619e-03 9.97841378e-01 7.79831250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.55, Z:0.78 [[-7.90640988e-01 6.10274354e-01 -4.95180861e-02 2.09251615e+02] [-6.08755252e-01 -7.92179897e-01 -4.32209885e-02 1.31551512e+02] [-6.56038931e-02 -4.02789007e-03 9.97837615e-01 7.81243861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.54, Z:0.78 [[-7.90628421e-01 6.10300901e-01 -4.93913996e-02 2.09244044e+02] [-6.08791346e-01 -7.92159615e-01 -4.30841299e-02 1.31541805e+02] [-6.54201553e-02 -3.99448098e-03 9.97849812e-01 7.80384193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.53, Z:0.78 [[-7.91481974e-01 6.09187679e-01 -4.94636991e-02 2.09230821e+02] [-6.07673170e-01 -7.93015627e-01 -4.31223116e-02 1.31528815e+02] [-6.54950672e-02 -4.07276947e-03 9.97844581e-01 7.79071677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.53, Z:0.78 [[-7.91666809e-01 6.08944120e-01 -4.95047591e-02 2.09229076e+02] [-6.07432070e-01 -7.93202884e-01 -4.30751223e-02 1.31527128e+02] [-6.54976601e-02 -4.03036636e-03 9.97844583e-01 7.78889776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:131.52, Z:0.78 [[-7.92357127e-01 6.08004890e-01 -5.00023728e-02 2.09222872e+02] [-6.06462184e-01 -7.93922549e-01 -4.34811069e-02 1.31521548e+02] [-6.61347369e-02 -4.12801670e-03 9.97802163e-01 7.78973524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.53, Z:0.78 [[-7.93895949e-01 6.05817677e-01 -5.20976361e-02 2.09232644e+02] [-6.04140119e-01 -7.95590958e-01 -4.52740875e-02 1.31529631e+02] [-6.88762508e-02 -4.46864256e-03 9.97615203e-01 7.80274595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.55, Z:0.78 [[-7.94751491e-01 6.04611707e-01 -5.30542357e-02 2.09254703e+02] [-6.02871253e-01 -7.96506877e-01 -4.60765334e-02 1.31548969e+02] [-7.01164751e-02 -4.63451998e-03 9.97528045e-01 7.82594949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.55, Z:0.78 [[-7.95638604e-01 6.03414332e-01 -5.33887359e-02 2.09249718e+02] [-6.01651153e-01 -7.97413698e-01 -4.63387977e-02 1.31546884e+02] [-7.05344039e-02 -4.74754175e-03 9.97498050e-01 7.82194569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.54, Z:0.78 [[-7.97428099e-01 6.01150119e-01 -5.22203187e-02 2.09237907e+02] [-5.99460397e-01 -7.99121594e-01 -4.52980184e-02 1.31544999e+02] [-6.89612935e-02 -4.81789975e-03 9.97607702e-01 7.81075497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.56, Z:0.78 [[-7.98384593e-01 5.99902588e-01 -5.19511938e-02 2.09250211e+02] [-5.98229499e-01 -8.00058176e-01 -4.50375556e-02 1.31559285e+02] [-6.85821235e-02 -4.87855390e-03 9.97633546e-01 7.81750618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.57, Z:0.78 [[-7.99367707e-01 5.98565484e-01 -5.22554242e-02 2.09258120e+02] [-5.96871787e-01 -8.01058272e-01 -4.52737768e-02 1.31568870e+02] [-6.89589600e-02 -5.00060675e-03 9.97606965e-01 7.82213582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.56, Z:0.78 [[-8.00418467e-01 5.97127037e-01 -5.26268052e-02 2.09245974e+02] [-5.95408432e-01 -8.02130255e-01 -4.55615323e-02 1.31560868e+02] [-6.94195754e-02 -5.13384823e-03 9.97574341e-01 7.81181184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.58, Z:0.78 [[-8.01781850e-01 5.95302867e-01 -5.25391326e-02 2.09264596e+02] [-5.93587983e-01 -8.03484172e-01 -4.54586858e-02 1.31580178e+02] [-6.92760474e-02 -5.26135146e-03 9.97583654e-01 7.83395965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.57, Z:0.78 [[-8.03475094e-01 5.93071516e-01 -5.19032835e-02 2.09252392e+02] [-5.91395130e-01 -8.05131901e-01 -4.48823182e-02 1.31573017e+02] [-6.84074138e-02 -5.36647570e-03 9.97643036e-01 7.82539607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.59, Z:0.78 [[-8.07265120e-01 5.88055476e-01 -5.01376380e-02 2.09265640e+02] [-5.86483377e-01 -8.08801385e-01 -4.33309094e-02 1.31587330e+02] [-6.60323696e-02 -5.57464049e-03 9.97801909e-01 7.83523544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.59, Z:0.78 [[-8.09479109e-01 5.85041872e-01 -4.96948625e-02 2.09265574e+02] [-5.83493473e-01 -8.10982711e-01 -4.29232941e-02 1.31586737e+02] [-6.54135986e-02 -5.74888200e-03 9.97841677e-01 7.83180815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:131.60, Z:0.78 [[-8.11719889e-01 5.81913224e-01 -4.98780673e-02 2.09277830e+02] [-5.80349194e-01 -8.13228728e-01 -4.30563490e-02 1.31595960e+02] [-6.56173361e-02 -6.00299872e-03 9.97826803e-01 7.83446820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:131.60, Z:0.78 [[-8.13715527e-01 5.79099598e-01 -5.01068608e-02 2.09288685e+02] [-5.77517568e-01 -8.15232936e-01 -4.32286768e-02 1.31604273e+02] [-6.58824726e-02 -6.23825313e-03 9.97807889e-01 7.84455440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:131.61, Z:0.79 [[-8.14983872e-01 5.77299224e-01 -5.02682258e-02 2.09297212e+02] [-5.75705257e-01 -8.16507715e-01 -4.33429079e-02 1.31610547e+02] [-6.60662213e-02 -6.38408903e-03 9.97794818e-01 7.85017516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.111400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.29, Y:131.60, Z:0.78 [[-8.14759452e-01 5.77694867e-01 -4.93525658e-02 2.09285997e+02] [-5.76160772e-01 -8.16229133e-01 -4.25296165e-02 1.31595107e+02] [-6.48521431e-02 -6.21639465e-03 9.97875521e-01 7.83634497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.58, Z:0.78 [[-8.13984411e-01 5.78809096e-01 -4.90857268e-02 2.09270822e+02] [-5.77295106e-01 -8.15440450e-01 -4.22756948e-02 1.31578076e+02] [-6.44960438e-02 -6.07480675e-03 9.97899472e-01 7.82115708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:131.58, Z:0.78 [[-8.12744071e-01 5.80545731e-01 -4.91297239e-02 2.09276641e+02] [-5.79033721e-01 -8.14206103e-01 -4.22891390e-02 1.31579043e+02] [-6.45525001e-02 -5.92248011e-03 9.97896738e-01 7.82951095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:131.57, Z:0.78 [[-8.11423604e-01 5.82359923e-01 -4.94838913e-02 2.09269193e+02] [-5.80830945e-01 -8.12910378e-01 -4.25691297e-02 1.31569217e+02] [-6.50165239e-02 -5.79982129e-03 9.97867333e-01 7.82622382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:131.55, Z:0.78 [[-8.10362993e-01 5.83821857e-01 -4.96372652e-02 2.09256337e+02] [-5.82287693e-01 -8.11861919e-01 -4.26763046e-02 1.31554158e+02] [-6.52139647e-02 -5.68012930e-03 9.97855137e-01 7.81643334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.54, Z:0.78 [[-8.08279112e-01 5.86758165e-01 -4.89870716e-02 2.09250189e+02] [-5.85270845e-01 -8.09744533e-01 -4.20930979e-02 1.31540962e+02] [-6.43654823e-02 -5.35226702e-03 9.97912039e-01 7.80811784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:131.53, Z:0.78 [[-8.07457669e-01 5.87923331e-01 -4.85620251e-02 2.09246386e+02] [-5.86465370e-01 -8.08899982e-01 -4.17035959e-02 1.31533671e+02] [-6.38003382e-02 -5.19394232e-03 9.97949167e-01 7.80010229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.52, Z:0.78 [[-8.06629170e-01 5.89079821e-01 -4.83150814e-02 2.09236515e+02] [-5.87640262e-01 -8.08059029e-01 -4.14671940e-02 1.31520903e+02] [-6.34689250e-02 -5.05676121e-03 9.97971004e-01 7.79089456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:131.52, Z:0.78 [[-8.05855745e-01 5.90111871e-01 -4.86260937e-02 2.09237960e+02] [-5.88657147e-01 -8.07306078e-01 -4.17092191e-02 1.31518235e+02] [-6.38692464e-02 -4.98751630e-03 9.97945812e-01 7.79252323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:131.51, Z:0.78 [[-8.04658252e-01 5.91709641e-01 -4.90387371e-02 2.09228705e+02] [-5.90234652e-01 -8.06136383e-01 -4.20379242e-02 1.31506956e+02] [-6.44061553e-02 -4.88180071e-03 9.97911827e-01 7.79027151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:131.49, Z:0.78 [[-8.01007186e-01 5.96510701e-01 -5.06208639e-02 2.09207660e+02] [-5.94950109e-01 -8.02591822e-01 -4.33674546e-02 1.31486046e+02] [-6.64970421e-02 -4.62075429e-03 9.97775923e-01 7.77481887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:131.48, Z:0.78 [[-7.98841944e-01 5.99346503e-01 -5.13353527e-02 2.09197465e+02] [-5.97749095e-01 -8.00477472e-01 -4.39526579e-02 1.31476557e+02] [-6.74356652e-02 -4.42556603e-03 9.97713809e-01 7.75845998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:131.47, Z:0.78 [[-7.96732530e-01 6.02141152e-01 -5.14131295e-02 2.09188783e+02] [-6.00546470e-01 -7.98378738e-01 -4.39923504e-02 1.31469181e+02] [-6.75367541e-02 -4.17416318e-03 9.97708055e-01 7.75233943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:131.47, Z:0.77 [[-7.95124746e-01 6.04291036e-01 -5.10781925e-02 2.09189000e+02] [-6.02723277e-01 -7.96753906e-01 -4.36791091e-02 1.31469856e+02] [-6.70916435e-02 -3.94432496e-03 9.97739021e-01 7.74847395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:131.45, Z:0.77 [[-7.93120992e-01 6.06998222e-01 -5.01223461e-02 2.09169440e+02] [-6.05495724e-01 -7.94694920e-01 -4.28358792e-02 1.31454872e+02] [-6.58332764e-02 -3.62516877e-03 9.97824052e-01 7.72841234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:131.45, Z:0.77 [[-7.92855933e-01 6.07310320e-01 -5.05335953e-02 2.09157770e+02] [-6.05785455e-01 -7.94456520e-01 -4.31604155e-02 1.31445702e+02] [-6.63585100e-02 -3.60747448e-03 9.97789324e-01 7.71934293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:131.45, Z:0.77 [[-7.92965597e-01 6.07127701e-01 -5.10050662e-02 2.09165661e+02] [-6.05575682e-01 -7.94595962e-01 -4.35356259e-02 1.31453207e+02] [-6.69601041e-02 -3.63482585e-03 9.97749033e-01 7.72912373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:131.45, Z:0.77 [[-7.93524208e-01 6.06373991e-01 -5.12826876e-02 2.09158749e+02] [-6.04805298e-01 -7.95170999e-01 -4.37451047e-02 1.31448638e+02] [-6.73043996e-02 -3.69675843e-03 9.97725640e-01 7.72612731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:131.45, Z:0.77 [[-7.94270397e-01 6.05393664e-01 -5.13132302e-02 2.09159976e+02] [-6.03822908e-01 -7.95917314e-01 -4.37438572e-02 1.31452330e+02] [-6.73233424e-02 -3.76034696e-03 9.97724124e-01 7.72619364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:131.47, Z:0.77 [[-7.95136116e-01 6.04281093e-01 -5.10187859e-02 2.09173565e+02] [-6.02727865e-01 -7.96762096e-01 -4.34658885e-02 1.31467236e+02] [-6.69154494e-02 -3.81085392e-03 9.97751372e-01 7.74216403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:131.47, Z:0.77 [[-7.97181215e-01 6.01660879e-01 -5.00629413e-02 2.09167809e+02] [-6.00161932e-01 -7.98741952e-01 -4.26256764e-02 1.31469044e+02] [-6.56335734e-02 -3.93451692e-03 9.97836035e-01 7.73683198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:131.47, Z:0.77 [[-7.98471065e-01 5.99976307e-01 -4.97231194e-02 2.09170431e+02] [-5.98496105e-01 -8.00007646e-01 -4.23105016e-02 1.31474879e+02] [-6.51641742e-02 -4.02461801e-03 9.97866440e-01 7.73989894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:131.47, Z:0.77 [[-7.99868384e-01 5.98094498e-01 -4.99353513e-02 2.09164878e+02] [-5.96599689e-01 -8.01414712e-01 -4.24649266e-02 1.31473587e+02] [-6.54169642e-02 -4.17493717e-03 9.97849283e-01 7.73660479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:131.48, Z:0.77 [[-8.01534605e-01 5.95793567e-01 -5.07178820e-02 2.09174494e+02] [-5.94248689e-01 -8.03125506e-01 -4.31035601e-02 1.31483858e+02] [-6.64136485e-02 -4.40996011e-03 9.97782431e-01 7.74227234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:131.49, Z:0.77 [[-8.03267462e-01 5.93387738e-01 -5.15012279e-02 2.09180934e+02] [-5.91791629e-01 -8.04903279e-01 -4.37421931e-02 1.31489872e+02] [-6.74095883e-02 -4.65868491e-03 9.97714510e-01 7.74530874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:131.50, Z:0.78 [[-8.05113194e-01 5.90866929e-01 -5.16625308e-02 2.09193222e+02] [-5.89257446e-01 -8.06754372e-01 -4.38525528e-02 1.31500182e+02] [-6.75899958e-02 -4.86373794e-03 9.97701326e-01 7.76004056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:131.50, Z:0.78 [[-8.08477616e-01 5.86324799e-01 -5.08642756e-02 2.09193898e+02] [-5.84757501e-01 -8.10059744e-01 -4.31494596e-02 1.31500642e+02] [-6.65027003e-02 -5.14210553e-03 9.97772995e-01 7.75531613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:131.51, Z:0.78 [[-8.10073852e-01 5.84175212e-01 -5.01963692e-02 2.09206603e+02] [-5.82646417e-01 -8.11610736e-01 -4.25577910e-02 1.31511286e+02] [-6.56011187e-02 -5.22821905e-03 9.97832230e-01 7.76688617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:130.98, Z:2.41 [[-6.52388008e-01 -7.56052808e-01 5.26691480e-02 2.09421868e+02] [-7.54797780e-01 6.54425943e-01 4.47995125e-02 1.30978440e+02] [-6.83388540e-02 -1.05278913e-02 -9.97606618e-01 2.40856249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.48, Z:0.77 [[-7.66980824e-01 6.39992194e-01 -4.63724883e-02 2.09100410e+02] [-6.38389728e-01 -7.68362767e-01 -4.55764461e-02 1.31480451e+02] [-6.47994631e-02 -5.35253997e-03 9.97883951e-01 7.70648044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.48, Z:0.77 [[-7.67305750e-01 6.39619027e-01 -4.61452656e-02 2.09100848e+02] [-6.38033281e-01 -7.68673541e-01 -4.53268080e-02 1.31480622e+02] [-6.44625336e-02 -5.33730526e-03 9.97905855e-01 7.70458831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:131.48, Z:0.77 [[-7.66668052e-01 6.40419551e-01 -4.56387544e-02 2.09095407e+02] [-6.38871505e-01 -7.68007708e-01 -4.48035720e-02 1.31477597e+02] [-6.37439987e-02 -5.19216758e-03 9.97952776e-01 7.71008059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:131.46, Z:0.77 [[-7.66091188e-01 6.41105368e-01 -4.56968022e-02 2.09080533e+02] [-6.39556247e-01 -7.67435779e-01 -4.48344932e-02 1.31464927e+02] [-6.38129953e-02 -5.12163486e-03 9.97948731e-01 7.70581146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:131.46, Z:0.77 [[-7.65221923e-01 6.42134424e-01 -4.58125514e-02 2.09073661e+02] [-6.40580939e-01 -7.66575564e-01 -4.49217636e-02 1.31460233e+02] [-6.39645933e-02 -5.02847110e-03 9.97939500e-01 7.70466922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:131.46, Z:0.77 [[-7.63979587e-01 6.43595161e-01 -4.60484525e-02 2.09070331e+02] [-6.42029951e-01 -7.65350344e-01 -4.51264167e-02 1.31459378e+02] [-6.42863424e-02 -4.91117553e-03 9.97919409e-01 7.69845417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:131.45, Z:0.77 [[-7.62633461e-01 6.45165722e-01 -4.63831437e-02 2.09059479e+02] [-6.43582254e-01 -7.64027628e-01 -4.54275848e-02 1.31452243e+02] [-6.47463238e-02 -4.79322803e-03 9.97890244e-01 7.68713772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:131.46, Z:0.77 [[-7.61142577e-01 6.46933541e-01 -4.62490157e-02 2.09063452e+02] [-6.45364401e-01 -7.62532474e-01 -4.52660471e-02 1.31459703e+02] [-6.45505005e-02 -4.60644739e-03 9.97903810e-01 7.69283594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:131.45, Z:0.77 [[-7.59873977e-01 6.48441798e-01 -4.59866782e-02 2.09041869e+02] [-6.46894855e-01 -7.61251329e-01 -4.49828908e-02 1.31446878e+02] [-6.41762064e-02 -4.43278253e-03 9.97928737e-01 7.68734110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:131.45, Z:0.77 [[-7.60773488e-01 6.47382732e-01 -4.60358319e-02 2.09045303e+02] [-6.45832273e-01 -7.62151749e-01 -4.50042925e-02 1.31452857e+02] [-6.42212916e-02 -4.50664663e-03 9.97925506e-01 7.70090981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:131.45, Z:0.77 [[-7.62502444e-01 6.45325302e-01 -4.63171436e-02 2.09045365e+02] [-6.43753803e-01 -7.63893498e-01 -4.52522294e-02 1.31453279e+02] [-6.45837735e-02 -4.68809817e-03 9.97901277e-01 7.70196648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:131.47, Z:0.77 [[-7.64566822e-01 6.42851343e-01 -4.66875250e-02 2.09060177e+02] [-6.41251785e-01 -7.65975186e-01 -4.55868606e-02 1.31467216e+02] [-6.50670602e-02 -4.91574237e-03 9.97868786e-01 7.71513252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:131.47, Z:0.77 [[-7.68422494e-01 6.38194580e-01 -4.72710141e-02 2.09065387e+02] [-6.36547797e-01 -7.69856471e-01 -4.61293519e-02 1.31470523e+02] [-6.58313984e-02 -5.35657180e-03 9.97816383e-01 7.71335827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:131.47, Z:0.77 [[-7.70000424e-01 6.36315175e-01 -4.69291517e-02 2.09066647e+02] [-6.34691350e-01 -7.71409968e-01 -4.57553450e-02 1.31471298e+02] [-6.53164358e-02 -5.44610837e-03 9.97849740e-01 7.71184215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:131.47, Z:0.77 [[-7.70772285e-01 6.35418075e-01 -4.64107099e-02 2.09066231e+02] [-6.33830047e-01 -7.72149122e-01 -4.52239389e-02 1.31470642e+02] [-6.45720971e-02 -5.44085624e-03 9.97898212e-01 7.71228656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:131.47, Z:0.77 [[-7.70804758e-01 6.35373734e-01 -4.64784148e-02 2.09066101e+02] [-6.33782686e-01 -7.72185670e-01 -4.52636538e-02 1.31470800e+02] [-6.46493026e-02 -5.43222513e-03 9.97893260e-01 7.71147650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:131.47, Z:0.77 [[-7.69930990e-01 6.36383595e-01 -4.71401063e-02 2.09059424e+02] [-6.34750500e-01 -7.71353827e-01 -4.58811195e-02 1.31465129e+02] [-6.55596932e-02 -5.40308973e-03 9.97834021e-01 7.70633883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:131.46, Z:0.77 [[-7.68297817e-01 6.38315477e-01 -4.76635690e-02 2.09053757e+02] [-6.36651328e-01 -7.69756791e-01 -4.63634553e-02 1.31460642e+02] [-6.62838670e-02 -5.27586703e-03 9.97786858e-01 7.70641886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:131.46, Z:0.77 [[-7.68482872e-01 6.38091669e-01 -4.76770249e-02 2.09052085e+02] [-6.36427942e-01 -7.69942327e-01 -4.63496141e-02 1.31458888e+02] [-6.62838621e-02 -5.27589367e-03 9.97786858e-01 7.70472684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:131.44, Z:0.77 [[-7.64451591e-01 6.42850979e-01 -4.85426018e-02 2.09033587e+02] [-6.41137533e-01 -7.65975391e-01 -4.71631623e-02 1.31442905e+02] [-6.75013234e-02 -4.93147047e-03 9.97706997e-01 7.68523789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:131.44, Z:0.77 [[-7.62755552e-01 6.44842689e-01 -4.88044531e-02 2.09027487e+02] [-6.43116604e-01 -7.64300498e-01 -4.73896872e-02 1.31438203e+02] [-6.78601611e-02 -4.75979290e-03 9.97683488e-01 7.67805181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:131.44, Z:0.77 [[-7.61596621e-01 6.46224225e-01 -4.86295911e-02 2.09031488e+02] [-6.44515171e-01 -7.63133738e-01 -4.71920814e-02 1.31444473e+02] [-6.76075479e-02 -4.59882050e-03 9.97701393e-01 7.67771789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.42, Z:0.77 [[-7.61000796e-01 6.46976616e-01 -4.79483755e-02 2.08998776e+02] [-6.45318450e-01 -7.62496870e-01 -4.65039968e-02 1.31416571e+02] [-6.66474847e-02 -4.44760725e-03 9.97766672e-01 7.65049959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.43, Z:0.77 [[-7.60932853e-01 6.47119777e-01 -4.70870256e-02 2.09013346e+02] [-6.45522738e-01 -7.62376026e-01 -4.56419748e-02 1.31434382e+02] [-6.54338440e-02 -4.33473241e-03 9.97847494e-01 7.66541837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.43, Z:0.77 [[-7.62365305e-01 6.45527426e-01 -4.57546152e-02 2.09005099e+02] [-6.44018381e-01 -7.63724844e-01 -4.43247896e-02 1.31429314e+02] [-6.35568037e-02 -4.32486849e-03 9.97968851e-01 7.65712196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.44, Z:0.77 [[-7.63761418e-01 6.43879581e-01 -4.56900626e-02 2.09014615e+02] [-6.42373544e-01 -7.65113985e-01 -4.42359516e-02 1.31437709e+02] [-6.34407319e-02 -4.43562568e-03 9.97975751e-01 7.66086783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:131.44, Z:0.77 [[-7.65161794e-01 6.42223570e-01 -4.55665993e-02 2.09019009e+02] [-6.40724411e-01 -7.66503926e-01 -4.40903627e-02 1.31441098e+02] [-6.32428474e-02 -4.54062850e-03 9.97987838e-01 7.65579156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.43, Z:0.76 [[-7.66311482e-01 6.40847379e-01 -4.56218047e-02 2.09009223e+02] [-6.39343815e-01 -7.67654289e-01 -4.41177814e-02 1.31431454e+02] [-6.32945387e-02 -4.63994380e-03 9.97984104e-01 7.64093041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:131.44, Z:0.77 [[-7.66690812e-01 6.40349216e-01 -4.62393746e-02 2.09019592e+02] [-6.38805442e-01 -7.68069375e-01 -4.46882838e-02 1.31442890e+02] [-6.41311551e-02 -4.72413246e-03 9.97930297e-01 7.65026359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.43, Z:0.76 [[-7.66108025e-01 6.41017256e-01 -4.66408759e-02 2.09007541e+02] [-6.39449480e-01 -7.67512148e-01 -4.50495848e-02 1.31431957e+02] [-6.46750000e-02 -4.68836454e-03 9.97895367e-01 7.63768597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.42, Z:0.76 [[-7.65334591e-01 6.41940725e-01 -4.66376395e-02 2.08995596e+02] [-6.40376575e-01 -7.66740530e-01 -4.50200191e-02 1.31422212e+02] [-6.46591521e-02 -4.58972606e-03 9.97896853e-01 7.62700738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.64766044e-01 6.42630931e-01 -4.64584075e-02 2.08997923e+02] [-6.41081759e-01 -7.66162707e-01 -4.48205834e-02 1.31426645e+02] [-6.43977925e-02 -4.49362262e-03 9.97914191e-01 7.62940700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.42, Z:0.76 [[-7.64399799e-01 6.43072201e-01 -4.63798568e-02 2.08993589e+02] [-6.41530783e-01 -7.65792748e-01 -4.47182561e-02 1.31424692e+02] [-6.42744253e-02 -4.42852012e-03 9.97922435e-01 7.62339590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.64363909e-01 6.43123457e-01 -4.62604928e-02 2.08997760e+02] [-6.41591756e-01 -7.65749909e-01 -4.45768451e-02 1.31430292e+02] [-6.40923829e-02 -4.39258080e-03 9.97934302e-01 7.62696606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.43, Z:0.76 [[-7.65187956e-01 6.42141645e-01 -4.62763421e-02 2.08991723e+02] [-6.40608810e-01 -7.66573056e-01 -4.45657039e-02 1.31425320e+02] [-6.40916914e-02 -4.45610745e-03 9.97934065e-01 7.61995258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.66420917e-01 6.40660875e-01 -4.63963441e-02 2.08997252e+02] [-6.39119079e-01 -7.67810356e-01 -4.46549056e-02 1.31431165e+02] [-6.42322444e-02 -4.57166497e-03 9.97924506e-01 7.62729874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.67932750e-01 6.38842843e-01 -4.64662653e-02 2.08999755e+02] [-6.37294990e-01 -7.69322855e-01 -4.46927396e-02 1.31434445e+02] [-6.42991967e-02 -4.70830038e-03 9.97919559e-01 7.63446504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.44, Z:0.76 [[-7.69520547e-01 6.36906822e-01 -4.67742278e-02 2.09005534e+02] [-6.35337221e-01 -7.70925382e-01 -4.49518743e-02 1.31440933e+02] [-6.46895948e-02 -4.87398298e-03 9.97893532e-01 7.64157609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.44, Z:0.76 [[-7.70872349e-01 6.35261649e-01 -4.68877279e-02 2.09003652e+02] [-6.33683081e-01 -7.72280774e-01 -4.50350892e-02 1.31439834e+02] [-6.48195558e-02 -5.00434514e-03 9.97884453e-01 7.64041101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:131.45, Z:0.77 [[-7.72860585e-01 6.32840127e-01 -4.69029947e-02 2.09015995e+02] [-6.31258715e-01 -7.74265174e-01 -4.50097345e-02 1.31453123e+02] [-6.47993214e-02 -5.17832562e-03 9.97884880e-01 7.65358599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.43, Z:0.76 [[-7.73660242e-01 6.31856532e-01 -4.69803486e-02 2.08989835e+02] [-6.30269799e-01 -7.75067590e-01 -4.50578776e-02 1.31428411e+02] [-6.48830599e-02 -5.24919366e-03 9.97879068e-01 7.62434326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.45, Z:0.76 [[-7.74090102e-01 6.31332001e-01 -4.69512303e-02 2.09008038e+02] [-6.29747974e-01 -7.75494768e-01 -4.50039330e-02 1.31445768e+02] [-6.48228565e-02 -5.26965689e-03 9.97882873e-01 7.63935158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.44, Z:0.76 [[-7.74229649e-01 6.31147521e-01 -4.71302173e-02 2.09004408e+02] [-6.29552755e-01 -7.75644814e-01 -4.51492152e-02 1.31441492e+02] [-6.50521239e-02 -5.28490286e-03 9.97867873e-01 7.63095259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.44, Z:0.76 [[-7.74158303e-01 6.31256807e-01 -4.68376487e-02 2.08999692e+02] [-6.29683662e-01 -7.75556294e-01 -4.48432934e-02 1.31436047e+02] [-6.46328674e-02 -5.22290579e-03 9.97895442e-01 7.62848973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.73967435e-01 6.31517651e-01 -4.64743712e-02 2.08998819e+02] [-6.29970941e-01 -7.75344458e-01 -4.44700381e-02 1.31433310e+02] [-6.41172601e-02 -5.14085796e-03 9.97929130e-01 7.62487301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.73947557e-01 6.31537753e-01 -4.65322080e-02 2.08997286e+02] [-6.29988883e-01 -7.75328186e-01 -4.44995670e-02 1.31430810e+02] [-6.41808889e-02 -5.12555744e-03 9.97925119e-01 7.62330993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.42, Z:0.76 [[-7.74050302e-01 6.31352108e-01 -4.73354533e-02 2.08983822e+02] [-6.29750640e-01 -7.75478806e-01 -4.52410534e-02 1.31417318e+02] [-6.52706753e-02 -5.20931905e-03 9.97853998e-01 7.61232596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.74067214e-01 6.31286206e-01 -4.79340688e-02 2.09002143e+02] [-6.29645589e-01 -7.75532113e-01 -4.57861782e-02 1.31433601e+02] [-6.60785924e-02 -5.26010442e-03 9.97800557e-01 7.62777470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.42, Z:0.76 [[-7.74003346e-01 6.31333592e-01 -4.83395895e-02 2.08989368e+02] [-6.29666954e-01 -7.75493404e-01 -4.61465811e-02 1.31420491e+02] [-6.66209196e-02 -5.27976618e-03 9.97764390e-01 7.62284306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.43, Z:0.76 [[-7.74300631e-01 6.31039604e-01 -4.74083453e-02 2.09002156e+02] [-6.29437771e-01 -7.75733304e-01 -4.52319882e-02 1.31431148e+02] [-6.53194083e-02 -5.18255377e-03 9.97850949e-01 7.63532281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.42, Z:0.76 [[-7.74935100e-01 6.30332378e-01 -4.64401080e-02 2.08991230e+02] [-6.28795731e-01 -7.76308526e-01 -4.42832014e-02 1.31419848e+02] [-6.39649874e-02 -5.11526549e-03 9.97939033e-01 7.62462438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.41, Z:0.76 [[-7.76018998e-01 6.29018719e-01 -4.61515566e-02 2.08986263e+02] [-6.27500436e-01 -7.77372953e-01 -4.39828964e-02 1.31413367e+02] [-6.35430370e-02 -5.17144130e-03 9.97965700e-01 7.61993788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.42, Z:0.76 [[-7.77426460e-01 6.27298523e-01 -4.58765988e-02 2.08991788e+02] [-6.25796929e-01 -7.78761123e-01 -4.36957217e-02 1.31415899e+02] [-6.31371732e-02 -5.26077559e-03 9.97990993e-01 7.62341119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.42, Z:0.76 [[-7.78936934e-01 6.25410927e-01 -4.60263523e-02 2.08995531e+02] [-6.23897862e-01 -7.80276801e-01 -4.38129144e-02 1.31415702e+02] [-6.33143703e-02 -5.41175442e-03 9.97978959e-01 7.62012591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.40, Z:0.76 [[-7.80330980e-01 6.23611730e-01 -4.68185096e-02 2.08986304e+02] [-6.22044562e-01 -7.81713934e-01 -4.45408484e-02 1.31402596e+02] [-6.43748769e-02 -5.63340450e-03 9.97909886e-01 7.60249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:131.43, Z:0.76 [[-7.82651742e-01 6.20589026e-01 -4.82235636e-02 2.09020310e+02] [-6.18922412e-01 -7.84112749e-01 -4.58502504e-02 1.31428291e+02] [-6.62668732e-02 -6.03813404e-03 9.97783665e-01 7.62893351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.41, Z:0.76 [[-7.83518005e-01 6.19542181e-01 -4.76132509e-02 2.09008114e+02] [-6.17917313e-01 -7.84940214e-01 -4.52443899e-02 1.31413918e+02] [-6.54043634e-02 -6.02874204e-03 9.97840630e-01 7.61596744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:131.41, Z:0.76 [[-7.84009099e-01 6.19016018e-01 -4.63562601e-02 2.09009273e+02] [-6.17476562e-01 -7.85356255e-01 -4.40255422e-02 1.31412162e+02] [-6.36586947e-02 -5.89252152e-03 9.97954332e-01 7.61339109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.39, Z:0.76 [[-7.84108969e-01 6.18972634e-01 -4.52327615e-02 2.08992458e+02] [-6.17508391e-01 -7.85391623e-01 -4.29346808e-02 1.31392859e+02] [-6.21008244e-02 -5.73385859e-03 9.98053411e-01 7.59463331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.39, Z:0.76 [[-7.84006566e-01 6.19090556e-01 -4.53937025e-02 2.08991576e+02] [-6.17617605e-01 -7.85298735e-01 -4.30626480e-02 1.31389239e+02] [-6.23072958e-02 -5.72544897e-03 9.98040590e-01 7.58818510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.40, Z:0.76 [[-7.83584323e-01 6.19565351e-01 -4.61994066e-02 2.09002405e+02] [-6.18042036e-01 -7.84923880e-01 -4.38011920e-02 1.31396880e+02] [-6.34007184e-02 -5.76875201e-03 9.97971478e-01 7.59966174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.38, Z:0.76 [[-7.82705990e-01 6.20548757e-01 -4.78599380e-02 2.08990051e+02] [-6.18917417e-01 -7.84145871e-01 -4.53484763e-02 1.31380691e+02] [-6.56701133e-02 -5.87317484e-03 9.97824104e-01 7.58598032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:131.39, Z:0.76 [[-7.82444005e-01 6.20882171e-01 -4.78195425e-02 2.09002036e+02] [-6.19255913e-01 -7.83882300e-01 -4.52841540e-02 1.31390102e+02] [-6.56010168e-02 -5.81978040e-03 9.97828962e-01 7.59496829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.38, Z:0.76 [[-7.82034845e-01 6.21422613e-01 -4.74914434e-02 2.08992690e+02] [-6.19821285e-01 -7.83454709e-01 -4.49476849e-02 1.31379407e+02] [-6.51389028e-02 -5.71444827e-03 9.97859844e-01 7.58113574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.37, Z:0.76 [[-7.81568079e-01 6.22055635e-01 -4.68841689e-02 2.08988841e+02] [-6.20497787e-01 -7.82953236e-01 -4.43477833e-02 1.31374242e+02] [-6.42949003e-02 -5.56928871e-03 9.97915402e-01 7.57562043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:131.36, Z:0.76 [[-7.81235940e-01 6.22531497e-01 -4.60970840e-02 2.08971711e+02] [-6.21027956e-01 -7.82575993e-01 -4.35785775e-02 1.31356767e+02] [-6.32035083e-02 -5.41757308e-03 9.97985955e-01 7.55648531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.36, Z:0.76 [[-7.80958126e-01 6.22949725e-01 -4.51447309e-02 2.08977261e+02] [-6.21509927e-01 -7.82244237e-01 -4.26540117e-02 1.31361485e+02] [-6.18855104e-02 -5.25309861e-03 9.98069431e-01 7.55262565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:131.36, Z:0.76 [[-7.81344406e-01 6.22482029e-01 -4.49114999e-02 2.08973935e+02] [-6.21057842e-01 -7.82616529e-01 -4.24090316e-02 1.31358173e+02] [-6.15473421e-02 -5.24342039e-03 9.98090392e-01 7.55043919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:131.36, Z:0.75 [[-7.81525064e-01 6.22254308e-01 -4.49238242e-02 2.08972234e+02] [-6.20830491e-01 -7.82797600e-01 -4.23959721e-02 1.31356441e+02] [-6.15473380e-02 -5.24343494e-03 9.98090393e-01 7.54874736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.36, Z:0.76 [[-7.82401136e-01 6.21176680e-01 -4.45869323e-02 2.08979365e+02] [-6.19773923e-01 -7.83652837e-01 -4.20537192e-02 1.31362253e+02] [-6.10634656e-02 -5.26905976e-03 9.98119978e-01 7.55906568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.36, Z:0.76 [[-7.84984385e-01 6.17905835e-01 -4.46306485e-02 2.08980436e+02] [-6.16496599e-01 -7.86232802e-01 -4.20704756e-02 1.31358522e+02] [-6.10856721e-02 -5.51002340e-03 9.98117318e-01 7.55546501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.35, Z:0.76 [[-7.86339902e-01 6.16155110e-01 -4.49715398e-02 2.08978865e+02] [-6.14722944e-01 -7.87604427e-01 -4.23670829e-02 1.31354275e+02] [-6.15244785e-02 -5.66989050e-03 9.98089470e-01 7.55185121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.36, Z:0.76 [[-7.87459448e-01 6.14707098e-01 -4.51973719e-02 2.08989773e+02] [-6.13259687e-01 -7.88734195e-01 -4.25549716e-02 1.31362181e+02] [-6.18075558e-02 -5.79258828e-03 9.98071276e-01 7.56363414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.171400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:209.00, Y:131.37, Z:0.76 [[-7.88408400e-01 6.13491766e-01 -4.51668858e-02 2.08997448e+02] [-6.12045865e-01 -7.89679340e-01 -4.25017510e-02 1.31367126e+02] [-6.17418309e-02 -5.86453185e-03 9.98074924e-01 7.56408113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.36, Z:0.76 [[-7.89037556e-01 6.12699984e-01 -4.49273350e-02 2.08991416e+02] [-6.11269615e-01 -7.90293745e-01 -4.22522770e-02 1.31359060e+02] [-6.13937613e-02 -5.87591863e-03 9.98096328e-01 7.56039804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.36, Z:0.76 [[-7.89372062e-01 6.12330947e-01 -4.40744648e-02 2.08994081e+02] [-6.10955260e-01 -7.90580467e-01 -4.14269950e-02 1.31355351e+02] [-6.02114420e-02 -5.77378638e-03 9.98168946e-01 7.56088137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.35, Z:0.76 [[-7.89139904e-01 6.12597014e-01 -4.45321304e-02 2.08989779e+02] [-6.11194471e-01 -7.90374168e-01 -4.18329274e-02 1.31346624e+02] [-6.08237719e-02 -5.79424046e-03 9.98131703e-01 7.55396486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.34, Z:0.76 [[-7.88800282e-01 6.13010799e-01 -4.48539265e-02 2.08991823e+02] [-6.11590042e-01 -7.90053350e-01 -4.21108654e-02 1.31344345e+02] [-6.12514102e-02 -5.78484774e-03 9.98105606e-01 7.56020259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.34, Z:0.76 [[-7.88411955e-01 6.13449763e-01 -4.56724942e-02 2.08994976e+02] [-6.11978909e-01 -7.89712180e-01 -4.28542711e-02 1.31344207e+02] [-6.23570674e-02 -5.83621646e-03 9.98036840e-01 7.56710002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:131.34, Z:0.76 [[-7.88048125e-01 6.13853989e-01 -4.65127257e-02 2.08990669e+02] [-6.12330768e-01 -7.89397602e-01 -4.36171616e-02 1.31337857e+02] [-6.34916028e-02 -5.89124938e-03 9.97964984e-01 7.56874730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.32, Z:0.76 [[-7.87765684e-01 6.14175798e-01 -4.70458946e-02 2.08978296e+02] [-6.12619624e-01 -7.89147091e-01 -4.40915607e-02 1.31323589e+02] [-6.42061003e-02 -5.91258028e-03 9.97919144e-01 7.56377154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.32, Z:0.76 [[-7.87942771e-01 6.13947620e-01 -4.70585787e-02 2.08976582e+02] [-6.12391842e-01 -7.89324623e-01 -4.40780187e-02 1.31321858e+02] [-6.42060896e-02 -5.91266649e-03 9.97919144e-01 7.56207969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.31, Z:0.75 [[-7.87403669e-01 6.14635975e-01 -4.70964913e-02 2.08976974e+02] [-6.13080543e-01 -7.88789262e-01 -4.40879610e-02 1.31313530e+02] [-6.42472535e-02 -5.84107975e-03 9.97916917e-01 7.54607563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.31, Z:0.75 [[-7.87288674e-01 6.14817142e-01 -4.66521763e-02 2.08982617e+02] [-6.13292865e-01 -7.88648721e-01 -4.36469655e-02 1.31314077e+02] [-6.36270817e-02 -5.75131475e-03 9.97957172e-01 7.54173050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:131.30, Z:0.75 [[-7.87399102e-01 6.14693213e-01 -4.64209990e-02 2.08976063e+02] [-6.13185397e-01 -7.88745597e-01 -4.34056670e-02 1.31304246e+02] [-6.32955274e-02 -5.71290447e-03 9.97978476e-01 7.52757466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:131.30, Z:0.75 [[-7.87598573e-01 6.14439429e-01 -4.63969332e-02 2.08969459e+02] [-6.12934336e-01 -7.88943331e-01 -4.33580507e-02 1.31295618e+02] [-6.32454469e-02 -5.71046543e-03 9.97981665e-01 7.52606264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:131.29, Z:0.75 [[-7.87704246e-01 6.14241201e-01 -4.72204083e-02 2.08967183e+02] [-6.12683480e-01 -7.89096963e-01 -4.41014271e-02 1.31290907e+02] [-6.43503943e-02 -5.80771729e-03 9.97910466e-01 7.53004696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.591400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.97, Y:131.29, Z:0.75 [[-7.87723503e-01 6.14124611e-01 -4.84008806e-02 2.08971367e+02] [-6.12489506e-01 -7.89186706e-01 -4.51768541e-02 1.31292287e+02] [-6.59415495e-02 -5.94183830e-03 9.97805796e-01 7.53659748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:131.29, Z:0.75 [[-7.86328734e-01 6.15781934e-01 -4.99973261e-02 2.08971043e+02] [-6.14042249e-01 -7.87893986e-01 -4.66388561e-02 1.31285139e+02] [-6.81119575e-02 -5.97300210e-03 9.97659804e-01 7.54035888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:131.27, Z:0.75 [[-7.85652679e-01 6.16660707e-01 -4.97939809e-02 2.08952826e+02] [-6.14938733e-01 -7.87207300e-01 -4.64222044e-02 1.31265144e+02] [-6.78249346e-02 -5.85148169e-03 9.97680078e-01 7.51616716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:131.27, Z:0.75 [[-7.84981316e-01 6.17549201e-01 -4.93691972e-02 2.08962826e+02] [-6.15860057e-01 -7.86511568e-01 -4.59993866e-02 1.31271795e+02] [-6.72363292e-02 -5.70414247e-03 9.97720772e-01 7.51982013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:131.25, Z:0.75 [[-7.84564091e-01 6.18116403e-01 -4.89009177e-02 2.08947334e+02] [-6.16462050e-01 -7.86066771e-01 -4.55364955e-02 1.31254207e+02] [-6.65862413e-02 -5.58073926e-03 9.97765066e-01 7.50458818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:131.25, Z:0.75 [[-7.84261992e-01 6.18525968e-01 -4.85670071e-02 2.08945524e+02] [-6.16896690e-01 -7.85745200e-01 -4.51990573e-02 1.31248511e+02] [-6.61180833e-02 -5.48707678e-03 9.97796718e-01 7.50210361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:131.24, Z:0.75 [[-7.83406548e-01 6.19637751e-01 -4.81999861e-02 2.08948802e+02] [-6.18036848e-01 -7.84869818e-01 -4.48310522e-02 1.31243025e+02] [-6.56097267e-02 -5.33157234e-03 9.97831117e-01 7.50550646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:131.23, Z:0.75 [[-7.82782927e-01 6.20443889e-01 -4.79611355e-02 2.08937936e+02] [-6.18862049e-01 -7.84233487e-01 -4.45825215e-02 1.31230364e+02] [-6.52736816e-02 -5.21711006e-03 9.97853761e-01 7.49152687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:131.23, Z:0.75 [[-7.82126566e-01 6.21316729e-01 -4.73662027e-02 2.08936481e+02] [-6.19777190e-01 -7.83543183e-01 -4.40035781e-02 1.31228428e+02] [-6.44536245e-02 -5.05987545e-03 9.97907876e-01 7.48933215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:131.22, Z:0.75 [[-7.81517594e-01 6.22126516e-01 -4.67851246e-02 2.08932560e+02] [-6.20627633e-01 -7.82901319e-01 -4.34380585e-02 1.31224427e+02] [-6.36521037e-02 -4.91146587e-03 9.97960063e-01 7.48184103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:131.22, Z:0.75 [[-7.81053161e-01 6.22749203e-01 -4.62535288e-02 2.08928131e+02] [-6.21286909e-01 -7.82406883e-01 -4.29190650e-02 1.31218699e+02] [-6.29168928e-02 -4.78535942e-03 9.98007297e-01 7.47252269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:131.22, Z:0.75 [[-7.80991080e-01 6.22838734e-01 -4.60960426e-02 2.08929454e+02] [-6.21388154e-01 -7.82335879e-01 -4.27473280e-02 1.31217524e+02] [-6.26872796e-02 -4.74174704e-03 9.98021954e-01 7.47204480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:131.20, Z:0.75 [[-7.81319178e-01 6.22406419e-01 -4.63744674e-02 2.08918376e+02] [-6.20939134e-01 -7.82679598e-01 -4.29795097e-02 1.31204594e+02] [-6.30470723e-02 -4.78499356e-03 9.97999083e-01 7.46165979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:131.20, Z:0.75 [[-7.81914049e-01 6.21635735e-01 -4.66844016e-02 2.08918526e+02] [-6.20149062e-01 -7.83291391e-01 -4.32404731e-02 1.31202935e+02] [-6.34473131e-02 -4.85904551e-03 9.97973360e-01 7.46351988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:131.21, Z:0.75 [[-7.82837775e-01 6.20487464e-01 -4.64792957e-02 2.08926576e+02] [-6.19013480e-01 -7.84200995e-01 -4.30245419e-02 1.31206918e+02] [-6.31452988e-02 -4.90992609e-03 9.97992266e-01 7.47847172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:131.20, Z:0.75 [[-7.83322603e-01 6.19899654e-01 -4.61532127e-02 2.08918057e+02] [-6.18446902e-01 -7.84665780e-01 -4.26971058e-02 1.31195680e+02] [-6.26827677e-02 -4.90229665e-03 9.98021462e-01 7.46614252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:131.20, Z:0.75 [[-7.83782259e-01 6.19297481e-01 -4.64327544e-02 2.08922394e+02] [-6.17827661e-01 -7.85140770e-01 -4.29296252e-02 1.31195946e+02] [-6.30424573e-02 -4.96003859e-03 9.97998520e-01 7.46132804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:131.18, Z:0.74 [[-7.84002717e-01 6.18982511e-01 -4.69083234e-02 2.08908761e+02] [-6.17483528e-01 -7.85388753e-01 -4.33428131e-02 1.31180383e+02] [-6.36697128e-02 -5.01576623e-03 9.97958421e-01 7.44199651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:131.19, Z:0.75 [[-7.83979975e-01 6.18975343e-01 -4.73806179e-02 2.08918475e+02] [-6.17447704e-01 -7.85394209e-01 -4.37523677e-02 1.31188050e+02] [-6.42940997e-02 -5.04592646e-03 9.97918237e-01 7.45405253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:131.18, Z:0.75 [[-7.83023000e-01 6.20176359e-01 -4.75001596e-02 2.08916125e+02] [-6.18644898e-01 -7.84446870e-01 -4.38360349e-02 1.31182426e+02] [-6.44474240e-02 -4.93889215e-03 9.97908882e-01 7.45513786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.16, Z:0.74 [[-7.82400065e-01 6.20950319e-01 -4.76533366e-02 2.08890486e+02] [-6.19412101e-01 -7.83834795e-01 -4.39506937e-02 1.31156091e+02] [-6.46435406e-02 -4.86997225e-03 9.97896536e-01 7.42985959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:131.16, Z:0.74 [[-7.81855383e-01 6.21629555e-01 -4.77373735e-02 2.08899138e+02] [-6.20088903e-01 -7.83296652e-01 -4.40012134e-02 1.31161715e+02] [-6.47449795e-02 -4.80116997e-03 9.97890293e-01 7.43400297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:131.16, Z:0.74 [[-7.82045078e-01 6.21389853e-01 -4.77508842e-02 2.08897399e+02] [-6.19849645e-01 -7.83486822e-01 -4.39865463e-02 1.31159988e+02] [-6.47449820e-02 -4.80109344e-03 9.97890293e-01 7.43231067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.16, Z:0.74 [[-7.81419944e-01 6.22182213e-01 -4.76672323e-02 2.08894163e+02] [-6.20650603e-01 -7.82858318e-01 -4.38825931e-02 1.31156128e+02] [-6.46196582e-02 -4.70603691e-03 9.97898869e-01 7.42433470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.14, Z:0.74 [[-7.81613776e-01 6.21983693e-01 -4.70764330e-02 2.08879461e+02] [-6.20491181e-01 -7.83016429e-01 -4.33124376e-02 1.31142181e+02] [-6.38012503e-02 -4.64308647e-03 9.97951824e-01 7.41527514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.14, Z:0.74 [[-7.81912831e-01 6.21610001e-01 -4.70460491e-02 2.08881798e+02] [-6.20120454e-01 -7.83313084e-01 -4.32577650e-02 1.31141739e+02] [-6.37412451e-02 -4.64958417e-03 9.97955628e-01 7.41686749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.14, Z:0.74 [[-7.82492140e-01 6.20875736e-01 -4.71102095e-02 2.08889601e+02] [-6.19382523e-01 -7.83894942e-01 -4.32898408e-02 1.31144860e+02] [-6.38070667e-02 -4.69471975e-03 9.97951210e-01 7.42590471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.14, Z:0.74 [[-7.82901656e-01 6.20329841e-01 -4.74961603e-02 2.08891106e+02] [-6.18812792e-01 -7.84326629e-01 -4.36172920e-02 1.31142078e+02] [-6.43096111e-02 -4.75681863e-03 9.97918657e-01 7.42528539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.13, Z:0.74 [[-7.83312035e-01 6.19814154e-01 -4.74623119e-02 2.08883319e+02] [-6.18300058e-01 -7.84734106e-01 -4.35593918e-02 1.31129730e+02] [-6.42440224e-02 -4.77464558e-03 9.97922797e-01 7.41513413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.13, Z:0.74 [[-7.83409711e-01 6.19753061e-01 -4.66408486e-02 2.08890329e+02] [-6.18292516e-01 -7.84782949e-01 -4.27795280e-02 1.31132916e+02] [-6.31156861e-02 -4.67621002e-03 9.97995262e-01 7.41837460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.13, Z:0.74 [[-7.83369877e-01 6.19838424e-01 -4.61732031e-02 2.08889009e+02] [-6.18408821e-01 -7.84715968e-01 -4.23247033e-02 1.31127829e+02] [-6.24673271e-02 -4.60198158e-03 9.98036400e-01 7.40636514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.12, Z:0.74 [[-7.83188257e-01 6.20116216e-01 -4.55195887e-02 2.08884240e+02] [-6.18728871e-01 -7.84497084e-01 -4.17002408e-02 1.31119666e+02] [-6.15689802e-02 -4.49485520e-03 9.98092710e-01 7.40206984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.12, Z:0.74 [[-7.82837910e-01 6.20551175e-01 -4.56184857e-02 2.08885603e+02] [-6.19160119e-01 -7.84153325e-01 -4.17649462e-02 1.31117317e+02] [-6.16891737e-02 -4.45003616e-03 9.98085489e-01 7.39937968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.11, Z:0.74 [[-7.82588312e-01 6.20846552e-01 -4.58812933e-02 2.08882638e+02] [-6.19441533e-01 -7.83919587e-01 -4.19793926e-02 1.31111399e+02] [-6.20300056e-02 -4.43180338e-03 9.98064446e-01 7.40595917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.10, Z:0.74 [[-7.82314289e-01 6.21184270e-01 -4.59832272e-02 2.08877563e+02] [-6.19775197e-01 -7.83652214e-01 -4.20465410e-02 1.31103241e+02] [-6.21535077e-02 -4.39434609e-03 9.98056928e-01 7.40613511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.10, Z:0.74 [[-7.81892348e-01 6.21701230e-01 -4.61728945e-02 2.08882807e+02] [-6.20283037e-01 -7.83242397e-01 -4.21936161e-02 1.31104189e+02] [-6.23963916e-02 -4.35060233e-03 9.98041964e-01 7.41423720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.08, Z:0.74 [[-7.81539560e-01 6.22138884e-01 -4.62506868e-02 2.08859305e+02] [-6.20718307e-01 -7.82895076e-01 -4.22384113e-02 1.31078359e+02] [-6.24875930e-02 -4.30234137e-03 9.98036468e-01 7.39236236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.08, Z:0.74 [[-7.80750129e-01 6.23046903e-01 -4.73475774e-02 2.08868392e+02] [-6.21561498e-01 -7.82172610e-01 -4.32124074e-02 1.31079144e+02] [-6.39573348e-02 -4.30866153e-03 9.97943332e-01 7.39428170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.07, Z:0.74 [[-7.80711215e-01 6.23087450e-01 -4.74555383e-02 2.08864992e+02] [-6.21597087e-01 -7.82140392e-01 -4.32835748e-02 1.31072926e+02] [-6.40863455e-02 -4.29374789e-03 9.97935120e-01 7.38875934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.08, Z:0.74 [[-7.80737155e-01 6.23075306e-01 -4.71874829e-02 2.08875163e+02] [-6.21603449e-01 -7.82150310e-01 -4.30121543e-02 1.31079547e+02] [-6.37075155e-02 -4.24928483e-03 9.97959566e-01 7.39309729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.07, Z:0.74 [[-7.80817172e-01 6.23051647e-01 -4.61648046e-02 2.08862764e+02] [-6.21644535e-01 -7.82169750e-01 -4.20541760e-02 1.31065815e+02] [-6.23106372e-02 -4.13852426e-03 9.98048224e-01 7.38215098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.07, Z:0.74 [[-7.80692775e-01 6.23257551e-01 -4.54842397e-02 2.08866917e+02] [-6.21893585e-01 -7.82006199e-01 -4.14086264e-02 1.31067348e+02] [-6.13771964e-02 -4.04105858e-03 9.98106462e-01 7.38251027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.05, Z:0.74 [[-7.80538042e-01 6.23473173e-01 -4.51836988e-02 2.08855349e+02] [-6.22129120e-01 -7.81834627e-01 -4.11093096e-02 1.31054462e+02] [-6.09567319e-02 -3.97728530e-03 9.98132485e-01 7.36964262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.06, Z:0.74 [[-7.80504415e-01 6.23498024e-01 -4.54210464e-02 2.08863896e+02] [-6.22141450e-01 -7.81814817e-01 -4.12990220e-02 1.31059486e+02] [-6.12607057e-02 -3.97575338e-03 9.98113881e-01 7.37563691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.05, Z:0.74 [[-7.80604729e-01 6.23343102e-01 -4.58217606e-02 2.08857997e+02] [-6.21963841e-01 -7.81938206e-01 -4.16367904e-02 1.31051134e+02] [-6.17837913e-02 -4.00239727e-03 9.98081532e-01 7.36904038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:131.04, Z:0.74 [[-7.81675783e-01 6.21961997e-01 -4.63275787e-02 2.08849982e+02] [-6.20551357e-01 -7.83036504e-01 -4.20695466e-02 1.31040223e+02] [-6.24418445e-02 -4.13610393e-03 9.98040034e-01 7.35853296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.05, Z:0.74 [[-7.82432049e-01 6.21000101e-01 -4.64646395e-02 2.08862550e+02] [-6.19581095e-01 -7.83799208e-01 -4.21671551e-02 1.31049583e+02] [-6.26047552e-02 -4.20432142e-03 9.98029543e-01 7.37122877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.04, Z:0.74 [[-7.83406936e-01 6.19753851e-01 -4.66769476e-02 2.08858191e+02] [-6.18321336e-01 -7.84784463e-01 -4.23328721e-02 1.31042345e+02] [-6.28673037e-02 -4.30251298e-03 9.98012620e-01 7.36953027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.04, Z:0.74 [[-7.84545852e-01 6.18301462e-01 -4.68092742e-02 2.08865535e+02] [-6.16859937e-01 -7.85928655e-01 -4.24260209e-02 1.31044142e+02] [-6.30208206e-02 -4.41039274e-03 9.98002467e-01 7.37672823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:131.03, Z:0.74 [[-7.85859962e-01 6.16623847e-01 -4.68951098e-02 2.08859472e+02] [-6.15175760e-01 -7.87244873e-01 -4.24769822e-02 1.31033658e+02] [-6.31102550e-02 -4.53222481e-03 9.97996270e-01 7.37074290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.04, Z:0.74 [[-7.87794724e-01 6.14184271e-01 -4.64451738e-02 2.08875044e+02] [-6.12761307e-01 -7.89148878e-01 -4.20431910e-02 1.31040006e+02] [-6.24744233e-02 -4.66159865e-03 9.98035679e-01 7.38229744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.04, Z:0.74 [[-7.88524195e-01 6.13226667e-01 -4.67188237e-02 2.08882540e+02] [-6.11786888e-01 -7.89892744e-01 -4.22641409e-02 1.31044201e+02] [-6.28203581e-02 -4.74433396e-03 9.98013574e-01 7.38924916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.04, Z:0.74 [[-7.88977297e-01 6.12576656e-01 -4.75884976e-02 2.08878015e+02] [-6.11083295e-01 -7.90396218e-01 -4.30235451e-02 1.31036928e+02] [-6.39689879e-02 -4.86406435e-03 9.97940033e-01 7.38459398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.03, Z:0.74 [[-7.89265511e-01 6.12119004e-01 -4.86855013e-02 2.08874418e+02] [-6.10556891e-01 -7.90749898e-01 -4.39872907e-02 1.31030344e+02] [-6.54235118e-02 -4.99238319e-03 9.97845098e-01 7.38295293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.03, Z:0.74 [[-7.89558440e-01 6.11688621e-01 -4.93406625e-02 2.08881402e+02] [-6.10085172e-01 -7.91082353e-01 -4.45510235e-02 1.31033098e+02] [-6.62838815e-02 -5.07363008e-03 9.97787906e-01 7.39556620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.02, Z:0.74 [[-7.89968698e-01 6.11157914e-01 -4.93503845e-02 2.08872389e+02] [-6.09554654e-01 -7.91492276e-01 -4.45320219e-02 1.31021656e+02] [-6.62765458e-02 -5.09714685e-03 9.97788273e-01 7.38653019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.271400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.87, Y:131.02, Z:0.74 [[-7.90468096e-01 6.10558106e-01 -4.87748717e-02 2.08872216e+02] [-6.08992718e-01 -7.91955263e-01 -4.39855794e-02 1.31018409e+02] [-6.54832684e-02 -5.06565544e-03 9.97840809e-01 7.37821091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.02, Z:0.74 [[-7.91072662e-01 6.09840635e-01 -4.79420967e-02 2.08874819e+02] [-6.08328719e-01 -7.92508195e-01 -4.32079910e-02 1.31017112e+02] [-6.43444931e-02 -5.01610622e-03 9.97915139e-01 7.38075785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.02, Z:0.74 [[-7.91261715e-01 6.09594262e-01 -4.79555358e-02 2.08873042e+02] [-6.08082794e-01 -7.92697719e-01 -4.31930700e-02 1.31015387e+02] [-6.43444914e-02 -5.01608645e-03 9.97915139e-01 7.37906600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.01, Z:0.74 [[-7.92380897e-01 6.08232237e-01 -4.67553181e-02 2.08871384e+02] [-6.06794827e-01 -7.93743516e-01 -4.20864426e-02 1.31006375e+02] [-6.27100617e-02 -4.97760793e-03 9.98019374e-01 7.37538669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.01, Z:0.74 [[-7.93235395e-01 6.07160058e-01 -4.61981719e-02 2.08878895e+02] [-6.05756535e-01 -7.94563936e-01 -4.15592509e-02 1.31010234e+02] [-6.19405186e-02 -4.98142429e-03 9.98067411e-01 7.38377298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:131.00, Z:0.74 [[-7.94070363e-01 6.06076275e-01 -4.60847822e-02 2.08870403e+02] [-6.04679435e-01 -7.95390607e-01 -4.14314281e-02 1.31000048e+02] [-6.17660085e-02 -5.03294914e-03 9.98077968e-01 7.37192691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.00, Z:0.74 [[-7.94938658e-01 6.04929612e-01 -4.61811007e-02 2.08877743e+02] [-6.03526620e-01 -7.96262539e-01 -4.14920268e-02 1.31004695e+02] [-6.18720362e-02 -5.11209251e-03 9.98070998e-01 7.37923039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:131.00, Z:0.74 [[-7.95468319e-01 6.04187051e-01 -4.67777810e-02 2.08876466e+02] [-6.02747932e-01 -7.96825454e-01 -4.20015064e-02 1.31001370e+02] [-6.26504929e-02 -5.21565690e-03 9.98021900e-01 7.37504748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:131.01, Z:0.74 [[-7.95651624e-01 6.03888353e-01 -4.75115834e-02 2.08888550e+02] [-6.02404871e-01 -7.97051295e-01 -4.26333717e-02 1.31010140e+02] [-6.36149657e-02 -5.30010209e-03 9.97960443e-01 7.38289957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:130.99, Z:0.74 [[-7.95892843e-01 6.03541957e-01 -4.78715926e-02 2.08864849e+02] [-6.02036987e-01 -7.97313312e-01 -4.29295903e-02 1.30987076e+02] [-6.40784670e-02 -5.34688434e-03 9.97930539e-01 7.35656767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:130.99, Z:0.74 [[-7.96035915e-01 6.03377354e-01 -4.75667082e-02 2.08873119e+02] [-6.01892905e-01 -7.97438166e-01 -4.26298306e-02 1.30990401e+02] [-6.36533829e-02 -5.30481204e-03 9.97957968e-01 7.36443866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:130.99, Z:0.74 [[-7.95986570e-01 6.03499123e-01 -4.68421836e-02 2.08874280e+02] [-6.02061434e-01 -7.97346748e-01 -4.19546521e-02 1.30988964e+02] [-6.26690585e-02 -5.19346731e-03 9.98020850e-01 7.36587400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:130.99, Z:0.74 [[-7.95902634e-01 6.03691812e-01 -4.57732864e-02 2.08873699e+02] [-6.02320903e-01 -7.97201854e-01 -4.09723576e-02 1.30986563e+02] [-6.12252256e-02 -5.03980013e-03 9.98111252e-01 7.36386801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:130.97, Z:0.73 [[-7.95731196e-01 6.03991216e-01 -4.47936852e-02 2.08857094e+02] [-6.02680347e-01 -7.96975974e-01 -4.00711389e-02 1.30970620e+02] [-5.99021068e-02 -4.88958150e-03 9.98192281e-01 7.34602821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.691400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.86, Y:130.97, Z:0.73 [[-7.95618345e-01 6.04174282e-01 -4.43270398e-02 2.08860332e+02] [-6.02892349e-01 -7.96837717e-01 -3.96291468e-02 1.30973454e+02] [-5.92643685e-02 -4.80524300e-03 9.98230757e-01 7.34645976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:130.97, Z:0.74 [[-7.95460760e-01 6.04358305e-01 -4.46454640e-02 2.08857014e+02] [-6.03059670e-01 -7.96698150e-01 -3.98884965e-02 1.30970836e+02] [-5.96759027e-02 -4.80585502e-03 9.98206236e-01 7.35334061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:130.96, Z:0.74 [[-7.95192053e-01 6.04670396e-01 -4.52029982e-02 2.08848668e+02] [-6.03341144e-01 -7.96461212e-01 -4.03609009e-02 1.30963497e+02] [-6.04074767e-02 -4.82183906e-03 9.98162155e-01 7.35289667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.781400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:208.84, Y:130.96, Z:0.74 [[-7.94447431e-01 6.05531139e-01 -4.67473951e-02 2.08844948e+02] [-6.04112579e-01 -7.95806542e-01 -4.17125946e-02 1.30958994e+02] [-6.24601578e-02 -4.89777426e-03 9.98035441e-01 7.35511417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:130.96, Z:0.74 [[-7.94265718e-01 6.05717067e-01 -4.74215636e-02 2.08848776e+02] [-6.04259302e-01 -7.95664822e-01 -4.22869726e-02 1.30961844e+02] [-6.33456110e-02 -4.93217170e-03 9.97979462e-01 7.35635335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:130.97, Z:0.74 [[-7.93838611e-01 6.06234704e-01 -4.79556450e-02 2.08852615e+02] [-6.04746567e-01 -7.95270542e-01 -4.27358779e-02 1.30965484e+02] [-6.40456840e-02 -4.92437830e-03 9.97934818e-01 7.35513283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:130.96, Z:0.73 [[-7.93310240e-01 6.06910205e-01 -4.81546189e-02 2.08848623e+02] [-6.05412656e-01 -7.94755498e-01 -4.28860760e-02 1.30962788e+02] [-6.42991452e-02 -4.86854747e-03 9.97918793e-01 7.34882868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:130.95, Z:0.73 [[-7.92555666e-01 6.07890063e-01 -4.82201978e-02 2.08831714e+02] [-6.06391962e-01 -7.94006851e-01 -4.29174674e-02 1.30948229e+02] [-6.43762694e-02 -4.77414162e-03 9.97914277e-01 7.32997344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:130.95, Z:0.73 [[-7.91661777e-01 6.09056081e-01 -4.81904784e-02 2.08829712e+02] [-6.07563711e-01 -7.93113499e-01 -4.28639109e-02 1.30946351e+02] [-6.43270445e-02 -4.65493398e-03 9.97918014e-01 7.32901642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.92, Z:0.73 [[-7.89851401e-01 6.11381951e-01 -4.84445529e-02 2.08805080e+02] [-6.09879893e-01 -7.91323039e-01 -4.30623403e-02 1.30923741e+02] [-6.46628284e-02 -4.46749110e-03 9.97897169e-01 7.30557067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:130.94, Z:0.73 [[-7.89211400e-01 6.12167625e-01 -4.89506368e-02 2.08826234e+02] [-6.10637327e-01 -7.90715626e-01 -4.34839460e-02 1.30942827e+02] [-6.53254974e-02 -4.42693994e-03 9.97854189e-01 7.32025307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:130.94, Z:0.73 [[-7.88913969e-01 6.12490791e-01 -4.96968808e-02 2.08822010e+02] [-6.10915970e-01 -7.90465227e-01 -4.41180491e-02 1.30939035e+02] [-6.63055549e-02 -4.44472710e-03 9.97789466e-01 7.31749630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.92, Z:0.73 [[-7.88882738e-01 6.12469394e-01 -5.04506487e-02 2.08806269e+02] [-6.10848287e-01 -7.90481543e-01 -4.47582375e-02 1.30924564e+02] [-6.72933573e-02 -4.49130856e-03 9.97723124e-01 7.29801445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.92, Z:0.73 [[-7.89042830e-01 6.12287656e-01 -5.01521487e-02 2.08806235e+02] [-6.10687239e-01 -7.90622512e-01 -4.44650408e-02 1.30924405e+02] [-6.68768134e-02 -4.45754439e-03 9.97751283e-01 7.30157229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.93, Z:0.73 [[-7.89373297e-01 6.11927055e-01 -4.93464930e-02 2.08812508e+02] [-6.10378838e-01 -7.90902001e-01 -4.37229953e-02 1.30930621e+02] [-6.57835238e-02 -4.39370992e-03 9.97824245e-01 7.30525062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.92, Z:0.73 [[-7.89822383e-01 6.11457404e-01 -4.79629689e-02 2.08799066e+02] [-6.09995722e-01 -7.91265735e-01 -4.24706442e-02 1.30919368e+02] [-6.39204438e-02 -4.28705956e-03 9.97945789e-01 7.29472090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.93, Z:0.73 [[-7.90370555e-01 6.10817814e-01 -4.70742501e-02 2.08806365e+02] [-6.09410383e-01 -7.91759840e-01 -4.16574288e-02 1.30926044e+02] [-6.27166003e-02 -4.23726830e-03 9.98022381e-01 7.29683645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.93, Z:0.73 [[-7.91482352e-01 6.09463181e-01 -4.59381895e-02 2.08813918e+02] [-6.08122233e-01 -7.92803147e-01 -4.06266060e-02 1.30930833e+02] [-6.11803617e-02 -4.21920726e-03 9.98117810e-01 7.29054782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.92, Z:0.73 [[-7.92029416e-01 6.08798204e-01 -4.53227423e-02 2.08796997e+02] [-6.07493427e-01 -7.93314039e-01 -4.00570993e-02 1.30916445e+02] [-6.03418578e-02 -4.19313292e-03 9.98168963e-01 7.26662011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.91, Z:0.73 [[-7.92250962e-01 6.08545331e-01 -4.48441022e-02 2.08792747e+02] [-6.07269094e-01 -7.93508271e-01 -3.96089957e-02 1.30914906e+02] [-5.96880354e-02 -4.14782766e-03 9.98208462e-01 7.25960858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.92, Z:0.73 [[-7.92409718e-01 6.08323111e-01 -4.50536497e-02 2.08799493e+02] [-6.07036100e-01 -7.93678561e-01 -3.97682675e-02 1.30923551e+02] [-5.99500721e-02 -4.16356983e-03 9.98192694e-01 7.26931136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.92, Z:0.73 [[-7.92316295e-01 6.08398024e-01 -4.56807763e-02 2.08793316e+02] [-6.07076623e-01 -7.93620971e-01 -4.02955018e-02 1.30919991e+02] [-6.07689257e-02 -4.19505122e-03 9.98143046e-01 7.27866722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.92, Z:0.73 [[-7.92401984e-01 6.08222011e-01 -4.65304259e-02 2.08792117e+02] [-6.06852308e-01 -7.93755496e-01 -4.10181474e-02 1.30919718e+02] [-6.18819214e-02 -4.26576507e-03 9.98074362e-01 7.28811845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.92, Z:0.73 [[-7.93143370e-01 6.07185307e-01 -4.74299317e-02 2.08793181e+02] [-6.05761966e-01 -7.94548024e-01 -4.17837072e-02 1.30922211e+02] [-6.30558116e-02 -4.40922161e-03 9.98000262e-01 7.29387391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.92, Z:0.73 [[-7.93852367e-01 6.06260445e-01 -4.73992846e-02 2.08787800e+02] [-6.04838998e-01 -7.95253667e-01 -4.17299793e-02 1.30918841e+02] [-6.29936907e-02 -4.45850704e-03 9.98003966e-01 7.28339848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.92, Z:0.73 [[-7.94729445e-01 6.05126316e-01 -4.71937644e-02 2.08788136e+02] [-6.03716865e-01 -7.96116715e-01 -4.15225553e-02 1.30919722e+02] [-6.26981356e-02 -4.50752585e-03 9.98022358e-01 7.27878852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.93, Z:0.73 [[-7.95865262e-01 6.03641738e-01 -4.70652497e-02 2.08797709e+02] [-6.02239045e-01 -7.97242483e-01 -4.13830297e-02 1.30928151e+02] [-6.25029405e-02 -4.59078472e-03 9.98034221e-01 7.28287757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.93, Z:0.73 [[-7.97119669e-01 6.02013410e-01 -4.66914034e-02 2.08798410e+02] [-6.00631780e-01 -7.98472377e-01 -4.10283748e-02 1.30928163e+02] [-6.19814277e-02 -4.66018379e-03 9.98066423e-01 7.28668027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.92, Z:0.73 [[-7.98209289e-01 6.00575704e-01 -4.65913617e-02 2.08792801e+02] [-5.99199172e-01 -7.99553843e-01 -4.09145925e-02 1.30922690e+02] [-6.18246125e-02 -4.74090245e-03 9.98075769e-01 7.28261832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.93, Z:0.73 [[-7.99065792e-01 5.99389250e-01 -4.71846175e-02 2.08802916e+02] [-5.97977024e-01 -8.00442865e-01 -4.14089277e-02 1.30932007e+02] [-6.25886565e-02 -4.87314041e-03 9.98027511e-01 7.30271238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.94, Z:0.73 [[-7.99128869e-01 5.99288056e-01 -4.74012257e-02 2.08809687e+02] [-5.97864309e-01 -8.00518575e-01 -4.15725847e-02 1.30938476e+02] [-6.28595151e-02 -4.88235159e-03 9.98010443e-01 7.31128072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.93, Z:0.73 [[-7.99068514e-01 5.99360911e-01 -4.74974434e-02 2.08794775e+02] [-5.97933150e-01 -8.00464130e-01 -4.16308115e-02 1.30926068e+02] [-6.29718809e-02 -4.86557479e-03 9.98003441e-01 7.29975468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.92, Z:0.73 [[-7.99279281e-01 5.99039809e-01 -4.79993514e-02 2.08790758e+02] [-5.97582808e-01 -8.00704120e-01 -4.20440350e-02 1.30923405e+02] [-6.36193291e-02 -4.92133885e-03 9.97962104e-01 7.29098768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.93, Z:0.73 [[-7.99777948e-01 5.98314538e-01 -4.87334232e-02 2.08797029e+02] [-5.96813017e-01 -8.01245516e-01 -4.26596447e-02 1.30929253e+02] [-6.45713225e-02 -5.03350173e-03 9.97900400e-01 7.29285836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.94, Z:0.73 [[-8.00597132e-01 5.97147725e-01 -4.95865503e-02 2.08804271e+02] [-5.95592725e-01 -8.02114457e-01 -4.33786113e-02 1.30935959e+02] [-6.56775280e-02 -5.19540319e-03 9.97827375e-01 7.29627847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.94, Z:0.73 [[-8.02431024e-01 5.94645837e-01 -5.00078005e-02 2.08803996e+02] [-5.93061293e-01 -8.03969469e-01 -4.37195172e-02 1.30935609e+02] [-6.62023737e-02 -5.42420613e-03 9.97791473e-01 7.29604214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.94, Z:0.73 [[-8.03700596e-01 5.92921916e-01 -5.00894588e-02 2.08806149e+02] [-5.91330692e-01 -8.05240810e-01 -4.37635832e-02 1.30935819e+02] [-6.62824640e-02 -5.55338353e-03 9.97785445e-01 7.29859905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.93, Z:0.73 [[-8.05195683e-01 5.90895723e-01 -5.00215553e-02 2.08803790e+02] [-5.89306752e-01 -8.06727873e-01 -4.36771126e-02 1.30932190e+02] [-6.61624020e-02 -5.69058219e-03 9.97792641e-01 7.29164643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.94, Z:0.73 [[-8.06692283e-01 5.88870185e-01 -4.97942358e-02 2.08813617e+02] [-5.87293605e-01 -8.08206761e-01 -4.34517315e-02 1.30940004e+02] [-6.58314672e-02 -5.80834024e-03 9.97813851e-01 7.30297398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:130.94, Z:0.73 [[-8.08015762e-01 5.87084324e-01 -4.94219075e-02 2.08817999e+02] [-5.85529701e-01 -8.09504374e-01 -4.31003280e-02 1.30943932e+02] [-6.53107772e-02 -5.88774969e-03 9.97847602e-01 7.30922338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.93, Z:0.73 [[-8.09125558e-01 5.85552298e-01 -4.94402362e-02 2.08799481e+02] [-5.83995437e-01 -8.10612484e-01 -4.30897884e-02 1.30927400e+02] [-6.53081974e-02 -5.99217677e-03 9.97847149e-01 7.29103889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.94, Z:0.73 [[-8.10729767e-01 5.83325453e-01 -4.94839491e-02 2.08814413e+02] [-5.81763490e-01 -8.12215197e-01 -4.31012283e-02 1.30935462e+02] [-6.53336590e-02 -6.15549385e-03 9.97844488e-01 7.30469091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:130.94, Z:0.73 [[-8.11257140e-01 5.82628124e-01 -4.90542787e-02 2.08826401e+02] [-5.81093646e-01 -8.12715705e-01 -4.27007967e-02 1.30942322e+02] [-6.47458678e-02 -6.13619656e-03 9.97882919e-01 7.30712853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.981400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:208.83, Y:130.94, Z:0.73 [[-8.11416205e-01 5.82456576e-01 -4.84569927e-02 2.08831435e+02] [-5.80960616e-01 -8.12839275e-01 -4.21553801e-02 1.30942966e+02] [-6.39414251e-02 -6.05395427e-03 9.97935290e-01 7.30419084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:130.93, Z:0.73 [[-8.11561098e-01 5.82255565e-01 -4.84462671e-02 2.08824801e+02] [-5.80761556e-01 -8.12983323e-01 -4.21204319e-02 1.30934139e+02] [-6.39108631e-02 -6.04757451e-03 9.97937287e-01 7.29144946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:130.92, Z:0.73 [[-8.11390236e-01 5.82488373e-01 -4.85095925e-02 2.08808656e+02] [-5.80992507e-01 -8.12816769e-01 -4.21498059e-02 1.30917174e+02] [-6.39811821e-02 -6.01623116e-03 9.97932970e-01 7.27738326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.91, Z:0.73 [[-8.09839718e-01 5.84679915e-01 -4.80523480e-02 2.08801457e+02] [-5.83217548e-01 -8.11243573e-01 -4.17271589e-02 1.30907035e+02] [-6.33791902e-02 -5.76733798e-03 9.97972853e-01 7.27587706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.91, Z:0.73 [[-8.10019011e-01 5.84430445e-01 -4.80651343e-02 2.08799642e+02] [-5.82968509e-01 -8.11423312e-01 -4.17124251e-02 1.30905338e+02] [-6.33791816e-02 -5.76739765e-03 9.97972854e-01 7.27418514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.90, Z:0.73 [[-8.09128499e-01 5.85690262e-01 -4.77282710e-02 2.08799334e+02] [-5.84252535e-01 -8.10515555e-01 -4.13945614e-02 1.30903596e+02] [-6.29288975e-02 -5.60815601e-03 9.98002256e-01 7.27203647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.89, Z:0.73 [[-8.08512882e-01 5.86526948e-01 -4.78858970e-02 2.08791084e+02] [-5.85082779e-01 -8.09910762e-01 -4.15054056e-02 1.30892671e+02] [-6.31273422e-02 -5.54044140e-03 9.97990101e-01 7.26000365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.89, Z:0.73 [[-8.09235817e-01 5.85498122e-01 -4.82632449e-02 2.08792136e+02] [-5.84030945e-01 -8.10654116e-01 -4.18062179e-02 1.30890994e+02] [-6.36022602e-02 -5.64386046e-03 9.97959368e-01 7.25960786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.89, Z:0.73 [[-8.10263477e-01 5.84089668e-01 -4.80869769e-02 2.08796751e+02] [-5.82632398e-01 -8.11669039e-01 -4.16276244e-02 1.30891856e+02] [-6.33449757e-02 -5.71231298e-03 9.97975342e-01 7.26379121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.89, Z:0.73 [[-8.10442685e-01 5.83839929e-01 -4.80998078e-02 2.08794932e+02] [-5.82383094e-01 -8.11848698e-01 -4.16127931e-02 1.30890160e+02] [-6.33449765e-02 -5.71226893e-03 9.97975342e-01 7.26209935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.89, Z:0.73 [[-8.11642317e-01 5.82206333e-01 -4.76711056e-02 2.08793873e+02] [-5.80774199e-01 -8.13020620e-01 -4.12165234e-02 1.30885789e+02] [-6.27541127e-02 -5.76692638e-03 9.98012357e-01 7.26176092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.88, Z:0.73 [[-8.12880941e-01 5.80530093e-01 -4.70041177e-02 2.08794818e+02] [-5.79136579e-01 -8.14218182e-01 -4.06149598e-02 1.30883128e+02] [-6.18498136e-02 -5.79332281e-03 9.98068654e-01 7.26272022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:130.88, Z:0.73 [[-8.13755105e-01 5.79349773e-01 -4.64378027e-02 2.08791095e+02] [-5.77989286e-01 -8.15058461e-01 -4.01010043e-02 1.30876342e+02] [-6.10820318e-02 -5.79184457e-03 9.98115945e-01 7.25659858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:130.87, Z:0.73 [[-8.13669006e-01 5.79385135e-01 -4.74932972e-02 2.08795792e+02] [-5.77963723e-01 -8.15032549e-01 -4.09863246e-02 1.30873663e+02] [-6.24554503e-02 -5.89989922e-03 9.98030314e-01 7.25974169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:130.86, Z:0.72 [[-8.12979655e-01 5.80257970e-01 -4.86288783e-02 2.08779852e+02] [-5.78770940e-01 -8.14410998e-01 -4.19395478e-02 1.30856673e+02] [-6.39396502e-02 -5.95101754e-03 9.97936023e-01 7.24825107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.431400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.78, Y:130.86, Z:0.72 [[-8.12027127e-01 5.81537024e-01 -4.92608855e-02 2.08783689e+02] [-5.80015104e-01 -8.13498509e-01 -4.24576848e-02 1.30857160e+02] [-6.47643725e-02 -5.90473413e-03 9.97883115e-01 7.24798415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:130.85, Z:0.72 [[-8.11260318e-01 5.82635209e-01 -4.89173738e-02 2.08773509e+02] [-5.81138126e-01 -8.12713414e-01 -4.21353113e-02 1.30846333e+02] [-6.43053218e-02 -5.75495513e-03 9.97913677e-01 7.24293957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:130.84, Z:0.72 [[-8.10422549e-01 5.83891706e-01 -4.78096956e-02 2.08773830e+02] [-5.82465479e-01 -8.11812883e-01 -4.11559002e-02 1.30844096e+02] [-6.28431157e-02 -5.50617228e-03 9.98008229e-01 7.23987661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:130.84, Z:0.72 [[-8.09354737e-01 5.85449543e-01 -4.68374073e-02 2.08775138e+02] [-5.84084905e-01 -8.10691813e-01 -4.02940108e-02 1.30841902e+02] [-6.15608128e-02 -5.25512587e-03 9.98089500e-01 7.23739038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:130.82, Z:0.72 [[-8.06776192e-01 5.88928003e-01 -4.77072702e-02 2.08758431e+02] [-5.87519793e-01 -8.08169652e-01 -4.10159431e-02 1.30821539e+02] [-6.27110054e-02 -5.06172084e-03 9.98018892e-01 7.22325035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:130.81, Z:0.72 [[-8.05663198e-01 5.90353717e-01 -4.88804695e-02 2.08748877e+02] [-5.88879663e-01 -8.07128848e-01 -4.19972147e-02 1.30812536e+02] [-6.42460488e-02 -5.05089589e-03 9.97921306e-01 7.22000420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:130.81, Z:0.72 [[-8.04763066e-01 5.91526459e-01 -4.95263234e-02 2.08747895e+02] [-5.90017145e-01 -8.06270080e-01 -4.25244301e-02 1.30812370e+02] [-6.50859182e-02 -5.00071079e-03 9.97867134e-01 7.22389059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:130.81, Z:0.72 [[-8.04352660e-01 5.92085496e-01 -4.95132670e-02 2.08743375e+02] [-5.90579810e-01 -8.05860063e-01 -4.24858565e-02 1.30809058e+02] [-6.50560239e-02 -4.93207593e-03 9.97869425e-01 7.22264380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:130.80, Z:0.72 [[-8.04445346e-01 5.92011307e-01 -4.88906744e-02 2.08737603e+02] [-5.90544874e-01 -8.05915039e-01 -4.19249629e-02 1.30803730e+02] [-6.42217818e-02 -4.85420416e-03 9.97923845e-01 7.22065137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:130.80, Z:0.72 [[-8.04741250e-01 5.91631236e-01 -4.86209922e-02 2.08730489e+02] [-5.90181981e-01 -8.06194205e-01 -4.16669349e-02 1.30795961e+02] [-6.38494223e-02 -4.83586777e-03 9.97947827e-01 7.21317106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:130.80, Z:0.72 [[-8.05403324e-01 5.90729327e-01 -4.86245629e-02 2.08733319e+02] [-5.89279961e-01 -8.06855000e-01 -4.16429686e-02 1.30796487e+02] [-6.38326944e-02 -4.88590481e-03 9.97948654e-01 7.21460707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:130.80, Z:0.72 [[-8.07012059e-01 5.88473208e-01 -4.93033430e-02 2.08740546e+02] [-5.86980679e-01 -8.08500551e-01 -4.21964733e-02 1.30800997e+02] [-6.46932740e-02 -5.11295307e-03 9.97892097e-01 7.21799327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:130.81, Z:0.72 [[-8.07786694e-01 5.87389737e-01 -4.95374103e-02 2.08747032e+02] [-5.85882762e-01 -8.09287486e-01 -4.23692691e-02 1.30805764e+02] [-6.49772800e-02 -5.20221703e-03 9.97873183e-01 7.22390929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:130.80, Z:0.72 [[-8.08445531e-01 5.86507994e-01 -4.92361419e-02 2.08746501e+02] [-5.85019437e-01 -8.09926623e-01 -4.20847227e-02 1.30803980e+02] [-6.45606884e-02 -5.21910597e-03 9.97900135e-01 7.22250035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:130.79, Z:0.72 [[-8.08980092e-01 5.85818784e-01 -4.86576140e-02 2.08736249e+02] [-5.84365492e-01 -8.10425451e-01 -4.15639453e-02 1.30793881e+02] [-6.37823086e-02 -5.19057382e-03 9.97950337e-01 7.21061139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:130.80, Z:0.72 [[-8.09488822e-01 5.85151979e-01 -4.82183451e-02 2.08739352e+02] [-5.83725328e-01 -8.10907139e-01 -4.11625279e-02 1.30795937e+02] [-6.31869349e-02 -5.17433686e-03 9.97988295e-01 7.21044909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:130.81, Z:0.72 [[-8.09778345e-01 5.84752625e-01 -4.82016557e-02 2.08751108e+02] [-5.83327938e-01 -8.11195114e-01 -4.11218103e-02 1.30806475e+02] [-6.31470341e-02 -5.18217906e-03 9.97990780e-01 7.22123433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:130.81, Z:0.72 [[-8.09813185e-01 5.84600611e-01 -4.94442238e-02 2.08749733e+02] [-5.83102949e-01 -8.11303872e-01 -4.21542155e-02 1.30807068e+02] [-6.47576703e-02 -5.30596679e-03 9.97886913e-01 7.22751246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:130.81, Z:0.72 [[-8.10201210e-01 5.83960208e-01 -5.06406486e-02 2.08746840e+02] [-5.82389726e-01 -8.11763891e-01 -4.31461672e-02 1.30806123e+02] [-6.63038947e-02 -5.46448345e-03 9.97784512e-01 7.22617601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.001400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:208.73, Y:130.80, Z:0.72 [[-8.10578831e-01 5.83381055e-01 -5.12689343e-02 2.08732839e+02] [-5.81772055e-01 -8.12179572e-01 -4.36534062e-02 1.30796508e+02] [-6.71061513e-02 -5.55769369e-03 9.97730363e-01 7.21628255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:130.81, Z:0.72 [[-8.10821777e-01 5.83007497e-01 -5.16749792e-02 2.08742554e+02] [-5.81374042e-01 -8.12447405e-01 -4.39708735e-02 1.30808315e+02] [-6.76185516e-02 -5.61005027e-03 9.97695474e-01 7.22615005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:130.81, Z:0.72 [[-8.10322651e-01 5.83781363e-01 -5.07594365e-02 2.08730407e+02] [-5.82208647e-01 -8.11892783e-01 -4.31648116e-02 1.30805176e+02] [-6.64100327e-02 -5.42484177e-03 9.97777670e-01 7.21339759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.091400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.72, Y:130.80, Z:0.72 [[-8.10038467e-01 5.84214640e-01 -5.03084060e-02 2.08724094e+02] [-5.82672384e-01 -8.11581764e-01 -4.27543386e-02 1.30802859e+02] [-6.58070954e-02 -5.31934003e-03 9.97818185e-01 7.20233581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:130.81, Z:0.72 [[-8.09707038e-01 5.84694217e-01 -5.00718131e-02 2.08728488e+02] [-5.83169129e-01 -8.11236885e-01 -4.25262629e-02 1.30809468e+02] [-6.54849616e-02 -5.23347871e-03 9.97839832e-01 7.20816405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:130.81, Z:0.72 [[-8.09402043e-01 5.85138485e-01 -4.98125091e-02 2.08721738e+02] [-5.83631752e-01 -8.10917039e-01 -4.22792416e-02 1.30807675e+02] [-6.51330238e-02 -5.14874253e-03 9.97863307e-01 7.19910363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:130.80, Z:0.72 [[-8.09197331e-01 5.85468353e-01 -4.92593890e-02 2.08704415e+02] [-5.83997235e-01 -8.10679572e-01 -4.17835095e-02 1.30798107e+02] [-6.43965028e-02 -5.04375741e-03 9.97911645e-01 7.18588716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:130.81, Z:0.72 [[-8.09231605e-01 5.85454550e-01 -4.88587733e-02 2.08716833e+02] [-5.84008948e-01 -8.10689920e-01 -4.14174144e-02 1.30813975e+02] [-6.38573287e-02 -4.98231996e-03 9.97946601e-01 7.20422404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.241400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.72, Y:130.82, Z:0.72 [[-8.09723287e-01 5.84746786e-01 -4.91873353e-02 2.08715580e+02] [-5.83282089e-01 -8.11200154e-01 -4.16691122e-02 1.30821093e+02] [-6.42666534e-02 -5.05035888e-03 9.97919982e-01 7.20763513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:130.83, Z:0.72 [[-8.10487512e-01 5.83666231e-01 -4.94340402e-02 2.08716667e+02] [-5.82186523e-01 -8.11977407e-01 -4.18514448e-02 1.30825424e+02] [-6.45665988e-02 -5.14024133e-03 9.97900161e-01 7.20924994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:130.82, Z:0.72 [[-8.11557130e-01 5.82208792e-01 -4.90708419e-02 2.08702617e+02] [-5.80749807e-01 -8.13022707e-01 -4.15179503e-02 1.30816423e+02] [-6.40678243e-02 -5.19630661e-03 9.97932018e-01 7.19604120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:130.83, Z:0.72 [[-8.12944157e-01 5.80305242e-01 -4.86582307e-02 2.08710758e+02] [-5.78868988e-01 -8.14381940e-01 -4.11430382e-02 1.30826085e+02] [-6.35019051e-02 -5.28025170e-03 9.97967749e-01 7.19871161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.361400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:208.71, Y:130.83, Z:0.72 [[-8.14343164e-01 5.78408675e-01 -4.78394867e-02 2.08711112e+02] [-5.77018739e-01 -8.15729823e-01 -4.04256179e-02 1.30828213e+02] [-6.24066241e-02 -5.31604534e-03 9.98036649e-01 7.19291801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:130.83, Z:0.72 [[-8.17004224e-01 5.74659796e-01 -4.76467819e-02 2.08709244e+02] [-5.73276310e-01 -8.18373515e-01 -4.02375631e-02 1.30828036e+02] [-6.21157742e-02 -5.55948773e-03 9.98053467e-01 7.18670033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:130.84, Z:0.72 [[-8.17939756e-01 5.73280626e-01 -4.82066468e-02 2.08730087e+02] [-5.71863665e-01 -8.19339199e-01 -4.06844659e-02 1.30844332e+02] [-6.28212114e-02 -5.70981238e-03 9.98008464e-01 7.20970453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:130.83, Z:0.72 [[-8.18381903e-01 5.72589946e-01 -4.89061798e-02 2.08712544e+02] [-5.71131965e-01 -8.19821212e-01 -4.12487452e-02 1.30827000e+02] [-6.37129403e-02 -5.82534399e-03 9.97951265e-01 7.19574148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:130.83, Z:0.72 [[-8.18637451e-01 5.72186459e-01 -4.93495659e-02 2.08721971e+02] [-5.70702850e-01 -8.20102421e-01 -4.15965952e-02 1.30832403e+02] [-6.42727070e-02 -5.88859273e-03 9.97914998e-01 7.20023983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:130.82, Z:0.72 [[-8.18621689e-01 5.72198975e-01 -4.94657886e-02 2.08714068e+02] [-5.70710065e-01 -8.20093749e-01 -4.16685056e-02 1.30823470e+02] [-6.44092602e-02 -5.88011901e-03 9.97906244e-01 7.18898441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:130.83, Z:0.72 [[-8.18165685e-01 5.72863939e-01 -4.93134725e-02 2.08724331e+02] [-5.71387044e-01 -8.19630038e-01 -4.15144160e-02 1.30830204e+02] [-6.42009152e-02 -5.78859134e-03 9.97920205e-01 7.19715785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:130.81, Z:0.72 [[-8.15854072e-01 5.76234075e-01 -4.83365707e-02 2.08708606e+02] [-5.74822559e-01 -8.17266909e-01 -4.06672542e-02 1.30814242e+02] [-6.29377373e-02 -5.39359374e-03 9.98002881e-01 7.18245455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:130.80, Z:0.72 [[-8.14006550e-01 5.78857301e-01 -4.81410672e-02 2.08691219e+02] [-5.77463288e-01 -8.15412601e-01 -4.04776762e-02 1.30798507e+02] [-6.26856312e-02 -5.14939458e-03 9.98020038e-01 7.17070236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:130.79, Z:0.72 [[-8.12070186e-01 5.81548213e-01 -4.84116549e-02 2.08686729e+02] [-5.80144811e-01 -8.13496887e-01 -4.06793968e-02 1.30794846e+02] [-6.30397611e-02 -4.94875498e-03 9.97998747e-01 7.17006060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:130.77, Z:0.71 [[-8.10120242e-01 5.84219344e-01 -4.89178105e-02 2.08660408e+02] [-5.82792896e-01 -8.11581795e-01 -4.10783371e-02 1.30773914e+02] [-6.36995636e-02 -4.76943992e-03 9.97957724e-01 7.14785156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:130.78, Z:0.72 [[-8.08222534e-01 5.86788953e-01 -4.95485608e-02 2.08664988e+02] [-5.85331956e-01 -8.09726821e-01 -4.15809607e-02 1.30779474e+02] [-6.45200470e-02 -4.60431336e-03 9.97905789e-01 7.15360199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:130.77, Z:0.71 [[-8.06698614e-01 5.88863740e-01 -4.97678831e-02 2.08651508e+02] [-5.87399465e-01 -8.08220152e-01 -4.17379183e-02 1.30770094e+02] [-6.48013527e-02 -4.43629289e-03 9.97888322e-01 7.14150883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.76, Z:0.71 [[-8.04625399e-01 5.91702800e-01 -4.96564554e-02 2.08637737e+02] [-5.90252170e-01 -8.06145366e-01 -4.16176068e-02 1.30763086e+02] [-6.46555759e-02 -4.17675297e-03 9.97898898e-01 7.12941022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.76, Z:0.71 [[-8.04373748e-01 5.92061269e-01 -4.94603613e-02 2.08636502e+02] [-5.90624495e-01 -8.05882475e-01 -4.14263403e-02 1.30764808e+02] [-6.43861700e-02 -4.10975973e-03 9.97916595e-01 7.13372239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.77, Z:0.71 [[-8.04702705e-01 5.91630439e-01 -4.92643972e-02 2.08638915e+02] [-5.90205968e-01 -8.06198837e-01 -4.12353215e-02 1.30769994e+02] [-6.41129711e-02 -4.10603355e-03 9.97934200e-01 7.13880656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.77, Z:0.71 [[-8.05569935e-01 5.90438849e-01 -4.93866974e-02 2.08636238e+02] [-5.89006805e-01 -8.07071504e-01 -4.13106606e-02 1.30771417e+02] [-6.42500151e-02 -4.18952534e-03 9.97925039e-01 7.13711963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.77, Z:0.71 [[-8.06797625e-01 5.88746915e-01 -4.95445580e-02 2.08632095e+02] [-5.87304268e-01 -8.08305907e-01 -4.14156648e-02 1.30771268e+02] [-6.44305038e-02 -4.31632964e-03 9.97912862e-01 7.13237511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.78, Z:0.71 [[-8.07955114e-01 5.87161224e-01 -4.94998092e-02 2.08639645e+02] [-5.85719965e-01 -8.09457959e-01 -4.13513649e-02 1.30780366e+02] [-6.43479325e-02 -4.41702024e-03 9.97917749e-01 7.13130688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.78, Z:0.71 [[-8.09038601e-01 5.85693851e-01 -4.91859195e-02 2.08635223e+02] [-5.84269837e-01 -8.10519964e-01 -4.10627043e-02 1.30779281e+02] [-6.39163431e-02 -4.48346365e-03 9.97945189e-01 7.12384015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.79, Z:0.71 [[-8.10798530e-01 5.83231297e-01 -4.94671388e-02 2.08637703e+02] [-5.81788111e-01 -8.12292636e-01 -4.12706610e-02 1.30786592e+02] [-6.42521337e-02 -4.68279804e-03 9.97922710e-01 7.13368912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:130.80, Z:0.72 [[-8.11516871e-01 5.82202889e-01 -4.98012407e-02 2.08650481e+02] [-5.80739948e-01 -8.13029519e-01 -4.15224521e-02 1.30799483e+02] [-6.46643704e-02 -4.77460046e-03 9.97895647e-01 7.15301282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:130.81, Z:0.72 [[-8.12244524e-01 5.81157034e-01 -5.01531109e-02 2.08655771e+02] [-5.79673102e-01 -8.13776862e-01 -4.17889273e-02 1.30805481e+02] [-6.50993703e-02 -4.87041802e-03 9.97866900e-01 7.16122774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.80, Z:0.72 [[-8.12852849e-01 5.80312909e-01 -5.00716910e-02 2.08644823e+02] [-5.78833927e-01 -8.14378803e-01 -4.16947351e-02 1.30797471e+02] [-6.49733168e-02 -4.90849063e-03 9.97874929e-01 7.15035944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.79, Z:0.71 [[-8.13214387e-01 5.79815324e-01 -4.99655014e-02 2.08633430e+02] [-5.78343392e-01 -8.14733097e-01 -4.15800491e-02 1.30789877e+02] [-6.48172973e-02 -4.91627657e-03 9.97885038e-01 7.13674654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.80, Z:0.71 [[-8.13607023e-01 5.79277625e-01 -4.98100990e-02 2.08636751e+02] [-5.77815553e-01 -8.15115456e-01 -4.14244013e-02 1.30795873e+02] [-6.45972103e-02 -4.92213394e-03 9.97899280e-01 7.14460352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.79, Z:0.71 [[-8.13787732e-01 5.79022613e-01 -4.98230870e-02 2.08634907e+02] [-5.77561016e-01 -8.15296625e-01 -4.14087740e-02 1.30794220e+02] [-6.45972112e-02 -4.92207957e-03 9.97899280e-01 7.14291131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:130.77, Z:0.71 [[-8.13996441e-01 5.78955433e-01 -4.71211183e-02 2.08597861e+02] [-5.77402449e-01 -8.15321131e-01 -4.31029585e-02 1.30774891e+02] [-6.33735354e-02 -7.87780571e-03 9.97958784e-01 7.11370663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.80, Z:0.71 [[-8.13861239e-01 5.78741760e-01 -5.18445720e-02 2.08626230e+02] [-5.77426747e-01 -8.15508808e-01 -3.90350599e-02 1.30795241e+02] [-6.48709244e-02 -1.83267971e-03 9.97891980e-01 7.13279587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.80, Z:0.71 [[-8.14049474e-01 5.78648505e-01 -4.98934988e-02 2.08622751e+02] [-5.77187234e-01 -8.15562358e-01 -4.13876567e-02 1.30795521e+02] [-6.46401652e-02 -4.89370964e-03 9.97896638e-01 7.13513392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.80, Z:0.71 [[-8.14048202e-01 5.78636711e-01 -5.00507876e-02 2.08622479e+02] [-5.77167901e-01 -8.15570757e-01 -4.14916128e-02 1.30802433e+02] [-6.48285291e-02 -4.88846476e-03 9.97884445e-01 7.13744855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.81, Z:0.71 [[-8.14707123e-01 5.77688087e-01 -5.02869521e-02 2.08626681e+02] [-5.76205315e-01 -8.16242498e-01 -4.16607634e-02 1.30810980e+02] [-6.51132741e-02 -4.96571164e-03 9.97865524e-01 7.14289010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.82, Z:0.71 [[-8.15607785e-01 5.76409160e-01 -5.03629045e-02 2.08629503e+02] [-5.74921212e-01 -8.17145604e-01 -4.16972632e-02 1.30818319e+02] [-6.51885105e-02 -5.05391041e-03 9.97860169e-01 7.14652580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.83, Z:0.72 [[-8.16594245e-01 5.75006662e-01 -5.04101039e-02 2.08635096e+02] [-5.73514991e-01 -8.18132522e-01 -4.17100844e-02 1.30827166e+02] [-6.52257219e-02 -5.14926460e-03 9.97857249e-01 7.15313487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.82, Z:0.71 [[-8.17681319e-01 5.73448703e-01 -5.05355845e-02 2.08621357e+02] [-5.71948358e-01 -8.19224549e-01 -4.17877313e-02 1.30819267e+02] [-6.53631117e-02 -5.26530259e-03 9.97847654e-01 7.14197067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.83, Z:0.72 [[-8.18809340e-01 5.71842271e-01 -5.04745649e-02 2.08630745e+02] [-5.70344235e-01 -8.20346041e-01 -4.17112322e-02 1.30830559e+02] [-6.52588553e-02 -5.36566943e-03 9.97853943e-01 7.15119164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.83, Z:0.71 [[-8.19677900e-01 5.70618692e-01 -5.02239850e-02 2.08621390e+02] [-5.69134917e-01 -8.21197290e-01 -4.14783880e-02 1.30826875e+02] [-6.49121439e-02 -5.41469448e-03 9.97876292e-01 7.14432934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.83, Z:0.71 [[-8.20329898e-01 5.69680322e-01 -5.02313527e-02 2.08624633e+02] [-5.68196053e-01 -8.21848177e-01 -4.14586459e-02 1.30834664e+02] [-6.49007204e-02 -5.46851049e-03 9.97876742e-01 7.14609915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.85, Z:0.71 [[-8.20724087e-01 5.69104272e-01 -5.03219782e-02 2.08630950e+02] [-5.67615252e-01 -8.22246951e-01 -4.15075555e-02 1.30845515e+02] [-6.49992202e-02 -5.50272825e-03 9.97870143e-01 7.14998899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.531400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.62, Y:130.85, Z:0.71 [[-8.20996431e-01 5.68714709e-01 -5.02835982e-02 2.08623924e+02] [-5.67228908e-01 -8.22516407e-01 -4.14502922e-02 1.30849736e+02] [-6.49324754e-02 -5.50823150e-03 9.97874458e-01 7.14192944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.86, Z:0.71 [[-8.21610951e-01 5.67846676e-01 -5.00559487e-02 2.08626274e+02] [-5.66374360e-01 -8.23115766e-01 -4.12373597e-02 1.30857447e+02] [-6.46183381e-02 -5.53066039e-03 9.97894725e-01 7.14557871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.86, Z:0.71 [[-8.22452672e-01 5.66648895e-01 -4.98059499e-02 2.08619856e+02] [-5.65190711e-01 -8.23940495e-01 -4.10063476e-02 1.30858136e+02] [-6.42733405e-02 -5.57591996e-03 9.97916753e-01 7.13890615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.86, Z:0.71 [[-8.23420022e-01 5.65312632e-01 -4.90009816e-02 2.08619757e+02] [-5.63900460e-01 -8.24857942e-01 -4.03193027e-02 1.30863094e+02] [-6.32118600e-02 -5.56804498e-03 9.97984598e-01 7.14153881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.87, Z:0.71 [[-8.24500508e-01 5.63789487e-01 -4.83769329e-02 2.08623997e+02] [-5.62412010e-01 -8.25899595e-01 -3.97817810e-02 1.30870302e+02] [-6.23830392e-02 -5.59233050e-03 9.98036614e-01 7.14994336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:130.87, Z:0.71 [[-8.26768485e-01 5.60448584e-01 -4.84897658e-02 2.08614396e+02] [-5.59060516e-01 -8.28168643e-01 -3.98502083e-02 1.30865160e+02] [-6.24916964e-02 -5.83818286e-03 9.98028408e-01 7.13984272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:130.86, Z:0.71 [[-8.28019543e-01 5.58570383e-01 -4.88135683e-02 2.08611588e+02] [-5.57162025e-01 -8.29435430e-01 -4.00917172e-02 1.30863869e+02] [-6.28817488e-02 -5.99965883e-03 9.98002951e-01 7.13972018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:130.89, Z:0.72 [[-8.29087980e-01 5.56941070e-01 -4.92926546e-02 2.08641566e+02] [-5.55503652e-01 -8.30529147e-01 -4.04602079e-02 1.30890059e+02] [-6.34729379e-02 -6.16282245e-03 9.97964531e-01 7.16614826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:130.90, Z:0.72 [[-8.29876895e-01 5.55728987e-01 -4.96953972e-02 2.08648697e+02] [-5.54267410e-01 -8.31339748e-01 -4.07659400e-02 1.30896866e+02] [-6.39685735e-02 -6.28617264e-03 9.97932115e-01 7.17043816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:130.88, Z:0.71 [[-8.29881142e-01 5.55712931e-01 -4.98038939e-02 2.08628986e+02] [-5.54246492e-01 -8.31350521e-01 -4.08305996e-02 1.30880273e+02] [-6.40945853e-02 -6.28091120e-03 9.97924062e-01 7.14864986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:130.87, Z:0.71 [[-8.29285372e-01 5.56632371e-01 -4.94588293e-02 2.08614807e+02] [-5.55189343e-01 -8.30736193e-01 -4.05237127e-02 1.30867134e+02] [-6.36440498e-02 -6.14670719e-03 9.97953733e-01 7.12994965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:130.87, Z:0.71 [[-8.26630114e-01 5.60630524e-01 -4.87449443e-02 2.08620979e+02] [-5.59237214e-01 -8.28046209e-01 -3.99150794e-02 1.30870342e+02] [-6.27406782e-02 -5.73501979e-03 9.98013385e-01 7.12171366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:130.83, Z:0.71 [[-8.24949654e-01 5.63138628e-01 -4.83006669e-02 2.08574201e+02] [-5.61776332e-01 -8.26344311e-01 -3.95276244e-02 1.30833140e+02] [-6.21725134e-02 -5.47412859e-03 9.98050406e-01 7.08463294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:130.85, Z:0.71 [[-8.23090293e-01 5.65856657e-01 -4.82557046e-02 2.08596540e+02] [-5.64503003e-01 -8.24486957e-01 -3.94666586e-02 1.30853320e+02] [-6.21186706e-02 -5.24413343e-03 9.98054993e-01 7.11515443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:130.84, Z:0.71 [[-8.20995399e-01 5.68876284e-01 -4.84389102e-02 2.08573230e+02] [-5.67519033e-01 -8.22407822e-01 -3.95919302e-02 1.30835225e+02] [-6.23594488e-02 -5.01478900e-03 9.98041157e-01 7.10209927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:130.82, Z:0.71 [[-8.18838606e-01 5.71948228e-01 -4.87705047e-02 2.08554918e+02] [-5.70579241e-01 -8.20275713e-01 -3.98382288e-02 1.30820421e+02] [-6.27906649e-02 -4.79364215e-03 9.98015207e-01 7.09012518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.011400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.55, Y:130.82, Z:0.71 [[-8.16809404e-01 5.74801587e-01 -4.92496982e-02 2.08553293e+02] [-5.73412270e-01 -8.18279895e-01 -4.02042517e-02 1.30819603e+02] [-6.34095055e-02 -4.59882964e-03 9.97976996e-01 7.08565664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.81, Z:0.71 [[-8.13250013e-01 5.79737598e-01 -5.02865233e-02 2.08534491e+02] [-5.78300121e-01 -8.14791986e-01 -4.10242611e-02 1.30812429e+02] [-6.47563628e-02 -4.28227834e-03 9.97891916e-01 7.06878864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.81, Z:0.71 [[-8.12354786e-01 5.81018015e-01 -4.99776771e-02 2.08529369e+02] [-5.79602215e-01 -8.13880200e-01 -4.07466943e-02 1.30812493e+02] [-6.43504053e-02 -4.13359977e-03 9.97918804e-01 7.06516414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.81, Z:0.71 [[-8.12155544e-01 5.81352759e-01 -4.93187763e-02 2.08518105e+02] [-5.79976303e-01 -8.13641635e-01 -4.01842927e-02 1.30805634e+02] [-6.34890592e-02 -4.03217457e-03 9.97974389e-01 7.05425106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.82, Z:0.71 [[-8.12808990e-01 5.80511814e-01 -4.84518360e-02 2.08530454e+02] [-5.79183437e-01 -8.14241973e-01 -3.94532042e-02 1.30816707e+02] [-6.23545696e-02 -4.00541813e-03 9.98046023e-01 7.06341754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.81, Z:0.71 [[-8.14011884e-01 5.78861746e-01 -4.79972076e-02 2.08525765e+02] [-5.77556883e-01 -8.15415533e-01 -3.90583718e-02 1.30813753e+02] [-6.17470659e-02 -4.07286120e-03 9.98083519e-01 7.05698401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.82, Z:0.71 [[-8.15219833e-01 5.77134344e-01 -4.82967157e-02 2.08531446e+02] [-5.75811677e-01 -8.16638370e-01 -3.92770245e-02 1.30819959e+02] [-6.21090710e-02 -4.20959647e-03 9.98060490e-01 7.06631072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.83, Z:0.71 [[-8.16488074e-01 5.75236568e-01 -4.94986461e-02 2.08534160e+02] [-5.73845374e-01 -8.17975040e-01 -4.02283605e-02 1.30825934e+02] [-6.36294810e-02 -4.44140749e-03 9.97963708e-01 7.07358137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.82, Z:0.71 [[-8.16772812e-01 5.74777946e-01 -5.01246988e-02 2.08523179e+02] [-5.73352117e-01 -8.18296980e-01 -4.07112108e-02 1.30818004e+02] [-6.44167958e-02 -4.51270793e-03 9.97912878e-01 7.06215052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.82, Z:0.71 [[-8.17142019e-01 5.74289476e-01 -4.97043222e-02 2.08523803e+02] [-5.72888205e-01 -8.18639981e-01 -4.03445945e-02 1.30820146e+02] [-6.38594214e-02 -4.49224346e-03 9.97948793e-01 7.05852168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:130.83, Z:0.71 [[-8.17544891e-01 5.73778246e-01 -4.89783185e-02 2.08537540e+02] [-5.72418306e-01 -8.18998634e-01 -3.97306012e-02 1.30833531e+02] [-6.29097306e-02 -4.44546393e-03 9.98009320e-01 7.06352092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.83, Z:0.71 [[-8.17900926e-01 5.73298243e-01 -4.86538804e-02 2.08528280e+02] [-5.71956975e-01 -8.19334778e-01 -3.94428764e-02 1.30828619e+02] [-6.24763480e-02 -4.43243887e-03 9.98036602e-01 7.05170965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.82, Z:0.71 [[-8.18232871e-01 5.72782411e-01 -4.91454754e-02 2.08518547e+02] [-5.71414536e-01 -8.19695120e-01 -3.98162972e-02 1.30822688e+02] [-6.30903811e-02 -4.49656416e-03 9.97997688e-01 7.05129668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:130.81, Z:0.70 [[-8.18554464e-01 5.72318143e-01 -4.91989109e-02 2.08505701e+02] [-5.70948039e-01 -8.20019233e-01 -3.98345859e-02 1.30811325e+02] [-6.31421094e-02 -4.51675642e-03 9.97994325e-01 7.04058045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.83, Z:0.71 [[-8.18954272e-01 5.71773302e-01 -4.88793586e-02 2.08524534e+02] [-5.70421556e-01 -8.20399271e-01 -3.95510444e-02 1.30826123e+02] [-6.27148214e-02 -4.50865694e-03 9.98021304e-01 7.05446830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.83, Z:0.71 [[-8.19224432e-01 5.71402189e-01 -4.86915601e-02 2.08526426e+02] [-5.70061719e-01 -8.20657843e-01 -3.93743798e-02 1.30828154e+02] [-6.24577175e-02 -4.49925947e-03 9.98037469e-01 7.05447947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:130.82, Z:0.70 [[-8.19066924e-01 5.71595167e-01 -4.90748320e-02 2.08513570e+02] [-5.70235402e-01 -8.20523443e-01 -3.96593690e-02 1.30818150e+02] [-6.29361538e-02 -4.49947081e-03 9.98007412e-01 7.04832974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:130.82, Z:0.70 [[-8.18413825e-01 5.72435335e-01 -5.01657086e-02 2.08511724e+02] [-5.71017608e-01 -8.19937452e-01 -4.05150236e-02 1.30816626e+02] [-6.43249743e-02 -4.51255256e-03 9.97918802e-01 7.04834927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.551400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:208.51, Y:130.82, Z:0.70 [[-8.17163988e-01 5.74120787e-01 -5.12673160e-02 2.08513737e+02] [-5.72645067e-01 -8.18758497e-01 -4.13781378e-02 1.30818224e+02] [-6.57315996e-02 -4.45474846e-03 9.97827396e-01 7.04544504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:130.82, Z:0.70 [[-8.15814327e-01 5.75964401e-01 -5.20767946e-02 2.08507015e+02] [-5.74447161e-01 -8.17463188e-01 -4.20047084e-02 1.30815732e+02] [-6.67640792e-02 -4.35267616e-03 9.97759296e-01 7.04693070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:130.81, Z:0.70 [[-8.12585297e-01 5.80433187e-01 -5.29381718e-02 2.08482030e+02] [-5.78876502e-01 -8.14297902e-01 -4.26722794e-02 1.30805484e+02] [-6.78758494e-02 -4.03020313e-03 9.97685635e-01 7.04243541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:130.81, Z:0.70 [[-8.11505253e-01 5.81945926e-01 -5.28976768e-02 2.08477648e+02] [-5.80396643e-01 -8.13218233e-01 -4.26127095e-02 1.30806375e+02] [-6.78156479e-02 -3.87880354e-03 9.97690329e-01 7.04285071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.79, Z:0.70 [[-8.10979306e-01 5.82683181e-01 -5.28476701e-02 2.08456053e+02] [-5.81140223e-01 -8.12690553e-01 -4.25453499e-02 1.30792294e+02] [-6.77392620e-02 -3.79149154e-03 9.97695854e-01 7.02706718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:130.81, Z:0.70 [[-8.11149149e-01 5.82425533e-01 -5.30806553e-02 2.08477123e+02] [-5.80870250e-01 -8.12875145e-01 -4.27053973e-02 1.30812139e+02] [-6.80206592e-02 -3.80747313e-03 9.97676648e-01 7.04227672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.731400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.46, Y:130.80, Z:0.70 [[-8.11781411e-01 5.81510522e-01 -5.34458117e-02 2.08463411e+02] [-5.79933667e-01 -8.13529590e-01 -4.29714888e-02 1.30803867e+02] [-6.84681221e-02 -3.88843030e-03 9.97645727e-01 7.03001463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:130.82, Z:0.71 [[-8.14579847e-01 5.77641560e-01 -5.28195187e-02 2.08479739e+02] [-5.76095197e-01 -8.16280017e-01 -4.24412226e-02 1.30824229e+02] [-6.76313316e-02 -4.14269363e-03 9.97701780e-01 7.05438033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:130.83, Z:0.71 [[-8.16532793e-01 5.74968035e-01 -5.18262135e-02 2.08483843e+02] [-5.73475722e-01 -8.18164779e-01 -4.16171959e-02 1.30830242e+02] [-6.63309399e-02 -4.26072998e-03 9.97788581e-01 7.05934199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.82, Z:0.70 [[-8.18592973e-01 5.72087114e-01 -5.12042813e-02 2.08463548e+02] [-5.70626514e-01 -8.20180958e-01 -4.10923163e-02 1.30815964e+02] [-6.55051611e-02 -4.41936082e-03 9.97842444e-01 7.03527900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:130.83, Z:0.70 [[-8.20678184e-01 5.69155998e-01 -5.04853221e-02 2.08479826e+02] [-5.67732290e-01 -8.22216875e-01 -4.04902086e-02 1.30831261e+02] [-6.45551289e-02 -4.56728333e-03 9.97903690e-01 7.03930121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:130.86, Z:0.71 [[-8.22766883e-01 5.66169728e-01 -5.00649130e-02 2.08507798e+02] [-5.64765779e-01 -8.24275052e-01 -4.01279702e-02 1.30856372e+02] [-6.39865007e-02 -4.74101536e-03 9.97939502e-01 7.06001519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:130.84, Z:0.70 [[-8.24721336e-01 5.63328451e-01 -4.99577247e-02 2.08488664e+02] [-5.61926920e-01 -8.26218340e-01 -4.00173818e-02 1.30844453e+02] [-6.38189181e-02 -4.93059819e-03 9.97949315e-01 7.04212872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:130.80, Z:0.70 [[-8.26156365e-01 5.61321477e-01 -4.88247862e-02 2.08430717e+02] [-5.59865351e-01 -8.27572549e-01 -4.09202299e-02 1.30802283e+02] [-6.33754566e-02 -6.47120231e-03 9.97968775e-01 6.99604405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:130.85, Z:0.70 [[-8.27707815e-01 5.58841524e-01 -5.09502069e-02 2.08497257e+02] [-5.57494481e-01 -8.29265534e-01 -3.89689400e-02 1.30853958e+02] [-6.40287123e-02 -3.85043706e-03 9.97940629e-01 7.04707929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.87, Z:0.71 [[-8.29205701e-01 5.56671033e-01 -5.03514224e-02 2.08516331e+02] [-5.55238738e-01 -8.30715213e-01 -4.02762864e-02 1.30871593e+02] [-6.42483345e-02 -5.44026603e-03 9.97919113e-01 7.06992247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:130.87, Z:0.71 [[-8.29368831e-01 5.56426882e-01 -5.03633518e-02 2.08514487e+02] [-5.54995038e-01 -8.30878770e-01 -4.02613636e-02 1.30870001e+02] [-6.42483448e-02 -5.44010974e-03 9.97919113e-01 7.06823022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.89, Z:0.71 [[-8.31902777e-01 5.52572423e-01 -5.10047861e-02 2.08532875e+02] [-5.51098279e-01 -8.33444770e-01 -4.07492549e-02 1.30886803e+02] [-6.50265867e-02 -5.79076842e-03 9.97866730e-01 7.08282216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.87, Z:0.71 [[-8.33225483e-01 5.50637071e-01 -5.03399530e-02 2.08515045e+02] [-5.49199191e-01 -8.34724301e-01 -4.01943870e-02 1.30873510e+02] [-6.41525016e-02 -5.84432598e-03 9.97922993e-01 7.06821960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.88, Z:0.71 [[-8.34445554e-01 5.48858497e-01 -4.95476205e-02 2.08526516e+02] [-5.47463952e-01 -8.35894686e-01 -3.95385358e-02 1.30882857e+02] [-6.31176540e-02 -5.86721932e-03 9.97988846e-01 7.07391642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.151400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.54, Y:130.89, Z:0.71 [[-8.35487893e-01 5.47349515e-01 -4.86671208e-02 2.08539110e+02] [-5.46003039e-01 -8.36883637e-01 -3.88131471e-02 1.30892003e+02] [-6.19730743e-02 -5.85551870e-03 9.98060645e-01 7.08059120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.89, Z:0.71 [[-8.36470917e-01 5.45882001e-01 -4.82622742e-02 2.08533469e+02] [-5.44556840e-01 -8.37841324e-01 -3.84677108e-02 1.30887710e+02] [-6.14349586e-02 -5.89556982e-03 9.98093677e-01 7.08325168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.88, Z:0.71 [[-8.37020271e-01 5.45046342e-01 -4.81824753e-02 2.08528812e+02] [-5.43725588e-01 -8.38384962e-01 -3.83815214e-02 1.30884120e+02] [-6.13151705e-02 -5.92806668e-03 9.98100851e-01 7.07891542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.89, Z:0.71 [[-8.36776745e-01 5.45330971e-01 -4.91814000e-02 2.08534667e+02] [-5.43956788e-01 -8.38199265e-01 -3.91535948e-02 1.30890015e+02] [-6.25754812e-02 -6.01026125e-03 9.98022137e-01 7.07870419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.89, Z:0.71 [[-8.36379500e-01 5.45898353e-01 -4.96419108e-02 2.08530366e+02] [-5.44500757e-01 -8.37829898e-01 -3.94966757e-02 1.30886452e+02] [-6.31526473e-02 -6.00415187e-03 9.97985818e-01 7.06961197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:130.89, Z:0.71 [[-8.36079748e-01 5.46295678e-01 -5.03158715e-02 2.08532600e+02] [-5.44862069e-01 -8.37570657e-01 -4.00090093e-02 1.30887846e+02] [-6.39998464e-02 -6.03551259e-03 9.97931657e-01 7.06517278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.88, Z:0.71 [[-8.35734618e-01 5.46836342e-01 -5.01763203e-02 2.08524617e+02] [-5.45413139e-01 -8.37218323e-01 -3.98746478e-02 1.30881008e+02] [-6.38134413e-02 -5.95779921e-03 9.97944061e-01 7.05800925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:130.87, Z:0.71 [[-8.35515234e-01 5.47205591e-01 -4.98029706e-02 2.08514220e+02] [-5.45805627e-01 -8.36977677e-01 -3.95548398e-02 1.30872484e+02] [-6.33286041e-02 -5.86592962e-03 9.97975490e-01 7.05255650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:130.87, Z:0.71 [[-8.35181363e-01 5.47765510e-01 -4.92446711e-02 2.08516961e+02] [-5.46399188e-01 -8.36612224e-01 -3.90885537e-02 1.30874322e+02] [-6.26100553e-02 -5.73878325e-03 9.98021567e-01 7.05709571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:130.86, Z:0.70 [[-8.34345867e-01 5.49061485e-01 -4.89740768e-02 2.08497633e+02] [-5.47713782e-01 -8.35763258e-01 -3.88508609e-02 1.30856986e+02] [-6.22622453e-02 -5.59127842e-03 9.98044163e-01 7.04283433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:130.85, Z:0.70 [[-8.34025277e-01 5.49533611e-01 -4.91390700e-02 2.08490683e+02] [-5.48179067e-01 -8.35453140e-01 -3.89584558e-02 1.30850469e+02] [-6.24623712e-02 -5.55532734e-03 9.98031859e-01 7.03072632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:130.84, Z:0.70 [[-8.33753668e-01 5.49928772e-01 -4.93271299e-02 2.08482910e+02] [-5.48565993e-01 -8.35193268e-01 -3.90839585e-02 1.30844176e+02] [-6.26910802e-02 -5.52720776e-03 9.98017674e-01 7.02210423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:130.86, Z:0.70 [[-8.33263022e-01 5.50624406e-01 -4.98547987e-02 2.08496704e+02] [-5.49235038e-01 -8.34734907e-01 -3.94779325e-02 1.30855221e+02] [-6.33530539e-02 -5.51349902e-03 9.97975948e-01 7.03417373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:130.85, Z:0.70 [[-8.32508663e-01 5.51722780e-01 -5.03120320e-02 2.08489458e+02] [-5.50311309e-01 -8.34009691e-01 -3.98157973e-02 1.30849476e+02] [-6.39280047e-02 -5.45971598e-03 9.97939578e-01 7.03196625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:130.83, Z:0.70 [[-8.30180734e-01 5.55237551e-01 -5.01119913e-02 2.08469253e+02] [-5.53845113e-01 -8.31675869e-01 -3.96338281e-02 1.30834142e+02] [-6.36831235e-02 -5.14895900e-03 9.97956887e-01 7.02011638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.83, Z:0.70 [[-8.28866077e-01 5.57201047e-01 -5.00801355e-02 2.08464619e+02] [-5.55815446e-01 -8.30362717e-01 -3.95847132e-02 1.30832041e+02] [-6.36413210e-02 -4.97511310e-03 9.97960435e-01 7.01664903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.83, Z:0.70 [[-8.27511019e-01 5.59184577e-01 -5.03797803e-02 2.08458180e+02] [-5.57787522e-01 -8.29029111e-01 -3.97971641e-02 1.30829958e+02] [-6.40202648e-02 -4.83137905e-03 9.97936904e-01 7.01623893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:130.83, Z:0.70 [[-8.26342840e-01 5.60879232e-01 -5.07148623e-02 2.08450007e+02] [-5.59468253e-01 -8.27884226e-01 -4.00372534e-02 1.30826857e+02] [-6.44420985e-02 -4.71114227e-03 9.97910327e-01 7.01604044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.691400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:208.43, Y:130.82, Z:0.70 [[-8.24964877e-01 5.62889949e-01 -5.08709832e-02 2.08430920e+02] [-5.61475637e-01 -8.26519342e-01 -4.01358590e-02 1.30815237e+02] [-6.46379232e-02 -4.54785635e-03 9.97898420e-01 6.99704352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:130.82, Z:0.70 [[-8.25105132e-01 5.62696986e-01 -5.07308829e-02 2.08434987e+02] [-5.61291690e-01 -8.26650822e-01 -4.00007214e-02 1.30821363e+02] [-6.44450114e-02 -4.52997756e-03 9.97910978e-01 7.00530140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:130.83, Z:0.70 [[-8.25333555e-01 5.62373151e-01 -5.06059484e-02 2.08447543e+02] [-5.60975758e-01 -8.26871197e-01 -3.98775926e-02 1.30834266e+02] [-6.42706885e-02 -4.52360500e-03 9.97922249e-01 7.01347001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:130.83, Z:0.70 [[-8.25396349e-01 5.62300478e-01 -5.03888869e-02 2.08432856e+02] [-5.60916481e-01 -8.26920804e-01 -3.96823084e-02 1.30825453e+02] [-6.39809999e-02 -4.48967530e-03 9.97941018e-01 7.00095611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:130.82, Z:0.70 [[-8.25239999e-01 5.62557491e-01 -5.00800682e-02 2.08419751e+02] [-5.61192424e-01 -8.26746340e-01 -3.94151210e-02 1.30817392e+02] [-6.35767847e-02 -4.42237950e-03 9.97967151e-01 6.98524614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.841400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:208.42, Y:130.82, Z:0.70 [[-8.24886647e-01 5.63054243e-01 -5.03183732e-02 2.08422387e+02] [-5.61678626e-01 -8.26408309e-01 -3.95781158e-02 1.30820505e+02] [-6.38681478e-02 -4.38470446e-03 9.97948713e-01 6.97582153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:130.83, Z:0.70 [[-8.24146344e-01 5.64076263e-01 -5.09977769e-02 2.08417445e+02] [-5.62666773e-01 -8.25711274e-01 -4.00873430e-02 1.30825225e+02] [-6.47217580e-02 -4.34308261e-03 9.97893898e-01 6.97440659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:130.82, Z:0.70 [[-8.24081069e-01 5.64108506e-01 -5.16912447e-02 2.08410444e+02] [-5.62662110e-01 -8.25689058e-01 -4.06070242e-02 1.30824978e+02] [-6.55876629e-02 -4.37877518e-03 9.97837204e-01 6.96997311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:130.83, Z:0.70 [[-8.24238079e-01 5.63853792e-01 -5.19662543e-02 2.08411787e+02] [-5.62393110e-01 -8.25862899e-01 -4.07978220e-02 1.30830522e+02] [-6.59210080e-02 -4.40165501e-03 9.97815136e-01 6.97666591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:130.84, Z:0.70 [[-8.24526192e-01 5.63449475e-01 -5.17807597e-02 2.08413851e+02] [-5.62000498e-01 -8.26138850e-01 -4.06206928e-02 1.30835293e+02] [-6.56658053e-02 -4.39201244e-03 9.97832006e-01 6.97900603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:130.83, Z:0.70 [[-8.25035313e-01 5.62752312e-01 -5.12500516e-02 2.08405574e+02] [-5.61333176e-01 -8.26613960e-01 -4.01799354e-02 1.30830821e+02] [-6.49753596e-02 -4.38151131e-03 9.97877250e-01 6.96865627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:130.82, Z:0.70 [[-8.25919981e-01 5.61483124e-01 -5.09204018e-02 2.08393940e+02] [-5.60081389e-01 -8.27476318e-01 -3.98971380e-02 1.30823707e+02] [-6.45369962e-02 -4.43227411e-03 9.97905472e-01 6.95549744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:130.85, Z:0.70 [[-8.27378013e-01 5.59333979e-01 -5.09030855e-02 2.08420957e+02] [-5.57930751e-01 -8.28929757e-01 -3.98589430e-02 1.30847273e+02] [-6.44895435e-02 -4.57801637e-03 9.97907882e-01 6.98202486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:130.85, Z:0.70 [[-8.29309813e-01 5.56434812e-01 -5.12399537e-02 2.08423400e+02] [-5.55009044e-01 -8.30877317e-01 -4.00979561e-02 1.30851541e+02] [-6.48860140e-02 -4.81499080e-03 9.97881066e-01 6.98537593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:130.86, Z:0.70 [[-8.31548241e-01 5.53074795e-01 -5.13399868e-02 2.08430322e+02] [-5.51638678e-01 -8.33116196e-01 -4.01518757e-02 1.30859213e+02] [-6.49791649e-02 -5.06709916e-03 9.97873756e-01 6.99188914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:130.88, Z:0.70 [[-8.35916064e-01 5.46514346e-01 -5.06596835e-02 2.08446530e+02] [-5.45105624e-01 -8.37431784e-01 -3.95962962e-02 1.30875472e+02] [-6.40639730e-02 -5.48430173e-03 9.97930724e-01 6.99786816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:130.88, Z:0.70 [[-8.37889774e-01 5.43542534e-01 -5.00223935e-02 2.08453516e+02] [-5.42165292e-01 -8.39362809e-01 -3.90751851e-02 1.30881814e+02] [-6.32259618e-02 -5.62029242e-03 9.97983412e-01 6.99842296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:130.88, Z:0.70 [[-8.39433392e-01 5.41212789e-01 -4.93993576e-02 2.08454333e+02] [-5.39867100e-01 -8.40866324e-01 -3.85660364e-02 1.30882648e+02] [-6.24106884e-02 -5.70453085e-03 9.98034250e-01 6.99645453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.88, Z:0.70 [[-8.40785114e-01 5.39123840e-01 -4.92531896e-02 2.08457067e+02] [-5.37783977e-01 -8.42206373e-01 -3.84294065e-02 1.30883951e+02] [-6.21995594e-02 -5.82329670e-03 9.98046744e-01 6.99441005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.88, Z:0.70 [[-8.41957455e-01 5.37278200e-01 -4.93941336e-02 2.08459361e+02] [-5.35928937e-01 -8.43384042e-01 -3.85166488e-02 1.30884515e+02] [-6.23523798e-02 -5.95763414e-03 9.98036416e-01 6.99600373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.88, Z:0.70 [[-8.42883930e-01 5.35784857e-01 -4.98123251e-02 2.08457799e+02] [-5.34411496e-01 -8.44332502e-01 -3.88198308e-02 1.30881682e+02] [-6.28572425e-02 -6.10033240e-03 9.98003884e-01 6.99461976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:130.87, Z:0.70 [[-8.43726222e-01 5.34418669e-01 -5.02269755e-02 2.08450504e+02] [-5.33021401e-01 -8.45196911e-01 -3.91199159e-02 1.30871628e+02] [-6.33580979e-02 -6.23444595e-03 9.97971384e-01 6.98402166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.88, Z:0.70 [[-8.43690014e-01 5.34461879e-01 -5.03751991e-02 2.08463153e+02] [-5.33057886e-01 -8.45169620e-01 -3.92123046e-02 1.30879200e+02] [-6.35330698e-02 -6.23013269e-03 9.97960287e-01 6.99140729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:130.88, Z:0.70 [[-8.43102879e-01 5.35351390e-01 -5.07584951e-02 2.08460222e+02] [-5.33929003e-01 -8.44606753e-01 -3.94873798e-02 1.30875584e+02] [-6.40105914e-02 -6.19049086e-03 9.97930019e-01 6.98851637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:130.86, Z:0.70 [[-8.42069985e-01 5.36936283e-01 -5.11621805e-02 2.08444313e+02] [-5.35495540e-01 -8.43600754e-01 -3.97780627e-02 1.30862658e+02] [-6.45187392e-02 -6.09879318e-03 9.97897859e-01 6.97872784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:130.87, Z:0.70 [[-8.40910865e-01 5.38703141e-01 -5.16511653e-02 2.08450465e+02] [-5.37239520e-01 -8.42474285e-01 -4.01345018e-02 1.30867533e+02] [-6.51353607e-02 -6.00049135e-03 9.97858396e-01 6.99048381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:130.85, Z:0.70 [[-8.37855845e-01 5.43363990e-01 -5.24705445e-02 2.08428832e+02] [-5.41864102e-01 -8.39477810e-01 -4.07468076e-02 1.30851422e+02] [-6.61882057e-02 -5.70804641e-03 9.97790830e-01 6.97970813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:130.85, Z:0.70 [[-8.36305535e-01 5.45738426e-01 -5.25606527e-02 2.08427110e+02] [-5.44239599e-01 -8.37937477e-01 -4.07926910e-02 1.30850661e+02] [-6.63046797e-02 -5.50956474e-03 9.97784212e-01 6.97807307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:130.83, Z:0.70 [[-8.34680061e-01 5.48239639e-01 -5.23688194e-02 2.08402510e+02] [-5.46758194e-01 -8.36304675e-01 -4.06197915e-02 1.30832451e+02] [-6.60656684e-02 -5.27144896e-03 9.97801353e-01 6.95378564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:130.84, Z:0.70 [[-8.33183909e-01 5.50519742e-01 -5.22741648e-02 2.08403604e+02] [-5.49049684e-01 -8.34806802e-01 -4.05221791e-02 1.30835081e+02] [-6.59470879e-02 -5.06131387e-03 9.97810285e-01 6.95195298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:130.83, Z:0.69 [[-8.31896656e-01 5.52467688e-01 -5.22245787e-02 2.08391509e+02] [-5.51005823e-01 -8.33520017e-01 -4.04594023e-02 1.30827839e+02] [-6.58827442e-02 -4.88199455e-03 9.97815429e-01 6.94080857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.31075885e-01 5.53658348e-01 -5.26811884e-02 2.08380476e+02] [-5.52174796e-01 -8.32730033e-01 -4.07883200e-02 1.30821482e+02] [-6.64520016e-02 -4.80896468e-03 9.97778034e-01 6.93285394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:130.83, Z:0.69 [[-8.30526237e-01 5.54378874e-01 -5.37608953e-02 2.08386133e+02] [-5.52837051e-01 -8.32250418e-01 -4.15985122e-02 1.30828533e+02] [-6.78038639e-02 -4.82764097e-03 9.97686990e-01 6.93563236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.30680237e-01 5.54128669e-01 -5.39607420e-02 2.08378273e+02] [-5.52576559e-01 -8.32416929e-01 -4.17277218e-02 1.30823366e+02] [-6.80403621e-02 -4.84495267e-03 9.97670805e-01 6.92923812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.83, Z:0.69 [[-8.30725164e-01 5.54068331e-01 -5.38886542e-02 2.08380791e+02] [-5.52521962e-01 -8.32457224e-01 -4.16467506e-02 1.30826167e+02] [-6.79351451e-02 -4.82233873e-03 9.97678085e-01 6.93012051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:130.82, Z:0.69 [[-8.30807956e-01 5.53941989e-01 -5.39111585e-02 2.08372283e+02] [-5.52395784e-01 -8.32541351e-01 -4.16388737e-02 1.30820491e+02] [-6.79487893e-02 -4.81361089e-03 9.97677198e-01 6.92527865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.31010786e-01 5.53639398e-01 -5.38933277e-02 2.08375996e+02] [-5.52095304e-01 -8.32742593e-01 -4.15998559e-02 1.30824179e+02] [-6.79105886e-02 -4.81567576e-03 9.97679789e-01 6.93092948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:130.82, Z:0.69 [[-8.31702485e-01 5.52589463e-01 -5.39987254e-02 2.08372667e+02] [-5.51038850e-01 -8.33439245e-01 -4.16558712e-02 1.30821686e+02] [-6.80232524e-02 -4.88989608e-03 9.97671753e-01 6.92880357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.33811880e-01 5.49422584e-01 -5.37826394e-02 2.08378030e+02] [-5.47879532e-01 -8.35529020e-01 -4.14641394e-02 1.30823519e+02] [-6.77182906e-02 -5.10688475e-03 9.97691412e-01 6.92899188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.35189724e-01 5.47376172e-01 -5.32677378e-02 2.08380891e+02] [-5.45860090e-01 -8.36870522e-01 -4.10425675e-02 1.30823889e+02] [-6.70439230e-02 -5.20159849e-03 9.97736466e-01 6.92396770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:130.84, Z:0.69 [[-8.36495189e-01 5.45440141e-01 -5.26388678e-02 2.08408446e+02] [-5.43957498e-01 -8.38133192e-01 -4.05338574e-02 1.30843090e+02] [-6.62271752e-02 -5.27306992e-03 9.97790637e-01 6.94059101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.37796234e-01 5.43475217e-01 -5.22700624e-02 2.08384331e+02] [-5.42011086e-01 -8.39408035e-01 -4.02260318e-02 1.30823645e+02] [-6.57377617e-02 -5.37026461e-03 9.97822483e-01 6.91729589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.37953416e-01 5.43231721e-01 -5.22816314e-02 2.08382468e+02] [-5.41768051e-01 -8.39565635e-01 -4.02109900e-02 1.30822096e+02] [-6.57377463e-02 -5.37041892e-03 9.97822483e-01 6.91560441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:130.83, Z:0.69 [[-8.38760922e-01 5.41979797e-01 -5.23260453e-02 2.08388635e+02] [-5.40512815e-01 -8.40373825e-01 -4.02210372e-02 1.30825993e+02] [-6.57724284e-02 -5.45293619e-03 9.97819750e-01 6.92422890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.82, Z:0.69 [[-8.39001133e-01 5.41563504e-01 -5.27832457e-02 2.08383341e+02] [-5.40071763e-01 -8.40641783e-01 -4.05448411e-02 1.30819175e+02] [-6.63294080e-02 -5.51042704e-03 9.97782564e-01 6.91689132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:130.82, Z:0.69 [[-8.38612960e-01 5.42171356e-01 -5.27117123e-02 2.08389427e+02] [-5.40686451e-01 -8.40250371e-01 -4.04657264e-02 1.30821730e+02] [-6.62303935e-02 -5.43457394e-03 9.97789557e-01 6.91838929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.81, Z:0.69 [[-8.37615283e-01 5.43354729e-01 -5.62696706e-02 2.08375765e+02] [-5.41954834e-01 -8.39500312e-01 -3.90407926e-02 1.30805568e+02] [-6.84514053e-02 -2.20554453e-03 9.97652014e-01 6.86541444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:130.80, Z:0.69 [[-8.37419168e-01 5.44371974e-01 -4.88701441e-02 2.08365256e+02] [-5.42837622e-01 -8.38801998e-01 -4.16956067e-02 1.30802615e+02] [-6.36902942e-02 -8.38814744e-03 9.97934460e-01 6.89686983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:130.79, Z:0.69 [[-8.36166018e-01 5.46209648e-01 -4.98137637e-02 2.08357309e+02] [-5.44893982e-01 -8.37634811e-01 -3.81899351e-02 1.30789180e+02] [-6.25854536e-02 -4.78990592e-03 9.98028115e-01 6.87755002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:130.80, Z:0.69 [[-8.35752098e-01 5.46787491e-01 -5.04169670e-02 2.08376096e+02] [-5.45442280e-01 -8.37257756e-01 -3.86286163e-02 1.30801050e+02] [-6.33336408e-02 -4.78440166e-03 9.97980941e-01 6.89624852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:130.79, Z:0.69 [[-8.35499470e-01 5.47085043e-01 -5.13672244e-02 2.08358620e+02] [-5.45690709e-01 -8.37063087e-01 -3.93324149e-02 1.30785255e+02] [-6.45157833e-02 -4.83159476e-03 9.97904990e-01 6.88255335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:130.78, Z:0.69 [[-8.35271071e-01 5.47354106e-01 -5.22084363e-02 2.08351115e+02] [-5.45915806e-01 -8.36886954e-01 -3.99519733e-02 1.30777619e+02] [-6.55604358e-02 -4.86931692e-03 9.97836720e-01 6.88081039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:130.77, Z:0.69 [[-8.35061914e-01 5.47647677e-01 -5.24749549e-02 2.08343752e+02] [-5.46196835e-01 -8.36694983e-01 -4.01313249e-02 1.30770418e+02] [-6.58833584e-02 -4.85048668e-03 9.97815542e-01 6.87886922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:130.77, Z:0.69 [[-8.34847811e-01 5.47997224e-01 -5.22319275e-02 2.08340782e+02] [-5.46562083e-01 -8.36466493e-01 -3.99211203e-02 1.30765397e+02] [-6.55669203e-02 -4.78006877e-03 9.97836725e-01 6.87821542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:130.73, Z:0.68 [[-8.34137629e-01 5.48950261e-01 -5.35539552e-02 2.08305893e+02] [-5.47483837e-01 -8.35843850e-01 -4.03299721e-02 1.30731096e+02] [-6.69018928e-02 -4.32082236e-03 9.97750203e-01 6.83465450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:130.76, Z:0.69 [[-8.34434319e-01 5.48599254e-01 -5.25188182e-02 2.08343918e+02] [-5.47106673e-01 -8.36068638e-01 -4.07862685e-02 1.30758510e+02] [-6.62846533e-02 -5.30006626e-03 9.97786678e-01 6.87786243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:130.76, Z:0.69 [[-8.34500752e-01 5.48433477e-01 -5.31903717e-02 2.08343552e+02] [-5.46949816e-01 -8.36180496e-01 -4.05965178e-02 1.30756098e+02] [-6.67412408e-02 -4.78536065e-03 9.97758842e-01 6.87748853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:130.74, Z:0.69 [[-8.34480357e-01 5.48424922e-01 -5.35970017e-02 2.08325903e+02] [-5.46920148e-01 -8.36186014e-01 -4.08815599e-02 1.30741918e+02] [-6.72375295e-02 -4.80157867e-03 9.97725443e-01 6.86302290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:130.75, Z:0.69 [[-8.34521479e-01 5.48352188e-01 -5.37008282e-02 2.08334281e+02] [-5.46843132e-01 -8.36233748e-01 -4.09354069e-02 1.30747352e+02] [-6.73534648e-02 -4.79554722e-03 9.97717652e-01 6.87261173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:130.74, Z:0.69 [[-8.34611339e-01 5.48203149e-01 -5.38258414e-02 2.08330265e+02] [-5.46688465e-01 -8.36331449e-01 -4.10052398e-02 1.30742555e+02] [-6.74954455e-02 -4.79747145e-03 9.97708048e-01 6.86944889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:130.75, Z:0.69 [[-8.35515831e-01 5.46764503e-01 -5.44231060e-02 2.08338586e+02] [-5.45214716e-01 -8.37271824e-01 -4.14343570e-02 1.30745465e+02] [-6.82217688e-02 -4.94678298e-03 9.97657917e-01 6.87192308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:130.75, Z:0.69 [[-8.36444370e-01 5.45357911e-01 -5.42730667e-02 2.08344256e+02] [-5.43815465e-01 -8.38188217e-01 -4.12947207e-02 1.30748946e+02] [-6.80114476e-02 -5.02620363e-03 9.97671880e-01 6.87874623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:130.73, Z:0.69 [[-8.37495192e-01 5.43729461e-01 -5.44065911e-02 2.08324585e+02] [-5.42177737e-01 -8.39244751e-01 -4.13708678e-02 1.30733807e+02] [-6.81550056e-02 -5.14986042e-03 9.97661453e-01 6.85614527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:130.75, Z:0.69 [[-8.38616205e-01 5.41978687e-01 -5.46073614e-02 2.08351274e+02] [-5.40413554e-01 -8.40375581e-01 -4.14978850e-02 1.30753065e+02] [-6.83816622e-02 -5.29024056e-03 9.97645208e-01 6.87508160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:130.75, Z:0.69 [[-8.39858394e-01 5.40026842e-01 -5.48533387e-02 2.08349139e+02] [-5.38445200e-01 -8.41630134e-01 -4.16591348e-02 1.30750109e+02] [-6.86632738e-02 -5.45225713e-03 9.97624994e-01 6.86757121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:130.76, Z:0.69 [[-8.42095539e-01 5.36487633e-01 -5.52822206e-02 2.08371345e+02] [-5.34875349e-01 -8.43888494e-01 -4.19591552e-02 1.30764450e+02] [-6.91625977e-02 -5.76452034e-03 9.97588746e-01 6.87960980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:130.76, Z:0.69 [[-8.43129722e-01 5.34886356e-01 -5.50350613e-02 2.08361983e+02] [-5.33286833e-01 -8.44903773e-01 -4.17464845e-02 1.30756809e+02] [-6.88289559e-02 -5.84822834e-03 9.97611334e-01 6.87561490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.701400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.35, Y:130.75, Z:0.69 [[-8.43721502e-01 5.34028654e-01 -5.42901873e-02 2.08351103e+02] [-5.32472099e-01 -8.45446366e-01 -4.11570848e-02 1.30746718e+02] [-6.78785042e-02 -5.81710742e-03 9.97676636e-01 6.86420702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:130.76, Z:0.69 [[-8.44271773e-01 5.33165253e-01 -5.42216445e-02 2.08363369e+02] [-5.31612556e-01 -8.45990837e-01 -4.10803363e-02 1.30755082e+02] [-6.77736223e-02 -5.85806137e-03 9.97683527e-01 6.87138336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:130.75, Z:0.69 [[-8.44282683e-01 5.33129437e-01 -5.44036270e-02 2.08359900e+02] [-5.31567912e-01 -8.46013398e-01 -4.11932766e-02 1.30749838e+02] [-6.79875457e-02 -5.85954765e-03 9.97668963e-01 6.85914476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:130.74, Z:0.68 [[-8.44062448e-01 5.33420817e-01 -5.49619462e-02 2.08356283e+02] [-5.31829380e-01 -8.45829604e-01 -4.15907640e-02 1.30744520e+02] [-6.86738205e-02 -5.87482432e-03 9.97621869e-01 6.84806067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:130.73, Z:0.68 [[-8.43147603e-01 5.34884756e-01 -5.47760607e-02 2.08347825e+02] [-5.33308836e-01 -8.44905697e-01 -4.14252182e-02 1.30734381e+02] [-6.84383235e-02 -5.71501622e-03 9.97638980e-01 6.82851422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:130.73, Z:0.68 [[-8.42760462e-01 5.35542695e-01 -5.43030843e-02 2.08347516e+02] [-5.33996934e-01 -8.44489642e-01 -4.10429029e-02 1.30732852e+02] [-6.78386190e-02 -5.59165532e-03 9.97680638e-01 6.82722584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:130.73, Z:0.68 [[-8.42557953e-01 5.35899725e-01 -5.39219842e-02 2.08340609e+02] [-5.34377992e-01 -8.44263704e-01 -4.07303275e-02 1.30726423e+02] [-6.73517454e-02 -5.50293969e-03 9.97714117e-01 6.81910358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:130.72, Z:0.68 [[-8.42269074e-01 5.36389572e-01 -5.35633603e-02 2.08327630e+02] [-5.34890656e-01 -8.43953195e-01 -4.04350292e-02 1.30715505e+02] [-6.68938971e-02 -5.40663373e-03 9.97745446e-01 6.80813028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:130.71, Z:0.68 [[-8.41961483e-01 5.36916919e-01 -5.31138683e-02 2.08323699e+02] [-5.35445739e-01 -8.43618482e-01 -4.00714082e-02 1.30711626e+02] [-6.63228579e-02 -5.29898782e-03 9.97784145e-01 6.80584277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.971400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.32, Y:130.71, Z:0.68 [[-8.41480060e-01 5.37751528e-01 -5.22934355e-02 2.08321676e+02] [-5.36328657e-01 -8.43087752e-01 -3.94285897e-02 1.30708875e+02] [-6.52907393e-02 -5.13190400e-03 9.97853087e-01 6.80601128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:130.71, Z:0.68 [[-8.40627590e-01 5.39097995e-01 -5.21402537e-02 2.08318929e+02] [-5.37687592e-01 -8.42228253e-01 -3.92889868e-02 1.30706053e+02] [-6.50946088e-02 -4.99223892e-03 9.97866609e-01 6.80649334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:130.70, Z:0.68 [[-8.40296774e-01 5.39565287e-01 -5.26367987e-02 2.08311226e+02] [-5.38130389e-01 -8.41929020e-01 -3.96384996e-02 1.30697713e+02] [-6.57040067e-02 -4.98264236e-03 9.97826717e-01 6.79677473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:130.70, Z:0.68 [[-8.40325325e-01 5.39460416e-01 -5.32523069e-02 2.08311978e+02] [-5.37993179e-01 -8.41995948e-01 -4.00769660e-02 1.30695011e+02] [-6.64581633e-02 -5.02831156e-03 9.97776542e-01 6.79580557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:130.59, Z:0.67 [[-8.40409715e-01 5.39413716e-01 -5.23865879e-02 2.08175688e+02] [-5.37848965e-01 -8.42013438e-01 -4.16156510e-02 1.30591301e+02] [-6.65582638e-02 -6.79812533e-03 9.97759381e-01 6.68230827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:130.69, Z:0.68 [[-8.41033027e-01 5.38169961e-01 -5.51048230e-02 2.08311007e+02] [-5.36746356e-01 -8.42829276e-01 -3.92703613e-02 1.30686781e+02] [-6.75780868e-02 -3.45035788e-03 9.97708022e-01 6.78559884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:130.65, Z:0.67 [[-8.41397895e-01 5.38007142e-01 -5.09695738e-02 2.08262580e+02] [-5.36487960e-01 -8.42909675e-01 -4.10359384e-02 1.30649571e+02] [-6.50403748e-02 -7.18298949e-03 9.97856781e-01 6.74804934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:130.68, Z:0.68 [[-8.41692256e-01 5.37303036e-01 -5.34751641e-02 2.08312947e+02] [-5.36000773e-01 -8.43384279e-01 -3.74983976e-02 1.30678458e+02] [-6.52481156e-02 -2.89938158e-03 9.97864859e-01 6.77238535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:130.66, Z:0.68 [[-8.41611895e-01 5.37523597e-01 -5.25147708e-02 2.08296220e+02] [-5.36099966e-01 -8.43233765e-01 -3.94163065e-02 1.30663380e+02] [-6.54694228e-02 -5.02006558e-03 9.97841948e-01 6.75985609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:130.65, Z:0.67 [[-8.40869658e-01 5.38738299e-01 -5.19544332e-02 2.08276215e+02] [-5.37174535e-01 -8.42443302e-01 -4.16269326e-02 1.30646688e+02] [-6.61946872e-02 -7.09422609e-03 9.97781507e-01 6.74903606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:130.65, Z:0.68 [[-8.37858416e-01 5.42848089e-01 -5.75258782e-02 2.08287968e+02] [-5.41340400e-01 -8.39826186e-01 -4.05283804e-02 1.30646448e+02] [-7.03124927e-02 -2.81596271e-03 9.97521039e-01 6.75612188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:130.63, Z:0.67 [[-8.35910297e-01 5.45926983e-01 -5.67248219e-02 2.08267483e+02] [-5.44289068e-01 -8.37819781e-01 -4.25138203e-02 1.30631825e+02] [-7.07346195e-02 -4.66303969e-03 9.97484270e-01 6.74275873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:130.62, Z:0.67 [[-8.33803372e-01 5.49159173e-01 -5.65344094e-02 2.08257589e+02] [-5.47541503e-01 -8.35706446e-01 -4.23442778e-02 1.30623977e+02] [-7.04999190e-02 -4.35186609e-03 9.97502292e-01 6.73042259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:130.61, Z:0.67 [[-8.31769723e-01 5.52293199e-01 -5.59584684e-02 2.08233909e+02] [-5.50717258e-01 -8.33640235e-01 -4.18862776e-02 1.30607167e+02] [-6.97827370e-02 -4.02244322e-03 9.97554104e-01 6.70228717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:130.61, Z:0.67 [[-8.29847145e-01 5.55230435e-01 -5.54335589e-02 2.08232693e+02] [-5.53692307e-01 -8.31688248e-01 -4.14667108e-02 1.30608298e+02] [-6.91270193e-02 -3.71789645e-03 9.97600939e-01 6.69922910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:130.61, Z:0.67 [[-8.28101747e-01 5.57845043e-01 -5.52847542e-02 2.08225229e+02] [-5.56322818e-01 -8.29937878e-01 -4.13284547e-02 1.30605638e+02] [-6.89377852e-02 -3.46799528e-03 9.97614933e-01 6.69553780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:130.60, Z:0.67 [[-8.25899966e-01 5.61050979e-01 -5.57767447e-02 2.08212073e+02] [-5.59510678e-01 -8.27775040e-01 -4.16687395e-02 1.30600597e+02] [-6.95488842e-02 -3.20652628e-03 9.97573391e-01 6.69687589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.21, Y:130.60, Z:0.67 [[-8.26034312e-01 5.60909466e-01 -5.52076555e-02 2.08207687e+02] [-5.59402015e-01 -8.27871104e-01 -4.12167557e-02 1.30598643e+02] [-6.88236911e-02 -3.16318073e-03 9.97623824e-01 6.69297983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:130.60, Z:0.67 [[-8.27252243e-01 5.59147755e-01 -5.48408048e-02 2.08203758e+02] [-5.57658277e-01 -8.29061593e-01 -4.09160228e-02 1.30598568e+02] [-6.83445073e-02 -3.26544286e-03 9.97656436e-01 6.69062652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:130.60, Z:0.67 [[-8.29077300e-01 5.56510254e-01 -5.41033105e-02 2.08196244e+02] [-5.55056796e-01 -8.30833726e-01 -4.03394717e-02 1.30595359e+02] [-6.74001847e-02 -3.41413012e-03 9.97720181e-01 6.68304289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:130.62, Z:0.67 [[-8.33249069e-01 5.50318043e-01 -5.33482961e-02 2.08231582e+02] [-5.48893964e-01 -8.34946291e-01 -3.97505650e-02 1.30624950e+02] [-6.64184151e-02 -3.83956354e-03 9.97784472e-01 6.70735134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:130.62, Z:0.67 [[-8.34930763e-01 5.47749059e-01 -5.34938141e-02 2.08224215e+02] [-5.46313685e-01 -8.36632955e-01 -3.98328607e-02 1.30620770e+02] [-6.65730997e-02 -4.03327804e-03 9.97773399e-01 6.69842480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:130.62, Z:0.67 [[-8.36237238e-01 5.45723695e-01 -5.37859719e-02 2.08217029e+02] [-5.44270155e-01 -8.37954679e-01 -4.00244127e-02 1.30617265e+02] [-6.69124772e-02 -4.19580506e-03 9.97750027e-01 6.69433993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.661400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.24, Y:130.64, Z:0.67 [[-8.37089428e-01 5.44460733e-01 -5.33272891e-02 2.08238140e+02] [-5.43031059e-01 -8.38775622e-01 -3.96575917e-02 1.30635022e+02] [-6.63216316e-02 -4.23857647e-03 9.97789294e-01 6.71497284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:130.64, Z:0.67 [[-8.37856523e-01 5.43280803e-01 -5.33143193e-02 2.08241108e+02] [-5.41851146e-01 -8.39539992e-01 -3.96224409e-02 1.30640847e+02] [-6.62856146e-02 -4.30949552e-03 9.97791384e-01 6.71648316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:130.64, Z:0.67 [[-8.38335721e-01 5.42561547e-01 -5.31054249e-02 2.08242677e+02] [-5.41143308e-01 -8.40004902e-01 -3.94421762e-02 1.30644779e+02] [-6.60086254e-02 -4.32813987e-03 9.97809666e-01 6.71493241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:130.62, Z:0.67 [[-8.38826190e-01 5.41968997e-01 -5.13831654e-02 2.08198667e+02] [-5.40523367e-01 -8.40378750e-01 -3.99755658e-02 1.30618559e+02] [-6.48468376e-02 -5.75875001e-03 9.97878612e-01 6.67320909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:130.65, Z:0.67 [[-8.39564565e-01 5.40660107e-01 -5.30847434e-02 2.08239156e+02] [-5.39359081e-01 -8.41236013e-01 -3.75998933e-02 1.30648424e+02] [-6.49855603e-02 -2.93579963e-03 9.97881886e-01 6.70171279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:130.66, Z:0.67 [[-8.40441591e-01 5.39414921e-01 -5.18601484e-02 2.08247114e+02] [-5.38060069e-01 -8.42028498e-01 -3.84625915e-02 1.30658531e+02] [-6.44150186e-02 -4.42168657e-03 9.97913400e-01 6.71216052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:130.65, Z:0.67 [[-8.41577555e-01 5.37694767e-01 -5.12987065e-02 2.08238241e+02] [-5.36367463e-01 -8.43127649e-01 -3.80225274e-02 1.30653598e+02] [-6.36958718e-02 -4.48394857e-03 9.97959283e-01 6.70428351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:130.65, Z:0.67 [[-8.41739042e-01 5.37440840e-01 -5.13101271e-02 2.08236342e+02] [-5.36114001e-01 -8.43289534e-01 -3.80071092e-02 1.30652077e+02] [-6.36958659e-02 -4.48399017e-03 9.97959283e-01 6.70259172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:130.66, Z:0.67 [[-8.43155304e-01 5.35253767e-01 -5.09169720e-02 2.08241362e+02] [-5.33944739e-01 -8.44678817e-01 -3.76923394e-02 1.30656219e+02] [-6.31834543e-02 -4.59364661e-03 9.97991357e-01 6.70204476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:130.66, Z:0.67 [[-8.46527272e-01 5.29965165e-01 -5.02842116e-02 2.08249295e+02] [-5.28680672e-01 -8.48005214e-01 -3.72008574e-02 1.30662382e+02] [-6.23564322e-02 -4.90724951e-03 9.98041880e-01 6.70158402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:130.67, Z:0.67 [[-8.48177766e-01 5.27305810e-01 -5.04287630e-02 2.08262903e+02] [-5.26010719e-01 -8.49660282e-01 -3.72844248e-02 1.30671485e+02] [-6.25076108e-02 -5.09775027e-03 9.98031468e-01 6.71776512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:130.67, Z:0.67 [[-8.49348769e-01 5.25390562e-01 -5.07092296e-02 2.08257586e+02] [-5.24079098e-01 -8.50845000e-01 -3.74684446e-02 1.30665382e+02] [-6.28312616e-02 -5.24813002e-03 9.98010366e-01 6.71773064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:130.67, Z:0.67 [[-8.50050795e-01 5.24237342e-01 -5.08807899e-02 2.08270757e+02] [-5.22916405e-01 -8.51555508e-01 -3.75719418e-02 1.30672742e+02] [-6.30244318e-02 -5.33165925e-03 9.97997743e-01 6.72747238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:130.67, Z:0.67 [[-8.50292238e-01 5.23846454e-01 -5.08724193e-02 2.08267061e+02] [-5.22526718e-01 -8.51795971e-01 -3.75426738e-02 1.30668052e+02] [-6.29995183e-02 -5.34004584e-03 9.97999271e-01 6.72241458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:130.67, Z:0.67 [[-8.50005222e-01 5.24265447e-01 -5.13504057e-02 2.08265419e+02] [-5.22923012e-01 -8.51538159e-01 -3.78719882e-02 1.30665859e+02] [-6.35818047e-02 -5.33907893e-03 9.97962348e-01 6.71970934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:130.67, Z:0.67 [[-8.48376212e-01 5.26792467e-01 -5.24166027e-02 2.08265375e+02] [-5.25399971e-01 -8.49977809e-01 -3.86341238e-02 1.30665457e+02] [-6.49051145e-02 -5.23659007e-03 9.97877700e-01 6.72656883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:130.65, Z:0.67 [[-8.47435406e-01 5.28316432e-01 -5.22970461e-02 2.08245841e+02] [-5.26934685e-01 -8.49032307e-01 -3.85224412e-02 1.30650867e+02] [-6.47539204e-02 -5.08815308e-03 9.97888291e-01 6.71166511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:130.65, Z:0.67 [[-8.46524690e-01 5.29812546e-01 -5.19096934e-02 2.08244425e+02] [-5.28455504e-01 -8.48100519e-01 -3.82137327e-02 1.30649714e+02] [-6.42707529e-02 -4.91690505e-03 9.97920385e-01 6.71018760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:130.64, Z:0.67 [[-8.45697484e-01 5.31183385e-01 -5.13807027e-02 2.08230042e+02] [-5.29857875e-01 -8.47243594e-01 -3.78011127e-02 1.30639225e+02] [-6.36112942e-02 -4.74383590e-03 9.97963476e-01 6.69575308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:130.64, Z:0.67 [[-8.45238257e-01 5.31953573e-01 -5.09674924e-02 2.08225357e+02] [-5.30652172e-01 -8.46760872e-01 -3.74739616e-02 1.30635940e+02] [-6.30916861e-02 -4.62841543e-03 9.97997002e-01 6.69031554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:130.64, Z:0.67 [[-8.45062339e-01 5.32248882e-01 -5.08012891e-02 2.08223982e+02] [-5.30957963e-01 -8.46575589e-01 -3.73284522e-02 1.30635301e+02] [-6.28751582e-02 -4.57152013e-03 9.98010930e-01 6.69125434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:130.63, Z:0.67 [[-8.44998681e-01 5.32199613e-01 -5.23526599e-02 2.08218943e+02] [-5.30830068e-01 -8.46605891e-01 -3.84435153e-02 1.30632302e+02] [-6.47816942e-02 -4.69435373e-03 9.97888418e-01 6.69362159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:130.64, Z:0.67 [[-8.45171225e-01 5.31843081e-01 -5.31840006e-02 2.08224083e+02] [-5.30430581e-01 -8.46829457e-01 -3.90290864e-02 1.30636705e+02] [-6.57951279e-02 -4.77584037e-03 9.97821724e-01 6.69678772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:130.64, Z:0.67 [[-8.45244653e-01 5.31693919e-01 -5.35074982e-02 2.08222729e+02] [-5.30265508e-01 -8.46923006e-01 -3.92417382e-02 1.30637347e+02] [-6.61813248e-02 -4.79568877e-03 9.97796088e-01 6.69658034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:130.63, Z:0.67 [[-8.45314662e-01 5.31598393e-01 -5.33504635e-02 2.08211473e+02] [-5.30179786e-01 -8.46983124e-01 -3.91022091e-02 1.30631324e+02] [-6.59736138e-02 -4.76833338e-03 9.97809975e-01 6.68143771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:130.63, Z:0.67 [[-8.45214862e-01 5.31796274e-01 -5.29580986e-02 2.08207095e+02] [-5.30400451e-01 -8.46859291e-01 -3.87905093e-02 1.30633092e+02] [-6.54767061e-02 -4.69731555e-03 9.97843042e-01 6.68028800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.56, Z:0.66 [[-8.44430750e-01 5.33064651e-01 -5.27141958e-02 2.08099766e+02] [-5.31644697e-01 -8.46059211e-01 -3.92138775e-02 1.30557169e+02] [-6.55028628e-02 -5.08818137e-03 9.97839409e-01 6.58909989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:130.64, Z:0.67 [[-8.45353214e-01 5.31627996e-01 -5.24368025e-02 2.08205537e+02] [-5.30286154e-01 -8.46966992e-01 -3.79935449e-02 1.30635988e+02] [-6.46106730e-02 -4.31145498e-03 9.97901234e-01 6.68608528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.501400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:208.21, Y:130.64, Z:0.67 [[-8.45397272e-01 5.31590894e-01 -5.21015787e-02 2.08207140e+02] [-5.30244050e-01 -8.46988885e-01 -3.80930023e-02 1.30638147e+02] [-6.43793512e-02 -4.57716813e-03 9.97915001e-01 6.67728439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:130.63, Z:0.67 [[-8.45697647e-01 5.31126566e-01 -5.19621110e-02 2.08196202e+02] [-5.29787588e-01 -8.47280116e-01 -3.79673191e-02 1.30632320e+02] [-6.41919153e-02 -4.57999095e-03 9.97927062e-01 6.67928986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:130.58, Z:0.66 [[-8.46149237e-01 5.30389358e-01 -5.21401768e-02 2.08120390e+02] [-5.28981135e-01 -8.47736835e-01 -3.90027781e-02 1.30579543e+02] [-6.48878069e-02 -5.42100102e-03 9.97877841e-01 6.60537839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:130.62, Z:0.67 [[-8.47470592e-01 5.28371569e-01 -5.11574064e-02 2.08176357e+02] [-5.26978174e-01 -8.48992567e-01 -3.88023824e-02 1.30622432e+02] [-6.39343334e-02 -5.92504136e-03 9.97936519e-01 6.65134858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:130.65, Z:0.67 [[-8.49305467e-01 5.25321234e-01 -5.21327707e-02 2.08215282e+02] [-5.24090797e-01 -8.50897487e-01 -3.60874387e-02 1.30648921e+02] [-6.33171413e-02 -3.32695361e-03 9.97987911e-01 6.68311381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:130.65, Z:0.67 [[-8.50311173e-01 5.23818330e-01 -5.08455195e-02 2.08212097e+02] [-5.22528518e-01 -8.51815611e-01 -3.70690147e-02 1.30647931e+02] [-6.27284366e-02 -4.95196341e-03 9.98018347e-01 6.68327935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:130.65, Z:0.67 [[-8.50319354e-01 5.23745756e-01 -5.14527014e-02 2.08211305e+02] [-5.22426280e-01 -8.51859975e-01 -3.74882018e-02 1.30647772e+02] [-6.34647835e-02 -4.99670014e-03 9.97971570e-01 6.68323590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:130.65, Z:0.67 [[-8.49957708e-01 5.24261753e-01 -5.21680909e-02 2.08210004e+02] [-5.22907784e-01 -8.51542450e-01 -3.79855999e-02 1.30648149e+02] [-6.43377411e-02 -5.00705266e-03 9.97915620e-01 6.68709369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.741400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:208.21, Y:130.65, Z:0.67 [[-8.49239873e-01 5.25358584e-01 -5.28204104e-02 2.08205312e+02] [-5.23974169e-01 -8.50866443e-01 -3.84365177e-02 1.30645624e+02] [-6.51360692e-02 -4.96529278e-03 9.97864038e-01 6.67442993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:130.59, Z:0.66 [[-8.47857118e-01 5.27793836e-01 -5.07146299e-02 2.08117239e+02] [-5.26317565e-01 -8.49340916e-01 -4.01226699e-02 1.30586769e+02] [-6.42505081e-02 -7.32629076e-03 9.97906908e-01 6.62086638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:130.64, Z:0.67 [[-8.47617020e-01 5.27865477e-01 -5.38834560e-02 2.08190965e+02] [-5.26630972e-01 -8.49324970e-01 -3.61512670e-02 1.30635621e+02] [-6.48475705e-02 -2.26573241e-03 9.97892609e-01 6.67294608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:130.63, Z:0.67 [[-8.46934876e-01 5.29120424e-01 -5.22770753e-02 2.08181910e+02] [-5.27775204e-01 -8.48534390e-01 -3.79831850e-02 1.30631754e+02] [-6.44565752e-02 -4.57874000e-03 9.97910009e-01 6.67155094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:130.63, Z:0.67 [[-8.46785734e-01 5.29356242e-01 -5.23057376e-02 2.08178339e+02] [-5.28011525e-01 -8.48387488e-01 -3.79802642e-02 1.30629598e+02] [-6.44806233e-02 -4.54311366e-03 9.97908618e-01 6.66768953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:130.63, Z:0.67 [[-8.47279911e-01 5.28612608e-01 -5.18214448e-02 2.08180728e+02] [-5.27292792e-01 -8.48851060e-01 -3.76057157e-02 1.30630939e+02] [-6.38675438e-02 -4.53749313e-03 9.97948069e-01 6.66850626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:130.62, Z:0.67 [[-8.47844241e-01 5.27739908e-01 -5.14852638e-02 2.08163787e+02] [-5.26437658e-01 -8.49393859e-01 -3.73291442e-02 1.30617972e+02] [-6.34313460e-02 -4.54551824e-03 9.97975853e-01 6.65204319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:130.62, Z:0.67 [[-8.48292663e-01 5.27022320e-01 -5.14493209e-02 2.08169659e+02] [-5.25722066e-01 -8.49839122e-01 -3.72796996e-02 1.30621310e+02] [-6.33708795e-02 -4.57605239e-03 9.97979555e-01 6.65684950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:130.61, Z:0.67 [[-8.48378932e-01 5.26856898e-01 -5.17203748e-02 2.08162305e+02] [-5.25544100e-01 -8.49941597e-01 -3.74523863e-02 1.30613525e+02] [-6.36913460e-02 -4.59247768e-03 9.97959078e-01 6.65218317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.011400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.15, Y:130.60, Z:0.66 [[-8.48089797e-01 5.27377678e-01 -5.11515590e-02 2.08152124e+02] [-5.26096022e-01 -8.49619140e-01 -3.70174591e-02 1.30603804e+02] [-6.29815252e-02 -4.48349764e-03 9.98004622e-01 6.63514942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:130.61, Z:0.66 [[-8.47918813e-01 5.27684941e-01 -5.08162272e-02 2.08165455e+02] [-5.26422050e-01 -8.49428714e-01 -3.67516717e-02 1.30612607e+02] [-6.25580662e-02 -4.41165133e-03 9.98031576e-01 6.64837454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:130.60, Z:0.66 [[-8.47826392e-01 5.27843876e-01 -5.07075083e-02 2.08150317e+02] [-5.26588116e-01 -8.49330170e-01 -3.66499303e-02 1.30600425e+02] [-6.24128580e-02 -4.37080683e-03 9.98040847e-01 6.63359200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:130.61, Z:0.66 [[-8.47880929e-01 5.27755592e-01 -5.07145451e-02 2.08161417e+02] [-5.26500775e-01 -8.49385096e-01 -3.66318609e-02 1.30607078e+02] [-6.24088482e-02 -4.35820891e-03 9.98041152e-01 6.64395836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:130.60, Z:0.66 [[-8.48218366e-01 5.27209638e-01 -5.07503850e-02 2.08152004e+02] [-5.25953526e-01 -8.49723954e-01 -3.66345568e-02 1.30599202e+02] [-6.24379093e-02 -4.38175999e-03 9.98039232e-01 6.63540458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:130.60, Z:0.66 [[-8.48664054e-01 5.26417226e-01 -5.15191998e-02 2.08159044e+02] [-5.25122789e-01 -8.50214543e-01 -3.71656840e-02 1.30601346e+02] [-6.33670292e-02 -4.48727422e-03 9.97980202e-01 6.63591383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:130.60, Z:0.66 [[-8.48683256e-01 5.26332383e-01 -5.20668128e-02 2.08155319e+02] [-5.25011629e-01 -8.50266889e-01 -3.75367458e-02 1.30596839e+02] [-6.40274918e-02 -4.52112541e-03 9.97937894e-01 6.63199413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:130.59, Z:0.66 [[-8.48525401e-01 5.26567858e-01 -5.22583464e-02 2.08152575e+02] [-5.25239335e-01 -8.50121194e-01 -3.76509912e-02 1.30593200e+02] [-6.42517296e-02 -4.49968327e-03 9.97923578e-01 6.63285168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.251400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.15, Y:130.59, Z:0.66 [[-8.48207349e-01 5.27109340e-01 -5.19618742e-02 2.08153114e+02] [-5.25798378e-01 -8.49786012e-01 -3.74138864e-02 1.30592344e+02] [-6.38776828e-02 -4.41326426e-03 9.97947977e-01 6.62380295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:130.59, Z:0.66 [[-8.47937117e-01 5.27612400e-01 -5.12620851e-02 2.08155870e+02] [-5.26338913e-01 -8.49474364e-01 -3.68870416e-02 1.30594823e+02] [-6.30078876e-02 -4.29666158e-03 9.98003780e-01 6.63563070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:130.58, Z:0.66 [[-8.46942908e-01 5.29204331e-01 -5.12882772e-02 2.08138418e+02] [-5.27933904e-01 -8.48484216e-01 -3.68826248e-02 1.30582911e+02] [-6.30357384e-02 -4.16065712e-03 9.98002598e-01 6.63045959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.341400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.46597830e-01 5.29705029e-01 -5.18140562e-02 2.08132672e+02] [-5.28410840e-01 -8.48171797e-01 -3.72369125e-02 1.30577894e+02] [-6.36718009e-02 -4.14558039e-03 9.97962282e-01 6.61829250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:130.57, Z:0.66 [[-8.46992469e-01 5.29051407e-01 -5.20419709e-02 2.08124847e+02] [-5.27746102e-01 -8.48579418e-01 -3.73767764e-02 1.30573052e+02] [-6.39359815e-02 -4.19290091e-03 9.97945194e-01 6.62172938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:130.58, Z:0.66 [[-8.47817140e-01 5.27699390e-01 -5.23397646e-02 2.08135784e+02] [-5.26378084e-01 -8.49420316e-01 -3.75664750e-02 1.30581512e+02] [-6.42822653e-02 -4.29899643e-03 9.97922497e-01 6.62346387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.48630437e-01 5.26387800e-01 -5.23666433e-02 2.08132706e+02] [-5.25064201e-01 -8.50233319e-01 -3.75617854e-02 1.30579298e+02] [-6.42959305e-02 -4.38022466e-03 9.97921263e-01 6.61975573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.49453486e-01 5.25062400e-01 -5.23283114e-02 2.08130281e+02] [-5.23739776e-01 -8.51052062e-01 -3.75104692e-02 1.30576934e+02] [-6.42294542e-02 -4.45698070e-03 9.97925204e-01 6.61901607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.491400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:208.14, Y:130.58, Z:0.66 [[-8.50036349e-01 5.24111583e-01 -5.23951661e-02 2.08136489e+02] [-5.22785322e-01 -8.51637640e-01 -3.75344825e-02 1.30580842e+02] [-6.42939526e-02 -4.51425068e-03 9.97920793e-01 6.61759027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:130.59, Z:0.66 [[-8.50696754e-01 5.23047464e-01 -5.23104385e-02 2.08145905e+02] [-5.21725024e-01 -8.52291319e-01 -3.74500537e-02 1.30589034e+02] [-6.41718883e-02 -4.56697436e-03 9.97928410e-01 6.63917546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:130.59, Z:0.66 [[-8.50692547e-01 5.23037081e-01 -5.24824056e-02 2.08140243e+02] [-5.21707433e-01 -8.52297715e-01 -3.75494208e-02 1.30585996e+02] [-6.43703738e-02 -4.56255134e-03 9.97915647e-01 6.64180120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.49866514e-01 5.24183889e-01 -5.43889584e-02 2.08127069e+02] [-5.22759773e-01 -8.51592585e-01 -3.88881685e-02 1.30576929e+02] [-6.67017850e-02 -4.61739269e-03 9.97762272e-01 6.63683454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.49727393e-01 5.24315268e-01 -5.52888582e-02 2.08132616e+02] [-5.22845571e-01 -8.51511460e-01 -3.95062337e-02 1.30580809e+02] [-6.77928178e-02 -4.66199435e-03 9.97688528e-01 6.63785791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:130.58, Z:0.66 [[-8.50015912e-01 5.23835740e-01 -5.53991656e-02 2.08124117e+02] [-5.22360862e-01 -8.51806397e-01 -3.95599799e-02 1.30575787e+02] [-6.79122949e-02 -4.68825649e-03 9.97680280e-01 6.62966551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:130.57, Z:0.66 [[-8.50452517e-01 5.23177168e-01 -5.49196390e-02 2.08107930e+02] [-5.21728042e-01 -8.52211101e-01 -3.91929835e-02 1.30565750e+02] [-6.73080001e-02 -4.67865575e-03 9.97721275e-01 6.62162204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.51075774e-01 5.22216066e-01 -5.44096246e-02 2.08128186e+02] [-5.20793449e-01 -8.52800322e-01 -3.88045645e-02 1.30581075e+02] [-6.66649124e-02 -4.68944871e-03 9.97764400e-01 6.63976736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.51835005e-01 5.21012115e-01 -5.40694048e-02 2.08131948e+02] [-5.19606879e-01 -8.53536190e-01 -3.85313450e-02 1.30583299e+02] [-6.62254913e-02 -4.72751381e-03 9.97793483e-01 6.64740548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.58, Z:0.66 [[-8.51988916e-01 5.20759206e-01 -5.40808397e-02 2.08130023e+02] [-5.19354476e-01 -8.53690518e-01 -3.85152888e-02 1.30581815e+02] [-6.62254912e-02 -4.72747299e-03 9.97793483e-01 6.64571469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:130.58, Z:0.66 [[-8.53615656e-01 5.18100431e-01 -5.39653198e-02 2.08135162e+02] [-5.16698019e-01 -8.55305739e-01 -3.84089814e-02 1.30580577e+02] [-6.60565575e-02 -4.90273402e-03 9.97803836e-01 6.64986935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:130.57, Z:0.66 [[-8.54587055e-01 5.16514159e-01 -5.37967406e-02 2.08126400e+02] [-5.15118966e-01 -8.56264114e-01 -3.82651117e-02 1.30572127e+02] [-6.58286904e-02 -4.98914774e-03 9.97818466e-01 6.64701578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:130.58, Z:0.67 [[-8.55398715e-01 5.15190868e-01 -5.35855087e-02 2.08141815e+02] [-5.13805614e-01 -8.57060594e-01 -3.80910726e-02 1.30581902e+02] [-6.55502007e-02 -5.05051938e-03 9.97836491e-01 6.65749551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:130.58, Z:0.66 [[-8.55306104e-01 5.15493986e-01 -5.21288689e-02 2.08136354e+02] [-5.14185105e-01 -8.56879353e-01 -3.70331254e-02 1.30575763e+02] [-6.37585049e-02 -4.87077023e-03 9.97953470e-01 6.64495554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.49, Z:0.65 [[-8.54349404e-01 5.17177718e-01 -5.11302631e-02 2.08020671e+02] [-5.15936606e-01 -8.55866477e-01 -3.60831216e-02 1.30491596e+02] [-6.24220647e-02 -4.44761900e-03 9.98039931e-01 6.54977180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.55, Z:0.66 [[-8.54129300e-01 5.17499348e-01 -5.15515566e-02 2.08100648e+02] [-5.16203066e-01 -8.55669352e-01 -3.69371787e-02 1.30547744e+02] [-6.32260530e-02 -4.93805502e-03 9.97987015e-01 6.61085723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:130.56, Z:0.66 [[-8.53372623e-01 5.18677273e-01 -5.22403428e-02 2.08115187e+02] [-5.17373218e-01 -8.54957829e-01 -3.70413847e-02 1.30557728e+02] [-6.38758145e-02 -4.58234930e-03 9.97947335e-01 6.62647104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:130.55, Z:0.66 [[-8.52625251e-01 5.19874131e-01 -5.25458852e-02 2.08105362e+02] [-5.18558543e-01 -8.54231028e-01 -3.72342322e-02 1.30551930e+02] [-6.42434397e-02 -4.49872890e-03 9.97924116e-01 6.62539994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.55, Z:0.66 [[-8.52013402e-01 5.20864692e-01 -5.26605689e-02 2.08096261e+02] [-5.19546751e-01 -8.53627842e-01 -3.72918284e-02 1.30546997e+02] [-6.43765245e-02 -4.41351010e-03 9.97915920e-01 6.62767185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.55, Z:0.66 [[-8.51868891e-01 5.21242256e-01 -5.12435722e-02 2.08100358e+02] [-5.19996452e-01 -8.53398190e-01 -3.62659537e-02 1.30551275e+02] [-6.26345192e-02 -4.24736203e-03 9.98027493e-01 6.62495608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:130.54, Z:0.66 [[-8.52306231e-01 5.20612347e-01 -5.03673773e-02 2.08084233e+02] [-5.19409109e-01 -8.53782839e-01 -3.56236072e-02 1.30540782e+02] [-6.15488921e-02 -4.20094783e-03 9.98095229e-01 6.60808525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.55, Z:0.66 [[-8.52948136e-01 5.19561968e-01 -5.03471848e-02 2.08095700e+02] [-5.18359278e-01 -8.54422174e-01 -3.55866194e-02 1.30550655e+02] [-6.15072051e-02 -4.25561024e-03 9.98097567e-01 6.61813492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:130.55, Z:0.66 [[-8.53580066e-01 5.18505696e-01 -5.05263739e-02 2.08086638e+02] [-5.17293998e-01 -8.55063223e-01 -3.56904003e-02 1.30545578e+02] [-6.17089199e-02 -4.32762423e-03 9.98084806e-01 6.61658474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:130.55, Z:0.66 [[-8.54359945e-01 5.17178793e-01 -5.09429179e-02 2.08092557e+02] [-5.15946109e-01 -8.55865866e-01 -3.59615378e-02 1.30550585e+02] [-6.21988493e-02 -4.44029713e-03 9.98053900e-01 6.62191750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.56, Z:0.66 [[-8.54659890e-01 5.16655547e-01 -5.12202933e-02 2.08097077e+02] [-5.15409905e-01 -8.56181610e-01 -3.61342062e-02 1.30555482e+02] [-6.25228112e-02 -4.48301013e-03 9.98033467e-01 6.62377428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:130.55, Z:0.66 [[-8.54041326e-01 5.17683485e-01 -5.11588066e-02 2.08088183e+02] [-5.16444090e-01 -8.55560985e-01 -3.60680238e-02 1.30550773e+02] [-6.24412992e-02 -4.38291951e-03 9.98039014e-01 6.61844036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:130.55, Z:0.66 [[-8.52846547e-01 5.19654164e-01 -5.11108358e-02 2.08078067e+02] [-5.18422024e-01 -8.54366304e-01 -3.60114395e-02 1.30545279e+02] [-6.23808704e-02 -4.21524886e-03 9.98043515e-01 6.61201065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:130.54, Z:0.66 [[-8.51121612e-01 5.22470912e-01 -5.11482811e-02 2.08067032e+02] [-5.21243436e-01 -8.52647763e-01 -3.60149061e-02 1.30538667e+02] [-6.24282083e-02 -3.99235917e-03 9.98041472e-01 6.60829682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:130.53, Z:0.66 [[-8.49168784e-01 5.25582068e-01 -5.17287623e-02 2.08054810e+02] [-5.24333753e-01 -8.50734477e-01 -3.64000763e-02 1.30530946e+02] [-6.31386689e-02 -3.78667252e-03 9.97997580e-01 6.60345854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.51, Z:0.66 [[-8.44818703e-01 5.32429460e-01 -5.29171897e-02 2.08024982e+02] [-5.31137934e-01 -8.46467823e-01 -3.72118139e-02 1.30512558e+02] [-6.46053643e-02 -3.33090958e-03 9.97905332e-01 6.58718346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.50, Z:0.66 [[-8.42896517e-01 5.35437704e-01 -5.32158516e-02 2.08004983e+02] [-5.34139094e-01 -8.44569044e-01 -3.73972978e-02 1.30500094e+02] [-6.49683842e-02 -3.09738530e-03 9.97882516e-01 6.57786199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.50, Z:0.66 [[-8.41296109e-01 5.37934312e-01 -5.33622896e-02 2.07997266e+02] [-5.36635154e-01 -8.42981800e-01 -3.74752915e-02 1.30495177e+02] [-6.51426840e-02 -2.89173639e-03 9.97871770e-01 6.57829190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.50, Z:0.66 [[-8.39864718e-01 5.40154429e-01 -5.34831589e-02 2.07998770e+02] [-5.38855495e-01 -8.41561571e-01 -3.75350146e-02 1.30496212e+02] [-6.52840756e-02 -2.70464042e-03 9.97863054e-01 6.58072287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.47, Z:0.66 [[-8.37349356e-01 5.44079762e-01 -5.31344320e-02 2.07968219e+02] [-5.42807196e-01 -8.39030173e-01 -3.72654984e-02 1.30474687e+02] [-6.48567951e-02 -2.36248907e-03 9.97891785e-01 6.55582010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.47, Z:0.66 [[-8.36537470e-01 5.45340939e-01 -5.29935872e-02 2.07967263e+02] [-5.44079253e-01 -8.38211341e-01 -3.71418161e-02 1.30474240e+02] [-6.46747787e-02 -2.23780956e-03 9.97903886e-01 6.56343343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.46, Z:0.65 [[-8.36023878e-01 5.46060237e-01 -5.36869972e-02 2.07944985e+02] [-5.44768686e-01 -8.37743062e-01 -3.75984024e-02 1.30458878e+02] [-6.55069020e-02 -2.18616721e-03 9.97849721e-01 6.54957752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.45, Z:0.66 [[-8.35495476e-01 5.46817657e-01 -5.42011061e-02 2.07937930e+02] [-5.45504557e-01 -8.37249027e-01 -3.79321068e-02 1.30453413e+02] [-6.61217691e-02 -2.12515323e-03 9.97809298e-01 6.55022345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:130.46, Z:0.66 [[-8.35046716e-01 5.47475156e-01 -5.44787656e-02 2.07954562e+02] [-5.46151718e-01 -8.36819398e-01 -3.80998227e-02 1.30463739e+02] [-6.64475942e-02 -2.06146041e-03 9.97787787e-01 6.56543627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.45, Z:0.66 [[-8.33965506e-01 5.49144668e-01 -5.42371527e-02 2.07942068e+02] [-5.47838204e-01 -8.35725153e-01 -3.79047632e-02 1.30451213e+02] [-6.61425514e-02 -1.89808067e-03 9.97808379e-01 6.55158951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.45, Z:0.65 [[-8.33370899e-01 5.50031647e-01 -5.43887132e-02 2.07937255e+02] [-5.48721493e-01 -8.35141849e-01 -3.79844019e-02 1.30446410e+02] [-6.63149137e-02 -1.81083924e-03 9.97797100e-01 6.54351410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.44, Z:0.65 [[-8.32719251e-01 5.50986110e-01 -5.47079120e-02 2.07936556e+02] [-5.49664350e-01 -8.34512636e-01 -3.81806654e-02 1.30444576e+02] [-6.66914601e-02 -1.72278622e-03 9.97772159e-01 6.54257446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.44, Z:0.65 [[-8.31880669e-01 5.52269807e-01 -5.45216622e-02 2.07938553e+02] [-5.50961546e-01 -8.33663916e-01 -3.80243362e-02 1.30444169e+02] [-6.64524353e-02 -1.59237093e-03 9.97788323e-01 6.54617818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.43, Z:0.65 [[-8.30893305e-01 5.53813003e-01 -5.39209940e-02 2.07915384e+02] [-5.52538381e-01 -8.32639844e-01 -3.75796253e-02 1.30426084e+02] [-6.57088532e-02 -1.43124029e-03 9.97837812e-01 6.52390459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.41, Z:0.65 [[-8.29499774e-01 5.55950832e-01 -5.33741345e-02 2.07896771e+02] [-5.54708049e-01 -8.31214272e-01 -3.71727800e-02 1.30411060e+02] [-6.50315803e-02 -1.22775058e-03 9.97882451e-01 6.50675243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.811400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.84, Y:130.37, Z:0.65 [[-8.25579564e-01 5.61950239e-01 -5.12865730e-02 2.07840968e+02] [-5.60761764e-01 -8.27169820e-01 -3.65558756e-02 1.30368998e+02] [-6.29652884e-02 -1.42023468e-03 9.98014707e-01 6.47967136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:130.39, Z:0.65 [[-8.23932574e-01 5.64130249e-01 -5.37789548e-02 2.07882102e+02] [-5.62941000e-01 -8.25685806e-01 -3.66112004e-02 1.30394222e+02] [-6.50580052e-02 1.09218020e-04 9.97881478e-01 6.49493342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:130.39, Z:0.65 [[-8.22090873e-01 5.66886393e-01 -5.29755985e-02 2.07874464e+02] [-5.65688495e-01 -8.23795921e-01 -3.68348722e-02 1.30387390e+02] [-6.45222698e-02 -3.13925660e-04 9.97916218e-01 6.49105563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.901400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.86, Y:130.37, Z:0.65 [[-8.20070847e-01 5.69921431e-01 -5.17046342e-02 2.07858666e+02] [-5.68787992e-01 -8.21699191e-01 -3.59257602e-02 1.30374144e+02] [-6.29605167e-02 -5.26935477e-05 9.98016017e-01 6.48333749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.36, Z:0.65 [[-8.16896375e-01 5.74519242e-01 -5.10681228e-02 2.07837626e+02] [-5.73424099e-01 -8.18491014e-01 -3.54579120e-02 1.30355734e+02] [-6.21700523e-02 3.18252497e-04 9.98065521e-01 6.46459730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.35, Z:0.65 [[-8.15662565e-01 5.76230149e-01 -5.15111139e-02 2.07835515e+02] [-5.75120991e-01 -8.17287337e-01 -3.57387134e-02 1.30351440e+02] [-6.26931052e-02 4.74392253e-04 9.98032740e-01 6.46483195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.991400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.82, Y:130.34, Z:0.65 [[-8.14446971e-01 5.77909916e-01 -5.19255271e-02 2.07823080e+02] [-5.76787950e-01 -8.16100319e-01 -3.59990207e-02 1.30339129e+02] [-6.31806302e-02 6.30724935e-04 9.98001909e-01 6.46008228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.33, Z:0.64 [[-8.13743548e-01 5.78817349e-01 -5.28385620e-02 2.07817083e+02] [-5.77659260e-01 -8.15456887e-01 -3.66039026e-02 1.30331914e+02] [-6.42745431e-02 7.36495075e-04 9.97931982e-01 6.44768662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.34, Z:0.65 [[-8.12864805e-01 5.80017681e-01 -5.32005395e-02 2.07827118e+02] [-5.78848046e-01 -8.14603431e-01 -3.68264784e-02 1.30336368e+02] [-6.46973507e-02 8.60080159e-04 9.97904561e-01 6.45421716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.81, Y:130.32, Z:0.65 [[-8.10367990e-01 5.83548235e-01 -5.26799715e-02 2.07813658e+02] [-5.82410582e-01 -8.12077662e-01 -3.64387842e-02 1.30324046e+02] [-6.40440163e-02 1.15254855e-03 9.97946409e-01 6.45078311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.31, Z:0.64 [[-8.09619425e-01 5.84571551e-01 -5.28440054e-02 2.07798907e+02] [-5.83430759e-01 -8.11341183e-01 -3.65244365e-02 1.30312817e+02] [-6.42256643e-02 1.25992493e-03 9.97934605e-01 6.43908135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.30, Z:0.64 [[-8.09160194e-01 5.85211528e-01 -5.27943854e-02 2.07789827e+02] [-5.84076037e-01 -8.10879579e-01 -3.64621886e-02 1.30304170e+02] [-6.41479821e-02 1.33218378e-03 9.97939508e-01 6.43684265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.30, Z:0.64 [[-8.09347111e-01 5.84977523e-01 -5.25219113e-02 2.07794258e+02] [-5.83855033e-01 -8.11048414e-01 -3.62459764e-02 1.30303641e+02] [-6.38008943e-02 1.32960598e-03 9.97961762e-01 6.43920299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.29, Z:0.64 [[-8.10948152e-01 5.82782972e-01 -5.22216585e-02 2.07786871e+02] [-5.81670505e-01 -8.12626994e-01 -3.60109896e-02 1.30290737e+02] [-6.34233209e-02 1.17275306e-03 9.97986025e-01 6.42130049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.231400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.80, Y:130.30, Z:0.64 [[-8.11779765e-01 5.81596448e-01 -5.25279489e-02 2.07804952e+02] [-5.80470208e-01 -8.13476700e-01 -3.61938726e-02 1.30299077e+02] [-6.37804902e-02 1.10945604e-03 9.97963335e-01 6.43543663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.30, Z:0.64 [[-8.12712098e-01 5.80251984e-01 -5.29781143e-02 2.07807056e+02] [-5.79105322e-01 -8.14436346e-01 -3.64755215e-02 1.30298088e+02] [-6.43122955e-02 1.03581034e-03 9.97929284e-01 6.43203506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.29, Z:0.64 [[-8.13131635e-01 5.79666513e-01 -5.29497656e-02 2.07796019e+02] [-5.78521641e-01 -8.14853183e-01 -3.64280326e-02 1.30287786e+02] [-6.42623957e-02 1.01179959e-03 9.97932523e-01 6.42146236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.29, Z:0.64 [[-8.13410820e-01 5.79311881e-01 -5.25412467e-02 2.07798456e+02] [-5.78185649e-01 -8.15105359e-01 -3.61193702e-02 1.30286811e+02] [-6.37510321e-02 9.98708291e-04 9.97965334e-01 6.42116687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.28, Z:0.64 [[-8.12987128e-01 5.79982941e-01 -5.16886638e-02 2.07796572e+02] [-5.78896046e-01 -8.14627935e-01 -3.55062764e-02 1.30281551e+02] [-6.27000641e-02 1.05621738e-03 9.98031856e-01 6.41293148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.27, Z:0.64 [[-8.12719419e-01 5.80368370e-01 -5.15722830e-02 2.07788347e+02] [-5.79288854e-01 -8.14353322e-01 -3.53990345e-02 1.30274723e+02] [-6.25425399e-02 1.10576594e-03 9.98041687e-01 6.40311237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:130.27, Z:0.64 [[-8.12192535e-01 5.81124174e-01 -5.13612781e-02 2.07777565e+02] [-5.80056687e-01 -8.13814045e-01 -3.52269885e-02 1.30266451e+02] [-6.22697841e-02 1.18135576e-03 9.98058655e-01 6.39662381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:130.27, Z:0.64 [[-8.11463922e-01 5.82129172e-01 -5.14968954e-02 2.07777979e+02] [-5.81059784e-01 -8.13095307e-01 -3.52923442e-02 1.30265755e+02] [-6.24165870e-02 1.28431086e-03 9.98049358e-01 6.39771695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.26, Z:0.64 [[-8.10873014e-01 5.82975250e-01 -5.12329279e-02 2.07769572e+02] [-5.81920194e-01 -8.12488766e-01 -3.50840770e-02 1.30258416e+02] [-6.20793269e-02 1.36474413e-03 9.98070285e-01 6.39451789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:130.25, Z:0.64 [[-8.10530126e-01 5.83486990e-01 -5.08315607e-02 2.07763298e+02] [-5.82451091e-01 -8.12121253e-01 -3.47821222e-02 1.30252450e+02] [-6.15763066e-02 1.41494016e-03 9.98101376e-01 6.38946559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.24, Z:0.64 [[-8.10168087e-01 5.84002300e-01 -5.06851473e-02 2.07751234e+02] [-5.82975051e-01 -8.11750668e-01 -3.46546427e-02 1.30243472e+02] [-6.13820932e-02 1.47209068e-03 9.98113256e-01 6.37251303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.561400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:207.77, Y:130.25, Z:0.64 [[-8.10066276e-01 5.84141913e-01 -5.07035985e-02 2.07767057e+02] [-5.83115885e-01 -8.11650146e-01 -3.46396605e-02 1.30253949e+02] [-6.13880606e-02 1.50565295e-03 9.98112839e-01 6.38649753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.24, Z:0.64 [[-8.10226888e-01 5.83902108e-01 -5.08990974e-02 2.07754225e+02] [-5.82869384e-01 -8.11822659e-01 -3.47455161e-02 1.30244870e+02] [-6.16090207e-02 1.51577420e-03 9.98099209e-01 6.36981675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.24, Z:0.64 [[-8.10401499e-01 5.83655163e-01 -5.09515496e-02 2.07752866e+02] [-5.82621522e-01 -8.12000208e-01 -3.47537846e-02 1.30242533e+02] [-6.16568947e-02 1.52095027e-03 9.98096245e-01 6.37070572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.24, Z:0.64 [[-8.10617194e-01 5.83354432e-01 -5.09644120e-02 2.07750912e+02] [-5.82321382e-01 -8.12216285e-01 -3.47349117e-02 1.30241087e+02] [-6.16568901e-02 1.52095015e-03 9.98096245e-01 6.36901463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.681400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.75, Y:130.24, Z:0.64 [[-8.10757483e-01 5.83182664e-01 -5.06979682e-02 2.07749380e+02] [-5.82161741e-01 -8.12339623e-01 -3.45259941e-02 1.30237942e+02] [-6.13189296e-02 1.52220939e-03 9.98117063e-01 6.37051145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.24, Z:0.64 [[-8.11425658e-01 5.82298815e-01 -5.01646548e-02 2.07745828e+02] [-5.81299222e-01 -8.12973526e-01 -3.41359324e-02 1.30235631e+02] [-6.06598493e-02 1.46190343e-03 9.98157425e-01 6.36641716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.23, Z:0.64 [[-8.12098574e-01 5.81432531e-01 -4.93165130e-02 2.07746237e+02] [-5.80466451e-01 -8.13593428e-01 -3.35325686e-02 1.30234346e+02] [-5.96205171e-02 1.39483010e-03 9.98220140e-01 6.37605025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.23, Z:0.64 [[-8.12492456e-01 5.80829156e-01 -4.99349608e-02 2.07749405e+02] [-5.79839194e-01 -8.14024299e-01 -3.39256432e-02 1.30233899e+02] [-6.03532742e-02 1.38991822e-03 9.98176112e-01 6.37662917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.23, Z:0.64 [[-8.12907936e-01 5.80128577e-01 -5.12983603e-02 2.07749992e+02] [-5.79084148e-01 -8.14523714e-01 -3.48233988e-02 1.30230806e+02] [-6.19857798e-02 1.39785005e-03 9.98076054e-01 6.37432104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.22, Z:0.64 [[-8.13186552e-01 5.79653004e-01 -5.22496460e-02 2.07745445e+02] [-5.78570279e-01 -8.14862200e-01 -3.54404669e-02 1.30223883e+02] [-6.31194346e-02 1.41038118e-03 9.98004984e-01 6.37307085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.23, Z:0.64 [[-8.13404670e-01 5.79298268e-01 -5.27859844e-02 2.07754167e+02] [-5.78194272e-01 -8.15114409e-01 -3.57754833e-02 1.30225636e+02] [-6.37512919e-02 1.42060860e-03 9.97964806e-01 6.38275446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.22, Z:0.64 [[-8.13627513e-01 5.78946413e-01 -5.32101630e-02 2.07754992e+02] [-5.77825692e-01 -8.15364343e-01 -3.60341069e-02 1.30221725e+02] [-6.42474866e-02 1.42785853e-03 9.97932975e-01 6.38219592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.20, Z:0.64 [[-8.13580128e-01 5.79047111e-01 -5.28376558e-02 2.07737357e+02] [-5.77944049e-01 -8.15292797e-01 -3.57537705e-02 1.30200265e+02] [-6.37812777e-02 1.44865154e-03 9.97962850e-01 6.37540676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.20, Z:0.64 [[-8.13282943e-01 5.79506816e-01 -5.23708345e-02 2.07748297e+02] [-5.78425900e-01 -8.14966022e-01 -3.54098984e-02 1.30203202e+02] [-6.32007281e-02 1.49438070e-03 9.97999717e-01 6.38184005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:130.19, Z:0.64 [[-8.12587122e-01 5.80512226e-01 -5.20358058e-02 2.07731779e+02] [-5.79448924e-01 -8.14249988e-01 -3.51553976e-02 1.30187713e+02] [-6.27782924e-02 1.58526835e-03 9.98026239e-01 6.36171150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.19, Z:0.64 [[-8.11978887e-01 5.81384295e-01 -5.17937080e-02 2.07735148e+02] [-5.80334392e-01 -8.13627384e-01 -3.49638934e-02 1.30185754e+02] [-6.24682377e-02 1.66772677e-03 9.98045559e-01 6.36374981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.19, Z:0.64 [[-8.11355220e-01 5.82296897e-01 -5.13130776e-02 2.07745939e+02] [-5.81269943e-01 -8.12974343e-01 -3.46117227e-02 1.30187768e+02] [-6.18705142e-02 1.74434783e-03 9.98082660e-01 6.37154336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.18, Z:0.64 [[-8.11012402e-01 5.82810899e-01 -5.08953912e-02 2.07747215e+02] [-5.81803301e-01 -8.12605838e-01 -3.43026457e-02 1.30183545e+02] [-6.13498478e-02 1.79123550e-03 9.98114717e-01 6.37369284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:130.18, Z:0.64 [[-8.10554273e-01 5.83449224e-01 -5.08800037e-02 2.07757978e+02] [-5.82445173e-01 -8.12147486e-01 -3.42648624e-02 1.30180014e+02] [-6.13138745e-02 1.86128199e-03 9.98116799e-01 6.38968616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:130.17, Z:0.64 [[-8.10632127e-01 5.83282500e-01 -5.15468783e-02 2.07756165e+02] [-5.82253344e-01 -8.12267155e-01 -3.46859084e-02 1.30172985e+02] [-6.21015195e-02 1.89583052e-03 9.98068037e-01 6.38890812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:130.17, Z:0.64 [[-8.10671271e-01 5.83191215e-01 -5.19624565e-02 2.07764363e+02] [-5.82146955e-01 -8.12332625e-01 -3.49375043e-02 1.30172563e+02] [-6.25860443e-02 1.92695478e-03 9.98037712e-01 6.39738423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.17, Z:0.64 [[-8.10803302e-01 5.82988890e-01 -5.21724008e-02 2.07768518e+02] [-5.81937510e-01 -8.12477805e-01 -3.50506907e-02 1.30168882e+02] [-6.28230809e-02 1.94186123e-03 9.98022790e-01 6.39677948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.17, Z:0.64 [[-8.10851741e-01 5.82956201e-01 -5.17834154e-02 2.07773431e+02] [-5.81922092e-01 -8.12501247e-01 -3.47620807e-02 1.30165672e+02] [-6.23388601e-02 1.94701974e-03 9.98053143e-01 6.39380850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.251400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:207.77, Y:130.16, Z:0.64 [[-8.10548476e-01 5.83464257e-01 -5.07998928e-02 2.07770464e+02] [-5.82471697e-01 -8.12136430e-01 -3.40755176e-02 1.30156680e+02] [-6.11382901e-02 1.96964095e-03 9.98127362e-01 6.38753944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:130.16, Z:0.64 [[-8.10384558e-01 5.83743095e-01 -5.02082358e-02 2.07784848e+02] [-5.82775661e-01 -8.11935985e-01 -3.36524162e-02 1.30161091e+02] [-6.04102390e-02 1.98873936e-03 9.98171653e-01 6.38959349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.16, Z:0.64 [[-8.09880449e-01 5.84503283e-01 -4.94931320e-02 2.07786349e+02] [-5.83566178e-01 -8.11388786e-01 -3.31474519e-02 1.30156840e+02] [-5.95329668e-02 2.03704467e-03 9.98224262e-01 6.39008164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.15, Z:0.64 [[-8.08326601e-01 5.86679998e-01 -4.91394540e-02 2.07786578e+02] [-5.85761761e-01 -8.09815862e-01 -3.28850873e-02 1.30147029e+02] [-5.90869322e-02 2.20212232e-03 9.98250412e-01 6.38531509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.16, Z:0.64 [[-8.07418062e-01 5.87941763e-01 -4.89954686e-02 2.07805404e+02] [-5.87032725e-01 -8.08899966e-01 -3.27631677e-02 1.30156138e+02] [-5.88952675e-02 2.30837004e-03 9.98261498e-01 6.40175649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.16, Z:0.64 [[-8.06195139e-01 5.89593151e-01 -4.92880650e-02 2.07811745e+02] [-5.88677817e-01 -8.07696628e-01 -3.29330291e-02 1.30157607e+02] [-5.92268923e-02 2.46434248e-03 9.98241505e-01 6.40087664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.15, Z:0.64 [[-8.04694271e-01 5.91610807e-01 -4.96365046e-02 2.07806338e+02] [-5.90687827e-01 -8.06219337e-01 -3.31401674e-02 1.30151564e+02] [-5.96239911e-02 2.65197621e-03 9.98217385e-01 6.39277481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4614005130001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:207.83, Y:130.16, Z:0.64 [[-8.02845184e-01 5.94114040e-01 -4.96801614e-02 2.07827420e+02] [-5.93195721e-01 -8.04375736e-01 -3.31438064e-02 1.30162487e+02] [-5.96527171e-02 2.86071390e-03 9.98215092e-01 6.40964715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.491400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.84, Y:130.17, Z:0.64 [[-8.01103339e-01 5.96446350e-01 -4.98516942e-02 2.07836025e+02] [-5.95527689e-01 -8.02647093e-01 -3.32327494e-02 1.30165556e+02] [-5.98348695e-02 3.06519771e-03 9.98203583e-01 6.40777691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.17, Z:0.64 [[-7.98235118e-01 6.00365357e-01 -4.88071080e-02 2.07843145e+02] [-5.99493485e-01 -7.99719014e-01 -3.25124487e-02 1.30166871e+02] [-5.85513202e-02 3.30696493e-03 9.98278922e-01 6.41277379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.16, Z:0.64 [[-7.97392109e-01 6.01525302e-01 -4.83025452e-02 2.07833516e+02] [-6.00674870e-01 -7.98846615e-01 -3.21525497e-02 1.30159276e+02] [-5.79268969e-02 3.37593560e-03 9.98315119e-01 6.40603261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.16, Z:0.64 [[-7.96933343e-01 6.02144526e-01 -4.81582357e-02 2.07839346e+02] [-6.01301678e-01 -7.98379738e-01 -3.20325715e-02 1.30162532e+02] [-5.77367972e-02 3.42980365e-03 9.98325948e-01 6.41197292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.16, Z:0.64 [[-7.96792810e-01 6.02330259e-01 -4.81609577e-02 2.07841776e+02] [-6.01489041e-01 -7.98239481e-01 -3.20103704e-02 1.30163413e+02] [-5.77247925e-02 3.46265533e-03 9.98326529e-01 6.41696621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.16, Z:0.64 [[-7.97027440e-01 6.01974984e-01 -4.87173374e-02 2.07833844e+02] [-6.01114975e-01 -7.98507292e-01 -3.23557077e-02 1.30157661e+02] [-5.83784758e-02 3.49633419e-03 9.98288400e-01 6.40750557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.16, Z:0.64 [[-7.97730106e-01 6.00993845e-01 -4.93262247e-02 2.07831559e+02] [-6.00111792e-01 -7.99246043e-01 -3.27352999e-02 1.30156033e+02] [-5.90975037e-02 3.48731487e-03 9.98246124e-01 6.40762998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.16, Z:0.64 [[-7.98621009e-01 5.99783376e-01 -4.96425835e-02 2.07835141e+02] [-5.98889118e-01 -8.00155030e-01 -3.29204037e-02 1.30158215e+02] [-5.94668738e-02 3.43947703e-03 9.98224354e-01 6.40636685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.16, Z:0.64 [[-7.99623304e-01 5.98420964e-01 -4.99491783e-02 2.07838210e+02] [-5.97514466e-01 -8.01174721e-01 -3.30987820e-02 1.30160070e+02] [-5.98250240e-02 3.37879916e-03 9.98203161e-01 6.40971475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.15, Z:0.64 [[-8.00893559e-01 5.96653139e-01 -5.07399179e-02 2.07819859e+02] [-5.95715707e-01 -8.02492379e-01 -3.35973072e-02 1.30148694e+02] [-6.07643362e-02 3.31869913e-03 9.98146623e-01 6.40669179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.791400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.83, Y:130.15, Z:0.64 [[-8.01517863e-01 5.95789230e-01 -5.10324388e-02 2.07827038e+02] [-5.94840762e-01 -8.03134082e-01 -3.37655763e-02 1.30153239e+02] [-6.11030576e-02 3.29246221e-03 9.98126032e-01 6.42353681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.821400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.80, Y:130.14, Z:0.64 [[-8.02384242e-01 5.94537010e-01 -5.20122295e-02 2.07804965e+02] [-5.93550767e-01 -8.04061556e-01 -3.43875169e-02 1.30138370e+02] [-6.22656856e-02 3.27989700e-03 9.98054220e-01 6.40508538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.15, Z:0.64 [[-8.03327272e-01 5.93186673e-01 -5.28664896e-02 2.07815906e+02] [-5.92166525e-01 -8.05058392e-01 -3.49255171e-02 1.30145688e+02] [-6.32779624e-02 3.24914507e-03 9.97990653e-01 6.41009193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.14, Z:0.64 [[-8.04026328e-01 5.92202534e-01 -5.32712187e-02 2.07802444e+02] [-5.91166255e-01 -8.05782728e-01 -3.51660772e-02 1.30136875e+02] [-6.37504680e-02 3.21769498e-03 9.97960683e-01 6.39803666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.14, Z:0.64 [[-8.04602603e-01 5.91397874e-01 -5.35089411e-02 2.07803020e+02] [-5.90352266e-01 -8.06373599e-01 -3.52961911e-02 1.30137525e+02] [-6.40222897e-02 3.18971738e-03 9.97943371e-01 6.39869964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.15, Z:0.64 [[-8.05127513e-01 5.90681042e-01 -5.35312499e-02 2.07820542e+02] [-5.89634704e-01 -8.06898970e-01 -3.52841028e-02 1.30148626e+02] [-6.40359610e-02 3.15568075e-03 9.97942602e-01 6.41651704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.13, Z:0.64 [[-8.06289026e-01 5.89177874e-01 -5.26064638e-02 2.07792047e+02] [-5.88165830e-01 -8.07997777e-01 -3.46489505e-02 1.30127607e+02] [-6.29203008e-02 3.00425589e-03 9.98014033e-01 6.38916500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.13, Z:0.64 [[-8.06911079e-01 5.88407502e-01 -5.16829100e-02 2.07803562e+02] [-5.87430693e-01 -8.08559292e-01 -3.40154727e-02 1.30134473e+02] [-6.18036564e-02 2.91266593e-03 9.98084077e-01 6.40038953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.13, Z:0.64 [[-8.07330832e-01 5.87867337e-01 -5.12730094e-02 2.07798188e+02] [-5.86906448e-01 -8.08952263e-01 -3.37202904e-02 1.30129977e+02] [-6.13004743e-02 2.86902972e-03 9.98115234e-01 6.40185477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:130.12, Z:0.64 [[-8.07622129e-01 5.87460485e-01 -5.13485740e-02 2.07782988e+02] [-5.86497513e-01 -8.09247788e-01 -3.37444116e-02 1.30118315e+02] [-6.13772283e-02 2.86307741e-03 9.98110534e-01 6.39609749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:130.11, Z:0.64 [[-8.07687408e-01 5.87328229e-01 -5.18324505e-02 2.07780694e+02] [-5.86348364e-01 -8.09343644e-01 -3.40361879e-02 1.30113410e+02] [-6.19406783e-02 2.90127219e-03 9.98075616e-01 6.40000088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.13, Z:0.64 [[-8.07703732e-01 5.87259597e-01 -5.23531022e-02 2.07807579e+02] [-5.86261461e-01 -8.09393280e-01 -3.43513989e-02 1.30127025e+02] [-6.25474378e-02 2.94685302e-03 9.98037642e-01 6.42289373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.11, Z:0.64 [[-8.07704899e-01 5.87298469e-01 -5.18970524e-02 2.07795932e+02] [-5.86319332e-01 -8.09365082e-01 -3.40265337e-02 1.30111168e+02] [-6.19873932e-02 2.94484717e-03 9.98072588e-01 6.40709403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.181400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.81, Y:130.11, Z:0.64 [[-8.07915862e-01 5.87081727e-01 -5.10588394e-02 2.07807605e+02] [-5.86135075e-01 -8.09522471e-01 -3.34521081e-02 1.30114423e+02] [-6.09723992e-02 2.90088793e-03 9.98135237e-01 6.41022772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2114005130001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.79, Y:130.10, Z:0.64 [[-8.08078106e-01 5.86954727e-01 -4.99391935e-02 2.07790688e+02] [-5.86050368e-01 -8.09614749e-01 -3.26944171e-02 1.30098186e+02] [-5.96216503e-02 2.84724005e-03 9.98216986e-01 6.39783238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.241400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:207.81, Y:130.10, Z:0.64 [[-8.08069875e-01 5.86975455e-01 -4.98286360e-02 2.07807513e+02] [-5.86076608e-01 -8.09599668e-01 -3.25973669e-02 1.30103289e+02] [-5.94751014e-02 2.86244776e-03 9.98225685e-01 6.41237173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.10, Z:0.64 [[-8.07796415e-01 5.87271397e-01 -5.07667031e-02 2.07811213e+02] [-5.86340506e-01 -8.09384672e-01 -3.31852912e-02 1.30100197e+02] [-6.05785637e-02 2.95961506e-03 9.98159045e-01 6.41626715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.10, Z:0.64 [[-8.07230030e-01 5.88050220e-01 -5.07603938e-02 2.07813753e+02] [-5.87122609e-01 -8.08818712e-01 -3.31561763e-02 1.30096019e+02] [-6.05534531e-02 3.03791373e-03 9.98160333e-01 6.42301470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.331400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.83, Y:130.10, Z:0.64 [[-8.06409913e-01 5.89209401e-01 -5.03520974e-02 2.07829829e+02] [-5.88300386e-01 -8.07974350e-01 -3.28649548e-02 1.30100990e+02] [-6.00475435e-02 3.11953304e-03 9.98190644e-01 6.42958894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.09, Z:0.64 [[-8.05223157e-01 5.90902658e-01 -4.94946211e-02 2.07817393e+02] [-5.90028939e-01 -8.06736481e-01 -3.22816086e-02 1.30088539e+02] [-5.90044047e-02 3.20935995e-03 9.98252563e-01 6.41541231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.10, Z:0.64 [[-8.03637160e-01 5.93106420e-01 -4.89089940e-02 2.07834656e+02] [-5.92258691e-01 -8.05117105e-01 -3.18761616e-02 1.30095593e+02] [-5.82834237e-02 3.34990877e-03 9.98294456e-01 6.42544107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:130.10, Z:0.64 [[-7.99430575e-01 5.98742555e-01 -4.91742605e-02 2.07860153e+02] [-5.97897553e-01 -8.00932530e-01 -3.20249686e-02 1.30104832e+02] [-5.85599764e-02 3.79943102e-03 9.98276662e-01 6.44030392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:130.10, Z:0.64 [[-7.97405427e-01 6.01411175e-01 -4.94892218e-02 2.07858060e+02] [-6.00561803e-01 -7.98929457e-01 -3.22062545e-02 1.30100725e+02] [-5.89075985e-02 4.03989411e-03 9.98255265e-01 6.43936372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.13, Z:0.65 [[-7.95927816e-01 6.03338432e-01 -4.98161410e-02 2.07900699e+02] [-6.02482946e-01 -7.97474044e-01 -3.23952019e-02 1.30125480e+02] [-5.92723498e-02 4.22913308e-03 9.98232890e-01 6.47643434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.12, Z:0.65 [[-7.95220206e-01 6.04288494e-01 -4.96008108e-02 2.07892510e+02] [-6.03443584e-01 -7.96753996e-01 -3.22321555e-02 1.30116878e+02] [-5.89971649e-02 4.29962969e-03 9.98248891e-01 6.47077886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.11, Z:0.65 [[-7.95481818e-01 6.03957224e-01 -4.94403626e-02 2.07893910e+02] [-6.03118472e-01 -7.97005245e-01 -3.21052781e-02 1.30114420e+02] [-5.87944429e-02 4.27923095e-03 9.98260939e-01 6.46546564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.11, Z:0.65 [[-7.95676891e-01 6.03699353e-01 -4.94507501e-02 2.07891866e+02] [-6.02861094e-01 -7.97200589e-01 -3.20892698e-02 1.30112983e+02] [-5.87944385e-02 4.27924290e-03 9.98260939e-01 6.46377467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:130.09, Z:0.64 [[-7.97328343e-01 6.01438168e-01 -5.03948722e-02 2.07872633e+02] [-6.00564504e-01 -7.98908259e-01 -3.26782922e-02 1.30093295e+02] [-5.99148518e-02 4.21004288e-03 9.98194613e-01 6.44050224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.10, Z:0.65 [[-7.98348680e-01 5.99981948e-01 -5.15853323e-02 2.07889254e+02] [-5.99064975e-01 -8.00002421e-01 -3.34257556e-02 1.30099865e+02] [-6.13232407e-02 4.21755797e-03 9.98109048e-01 6.45448724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.10, Z:0.65 [[-7.99274796e-01 5.98689439e-01 -5.22566380e-02 2.07895184e+02] [-5.97747212e-01 -8.00970277e-01 -3.38361761e-02 1.30098858e+02] [-6.21133751e-02 4.19185687e-03 9.98060297e-01 6.45966030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:130.08, Z:0.64 [[-7.99973743e-01 5.97751616e-01 -5.22973861e-02 2.07874395e+02] [-5.96807423e-01 -8.01670664e-01 -3.38385358e-02 1.30080688e+02] [-6.21523196e-02 4.14152809e-03 9.98058083e-01 6.44466004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.08, Z:0.64 [[-8.00359753e-01 5.97235042e-01 -5.22931294e-02 2.07885805e+02] [-5.96291410e-01 -8.02055688e-01 -3.38116513e-02 1.30084226e+02] [-6.21355049e-02 4.12045901e-03 9.98059217e-01 6.44872734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.751400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.88, Y:130.08, Z:0.64 [[-8.00234372e-01 5.97447499e-01 -5.17825812e-02 2.07882181e+02] [-5.96524120e-01 -8.01897468e-01 -3.34578226e-02 1.30078371e+02] [-6.15136132e-02 4.11545899e-03 9.98097760e-01 6.43919599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.08, Z:0.64 [[-7.99535389e-01 5.98418708e-01 -5.13635365e-02 2.07895476e+02] [-5.97513646e-01 -8.01172653e-01 -3.31635823e-02 1.30081267e+02] [-6.09967688e-02 4.17495632e-03 9.98129232e-01 6.44087103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.08, Z:0.64 [[-7.99135435e-01 5.99034899e-01 -5.03958909e-02 2.07891058e+02] [-5.98166215e-01 -8.00712109e-01 -3.25161319e-02 1.30075042e+02] [-5.98308979e-02 4.16032610e-03 9.98199857e-01 6.43661396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.08, Z:0.64 [[-7.98835135e-01 5.99511484e-01 -4.94813890e-02 2.07907780e+02] [-5.98676273e-01 -8.00355460e-01 -3.19038893e-02 1.30083189e+02] [-5.87294479e-02 4.13738582e-03 9.98265363e-01 6.44515870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:130.06, Z:0.64 [[-7.98747588e-01 5.99710348e-01 -4.84746258e-02 2.07879193e+02] [-5.98910403e-01 -8.00206733e-01 -3.12332298e-02 1.30062857e+02] [-5.75206131e-02 4.08449069e-03 9.98335964e-01 6.41602915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.07, Z:0.64 [[-7.98643740e-01 5.99884860e-01 -4.80242744e-02 2.07891405e+02] [-5.99101267e-01 -8.00075958e-01 -3.09213914e-02 1.30068361e+02] [-5.69723419e-02 4.07622804e-03 9.98367436e-01 6.42585004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.07, Z:0.64 [[-7.98769034e-01 5.99704762e-01 -4.81895120e-02 2.07901136e+02] [-5.98916712e-01 -8.00210864e-01 -3.10055501e-02 1.30071532e+02] [-5.71559471e-02 4.09523078e-03 9.98356863e-01 6.43936050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.07, Z:0.64 [[-7.98487253e-01 5.99950849e-01 -4.97703271e-02 2.07902601e+02] [-5.99112077e-01 -8.00025482e-01 -3.19991771e-02 1.30065950e+02] [-5.90154633e-02 4.26706905e-03 9.98247949e-01 6.44239897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.06, Z:0.64 [[-7.98133686e-01 6.00371103e-01 -5.03702056e-02 2.07902638e+02] [-5.99514190e-01 -7.99709606e-01 -3.23617467e-02 1.30064007e+02] [-5.97105948e-02 4.36865287e-03 9.98206171e-01 6.43613121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.021400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.91, Y:130.06, Z:0.64 [[-7.97175492e-01 6.01637946e-01 -5.04283443e-02 2.07905925e+02] [-6.00782929e-01 -7.98756314e-01 -3.23762658e-02 1.30064398e+02] [-5.97587484e-02 4.48692278e-03 9.98202765e-01 6.42930359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.07, Z:0.64 [[-7.96423315e-01 6.02612656e-01 -5.06743499e-02 2.07910181e+02] [-6.01752607e-01 -7.98020564e-01 -3.25112208e-02 1.30066682e+02] [-6.00308464e-02 4.60072788e-03 9.98185920e-01 6.43452120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.07, Z:0.64 [[-7.95724300e-01 6.03543324e-01 -5.05795821e-02 2.07914416e+02] [-6.02689713e-01 -7.97316469e-01 -3.24277407e-02 1.30067106e+02] [-5.98994802e-02 4.68025259e-03 9.98193442e-01 6.44113233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.07, Z:0.65 [[-7.95556078e-01 6.03826755e-01 -4.98375107e-02 2.07924462e+02] [-6.02999869e-01 -7.97102019e-01 -3.19300568e-02 1.30070911e+02] [-5.90058030e-02 4.64986163e-03 9.98246810e-01 6.45229369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.06, Z:0.64 [[-7.95718292e-01 6.03678228e-01 -4.90407734e-02 2.07911479e+02] [-6.02878549e-01 -7.97214907e-01 -3.13982123e-02 1.30060236e+02] [-5.80504527e-02 4.58149850e-03 9.98303138e-01 6.44340345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.05, Z:0.64 [[-7.95842608e-01 6.03520068e-01 -4.89700995e-02 2.07892028e+02] [-6.02723657e-01 -7.97334650e-01 -3.13312789e-02 1.30045857e+02] [-5.79546127e-02 4.58067072e-03 9.98308710e-01 6.42928037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.06, Z:0.65 [[-7.96109225e-01 6.03088447e-01 -4.99442337e-02 2.07920483e+02] [-6.02260532e-01 -7.97660720e-01 -3.19316017e-02 1.30062166e+02] [-5.90961335e-02 4.65839808e-03 9.98241427e-01 6.45315997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.06, Z:0.65 [[-7.96068123e-01 6.02908172e-01 -5.26999020e-02 2.07917577e+02] [-6.01987481e-01 -7.97795404e-01 -3.36684652e-02 1.30055568e+02] [-6.23427324e-02 4.92228935e-03 9.98042662e-01 6.46267317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.06, Z:0.65 [[-7.95887036e-01 6.03108089e-01 -5.31456340e-02 2.07921823e+02] [-6.02173683e-01 -7.97643808e-01 -3.39295056e-02 1.30055426e+02] [-6.28544452e-02 4.99884850e-03 9.98010185e-01 6.47006380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.06, Z:0.65 [[-7.95558278e-01 6.03564047e-01 -5.28910952e-02 2.07930162e+02] [-6.02641030e-01 -7.97298657e-01 -3.37437454e-02 1.30058185e+02] [-6.25365107e-02 5.02922816e-03 9.98030005e-01 6.47968549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.06, Z:0.65 [[-7.94974731e-01 6.04361476e-01 -5.25583797e-02 2.07936334e+02] [-6.03453196e-01 -7.96694056e-01 -3.35085283e-02 1.30060500e+02] [-6.21242123e-02 5.07808888e-03 9.98055507e-01 6.48299607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.06, Z:0.65 [[-7.94049862e-01 6.05611962e-01 -5.21437279e-02 2.07931443e+02] [-6.04722099e-01 -7.95743419e-01 -3.32203748e-02 1.30056391e+02] [-6.16116847e-02 5.15383060e-03 9.98086889e-01 6.47774066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.06, Z:0.65 [[-7.92132585e-01 6.08061740e-01 -5.27909818e-02 2.07943075e+02] [-6.07155485e-01 -7.93871260e-01 -3.36249831e-02 1.30061145e+02] [-6.23553090e-02 5.41688937e-03 9.98039314e-01 6.48621931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.05, Z:0.65 [[-7.91579478e-01 6.08734468e-01 -5.33317769e-02 2.07931465e+02] [-6.07812592e-01 -7.93354646e-01 -3.39449463e-02 1.30051693e+02] [-6.29744718e-02 5.54560263e-03 9.97999731e-01 6.47788396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.06, Z:0.65 [[-7.91710086e-01 6.08550106e-01 -5.34968049e-02 2.07944354e+02] [-6.07622400e-01 -7.93496027e-01 -3.40451715e-02 1.30058268e+02] [-6.31676949e-02 5.55195130e-03 9.97987484e-01 6.48522434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:130.06, Z:0.65 [[-7.92201114e-01 6.07927528e-01 -5.33058625e-02 2.07948710e+02] [-6.07006496e-01 -7.93973463e-01 -3.39006344e-02 1.30059946e+02] [-6.29325692e-02 5.50088448e-03 9.98002621e-01 6.48696581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.05, Z:0.65 [[-7.92791120e-01 6.07211449e-01 -5.26924706e-02 2.07936897e+02] [-6.06311416e-01 -7.94521930e-01 -3.34868727e-02 1.30051982e+02] [-6.21989359e-02 5.39995113e-03 9.98049164e-01 6.47587258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.04, Z:0.65 [[-7.93511270e-01 6.06351956e-01 -5.17413736e-02 2.07926285e+02] [-6.05482667e-01 -7.95179128e-01 -3.28769688e-02 1.30043799e+02] [-6.10786747e-02 5.24025960e-03 9.98119199e-01 6.46922567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.04, Z:0.65 [[-7.94769680e-01 6.04770632e-01 -5.09277694e-02 2.07918619e+02] [-6.03925594e-01 -7.96383739e-01 -3.23545667e-02 1.30035268e+02] [-6.01251391e-02 5.04215472e-03 9.98178113e-01 6.45538083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.04, Z:0.65 [[-7.95571916e-01 6.03711165e-01 -5.09721132e-02 2.07932125e+02] [-6.02862724e-01 -7.97187641e-01 -3.23790210e-02 1.30042563e+02] [-6.01819151e-02 4.96934727e-03 9.98175056e-01 6.46343919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.03, Z:0.65 [[-7.96065111e-01 6.03036415e-01 -5.12583689e-02 2.07919937e+02] [-6.02178657e-01 -7.97698192e-01 -3.25339810e-02 1.30033764e+02] [-6.05078834e-02 4.96752852e-03 9.98155359e-01 6.45731772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.03, Z:0.65 [[-7.96715128e-01 6.02188846e-01 -5.11233642e-02 2.07923432e+02] [-6.01332517e-01 -7.98338810e-01 -3.24707351e-02 1.30034048e+02] [-6.03672803e-02 4.87221540e-03 9.98164342e-01 6.46569132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.03, Z:0.65 [[-7.97100835e-01 6.01695165e-01 -5.09233499e-02 2.07920449e+02] [-6.00845052e-01 -7.98711256e-01 -3.23350307e-02 1.30029119e+02] [-6.01288844e-02 4.82276280e-03 9.98178971e-01 6.46290584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.02, Z:0.65 [[-7.97257420e-01 6.01515290e-01 -5.05960764e-02 2.07918110e+02] [-6.00676044e-01 -7.98846971e-01 -3.21217365e-02 1.30024323e+02] [-5.97402380e-02 4.78255825e-03 9.98202500e-01 6.45787094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.02, Z:0.65 [[-7.97123569e-01 6.01748978e-01 -4.99217743e-02 2.07917101e+02] [-6.00932738e-01 -7.98671208e-01 -3.16882642e-02 1.30021078e+02] [-5.89394643e-02 4.74016622e-03 9.98250305e-01 6.45230898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.02, Z:0.65 [[-7.96144912e-01 6.03043612e-01 -4.99167381e-02 2.07930654e+02] [-6.02230353e-01 -7.97693538e-01 -3.16799691e-02 1.30024743e+02] [-5.89226624e-02 4.83952860e-03 9.98250820e-01 6.45448095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.02, Z:0.65 [[-7.95629074e-01 6.03690057e-01 -5.03258601e-02 2.07932853e+02] [-6.02865201e-01 -7.97203842e-01 -3.19309281e-02 1.30023789e+02] [-5.93963528e-02 4.93453499e-03 9.98222282e-01 6.45706891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.831400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:207.92, Y:130.02, Z:0.64 [[-7.94830437e-01 6.04741003e-01 -5.03278766e-02 2.07923090e+02] [-6.03918694e-01 -7.96406376e-01 -3.19232909e-02 1.30015757e+02] [-5.93867647e-02 5.02034224e-03 9.98222424e-01 6.44586727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.02, Z:0.65 [[-7.94503140e-01 6.05204619e-01 -4.99212426e-02 2.07928397e+02] [-6.04394969e-01 -7.96054289e-01 -3.16905621e-02 1.30018084e+02] [-5.89192939e-02 4.99389677e-03 9.98250258e-01 6.45503804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.00, Z:0.64 [[-7.94010892e-01 6.05996841e-01 -4.81095894e-02 2.07892370e+02] [-6.05173216e-01 -7.95457730e-01 -3.18179115e-02 1.29995207e+02] [-5.75506986e-02 3.85086663e-03 9.98335158e-01 6.42155432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.02, Z:0.65 [[-7.94639539e-01 6.05147566e-01 -4.84192729e-02 2.07930024e+02] [-6.04454431e-01 -7.96092189e-01 -2.95307985e-02 1.30015392e+02] [-5.64166958e-02 5.80090389e-03 9.98390458e-01 6.45539190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.02, Z:0.65 [[-7.95081822e-01 6.04539339e-01 -4.87553452e-02 2.07934599e+02] [-6.03766150e-01 -7.96560626e-01 -3.09451883e-02 1.30016967e+02] [-5.75441720e-02 4.83287036e-03 9.98331264e-01 6.46750415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.01, Z:0.65 [[-7.95331364e-01 6.04071674e-01 -5.04523082e-02 2.07927178e+02] [-6.03243304e-01 -7.96914470e-01 -3.20131694e-02 1.30010695e+02] [-5.95444233e-02 4.97393942e-03 9.98213265e-01 6.47391365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:129.99, Z:0.65 [[-7.95757530e-01 6.03502976e-01 -5.05382096e-02 2.07899647e+02] [-6.02542409e-01 -7.97354147e-01 -3.41907885e-02 1.29992962e+02] [-6.09310936e-02 3.24383721e-03 9.98136704e-01 6.45792881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.01, Z:0.65 [[-7.96890058e-01 6.01743961e-01 -5.35764899e-02 2.07934540e+02] [-6.00931209e-01 -7.98660839e-01 -3.19772843e-02 1.30008989e+02] [-6.20315820e-02 6.71340491e-03 9.98051608e-01 6.48806630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.071400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.92, Y:130.00, Z:0.65 [[-7.97492074e-01 6.01071231e-01 -5.21513866e-02 2.07922666e+02] [-6.00178269e-01 -7.99180487e-01 -3.31148799e-02 1.30000171e+02] [-6.15827722e-02 4.89127472e-03 9.98089995e-01 6.48046109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.01, Z:0.65 [[-7.98370710e-01 5.99912260e-01 -5.20527582e-02 2.07939931e+02] [-5.99018675e-01 -8.00051564e-01 -3.30775161e-02 1.30008346e+02] [-6.14884980e-02 4.77245423e-03 9.98096382e-01 6.48880580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.00, Z:0.65 [[-7.99338039e-01 5.98723549e-01 -5.08803588e-02 2.07943077e+02] [-5.97867918e-01 -8.00942643e-01 -3.23239216e-02 1.30003835e+02] [-6.01053421e-02 4.58199403e-03 9.98181523e-01 6.48447270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.00, Z:0.65 [[-7.99341203e-01 5.98748111e-01 -5.05404906e-02 2.07935941e+02] [-5.97902623e-01 -8.00924546e-01 -3.21298158e-02 1.29995767e+02] [-5.97167860e-02 4.53560633e-03 9.98205056e-01 6.47700140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.191400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.94, Y:129.99, Z:0.65 [[-7.99199878e-01 5.98938077e-01 -5.05246004e-02 2.07938728e+02] [-5.98092178e-01 -8.00782525e-01 -3.21417877e-02 1.29993274e+02] [-5.97101576e-02 4.53065550e-03 9.98205475e-01 6.48077796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.00, Z:0.65 [[-7.98978498e-01 5.99148792e-01 -5.15178211e-02 2.07961000e+02] [-5.98268291e-01 -8.00624385e-01 -3.27970508e-02 1.30003288e+02] [-6.08967372e-02 4.61734038e-03 9.98133392e-01 6.49839236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.01, Z:0.65 [[-7.98704471e-01 5.99432164e-01 -5.24618849e-02 2.07970794e+02] [-5.98518425e-01 -8.00411716e-01 -3.34182652e-02 1.30005109e+02] [-6.20230903e-02 4.70808691e-03 9.98063610e-01 6.50697597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:129.99, Z:0.65 [[-7.98360383e-01 5.99820993e-01 -5.32491855e-02 2.07961952e+02] [-5.98878982e-01 -8.00119881e-01 -3.39432057e-02 1.29994996e+02] [-6.29655793e-02 4.79090735e-03 9.98004200e-01 6.49930876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:129.99, Z:0.65 [[-7.98084582e-01 6.00222170e-01 -5.28615821e-02 2.07959248e+02] [-5.99293278e-01 -7.99819106e-01 -3.37189058e-02 1.29988690e+02] [-6.25185382e-02 4.76905192e-03 9.98032409e-01 6.49314780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.00, Z:0.65 [[-7.97292084e-01 6.01428361e-01 -5.10809206e-02 2.07993819e+02] [-6.00562180e-01 -7.98913016e-01 -3.26046089e-02 1.30002575e+02] [-6.04185488e-02 4.68187254e-03 9.98162151e-01 6.51027944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.00, Z:0.65 [[-7.96661924e-01 6.02275680e-01 -5.09292126e-02 2.07997049e+02] [-6.01415022e-01 -7.98274252e-01 -3.25298499e-02 1.30001117e+02] [-6.02474166e-02 4.71430068e-03 9.98172342e-01 6.51367300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.00, Z:0.65 [[-7.96050323e-01 6.03052062e-01 -5.13039405e-02 2.07995321e+02] [-6.02178926e-01 -7.97687446e-01 -3.27914537e-02 1.29996877e+02] [-6.06994631e-02 4.79050446e-03 9.98144592e-01 6.51117945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.98, Z:0.65 [[-7.95711387e-01 6.03490086e-01 -5.14111336e-02 2.07981127e+02] [-6.02612847e-01 -7.97355955e-01 -3.28821831e-02 1.29984796e+02] [-6.08370450e-02 4.81628201e-03 9.98136092e-01 6.50612590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:129.99, Z:0.65 [[-7.95854282e-01 6.03316653e-01 -5.12345396e-02 2.07996629e+02] [-6.02443729e-01 -7.97487477e-01 -3.27914358e-02 1.29992313e+02] [-6.06425230e-02 4.76872243e-03 9.98148157e-01 6.51748302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:129.99, Z:0.65 [[-7.95668764e-01 6.03562158e-01 -5.12243924e-02 2.07998722e+02] [-6.02688727e-01 -7.97301688e-01 -3.28072788e-02 1.29993763e+02] [-6.06425265e-02 4.76863688e-03 9.98148157e-01 6.51917221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.00, Z:0.65 [[-7.96162546e-01 6.02921685e-01 -5.10944386e-02 2.08009308e+02] [-6.02050034e-01 -7.97786591e-01 -3.27461848e-02 1.29998509e+02] [-6.05058429e-02 4.69012264e-03 9.98156824e-01 6.52840287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.99, Z:0.65 [[-7.98054895e-01 6.00399702e-01 -5.12696965e-02 2.08005583e+02] [-5.99515530e-01 -7.99687427e-01 -3.28808113e-02 1.29991201e+02] [-6.07413610e-02 4.49628689e-03 9.98143412e-01 6.53217228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.00, Z:0.65 [[-7.98941175e-01 5.99215903e-01 -5.13156925e-02 2.08016382e+02] [-5.98326362e-01 -8.00575424e-01 -3.29325877e-02 1.29995299e+02] [-6.08158126e-02 4.39233127e-03 9.98139341e-01 6.53731291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.99, Z:0.65 [[-7.99481507e-01 5.98467546e-01 -5.16325261e-02 2.08010079e+02] [-5.97564047e-01 -8.01135273e-01 -3.31584720e-02 1.29988838e+02] [-6.12089072e-02 4.34415614e-03 9.98115523e-01 6.52658027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:129.98, Z:0.65 [[-7.99287756e-01 5.98689724e-01 -5.20547651e-02 2.08004350e+02] [-5.97770435e-01 -8.00969064e-01 -3.34524348e-02 1.29982661e+02] [-6.17218854e-02 4.37867802e-03 9.98083782e-01 6.51948227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.98, Z:0.65 [[-7.98417406e-01 5.99789594e-01 -5.27455089e-02 2.08010271e+02] [-5.98846640e-01 -8.00145083e-01 -3.39197299e-02 1.29984404e+02] [-6.25487606e-02 4.50436797e-03 9.98031745e-01 6.52203169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.03, Y:129.99, Z:0.65 [[-7.95743989e-01 6.03357017e-01 -5.24577312e-02 2.08031152e+02] [-6.02430563e-01 -7.97457111e-01 -3.37575496e-02 1.29992445e+02] [-6.22006452e-02 4.73977335e-03 9.98052411e-01 6.52715080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:130.00, Z:0.65 [[-7.93951969e-01 6.05736778e-01 -5.21845369e-02 2.08048477e+02] [-6.04823632e-01 -7.95650124e-01 -3.36043801e-02 1.30001630e+02] [-6.18760422e-02 4.88217733e-03 9.98071901e-01 6.53967205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:130.01, Z:0.66 [[-7.92208366e-01 6.08019973e-01 -5.21307638e-02 2.08066309e+02] [-6.07112200e-01 -7.93905750e-01 -3.35922296e-02 1.30011028e+02] [-6.18116596e-02 5.03717735e-03 9.98075120e-01 6.55296737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:130.01, Z:0.66 [[-7.90939787e-01 6.09658396e-01 -5.22579419e-02 2.08070014e+02] [-6.08748327e-01 -7.92647472e-01 -3.36965784e-02 1.30011117e+02] [-6.19655275e-02 5.15997016e-03 9.98064952e-01 6.56001965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:130.01, Z:0.66 [[-7.90384007e-01 6.10355358e-01 -5.25305544e-02 2.08079228e+02] [-6.09435882e-01 -7.92110501e-01 -3.38948291e-02 1.30014636e+02] [-6.22978943e-02 5.22407397e-03 9.98043928e-01 6.57114585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:130.02, Z:0.66 [[-7.90325808e-01 6.10389557e-01 -5.30066642e-02 2.08093784e+02] [-6.09451972e-01 -7.92083935e-01 -3.42247561e-02 1.30021696e+02] [-6.28761609e-02 5.25630795e-03 9.98007495e-01 6.58664894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:130.01, Z:0.66 [[-7.90892607e-01 6.09564607e-01 -5.40358630e-02 2.08083732e+02] [-6.08586833e-01 -7.92718853e-01 -3.49125446e-02 1.30009520e+02] [-6.41166989e-02 5.27344130e-03 9.97928474e-01 6.57831050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:130.01, Z:0.66 [[-7.91256996e-01 6.09094744e-01 -5.39996137e-02 2.08090704e+02] [-6.08115735e-01 -7.93080330e-01 -3.49119299e-02 1.30010958e+02] [-6.40907044e-02 5.21370600e-03 9.97930458e-01 6.57997276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.01, Z:0.66 [[-7.91584471e-01 6.08730146e-01 -5.33069895e-02 2.08099093e+02] [-6.07773873e-01 -7.93360954e-01 -3.44864623e-02 1.30013431e+02] [-6.32846333e-02 5.09964747e-03 9.97982489e-01 6.57878252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:130.02, Z:0.66 [[-7.91859256e-01 6.08523245e-01 -5.15594686e-02 2.08106856e+02] [-6.07626955e-01 -7.93520926e-01 -3.33769803e-02 1.30016283e+02] [-6.12241856e-02 4.89905212e-03 9.98112017e-01 6.57777101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:130.00, Z:0.66 [[-7.92080341e-01 6.08371663e-01 -4.99264753e-02 2.08090951e+02] [-6.07529778e-01 -7.93638256e-01 -3.23401843e-02 1.30004118e+02] [-5.92984124e-02 4.71579624e-03 9.98229162e-01 6.56133783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.031400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.09, Y:130.00, Z:0.66 [[-7.92223778e-01 6.08292997e-01 -4.85913137e-02 2.08094421e+02] [-6.07494263e-01 -7.93699419e-01 -3.14952949e-02 1.30004190e+02] [-5.77252647e-02 4.56762280e-03 9.98322058e-01 6.56251334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:130.01, Z:0.66 [[-7.92247741e-01 6.08268991e-01 -4.85010537e-02 2.08108376e+02] [-6.07471984e-01 -7.93717969e-01 -3.14574853e-02 1.30006520e+02] [-5.76307707e-02 4.54090964e-03 9.98327639e-01 6.58492667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:130.00, Z:0.66 [[-7.92376617e-01 6.08075670e-01 -4.88188162e-02 2.08099648e+02] [-6.07266598e-01 -7.93866090e-01 -3.16845439e-02 1.29996873e+02] [-5.80222030e-02 4.53994469e-03 9.98304970e-01 6.58401127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:130.00, Z:0.66 [[-7.92734951e-01 6.07562719e-01 -4.93846189e-02 2.08105601e+02] [-6.06732531e-01 -7.94258743e-01 -3.20731178e-02 1.29996630e+02] [-5.87105959e-02 4.53777333e-03 9.98264732e-01 6.58409236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.151400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.12, Y:130.01, Z:0.66 [[-7.93515786e-01 6.06518270e-01 -4.96818447e-02 2.08124698e+02] [-6.05674752e-01 -7.95056982e-01 -3.22876107e-02 1.30005139e+02] [-5.90829233e-02 4.47031015e-03 9.98243069e-01 6.59843607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.99, Z:0.66 [[-7.94327419e-01 6.05388117e-01 -5.04893928e-02 2.08104784e+02] [-6.04513354e-01 -7.95918031e-01 -3.28343360e-02 1.29987901e+02] [-6.00629349e-02 4.44029880e-03 9.98184716e-01 6.58144121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:129.99, Z:0.66 [[-7.96069046e-01 6.03015876e-01 -5.14385698e-02 2.08114069e+02] [-6.02101593e-01 -7.97717469e-01 -3.34740539e-02 1.29987028e+02] [-6.12188316e-02 4.32358663e-03 9.98115004e-01 6.58839395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:129.98, Z:0.66 [[-7.96623093e-01 6.02267440e-01 -5.16292428e-02 2.08114219e+02] [-6.01343425e-01 -7.98283000e-01 -3.36204799e-02 1.29984006e+02] [-6.14632672e-02 4.26405502e-03 9.98100238e-01 6.58935834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:129.98, Z:0.66 [[-7.97344388e-01 6.01328867e-01 -5.14346268e-02 2.08116938e+02] [-6.00408516e-01 -7.98990804e-01 -3.35158232e-02 1.29982579e+02] [-6.12498257e-02 4.15813438e-03 9.98113806e-01 6.59488002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:129.99, Z:0.66 [[-7.98224865e-01 6.00185372e-01 -5.11330012e-02 2.08129975e+02] [-5.99272121e-01 -7.99850791e-01 -3.33412222e-02 1.29987398e+02] [-6.09096853e-02 4.02878947e-03 9.98135151e-01 6.60670916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:129.98, Z:0.66 [[-7.99648594e-01 5.98334125e-01 -5.05806395e-02 2.08125180e+02] [-5.97435527e-01 -8.01237555e-01 -3.30025818e-02 1.29980184e+02] [-6.02736789e-02 3.82820289e-03 9.98174548e-01 6.60508202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:129.96, Z:0.66 [[-8.01455068e-01 5.95950546e-01 -5.01270363e-02 2.08105418e+02] [-5.95062085e-01 -8.03013073e-01 -3.27279644e-02 1.29963004e+02] [-5.97569137e-02 3.59870581e-03 9.98206472e-01 6.58637171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:129.96, Z:0.66 [[-8.03771064e-01 5.92846506e-01 -4.98507507e-02 2.08111582e+02] [-5.91960581e-01 -8.05308587e-01 -3.25691558e-02 1.29962454e+02] [-5.94537479e-02 3.33153435e-03 9.98225502e-01 6.58958310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.95, Z:0.66 [[-8.06228031e-01 5.89487393e-01 -5.00097477e-02 2.08101661e+02] [-5.88588037e-01 -8.07771722e-01 -3.26950790e-02 1.29950669e+02] [-5.96697969e-02 3.07545006e-03 9.98213433e-01 6.58266261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.95, Z:0.66 [[-8.08587828e-01 5.86167190e-01 -5.09288790e-02 2.08104588e+02] [-5.85226473e-01 -8.10185056e-01 -3.33189164e-02 1.29946990e+02] [-6.07922723e-02 2.86365799e-03 9.98146332e-01 6.58833092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.481400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:208.10, Y:129.94, Z:0.66 [[-8.12310367e-01 5.80783843e-01 -5.33103739e-02 2.08101860e+02] [-5.79739826e-01 -8.14053806e-01 -3.49017950e-02 1.29935707e+02] [-6.36679114e-02 2.55505698e-03 9.97967870e-01 6.58808757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.511400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:208.10, Y:129.93, Z:0.66 [[-8.13115185e-01 5.79588970e-01 -5.40400008e-02 2.08100915e+02] [-5.78511939e-01 -8.14905208e-01 -3.54039332e-02 1.29931441e+02] [-6.45572073e-02 2.47530996e-03 9.97910938e-01 6.58974840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.541400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.09, Y:129.92, Z:0.66 [[-8.13320365e-01 5.79267782e-01 -5.43950448e-02 2.08094632e+02] [-5.78174222e-01 -8.15133642e-01 -3.56611029e-02 1.29923297e+02] [-6.49965589e-02 2.44591143e-03 9.97882491e-01 6.57563178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.11, Y:129.93, Z:0.66 [[-8.13236607e-01 5.79402294e-01 -5.42144247e-02 2.08107537e+02] [-5.78314706e-01 -8.15038088e-01 -3.55670706e-02 1.29928032e+02] [-6.47944633e-02 2.42855523e-03 9.97895676e-01 6.57994046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:129.93, Z:0.66 [[-8.12898019e-01 5.79858280e-01 -5.44167853e-02 2.08116222e+02] [-5.78761960e-01 -8.14713663e-01 -3.57245077e-02 1.29930616e+02] [-6.50492501e-02 2.45398384e-03 9.97879037e-01 6.57436395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:129.93, Z:0.66 [[-8.12747486e-01 5.80038090e-01 -5.47479483e-02 2.08121836e+02] [-5.78927155e-01 -8.14585629e-01 -3.59666868e-02 1.29932585e+02] [-6.54589402e-02 2.46323971e-03 9.97852223e-01 6.58005201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.661400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.11, Y:129.93, Z:0.66 [[-8.13552623e-01 5.78871164e-01 -5.51389688e-02 2.08111531e+02] [-5.77739967e-01 -8.15415586e-01 -3.62484811e-02 1.29926096e+02] [-6.59443750e-02 2.36593911e-03 9.97820496e-01 6.57783093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.691400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.11, Y:129.93, Z:0.66 [[-8.14514327e-01 5.77546677e-01 -5.48292438e-02 2.08112684e+02] [-5.76423557e-01 -8.16354630e-01 -3.60694093e-02 1.29927173e+02] [-6.55918745e-02 2.22581711e-03 9.97844052e-01 6.58062154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.92, Z:0.66 [[-8.15796470e-01 5.75749655e-01 -5.46667536e-02 2.08100434e+02] [-5.74627541e-01 -8.17623454e-01 -3.59871779e-02 1.29919176e+02] [-6.54164252e-02 2.05480948e-03 9.97855936e-01 6.56894340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.92, Z:0.66 [[-8.17205975e-01 5.73745760e-01 -5.46826948e-02 2.08104673e+02] [-5.72616874e-01 -8.19031312e-01 -3.60225718e-02 1.29921993e+02] [-6.54546370e-02 1.87437287e-03 9.97853786e-01 6.57230449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:129.91, Z:0.66 [[-8.18487950e-01 5.71882690e-01 -5.50242257e-02 2.08090924e+02] [-5.70733765e-01 -8.20333619e-01 -3.62728906e-02 1.29912937e+02] [-6.58820605e-02 1.71525962e-03 9.97825943e-01 6.56523331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.92, Z:0.66 [[-8.19817891e-01 5.69910810e-01 -5.56802771e-02 2.08097518e+02] [-5.68728018e-01 -8.21705089e-01 -3.67312950e-02 1.29917646e+02] [-6.66863291e-02 1.55396084e-03 9.97772779e-01 6.57450959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:129.89, Z:0.65 [[-8.23011532e-01 5.65516275e-01 -5.33231707e-02 2.08050820e+02] [-5.64255742e-01 -8.24736552e-01 -3.77501973e-02 1.29892805e+02] [-6.53259189e-02 -9.80942476e-04 9.97863499e-01 6.52888472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:129.90, Z:0.65 [[-8.24319671e-01 5.63441829e-01 -5.50489403e-02 2.08060278e+02] [-5.62431235e-01 -8.26150135e-01 -3.38682731e-02 1.29897803e+02] [-6.45614912e-02 3.04295972e-03 9.97909091e-01 6.54480834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:129.90, Z:0.65 [[-8.25433273e-01 5.61989053e-01 -5.31809795e-02 2.08051612e+02] [-5.60888921e-01 -8.27144273e-01 -3.51563520e-02 1.29897141e+02] [-6.37458276e-02 8.09399521e-04 9.97965838e-01 6.52632146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:129.90, Z:0.65 [[-8.26918075e-01 5.59798484e-01 -5.32179915e-02 2.08045809e+02] [-5.58690655e-01 -8.28628549e-01 -3.52062362e-02 1.29898196e+02] [-6.38063448e-02 6.19721482e-04 9.97962107e-01 6.52664853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:129.90, Z:0.65 [[-8.27329372e-01 5.59211135e-01 -5.30001545e-02 2.08036993e+02] [-5.58109548e-01 -8.29025092e-01 -3.50874561e-02 1.29895083e+02] [-6.35597542e-02 5.51009211e-04 9.97977883e-01 6.52286577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:129.91, Z:0.65 [[-8.27664054e-01 5.58749343e-01 -5.26439511e-02 2.08050337e+02] [-5.57659996e-01 -8.29336440e-01 -3.48768953e-02 1.29907121e+02] [-6.31469893e-02 4.91073016e-04 9.98004117e-01 6.53212150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.021400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.03, Y:129.90, Z:0.65 [[-8.27987445e-01 5.58299384e-01 -5.23315247e-02 2.08034621e+02] [-5.57220464e-01 -8.29639446e-01 -3.46950181e-02 1.29900684e+02] [-6.27865044e-02 4.33157010e-04 9.98026887e-01 6.51864412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.89, Z:0.65 [[-8.28108921e-01 5.58061393e-01 -5.29442771e-02 2.08012466e+02] [-5.56954899e-01 -8.29799568e-01 -3.51271694e-02 1.29890188e+02] [-6.35362554e-02 3.98452143e-04 9.97979451e-01 6.50387045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:129.91, Z:0.65 [[-8.28077496e-01 5.58042903e-01 -5.36262832e-02 2.08038786e+02] [-5.56905929e-01 -8.29812011e-01 -3.56063580e-02 1.29912137e+02] [-6.43696093e-02 3.79971258e-04 9.97926054e-01 6.53175095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:129.91, Z:0.65 [[-8.27827255e-01 5.58296456e-01 -5.48370616e-02 2.08027485e+02] [-5.57106244e-01 -8.29641440e-01 -3.64378069e-02 1.29914381e+02] [-6.58381971e-02 3.85859750e-04 9.97830238e-01 6.53234040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:129.92, Z:0.65 [[-8.27388553e-01 5.58940498e-01 -5.48971950e-02 2.08032209e+02] [-5.57747318e-01 -8.29207662e-01 -3.65045558e-02 1.29922619e+02] [-6.59250494e-02 4.15311713e-04 9.97824491e-01 6.53711245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:129.93, Z:0.65 [[-8.27009358e-01 5.59509713e-01 -5.48124385e-02 2.08029294e+02] [-5.58319702e-01 -8.28823678e-01 -3.64749307e-02 1.29926061e+02] [-6.58379249e-02 4.37755336e-04 9.97830234e-01 6.53415384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.92, Z:0.65 [[-8.26796016e-01 5.59819711e-01 -5.48656455e-02 2.08010660e+02] [-5.58626296e-01 -8.28614324e-01 -3.65371503e-02 1.29919121e+02] [-6.59166766e-02 4.40622012e-04 9.97825034e-01 6.51626381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.92, Z:0.65 [[-8.27014569e-01 5.59501107e-01 -5.48216577e-02 2.08009626e+02] [-5.58307128e-01 -8.28829510e-01 -3.65348384e-02 1.29923931e+02] [-6.58790903e-02 3.92478609e-04 9.97827536e-01 6.51707377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.93, Z:0.65 [[-8.27705028e-01 5.58511179e-01 -5.44944879e-02 2.08008206e+02] [-5.57327514e-01 -8.29496943e-01 -3.63436863e-02 1.29927926e+02] [-6.55013663e-02 2.89425555e-04 9.97852438e-01 6.51763821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.92, Z:0.65 [[-8.30689132e-01 5.54172251e-01 -5.33730487e-02 2.07984033e+02] [-5.53026204e-01 -8.32402013e-01 -3.56217212e-02 1.29919365e+02] [-6.41684026e-02 -7.38820936e-05 9.97939082e-01 6.50716554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.92, Z:0.65 [[-8.32710712e-01 5.51162714e-01 -5.30333119e-02 2.07983410e+02] [-5.50023424e-01 -8.34397721e-01 -3.54214154e-02 1.29920973e+02] [-6.37738381e-02 -3.26228262e-04 9.97964324e-01 6.51353455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:129.91, Z:0.65 [[-8.35114500e-01 5.47484307e-01 -5.33357789e-02 2.07969472e+02] [-5.46322707e-01 -8.36815710e-01 -3.56506393e-02 1.29913243e+02] [-6.41503832e-02 -6.33818702e-04 9.97940042e-01 6.50375206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:129.91, Z:0.65 [[-8.34920397e-01 5.47781496e-01 -5.33231884e-02 2.07971555e+02] [-5.46619300e-01 -8.36621199e-01 -3.56694609e-02 1.29914750e+02] [-6.41503804e-02 -6.33676553e-04 9.97940042e-01 6.50544219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:129.91, Z:0.65 [[-8.37274698e-01 5.44129168e-01 -5.38008202e-02 2.07968163e+02] [-5.42936672e-01 -8.39000926e-01 -3.60168922e-02 1.29913947e+02] [-6.47367795e-02 -9.45594293e-04 9.97901927e-01 6.50172418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:129.91, Z:0.65 [[-8.39422898e-01 5.40773570e-01 -5.41585104e-02 2.07959159e+02] [-5.39556318e-01 -8.41167295e-01 -3.62844606e-02 1.29909313e+02] [-6.51780450e-02 -1.23644064e-03 9.97872885e-01 6.49451334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:129.90, Z:0.65 [[-8.41312910e-01 5.37820937e-01 -5.42330799e-02 2.07945810e+02] [-5.36592345e-01 -8.43057777e-01 -3.63626129e-02 1.29901557e+02] [-6.52781944e-02 -1.49128020e-03 9.97865990e-01 6.48143291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:129.89, Z:0.65 [[-8.44056979e-01 5.33558161e-01 -5.36982825e-02 2.07927791e+02] [-5.32343263e-01 -8.45761403e-01 -3.60319191e-02 1.29890858e+02] [-6.46410593e-02 -1.82707383e-03 9.97906907e-01 6.46383656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:129.90, Z:0.65 [[-8.44692765e-01 5.32586398e-01 -5.33466202e-02 2.07934952e+02] [-5.31383626e-01 -8.46373481e-01 -3.58241785e-02 1.29896076e+02] [-6.42306348e-02 -1.91290388e-03 9.97933247e-01 6.46680071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:129.90, Z:0.65 [[-8.44739744e-01 5.32535376e-01 -5.31115663e-02 2.07943597e+02] [-5.31341274e-01 -8.46405541e-01 -3.56946925e-02 1.29902194e+02] [-6.39626104e-02 -1.93235813e-03 9.97950425e-01 6.47481482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:129.90, Z:0.65 [[-8.44441125e-01 5.32960343e-01 -5.35953347e-02 2.07941959e+02] [-5.31743349e-01 -8.46137992e-01 -3.60487092e-02 1.29901471e+02] [-6.45615813e-02 -1.94204978e-03 9.97911835e-01 6.47452368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:129.90, Z:0.65 [[-8.44035902e-01 5.33530828e-01 -5.42978093e-02 2.07937016e+02] [-5.32280938e-01 -8.45778375e-01 -3.65505519e-02 1.29898426e+02] [-6.54247591e-02 -1.94828919e-03 9.97855603e-01 6.48100384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:129.91, Z:0.65 [[-8.43386421e-01 5.34511322e-01 -5.47447805e-02 2.07947223e+02] [-5.33240848e-01 -8.45159149e-01 -3.68810310e-02 1.29907499e+02] [-6.59813807e-02 -1.91280755e-03 9.97819021e-01 6.49069632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:129.91, Z:0.65 [[-8.42906422e-01 5.35332027e-01 -5.41145618e-02 2.07951221e+02] [-5.34090482e-01 -8.44639683e-01 -3.64851175e-02 1.29912210e+02] [-6.52389582e-02 -1.85146743e-03 9.97867952e-01 6.48954167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:129.91, Z:0.65 [[-8.42487420e-01 5.36070660e-01 -5.33216075e-02 2.07949754e+02] [-5.34864945e-01 -8.44171213e-01 -3.59785076e-02 1.29913632e+02] [-6.42995884e-02 -1.79158133e-03 9.97929032e-01 6.48481810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:129.92, Z:0.65 [[-8.42087032e-01 5.36734227e-01 -5.29698028e-02 2.07956350e+02] [-5.35543899e-01 -8.43749546e-01 -3.57692121e-02 1.29920447e+02] [-6.38918075e-02 -1.75313495e-03 9.97955291e-01 6.48373871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:129.92, Z:0.65 [[-8.41662809e-01 5.37426046e-01 -5.26968733e-02 2.07946863e+02] [-5.36247538e-01 -8.43309138e-01 -3.56128586e-02 1.29916798e+02] [-6.35790326e-02 -1.71545002e-03 9.97975332e-01 6.47636844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:129.93, Z:0.65 [[-8.41037809e-01 5.38377685e-01 -5.29610428e-02 2.07957050e+02] [-5.37187377e-01 -8.42702000e-01 -3.58198536e-02 1.29927530e+02] [-6.39149865e-02 -1.67584751e-03 9.97953940e-01 6.48421949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:129.93, Z:0.65 [[-8.39795272e-01 5.40354046e-01 -5.25490890e-02 2.07944715e+02] [-5.39184287e-01 -8.41436357e-01 -3.55691121e-02 1.29929589e+02] [-6.34366276e-02 -1.53712909e-03 9.97984685e-01 6.47504645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:129.93, Z:0.65 [[-8.39563956e-01 5.40823436e-01 -5.14040439e-02 2.07937374e+02] [-5.39703360e-01 -8.41134821e-01 -3.48209099e-02 1.29929939e+02] [-6.20696954e-02 -1.49144559e-03 9.98070703e-01 6.46932970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:129.94, Z:0.65 [[-8.39733400e-01 5.40663607e-01 -5.03058634e-02 2.07944391e+02] [-5.39589027e-01 -8.41237561e-01 -3.41034945e-02 1.29939820e+02] [-6.07577002e-02 -1.49335154e-03 9.98151427e-01 6.47119806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:129.93, Z:0.65 [[-8.40038234e-01 5.40260107e-01 -4.95457514e-02 2.07922297e+02] [-5.39215511e-01 -8.41496703e-01 -3.36144551e-02 1.29930099e+02] [-5.98531356e-02 -1.52158985e-03 9.98206034e-01 6.45144671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.94, Y:129.94, Z:0.65 [[-8.40587075e-01 5.39367260e-01 -4.99632761e-02 2.07935964e+02] [-5.38301734e-01 -8.42069076e-01 -3.39251152e-02 1.29944969e+02] [-6.03706262e-02 -1.62169514e-03 9.98174713e-01 6.46309984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:129.95, Z:0.65 [[-8.41212215e-01 5.38287502e-01 -5.10741998e-02 2.07930389e+02] [-5.37170266e-01 -8.42759434e-01 -3.47079636e-02 1.29946133e+02] [-6.17261267e-02 -1.76122153e-03 9.98091571e-01 6.46674890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:129.96, Z:0.65 [[-8.43387108e-01 5.34841444e-01 -5.14083176e-02 2.07928499e+02] [-5.33701372e-01 -8.44949953e-01 -3.49631456e-02 1.29955998e+02] [-6.21371948e-02 -2.05077661e-03 9.98065511e-01 6.47652529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:129.96, Z:0.65 [[-8.44586954e-01 5.32995665e-01 -5.08772867e-02 2.07927418e+02] [-5.31874015e-01 -8.46115144e-01 -3.46293856e-02 1.29960419e+02] [-6.15053552e-02 -2.18722055e-03 9.98104357e-01 6.47314588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:129.97, Z:0.65 [[-8.45657617e-01 5.31342369e-01 -5.03833450e-02 2.07931084e+02] [-5.30237827e-01 -8.47154036e-01 -3.43203518e-02 1.29967601e+02] [-6.09183110e-02 -2.30811155e-03 9.98140086e-01 6.47390785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:129.99, Z:0.65 [[-8.46781947e-01 5.29531153e-01 -5.05676973e-02 2.07957664e+02] [-5.28413424e-01 -8.48286886e-01 -3.44762524e-02 1.29990024e+02] [-6.11521642e-02 -2.47321802e-03 9.98125391e-01 6.49513874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.00, Z:0.65 [[-8.47491608e-01 5.28360541e-01 -5.09226187e-02 2.07961525e+02] [-5.27225092e-01 -8.49016204e-01 -3.47158093e-02 1.29996749e+02] [-6.15765922e-02 -2.57367468e-03 9.98099043e-01 6.50320217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.01, Z:0.65 [[-8.48929009e-01 5.26039109e-01 -5.10136708e-02 2.07975106e+02] [-5.24893732e-01 -8.50455867e-01 -3.48049956e-02 1.30013730e+02] [-6.16936645e-02 -2.77021436e-03 9.98091287e-01 6.52238547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.01, Z:0.65 [[-8.49437078e-01 5.25289755e-01 -5.02724972e-02 2.07967037e+02] [-5.24174559e-01 -8.50918799e-01 -3.43253503e-02 1.30011380e+02] [-6.08085678e-02 -2.80566118e-03 9.98145504e-01 6.52028606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.01, Z:0.65 [[-8.49731132e-01 5.24891475e-01 -4.94564815e-02 2.07968276e+02] [-5.23810026e-01 -8.51164523e-01 -3.37936680e-02 1.30014679e+02] [-5.98336107e-02 -2.80973086e-03 9.98204410e-01 6.51593054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.01, Z:0.65 [[-8.49927268e-01 5.24592301e-01 -4.92600867e-02 2.07958929e+02] [-5.23517390e-01 -8.51348837e-01 -3.36853038e-02 1.30009985e+02] [-5.96085686e-02 -2.84154625e-03 9.98217784e-01 6.50590194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.03, Z:0.65 [[-8.50266892e-01 5.23998677e-01 -4.97151762e-02 2.07983325e+02] [-5.22900951e-01 -8.51714017e-01 -3.40268848e-02 1.30028236e+02] [-6.01731551e-02 -2.93582068e-03 9.98183637e-01 6.52599480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.03, Z:0.65 [[-8.50153374e-01 5.24057597e-01 -5.10183916e-02 2.07989932e+02] [-5.22902213e-01 -8.51677540e-01 -3.49090693e-02 1.30033915e+02] [-6.17455812e-02 -3.00043316e-03 9.98087411e-01 6.53530783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.04, Z:0.65 [[-8.50212600e-01 5.23734745e-01 -5.32958924e-02 2.07991932e+02] [-5.22471274e-01 -8.51875448e-01 -3.64964229e-02 1.30039626e+02] [-6.45159069e-02 -3.18414580e-03 9.97911599e-01 6.54813133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.04, Z:0.65 [[-8.50200402e-01 5.23755453e-01 -5.32869757e-02 2.07992666e+02] [-5.22490661e-01 -8.51862635e-01 -3.65179337e-02 1.30042521e+02] [-6.45196504e-02 -3.20561480e-03 9.97911288e-01 6.54801536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.04, Z:0.65 [[-8.50091643e-01 5.23954821e-01 -5.30616931e-02 2.07985466e+02] [-5.22699337e-01 -8.51740045e-01 -3.63909212e-02 1.30039464e+02] [-6.42619674e-02 -3.20030619e-03 9.97927932e-01 6.53639715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.05, Z:0.65 [[-8.50268573e-01 5.23707441e-01 -5.26675421e-02 2.07997635e+02] [-5.22468272e-01 -8.51892102e-01 -3.61490254e-02 1.30049040e+02] [-6.37985767e-02 -3.21926051e-03 9.97957603e-01 6.54050721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.05, Z:0.65 [[-8.50313099e-01 5.23648054e-01 -5.25390312e-02 2.08002799e+02] [-5.22414685e-01 -8.51928613e-01 -3.60629330e-02 1.30053481e+02] [-6.36437887e-02 -3.21762289e-03 9.97967492e-01 6.53996902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.05, Z:0.65 [[-8.50351613e-01 5.23590133e-01 -5.24929333e-02 2.07991082e+02] [-5.22357093e-01 -8.51964120e-01 -3.60583746e-02 1.30048827e+02] [-6.36019048e-02 -3.24224092e-03 9.97970083e-01 6.53044955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.06, Z:0.65 [[-8.50503934e-01 5.23304237e-01 -5.28747028e-02 2.08006046e+02] [-5.22050749e-01 -8.52139486e-01 -3.63498556e-02 1.30061806e+02] [-6.40786555e-02 -3.31241700e-03 9.97939354e-01 6.54552433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.06, Z:0.65 [[-8.50408293e-01 5.23477674e-01 -5.26959133e-02 2.07997163e+02] [-5.22233535e-01 -8.52033075e-01 -3.62184320e-02 1.30057962e+02] [-6.38582016e-02 -3.28088183e-03 9.97953589e-01 6.54655938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.06, Z:0.65 [[-8.50437856e-01 5.23491194e-01 -5.20809285e-02 2.07998106e+02] [-5.22274304e-01 -8.52024833e-01 -3.58222848e-02 1.30060163e+02] [-6.31268950e-02 -3.26409641e-03 9.98000171e-01 6.54862685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.611400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.00, Y:130.07, Z:0.65 [[-8.50685995e-01 5.23128454e-01 -5.16716458e-02 2.08004567e+02] [-5.21928184e-01 -8.52247499e-01 -3.55692398e-02 1.30065798e+02] [-6.26443123e-02 -3.28936588e-03 9.98030496e-01 6.54846480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.07, Z:0.65 [[-8.51007450e-01 5.22598803e-01 -5.17379075e-02 2.08003829e+02] [-5.21394591e-01 -8.52572223e-01 -3.56130011e-02 1.30067278e+02] [-6.27216145e-02 -3.33106418e-03 9.98025502e-01 6.54019780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.07, Z:0.65 [[-8.51252563e-01 5.22161167e-01 -5.21228242e-02 2.08005883e+02] [-5.20936403e-01 -8.52840006e-01 -3.59052818e-02 1.30071217e+02] [-6.32007736e-02 -3.41178666e-03 9.97995001e-01 6.54222406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.07, Z:0.65 [[-8.51470817e-01 5.21766695e-01 -5.25067993e-02 2.08002226e+02] [-5.20521539e-01 -8.53081097e-01 -3.61935023e-02 1.30071208e+02] [-6.36771220e-02 -3.48679098e-03 9.97964462e-01 6.54146644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.08, Z:0.66 [[-8.51733541e-01 5.21302146e-01 -5.28587603e-02 2.08017103e+02] [-5.20037451e-01 -8.53364709e-01 -3.64653798e-02 1.30083299e+02] [-6.41172813e-02 -3.57025209e-03 9.97935984e-01 6.55719317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.09, Z:0.66 [[-8.51719311e-01 5.21305458e-01 -5.30550150e-02 2.08019051e+02] [-5.20032034e-01 -8.53362669e-01 -3.65901473e-02 1.30085997e+02] [-6.43498127e-02 -3.57422763e-03 9.97921002e-01 6.56676189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.08, Z:0.66 [[-8.51121927e-01 5.22280202e-01 -5.30552157e-02 2.08001526e+02] [-5.21008952e-01 -8.52766770e-01 -3.65856227e-02 1.30078362e+02] [-6.43516713e-02 -3.49658335e-03 9.97921157e-01 6.55751511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.09, Z:0.66 [[-8.50935200e-01 5.22614145e-01 -5.27611737e-02 2.08009985e+02] [-5.21355760e-01 -8.52562238e-01 -3.64115601e-02 1.30086459e+02] [-6.40113806e-02 -3.47653634e-03 9.97943113e-01 6.56779060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.09, Z:0.66 [[-8.50749180e-01 5.22934791e-01 -5.25836175e-02 2.08005617e+02] [-5.21686174e-01 -8.52365784e-01 -3.62781739e-02 1.30085191e+02] [-6.37915956e-02 -3.43148040e-03 9.97957342e-01 6.56239894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.09, Z:0.66 [[-8.50639778e-01 5.23175302e-01 -5.19574005e-02 2.08010954e+02] [-5.21956466e-01 -8.52218402e-01 -3.58502739e-02 1.30090892e+02] [-6.30350307e-02 -3.37616786e-03 9.98005604e-01 6.56687986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.09, Z:0.66 [[-8.50318733e-01 5.23765940e-01 -5.12571200e-02 2.08006749e+02] [-5.22581481e-01 -8.51855910e-01 -3.53568139e-02 1.30090421e+02] [-6.21823755e-02 -3.27853952e-03 9.98059419e-01 6.56191701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.09, Z:0.66 [[-8.49799629e-01 5.24633962e-01 -5.09881991e-02 2.07999335e+02] [-5.23463683e-01 -8.51321912e-01 -3.51678153e-02 1.30087914e+02] [-6.18576014e-02 -3.19512594e-03 9.98079871e-01 6.55620789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.08, Z:0.65 [[-8.48165193e-01 5.27222771e-01 -5.14971350e-02 2.07985041e+02] [-5.26033851e-01 -8.49721683e-01 -3.55168820e-02 1.30084755e+02] [-6.24835412e-02 -3.03494681e-03 9.98041380e-01 6.54759461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.09, Z:0.65 [[-8.47665848e-01 5.27959760e-01 -5.21641832e-02 2.07980215e+02] [-5.26739320e-01 -8.49263930e-01 -3.60064774e-02 1.30085521e+02] [-6.33111304e-02 -3.04453489e-03 9.97989194e-01 6.54295050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.10, Z:0.66 [[-8.47613105e-01 5.28049731e-01 -5.21105225e-02 2.07990772e+02] [-5.26832554e-01 -8.49208055e-01 -3.59602573e-02 1.30097381e+02] [-6.32414796e-02 -3.02686564e-03 9.97993664e-01 6.55254216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.10, Z:0.66 [[-8.47879290e-01 5.27629180e-01 -5.20399590e-02 2.07990004e+02] [-5.26416210e-01 -8.49469399e-01 -3.58847280e-02 1.30101284e+02] [-6.31401823e-02 -3.03123976e-03 9.98000065e-01 6.55320227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.10, Z:0.65 [[-8.48544385e-01 5.26594610e-01 -5.16773017e-02 2.07987129e+02] [-5.25398245e-01 -8.50111009e-01 -3.56083824e-02 1.30103137e+02] [-6.26826254e-02 -3.06412931e-03 9.98028807e-01 6.54917739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.121400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:207.99, Y:130.11, Z:0.66 [[-8.49794809e-01 5.24614044e-01 -5.12726802e-02 2.07992432e+02] [-5.23434385e-01 -8.51334306e-01 -3.53035959e-02 1.30110566e+02] [-6.21709538e-02 -3.16292876e-03 9.98060503e-01 6.55991152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.12, Z:0.66 [[-8.53202952e-01 5.18917365e-01 -5.26259648e-02 2.08005166e+02] [-5.17665475e-01 -8.54816616e-01 -3.62078699e-02 1.30122975e+02] [-6.37744415e-02 -3.65001646e-03 9.97957663e-01 6.58040617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.12, Z:0.66 [[-8.55598557e-01 5.14953100e-01 -5.26727078e-02 2.08004051e+02] [-5.13693193e-01 -8.57209360e-01 -3.62134902e-02 1.30123093e+02] [-6.37997871e-02 -3.92659846e-03 9.97954994e-01 6.58434814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.13, Z:0.66 [[-8.58005942e-01 5.10994522e-01 -5.20615246e-02 2.08011593e+02] [-5.09758083e-01 -8.59573950e-01 -3.57676025e-02 1.30127655e+02] [-6.30277793e-02 -4.15003247e-03 9.98003144e-01 6.58886032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.13, Z:0.66 [[-8.60307722e-01 5.07170602e-01 -5.14645994e-02 2.08012984e+02] [-5.05957155e-01 -8.61834666e-01 -3.53322233e-02 1.30127043e+02] [-6.22734408e-02 -4.35770224e-03 9.98049613e-01 6.59004958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.13, Z:0.66 [[-8.60477643e-01 5.06881050e-01 -5.14764740e-02 2.08010960e+02] [-5.05668118e-01 -8.62004995e-01 -3.53149140e-02 1.30125541e+02] [-6.22734384e-02 -4.35768222e-03 9.98049613e-01 6.58835789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.13, Z:0.66 [[-8.62568313e-01 5.03329782e-01 -5.13326039e-02 2.08020232e+02] [-5.02118950e-01 -8.64082264e-01 -3.51909329e-02 1.30129673e+02] [-6.20682372e-02 -4.57951045e-03 9.98061402e-01 6.59498035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:130.14, Z:0.66 [[-8.64292725e-01 5.00333857e-01 -5.16150808e-02 2.08037384e+02] [-4.99105939e-01 -8.65819265e-01 -3.53590445e-02 1.30139387e+02] [-6.23806584e-02 -4.79917151e-03 9.98040892e-01 6.61212923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:130.14, Z:0.66 [[-8.66121757e-01 4.97051383e-01 -5.26595108e-02 2.08040861e+02] [-4.95768855e-01 -8.67706031e-01 -3.60483925e-02 1.30139697e+02] [-6.36108785e-02 -5.11535168e-03 9.97961667e-01 6.62088443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.391400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.03, Y:130.13, Z:0.66 [[-8.66240090e-01 4.96870269e-01 -5.24217705e-02 2.08026272e+02] [-4.95600655e-01 -8.67809947e-01 -3.58592519e-02 1.30128247e+02] [-6.33095300e-02 -5.08245779e-03 9.97980998e-01 6.61407393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:130.13, Z:0.66 [[-8.65949849e-01 4.97417452e-01 -5.20263195e-02 2.08034537e+02] [-4.96168026e-01 -8.67496888e-01 -3.55870774e-02 1.30130312e+02] [-6.28343036e-02 -5.00282801e-03 9.98011434e-01 6.61701190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.11, Z:0.66 [[-8.65188196e-01 4.99117410e-01 -4.82824662e-02 2.08008594e+02] [-4.97781701e-01 -8.66494099e-01 -3.74346680e-02 1.30112741e+02] [-6.05207666e-02 -8.35390476e-03 9.98131980e-01 6.58584257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.11, Z:0.66 [[-8.64664917e-01 4.99530608e-01 -5.31389914e-02 2.08023846e+02] [-4.98508598e-01 -8.66295484e-01 -3.19579790e-02 1.30112348e+02] [-6.19980570e-02 -1.14269916e-03 9.98075616e-01 6.59255249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:130.12, Z:0.66 [[-8.63156661e-01 5.02180661e-01 -5.26798046e-02 2.08031987e+02] [-5.00910102e-01 -8.64750005e-01 -3.60069272e-02 1.30117692e+02] [-6.36368438e-02 -4.69177277e-03 9.97962093e-01 6.59782546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.11, Z:0.66 [[-8.62133187e-01 5.03851578e-01 -5.34785521e-02 2.08023294e+02] [-5.02546064e-01 -8.63777846e-01 -3.65415751e-02 1.30110485e+02] [-6.46051188e-02 -4.62826870e-03 9.97900174e-01 6.59963174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:130.11, Z:0.66 [[-8.61216018e-01 5.05367693e-01 -5.39487286e-02 2.08028769e+02] [-5.04040241e-01 -8.62891960e-01 -3.68903899e-02 1.30112452e+02] [-6.51951354e-02 -4.57826456e-03 9.97862031e-01 6.60792474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.11, Z:0.66 [[-8.60321741e-01 5.06874126e-01 -5.40843982e-02 2.08019592e+02] [-5.05543645e-01 -8.62008512e-01 -3.69722586e-02 1.30105890e+02] [-6.53614929e-02 -4.46601406e-03 9.97851657e-01 6.59911939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.10, Z:0.66 [[-8.59688888e-01 5.08009280e-01 -5.34937975e-02 2.08009004e+02] [-5.06708237e-01 -8.61340591e-01 -3.65943829e-02 1.30099404e+02] [-6.46666652e-02 -4.35403656e-03 9.97897422e-01 6.58576904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.661400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.01, Y:130.10, Z:0.66 [[-8.58842035e-01 5.09596580e-01 -5.19777299e-02 2.08009482e+02] [-5.08369487e-01 -8.60403514e-01 -3.55845188e-02 1.30103314e+02] [-6.28555705e-02 -4.13758867e-03 9.98014057e-01 6.57649519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.10, Z:0.66 [[-8.58151368e-01 5.10737174e-01 -5.21897322e-02 2.07997581e+02] [-5.09502803e-01 -8.59727307e-01 -3.57190624e-02 1.30095723e+02] [-6.31119909e-02 -4.06154746e-03 9.97998187e-01 6.56513673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.10, Z:0.66 [[-8.57997391e-01 5.10948971e-01 -5.26462339e-02 2.08007763e+02] [-5.09692971e-01 -8.59601336e-01 -3.60363527e-02 1.30104400e+02] [-6.36675103e-02 -4.08568125e-03 9.97962803e-01 6.57607573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.10, Z:0.66 [[-8.58006830e-01 5.10904091e-01 -5.29272156e-02 2.07998557e+02] [-5.09636302e-01 -8.59628003e-01 -3.62013279e-02 1.30101533e+02] [-6.39931232e-02 -4.08735613e-03 9.97941969e-01 6.56614428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.11, Z:0.66 [[-8.58440602e-01 5.10189479e-01 -5.27866292e-02 2.07998061e+02] [-5.08927435e-01 -8.60052139e-01 -3.60996412e-02 1.30106014e+02] [-6.38169105e-02 -4.12483396e-03 9.97953099e-01 6.56989012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.11, Z:0.66 [[-8.59112670e-01 5.09128603e-01 -5.20911299e-02 2.07993999e+02] [-5.07899302e-01 -8.60680568e-01 -3.55985755e-02 1.30108551e+02] [-6.29580763e-02 -4.12613874e-03 9.98007643e-01 6.56548342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.12, Z:0.66 [[-8.61030067e-01 5.06028676e-01 -5.06182081e-02 2.07998057e+02] [-5.04864144e-01 -8.62506387e-01 -3.45677534e-02 1.30118093e+02] [-6.11508023e-02 -4.20855668e-03 9.98119666e-01 6.56110635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.12, Z:0.66 [[-8.62475508e-01 5.03594738e-01 -5.02825818e-02 2.07999795e+02] [-5.02442998e-01 -8.63929154e-01 -3.43139849e-02 1.30121834e+02] [-6.07209306e-02 -4.33084038e-03 9.98145386e-01 6.55961287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.12, Z:0.66 [[-8.64334157e-01 5.00347907e-01 -5.07783080e-02 2.07996428e+02] [-4.99169296e-01 -8.65812320e-01 -3.46271765e-02 1.30122848e+02] [-6.12901200e-02 -4.58247921e-03 9.98109474e-01 6.56132598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:130.16, Z:0.66 [[-8.68685390e-01 4.92831314e-01 -5.00298808e-02 2.08037211e+02] [-4.91676278e-01 -8.70110408e-01 -3.40927462e-02 1.30156492e+02] [-6.03334929e-02 -5.01736502e-03 9.98165665e-01 6.60518460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.14, Z:0.66 [[-8.70950077e-01 4.88947972e-01 -4.87426265e-02 2.08010585e+02] [-4.87847121e-01 -8.72297874e-01 -3.31904359e-02 1.30138336e+02] [-5.87464858e-02 -5.12826270e-03 9.98259761e-01 6.58265831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:130.15, Z:0.66 [[-8.73020585e-01 4.85348307e-01 -4.76663365e-02 2.08038635e+02] [-4.84290428e-01 -8.74305133e-01 -3.24548258e-02 1.30154955e+02] [-5.74268174e-02 -5.24938051e-03 9.98335918e-01 6.59921170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:130.17, Z:0.66 [[-8.74567783e-01 4.82564588e-01 -4.75669236e-02 2.08062592e+02] [-4.81508349e-01 -8.75843734e-01 -3.23645436e-02 1.30168134e+02] [-5.72791746e-02 -5.40111630e-03 9.98343590e-01 6.61592578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:130.16, Z:0.66 [[-8.75526656e-01 4.80768290e-01 -4.81136807e-02 2.08059372e+02] [-4.79686243e-01 -8.76830036e-01 -3.27138573e-02 1.30163596e+02] [-5.79153056e-02 -5.56238331e-03 9.98306004e-01 6.60779488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:130.15, Z:0.66 [[-8.75425750e-01 4.80741798e-01 -5.01704980e-02 2.08050924e+02] [-4.79566672e-01 -8.76843152e-01 -3.40865711e-02 1.30154383e+02] [-6.03784971e-02 -5.78016337e-03 9.98158818e-01 6.60512669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:130.14, Z:0.66 [[-8.74579220e-01 4.82152438e-01 -5.13830176e-02 2.08039675e+02] [-4.80922724e-01 -8.76068057e-01 -3.49011873e-02 1.30144863e+02] [-6.18427129e-02 -5.81259241e-03 9.98068982e-01 6.60188261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:130.15, Z:0.66 [[-8.73582600e-01 4.83869712e-01 -5.21875629e-02 2.08042786e+02] [-4.82604685e-01 -8.75121004e-01 -3.54393390e-02 1.30145279e+02] [-6.28184553e-02 -5.77322759e-03 9.98008272e-01 6.61045256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:130.14, Z:0.66 [[-8.72398495e-01 4.85948354e-01 -5.26788713e-02 2.08033519e+02] [-4.84664733e-01 -8.73969236e-01 -3.57473130e-02 1.30137500e+02] [-6.34110608e-02 -5.65431096e-03 9.97971476e-01 6.60982541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.12, Z:0.66 [[-8.70529017e-01 4.89299426e-01 -5.25861417e-02 2.08009149e+02] [-4.88027065e-01 -8.72099196e-01 -3.56731855e-02 1.30118654e+02] [-6.33152011e-02 -5.39108271e-03 9.97979019e-01 6.58880155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.12, Z:0.66 [[-8.70514804e-01 4.89367640e-01 -5.21851421e-02 2.08013340e+02] [-4.88113006e-01 -8.72061056e-01 -3.54289166e-02 1.30120009e+02] [-6.28463954e-02 -5.36914979e-03 9.98008769e-01 6.59013645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.12, Z:0.66 [[-8.70772316e-01 4.88940819e-01 -5.18888103e-02 2.08012610e+02] [-4.87701201e-01 -8.72300566e-01 -3.52031329e-02 1.30117670e+02] [-6.24748872e-02 -5.34767846e-03 9.98032209e-01 6.59162134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.12, Z:0.66 [[-8.71336972e-01 4.87943030e-01 -5.18023263e-02 2.08020476e+02] [-4.86707339e-01 -8.72858845e-01 -3.51198526e-02 1.30120928e+02] [-6.23526060e-02 -5.38865360e-03 9.98039636e-01 6.60193037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.11, Z:0.66 [[-8.72668532e-01 4.85561749e-01 -5.17631155e-02 2.08014600e+02] [-4.84325386e-01 -8.74184867e-01 -3.50676266e-02 1.30112079e+02] [-6.22780304e-02 -5.53222333e-03 9.98043507e-01 6.59662992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.11, Z:0.66 [[-8.73149169e-01 4.84650301e-01 -5.21978468e-02 2.08022367e+02] [-4.83391976e-01 -8.74689836e-01 -3.53537596e-02 1.30114187e+02] [-6.27911362e-02 -5.63708546e-03 9.98010770e-01 6.59636687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.11, Z:0.66 [[-8.73279621e-01 4.84326968e-01 -5.30102950e-02 2.08018141e+02] [-4.83030216e-01 -8.74868336e-01 -3.58776392e-02 1.30108258e+02] [-6.37535368e-02 -5.72563690e-03 9.97949249e-01 6.58614547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.11, Z:0.66 [[-8.73214630e-01 4.84352822e-01 -5.38382152e-02 2.08021905e+02] [-4.83015657e-01 -8.74853480e-01 -3.64316251e-02 1.30107361e+02] [-6.47463104e-02 -5.80792717e-03 9.97884855e-01 6.58150870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:130.11, Z:0.66 [[-8.73130270e-01 4.84456494e-01 -5.42718746e-02 2.08031988e+02] [-4.83098507e-01 -8.74795871e-01 -3.67153440e-02 1.30111268e+02] [-6.52637986e-02 -5.83861663e-03 9.97850964e-01 6.58562347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.10, Z:0.66 [[-8.72871532e-01 4.84951108e-01 -5.40158380e-02 2.08013398e+02] [-4.83607544e-01 -8.74522263e-01 -3.65315600e-02 1.30096485e+02] [-6.49540734e-02 -5.76489202e-03 9.97871602e-01 6.56810008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:130.10, Z:0.66 [[-8.72375172e-01 4.85927817e-01 -5.32514324e-02 2.08023543e+02] [-4.84622167e-01 -8.73980784e-01 -3.60408751e-02 1.30099694e+02] [-6.40539924e-02 -5.63434011e-03 9.97930529e-01 6.57078388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.09, Z:0.66 [[-8.71716828e-01 4.87171884e-01 -5.26623816e-02 2.08010785e+02] [-4.85897949e-01 -8.73288965e-01 -3.56309693e-02 1.30088291e+02] [-6.33478832e-02 -5.47157237e-03 9.97976507e-01 6.56272961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.08, Z:0.66 [[-8.71043994e-01 4.88383431e-01 -5.25736096e-02 2.08006633e+02] [-4.87114394e-01 -8.72612460e-01 -3.55958035e-02 1.30082489e+02] [-6.32607874e-02 -5.39614886e-03 9.97982442e-01 6.55473297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:130.08, Z:0.65 [[-8.70746600e-01 4.88903840e-01 -5.26630167e-02 2.08007396e+02] [-4.87629700e-01 -8.72321025e-01 -3.56833955e-02 1.30081304e+02] [-6.33848058e-02 -5.39114425e-03 9.97974600e-01 6.54809274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.08, Z:0.65 [[-8.70164589e-01 4.89932246e-01 -5.27255345e-02 2.08003684e+02] [-4.88657378e-01 -8.71744302e-01 -3.57188880e-02 1.30079179e+02] [-6.34630193e-02 -5.31659011e-03 9.97970029e-01 6.54171779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:130.08, Z:0.65 [[-8.67949207e-01 4.93818018e-01 -5.29899922e-02 2.08002203e+02] [-4.92537226e-01 -8.69550544e-01 -3.59017143e-02 1.30083177e+02] [-6.38063900e-02 -5.06132069e-03 9.97949462e-01 6.54603167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:130.08, Z:0.65 [[-8.66585950e-01 4.96228209e-01 -5.27859539e-02 2.07993428e+02] [-4.94962195e-01 -8.68178531e-01 -3.57556065e-02 1.30080201e+02] [-6.35705725e-02 -4.85825458e-03 9.97965520e-01 6.54215077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.08, Z:0.65 [[-8.65446074e-01 4.98235463e-01 -5.25786626e-02 2.07984742e+02] [-4.96981567e-01 -8.67028958e-01 -3.56385596e-02 1.30077148e+02] [-6.33436173e-02 -4.71262538e-03 9.97980650e-01 6.53533090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.08, Z:0.65 [[-8.64556251e-01 4.99850149e-01 -5.18875495e-02 2.07977135e+02] [-4.98631890e-01 -8.66100035e-01 -3.51705688e-02 1.30075300e+02] [-6.25198224e-02 -4.53414830e-03 9.98033423e-01 6.53002489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.08, Z:0.65 [[-8.63956230e-01 5.00941238e-01 -5.13566789e-02 2.07971937e+02] [-4.99750085e-01 -8.65470091e-01 -3.48048006e-02 1.30077943e+02] [-6.18828295e-02 -4.40431969e-03 9.98073703e-01 6.52532746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.08, Z:0.65 [[-8.64387600e-01 5.00182541e-01 -5.14927467e-02 2.07970868e+02] [-4.98984317e-01 -8.65908490e-01 -3.48875077e-02 1.30078828e+02] [-6.20381288e-02 -4.46225604e-03 9.98063805e-01 6.52554995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.08, Z:0.65 [[-8.65144928e-01 4.98888249e-01 -5.13299886e-02 2.07970365e+02] [-4.97695918e-01 -8.66654471e-01 -3.47678284e-02 1.30079638e+02] [-6.18306252e-02 -4.53248466e-03 9.98076365e-01 6.52756029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.08, Z:0.65 [[-8.66113221e-01 4.97242170e-01 -5.09716876e-02 2.07970480e+02] [-4.96064188e-01 -8.67599549e-01 -3.45158460e-02 1.30080690e+02] [-6.13857474e-02 -4.60940172e-03 9.98103473e-01 6.52815765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.08, Z:0.65 [[-8.67217586e-01 4.95387259e-01 -5.02505882e-02 2.07970767e+02] [-4.94239867e-01 -8.68659713e-01 -3.40184835e-02 1.30081911e+02] [-6.05029848e-02 -4.66558311e-03 9.98157113e-01 6.53217338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.68360159e-01 4.93439809e-01 -4.96768508e-02 2.07973595e+02] [-4.92315767e-01 -8.69767030e-01 -3.36229003e-02 1.30085335e+02] [-5.97981645e-02 -4.74009017e-03 9.98199234e-01 6.53218088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.09, Z:0.65 [[-8.69621912e-01 4.91199485e-01 -4.98075874e-02 2.07977374e+02] [-4.90067320e-01 -8.71033405e-01 -3.36872420e-02 1.30090991e+02] [-5.99312284e-02 -4.88609297e-03 9.98190550e-01 6.53541562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.09, Z:0.65 [[-8.69964144e-01 4.90471181e-01 -5.09942144e-02 2.07977216e+02] [-4.89284672e-01 -8.71442882e-01 -3.44646706e-02 1.30091599e+02] [-6.13424728e-02 -5.03234013e-03 9.98104091e-01 6.53553755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.10, Z:0.65 [[-8.70141663e-01 4.90031232e-01 -5.21812121e-02 2.07984308e+02] [-4.88789604e-01 -8.71689609e-01 -3.52413083e-02 1.30096735e+02] [-6.27551620e-02 -5.15929661e-03 9.98015617e-01 6.54168922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:130.09, Z:0.65 [[-8.70191582e-01 4.89897454e-01 -5.26031864e-02 2.07978959e+02] [-4.88637057e-01 -8.71764629e-01 -3.55001082e-02 1.30093771e+02] [-6.32490099e-02 -5.18802913e-03 9.97984292e-01 6.54198954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.70533577e-01 4.89371870e-01 -5.18311060e-02 2.07965800e+02] [-4.88147891e-01 -8.72060056e-01 -3.49699278e-02 1.30085822e+02] [-6.23131362e-02 -5.14125127e-03 9.98043406e-01 6.53382147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.71791322e-01 4.87306556e-01 -5.01219681e-02 2.07971442e+02] [-4.86159099e-01 -8.73216027e-01 -3.38097597e-02 1.30089895e+02] [-6.02430235e-02 -5.10780423e-03 9.98170671e-01 6.53226816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.72517074e-01 4.86023260e-01 -4.99534419e-02 2.07971598e+02] [-4.84882863e-01 -8.73930653e-01 -3.36722955e-02 1.30089018e+02] [-6.00213629e-02 -5.15808478e-03 9.98183766e-01 6.53151065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.73053023e-01 4.85057212e-01 -4.99791919e-02 2.07971915e+02] [-4.83915504e-01 -8.74466920e-01 -3.36658613e-02 1.30087268e+02] [-6.00350188e-02 -5.20637613e-03 9.98182694e-01 6.53168070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.73211080e-01 4.84771483e-01 -4.99901889e-02 2.07969875e+02] [-4.83630238e-01 -8.74625350e-01 -3.36495233e-02 1.30085783e+02] [-6.00350158e-02 -5.20636960e-03 9.98182694e-01 6.52998850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.73516372e-01 4.84177155e-01 -5.04145882e-02 2.07973633e+02] [-4.83016914e-01 -8.74954114e-01 -3.39110437e-02 1.30085550e+02] [-6.05294040e-02 -5.27075303e-03 9.98152499e-01 6.53451481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.09, Z:0.65 [[-8.73550040e-01 4.84087152e-01 -5.06947372e-02 2.07974616e+02] [-4.82915289e-01 -8.75003826e-01 -3.40753294e-02 1.30085589e+02] [-6.08535182e-02 -5.28524167e-03 9.98132714e-01 6.54313601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:130.08, Z:0.65 [[-8.73358491e-01 4.84371461e-01 -5.12760578e-02 2.07969560e+02] [-4.83174614e-01 -8.74846365e-01 -3.44402514e-02 1.30081714e+02] [-6.15405477e-02 -5.30339660e-03 9.98090494e-01 6.54411899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.08, Z:0.65 [[-8.72831335e-01 4.85217077e-01 -5.22479488e-02 2.07961408e+02] [-4.83976481e-01 -8.74377450e-01 -3.50833409e-02 1.30075712e+02] [-6.27074643e-02 -5.33506094e-03 9.98017691e-01 6.53714738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.07, Z:0.65 [[-8.72137389e-01 4.86380307e-01 -5.30148257e-02 2.07955200e+02] [-4.85105501e-01 -8.73730999e-01 -3.55920659e-02 1.30071115e+02] [-6.36319766e-02 -5.32338782e-03 9.97959234e-01 6.53408444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.08, Z:0.65 [[-8.70963230e-01 4.88319051e-01 -5.44752755e-02 2.07964110e+02] [-4.86977328e-01 -8.72648977e-01 -3.65628966e-02 1.30076525e+02] [-6.53921525e-02 -5.31671441e-03 9.97845479e-01 6.54322422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.07, Z:0.65 [[-8.70642840e-01 4.88847524e-01 -5.48556622e-02 2.07961954e+02] [-4.87489758e-01 -8.72353200e-01 -3.67917227e-02 1.30074491e+02] [-6.58390550e-02 -5.29087639e-03 9.97816228e-01 6.54637928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:130.07, Z:0.65 [[-8.70518550e-01 4.89076042e-01 -5.47912328e-02 2.07956947e+02] [-4.87722562e-01 -8.72225298e-01 -3.67387007e-02 1.30069280e+02] [-6.57583177e-02 -5.25880006e-03 9.97821722e-01 6.54453761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:130.06, Z:0.65 [[-8.70718448e-01 4.88794410e-01 -5.41240114e-02 2.07949188e+02] [-4.87473608e-01 -8.72383449e-01 -3.62849857e-02 1.30062121e+02] [-6.49527899e-02 -5.20997934e-03 9.97874737e-01 6.53943160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:130.06, Z:0.65 [[-8.71104653e-01 4.88134943e-01 -5.38605691e-02 2.07948992e+02] [-4.86826142e-01 -8.72752511e-01 -3.61021128e-02 1.30060781e+02] [-6.46296498e-02 -5.22798542e-03 9.97895624e-01 6.53578716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:130.02, Z:0.65 [[-8.71125058e-01 4.88338388e-01 -5.16406187e-02 2.07878880e+02] [-4.86950967e-01 -8.72621525e-01 -3.75556902e-02 1.30016095e+02] [-6.34026007e-02 -7.56925354e-03 9.97959326e-01 6.47507410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:130.06, Z:0.65 [[-8.70670674e-01 4.88782285e-01 -5.49950517e-02 2.07950607e+02] [-4.87613098e-01 -8.72401637e-01 -3.38947079e-02 1.30060994e+02] [-6.45449059e-02 -2.69482066e-03 9.97911165e-01 6.54034824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.05, Z:0.65 [[-8.70109233e-01 4.90009600e-01 -5.29198926e-02 2.07935226e+02] [-4.88750309e-01 -8.71702755e-01 -3.54604374e-02 1.30054022e+02] [-6.35063709e-02 -4.98984013e-03 9.97968959e-01 6.52527212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:130.06, Z:0.65 [[-8.69799171e-01 4.90648482e-01 -5.20909698e-02 2.07949883e+02] [-4.89427752e-01 -8.71343879e-01 -3.49330842e-02 1.30064806e+02] [-6.25290124e-02 -4.89000147e-03 9.98031167e-01 6.53252158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:130.06, Z:0.65 [[-8.68639693e-01 4.92672338e-01 -5.23359412e-02 2.07935544e+02] [-4.91445381e-01 -8.70201967e-01 -3.50709729e-02 1.30060066e+02] [-6.28213372e-02 -4.74378260e-03 9.98013515e-01 6.51179156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.05, Z:0.65 [[-8.67816931e-01 4.94040863e-01 -5.30791883e-02 2.07918362e+02] [-4.92781818e-01 -8.69425959e-01 -3.55609451e-02 1.30051614e+02] [-6.37169842e-02 -4.70393134e-03 9.97956922e-01 6.49696790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.06, Z:0.65 [[-8.67491137e-01 4.94588181e-01 -5.33072028e-02 2.07926896e+02] [-4.93317494e-01 -8.69114700e-01 -3.57419732e-02 1.30060140e+02] [-6.40076311e-02 -4.70846930e-03 9.97938301e-01 6.50820702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.05, Z:0.65 [[-8.67192271e-01 4.95133932e-01 -5.31032387e-02 2.07908142e+02] [-4.93875692e-01 -8.68804340e-01 -3.55783487e-02 1.30050752e+02] [-6.37523720e-02 -4.62687024e-03 9.97955023e-01 6.49209791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.07, Z:0.65 [[-8.67402183e-01 4.94878219e-01 -5.20480676e-02 2.07925093e+02] [-4.93668972e-01 -8.68950404e-01 -3.48732264e-02 1.30065805e+02] [-6.24851895e-02 -4.55459669e-03 9.98035499e-01 6.50770196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.06, Z:0.65 [[-8.67821749e-01 4.94285642e-01 -5.06667104e-02 2.07916880e+02] [-4.93140248e-01 -8.69288137e-01 -3.39238965e-02 1.30063888e+02] [-6.08120653e-02 -4.45410106e-03 9.98139296e-01 6.50016314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.07, Z:0.65 [[-8.68785747e-01 4.92662085e-01 -4.99539443e-02 2.07912846e+02] [-4.91547479e-01 -8.70209156e-01 -3.34230586e-02 1.30067432e+02] [-5.99366534e-02 -4.48274155e-03 9.98192117e-01 6.49875711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.07, Z:0.65 [[-8.69249581e-01 4.91795064e-01 -5.04259998e-02 2.07914400e+02] [-4.90659308e-01 -8.70699019e-01 -3.37144076e-02 1.30071601e+02] [-6.04864478e-02 -4.56424848e-03 9.98158583e-01 6.50941020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.07, Z:0.65 [[-8.69769498e-01 4.90825203e-01 -5.09081530e-02 2.07913318e+02] [-4.89667461e-01 -8.71245634e-01 -3.40121104e-02 1.30074060e+02] [-6.10475070e-02 -4.65463021e-03 9.98124009e-01 6.51292634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.08, Z:0.65 [[-8.70238202e-01 4.89996804e-01 -5.08783121e-02 2.07919737e+02] [-4.88840502e-01 -8.71711619e-01 -3.39678747e-02 1.30081898e+02] [-6.09953658e-02 -4.68876258e-03 9.98127036e-01 6.52012958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.08, Z:0.65 [[-8.70439345e-01 4.89618373e-01 -5.10802851e-02 2.07901744e+02] [-4.88453712e-01 -8.71924101e-01 -3.40783397e-02 1.30078184e+02] [-6.12235129e-02 -4.71277283e-03 9.98112955e-01 6.49889137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.09, Z:0.65 [[-8.70209717e-01 4.89969950e-01 -5.16187656e-02 2.07907123e+02] [-4.88782726e-01 -8.71726567e-01 -3.44127733e-02 1.30086265e+02] [-6.18586741e-02 -4.71596873e-03 9.98073777e-01 6.50174295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.09, Z:0.65 [[-8.69831169e-01 4.90568720e-01 -5.23074433e-02 2.07904500e+02] [-4.89352226e-01 -8.71389758e-01 -3.48466591e-02 1.30088729e+02] [-6.26748513e-02 -4.71394644e-03 9.98022866e-01 6.50358639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.031400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:207.90, Y:130.09, Z:0.65 [[-8.69763354e-01 4.90617470e-01 -5.29736265e-02 2.07896808e+02] [-4.89371461e-01 -8.71362123e-01 -3.52650469e-02 1.30088237e+02] [-6.34608598e-02 -4.74846452e-03 9.97973031e-01 6.49624783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.061400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:207.91, Y:130.10, Z:0.65 [[-8.69903734e-01 4.90371677e-01 -5.29444260e-02 2.07911010e+02] [-4.89128183e-01 -8.71500507e-01 -3.52205455e-02 1.30101958e+02] [-6.34122521e-02 -4.74187314e-03 9.97976153e-01 6.51060385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.11, Z:0.65 [[-8.70479670e-01 4.89377265e-01 -5.26786253e-02 2.07914312e+02] [-4.88145995e-01 -8.72059146e-01 -3.50190390e-02 1.30113133e+02] [-6.30763985e-02 -4.76850153e-03 9.97997309e-01 6.51803046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.10, Z:0.65 [[-8.70922680e-01 4.88541278e-01 -5.31140782e-02 2.07889290e+02] [-4.87289592e-01 -8.72527319e-01 -3.52835701e-02 1.30101210e+02] [-6.35809647e-02 -4.84732390e-03 9.97964911e-01 6.50146771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.10, Z:0.65 [[-8.71297844e-01 4.87832982e-01 -5.34700735e-02 2.07887852e+02] [-4.86564732e-01 -8.72923178e-01 -3.54948916e-02 1.30104593e+02] [-6.39908453e-02 -4.90997054e-03 9.97938407e-01 6.50092459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.12, Z:0.65 [[-8.71727792e-01 4.86995531e-01 -5.40926070e-02 2.07904309e+02] [-4.85697613e-01 -8.73390109e-01 -3.58823897e-02 1.30120009e+02] [-6.47185114e-02 -5.00702627e-03 9.97890998e-01 6.51714212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.12, Z:0.65 [[-8.72189563e-01 4.86142607e-01 -5.43206359e-02 2.07905504e+02] [-4.84833727e-01 -8.73864787e-01 -3.60082190e-02 1.30124980e+02] [-6.49740204e-02 -5.06951648e-03 9.97874079e-01 6.51867853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.13, Z:0.65 [[-8.72895599e-01 4.84857496e-01 -5.44654132e-02 2.07900550e+02] [-4.83540787e-01 -8.74577964e-01 -3.60789861e-02 1.30125276e+02] [-6.51274170e-02 -5.15693948e-03 9.97863631e-01 6.51722431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.14, Z:0.65 [[-8.75142335e-01 4.80905701e-01 -5.34378240e-02 2.07922341e+02] [-4.79632503e-01 -8.76756141e-01 -3.53741482e-02 1.30144463e+02] [-6.38635699e-02 -5.32689739e-03 9.97944422e-01 6.53660779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.14, Z:0.65 [[-8.76588943e-01 4.78368969e-01 -5.24876556e-02 2.07916281e+02] [-4.77137673e-01 -8.78142385e-01 -3.47216569e-02 1.30142247e+02] [-6.27013983e-02 -5.39278264e-03 9.98017762e-01 6.53524698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.15, Z:0.65 [[-8.78014000e-01 4.75799051e-01 -5.20257562e-02 2.07930274e+02] [-4.74586343e-01 -8.79536776e-01 -3.43927824e-02 1.30152632e+02] [-6.21226191e-02 -5.50663105e-03 9.98053334e-01 6.54483581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.15, Z:0.65 [[-8.79240874e-01 4.73539770e-01 -5.19188981e-02 2.07932267e+02] [-4.72329597e-01 -8.80754417e-01 -3.42988160e-02 1.30154174e+02] [-6.19696522e-02 -5.63408871e-03 9.98062132e-01 6.54915205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:130.14, Z:0.65 [[-8.80074798e-01 4.72008888e-01 -5.17296743e-02 2.07918870e+02] [-4.70806340e-01 -8.81575358e-01 -3.41508102e-02 1.30144321e+02] [-6.17230921e-02 -5.70060879e-03 9.98077033e-01 6.53873245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:130.15, Z:0.65 [[-8.80537239e-01 4.71171990e-01 -5.14890962e-02 2.07929193e+02] [-4.69980612e-01 -8.82022861e-01 -3.39690638e-02 1.30149891e+02] [-6.14198313e-02 -5.71214871e-03 9.98095675e-01 6.53840180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.14, Z:0.65 [[-8.79944286e-01 4.72365415e-01 -5.06849947e-02 2.07914618e+02] [-4.71214301e-01 -8.81385519e-01 -3.34162935e-02 1.30141504e+02] [-6.04577217e-02 -5.52098210e-03 9.98155490e-01 6.52451295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:130.14, Z:0.65 [[-8.78922822e-01 4.74264001e-01 -5.06786949e-02 2.07914144e+02] [-4.73117659e-01 -8.80366300e-01 -3.33894945e-02 1.30143059e+02] [-6.04512504e-02 -5.36980326e-03 9.98156707e-01 6.52735405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:130.13, Z:0.65 [[-8.77591585e-01 4.76655761e-01 -5.13059051e-02 2.07895953e+02] [-4.75486299e-01 -8.79074360e-01 -3.37794160e-02 1.30133070e+02] [-6.12028589e-02 -5.24927633e-03 9.98111544e-01 6.51895229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:130.13, Z:0.65 [[-8.76060353e-01 4.79408075e-01 -5.18281268e-02 2.07891685e+02] [-4.78220874e-01 -8.77577352e-01 -3.40996561e-02 1.30131859e+02] [-6.18308408e-02 -5.08806468e-03 9.98073674e-01 6.51610982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:130.13, Z:0.65 [[-8.72739953e-01 4.85400400e-01 -5.20713471e-02 2.07876998e+02] [-4.84214015e-01 -8.74279524e-01 -3.42359863e-02 1.30126390e+02] [-6.21430739e-02 -4.66543704e-03 9.98056347e-01 6.49660781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:130.12, Z:0.65 [[-8.71397555e-01 4.87785319e-01 -5.22664659e-02 2.07862302e+02] [-4.86595753e-01 -8.72952065e-01 -3.43404303e-02 1.30121023e+02] [-6.23768771e-02 -4.49152672e-03 9.98042560e-01 6.48259224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:130.12, Z:0.65 [[-8.70241519e-01 4.89886872e-01 -5.18705322e-02 2.07851908e+02] [-4.88720439e-01 -8.71775470e-01 -3.40567406e-02 1.30118949e+02] [-6.19034078e-02 -4.28740041e-03 9.98072936e-01 6.48017200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.11, Z:0.65 [[-8.69322239e-01 4.91548325e-01 -5.15663586e-02 2.07830166e+02] [-4.90399899e-01 -8.70840535e-01 -3.38334461e-02 1.30108910e+02] [-6.15368490e-02 -4.12403009e-03 9.98096292e-01 6.46637020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.11, Z:0.65 [[-8.68847103e-01 4.92444011e-01 -5.10255513e-02 2.07829702e+02] [-4.91322535e-01 -8.70334945e-01 -3.34551948e-02 1.30112193e+02] [-6.08841307e-02 -3.99744590e-03 9.98136836e-01 6.46796040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:130.13, Z:0.65 [[-8.69595036e-01 4.91196912e-01 -5.02997668e-02 2.07845137e+02] [-4.90106464e-01 -8.71039347e-01 -3.29561980e-02 1.30128740e+02] [-6.00010587e-02 -4.00630536e-03 9.98190274e-01 6.48754107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.13, Z:0.65 [[-8.70712606e-01 4.89227015e-01 -5.01645844e-02 2.07841646e+02] [-4.88140565e-01 -8.72146794e-01 -3.28444707e-02 1.30129242e+02] [-5.98192838e-02 -4.11072612e-03 9.98200759e-01 6.49002173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.13, Z:0.65 [[-8.72257850e-01 4.86411333e-01 -5.06977180e-02 2.07837547e+02] [-4.85298340e-01 -8.73719218e-01 -3.31699972e-02 1.30128792e+02] [-6.04298332e-02 -4.32927205e-03 9.98163059e-01 6.48740594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:130.14, Z:0.65 [[-8.74025259e-01 4.83127694e-01 -5.16476427e-02 2.07857503e+02] [-4.81968351e-01 -8.75537708e-01 -3.37673002e-02 1.30142501e+02] [-6.15333766e-02 -4.62094414e-03 9.98094329e-01 6.50230318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:130.14, Z:0.65 [[-8.75881661e-01 4.79659251e-01 -5.25197017e-02 2.07849884e+02] [-4.78455716e-01 -8.77441017e-01 -3.43131067e-02 1.30136993e+02] [-6.25415396e-02 -4.92586939e-03 9.98030206e-01 6.49641609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:130.15, Z:0.65 [[-8.77349237e-01 4.76895955e-01 -5.31842596e-02 2.07867491e+02] [-4.75658244e-01 -8.78944569e-01 -3.47229081e-02 1.30148140e+02] [-6.33052305e-02 -5.16658540e-03 9.97980839e-01 6.50885854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:130.15, Z:0.65 [[-8.78531248e-01 4.74717976e-01 -5.31572192e-02 2.07872443e+02] [-4.73479091e-01 -8.80122011e-01 -3.46813427e-02 1.30152562e+02] [-6.32486955e-02 -5.29981141e-03 9.97983725e-01 6.50835754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:130.15, Z:0.65 [[-8.78346881e-01 4.75148753e-01 -5.23490078e-02 2.07860417e+02] [-4.73949485e-01 -8.79890307e-01 -3.41311160e-02 1.30145725e+02] [-6.22787417e-02 -5.16817400e-03 9.98045414e-01 6.49449146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:130.15, Z:0.65 [[-8.77787072e-01 4.76263114e-01 -5.16071900e-02 2.07860552e+02] [-4.75100929e-01 -8.79288621e-01 -3.36248301e-02 1.30146264e+02] [-6.13918812e-02 -4.99681731e-03 9.98101232e-01 6.49777839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:130.14, Z:0.65 [[-8.77194965e-01 4.77378041e-01 -5.13731374e-02 2.07850909e+02] [-4.76229674e-01 -8.78684487e-01 -3.34495208e-02 1.30140314e+02] [-6.11088455e-02 -4.87633878e-03 9.98119196e-01 6.48950935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:130.14, Z:0.65 [[-8.76503746e-01 4.78597078e-01 -5.18268324e-02 2.07845252e+02] [-4.77431867e-01 -8.78021452e-01 -3.37215476e-02 1.30138153e+02] [-6.16441047e-02 -4.81328138e-03 9.98086588e-01 6.49025073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:130.14, Z:0.65 [[-8.76621414e-01 4.78390739e-01 -5.17416321e-02 2.07845512e+02] [-4.77230433e-01 -8.78133968e-01 -3.36429519e-02 1.30139469e+02] [-6.15305613e-02 -4.79945062e-03 9.98093661e-01 6.49591773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.14, Z:0.65 [[-8.76771634e-01 4.78114221e-01 -5.17522306e-02 2.07843480e+02] [-4.76954392e-01 -8.78284554e-01 -3.36266399e-02 1.30138038e+02] [-6.15305595e-02 -4.79943033e-03 9.98093661e-01 6.49422538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:130.14, Z:0.65 [[-8.77174821e-01 4.77329028e-01 -5.21663961e-02 2.07847766e+02] [-4.76150627e-01 -8.78711133e-01 -3.38721926e-02 1.30141772e+02] [-6.20073738e-02 -4.87277227e-03 9.98063796e-01 6.49326242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.14, Z:0.65 [[-8.77634869e-01 4.76478000e-01 -5.22087403e-02 2.07842471e+02] [-4.75297641e-01 -8.79172648e-01 -3.38763617e-02 1.30139338e+02] [-6.20418375e-02 -4.91638514e-03 9.98061441e-01 6.48564309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.14, Z:0.65 [[-8.78154208e-01 4.75553026e-01 -5.19086404e-02 2.07841253e+02] [-4.74386032e-01 -8.79673228e-01 -3.36586591e-02 1.30139561e+02] [-6.16691184e-02 -4.93275917e-03 9.98084459e-01 6.48187671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.14, Z:0.65 [[-8.78399285e-01 4.75131119e-01 -5.16247644e-02 2.07844168e+02] [-4.73977552e-01 -8.79901280e-01 -3.34517160e-02 1.30142686e+02] [-6.13186475e-02 -4.91498396e-03 9.98106140e-01 6.48147189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.14, Z:0.65 [[-8.78270172e-01 4.75438859e-01 -5.09842797e-02 2.07839002e+02] [-4.74315639e-01 -8.79735601e-01 -3.30143491e-02 1.30143111e+02] [-6.05489904e-02 -4.81287681e-03 9.98153623e-01 6.48167427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:130.14, Z:0.65 [[-8.78213790e-01 4.75482660e-01 -5.15439449e-02 2.07835386e+02] [-4.74336110e-01 -8.79711766e-01 -3.33536221e-02 1.30142974e+02] [-6.12028838e-02 -4.84245652e-03 9.98113600e-01 6.48773636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.14, Z:0.65 [[-8.78187660e-01 4.75435571e-01 -5.24161328e-02 2.07834192e+02] [-4.74251238e-01 -8.79736857e-01 -3.38943300e-02 1.30144300e+02] [-6.22269741e-02 -4.90716653e-03 9.98049960e-01 6.48831923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.15, Z:0.65 [[-8.78556010e-01 4.74646539e-01 -5.33854038e-02 2.07831028e+02] [-4.73418035e-01 -8.80162100e-01 -3.44969780e-02 1.30147663e+02] [-6.33616804e-02 -5.03391438e-03 9.97977934e-01 6.48084181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.351400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.83, Y:130.15, Z:0.65 [[-8.79033696e-01 4.73812398e-01 -5.29298927e-02 2.07826552e+02] [-4.72604756e-01 -8.80611442e-01 -3.41794285e-02 1.30147840e+02] [-6.28053061e-02 -5.02995029e-03 9.98013123e-01 6.46913382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.14, Z:0.65 [[-8.79398430e-01 4.73187547e-01 -5.24589913e-02 2.07816764e+02] [-4.72001655e-01 -8.80947476e-01 -3.38523718e-02 1.30143843e+02] [-6.22321368e-02 -5.00899198e-03 9.98049133e-01 6.46042135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.15, Z:0.65 [[-8.79880242e-01 4.72410178e-01 -5.13749270e-02 2.07822643e+02] [-4.71272893e-01 -8.81364979e-01 -3.31305559e-02 1.30149939e+02] [-6.09312733e-02 -4.93931110e-03 9.98129743e-01 6.46708347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.15, Z:0.65 [[-8.80342470e-01 4.71631254e-01 -5.06072769e-02 2.07822225e+02] [-4.70527789e-01 -8.81782264e-01 -3.26134731e-02 1.30151815e+02] [-6.00061324e-02 -4.89889534e-03 9.98185987e-01 6.46862596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.16, Z:0.65 [[-8.80801602e-01 4.70805163e-01 -5.03094050e-02 2.07826304e+02] [-4.69714646e-01 -8.82223569e-01 -3.23994785e-02 1.30156767e+02] [-5.96379846e-02 -4.90644823e-03 9.98208013e-01 6.47533970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.16, Z:0.65 [[-8.81489011e-01 4.69453789e-01 -5.08946299e-02 2.07833045e+02] [-4.68336864e-01 -8.82942680e-01 -3.27537145e-02 1.30164182e+02] [-6.03133963e-02 -5.03620810e-03 9.98166785e-01 6.48276164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.15, Z:0.65 [[-8.82028695e-01 4.68418592e-01 -5.10823227e-02 2.07815220e+02] [-4.67293041e-01 -8.83491907e-01 -3.28521393e-02 1.30153171e+02] [-6.05193715e-02 -5.10611561e-03 9.98153963e-01 6.46290996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.16, Z:0.65 [[-8.82482174e-01 4.67545534e-01 -5.12482766e-02 2.07821522e+02] [-4.66412559e-01 -8.83953912e-01 -3.29364080e-02 1.30156818e+02] [-6.07003850e-02 -5.16295314e-03 9.98142679e-01 6.46160897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.15, Z:0.64 [[-8.82898866e-01 4.66747503e-01 -5.13455088e-02 2.07806902e+02] [-4.65610257e-01 -8.84375286e-01 -3.29763776e-02 1.30146993e+02] [-6.08003410e-02 -5.20781082e-03 9.98136362e-01 6.44523880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.16, Z:0.65 [[-8.83179362e-01 4.66142848e-01 -5.20102017e-02 2.07823954e+02] [-4.64976321e-01 -8.84693611e-01 -3.33801565e-02 1.30158417e+02] [-6.15730144e-02 -5.29715303e-03 9.98088525e-01 6.45624389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.15, Z:0.65 [[-8.83044531e-01 4.66375695e-01 -5.22117491e-02 2.07814669e+02] [-4.65201922e-01 -8.84570981e-01 -3.34865805e-02 1.30152345e+02] [-6.18023253e-02 -5.28113576e-03 9.98074437e-01 6.45495247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.15, Z:0.65 [[-8.82731627e-01 4.66912854e-01 -5.26997294e-02 2.07808486e+02] [-4.65719405e-01 -8.84287618e-01 -3.37764015e-02 1.30147812e+02] [-6.23723542e-02 -5.27221123e-03 9.98039024e-01 6.45772389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.15, Z:0.65 [[-8.82389044e-01 4.67544492e-01 -5.28367529e-02 2.07808829e+02] [-4.66347391e-01 -8.83954123e-01 -3.38410863e-02 1.30146835e+02] [-6.25274791e-02 -5.22072194e-03 9.98029588e-01 6.46661524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.14, Z:0.65 [[-8.82294514e-01 4.67719669e-01 -5.28649376e-02 2.07806085e+02] [-4.66523049e-01 -8.83861623e-01 -3.38360291e-02 1.30143325e+02] [-6.25510658e-02 -5.19063097e-03 9.98028267e-01 6.46550920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.14, Z:0.65 [[-8.83225398e-01 4.66105336e-01 -5.15626951e-02 2.07811237e+02] [-4.64965623e-01 -8.84714218e-01 -3.29806274e-02 1.30141550e+02] [-6.09906959e-02 -5.15444707e-03 9.98125026e-01 6.46238790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:130.14, Z:0.65 [[-8.84032479e-01 4.64624339e-01 -5.10959801e-02 2.07822971e+02] [-4.63504075e-01 -8.85492684e-01 -3.26600432e-02 1.30144921e+02] [-6.04197676e-02 -5.18934394e-03 9.98159568e-01 6.46415525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:130.13, Z:0.64 [[-8.84800421e-01 4.63198792e-01 -5.07453874e-02 2.07804330e+02] [-4.62092856e-01 -8.86238972e-01 -3.24141410e-02 1.30127909e+02] [-5.99867309e-02 -5.23096459e-03 9.98185468e-01 6.44964845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.13, Z:0.65 [[-8.85523379e-01 4.61805222e-01 -5.08358305e-02 2.07810794e+02] [-4.60694395e-01 -8.86965436e-01 -3.24498153e-02 1.30126691e+02] [-6.00751187e-02 -5.31528798e-03 9.98179707e-01 6.45663044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.12, Z:0.64 [[-8.85953328e-01 4.60933764e-01 -5.12519760e-02 2.07805283e+02] [-4.59804580e-01 -8.87418121e-01 -3.26929150e-02 1.30117972e+02] [-6.05512005e-02 -5.39850353e-03 9.98150494e-01 6.44824134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:130.13, Z:0.65 [[-8.85854382e-01 4.61054379e-01 -5.18736290e-02 2.07826692e+02] [-4.59899215e-01 -8.87355236e-01 -3.30665512e-02 1.30126921e+02] [-6.12758146e-02 -5.43550797e-03 9.98106071e-01 6.46356623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:130.11, Z:0.64 [[-8.84108076e-01 4.64320483e-01 -5.25299847e-02 2.07808568e+02] [-4.63142989e-01 -8.85651666e-01 -3.34618851e-02 1.30106311e+02] [-6.20603071e-02 -5.25502871e-03 9.98058567e-01 6.44971346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:130.09, Z:0.64 [[-8.82958453e-01 4.66491040e-01 -5.26353496e-02 2.07783058e+02] [-4.65314044e-01 -8.84511263e-01 -3.35062062e-02 1.30086023e+02] [-6.21869046e-02 -5.09262066e-03 9.98051529e-01 6.42853941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.07, Z:0.64 [[-8.82042079e-01 4.68217525e-01 -5.26699086e-02 2.07768412e+02] [-4.67043468e-01 -8.83599349e-01 -3.35050650e-02 1.30073243e+02] [-6.22267555e-02 -4.95374047e-03 9.98049744e-01 6.41371497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:130.08, Z:0.64 [[-8.81545308e-01 4.69128927e-01 -5.28764509e-02 2.07785730e+02] [-4.67948737e-01 -8.83116164e-01 -3.36127923e-02 1.30081110e+02] [-6.24647817e-02 -4.88773091e-03 9.98035200e-01 6.42813429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.07, Z:0.64 [[-8.81479097e-01 4.69293754e-01 -5.25164108e-02 2.07773524e+02] [-4.68131331e-01 -8.83028945e-01 -3.33607330e-02 1.30070189e+02] [-6.20294945e-02 -4.82221149e-03 9.98062667e-01 6.42205967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.07, Z:0.64 [[-8.81660843e-01 4.68993863e-01 -5.21432058e-02 2.07771889e+02] [-4.67848816e-01 -8.83188444e-01 -3.31007202e-02 1.30065302e+02] [-6.15763114e-02 -4.78847178e-03 9.98090892e-01 6.42081634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.06, Z:0.64 [[-8.82472237e-01 4.67525535e-01 -5.16006340e-02 2.07766877e+02] [-4.66403118e-01 -8.83966427e-01 -3.27335763e-02 1.30055060e+02] [-6.09170108e-02 -4.81977563e-03 9.98131198e-01 6.41280371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.05, Z:0.64 [[-8.82848391e-01 4.66778102e-01 -5.19318890e-02 2.07768436e+02] [-4.65641365e-01 -8.84360995e-01 -3.29203746e-02 1.30054075e+02] [-6.12930470e-02 -4.88206405e-03 9.98107874e-01 6.41484120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:130.06, Z:0.64 [[-8.83184248e-01 4.66164841e-01 -5.17293405e-02 2.07777732e+02] [-4.65037329e-01 -8.84684395e-01 -3.27689572e-02 1.30059407e+02] [-6.10398760e-02 -4.88495253e-03 9.98123375e-01 6.42808885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.05, Z:0.64 [[-8.83197274e-01 4.66193749e-01 -5.12441589e-02 2.07766923e+02] [-4.65088725e-01 -8.84669534e-01 -3.24390727e-02 1.30052501e+02] [-6.04570391e-02 -4.81702007e-03 9.98159177e-01 6.41578625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.251400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.74, Y:130.04, Z:0.64 [[-8.82662374e-01 4.67253654e-01 -5.08050855e-02 2.07739072e+02] [-4.66170582e-01 -8.84110900e-01 -3.21388304e-02 1.30035028e+02] [-5.99343158e-02 -4.68390002e-03 9.98191334e-01 6.38919776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:130.04, Z:0.64 [[-8.82207170e-01 4.67953225e-01 -5.22521597e-02 2.07755392e+02] [-4.66810214e-01 -8.83740482e-01 -3.30300444e-02 1.30044925e+02] [-6.16338646e-02 -4.74750010e-03 9.98087535e-01 6.39873791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.04, Z:0.64 [[-8.81898244e-01 4.68379648e-01 -5.36282883e-02 2.07739118e+02] [-4.67177919e-01 -8.83514159e-01 -3.38751146e-02 1.30035625e+02] [-6.32477663e-02 -4.82045191e-03 9.97986214e-01 6.39222365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.04, Z:0.64 [[-8.81644530e-01 4.68750326e-01 -5.45532380e-02 2.07747682e+02] [-4.67509045e-01 -8.83317363e-01 -3.44344289e-02 1.30042525e+02] [-6.43289721e-02 -4.85479367e-03 9.97916938e-01 6.40642870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.04, Z:0.64 [[-8.81761075e-01 4.68488608e-01 -5.49165744e-02 2.07741667e+02] [-4.67231826e-01 -8.83456035e-01 -3.46389149e-02 1.30040607e+02] [-6.47443161e-02 -4.88447548e-03 9.97889932e-01 6.40671960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.05, Z:0.64 [[-8.82220736e-01 4.67668098e-01 -5.45263600e-02 2.07750516e+02] [-4.66429142e-01 -8.83890637e-01 -3.43685408e-02 1.30047407e+02] [-6.42684092e-02 -4.88795607e-03 9.97920678e-01 6.41597755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.05, Z:0.64 [[-8.84105348e-01 4.64363676e-01 -5.21930015e-02 2.07750890e+02] [-4.63224262e-01 -8.85631119e-01 -3.28755787e-02 1.30048093e+02] [-6.14899709e-02 -4.88841033e-03 9.98095730e-01 6.40900214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.06, Z:0.64 [[-8.85263479e-01 4.62263683e-01 -5.11943425e-02 2.07768075e+02] [-4.61165366e-01 -8.86728877e-01 -3.22242794e-02 1.30058680e+02] [-6.02916159e-02 -4.91791994e-03 9.98168691e-01 6.41401705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:130.06, Z:0.64 [[-8.86281092e-01 4.60367144e-01 -5.06746421e-02 2.07765300e+02] [-4.59289284e-01 -8.87714668e-01 -3.18750825e-02 1.30057083e+02] [-5.96588638e-02 -4.97596280e-03 9.98206421e-01 6.40825075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:130.05, Z:0.64 [[-8.86818569e-01 4.59300734e-01 -5.09476415e-02 2.07761817e+02] [-4.58210820e-01 -8.88266448e-01 -3.20243984e-02 1.30054727e+02] [-5.99639103e-02 -5.05507059e-03 9.98187746e-01 6.40735158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.05, Z:0.64 [[-8.86927453e-01 4.58999263e-01 -5.17626337e-02 2.07747740e+02] [-4.57875058e-01 -8.88421799e-01 -3.25136563e-02 1.30045190e+02] [-6.09107964e-02 -5.13643539e-03 9.98129998e-01 6.40073867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:130.05, Z:0.64 [[-8.86574851e-01 4.59584166e-01 -5.26063524e-02 2.07762230e+02] [-4.58425447e-01 -8.88119239e-01 -3.30200995e-02 1.30053159e+02] [-6.18962285e-02 -5.15869920e-03 9.98069259e-01 6.41898974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:130.03, Z:0.64 [[-8.84745809e-01 4.63032144e-01 -5.31609600e-02 2.07729942e+02] [-4.61856462e-01 -8.86327673e-01 -3.33446517e-02 1.30032603e+02] [-6.25576755e-02 -4.94880792e-03 9.98029081e-01 6.39522851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:130.03, Z:0.64 [[-8.83415597e-01 4.65616414e-01 -5.27089872e-02 2.07727459e+02] [-4.64466641e-01 -8.84974135e-01 -3.30381694e-02 1.30032319e+02] [-6.20292043e-02 -4.70486792e-03 9.98063246e-01 6.38892233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:130.03, Z:0.64 [[-8.81681929e-01 4.68929680e-01 -5.23634628e-02 2.07716310e+02] [-4.67802159e-01 -8.83224434e-01 -3.27984544e-02 1.30027091e+02] [-6.16288585e-02 -4.42206353e-03 9.98089339e-01 6.37231307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:130.03, Z:0.64 [[-8.79769572e-01 4.72473385e-01 -5.26725829e-02 2.07715875e+02] [-4.71340257e-01 -8.81335036e-01 -3.29684173e-02 1.30029605e+02] [-6.19988925e-02 -4.17790166e-03 9.98067474e-01 6.37147151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:130.01, Z:0.64 [[-8.77718624e-01 4.76133944e-01 -5.39118180e-02 2.07684673e+02] [-4.74955218e-01 -8.79363715e-01 -3.37193849e-02 1.30013928e+02] [-6.34630403e-02 -3.99043281e-03 9.97976212e-01 6.35183507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:130.02, Z:0.64 [[-8.74326716e-01 4.82076470e-01 -5.61700262e-02 2.07678432e+02] [-4.80810694e-01 -8.76121389e-01 -3.51053961e-02 1.30021421e+02] [-6.61352468e-02 -3.68643636e-03 9.97803858e-01 6.36749170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:130.03, Z:0.64 [[-8.73606412e-01 4.83390228e-01 -5.60867546e-02 2.07676838e+02] [-4.82132585e-01 -8.75397749e-01 -3.50278718e-02 1.30026363e+02] [-6.60303496e-02 -3.55932145e-03 9.97811267e-01 6.37230299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:130.02, Z:0.64 [[-8.73485688e-01 4.83725222e-01 -5.50696107e-02 2.07656353e+02] [-4.82515092e-01 -8.75213128e-01 -3.43681015e-02 1.30018513e+02] [-6.48223638e-02 -3.44812656e-03 9.97890862e-01 6.35327720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:130.02, Z:0.63 [[-8.73985898e-01 4.82961796e-01 -5.38196322e-02 2.07650887e+02] [-4.81806120e-01 -8.75634808e-01 -3.35640651e-02 1.30019234e+02] [-6.33365044e-02 -3.40389144e-03 9.97986423e-01 6.34035462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:130.03, Z:0.63 [[-8.74844218e-01 4.81456299e-01 -5.33612791e-02 2.07654979e+02] [-4.80318983e-01 -8.76463262e-01 -3.32539480e-02 1.30026385e+02] [-6.27795235e-02 -3.46158886e-03 9.98021417e-01 6.33629320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:130.04, Z:0.63 [[-8.75856883e-01 4.79623167e-01 -5.32572782e-02 2.07663172e+02] [-4.78488438e-01 -8.77467327e-01 -3.31648063e-02 1.30036606e+02] [-6.26381310e-02 -3.56463199e-03 9.98029938e-01 6.34426805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:130.04, Z:0.63 [[-8.77635048e-01 4.76399164e-01 -5.29203058e-02 2.07651915e+02] [-4.75274412e-01 -8.79221119e-01 -3.29310999e-02 1.30039722e+02] [-6.22169989e-02 -3.74982024e-03 9.98055602e-01 6.34114192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:130.06, Z:0.64 [[-8.78372893e-01 4.75087455e-01 -5.24687645e-02 2.07674163e+02] [-4.73980963e-01 -8.79930425e-01 -3.26265867e-02 1.30056936e+02] [-6.16693443e-02 -3.78911380e-03 9.98089442e-01 6.36007851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:130.06, Z:0.64 [[-8.78524865e-01 4.74805203e-01 -5.24793282e-02 2.07672111e+02] [-4.73699221e-01 -8.80082759e-01 -3.26095857e-02 1.30055551e+02] [-6.16693530e-02 -3.78891500e-03 9.98089442e-01 6.35838601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:130.06, Z:0.64 [[-8.78967575e-01 4.74013245e-01 -5.22249480e-02 2.07678825e+02] [-4.72918000e-01 -8.80509490e-01 -3.24284265e-02 1.30062403e+02] [-6.13560660e-02 -3.80541748e-03 9.98108687e-01 6.35933554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:130.05, Z:0.63 [[-8.79055529e-01 4.73834630e-01 -5.23652588e-02 2.07659224e+02] [-4.72734603e-01 -8.80605613e-01 -3.24923104e-02 1.30053689e+02] [-6.15091227e-02 -3.80767524e-03 9.98099258e-01 6.33962591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:130.05, Z:0.63 [[-8.78946774e-01 4.74025100e-01 -5.24668750e-02 2.07654687e+02] [-4.72922571e-01 -8.80503212e-01 -3.25320651e-02 1.30054758e+02] [-6.16182674e-02 -3.78118423e-03 9.98092627e-01 6.33459273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:130.06, Z:0.63 [[-8.78585431e-01 4.74624388e-01 -5.30973668e-02 2.07652227e+02] [-4.73497757e-01 -8.80180396e-01 -3.28990192e-02 1.30056985e+02] [-6.23499382e-02 -3.76311490e-03 9.98047256e-01 6.33165322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:130.05, Z:0.63 [[-8.76996920e-01 4.77385885e-01 -5.45813035e-02 2.07641381e+02] [-4.76202240e-01 -8.78686196e-01 -3.37934339e-02 1.30052697e+02] [-6.40923463e-02 -3.64499841e-03 9.97937315e-01 6.32491785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:130.05, Z:0.63 [[-8.75923754e-01 4.79277254e-01 -5.52348793e-02 2.07638544e+02] [-4.78070415e-01 -8.77656468e-01 -3.41731320e-02 1.30051552e+02] [-6.48556539e-02 -3.52689638e-03 9.97888423e-01 6.31982750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:130.05, Z:0.63 [[-8.74646053e-01 4.81597067e-01 -5.53041249e-02 2.07633078e+02] [-4.80393418e-01 -8.76386402e-01 -3.41911914e-02 1.30050330e+02] [-6.49341606e-02 -3.33745302e-03 9.97883969e-01 6.31403490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:130.05, Z:0.63 [[-8.73166255e-01 4.84299738e-01 -5.50858844e-02 2.07623978e+02] [-4.83112519e-01 -8.74896644e-01 -3.40317031e-02 1.30047705e+02] [-6.46760003e-02 -3.10265434e-03 9.97901492e-01 6.31025941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:130.05, Z:0.63 [[-8.71611502e-01 4.87090590e-01 -5.51012367e-02 2.07616504e+02] [-4.85909857e-01 -8.73346719e-01 -3.40164429e-02 1.30045775e+02] [-6.46915736e-02 -2.87488887e-03 9.97901165e-01 6.30213698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:130.03, Z:0.63 [[-8.67646996e-01 4.94031075e-01 -5.58747413e-02 2.07588403e+02] [-4.92832876e-01 -8.69441017e-01 -3.44684436e-02 1.30032339e+02] [-6.56082741e-02 -2.36953212e-03 9.97842643e-01 6.28343547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:130.02, Z:0.63 [[-8.65696175e-01 4.97390331e-01 -5.63293111e-02 2.07571318e+02] [-4.96181322e-01 -8.67524298e-01 -3.47230274e-02 1.30023886e+02] [-6.61379441e-02 -2.11003990e-03 9.97808258e-01 6.27071134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:130.01, Z:0.63 [[-8.63860850e-01 5.00548745e-01 -5.65277545e-02 2.07547526e+02] [-4.99339665e-01 -8.65706372e-01 -3.48191877e-02 1.30012096e+02] [-6.63651380e-02 -1.85238308e-03 9.97793685e-01 6.25212565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:130.01, Z:0.62 [[-8.62371219e-01 5.03158988e-01 -5.60973610e-02 2.07537165e+02] [-5.01975490e-01 -8.64192351e-01 -3.45280794e-02 1.30008229e+02] [-6.58520238e-02 -1.61652165e-03 9.97828090e-01 6.24437054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:130.01, Z:0.62 [[-8.61323758e-01 5.05003066e-01 -5.56173331e-02 2.07541364e+02] [-5.03845294e-01 -8.63116347e-01 -3.42066043e-02 1.30012879e+02] [-6.52786694e-02 -1.44042948e-03 9.97866033e-01 6.24863282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:130.01, Z:0.62 [[-8.60790256e-01 5.05946019e-01 -5.53060664e-02 2.07528432e+02] [-5.04804812e-01 -8.62564104e-01 -3.39892268e-02 1.30006012e+02] [-6.49017416e-02 -1.33882679e-03 9.97890761e-01 6.24029932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:130.01, Z:0.62 [[-8.60356574e-01 5.06721749e-01 -5.49512078e-02 2.07530893e+02] [-5.05598400e-01 -8.62108756e-01 -3.37453763e-02 1.30006610e+02] [-6.44734335e-02 -1.24981354e-03 9.97918641e-01 6.23962599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:130.00, Z:0.62 [[-8.60432706e-01 5.06618604e-01 -5.47096734e-02 2.07521886e+02] [-5.05506569e-01 -8.62169402e-01 -3.35712924e-02 1.29999548e+02] [-6.41768476e-02 -1.22973868e-03 9.97937784e-01 6.23557834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:130.00, Z:0.62 [[-8.60360040e-01 5.06732042e-01 -5.48018196e-02 2.07526818e+02] [-5.05618157e-01 -8.62102775e-01 -3.36018444e-02 1.30000750e+02] [-6.42719321e-02 -1.20088917e-03 9.97931699e-01 6.24046089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:129.99, Z:0.62 [[-8.60132218e-01 5.07135440e-01 -5.46462509e-02 2.07510790e+02] [-5.06030346e-01 -8.61865613e-01 -3.34806610e-02 1.29988932e+02] [-6.40769542e-02 -1.14513398e-03 9.97944303e-01 6.22889549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:129.99, Z:0.62 [[-8.59679582e-01 5.07948612e-01 -5.42146059e-02 2.07516780e+02] [-5.06864166e-01 -8.61386729e-01 -3.31906736e-02 1.29990117e+02] [-6.35588986e-02 -1.05390339e-03 9.97977533e-01 6.23281223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:129.98, Z:0.62 [[-8.58751598e-01 5.09508431e-01 -5.42849103e-02 2.07511911e+02] [-5.08425927e-01 -8.60465175e-01 -3.32078310e-02 1.29984381e+02] [-6.36299447e-02 -9.17422075e-04 9.97973140e-01 6.22368474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.96, Z:0.62 [[-8.55189782e-01 5.15344672e-01 -5.54103378e-02 2.07480038e+02] [-5.14230703e-01 -8.56982875e-01 -3.38694043e-02 1.29959931e+02] [-6.49401276e-02 -4.71071530e-04 9.97889051e-01 6.19589263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.95, Z:0.62 [[-8.53267728e-01 5.18520439e-01 -5.54142450e-02 2.07468970e+02] [-5.17414725e-01 -8.55065209e-01 -3.38451000e-02 1.29951741e+02] [-6.49321691e-02 -2.06785303e-04 9.97889659e-01 6.19423898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.94, Z:0.62 [[-8.51392397e-01 5.21663550e-01 -5.47551563e-02 2.07458641e+02] [-5.20592190e-01 -8.53151298e-01 -3.34160815e-02 1.29944442e+02] [-6.41463844e-02 5.49089894e-05 9.97940498e-01 6.18698113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.92, Z:0.62 [[-8.49704165e-01 5.24503830e-01 -5.38383120e-02 2.07427424e+02] [-5.23475413e-01 -8.51408040e-01 -3.28305034e-02 1.29924362e+02] [-6.30580964e-02 2.86817149e-04 9.98009817e-01 6.16081427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.92, Z:0.61 [[-8.48229614e-01 5.26934455e-01 -5.33535586e-02 2.07414721e+02] [-5.25930941e-01 -8.49905785e-01 -3.25084872e-02 1.29915711e+02] [-6.24753401e-02 4.85625733e-04 9.98046390e-01 6.14892456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.92, Z:0.61 [[-8.46955692e-01 5.28941234e-01 -5.37329105e-02 2.07418260e+02] [-5.27929149e-01 -8.48658196e-01 -3.27120953e-02 1.29916799e+02] [-6.29036510e-02 6.61474398e-04 9.98019385e-01 6.14881107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.91, Z:0.62 [[-8.45656894e-01 5.30735567e-01 -5.64284959e-02 2.07412625e+02] [-5.29625264e-01 -8.47537030e-01 -3.43229186e-02 1.29912399e+02] [-6.60416335e-02 8.60544288e-04 9.97816497e-01 6.15536494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.92, Z:0.62 [[-8.45740392e-01 5.30529106e-01 -5.71144220e-02 2.07422256e+02] [-5.29393118e-01 -8.47666263e-01 -3.47106975e-02 1.29918072e+02] [-6.68290040e-02 8.79743070e-04 9.97764055e-01 6.16611786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.91, Z:0.62 [[-8.45809237e-01 5.30464330e-01 -5.66950556e-02 2.07409919e+02] [-5.29346733e-01 -8.47706788e-01 -3.44272815e-02 1.29910154e+02] [-6.63232283e-02 8.92429817e-04 9.97797792e-01 6.15565660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.90, Z:0.61 [[-8.45773525e-01 5.30628895e-01 -5.56787177e-02 2.07400081e+02] [-5.29553212e-01 -8.47603765e-01 -3.37824356e-02 1.29903581e+02] [-6.51194272e-02 9.12554149e-04 9.97877060e-01 6.14053338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.90, Z:0.61 [[-8.45553572e-01 5.31043759e-01 -5.50607264e-02 2.07400143e+02] [-5.29994516e-01 -8.47343855e-01 -3.33796965e-02 1.29903269e+02] [-6.43814476e-02 9.57561405e-04 9.97924903e-01 6.13281497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.91, Z:0.61 [[-8.45269405e-01 5.31506134e-01 -5.49623784e-02 2.07409487e+02] [-5.30463423e-01 -8.47053835e-01 -3.32920017e-02 1.29909521e+02] [-6.42509966e-02 1.01482092e-03 9.97933254e-01 6.13651931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.91, Z:0.61 [[-8.43734860e-01 5.33800360e-01 -5.62908574e-02 2.07411871e+02] [-5.32713605e-01 -8.45609620e-01 -3.40673594e-02 1.29914765e+02] [-6.57852593e-02 1.24308688e-03 9.97833029e-01 6.14477547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.91, Z:0.61 [[-8.42967720e-01 5.34960638e-01 -5.67674079e-02 2.07402661e+02] [-5.33859929e-01 -8.44875873e-01 -3.43268884e-02 1.29911718e+02] [-6.63249474e-02 1.36938548e-03 9.97797137e-01 6.14164682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.91, Z:0.61 [[-8.42373980e-01 5.35899890e-01 -5.67220075e-02 2.07401544e+02] [-5.34804965e-01 -8.44280260e-01 -3.42708596e-02 1.29913614e+02] [-6.62550211e-02 1.46633076e-03 9.97801645e-01 6.14461844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.92, Z:0.61 [[-8.41955639e-01 5.36560117e-01 -5.66916411e-02 2.07402561e+02] [-5.35469756e-01 -8.43860690e-01 -3.42239148e-02 1.29916735e+02] [-6.62030351e-02 1.54164111e-03 9.97804982e-01 6.14474124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.92, Z:0.61 [[-8.41801105e-01 5.36800363e-01 -5.67121636e-02 2.07408496e+02] [-5.35711650e-01 -8.43707804e-01 -3.42077500e-02 1.29922525e+02] [-6.62112275e-02 1.58524498e-03 9.97804370e-01 6.14334433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.91, Z:0.61 [[-8.41916698e-01 5.36601554e-01 -5.68774638e-02 2.07383473e+02] [-5.35507925e-01 -8.43834236e-01 -3.42789216e-02 1.29908696e+02] [-6.63892738e-02 1.59833615e-03 9.97792518e-01 6.12616918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.89, Z:0.61 [[-8.43163785e-01 5.35106783e-01 -5.23026097e-02 2.07346706e+02] [-5.33922649e-01 -8.44781751e-01 -3.56426457e-02 1.29891628e+02] [-6.32569117e-02 -2.12704009e-03 9.97995009e-01 6.14342448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.91, Z:0.61 [[-8.43054887e-01 5.34481085e-01 -5.99034871e-02 2.07389117e+02] [-5.33557980e-01 -8.45164816e-01 -3.18169301e-02 1.29910950e+02] [-6.76338669e-02 5.13856515e-03 9.97696976e-01 6.12440368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.261400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.39, Y:129.92, Z:0.61 [[-8.43648525e-01 5.33806829e-01 -5.75103013e-02 2.07389871e+02] [-5.32686663e-01 -8.45605208e-01 -3.45940995e-02 1.29916181e+02] [-6.70975768e-02 1.44970945e-03 9.97745365e-01 6.12646568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.91, Z:0.61 [[-8.43841666e-01 5.33562859e-01 -5.69378448e-02 2.07379606e+02] [-5.32466235e-01 -8.45759187e-01 -3.42214385e-02 1.29910062e+02] [-6.64149939e-02 1.44000414e-03 9.97791048e-01 6.12287767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.91, Z:0.61 [[-8.44047892e-01 5.33338661e-01 -5.59734663e-02 2.07379598e+02] [-5.32280223e-01 -8.45900616e-01 -3.36141651e-02 1.29909919e+02] [-6.52757234e-02 1.42160396e-03 9.97866253e-01 6.11759597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.90, Z:0.61 [[-8.44042085e-01 5.33425744e-01 -5.52262170e-02 2.07368921e+02] [-5.32397361e-01 -8.45845686e-01 -3.31379819e-02 1.29902760e+02] [-6.43895101e-02 1.43244091e-03 9.97923814e-01 6.10137228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.90, Z:0.61 [[-8.43637770e-01 5.34244770e-01 -5.34587537e-02 2.07370148e+02] [-5.33284485e-01 -8.45328556e-01 -3.20513702e-02 1.29900500e+02] [-6.23134879e-02 1.46897743e-03 9.98055545e-01 6.09317586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.91, Z:0.61 [[-8.43449424e-01 5.34558892e-01 -5.32903312e-02 2.07394731e+02] [-5.33606954e-01 -8.45129878e-01 -3.19234838e-02 1.29913228e+02] [-6.21022332e-02 1.51024728e-03 9.98068651e-01 6.11149490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.90, Z:0.61 [[-8.43136746e-01 5.35041825e-01 -5.33916908e-02 2.07383021e+02] [-5.34088894e-01 -8.44824110e-01 -3.19574218e-02 1.29903332e+02] [-6.22051449e-02 1.57143249e-03 9.98062148e-01 6.10355414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.89, Z:0.61 [[-8.42837029e-01 5.35545235e-01 -5.30758418e-02 2.07371554e+02] [-5.34606173e-01 -8.44504987e-01 -3.17421857e-02 1.29893758e+02] [-6.18221894e-02 1.62118322e-03 9.98085862e-01 6.09994711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.90, Z:0.61 [[-8.42424646e-01 5.36264441e-01 -5.23561366e-02 2.07380897e+02] [-5.35353660e-01 -8.44048370e-01 -3.12859213e-02 1.29896719e+02] [-6.09686388e-02 1.67301819e-03 9.98138280e-01 6.10825285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.90, Z:0.61 [[-8.41814524e-01 5.37288399e-01 -5.16670433e-02 2.07390980e+02] [-5.36404916e-01 -8.43396780e-01 -3.08486132e-02 1.29900772e+02] [-6.01504200e-02 1.74564540e-03 9.98187798e-01 6.10699601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.90, Z:0.61 [[-8.39963644e-01 5.40267573e-01 -5.07151572e-02 2.07398518e+02] [-5.39423233e-01 -8.41491042e-01 -3.02556057e-02 1.29902948e+02] [-5.90224732e-02 1.94332529e-03 9.98254763e-01 6.10456986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.89, Z:0.61 [[-8.39059814e-01 5.41632236e-01 -5.11189725e-02 2.07380979e+02] [-5.40778423e-01 -8.40612995e-01 -3.04711372e-02 1.29892542e+02] [-5.94754227e-02 2.07693061e-03 9.98227610e-01 6.09176075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.91, Z:0.61 [[-8.37924112e-01 5.43290536e-01 -5.21399707e-02 2.07416414e+02] [-5.42407044e-01 -8.39541710e-01 -3.10534245e-02 1.29913931e+02] [-6.06447118e-02 2.26067423e-03 9.98156856e-01 6.12152395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.90, Z:0.61 [[-8.36817219e-01 5.44929992e-01 -5.28038476e-02 2.07399718e+02] [-5.44028701e-01 -8.38478020e-01 -3.14226307e-02 1.29904304e+02] [-6.13979995e-02 2.43181025e-03 9.98110401e-01 6.11747616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.90, Z:0.61 [[-8.36043486e-01 5.46107476e-01 -5.28953181e-02 2.07397160e+02] [-5.45206984e-01 -8.37711258e-01 -3.14514275e-02 1.29903357e+02] [-6.14868631e-02 2.54413584e-03 9.98104650e-01 6.11590199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.91, Z:0.61 [[-8.35420892e-01 5.47230287e-01 -5.10974134e-02 2.07397468e+02] [-5.46393529e-01 -8.36978180e-01 -3.03584852e-02 1.29905598e+02] [-5.93805027e-02 2.55718323e-03 9.98232146e-01 6.11151653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.91, Z:0.61 [[-8.35849010e-01 5.46573647e-01 -5.11241677e-02 2.07400622e+02] [-5.45736266e-01 -8.37407209e-01 -3.03495245e-02 1.29908646e+02] [-5.93999969e-02 2.53269237e-03 9.98231048e-01 6.11395096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.91, Z:0.61 [[-8.36669273e-01 5.45245873e-01 -5.18793383e-02 2.07401184e+02] [-5.44382547e-01 -8.38272455e-01 -3.07723026e-02 1.29909982e+02] [-6.02674913e-02 2.49596627e-03 9.98179142e-01 6.11788380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.90, Z:0.61 [[-8.37581431e-01 5.43688192e-01 -5.34836139e-02 2.07391462e+02] [-5.42769091e-01 -8.39283622e-01 -3.16972538e-02 1.29904854e+02] [-6.21213438e-02 2.48022123e-03 9.98065523e-01 6.10866465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.91, Z:0.61 [[-8.38440069e-01 5.42232171e-01 -5.47952887e-02 2.07398348e+02] [-5.41266022e-01 -8.40225121e-01 -3.24475026e-02 1.29910157e+02] [-6.36344578e-02 2.45354164e-03 9.97970258e-01 6.11867934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.39, Y:129.91, Z:0.61 [[-8.39321050e-01 5.40810198e-01 -5.53579752e-02 2.07391220e+02] [-5.39822737e-01 -8.41141252e-01 -3.27537347e-02 1.29906890e+02] [-6.42774303e-02 2.39259469e-03 9.97929200e-01 6.11055075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.39, Y:129.91, Z:0.61 [[-8.39513610e-01 5.40510040e-01 -5.53696341e-02 2.07389150e+02] [-5.39523226e-01 -8.41334162e-01 -3.27340133e-02 1.29905557e+02] [-6.42774276e-02 2.39255397e-03 9.97929200e-01 6.10885880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.90, Z:0.61 [[-8.40013430e-01 5.39670187e-01 -5.59779190e-02 2.07382743e+02] [-5.38661466e-01 -8.41873173e-01 -3.30663786e-02 1.29904499e+02] [-6.49712470e-02 2.37694584e-03 9.97884306e-01 6.09933818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.90, Z:0.61 [[-8.40111526e-01 5.39565239e-01 -5.55155571e-02 2.07369132e+02] [-5.38574611e-01 -8.41940455e-01 -3.27667500e-02 1.29897811e+02] [-6.44205927e-02 2.37154518e-03 9.97920018e-01 6.08841588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.90, Z:0.61 [[-8.39971650e-01 5.39786040e-01 -5.54856650e-02 2.07378065e+02] [-5.38798691e-01 -8.41798803e-01 -3.27222563e-02 1.29904011e+02] [-6.43707835e-02 2.40983611e-03 9.97923141e-01 6.09464957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.90, Z:0.61 [[-8.39696212e-01 5.40172165e-01 -5.58954753e-02 2.07364001e+02] [-5.39172788e-01 -8.41550878e-01 -3.29366793e-02 1.29895947e+02] [-6.48303636e-02 2.48051447e-03 9.97893216e-01 6.08325290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.90, Z:0.61 [[-8.39157886e-01 5.40910751e-01 -5.68295854e-02 2.07372074e+02] [-5.39881196e-01 -8.41075966e-01 -3.34591475e-02 1.29900099e+02] [-6.58964111e-02 2.60371705e-03 9.97823072e-01 6.09313613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.90, Z:0.61 [[-8.38561329e-01 5.41735922e-01 -5.77675406e-02 2.07374321e+02] [-5.40675926e-01 -8.40544289e-01 -3.39829613e-02 1.29900952e+02] [-6.69659672e-02 2.73672134e-03 9.97751507e-01 6.09246308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.91, Z:0.61 [[-8.37304855e-01 5.43580313e-01 -5.86602427e-02 2.07384284e+02] [-5.42493726e-01 -8.39351966e-01 -3.44794609e-02 1.29906408e+02] [-6.79789462e-02 2.95299360e-03 9.97682386e-01 6.09887817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.90, Z:0.61 [[-8.37035864e-01 5.44027958e-01 -5.83484707e-02 2.07374019e+02] [-5.42955865e-01 -8.39061738e-01 -3.42684747e-02 1.29899955e+02] [-6.76009775e-02 2.99670208e-03 9.97707937e-01 6.09015218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.91, Z:0.61 [[-8.36845323e-01 5.44418515e-01 -5.74315791e-02 2.07385605e+02] [-5.43382595e-01 -8.38808358e-01 -3.37030192e-02 1.29905842e+02] [-6.65226362e-02 3.00310653e-03 9.97780397e-01 6.09809034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.90, Z:0.61 [[-8.36560905e-01 5.44945893e-01 -5.65669949e-02 2.07378633e+02] [-5.43943896e-01 -8.38465769e-01 -3.31691466e-02 1.29899842e+02] [-6.55048791e-02 3.02126030e-03 9.97847675e-01 6.08926976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.90, Z:0.61 [[-8.36442760e-01 5.45217202e-01 -5.56930135e-02 2.07386190e+02] [-5.44248233e-01 -8.38289389e-01 -3.26306869e-02 1.29902473e+02] [-6.44776741e-02 3.01712235e-03 9.97914589e-01 6.09136698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.89, Z:0.61 [[-8.36394926e-01 5.45403734e-01 -5.45737551e-02 2.07364730e+02] [-5.44475347e-01 -8.38168132e-01 -3.19496307e-02 1.29886850e+02] [-6.31674303e-02 2.99155527e-03 9.97998460e-01 6.08341208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.90, Z:0.61 [[-8.36747488e-01 5.44786050e-01 -5.53335472e-02 2.07384369e+02] [-5.43831977e-01 -8.38569680e-01 -3.23677555e-02 1.29896267e+02] [-6.40345367e-02 3.00851427e-03 9.97943148e-01 6.10738764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.311400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:207.37, Y:129.89, Z:0.61 [[-8.37211734e-01 5.43993738e-01 -5.61010367e-02 2.07373155e+02] [-5.43012979e-01 -8.39083871e-01 -3.27896607e-02 1.29886654e+02] [-6.49108451e-02 3.01170232e-03 9.97886523e-01 6.10285108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.89, Z:0.61 [[-8.37668293e-01 5.43187863e-01 -5.70856862e-02 2.07383290e+02] [-5.42172298e-01 -8.39605740e-01 -3.33376760e-02 1.29888515e+02] [-6.60380908e-02 3.02436352e-03 9.97812519e-01 6.11271025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.88, Z:0.61 [[-8.38424009e-01 5.42026605e-01 -5.70292981e-02 2.07377477e+02] [-5.41012150e-01 -8.40356139e-01 -3.32778033e-02 1.29881673e+02] [-6.59623756e-02 2.95263398e-03 9.97817742e-01 6.10531430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.88, Z:0.61 [[-8.39306265e-01 5.40709802e-01 -5.65500122e-02 2.07379730e+02] [-5.39711093e-01 -8.41204377e-01 -3.29716947e-02 1.29880749e+02] [-6.53982363e-02 2.84731897e-03 9.97855182e-01 6.10174007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.87, Z:0.61 [[-8.40871386e-01 5.38407691e-01 -5.52491701e-02 2.07359466e+02] [-5.37451108e-01 -8.42680397e-01 -3.21878023e-02 1.29866157e+02] [-6.38875529e-02 2.62792577e-03 9.97953644e-01 6.08541940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.87, Z:0.61 [[-8.41485508e-01 5.37433779e-01 -5.53811629e-02 2.07366797e+02] [-5.36472202e-01 -8.43302001e-01 -3.22383623e-02 1.29868825e+02] [-6.40290304e-02 2.58233969e-03 9.97944695e-01 6.09295943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.491400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.35, Y:129.86, Z:0.61 [[-8.41867774e-01 5.36814412e-01 -5.55782084e-02 2.07349070e+02] [-5.35846339e-01 -8.43696449e-01 -3.23265017e-02 1.29856255e+02] [-6.42444691e-02 2.56673946e-03 9.97930889e-01 6.07486503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.85, Z:0.61 [[-8.42210458e-01 5.36266598e-01 -5.56747751e-02 2.07349397e+02] [-5.35295678e-01 -8.44044800e-01 -3.23560410e-02 1.29853909e+02] [-6.43434684e-02 2.55187040e-03 9.97924549e-01 6.08162391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.87, Z:0.61 [[-8.42554622e-01 5.35734537e-01 -5.55896992e-02 2.07376594e+02] [-5.34767147e-01 -8.44382677e-01 -3.22799309e-02 1.29867168e+02] [-6.42324529e-02 2.52993986e-03 9.97931757e-01 6.10214105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.86, Z:0.61 [[-8.42938990e-01 5.35173329e-01 -5.51667298e-02 2.07363214e+02] [-5.34221076e-01 -8.44738603e-01 -3.20083446e-02 1.29856719e+02] [-6.37314785e-02 2.49014814e-03 9.97963976e-01 6.09093717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.85, Z:0.61 [[-8.42865814e-01 5.35424912e-01 -5.38273444e-02 2.07358316e+02] [-5.34520425e-01 -8.44579225e-01 -3.12065270e-02 1.29847327e+02] [-6.21702088e-02 2.46890021e-03 9.98062508e-01 6.08185562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.641400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.36, Y:129.84, Z:0.61 [[-8.42833242e-01 5.35471861e-01 -5.38703163e-02 2.07357584e+02] [-5.34567618e-01 -8.44549380e-01 -3.12058626e-02 1.29842553e+02] [-6.22060036e-02 2.49598832e-03 9.98060210e-01 6.07528981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.84, Z:0.61 [[-8.42737725e-01 5.35522854e-01 -5.48488809e-02 2.07365222e+02] [-5.34587227e-01 -8.44516832e-01 -3.17461431e-02 1.29842372e+02] [-6.33215883e-02 2.56783878e-03 9.97989871e-01 6.08468237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.85, Z:0.61 [[-8.42683031e-01 5.35495418e-01 -5.59461104e-02 2.07376988e+02] [-5.34523641e-01 -8.44534006e-01 -3.23541374e-02 1.29845015e+02] [-6.45738851e-02 2.64023607e-03 9.97909436e-01 6.10008340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.84, Z:0.61 [[-8.42590357e-01 5.35625806e-01 -5.60935379e-02 2.07386544e+02] [-5.34650901e-01 -8.44451192e-01 -3.24129490e-02 1.29841975e+02] [-6.47294669e-02 2.67962222e-03 9.97899251e-01 6.10943419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.84, Z:0.61 [[-8.42702213e-01 5.35521475e-01 -5.54051476e-02 2.07392485e+02] [-5.34571780e-01 -8.44517420e-01 -3.19896734e-02 1.29839583e+02] [-6.39217694e-02 2.66025981e-03 9.97951367e-01 6.10603629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.82, Z:0.61 [[-8.42921459e-01 5.35232891e-01 -5.48558748e-02 2.07379190e+02] [-5.34302934e-01 -8.44700431e-01 -3.16473774e-02 1.29824705e+02] [-6.32754984e-02 2.63340132e-03 9.97992624e-01 6.08737758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.78, Z:0.60 [[-8.43445554e-01 5.34621789e-01 -5.27175462e-02 2.07310823e+02] [-5.33566237e-01 -8.45091418e-01 -3.35792376e-02 1.29780486e+02] [-6.25033379e-02 -1.93955868e-04 9.98044736e-01 6.02449826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.82, Z:0.61 [[-8.43151163e-01 5.34613839e-01 -5.73075868e-02 2.07394169e+02] [-5.33816534e-01 -8.45078291e-01 -2.97084272e-02 1.29816180e+02] [-6.43119338e-02 5.54304240e-03 9.97914450e-01 6.08957445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.82, Z:0.61 [[-8.43514731e-01 5.33995560e-01 -5.77203623e-02 2.07417243e+02] [-5.32966480e-01 -8.45482911e-01 -3.32472350e-02 1.29817859e+02] [-6.65554558e-02 2.71848580e-03 9.97779024e-01 6.11246801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.82, Z:0.61 [[-8.43717193e-01 5.33699032e-01 -5.75033981e-02 2.07429213e+02] [-5.32678748e-01 -8.45670157e-01 -3.30958882e-02 1.29816266e+02] [-6.62921512e-02 2.70726820e-03 9.97796583e-01 6.11766129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.941400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.41, Y:129.79, Z:0.61 [[-8.43790494e-01 5.33629961e-01 -5.70672111e-02 2.07406639e+02] [-5.32626651e-01 -8.45713757e-01 -3.28190850e-02 1.29794774e+02] [-6.57757726e-02 2.70308559e-03 9.97830768e-01 6.09007836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.79, Z:0.61 [[-8.43770666e-01 5.33693482e-01 -5.67655710e-02 2.07421454e+02] [-5.32702595e-01 -8.45673633e-01 -3.26198166e-02 1.29794810e+02] [-6.54141301e-02 2.71552264e-03 9.97854507e-01 6.09860135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.79, Z:0.61 [[-8.43344680e-01 5.34364328e-01 -5.67848126e-02 2.07432020e+02] [-5.33375992e-01 -8.45249654e-01 -3.26048115e-02 1.29793313e+02] [-6.54201914e-02 2.79056144e-03 9.97853903e-01 6.10506234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.80, Z:0.61 [[-8.42486184e-01 5.35613554e-01 -5.77507662e-02 2.07458359e+02] [-5.34595978e-01 -8.44458029e-01 -3.31327345e-02 1.29800742e+02] [-6.65144399e-02 2.95945626e-03 9.97781074e-01 6.12488507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.80, Z:0.61 [[-8.40428846e-01 5.38633747e-01 -5.96074023e-02 2.07482233e+02] [-5.37559070e-01 -8.42533461e-01 -3.41703584e-02 1.29797627e+02] [-6.86265391e-02 3.32474482e-03 9.97636880e-01 6.14662468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.79, Z:0.62 [[-8.39738396e-01 5.39767105e-01 -5.90838321e-02 2.07489802e+02] [-5.38715794e-01 -8.41807491e-01 -3.38443782e-02 1.29793618e+02] [-6.80052945e-02 3.40896969e-03 9.97679136e-01 6.15222629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.78, Z:0.61 [[-8.39339099e-01 5.40534919e-01 -5.77224259e-02 2.07477988e+02] [-5.39534987e-01 -8.41314663e-01 -3.30398991e-02 1.29779195e+02] [-6.64219425e-02 3.41158923e-03 9.97785792e-01 6.13779446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.78, Z:0.61 [[-8.39206057e-01 5.40883045e-01 -5.63801903e-02 2.07484672e+02] [-5.39931463e-01 -8.41091026e-01 -3.22475148e-02 1.29775708e+02] [-6.48630061e-02 3.37912882e-03 9.97888457e-01 6.13587998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.77, Z:0.61 [[-8.39393452e-01 5.40694880e-01 -5.53866283e-02 2.07487336e+02] [-5.39777684e-01 -8.41212214e-01 -3.16553706e-02 1.29769082e+02] [-6.37078050e-02 3.32515514e-03 9.97963055e-01 6.13755080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:129.77, Z:0.62 [[-8.39762184e-01 5.40137992e-01 -5.52306403e-02 2.07508525e+02] [-5.39226294e-01 -8.41570020e-01 -3.15421068e-02 1.29772733e+02] [-6.35175413e-02 3.29394501e-03 9.97975286e-01 6.15591897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:129.76, Z:0.62 [[-8.40031322e-01 5.39609740e-01 -5.62912749e-02 2.07515021e+02] [-5.38663139e-01 -8.41908656e-01 -3.21222404e-02 1.29760840e+02] [-6.47255853e-02 3.33834679e-03 9.97897517e-01 6.15628204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:129.76, Z:0.62 [[-8.40126611e-01 5.39383977e-01 -5.70280887e-02 2.07520468e+02] [-5.38412304e-01 -8.42053187e-01 -3.25364648e-02 1.29757495e+02] [-6.55703316e-02 3.36987475e-03 9.97842260e-01 6.15560917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:129.76, Z:0.62 [[-8.39983027e-01 5.39593004e-01 -5.71655855e-02 2.07530270e+02] [-5.38617524e-01 -8.41919137e-01 -3.26087430e-02 1.29757121e+02] [-6.57242500e-02 3.39959548e-03 9.97832033e-01 6.16264905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:129.75, Z:0.62 [[-8.39391638e-01 5.40536558e-01 -5.69377515e-02 2.07533854e+02] [-5.39571446e-01 -8.41313391e-01 -3.24720242e-02 1.29753396e+02] [-6.54548089e-02 3.46523935e-03 9.97849518e-01 6.16164934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:129.75, Z:0.62 [[-8.38823814e-01 5.41465503e-01 -5.64775924e-02 2.07542960e+02] [-5.40516615e-01 -8.40715722e-01 -3.22314084e-02 1.29753123e+02] [-6.49337957e-02 3.49060415e-03 9.97883469e-01 6.16327485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:129.75, Z:0.62 [[-8.37311877e-01 5.43874390e-01 -5.57626037e-02 2.07548969e+02] [-5.42955165e-01 -8.39158759e-01 -3.18161290e-02 1.29747557e+02] [-6.40976551e-02 3.63657103e-03 9.97937005e-01 6.16431275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.70, Z:0.61 [[-8.36654996e-01 5.44791483e-01 -5.66626693e-02 2.07473561e+02] [-5.43876413e-01 -8.38561130e-01 -3.18383146e-02 1.29700060e+02] [-6.48603547e-02 4.17980436e-03 9.97885597e-01 6.10788728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.451400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.54, Y:129.74, Z:0.62 [[-8.36266075e-01 5.45370366e-01 -5.68349858e-02 2.07543022e+02] [-5.44383016e-01 -8.38188428e-01 -3.29740908e-02 1.29736877e+02] [-6.56215194e-02 3.36488754e-03 9.97838912e-01 6.16593604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:129.74, Z:0.62 [[-8.35645943e-01 5.46217253e-01 -5.78149645e-02 2.07563574e+02] [-5.45232922e-01 -8.37634301e-01 -3.30127032e-02 1.29744011e+02] [-6.64599055e-02 3.93569049e-03 9.97781334e-01 6.18800865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.511400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.58, Y:129.75, Z:0.62 [[-8.35022057e-01 5.47176802e-01 -5.77556222e-02 2.07583188e+02] [-5.46195347e-01 -8.37007543e-01 -3.30002324e-02 1.29751371e+02] [-6.63988531e-02 3.98993018e-03 9.97785184e-01 6.20258338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:129.75, Z:0.62 [[-8.34309477e-01 5.48313487e-01 -5.72714311e-02 2.07584294e+02] [-5.47349517e-01 -8.36263183e-01 -3.27474514e-02 1.29748074e+02] [-6.58498585e-02 4.02598108e-03 9.97821421e-01 6.20025740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:129.74, Z:0.62 [[-8.32979947e-01 5.50318977e-01 -5.73884243e-02 2.07590069e+02] [-5.49354190e-01 -8.34944077e-01 -3.28384241e-02 1.29743349e+02] [-6.59877329e-02 4.17282255e-03 9.97811709e-01 6.19698293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:129.75, Z:0.62 [[-8.32400293e-01 5.51090611e-01 -5.83857111e-02 2.07606810e+02] [-5.50092182e-01 -8.34434395e-01 -3.34339903e-02 1.29749224e+02] [-6.71442036e-02 4.28705989e-03 9.97734071e-01 6.20960567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.75, Z:0.62 [[-8.31732046e-01 5.52000779e-01 -5.93038284e-02 2.07615678e+02] [-5.50971252e-01 -8.33831941e-01 -3.39848840e-02 1.29750487e+02] [-6.82091088e-02 4.40838752e-03 9.97661307e-01 6.21820500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.661400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.61, Y:129.74, Z:0.62 [[-8.30754706e-01 5.53503254e-01 -5.89980165e-02 2.07606258e+02] [-5.52540617e-01 -8.32831060e-01 -3.30347293e-02 1.29739834e+02] [-6.74202108e-02 5.15504359e-03 9.97711351e-01 6.21526223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.75, Z:0.62 [[-8.30580136e-01 5.53785667e-01 -5.88053822e-02 2.07623783e+02] [-5.52713260e-01 -8.32650925e-01 -3.46480702e-02 1.29747274e+02] [-6.81519605e-02 3.72451564e-03 9.97668000e-01 6.22266886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.721400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.63, Y:129.75, Z:0.62 [[-8.30148244e-01 5.54501095e-01 -5.81586486e-02 2.07634235e+02] [-5.53513433e-01 -8.32170940e-01 -3.33827150e-02 1.29748660e+02] [-6.69086894e-02 4.47899100e-03 9.97749050e-01 6.22903307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.72, Z:0.62 [[-8.29694646e-01 5.55177719e-01 -5.81764062e-02 2.07598544e+02] [-5.54337685e-01 -8.31707329e-01 -3.11873469e-02 1.29721629e+02] [-6.57002635e-02 6.37339958e-03 9.97819049e-01 6.19456941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.73, Z:0.62 [[-8.29400422e-01 5.55946998e-01 -5.49352030e-02 2.07629895e+02] [-5.54920562e-01 -8.31214258e-01 -3.38530277e-02 1.29734360e+02] [-6.44834131e-02 2.40695832e-03 9.97915876e-01 6.20585552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.73, Z:0.62 [[-8.29237037e-01 5.56092890e-01 -5.59163100e-02 2.07632856e+02] [-5.55180264e-01 -8.31108572e-01 -3.21467973e-02 1.29734291e+02] [-6.43491300e-02 4.38631684e-03 9.97917807e-01 6.20990120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:129.75, Z:0.62 [[-8.28485008e-01 5.57149204e-01 -5.65451700e-02 2.07666525e+02] [-5.56216804e-01 -8.30400220e-01 -3.25321821e-02 1.29748839e+02] [-6.50804009e-02 4.49894858e-03 9.97869882e-01 6.22761748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.871400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.67, Y:129.74, Z:0.62 [[-8.27601130e-01 5.58397184e-01 -5.71747755e-02 2.07666723e+02] [-5.57445267e-01 -8.29560824e-01 -3.29182834e-02 1.29744865e+02] [-6.58114306e-02 4.62859948e-03 9.97821343e-01 6.22941840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.75, Z:0.62 [[-8.26796513e-01 5.59504617e-01 -5.79836916e-02 2.07686861e+02] [-5.58526642e-01 -8.28813543e-01 -3.34080835e-02 1.29751828e+02] [-6.67496459e-02 4.76374965e-03 9.97758383e-01 6.24526332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.75, Z:0.63 [[-8.26151903e-01 5.60444464e-01 -5.80950574e-02 2.07693003e+02] [-5.59463438e-01 -8.28177928e-01 -3.34959811e-02 1.29751155e+02] [-6.68856814e-02 4.82929197e-03 9.97748958e-01 6.25274834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.961400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.70, Y:129.75, Z:0.63 [[-8.25575063e-01 5.61366621e-01 -5.73875593e-02 2.07703995e+02] [-5.60410048e-01 -8.27553163e-01 -3.31110361e-02 1.29753460e+02] [-6.60786866e-02 4.82491917e-03 9.97802750e-01 6.26200722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.74, Z:0.62 [[-8.24518011e-01 5.63127854e-01 -5.52907809e-02 2.07702001e+02] [-5.62242503e-01 -8.26356041e-01 -3.19227449e-02 1.29743223e+02] [-6.36664576e-02 4.76594894e-03 9.97959853e-01 6.24384124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.75, Z:0.63 [[-8.23937645e-01 5.64035738e-01 -5.46849534e-02 2.07724378e+02] [-5.63170297e-01 -8.25736631e-01 -3.15948369e-02 1.29752252e+02] [-6.29759863e-02 4.76476596e-03 9.98003668e-01 6.25423794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.75, Z:0.63 [[-8.23736061e-01 5.64321707e-01 -5.47714625e-02 2.07731576e+02] [-5.63452750e-01 -8.25541157e-01 -3.16669587e-02 1.29752738e+02] [-6.30864487e-02 4.77591534e-03 9.97996639e-01 6.26006769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.74, Z:0.63 [[-8.24439808e-01 5.63269317e-01 -5.50152667e-02 2.07728907e+02] [-5.62388871e-01 -8.26260011e-01 -3.18300605e-02 1.29743767e+02] [-6.33858112e-02 4.69800474e-03 9.97978040e-01 6.25904202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.74, Z:0.63 [[-8.25018817e-01 5.62454849e-01 -5.46671306e-02 2.07728436e+02] [-5.61582368e-01 -8.26815272e-01 -3.16504268e-02 1.29739391e+02] [-6.30015545e-02 4.58789901e-03 9.98002883e-01 6.25425669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.74, Z:0.63 [[-8.25644756e-01 5.61588935e-01 -5.41165832e-02 2.07732551e+02] [-5.60730756e-01 -8.27404371e-01 -3.13532607e-02 1.29737124e+02] [-6.23839418e-02 4.45817730e-03 9.98042268e-01 6.25603800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.73, Z:0.63 [[-8.26393056e-01 5.60479190e-01 -5.41995838e-02 2.07736577e+02] [-5.59614630e-01 -8.28157016e-01 -3.14232772e-02 1.29734707e+02] [-6.24978585e-02 4.36290199e-03 9.98035562e-01 6.25358948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.201400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.74, Y:129.73, Z:0.63 [[-8.27124279e-01 5.59350695e-01 -5.47012536e-02 2.07739223e+02] [-5.58466183e-01 -8.28919972e-01 -3.17364566e-02 1.29732032e+02] [-6.30947707e-02 4.29880652e-03 9.97998282e-01 6.26204864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.72, Z:0.63 [[-8.27648764e-01 5.58347982e-01 -5.69653810e-02 2.07739194e+02] [-5.57384734e-01 -8.29595302e-01 -3.30740632e-02 1.29722452e+02] [-6.57250489e-02 4.37792620e-03 9.97828167e-01 6.25949703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.72, Z:0.63 [[-8.27186542e-01 5.58972616e-01 -5.75503201e-02 2.07746174e+02] [-5.57989399e-01 -8.29174156e-01 -3.34372650e-02 1.29721528e+02] [-6.64097535e-02 4.45361291e-03 9.97782496e-01 6.26947697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.73, Z:0.63 [[-8.26497995e-01 5.59978972e-01 -5.76594779e-02 2.07770237e+02] [-5.58992883e-01 -8.28494471e-01 -3.35241640e-02 1.29730515e+02] [-6.65433855e-02 4.52358348e-03 9.97773278e-01 6.28457061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.72, Z:0.63 [[-8.25641572e-01 5.61330758e-01 -5.67782925e-02 2.07763200e+02] [-5.60376288e-01 -8.27579087e-01 -3.30343813e-02 1.29722221e+02] [-6.55317418e-02 4.54265035e-03 9.97840145e-01 6.27266884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.74, Z:0.63 [[-8.24694847e-01 5.62839156e-01 -5.55922147e-02 2.07790778e+02] [-5.61926166e-01 -8.26553939e-01 -3.23661957e-02 1.29735299e+02] [-6.41669263e-02 4.54648528e-03 9.97928823e-01 6.28817315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.72, Z:0.63 [[-8.23705754e-01 5.64356089e-01 -5.48728973e-02 2.07774515e+02] [-5.63468547e-01 -8.25518730e-01 -3.19691026e-02 1.29723196e+02] [-6.33405622e-02 4.58601795e-03 9.97981434e-01 6.27209071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.411400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.79, Y:129.73, Z:0.63 [[-8.21935945e-01 5.66844188e-01 -5.57581238e-02 2.07791260e+02] [-5.65931959e-01 -8.23810826e-01 -3.25075394e-02 1.29726577e+02] [-6.43608558e-02 4.83618917e-03 9.97914972e-01 6.29511706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.73, Z:0.63 [[-8.21415212e-01 5.67492438e-01 -5.68276598e-02 2.07801233e+02] [-5.66544858e-01 -8.23363657e-01 -3.31543636e-02 1.29728576e+02] [-6.56046804e-02 4.96191990e-03 9.97833355e-01 6.30154110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.73, Z:0.63 [[-8.21138876e-01 5.67840097e-01 -5.73460549e-02 2.07813475e+02] [-5.66874444e-01 -8.23123600e-01 -3.34799189e-02 1.29731910e+02] [-6.62141315e-02 5.01634994e-03 9.97792827e-01 6.31431072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.72, Z:0.63 [[-8.21228884e-01 5.67679526e-01 -5.76461245e-02 2.07807330e+02] [-5.66701804e-01 -8.23234382e-01 -3.36781463e-02 1.29724554e+02] [-6.65746658e-02 5.01069625e-03 9.97768864e-01 6.30578544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.73, Z:0.63 [[-8.21980718e-01 5.66643949e-01 -5.71168484e-02 2.07823978e+02] [-5.65680142e-01 -8.23948414e-01 -3.33914481e-02 1.29725386e+02] [-6.59823987e-02 4.86274043e-03 9.97808938e-01 6.31346086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.72, Z:0.63 [[-8.22245946e-01 5.66320783e-01 -5.65011020e-02 2.07817174e+02] [-5.65375447e-01 -8.24171133e-01 -3.30537151e-02 1.29716902e+02] [-6.52855830e-02 4.76605254e-03 9.97855239e-01 6.30344367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.72, Z:0.63 [[-8.22506747e-01 5.66005599e-01 -5.58597659e-02 2.07822158e+02] [-5.65079475e-01 -8.24388176e-01 -3.27005057e-02 1.29715879e+02] [-6.45587998e-02 4.66882058e-03 9.97902983e-01 6.30122109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.71, Z:0.63 [[-8.22758151e-01 5.65710115e-01 -5.51460848e-02 2.07819372e+02] [-5.64805474e-01 -8.24591535e-01 -3.23044598e-02 1.29711377e+02] [-6.37479544e-02 4.56805291e-03 9.97955576e-01 6.29041849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.72, Z:0.63 [[-8.23033149e-01 5.65373474e-01 -5.44910196e-02 2.07832021e+02] [-5.64488119e-01 -8.24822923e-01 -3.19422753e-02 1.29716152e+02] [-6.30047572e-02 4.46998175e-03 9.98003216e-01 6.29342789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.681400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.83, Y:129.71, Z:0.63 [[-8.23246765e-01 5.65106705e-01 -5.40293939e-02 2.07833060e+02] [-5.64234386e-01 -8.25006124e-01 -3.16931092e-02 1.29713983e+02] [-6.24845694e-02 4.39399225e-03 9.98036258e-01 6.29086252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.71, Z:0.63 [[-8.24845773e-01 5.62737992e-01 -5.43636226e-02 2.07836506e+02] [-5.61848345e-01 -8.26624536e-01 -3.19110281e-02 1.29708322e+02] [-6.28958522e-02 4.22243470e-03 9.98011164e-01 6.29498908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.70, Z:0.63 [[-8.26080207e-01 5.60923062e-01 -5.43765560e-02 2.07828160e+02] [-5.60027708e-01 -8.27857945e-01 -3.19403848e-02 1.29699429e+02] [-6.29321624e-02 4.06705839e-03 9.98009520e-01 6.29100708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.70, Z:0.63 [[-8.27424695e-01 5.58935606e-01 -5.44000143e-02 2.07832724e+02] [-5.58033823e-01 -8.29201896e-01 -3.19760564e-02 1.29698192e+02] [-6.29811515e-02 3.89926931e-03 9.98007099e-01 6.29772614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.70, Z:0.63 [[-8.28776267e-01 5.56919926e-01 -5.44985732e-02 2.07836562e+02] [-5.56009136e-01 -8.30557794e-01 -3.20560487e-02 1.29696390e+02] [-6.31168670e-02 3.73441219e-03 9.97999156e-01 6.30032154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.831400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.84, Y:129.69, Z:0.63 [[-8.30032986e-01 5.55051247e-01 -5.44367190e-02 2.07836714e+02] [-5.54137134e-01 -8.31808494e-01 -3.20416384e-02 1.29692516e+02] [-6.30656765e-02 3.56979070e-03 9.98002995e-01 6.30166893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.69, Z:0.63 [[-8.32592183e-01 5.51040521e-01 -5.60767513e-02 2.07841278e+02] [-5.50059849e-01 -8.34471784e-01 -3.30303690e-02 1.29685275e+02] [-6.49955384e-02 3.34474228e-03 9.97879949e-01 6.30332184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.68, Z:0.63 [[-8.33889855e-01 5.48982154e-01 -5.69763444e-02 2.07835592e+02] [-5.47963393e-01 -8.35827885e-01 -3.35837386e-02 1.29676776e+02] [-6.60592906e-02 3.21581204e-03 9.97810517e-01 6.30004942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.67, Z:0.63 [[-8.35125858e-01 5.46998025e-01 -5.79479226e-02 2.07836705e+02] [-5.45937809e-01 -8.37128190e-01 -3.41804346e-02 1.29671881e+02] [-6.72064698e-02 3.09099713e-03 9.97734301e-01 6.30554210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.67, Z:0.63 [[-8.36165447e-01 5.45309173e-01 -5.88663814e-02 2.07847743e+02] [-5.44209201e-01 -8.38229691e-01 -3.47466672e-02 1.29672654e+02] [-6.82912250e-02 2.98166381e-03 9.97660974e-01 6.31849929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.67, Z:0.63 [[-8.36994948e-01 5.43961790e-01 -5.95401359e-02 2.07846461e+02] [-5.42831362e-01 -8.39105031e-01 -3.51690000e-02 1.29666247e+02] [-6.90910198e-02 2.88397781e-03 9.97606192e-01 6.31671766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.66, Z:0.63 [[-8.37413587e-01 5.43272702e-01 -5.99437658e-02 2.07846513e+02] [-5.42123397e-01 -8.39551539e-01 -3.54321156e-02 1.29661217e+02] [-6.95751820e-02 2.82558296e-03 9.97572709e-01 6.31296114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.66, Z:0.63 [[-8.37890923e-01 5.42580785e-01 -5.95390031e-02 2.07861354e+02] [-5.41443539e-01 -8.39999193e-01 -3.52171763e-02 1.29660737e+02] [-6.91208777e-02 2.72885623e-03 9.97604560e-01 6.31891099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.65, Z:0.63 [[-8.37928721e-01 5.42550398e-01 -5.92834210e-02 2.07850840e+02] [-5.41421156e-01 -8.40018932e-01 -3.50902408e-02 1.29649645e+02] [-6.88374201e-02 2.69417774e-03 9.97624253e-01 6.31035635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.65, Z:0.63 [[-8.38159010e-01 5.42214134e-01 -5.91042117e-02 2.07865327e+02] [-5.41089213e-01 -8.40236201e-01 -3.50084193e-02 1.29653840e+02] [-6.86435580e-02 2.63802935e-03 9.97637761e-01 6.31934796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.65, Z:0.63 [[-8.38403204e-01 5.41837483e-01 -5.90949210e-02 2.07872953e+02] [-5.40710308e-01 -8.40479300e-01 -3.50272752e-02 1.29654125e+02] [-6.86471485e-02 2.58625323e-03 9.97637650e-01 6.32586089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.64, Z:0.63 [[-8.38632316e-01 5.41490617e-01 -5.90233016e-02 2.07860630e+02] [-5.40363654e-01 -8.40702973e-01 -3.50090299e-02 1.29643058e+02] [-6.85781263e-02 2.53434308e-03 9.97642530e-01 6.30941691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:129.65, Z:0.63 [[-8.38896547e-01 5.41093427e-01 -5.89108333e-02 2.07877134e+02] [-5.39968118e-01 -8.40958840e-01 -3.49665760e-02 1.29649534e+02] [-6.84617705e-02 2.47663191e-03 9.97650666e-01 6.31845950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:129.64, Z:0.63 [[-8.39850396e-01 5.39653819e-01 -5.85240847e-02 2.07876373e+02] [-5.38538125e-01 -8.41883815e-01 -3.47610418e-02 1.29641829e+02] [-6.80294087e-02 2.32337612e-03 9.97680611e-01 6.31418731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:129.64, Z:0.63 [[-8.40469841e-01 5.38713166e-01 -5.82972678e-02 2.07875105e+02] [-5.37602228e-01 -8.42486323e-01 -3.46502661e-02 1.29637685e+02] [-6.77812053e-02 2.21823747e-03 9.97697744e-01 6.31115374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.63, Z:0.63 [[-8.41255570e-01 5.37488859e-01 -5.82648466e-02 2.07863407e+02] [-5.36374587e-01 -8.43268240e-01 -3.46551140e-02 1.29627841e+02] [-6.77596323e-02 2.09797532e-03 9.97699469e-01 6.29602714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.63, Z:0.63 [[-8.42190395e-01 5.36028908e-01 -5.82095149e-02 2.07872505e+02] [-5.34911625e-01 -8.44197356e-01 -3.46464613e-02 1.29631082e+02] [-6.77118234e-02 1.95802931e-03 9.97702999e-01 6.30184495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.63, Z:0.63 [[-8.43206514e-01 5.34396966e-01 -5.85034839e-02 2.07872017e+02] [-5.33262755e-01 -8.45231677e-01 -3.48460442e-02 1.29628153e+02] [-6.80706181e-02 1.81531751e-03 9.97678854e-01 6.29578689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.63, Z:0.63 [[-8.44530331e-01 5.32308084e-01 -5.84518909e-02 2.07874229e+02] [-5.31169207e-01 -8.46549151e-01 -3.48397546e-02 1.29627428e+02] [-6.80278816e-02 1.62461504e-03 9.97682098e-01 6.30084020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.61, Z:0.63 [[-8.47375894e-01 5.27863797e-01 -5.75665360e-02 2.07856295e+02] [-5.26747328e-01 -8.49328149e-01 -3.43358146e-02 1.29613770e+02] [-6.70175130e-02 1.22767740e-03 9.97751044e-01 6.28633789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.61, Z:0.63 [[-8.48711990e-01 5.25775563e-01 -5.69913627e-02 2.07849122e+02] [-5.24675021e-01 -8.50622709e-01 -3.40165928e-02 1.29608421e+02] [-6.63632406e-02 1.03165428e-03 9.97794997e-01 6.27782272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.60, Z:0.63 [[-8.49945819e-01 5.23778521e-01 -5.69926865e-02 2.07837840e+02] [-5.22671818e-01 -8.51854054e-01 -3.40417468e-02 1.29599882e+02] [-6.63797868e-02 8.54830692e-04 9.97794064e-01 6.27013302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.61, Z:0.63 [[-8.51232152e-01 5.21653416e-01 -5.72846907e-02 2.07853235e+02] [-5.20528858e-01 -8.53157232e-01 -3.42409973e-02 1.29606750e+02] [-6.67347814e-02 6.71296821e-04 9.97770524e-01 6.28212555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.59, Z:0.63 [[-8.52708396e-01 5.19207394e-01 -5.75506099e-02 2.07836010e+02] [-5.18065107e-01 -8.54648156e-01 -3.44249154e-02 1.29594253e+02] [-6.70591932e-02 4.60548517e-04 9.97748893e-01 6.27217158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.58, Z:0.63 [[-8.55992447e-01 5.13720790e-01 -5.80334467e-02 2.07815305e+02] [-5.12544872e-01 -8.57957429e-01 -3.47390932e-02 1.29577407e+02] [-6.76364212e-02 8.34409184e-06 9.97710035e-01 6.26030709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.57, Z:0.63 [[-8.57634139e-01 5.10981343e-01 -5.79806094e-02 2.07813351e+02] [-5.09799574e-01 -8.59591772e-01 -3.47329911e-02 1.29574234e+02] [-6.75875652e-02 -2.29708910e-04 9.97713320e-01 6.26362269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.57, Z:0.63 [[-8.59286398e-01 5.08170677e-01 -5.82189800e-02 2.07815207e+02] [-5.06970931e-01 -8.61256255e-01 -3.49018355e-02 1.29573304e+02] [-6.78775501e-02 -4.75341999e-04 9.97693546e-01 6.26540857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.57, Z:0.63 [[-8.60701924e-01 5.05725266e-01 -5.86016555e-02 2.07813090e+02] [-5.04502202e-01 -8.62694309e-01 -3.51575971e-02 1.29569867e+02] [-6.83353999e-02 -6.95547204e-04 9.97662162e-01 6.26550033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.57, Z:0.63 [[-8.61812245e-01 5.03753623e-01 -5.92616434e-02 2.07812198e+02] [-5.02496299e-01 -8.63846922e-01 -3.55803981e-02 1.29567603e+02] [-6.91167427e-02 -8.84866304e-04 9.97608186e-01 6.26369047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.57, Z:0.63 [[-8.61645916e-01 5.04039449e-01 -5.92498811e-02 2.07814404e+02] [-5.02781455e-01 -8.63680179e-01 -3.55999746e-02 1.29569037e+02] [-6.91167395e-02 -8.84831351e-04 9.97608186e-01 6.26538091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.56, Z:0.63 [[-8.62623474e-01 5.02247581e-01 -6.02337937e-02 2.07808313e+02] [-5.00941095e-01 -8.64723206e-01 -3.62187266e-02 1.29563266e+02] [-7.02763270e-02 -1.06954119e-03 9.97526989e-01 6.26320416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.57, Z:0.63 [[-8.62379415e-01 5.02621119e-01 -6.06115067e-02 2.07815956e+02] [-5.01297140e-01 -8.64506140e-01 -3.64734253e-02 1.29568276e+02] [-7.07313335e-02 -1.06955629e-03 9.97494829e-01 6.26565709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.56, Z:0.63 [[-8.61941377e-01 5.03350360e-01 -6.07904465e-02 2.07798090e+02] [-5.02018386e-01 -8.64081791e-01 -3.66087296e-02 1.29559071e+02] [-7.09549351e-02 -1.03665697e-03 9.97478984e-01 6.25662782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.58, Z:0.63 [[-8.61501474e-01 5.04083481e-01 -6.09512406e-02 2.07822148e+02] [-5.02744288e-01 -8.63654351e-01 -3.67333945e-02 1.29576218e+02] [-7.11575015e-02 -1.00298546e-03 9.97464588e-01 6.27388028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.58, Z:0.63 [[-8.61058559e-01 5.04857464e-01 -6.08037672e-02 2.07818132e+02] [-5.03524714e-01 -8.63202188e-01 -3.66721171e-02 1.29576825e+02] [-7.10001369e-02 -9.60640833e-04 9.97475843e-01 6.26721169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.59, Z:0.63 [[-8.60475339e-01 5.05853005e-01 -6.07859256e-02 2.07838508e+02] [-5.04521562e-01 -8.62619223e-01 -3.66888349e-02 1.29591500e+02] [-7.09942653e-02 -9.02027541e-04 9.97476316e-01 6.27661025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.58, Z:0.63 [[-8.59805945e-01 5.06965195e-01 -6.09920343e-02 2.07818561e+02] [-5.05625520e-01 -8.61966119e-01 -3.68407852e-02 1.29582292e+02] [-7.12500629e-02 -8.36797146e-04 9.97458134e-01 6.25536298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.59, Z:0.63 [[-8.59871779e-01 5.06872057e-01 -6.08378404e-02 2.07825286e+02] [-5.05536972e-01 -8.62020863e-01 -3.67750082e-02 1.29587850e+02] [-7.10837117e-02 -8.66014097e-04 9.97469978e-01 6.26402094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.59, Z:0.63 [[-8.60261201e-01 5.06270410e-01 -6.03401872e-02 2.07822660e+02] [-5.04953709e-01 -8.62374283e-01 -3.65013351e-02 1.29588573e+02] [-7.05153715e-02 -9.31681061e-04 9.97510258e-01 6.26053504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.59, Z:0.63 [[-8.60962733e-01 5.05172615e-01 -5.95298406e-02 2.07819595e+02] [-5.03886606e-01 -8.63017709e-01 -3.60377836e-02 1.29589503e+02] [-6.95806080e-02 -1.03089930e-03 9.97575800e-01 6.25774652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.59, Z:0.63 [[-8.61697059e-01 5.03997838e-01 -5.88587963e-02 2.07813863e+02] [-5.02736129e-01 -8.63704168e-01 -3.56580344e-02 1.29588528e+02] [-6.88081599e-02 -1.13597994e-03 9.97629263e-01 6.25182468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.58, Z:0.62 [[-8.62240551e-01 5.03097849e-01 -5.85985108e-02 2.07803690e+02] [-5.01843381e-01 -8.64228588e-01 -3.55270141e-02 1.29584735e+02] [-6.85160726e-02 -1.22555748e-03 9.97649260e-01 6.24221568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.59, Z:0.62 [[-8.62886480e-01 5.01988142e-01 -5.86073960e-02 2.07806746e+02] [-5.00728883e-01 -8.64873469e-01 -3.55593808e-02 1.29592286e+02] [-6.85383693e-02 -1.33729303e-03 9.97647585e-01 6.24025782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.60, Z:0.62 [[-8.62683657e-01 5.02337365e-01 -5.86010258e-02 2.07807679e+02] [-5.01077324e-01 -8.64670686e-01 -3.55825810e-02 1.29595936e+02] [-6.85450492e-02 -1.33286588e-03 9.97647132e-01 6.23964451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.60, Z:0.62 [[-8.62297077e-01 5.03033541e-01 -5.83181595e-02 2.07800050e+02] [-5.01785407e-01 -8.64265920e-01 -3.54376115e-02 1.29597643e+02] [-6.82287050e-02 -1.29454739e-03 9.97668867e-01 6.23457362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.60, Z:0.62 [[-8.62102059e-01 5.03434280e-01 -5.77404980e-02 2.07801899e+02] [-5.02209885e-01 -8.64032583e-01 -3.51130552e-02 1.29602638e+02] [-6.75667873e-02 -1.27318833e-03 9.97713941e-01 6.23429137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.61, Z:0.62 [[-8.62171280e-01 5.03390593e-01 -5.70841022e-02 2.07800670e+02] [-5.02192061e-01 -8.64058019e-01 -3.47400797e-02 1.29606450e+02] [-6.68118056e-02 -1.28471604e-03 9.97764768e-01 6.23272672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.61, Z:0.62 [[-8.62408658e-01 5.03009602e-01 -5.68563713e-02 2.07796515e+02] [-5.01818045e-01 -8.64279797e-01 -3.46277798e-02 1.29608352e+02] [-6.65579188e-02 -1.33174400e-03 9.97781675e-01 6.22750184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:129.60, Z:0.62 [[-8.62827732e-01 5.02291479e-01 -5.68469442e-02 2.07781952e+02] [-5.01096996e-01 -8.64697220e-01 -3.46484993e-02 1.29603673e+02] [-6.65590406e-02 -1.40985312e-03 9.97781492e-01 6.22166261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.61, Z:0.62 [[-8.63408595e-01 5.01294295e-01 -5.68298225e-02 2.07788195e+02] [-5.00096596e-01 -8.65275535e-01 -3.46647211e-02 1.29611076e+02] [-6.65506819e-02 -1.50941736e-03 9.97781904e-01 6.23304074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:129.61, Z:0.62 [[-8.65145119e-01 4.98362898e-01 -5.61991624e-02 2.07777746e+02] [-4.97183754e-01 -8.66966781e-01 -3.43062021e-02 1.29612314e+02] [-6.58197452e-02 -1.73853274e-03 9.97830015e-01 6.22958394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.60, Z:0.62 [[-8.65966739e-01 4.96949971e-01 -5.60565241e-02 2.07752500e+02] [-4.95772119e-01 -8.67777190e-01 -3.42455083e-02 1.29601890e+02] [-6.56628773e-02 -1.86420941e-03 9.97840123e-01 6.20569073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.61, Z:0.62 [[-8.66673834e-01 4.95727933e-01 -5.59489325e-02 2.07755027e+02] [-4.94550306e-01 -8.68475625e-01 -3.42064869e-02 1.29608854e+02] [-6.55473952e-02 -1.97630544e-03 9.97847500e-01 6.20742578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.62, Z:0.62 [[-8.67148151e-01 4.94855989e-01 -5.63172611e-02 2.07767582e+02] [-4.93659141e-01 -8.68972511e-01 -3.44590632e-02 1.29622013e+02] [-6.59904256e-02 -2.07958226e-03 9.97818089e-01 6.21973532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.62, Z:0.62 [[-8.67322202e-01 4.94487341e-01 -5.68723807e-02 2.07750391e+02] [-4.93264120e-01 -8.69182165e-01 -3.48263108e-02 1.29616730e+02] [-6.66536288e-02 -2.15252772e-03 9.97773852e-01 6.20925841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.62, Z:0.62 [[-8.67365048e-01 4.94349653e-01 -5.74133603e-02 2.07750266e+02] [-4.93100839e-01 -8.69260343e-01 -3.51854783e-02 1.29621841e+02] [-6.73010863e-02 -2.20807794e-03 9.97730268e-01 6.21202124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.62, Z:0.62 [[-8.68014218e-01 4.93113481e-01 -5.82272434e-02 2.07733374e+02] [-4.91824229e-01 -8.69961791e-01 -3.57128817e-02 1.29622088e+02] [-6.82659803e-02 -2.36172003e-03 9.97664362e-01 6.21005846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.62, Z:0.62 [[-8.68698192e-01 4.91885937e-01 -5.84095521e-02 2.07719355e+02] [-4.90583858e-01 -8.70656086e-01 -3.58532809e-02 1.29618841e+02] [-6.84903567e-02 -2.49089690e-03 9.97648669e-01 6.19816041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.63, Z:0.62 [[-8.69665595e-01 4.90209526e-01 -5.81065649e-02 2.07721826e+02] [-4.88915255e-01 -8.71600643e-01 -3.56958256e-02 1.29625062e+02] [-6.81441531e-02 -2.63424538e-03 9.97672008e-01 6.20581536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.62, Z:0.62 [[-8.70729621e-01 4.88313479e-01 -5.81366681e-02 2.07700632e+02] [-4.87011677e-01 -8.72663769e-01 -3.57431643e-02 1.29616086e+02] [-6.81876328e-02 -2.80939572e-03 9.97668559e-01 6.18796190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.63, Z:0.62 [[-8.71949876e-01 4.86085601e-01 -5.85166752e-02 2.07712264e+02] [-4.84759670e-01 -8.73905952e-01 -3.60062447e-02 1.29626925e+02] [-6.86401878e-02 -3.02911644e-03 9.97636882e-01 6.19810145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.63, Z:0.62 [[-8.73196974e-01 4.83741486e-01 -5.93398610e-02 2.07708115e+02] [-4.82370428e-01 -8.75204765e-01 -3.65429832e-02 1.29628308e+02] [-6.96118861e-02 -3.28542821e-03 9.97568740e-01 6.20213861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.62, Z:0.62 [[-8.75089603e-01 4.80066264e-01 -6.12745428e-02 2.07685735e+02] [-4.78592940e-01 -8.77224327e-01 -3.77660824e-02 1.29622194e+02] [-7.18817417e-02 -3.72314245e-03 9.97406213e-01 6.19248045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.63, Z:0.62 [[-8.75509739e-01 4.79353200e-01 -6.08539718e-02 2.07688836e+02] [-4.77896153e-01 -8.77613925e-01 -3.75375227e-02 1.29627939e+02] [-7.14000247e-02 -3.78258764e-03 9.97440589e-01 6.19313382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:129.63, Z:0.62 [[-8.75487077e-01 4.79537322e-01 -5.97187936e-02 2.07683879e+02] [-4.78132525e-01 -8.77513586e-01 -3.68672650e-02 1.29628541e+02] [-7.00832822e-02 -3.72331652e-03 9.97534195e-01 6.18756882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:129.63, Z:0.62 [[-8.75338557e-01 4.79956142e-01 -5.85193366e-02 2.07681886e+02] [-4.78606195e-01 -8.77284927e-01 -3.61561436e-02 1.29631121e+02] [-6.86914952e-02 -3.64114959e-03 9.97631305e-01 6.18311791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.64, Z:0.62 [[-8.75228713e-01 4.80239995e-01 -5.78294577e-02 2.07688289e+02] [-4.78920349e-01 -8.77129736e-01 -3.57592668e-02 1.29638998e+02] [-6.78969671e-02 -3.60183300e-03 9.97685837e-01 6.18802952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:129.64, Z:0.62 [[-8.74996949e-01 4.80680597e-01 -5.76758509e-02 2.07679894e+02] [-4.79366909e-01 -8.76888430e-01 -3.56938127e-02 1.29637277e+02] [-6.77326095e-02 -3.58408287e-03 9.97697072e-01 6.18446426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.65, Z:0.62 [[-8.74529982e-01 4.81446682e-01 -5.83643944e-02 2.07691316e+02] [-4.80101009e-01 -8.76468013e-01 -3.61502946e-02 1.29649004e+02] [-6.85589641e-02 -3.59371195e-03 9.97640593e-01 6.19661884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:129.64, Z:0.62 [[-8.74187882e-01 4.82043826e-01 -5.85601890e-02 2.07679909e+02] [-4.80688347e-01 -8.76139769e-01 -3.63017656e-02 1.29643254e+02] [-6.88059524e-02 -3.58536312e-03 9.97623619e-01 6.18597833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.65, Z:0.62 [[-8.73772026e-01 4.82804243e-01 -5.85022081e-02 2.07687182e+02] [-4.81451074e-01 -8.75721115e-01 -3.62958986e-02 1.29648950e+02] [-6.87554328e-02 -3.54838996e-03 9.97627235e-01 6.18903588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.65, Z:0.62 [[-8.72981526e-01 4.84340768e-01 -5.75958038e-02 2.07685467e+02] [-4.83030597e-01 -8.74872826e-01 -3.57628361e-02 1.29651613e+02] [-6.77104031e-02 -3.39975972e-03 9.97699225e-01 6.18647185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.65, Z:0.62 [[-8.72368772e-01 4.85534925e-01 -5.68204398e-02 2.07685529e+02] [-4.84260420e-01 -8.74211089e-01 -3.53103103e-02 1.29654092e+02] [-6.68174474e-02 -3.28772205e-03 9.97759801e-01 6.18644849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.66, Z:0.62 [[-8.71696025e-01 4.86842975e-01 -5.59460214e-02 2.07689465e+02] [-4.85608247e-01 -8.73483779e-01 -3.47953813e-02 1.29659501e+02] [-6.58078291e-02 -3.16314619e-03 9.97827302e-01 6.18786323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.67, Z:0.62 [[-8.70891936e-01 4.88338483e-01 -5.54324886e-02 2.07696726e+02] [-4.87127506e-01 -8.72648980e-01 -3.45043600e-02 1.29666933e+02] [-6.52229114e-02 -3.04687895e-03 9.97866067e-01 6.19111442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.67, Z:0.62 [[-8.70250657e-01 4.89545595e-01 -5.48534783e-02 2.07688390e+02] [-4.88360393e-01 -8.71972711e-01 -3.41718829e-02 1.29665062e+02] [-6.45594309e-02 -2.94983728e-03 9.97909504e-01 6.18942465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.67, Z:0.62 [[-8.69557677e-01 4.90676753e-01 -5.57294418e-02 2.07690205e+02] [-4.89453742e-01 -8.71336729e-01 -3.47467828e-02 1.29673397e+02] [-6.56085481e-02 -2.93734788e-03 9.97841115e-01 6.19223714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.68, Z:0.62 [[-8.69583874e-01 4.90588929e-01 -5.60926779e-02 2.07698915e+02] [-4.89347787e-01 -8.71386005e-01 -3.50024680e-02 1.29682139e+02] [-6.60501978e-02 -2.98875396e-03 9.97811825e-01 6.20263199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.68, Z:0.62 [[-8.69863768e-01 4.90092596e-01 -5.60916434e-02 2.07692813e+02] [-4.88848559e-01 -8.71665036e-01 -3.50307210e-02 1.29680693e+02] [-6.60614213e-02 -3.05163597e-03 9.97810892e-01 6.20573421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.69, Z:0.62 [[-8.70407844e-01 4.89083416e-01 -5.64588123e-02 2.07704008e+02] [-4.87818951e-01 -8.72231240e-01 -3.52893125e-02 1.29690184e+02] [-6.65045573e-02 -3.17441581e-03 9.97781072e-01 6.21053070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.69, Z:0.62 [[-8.71285637e-01 4.87532582e-01 -5.63322333e-02 2.07702293e+02] [-4.86268633e-01 -8.73098517e-01 -3.52391381e-02 1.29691864e+02] [-6.63638173e-02 -3.31075684e-03 9.97789999e-01 6.21207787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.69, Z:0.62 [[-8.73316878e-01 4.83925110e-01 -5.59832022e-02 2.07699756e+02] [-4.82667512e-01 -8.75102060e-01 -3.50493659e-02 1.29694777e+02] [-6.59522838e-02 -3.58792984e-03 9.97816327e-01 6.21167076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.70, Z:0.62 [[-8.73975766e-01 4.82712927e-01 -5.61657450e-02 2.07708197e+02] [-4.81442688e-01 -8.75770755e-01 -3.51926632e-02 1.29701586e+02] [-6.61762703e-02 -3.71694751e-03 9.97801025e-01 6.21490076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.71, Z:0.62 [[-8.74466693e-01 4.81830256e-01 -5.61035497e-02 2.07718510e+02] [-4.80559115e-01 -8.76256314e-01 -3.51825099e-02 1.29708955e+02] [-6.61130874e-02 -3.80486086e-03 9.97804882e-01 6.22394980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.72, Z:0.62 [[-8.74554302e-01 4.81670953e-01 -5.61058487e-02 2.07740313e+02] [-4.80397481e-01 -8.76343728e-01 -3.52126402e-02 1.29723742e+02] [-6.61289146e-02 -3.84225763e-03 9.97803690e-01 6.23505314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.72, Z:0.62 [[-8.74206204e-01 4.82305611e-01 -5.60786097e-02 2.07724276e+02] [-4.81032798e-01 -8.75994707e-01 -3.52238755e-02 1.29715589e+02] [-6.61132381e-02 -3.81727995e-03 9.97804825e-01 6.21692371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:129.68, Z:0.62 [[-8.73596013e-01 4.83737702e-01 -5.31774535e-02 2.07660337e+02] [-4.82492478e-01 -8.75199015e-01 -3.50384358e-02 1.29679112e+02] [-6.34902673e-02 -4.95171651e-03 9.97970173e-01 6.18081379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.72, Z:0.62 [[-8.71788599e-01 4.86604563e-01 -5.65741857e-02 2.07723848e+02] [-4.85419650e-01 -8.73619610e-01 -3.40079480e-02 1.29723445e+02] [-6.59727407e-02 -2.18551989e-03 9.97819032e-01 6.21969961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.71, Z:0.62 [[-8.70613461e-01 4.89127411e-01 -5.27880475e-02 2.07691974e+02] [-4.87854708e-01 -8.72196302e-01 -3.56566219e-02 1.29709965e+02] [-6.34821709e-02 -5.29023752e-03 9.97968951e-01 6.20856710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.72, Z:0.62 [[-8.69427566e-01 4.90640385e-01 -5.80320599e-02 2.07711003e+02] [-4.89448245e-01 -8.71361132e-01 -3.42080820e-02 1.29722137e+02] [-6.73507480e-02 -1.33775959e-03 9.97728464e-01 6.21677791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.73, Z:0.62 [[-8.68425107e-01 4.92478912e-01 -5.74661158e-02 2.07714604e+02] [-4.91154120e-01 -8.70318305e-01 -3.62446970e-02 1.29730604e+02] [-6.78635615e-02 -3.25108530e-03 9.97689314e-01 6.21451497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.74, Z:0.62 [[-8.67661962e-01 4.93786567e-01 -5.77715027e-02 2.07722163e+02] [-4.92448476e-01 -8.69577276e-01 -3.64672488e-02 1.29740539e+02] [-6.82438235e-02 -3.19175619e-03 9.97663567e-01 6.21733020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.73, Z:0.62 [[-8.67344405e-01 4.94347016e-01 -5.77469473e-02 2.07703506e+02] [-4.93009274e-01 -8.69258860e-01 -3.64813795e-02 1.29733892e+02] [-6.82315066e-02 -3.17213986e-03 9.97664472e-01 6.20426515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.74, Z:0.62 [[-8.67161291e-01 4.94669727e-01 -5.77334980e-02 2.07705629e+02] [-4.93331285e-01 -8.69075256e-01 -3.65026513e-02 1.29735347e+02] [-6.82315111e-02 -3.17194546e-03 9.97664473e-01 6.20595582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.76, Z:0.62 [[-8.67929187e-01 4.93410037e-01 -5.69689568e-02 2.07731707e+02] [-4.92102178e-01 -8.69790753e-01 -3.60484916e-02 1.29759256e+02] [-6.73377593e-02 -3.25299028e-03 9.97724934e-01 6.22570081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.77, Z:0.62 [[-8.68891068e-01 4.91799767e-01 -5.62254404e-02 2.07738749e+02] [-4.90520605e-01 -8.70701849e-01 -3.56065552e-02 1.29765792e+02] [-6.64668905e-02 -3.35848076e-03 9.97782979e-01 6.22824328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.77, Z:0.62 [[-8.70295285e-01 4.89424294e-01 -5.52265962e-02 2.07740400e+02] [-4.88183663e-01 -8.72038763e-01 -3.50015346e-02 1.29769033e+02] [-6.52903340e-02 -3.50094855e-03 9.97860168e-01 6.23140453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.79, Z:0.62 [[-8.73005724e-01 4.84653818e-01 -5.45131470e-02 2.07762339e+02] [-4.83434035e-01 -8.74697657e-01 -3.45766149e-02 1.29787951e+02] [-6.44402104e-02 -3.83207205e-03 9.97914212e-01 6.24490836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.80, Z:0.63 [[-8.73884724e-01 4.83048361e-01 -5.46787839e-02 2.07770655e+02] [-4.81816233e-01 -8.75584597e-01 -3.47092368e-02 1.29795232e+02] [-6.46421410e-02 -3.98674613e-03 9.97900546e-01 6.25469407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:129.80, Z:0.63 [[-8.74523454e-01 4.81857405e-01 -5.49742583e-02 2.07781615e+02] [-4.80607780e-01 -8.76239955e-01 -3.49242552e-02 1.29804328e+02] [-6.49991526e-02 -4.12102410e-03 9.97876810e-01 6.26187991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.81, Z:0.63 [[-8.75071147e-01 4.80900707e-01 -5.46351312e-02 2.07791875e+02] [-4.79662883e-01 -8.76765052e-01 -3.47356082e-02 1.29812806e+02] [-6.46065522e-02 -4.18968398e-03 9.97902019e-01 6.26924893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.81, Z:0.63 [[-8.75369679e-01 4.80378076e-01 -5.44502510e-02 2.07787804e+02] [-4.79145905e-01 -8.77051281e-01 -3.46446554e-02 1.29811780e+02] [-6.43981953e-02 -4.23726602e-03 9.97915286e-01 6.26015321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.82, Z:0.63 [[-8.75826609e-01 4.79476829e-01 -5.50429058e-02 2.07793104e+02] [-4.78214109e-01 -8.77543637e-01 -3.50489923e-02 1.29816315e+02] [-6.51077314e-02 -4.37454595e-03 9.97868652e-01 6.26352074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.82, Z:0.63 [[-8.75944837e-01 4.79178940e-01 -5.57511004e-02 2.07800638e+02] [-4.77881047e-01 -8.77705812e-01 -3.55276266e-02 1.29821018e+02] [-6.59571553e-02 -4.47784682e-03 9.97812409e-01 6.27247642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.82, Z:0.63 [[-8.76230098e-01 4.78618368e-01 -5.60827379e-02 2.07798006e+02] [-4.77301995e-01 -8.78011139e-01 -3.57665311e-02 1.29819482e+02] [-6.63597874e-02 -4.57130834e-03 9.97785288e-01 6.27367397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.83, Z:0.63 [[-8.76472823e-01 4.78201817e-01 -5.58427582e-02 2.07807850e+02] [-4.76894061e-01 -8.78237894e-01 -3.56406644e-02 1.29825904e+02] [-6.60866568e-02 -4.60699400e-03 9.97803252e-01 6.28160406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.82, Z:0.63 [[-8.76648033e-01 4.77978629e-01 -5.49968786e-02 2.07802894e+02] [-4.76708081e-01 -8.78359541e-01 -3.51272373e-02 1.29823103e+02] [-6.50971017e-02 -4.57676703e-03 9.97868439e-01 6.27762512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.82, Z:0.63 [[-8.76606810e-01 4.78169685e-01 -5.39838131e-02 2.07798608e+02] [-4.76944274e-01 -8.78255939e-01 -3.45060311e-02 1.29820072e+02] [-6.39113425e-02 -4.50095134e-03 9.97945430e-01 6.27431102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.83, Z:0.63 [[-8.76273848e-01 4.78748976e-01 -5.42546060e-02 2.07810016e+02] [-4.77510601e-01 -8.77940275e-01 -3.47059129e-02 1.29826889e+02] [-6.42477240e-02 -4.50473429e-03 9.97923813e-01 6.28945836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.82, Z:0.63 [[-8.75939275e-01 4.79264291e-01 -5.51010496e-02 2.07803042e+02] [-4.77986139e-01 -8.77658781e-01 -3.52748562e-02 1.29823085e+02] [-6.52658990e-02 -4.56109404e-03 9.97857484e-01 6.29132480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.83, Z:0.63 [[-8.75748529e-01 4.79543344e-01 -5.57018387e-02 2.07808495e+02] [-4.78235861e-01 -8.77506062e-01 -3.56871335e-02 1.29827153e+02] [-6.59922285e-02 -4.61433783e-03 9.97809468e-01 6.30206640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.83, Z:0.63 [[-8.75692891e-01 4.79639299e-01 -5.57503715e-02 2.07821149e+02] [-4.78327908e-01 -8.77453507e-01 -3.57457069e-02 1.29834788e+02] [-6.60634048e-02 -4.63530287e-03 9.97804661e-01 6.31558621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.83, Z:0.63 [[-8.76000623e-01 4.79030210e-01 -5.61512888e-02 2.07816111e+02] [-4.77696775e-01 -8.77785621e-01 -3.60304775e-02 1.29831040e+02] [-6.65484811e-02 -4.73943117e-03 9.97771937e-01 6.30253620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.84, Z:0.63 [[-8.76081390e-01 4.78859890e-01 -5.63436237e-02 2.07829246e+02] [-4.77515090e-01 -8.77878256e-01 -3.61815741e-02 1.29841120e+02] [-6.67887467e-02 -4.79307312e-03 9.97755626e-01 6.31335978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.84, Z:0.63 [[-8.75882061e-01 4.79219155e-01 -5.63880942e-02 2.07826615e+02] [-4.77871118e-01 -8.77682187e-01 -3.62377282e-02 1.29841623e+02] [-6.68566393e-02 -4.79373440e-03 9.97751076e-01 6.31208036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.83, Z:0.63 [[-8.75445611e-01 4.80403138e-01 -5.29887512e-02 2.07802715e+02] [-4.79064059e-01 -8.77023647e-01 -3.64300799e-02 1.29829713e+02] [-6.39735125e-02 -6.50754737e-03 9.97930379e-01 6.30252799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.84, Z:0.63 [[-8.75244086e-01 4.80421892e-01 -5.60588609e-02 2.07822794e+02] [-4.79239097e-01 -8.77033305e-01 -3.38004412e-02 1.29839738e+02] [-6.54039600e-02 -2.71803842e-03 9.97855167e-01 6.30998894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.85, Z:0.63 [[-8.74754616e-01 4.81450839e-01 -5.48584580e-02 2.07832034e+02] [-4.80175491e-01 -8.76461288e-01 -3.53144213e-02 1.29848278e+02] [-6.50834725e-02 -4.54976605e-03 9.97869451e-01 6.31489837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.85, Z:0.63 [[-8.74055385e-01 4.82539433e-01 -5.64170183e-02 2.07829452e+02] [-4.81190832e-01 -8.75862055e-01 -3.63461564e-02 1.29851625e+02] [-6.69519793e-02 -4.62120171e-03 9.97745497e-01 6.31552344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.86, Z:0.63 [[-8.73702630e-01 4.83096221e-01 -5.71117902e-02 2.07834225e+02] [-4.81713413e-01 -8.75554868e-01 -3.68220327e-02 1.29858283e+02] [-6.77930907e-02 -4.65999142e-03 9.97688519e-01 6.32329253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.86, Z:0.63 [[-8.73413365e-01 4.83624004e-01 -5.70694031e-02 2.07826510e+02] [-4.82242475e-01 -8.75263556e-01 -3.68225910e-02 1.29856809e+02] [-6.77590576e-02 -4.64005296e-03 9.97690924e-01 6.31600569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.461400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.82, Y:129.86, Z:0.63 [[-8.73152402e-01 4.84204094e-01 -5.61362494e-02 2.07823263e+02] [-4.82866815e-01 -8.74943286e-01 -3.62475522e-02 1.29857447e+02] [-6.66672477e-02 -4.54330530e-03 9.97764920e-01 6.31857812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.86, Z:0.63 [[-8.72943605e-01 4.84600493e-01 -5.59627084e-02 2.07830456e+02] [-4.83270458e-01 -8.74723901e-01 -3.61629813e-02 1.29864061e+02] [-6.64765172e-02 -4.52311955e-03 9.97777738e-01 6.31031613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.88, Z:0.63 [[-8.72508327e-01 4.85364153e-01 -5.61325001e-02 2.07842369e+02] [-4.84025738e-01 -8.74300499e-01 -3.63004365e-02 1.29878869e+02] [-6.66956035e-02 -4.50285832e-03 9.97763209e-01 6.31549346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.88, Z:0.63 [[-8.72132350e-01 4.85979741e-01 -5.66467558e-02 2.07832019e+02] [-4.84616059e-01 -8.73958380e-01 -3.66609583e-02 1.29876996e+02] [-6.73233899e-02 -4.52128015e-03 9.97720963e-01 6.30699827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.89, Z:0.63 [[-8.71892437e-01 4.86410347e-01 -5.66440882e-02 2.07845527e+02] [-4.85045827e-01 -8.73718843e-01 -3.66869207e-02 1.29889712e+02] [-6.73359050e-02 -4.51207010e-03 9.97720160e-01 6.32571249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.89, Z:0.63 [[-8.71756831e-01 4.86695704e-01 -5.62789331e-02 2.07835892e+02] [-4.85347502e-01 -8.73560059e-01 -3.64777370e-02 1.29886514e+02] [-6.69165860e-02 -4.48487689e-03 9.97748494e-01 6.32101195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.90, Z:0.63 [[-8.71569580e-01 4.87306662e-01 -5.38394288e-02 2.07843972e+02] [-4.86072492e-01 -8.73220483e-01 -3.49216348e-02 1.29896513e+02] [-6.40312374e-02 -4.26676928e-03 9.97938773e-01 6.32926462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.90, Z:0.63 [[-8.71117054e-01 4.88193220e-01 -5.31268213e-02 2.07839593e+02] [-4.86991557e-01 -8.72725619e-01 -3.44850274e-02 1.29896863e+02] [-6.32004946e-02 -4.16818200e-03 9.97992146e-01 6.32416630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.90, Z:0.63 [[-8.70320020e-01 4.89577867e-01 -5.34469418e-02 2.07837593e+02] [-4.88362579e-01 -8.71949871e-01 -3.47190853e-02 1.29900138e+02] [-6.36007497e-02 -4.11522865e-03 9.97966938e-01 6.32771436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.91, Z:0.63 [[-8.69005442e-01 4.91771760e-01 -5.46816127e-02 2.07842370e+02] [-4.90502122e-01 -8.70714631e-01 -3.55485635e-02 1.29908023e+02] [-6.50938598e-02 -4.07044803e-03 9.97870844e-01 6.33766226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.91, Z:0.63 [[-8.67363210e-01 4.94502366e-01 -5.61112510e-02 2.07839404e+02] [-4.93169164e-01 -8.69167116e-01 -3.65061682e-02 1.29910968e+02] [-6.68224407e-02 -3.99176851e-03 9.97756898e-01 6.34438411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.91, Z:0.63 [[-8.65484618e-01 4.97713694e-01 -5.67226073e-02 2.07823670e+02] [-4.96356184e-01 -8.67333020e-01 -3.69319904e-02 1.29906167e+02] [-6.75789477e-02 -3.80945276e-03 9.97706657e-01 6.33648689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.91, Z:0.63 [[-8.61655694e-01 5.04411907e-01 -5.58398963e-02 2.07816287e+02] [-5.03108496e-01 -8.63457016e-01 -3.63843721e-02 1.29913563e+02] [-6.65680608e-02 -3.25727512e-03 9.97776570e-01 6.32617959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.91, Z:0.63 [[-8.59854628e-01 5.07493263e-01 -5.56830957e-02 2.07806197e+02] [-5.06201755e-01 -8.61650382e-01 -3.63098172e-02 1.29914154e+02] [-6.64063483e-02 -3.03428359e-03 9.97788049e-01 6.31782412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.92, Z:0.63 [[-8.58377432e-01 5.09958262e-01 -5.59531545e-02 2.07804310e+02] [-5.08657507e-01 -8.60194319e-01 -3.65140334e-02 1.29920623e+02] [-6.67512187e-02 -2.88183014e-03 9.97765488e-01 6.32161301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.93, Z:0.63 [[-8.57266946e-01 5.11771464e-01 -5.64211944e-02 2.07803918e+02] [-5.10450809e-01 -8.59117101e-01 -3.68480439e-02 1.29927521e+02] [-6.73301903e-02 -2.78836572e-03 9.97726852e-01 6.32650640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.93, Z:0.63 [[-8.56492246e-01 5.13023004e-01 -5.68192814e-02 2.07792104e+02] [-5.11684411e-01 -8.58370505e-01 -3.71367745e-02 1.29926157e+02] [-6.78240149e-02 -2.73381887e-03 9.97693555e-01 6.32451992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.91, Z:0.63 [[-8.55913436e-01 5.14121622e-01 -5.55980891e-02 2.07761182e+02] [-5.12765797e-01 -8.57709847e-01 -3.74840627e-02 1.29913002e+02] [-6.69583956e-02 -3.57431442e-03 9.97749366e-01 6.30886787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.95, Z:0.63 [[-8.56027942e-01 5.13797052e-01 -5.68221099e-02 2.07799948e+02] [-5.12529571e-01 -8.57909894e-01 -3.61116624e-02 1.29950175e+02] [-6.73023160e-02 -1.78958043e-03 9.97731024e-01 6.33559099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.95, Z:0.63 [[-8.55634807e-01 5.14498558e-01 -5.63942469e-02 2.07790066e+02] [-5.13181196e-01 -8.57487236e-01 -3.68876788e-02 1.29951934e+02] [-6.73360045e-02 -2.62191485e-03 9.97726911e-01 6.32333334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:129.96, Z:0.63 [[-8.54721386e-01 5.15964259e-01 -5.68527529e-02 2.07785577e+02] [-5.14629082e-01 -8.56606403e-01 -3.71803604e-02 1.29955724e+02] [-6.78841692e-02 -2.52076918e-03 9.97690025e-01 6.31843781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.95, Z:0.63 [[-8.53258483e-01 5.18328734e-01 -5.73174032e-02 2.07773678e+02] [-5.16977669e-01 -8.55178248e-01 -3.74733685e-02 1.29953999e+02] [-6.84401201e-02 -2.34265201e-03 9.97652476e-01 6.31615341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.121400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:207.75, Y:129.95, Z:0.63 [[-8.49811010e-01 5.23834429e-01 -5.84699758e-02 2.07752027e+02] [-5.22441861e-01 -8.51817913e-01 -3.82196839e-02 1.29950878e+02] [-6.98265591e-02 -1.93234519e-03 9.97557275e-01 6.31116397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.95, Z:0.63 [[-8.48792222e-01 5.25437164e-01 -5.88859144e-02 2.07750035e+02] [-5.24028626e-01 -8.50830478e-01 -3.84902106e-02 1.29953911e+02] [-7.03261179e-02 -1.81228658e-03 9.97522407e-01 6.31141928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.96, Z:0.63 [[-8.48295790e-01 5.26233432e-01 -5.89290060e-02 2.07750609e+02] [-5.24826869e-01 -8.50338409e-01 -3.84882707e-02 1.29958145e+02] [-7.03634120e-02 -1.72191223e-03 9.97519937e-01 6.30811668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.96, Z:0.63 [[-8.48344522e-01 5.26188701e-01 -5.86261300e-02 2.07746420e+02] [-5.24798556e-01 -8.50366151e-01 -3.82607611e-02 1.29958874e+02] [-6.99860567e-02 -1.69139873e-03 9.97546536e-01 6.30064300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.96, Z:0.63 [[-8.48750701e-01 5.25576457e-01 -5.82377544e-02 2.07738950e+02] [-5.24205302e-01 -8.50744662e-01 -3.79779057e-02 1.29956884e+02] [-6.95057518e-02 -1.70523448e-03 9.97580093e-01 6.29880904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.96, Z:0.63 [[-8.49978351e-01 5.23725048e-01 -5.69989254e-02 2.07737245e+02] [-5.22409454e-01 -8.51885473e-01 -3.71416560e-02 1.29959468e+02] [-6.80085721e-02 -1.79282601e-03 9.97683126e-01 6.30527048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.96, Z:0.63 [[-8.50784762e-01 5.22450988e-01 -5.66591103e-02 2.07739032e+02] [-5.21150172e-01 -8.52667291e-01 -3.68915696e-02 1.29961531e+02] [-6.75854070e-02 -1.85888013e-03 9.97711761e-01 6.30383283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.96, Z:0.63 [[-8.51557674e-01 5.21268237e-01 -5.59370441e-02 2.07741624e+02] [-5.19999730e-01 -8.53390766e-01 -3.63934131e-02 1.29964523e+02] [-6.67068872e-02 -1.90384237e-03 9.97770799e-01 6.30875846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.96, Z:0.63 [[-8.52044120e-01 5.20539741e-01 -5.53099944e-02 2.07729006e+02] [-5.19299841e-01 -8.53835294e-01 -3.59578321e-02 1.29957181e+02] [-6.59431060e-02 -1.91518816e-03 9.97821547e-01 6.29900026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.97, Z:0.63 [[-8.52308672e-01 5.20102338e-01 -5.53487617e-02 2.07748887e+02] [-5.18861629e-01 -8.54101778e-01 -3.59550256e-02 1.29970298e+02] [-6.59737686e-02 -1.92643148e-03 9.97819498e-01 6.30320755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.96, Z:0.63 [[-8.52408600e-01 5.19951884e-01 -5.52233415e-02 2.07726851e+02] [-5.18718310e-01 -8.54193415e-01 -3.58458327e-02 1.29955850e+02] [-6.58095230e-02 -1.90993770e-03 9.97830376e-01 6.28365414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.96, Z:0.63 [[-8.52278362e-01 5.20140569e-01 -5.54561340e-02 2.07734383e+02] [-5.18898812e-01 -8.54078601e-01 -3.59689566e-02 1.29960014e+02] [-6.60728109e-02 -1.87944138e-03 9.97813034e-01 6.29968171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.95, Z:0.63 [[-8.52310961e-01 5.20031973e-01 -5.59711844e-02 2.07727105e+02] [-5.18768686e-01 -8.54144724e-01 -3.62745269e-02 1.29954961e+02] [-6.66714056e-02 -1.88107908e-03 9.97773213e-01 6.29268830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.95, Z:0.63 [[-8.52495267e-01 5.19728398e-01 -5.59840425e-02 2.07725049e+02] [-5.18465761e-01 -8.54329476e-01 -3.62546714e-02 1.29953517e+02] [-6.66714000e-02 -1.88112655e-03 9.97773214e-01 6.29099639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.95, Z:0.63 [[-8.52633854e-01 5.19501143e-01 -5.59828038e-02 2.07725462e+02] [-5.18239959e-01 -8.54467699e-01 -3.62256441e-02 1.29952986e+02] [-6.66547611e-02 -1.87468461e-03 9.97774337e-01 6.29388422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.95, Z:0.63 [[-8.52881449e-01 5.19103917e-01 -5.58959460e-02 2.07724378e+02] [-5.17847670e-01 -8.54709070e-01 -3.61413450e-02 1.29951035e+02] [-6.65358857e-02 -1.87869728e-03 9.97782264e-01 6.28452739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.95, Z:0.63 [[-8.53412203e-01 5.18374057e-01 -5.45522624e-02 2.07728538e+02] [-5.17177801e-01 -8.55151949e-01 -3.52457982e-02 1.29950392e+02] [-6.49209809e-02 -1.86597518e-03 9.97888663e-01 6.27769213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.95, Z:0.63 [[-8.53972544e-01 5.17506955e-01 -5.40133725e-02 2.07724535e+02] [-5.16334239e-01 -8.55676913e-01 -3.48708173e-02 1.29946368e+02] [-6.42638864e-02 -1.88976702e-03 9.97931151e-01 6.27726957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.94, Z:0.63 [[-8.54447905e-01 5.16714745e-01 -5.40800434e-02 2.07715180e+02] [-5.15539292e-01 -8.56155449e-01 -3.48867425e-02 1.29938628e+02] [-6.43274181e-02 -1.92851675e-03 9.97926983e-01 6.27127164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.94, Z:0.63 [[-8.54869517e-01 5.15961992e-01 -5.46015707e-02 2.07719078e+02] [-5.14764004e-01 -8.56609187e-01 -3.51954551e-02 1.29938370e+02] [-6.49317242e-02 -1.98059853e-03 9.97887743e-01 6.28075972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.94, Z:0.63 [[-8.55334693e-01 5.15138029e-01 -5.50942335e-02 2.07726019e+02] [-5.13918430e-01 -8.57104812e-01 -3.54850407e-02 1.29939580e+02] [-6.55012266e-02 -2.03764436e-03 9.97850408e-01 6.29120189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.55654857e-01 5.14567629e-01 -5.54519764e-02 2.07717514e+02] [-5.13332792e-01 -8.57447297e-01 -3.56872042e-02 1.29931364e+02] [-6.59106274e-02 -2.07061170e-03 9.97823382e-01 6.28194563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.94, Z:0.63 [[-8.55979533e-01 5.13965282e-01 -5.60243574e-02 2.07727166e+02] [-5.12704206e-01 -8.57808343e-01 -3.60450307e-02 1.29936007e+02] [-6.65840556e-02 -2.12988489e-03 9.97778546e-01 6.28762336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.56084010e-01 5.13770267e-01 -5.62163762e-02 2.07722619e+02] [-5.12501988e-01 -8.57925162e-01 -3.61404000e-02 1.29932353e+02] [-6.67973066e-02 -2.12821392e-03 9.97764296e-01 6.28700821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.93, Z:0.63 [[-8.56084444e-01 5.13771472e-01 -5.61987525e-02 2.07714627e+02] [-5.12505869e-01 -8.57924501e-01 -3.61010205e-02 1.29925749e+02] [-6.67619611e-02 -2.10333154e-03 9.97766715e-01 6.28470077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.92, Z:0.63 [[-8.56301299e-01 5.13413974e-01 -5.61620624e-02 2.07714001e+02] [-5.12149956e-01 -8.58138447e-01 -3.60669971e-02 1.29923351e+02] [-6.67121253e-02 -2.12081862e-03 9.97770011e-01 6.28242991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.92, Z:0.63 [[-8.56763455e-01 5.12620493e-01 -5.63614449e-02 2.07713265e+02] [-5.11347659e-01 -8.58612566e-01 -3.61667398e-02 1.29921325e+02] [-6.69324568e-02 -2.16604805e-03 9.97755158e-01 6.27784179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.92, Z:0.63 [[-8.57744187e-01 5.10968584e-01 -5.64448024e-02 2.07711474e+02] [-5.09690304e-01 -8.59596379e-01 -3.61919772e-02 1.29918249e+02] [-6.70127111e-02 -2.27408959e-03 9.97749530e-01 6.27867448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.93, Z:0.63 [[-8.58432416e-01 5.09822579e-01 -5.63447029e-02 2.07733182e+02] [-5.08548255e-01 -8.60276400e-01 -3.60996955e-02 1.29931265e+02] [-6.68764581e-02 -2.33514848e-03 9.97758531e-01 6.29678416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.92, Z:0.63 [[-8.58916945e-01 5.08995009e-01 -5.64425499e-02 2.07718852e+02] [-5.07716348e-01 -8.60766181e-01 -3.61343564e-02 1.29921840e+02] [-6.69760452e-02 -2.37960567e-03 9.97751746e-01 6.28621980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.92, Z:0.63 [[-8.59424088e-01 5.08111215e-01 -5.66853623e-02 2.07714536e+02] [-5.06820071e-01 -8.61287975e-01 -3.62827738e-02 1.29919747e+02] [-6.72581052e-02 -2.45301046e-03 9.97732594e-01 6.28640166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.92, Z:0.63 [[-8.59896201e-01 5.07264396e-01 -5.71082824e-02 2.07713809e+02] [-5.05952768e-01 -8.61786771e-01 -3.65425624e-02 1.29920711e+02] [-6.77519031e-02 -2.52871704e-03 9.97698995e-01 6.28981312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.60306356e-01 5.06517598e-01 -5.75577782e-02 2.07724987e+02] [-5.05185513e-01 -8.62225754e-01 -3.68014593e-02 1.29929415e+02] [-6.82683854e-02 -2.58317362e-03 9.97663648e-01 6.30000890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.61096728e-01 5.05018132e-01 -5.88991703e-02 2.07720682e+02] [-5.03621723e-01 -8.63104386e-01 -3.76295032e-02 1.29928156e+02] [-6.98397136e-02 -2.73974040e-03 9.97554464e-01 6.29647666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.92, Z:0.63 [[-8.61661830e-01 5.03943215e-01 -5.98341670e-02 2.07712849e+02] [-5.02501516e-01 -8.63732094e-01 -3.81981150e-02 1.29922894e+02] [-7.09303712e-02 -2.84709802e-03 9.97477206e-01 6.28573131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.62656234e-01 5.02196753e-01 -6.01883962e-02 2.07723780e+02] [-5.00734547e-01 -8.64748191e-01 -3.84119742e-02 1.29929253e+02] [-7.13381755e-02 -2.99791970e-03 9.97447681e-01 6.29770830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.63854225e-01 5.00162637e-01 -5.99434228e-02 2.07721548e+02] [-4.98709520e-01 -8.65925836e-01 -3.82264420e-02 1.29927568e+02] [-7.10259966e-02 -3.12771789e-03 9.97469561e-01 6.29440537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.93, Z:0.63 [[-8.65213507e-01 4.97899149e-01 -5.91779047e-02 2.07728977e+02] [-4.96479678e-01 -8.67228861e-01 -3.77098390e-02 1.29932592e+02] [-7.00964837e-02 -3.24643496e-03 9.97534934e-01 6.29599075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.66740074e-01 4.95406362e-01 -5.77423664e-02 2.07721400e+02] [-4.94051367e-01 -8.68654925e-01 -3.67677691e-02 1.29928579e+02] [-6.83731777e-02 -3.34040385e-03 9.97654224e-01 6.28997942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.94, Z:0.63 [[-8.69073836e-01 4.91629708e-01 -5.48716556e-02 2.07728400e+02] [-4.90400378e-01 -8.70797586e-01 -3.49146631e-02 1.29935792e+02] [-6.49471908e-02 -3.43433949e-03 9.97882793e-01 6.28307250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.95, Z:0.63 [[-8.69897642e-01 4.90245319e-01 -5.41998043e-02 2.07748485e+02] [-4.89044927e-01 -8.71577578e-01 -3.44613509e-02 1.29949565e+02] [-6.41338501e-02 -3.47170852e-03 9.97935267e-01 6.29466282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.351400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.74, Y:129.94, Z:0.63 [[-8.70484880e-01 4.89243979e-01 -5.38182349e-02 2.07738175e+02] [-4.88060167e-01 -8.72139950e-01 -3.41933073e-02 1.29944017e+02] [-6.36659023e-02 -3.49822035e-03 9.97965137e-01 6.28690048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.381400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.73, Y:129.94, Z:0.63 [[-8.71074609e-01 4.88164576e-01 -5.40774665e-02 2.07730818e+02] [-4.86968895e-01 -8.72744286e-01 -3.43323085e-02 1.29940066e+02] [-6.39556167e-02 -3.57195811e-03 9.97946351e-01 6.27876114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.94, Z:0.63 [[-8.71751681e-01 4.86935831e-01 -5.42448450e-02 2.07727707e+02] [-4.85732022e-01 -8.73430116e-01 -3.44127215e-02 1.29938629e+02] [-6.41358684e-02 -3.65088957e-03 9.97934498e-01 6.27539275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.95, Z:0.63 [[-8.73156192e-01 4.84418883e-01 -5.41904899e-02 2.07743498e+02] [-4.83214315e-01 -8.74827888e-01 -3.43524675e-02 1.29948634e+02] [-6.40483357e-02 -3.80944924e-03 9.97939527e-01 6.28631328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.94, Z:0.63 [[-8.74184102e-01 4.82554553e-01 -5.42518136e-02 2.07735126e+02] [-4.81345330e-01 -8.75857108e-01 -3.43656718e-02 1.29942695e+02] [-6.41001479e-02 -3.92806680e-03 9.97935740e-01 6.27319653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.95, Z:0.63 [[-8.75167643e-01 4.80795466e-01 -5.40121869e-02 2.07745514e+02] [-4.79595199e-01 -8.76823577e-01 -3.41885889e-02 1.29948069e+02] [-6.37968775e-02 -4.01676126e-03 9.97954821e-01 6.27967563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.94, Z:0.63 [[-8.76084680e-01 4.79080446e-01 -5.43834562e-02 2.07734750e+02] [-4.77862014e-01 -8.77761202e-01 -3.43972017e-02 1.29940073e+02] [-6.42147146e-02 -4.14707352e-03 9.97927488e-01 6.26525640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.95, Z:0.63 [[-8.78065862e-01 4.75348934e-01 -5.51700351e-02 2.07756473e+02] [-4.74088243e-01 -8.79785971e-01 -3.48852833e-02 1.29949815e+02] [-6.51205052e-02 -4.47611135e-03 9.97867368e-01 6.28452292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.95, Z:0.63 [[-8.79029564e-01 4.73487349e-01 -5.58279141e-02 2.07759225e+02] [-4.72194382e-01 -8.80788365e-01 -3.52749292e-02 1.29948434e+02] [-6.58748099e-02 -4.64607826e-03 9.97817079e-01 6.28781152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.95, Z:0.63 [[-8.79875203e-01 4.71866384e-01 -5.62293775e-02 2.07761823e+02] [-4.70553183e-01 -8.81657121e-01 -3.55024499e-02 1.29947067e+02] [-6.63274438e-02 -4.77881276e-03 9.97786467e-01 6.29328081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.95, Z:0.63 [[-8.80736908e-01 4.70224312e-01 -5.64941987e-02 2.07767112e+02] [-4.68897086e-01 -8.82533320e-01 -3.56435384e-02 1.29947962e+02] [-6.66184711e-02 -4.90261466e-03 9.97766478e-01 6.29892478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.94, Z:0.63 [[-8.81365844e-01 4.69036479e-01 -5.65599719e-02 2.07761757e+02] [-4.67705470e-01 -8.83164780e-01 -3.56590072e-02 1.29942802e+02] [-6.66771503e-02 -4.97522275e-03 9.97762199e-01 6.29376494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.95, Z:0.63 [[-8.81951795e-01 4.67912444e-01 -5.67360196e-02 2.07774902e+02] [-4.66571475e-01 -8.83760300e-01 -3.57602014e-02 1.29949344e+02] [-6.68736849e-02 -5.06736548e-03 9.97748582e-01 6.30378727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.94, Z:0.63 [[-8.82171228e-01 4.67466139e-01 -5.70029223e-02 2.07763946e+02] [-4.66113337e-01 -8.83996254e-01 -3.59023718e-02 1.29940367e+02] [-6.71735129e-02 -5.10221703e-03 9.97728263e-01 6.29415019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.94, Z:0.63 [[-8.82235752e-01 4.67258970e-01 -5.76986454e-02 2.07769776e+02] [-4.65872933e-01 -8.84105355e-01 -3.63336167e-02 1.29942145e+02] [-6.79888897e-02 -5.17457851e-03 9.97672659e-01 6.29479164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.94, Z:0.63 [[-8.81762497e-01 4.67973506e-01 -5.91244111e-02 2.07763987e+02] [-4.66521484e-01 -8.83727062e-01 -3.72046437e-02 1.29935361e+02] [-6.96606296e-02 -5.22285154e-03 9.97557075e-01 6.28918712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.93, Z:0.63 [[-8.81545627e-01 4.68332754e-01 -5.95125216e-02 2.07758982e+02] [-4.66862869e-01 -8.83536731e-01 -3.74420358e-02 1.29930877e+02] [-7.01168305e-02 -5.22267629e-03 9.97525114e-01 6.28699007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.94, Z:0.63 [[-8.81366724e-01 4.68649642e-01 -5.96674964e-02 2.07769982e+02] [-4.67173350e-01 -8.83368796e-01 -3.75317356e-02 1.29936883e+02] [-7.02976389e-02 -5.20415863e-03 9.97512486e-01 6.29461899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.93, Z:0.63 [[-8.80784982e-01 4.69807415e-01 -5.91507246e-02 2.07752802e+02] [-4.68360928e-01 -8.82754516e-01 -3.71820531e-02 1.29926091e+02] [-6.96839735e-02 -5.04550575e-03 9.97556358e-01 6.27712563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.93, Z:0.63 [[-8.79521942e-01 4.72317493e-01 -5.79425514e-02 2.07748231e+02] [-4.70933241e-01 -8.81415587e-01 -3.64478611e-02 1.29925146e+02] [-6.82864303e-02 -4.76962013e-03 9.97654356e-01 6.26213747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.92, Z:0.63 [[-8.78512441e-01 4.74216633e-01 -5.77449214e-02 2.07733847e+02] [-4.72846554e-01 -8.80396188e-01 -3.63137643e-02 1.29918150e+02] [-6.80589996e-02 -4.59760663e-03 9.97670705e-01 6.25024441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.92, Z:0.63 [[-8.77676358e-01 4.75789309e-01 -5.75216853e-02 2.07736840e+02] [-4.74432965e-01 -8.79547971e-01 -3.61763449e-02 1.29923388e+02] [-6.78053997e-02 -4.46093887e-03 9.97688593e-01 6.25520945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.92, Z:0.62 [[-8.76778117e-01 4.77507403e-01 -5.69808209e-02 2.07719226e+02] [-4.76181840e-01 -8.78617378e-01 -3.58100423e-02 1.29915763e+02] [-6.71638997e-02 -4.26422929e-03 9.97732844e-01 6.24318894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:129.90, Z:0.63 [[-8.76641579e-01 4.78913808e-01 -4.62720823e-02 2.07678592e+02] [-4.77585345e-01 -8.77799483e-01 -3.71524717e-02 1.29900666e+02] [-5.84104416e-02 -1.04705331e-02 9.98237741e-01 6.27230215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.92, Z:0.62 [[-8.75986059e-01 4.78619422e-01 -5.97651605e-02 2.07717071e+02] [-4.77720430e-01 -8.78018149e-01 -2.94503042e-02 1.29915112e+02] [-6.65703832e-02 2.75298223e-03 9.97777934e-01 6.23781900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.93, Z:0.63 [[-8.77002511e-01 4.77055055e-01 -5.73155360e-02 2.07723851e+02] [-4.75712884e-01 -8.78862774e-01 -3.60205116e-02 1.29931566e+02] [-6.75562581e-02 -4.32434021e-03 9.97706095e-01 6.25071589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.93, Z:0.63 [[-8.78157704e-01 4.74867411e-01 -5.77926290e-02 2.07725923e+02] [-4.73499916e-01 -8.80045814e-01 -3.62931777e-02 1.29934642e+02] [-6.80946086e-02 -4.50632866e-03 9.97668691e-01 6.25541990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.93, Z:0.62 [[-8.79643892e-01 4.72094358e-01 -5.79097551e-02 2.07713728e+02] [-4.70717168e-01 -8.81535456e-01 -3.63398822e-02 1.29928641e+02] [-6.82053558e-02 -4.70703955e-03 9.97660199e-01 6.24677080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.94, Z:0.63 [[-8.81147431e-01 4.69358891e-01 -5.72838206e-02 2.07728793e+02] [-4.68007382e-01 -8.82994215e-01 -3.59208408e-02 1.29939637e+02] [-6.74410482e-02 -4.84230572e-03 9.97711510e-01 6.25588821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.94, Z:0.63 [[-8.83234794e-01 4.66770266e-01 -4.49646239e-02 2.07711935e+02] [-4.65413501e-01 -8.84292885e-01 -3.76346467e-02 1.29939199e+02] [-5.73286310e-02 -1.23130863e-02 9.98279428e-01 6.31462370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.94, Z:0.63 [[-8.83369544e-01 4.64814459e-01 -6.00480475e-02 2.07742465e+02] [-4.63980977e-01 -8.85402583e-01 -2.79985487e-02 1.29943928e+02] [-6.61808266e-02 3.12808663e-03 9.97802743e-01 6.26335778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:129.96, Z:0.63 [[-8.84478881e-01 4.63246859e-01 -5.56727578e-02 2.07742007e+02] [-4.61962081e-01 -8.86214561e-01 -3.48538032e-02 1.29955606e+02] [-6.54839235e-02 -5.10874980e-03 9.97840547e-01 6.27356931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.97, Z:0.63 [[-8.84519047e-01 4.63114818e-01 -5.61312916e-02 2.07756749e+02] [-4.61810189e-01 -8.86283400e-01 -3.51152940e-02 1.29966185e+02] [-6.60106450e-02 -5.13814390e-03 9.97805690e-01 6.28518774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.97, Z:0.63 [[-8.84187067e-01 4.63682973e-01 -5.66686080e-02 2.07752737e+02] [-4.62356080e-01 -8.85986380e-01 -3.54258278e-02 1.29965268e+02] [-6.66339680e-02 -5.12198331e-03 9.97764341e-01 6.28207730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.95, Z:0.63 [[-8.82989572e-01 4.65871399e-01 -5.73868858e-02 2.07728268e+02] [-4.64516933e-01 -8.84838329e-01 -3.58490021e-02 1.29954227e+02] [-6.74791409e-02 -4.99711482e-03 9.97708171e-01 6.26098521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:129.96, Z:0.63 [[-8.82547691e-01 4.66690358e-01 -5.75298498e-02 2.07725935e+02] [-4.65332602e-01 -8.84407069e-01 -3.59124676e-02 1.29955510e+02] [-6.76398082e-02 -4.92395067e-03 9.97697655e-01 6.26718522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.95, Z:0.63 [[-8.82698692e-01 4.66403253e-01 -5.75415043e-02 2.07723855e+02] [-4.65046101e-01 -8.84558512e-01 -3.58937843e-02 1.29954103e+02] [-6.76398052e-02 -4.92394426e-03 9.97697655e-01 6.26549395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.96, Z:0.63 [[-8.82598879e-01 4.66569267e-01 -5.77264059e-02 2.07722223e+02] [-4.65205494e-01 -8.84471068e-01 -3.59830228e-02 1.29956028e+02] [-6.78459085e-02 -4.90393441e-03 9.97683760e-01 6.26964727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.95, Z:0.63 [[-8.82637085e-01 4.66534680e-01 -5.74209824e-02 2.07708225e+02] [-4.65186987e-01 -8.84489567e-01 -3.57669200e-02 1.29949709e+02] [-6.74747685e-02 -4.85771621e-03 9.97709155e-01 6.26120542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.521400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.68, Y:129.94, Z:0.62 [[-8.82848454e-01 4.66352213e-01 -5.56257207e-02 2.07679780e+02] [-4.64970044e-01 -8.84576731e-01 -3.64261609e-02 1.29935626e+02] [-6.61926389e-02 -6.29448606e-03 9.97787008e-01 6.23866664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.96, Z:0.63 [[-8.82789083e-01 4.66154014e-01 -5.81710451e-02 2.07715960e+02] [-4.64899591e-01 -8.84697569e-01 -3.43304771e-02 1.29957065e+02] [-6.74670719e-02 -3.26287533e-03 9.97716166e-01 6.26174574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.96, Z:0.63 [[-8.82501962e-01 4.66574597e-01 -5.91475440e-02 2.07709984e+02] [-4.65148885e-01 -8.84468017e-01 -3.67809845e-02 1.29959856e+02] [-6.94751840e-02 -4.94687686e-03 9.97571415e-01 6.26143286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.96, Z:0.63 [[-8.82340546e-01 4.66731487e-01 -6.03065436e-02 2.07707445e+02] [-4.65251591e-01 -8.84384897e-01 -3.74741307e-02 1.29961342e+02] [-7.08245531e-02 -5.00722960e-03 9.97476220e-01 6.26169367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:129.97, Z:0.63 [[-8.82338870e-01 4.66666289e-01 -6.08333268e-02 2.07720901e+02] [-4.65162203e-01 -8.84419162e-01 -3.77739552e-02 1.29972789e+02] [-7.14299913e-02 -5.03206464e-03 9.97432922e-01 6.27254256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.97, Z:0.63 [[-8.82476446e-01 4.66471835e-01 -6.03270240e-02 2.07706072e+02] [-4.64994162e-01 -8.84522022e-01 -3.74328975e-02 1.29967110e+02] [-7.08219736e-02 -4.98193641e-03 9.97476530e-01 6.26269257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.97, Z:0.63 [[-8.82774042e-01 4.66025382e-01 -5.94166206e-02 2.07711284e+02] [-4.64592853e-01 -8.84757679e-01 -3.68419587e-02 1.29974166e+02] [-6.97385992e-02 -4.91858745e-03 9.97553174e-01 6.26392176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.97, Z:0.63 [[-8.83226968e-01 4.65279608e-01 -5.85235749e-02 2.07700080e+02] [-4.63890019e-01 -8.85150313e-01 -3.62625736e-02 1.29970887e+02] [-6.86743967e-02 -4.87958065e-03 9.97627193e-01 6.25483463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.99, Z:0.63 [[-8.84819224e-01 4.62298338e-01 -5.80963652e-02 2.07714403e+02] [-4.60924357e-01 -8.86710063e-01 -3.59722355e-02 1.29985677e+02] [-6.81445363e-02 -5.05089570e-03 9.97662674e-01 6.26592435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.98, Z:0.63 [[-8.86159180e-01 4.59700702e-01 -5.82852645e-02 2.07701726e+02] [-4.58313953e-01 -8.88058419e-01 -3.60633395e-02 1.29979980e+02] [-6.83390623e-02 -5.24490942e-03 9.97648367e-01 6.25713081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:130.00, Z:0.63 [[-8.87757282e-01 4.56592681e-01 -5.83963281e-02 2.07726083e+02] [-4.55195732e-01 -8.89659026e-01 -3.61062827e-02 1.29997497e+02] [-6.84386848e-02 -5.47185609e-03 9.97640319e-01 6.27510379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.01, Z:0.63 [[-8.91077724e-01 4.50360953e-01 -5.61738555e-02 2.07737854e+02] [-4.49057712e-01 -8.92828366e-01 -3.47084992e-02 1.30008596e+02] [-6.57849645e-02 -5.70266745e-03 9.97817527e-01 6.27737464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.01, Z:0.63 [[-8.92604203e-01 4.47444961e-01 -5.52335393e-02 2.07738862e+02] [-4.46181031e-01 -8.94292680e-01 -3.41041061e-02 1.30010234e+02] [-6.46546603e-02 -5.79731092e-03 9.97890859e-01 6.26871295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:130.02, Z:0.63 [[-8.93803033e-01 4.45139296e-01 -5.44715054e-02 2.07746333e+02] [-4.43907277e-01 -8.95442157e-01 -3.36106153e-02 1.30015987e+02] [-6.37374880e-02 -5.86097230e-03 9.97949489e-01 6.27358218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:130.01, Z:0.63 [[-8.94512948e-01 4.43656041e-01 -5.49172381e-02 2.07732132e+02] [-4.42402506e-01 -8.96177093e-01 -3.38620732e-02 1.30008109e+02] [-6.42386842e-02 -5.99453918e-03 9.97916558e-01 6.25805151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.01, Z:0.63 [[-8.94846885e-01 4.42841228e-01 -5.60419512e-02 2.07739535e+02] [-4.41535774e-01 -8.96578918e-01 -3.45312187e-02 1.30012708e+02] [-6.55378792e-02 -6.15562715e-03 9.97831095e-01 6.26514073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:130.01, Z:0.63 [[-8.94928098e-01 4.42574274e-01 -5.68481507e-02 2.07735901e+02] [-4.41232043e-01 -8.96710124e-01 -3.50034083e-02 1.30009489e+02] [-6.64679202e-02 -6.24230797e-03 9.97769036e-01 6.26318913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:130.00, Z:0.62 [[-8.94196576e-01 4.44057281e-01 -5.67944973e-02 2.07725783e+02] [-4.42722140e-01 -8.95977603e-01 -3.49462787e-02 1.30001569e+02] [-6.64047471e-02 -6.10466136e-03 9.97774094e-01 6.24771609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:130.00, Z:0.62 [[-8.93572782e-01 4.45412674e-01 -5.59931479e-02 2.07726093e+02] [-4.44119163e-01 -8.95305962e-01 -3.44296911e-02 1.30001444e+02] [-6.54664200e-02 -5.89780492e-03 9.97837343e-01 6.24564329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.99, Z:0.62 [[-8.92854170e-01 4.46932783e-01 -5.53400369e-02 2.07714668e+02] [-4.45673706e-01 -8.94549397e-01 -3.40047655e-02 1.29994682e+02] [-6.47022411e-02 -5.69769735e-03 9.97888349e-01 6.23387300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.99, Z:0.62 [[-8.91242162e-01 4.50130203e-01 -5.54094655e-02 2.07708352e+02] [-4.48875600e-01 -8.92946294e-01 -3.40237021e-02 1.29991390e+02] [-6.47927728e-02 -5.45140073e-03 9.97883850e-01 6.23296627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.98, Z:0.62 [[-8.90681591e-01 4.51190050e-01 -5.58018124e-02 2.07693823e+02] [-4.49921230e-01 -8.92411607e-01 -3.42404860e-02 1.29982148e+02] [-6.52471517e-02 -5.39095052e-03 9.97854572e-01 6.22964329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.99, Z:0.62 [[-8.90405825e-01 4.51655613e-01 -5.64329201e-02 2.07701513e+02] [-4.50360447e-01 -8.92176044e-01 -3.46030906e-02 1.29986236e+02] [-6.59767795e-02 -5.39563832e-03 9.97806570e-01 6.24017147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.98, Z:0.62 [[-8.90483251e-01 4.51443476e-01 -5.69066596e-02 2.07690499e+02] [-4.50127667e-01 -8.92283168e-01 -3.48687821e-02 1.29978212e+02] [-6.65181387e-02 -5.43480450e-03 9.97770415e-01 6.23145289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.98, Z:0.62 [[-8.90781282e-01 4.50830260e-01 -5.71032693e-02 2.07693688e+02] [-4.49505739e-01 -8.92592894e-01 -3.49645065e-02 1.29977531e+02] [-6.67330299e-02 -5.47748071e-03 9.97755832e-01 6.23690558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.98, Z:0.62 [[-8.92041616e-01 4.48373780e-01 -5.67689083e-02 2.07710187e+02] [-4.47061439e-01 -8.93828576e-01 -3.47353669e-02 1.29980422e+02] [-6.63161003e-02 -5.60620296e-03 9.97782915e-01 6.24810149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.97, Z:0.62 [[-8.92825305e-01 4.46830279e-01 -5.66186972e-02 2.07693718e+02] [-4.45523418e-01 -8.94600690e-01 -3.46192122e-02 1.29966860e+02] [-6.61200378e-02 -5.68395323e-03 9.97795487e-01 6.23380712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.331400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.70, Y:129.97, Z:0.62 [[-8.93448269e-01 4.45554833e-01 -5.68425994e-02 2.07699396e+02] [-4.44236676e-01 -8.95235997e-01 -3.47316163e-02 1.29967683e+02] [-6.63623806e-02 -5.77933502e-03 9.97778850e-01 6.24188405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.96, Z:0.62 [[-8.93742901e-01 4.44858407e-01 -5.76595558e-02 2.07692634e+02] [-4.43502301e-01 -8.95581529e-01 -3.52056084e-02 1.29960901e+02] [-6.73003440e-02 -5.89261687e-03 9.97715361e-01 6.23408477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:129.97, Z:0.62 [[-8.93480894e-01 4.45291640e-01 -5.83716335e-02 2.07708796e+02] [-4.43904432e-01 -8.95366087e-01 -3.56149689e-02 1.29968228e+02] [-6.81230290e-02 -5.90986743e-03 9.97659424e-01 6.24846746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.95, Z:0.62 [[-8.92630466e-01 4.46930823e-01 -5.88531354e-02 2.07686920e+02] [-4.45525871e-01 -8.94549654e-01 -3.58833435e-02 1.29952590e+02] [-6.86844242e-02 -5.80997114e-03 9.97621519e-01 6.23048869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:129.94, Z:0.62 [[-8.89463334e-01 4.53304785e-01 -5.80495511e-02 2.07666841e+02] [-4.51953050e-01 -8.91340275e-01 -3.53688382e-02 1.29938421e+02] [-6.77747664e-02 -5.22361310e-03 9.97686972e-01 6.21634846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:129.93, Z:0.62 [[-8.87931786e-01 4.56370202e-01 -5.74750501e-02 2.07657394e+02] [-4.55053145e-01 -8.89776405e-01 -3.49940694e-02 1.29933676e+02] [-6.71101940e-02 -4.91814428e-03 9.97733448e-01 6.20596834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.92, Z:0.62 [[-8.86586395e-01 4.59072543e-01 -5.67182902e-02 2.07631189e+02] [-4.57797091e-01 -8.88386722e-01 -3.45087793e-02 1.29919377e+02] [-6.62298090e-02 -4.62954600e-03 9.97793656e-01 6.18080019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.92, Z:0.62 [[-8.84427711e-01 4.63205325e-01 -5.68194575e-02 2.07627237e+02] [-4.61935436e-01 -8.86240536e-01 -3.45451196e-02 1.29920938e+02] [-6.63571898e-02 -4.30574023e-03 9.97786643e-01 6.17774379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:129.91, Z:0.62 [[-8.83732626e-01 4.64440627e-01 -5.75460641e-02 2.07612880e+02] [-4.63142360e-01 -8.85594090e-01 -3.49608537e-02 1.29913432e+02] [-6.71996951e-02 -4.24402709e-03 9.97730519e-01 6.17035074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:129.92, Z:0.62 [[-8.83413105e-01 4.64999882e-01 -5.79344035e-02 2.07614026e+02] [-4.63686978e-01 -8.85300747e-01 -3.51706291e-02 1.29915222e+02] [-6.76437091e-02 -4.20676617e-03 9.97700672e-01 6.17413741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:129.91, Z:0.62 [[-8.83409506e-01 4.65036984e-01 -5.76909690e-02 2.07607335e+02] [-4.63736927e-01 -8.85281464e-01 -3.49970226e-02 1.29913230e+02] [-6.73476553e-02 -4.16326982e-03 9.97720883e-01 6.17439338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.91, Z:0.62 [[-8.83587814e-01 4.64742963e-01 -5.73284730e-02 2.07603457e+02] [-4.63460315e-01 -8.85435976e-01 -3.47515259e-02 1.29913303e+02] [-6.69112195e-02 -4.13655263e-03 9.97750358e-01 6.17338792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.91, Z:0.62 [[-8.84960570e-01 4.62276154e-01 -5.60851758e-02 2.07599345e+02] [-4.61045296e-01 -8.86726033e-01 -3.39731919e-02 1.29914507e+02] [-6.54371820e-02 -4.20712885e-03 9.97847822e-01 6.16892436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.93, Z:0.62 [[-8.86027222e-01 4.60273467e-01 -5.57144242e-02 2.07620018e+02] [-4.59056533e-01 -8.87766755e-01 -3.37237164e-02 1.29928404e+02] [-6.49835454e-02 -4.30406037e-03 9.97877054e-01 6.18571778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.93, Z:0.62 [[-8.87143472e-01 4.58162732e-01 -5.53477387e-02 2.07616320e+02] [-4.56959285e-01 -8.88857405e-01 -3.34772466e-02 1.29928212e+02] [-6.45342741e-02 -4.40745763e-03 9.97905758e-01 6.17688808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.93, Z:0.62 [[-8.88227539e-01 4.56121464e-01 -5.48183202e-02 2.07615867e+02] [-4.54938631e-01 -8.89906199e-01 -3.31330421e-02 1.29930698e+02] [-6.38958547e-02 -4.49070890e-03 9.97946468e-01 6.17560858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.94, Z:0.62 [[-8.89167282e-01 4.54315741e-01 -5.45779546e-02 2.07628690e+02] [-4.53141421e-01 -8.90828964e-01 -3.29637665e-02 1.29941271e+02] [-6.35955807e-02 -4.57877072e-03 9.97965248e-01 6.18712123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.95, Z:0.62 [[-8.90048577e-01 4.52600632e-01 -5.44628171e-02 2.07632083e+02] [-4.51429594e-01 -8.91701104e-01 -3.28704024e-02 1.29945326e+02] [-6.34417190e-02 -4.67012748e-03 9.97974618e-01 6.19775012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.95, Z:0.62 [[-8.91632941e-01 4.49322058e-01 -5.56811217e-02 2.07631005e+02] [-4.48093235e-01 -8.93355905e-01 -3.35809360e-02 1.29945111e+02] [-6.48317141e-02 -4.99153475e-03 9.97883727e-01 6.20089865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:129.95, Z:0.62 [[-8.92712895e-01 4.47137140e-01 -5.59648578e-02 2.07636349e+02] [-4.45893078e-01 -8.94450561e-01 -3.37276804e-02 1.29948157e+02] [-6.51386970e-02 -5.15479254e-03 9.97862906e-01 6.20390641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:129.95, Z:0.62 [[-8.93753290e-01 4.44999843e-01 -5.63932268e-02 2.07645883e+02] [-4.43734035e-01 -8.95514789e-01 -3.39612986e-02 1.29954778e+02] [-6.56137412e-02 -5.32942832e-03 9.97830865e-01 6.20554932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:129.96, Z:0.62 [[-8.94465858e-01 4.43478736e-01 -5.70739836e-02 2.07649519e+02] [-4.42180721e-01 -8.96268112e-01 -3.43465020e-02 1.29959625e+02] [-6.63855348e-02 -5.48475815e-03 9.97778973e-01 6.19928994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:129.96, Z:0.62 [[-8.94109525e-01 4.44150763e-01 -5.74304641e-02 2.07655722e+02] [-4.42839478e-01 -8.95935507e-01 -3.45364294e-02 1.29964437e+02] [-6.67933734e-02 -5.44687368e-03 9.97751962e-01 6.20448430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.021400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:207.64, Y:129.96, Z:0.62 [[-8.93321822e-01 4.45750485e-01 -5.72942182e-02 2.07641249e+02] [-4.44450293e-01 -8.95141603e-01 -3.44303137e-02 1.29957276e+02] [-6.66337673e-02 -5.29291850e-03 9.97763462e-01 6.20066129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.051400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.63, Y:129.95, Z:0.62 [[-8.92383885e-01 4.47584373e-01 -5.76127659e-02 2.07626414e+02] [-4.46275094e-01 -8.94226802e-01 -3.45972100e-02 1.29950775e+02] [-6.70040499e-02 -5.16285013e-03 9.97739346e-01 6.18980150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.95, Z:0.62 [[-8.91597170e-01 4.49100429e-01 -5.79938927e-02 2.07620803e+02] [-4.47778606e-01 -8.93466955e-01 -3.48011703e-02 1.29950829e+02] [-6.74448472e-02 -5.06020056e-03 9.97710172e-01 6.18403490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:129.95, Z:0.62 [[-8.90867437e-01 4.50521729e-01 -5.81840339e-02 2.07614288e+02] [-4.49195911e-01 -8.92751759e-01 -3.48902514e-02 1.29950553e+02] [-6.76627150e-02 -4.94655867e-03 9.97695990e-01 6.18110128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.96, Z:0.62 [[-8.90144861e-01 4.51999746e-01 -5.77785127e-02 2.07617848e+02] [-4.50697114e-01 -8.92005267e-01 -3.46224593e-02 1.29959046e+02] [-6.71880805e-02 -4.77839528e-03 9.97728885e-01 6.19238799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:129.96, Z:0.62 [[-8.90415432e-01 4.51501313e-01 -5.75058541e-02 2.07614593e+02] [-4.50211574e-01 -8.92257698e-01 -3.44345689e-02 1.29959852e+02] [-6.68572941e-02 -4.77127048e-03 9.97751140e-01 6.18971240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.95, Z:0.62 [[-8.91015284e-01 4.50314840e-01 -5.75179033e-02 2.07599517e+02] [-4.49023750e-01 -8.92856722e-01 -3.44172445e-02 1.29953582e+02] [-6.68538425e-02 -4.83938623e-03 9.97751043e-01 6.17986625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:129.95, Z:0.62 [[-8.91796237e-01 4.48756562e-01 -5.75935706e-02 2.07592007e+02] [-4.47460499e-01 -8.93640385e-01 -3.44378279e-02 1.29951379e+02] [-6.69221419e-02 -4.94067753e-03 9.97745968e-01 6.17738184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:129.97, Z:0.62 [[-8.93754927e-01 4.44841060e-01 -5.76069673e-02 2.07613645e+02] [-4.43537977e-01 -8.95594359e-01 -3.44210324e-02 1.29967414e+02] [-6.69043635e-02 -5.21308954e-03 9.97745774e-01 6.19562957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.97, Z:0.62 [[-8.94995911e-01 4.42376546e-01 -5.73176338e-02 2.07618885e+02] [-4.41083150e-01 -8.96813463e-01 -3.42237852e-02 1.29970729e+02] [-6.65430255e-02 -5.34830540e-03 9.97769223e-01 6.20147292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.97, Z:0.62 [[-8.95132862e-01 4.42097985e-01 -5.73282822e-02 2.07616797e+02] [-4.40805156e-01 -8.96950817e-01 -3.42059388e-02 1.29969376e+02] [-6.65430261e-02 -5.34825748e-03 9.97769223e-01 6.19978168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.97, Z:0.62 [[-8.96321230e-01 4.39735620e-01 -5.69283482e-02 2.07622264e+02] [-4.38457643e-01 -8.98110647e-01 -3.39435127e-02 1.29972421e+02] [-6.60541273e-02 -5.46362172e-03 9.97801083e-01 6.20492121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.97, Z:0.62 [[-8.97380381e-01 4.37623450e-01 -5.65169703e-02 2.07622620e+02] [-4.36361298e-01 -8.99141165e-01 -3.36746809e-02 1.29972164e+02] [-6.55535645e-02 -5.55717951e-03 9.97833577e-01 6.19949425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.97, Z:0.62 [[-8.98130479e-01 4.36140157e-01 -5.60660889e-02 2.07626020e+02] [-4.34896743e-01 -8.99861330e-01 -3.33827738e-02 1.29973362e+02] [-6.50112735e-02 -5.59912709e-03 9.97868821e-01 6.19922211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:129.98, Z:0.62 [[-8.98635897e-01 4.35147191e-01 -5.56816548e-02 2.07632569e+02] [-4.33920398e-01 -9.00341845e-01 -3.31308192e-02 1.29976788e+02] [-6.45493067e-02 -5.61113766e-03 9.97898743e-01 6.20042215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.96, Z:0.62 [[-8.98465746e-01 4.35574039e-01 -5.50868420e-02 2.07604794e+02] [-4.34375588e-01 -9.00136103e-01 -3.27543122e-02 1.29958821e+02] [-6.38525834e-02 -5.50024813e-03 9.97944184e-01 6.18047747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.96, Z:0.62 [[-8.98234638e-01 4.36011913e-01 -5.53908540e-02 2.07615500e+02] [-4.34802499e-01 -8.99924218e-01 -3.29118353e-02 1.29964638e+02] [-6.41975232e-02 -5.47846874e-03 9.97922174e-01 6.18977214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.531400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.60, Y:129.96, Z:0.62 [[-8.97885353e-01 4.36731666e-01 -5.53836192e-02 2.07604491e+02] [-4.35525415e-01 -8.99575586e-01 -3.28843292e-02 1.29957719e+02] [-6.41833795e-02 -5.40538386e-03 9.97923482e-01 6.18780407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.95, Z:0.62 [[-8.97552866e-01 4.37335882e-01 -5.60016074e-02 2.07595069e+02] [-4.36105230e-01 -8.99282023e-01 -3.32275664e-02 1.29951951e+02] [-6.48928459e-02 -5.40090353e-03 9.97877622e-01 6.18252321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.95, Z:0.62 [[-8.96523749e-01 4.39533116e-01 -5.52793543e-02 2.07597506e+02] [-4.38339646e-01 -8.98211602e-01 -3.27760930e-02 1.29952968e+02] [-6.40587357e-02 -5.15341319e-03 9.97932824e-01 6.17679931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:129.95, Z:0.62 [[-8.95970838e-01 4.40691976e-01 -5.50167123e-02 2.07594158e+02] [-4.39513469e-01 -8.97644320e-01 -3.25973278e-02 1.29951542e+02] [-6.37508201e-02 -5.02566902e-03 9.97953193e-01 6.16743114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:129.95, Z:0.62 [[-8.95481894e-01 4.41646987e-01 -5.53183248e-02 2.07593070e+02] [-4.40458812e-01 -8.97175177e-01 -3.27526553e-02 1.29952151e+02] [-6.40953394e-02 -4.96396616e-03 9.97931434e-01 6.16585875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:129.94, Z:0.62 [[-8.94980229e-01 4.42591245e-01 -5.58872035e-02 2.07574244e+02] [-4.41381839e-01 -8.96709947e-01 -3.30657542e-02 1.29942839e+02] [-6.47492246e-02 -4.92559959e-03 9.97889411e-01 6.15502849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:129.93, Z:0.62 [[-8.94471013e-01 4.43612447e-01 -5.59428517e-02 2.07558543e+02] [-4.42404141e-01 -8.96205677e-01 -3.30750615e-02 1.29934265e+02] [-6.48088103e-02 -4.83533449e-03 9.97885984e-01 6.15137699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:129.93, Z:0.61 [[-8.93332465e-01 4.45942527e-01 -5.56090796e-02 2.07556814e+02] [-4.44754606e-01 -8.95049688e-01 -3.28541847e-02 1.29934411e+02] [-6.44239675e-02 -4.61731554e-03 9.97911936e-01 6.14927746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:129.94, Z:0.62 [[-8.92744935e-01 4.47112566e-01 -5.56492061e-02 2.07561455e+02] [-4.45926721e-01 -8.94466304e-01 -3.28540701e-02 1.29938993e+02] [-6.44658073e-02 -4.51483669e-03 9.97909703e-01 6.15133983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:129.93, Z:0.61 [[-8.92092604e-01 4.48350863e-01 -5.61452457e-02 2.07548020e+02] [-4.47147763e-01 -8.93846609e-01 -3.31227702e-02 1.29934291e+02] [-6.50358601e-02 -4.44335731e-03 9.97873035e-01 6.13969328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:129.94, Z:0.61 [[-8.91398336e-01 4.49633726e-01 -5.69079968e-02 2.07546069e+02] [-4.48401890e-01 -8.93202254e-01 -3.35481519e-02 1.29936370e+02] [-6.59147315e-02 -4.38711345e-03 9.97815615e-01 6.13863217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:129.94, Z:0.61 [[-8.90855069e-01 4.50700194e-01 -5.69787807e-02 2.07540838e+02] [-4.49469068e-01 -8.92665063e-01 -3.35654870e-02 1.29936136e+02] [-6.59909384e-02 -4.29178481e-03 9.97810992e-01 6.13381094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:129.93, Z:0.61 [[-8.90285847e-01 4.51783188e-01 -5.72980032e-02 2.07524673e+02] [-4.50542075e-01 -8.92117817e-01 -3.37289100e-02 1.29932299e+02] [-6.63547240e-02 -4.21320996e-03 9.97787202e-01 6.11547376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:129.93, Z:0.61 [[-8.90536426e-01 4.51277369e-01 -5.73899802e-02 2.07522570e+02] [-4.50032863e-01 -8.92373686e-01 -3.37583722e-02 1.29934460e+02] [-6.64476976e-02 -4.23568307e-03 9.97780919e-01 6.12018606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:129.96, Z:0.61 [[-8.91225143e-01 4.49848765e-01 -5.79122890e-02 2.07553836e+02] [-4.48580164e-01 -8.93094107e-01 -3.40404428e-02 1.29956132e+02] [-6.70341752e-02 -4.35939441e-03 9.97741156e-01 6.14741934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:129.95, Z:0.61 [[-8.92291313e-01 4.47707405e-01 -5.80886612e-02 2.07536795e+02] [-4.46428212e-01 -8.94168732e-01 -3.41193511e-02 1.29948155e+02] [-6.72165507e-02 -4.51198343e-03 9.97728208e-01 6.13549581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:129.94, Z:0.61 [[-8.93438306e-01 4.45432709e-01 -5.79456221e-02 2.07528535e+02] [-4.44156699e-01 -8.95303346e-01 -3.40109510e-02 1.29944699e+02] [-6.70284994e-02 -4.64975026e-03 9.97740227e-01 6.12634530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:129.96, Z:0.61 [[-8.95358574e-01 4.41683610e-01 -5.69966035e-02 2.07554985e+02] [-4.40443129e-01 -8.97157889e-01 -3.34301286e-02 1.29963537e+02] [-6.59004923e-02 -4.82818995e-03 9.97814519e-01 6.14126581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.55, Y:129.96, Z:0.61 [[-8.95869202e-01 4.40761775e-01 -5.61019620e-02 2.07547530e+02] [-4.39559695e-01 -8.97611295e-01 -3.28821678e-02 1.29961617e+02] [-6.48509574e-02 -4.79796010e-03 9.97883427e-01 6.13751742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:129.96, Z:0.61 [[-8.96136638e-01 4.40187168e-01 -5.63416697e-02 2.07532463e+02] [-4.38975194e-01 -8.97893000e-01 -3.29990786e-02 1.29955159e+02] [-6.51145619e-02 -4.83908797e-03 9.97866062e-01 6.12553770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:129.96, Z:0.61 [[-8.96135163e-01 4.40188492e-01 -5.63547790e-02 2.07545244e+02] [-4.38977496e-01 -8.97892460e-01 -3.29831341e-02 1.29964534e+02] [-6.51193272e-02 -4.81886649e-03 9.97865849e-01 6.13703130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:129.96, Z:0.61 [[-8.95905809e-01 4.40633401e-01 -5.65242229e-02 2.07530340e+02] [-4.39417534e-01 -8.97674418e-01 -3.30585822e-02 1.29957340e+02] [-6.53070643e-02 -4.77964113e-03 9.97853768e-01 6.12438089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:129.95, Z:0.61 [[-8.95501858e-01 4.41449106e-01 -5.65606725e-02 2.07515414e+02] [-4.40234829e-01 -8.97273971e-01 -3.30562682e-02 1.29949953e+02] [-6.53430792e-02 -4.70197165e-03 9.97851779e-01 6.11208727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:129.96, Z:0.61 [[-8.94051884e-01 4.44422989e-01 -5.62088530e-02 2.07529245e+02] [-4.43231144e-01 -8.95806080e-01 -3.28271318e-02 1.29960870e+02] [-6.49413642e-02 -4.43564482e-03 9.97879223e-01 6.12741300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.94, Z:0.61 [[-8.93234111e-01 4.46068570e-01 -5.61751978e-02 2.07494847e+02] [-4.44882917e-01 -8.94988495e-01 -3.27838894e-02 1.29942582e+02] [-6.49000184e-02 -4.29230243e-03 9.97882540e-01 6.09746175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:129.92, Z:0.61 [[-8.92543113e-01 4.47933110e-01 -5.21796822e-02 2.07438969e+02] [-4.46746521e-01 -8.94044800e-01 -3.31879573e-02 1.29915539e+02] [-6.15169585e-02 -6.31059123e-03 9.98086089e-01 6.08932765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:129.95, Z:0.61 [[-8.91445621e-01 4.49446658e-01 -5.76403150e-02 2.07502026e+02] [-4.48390231e-01 -8.93305650e-01 -3.08417936e-02 1.29950273e+02] [-6.53521601e-02 -1.64842768e-03 9.97860901e-01 6.10706031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.95, Z:0.61 [[-8.90883115e-01 4.50743977e-01 -5.61884603e-02 2.07493882e+02] [-4.49570492e-01 -8.92644733e-01 -3.27376426e-02 1.29951143e+02] [-6.49126284e-02 -3.90473928e-03 9.97883312e-01 6.11277594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.94, Z:0.61 [[-8.90426537e-01 4.51707748e-01 -5.56838607e-02 2.07463409e+02] [-4.50558648e-01 -8.92157962e-01 -3.24203048e-02 1.29938876e+02] [-6.43233026e-02 -3.77905471e-03 9.97921957e-01 6.09472644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.94, Z:0.61 [[-8.90771765e-01 4.51049887e-01 -5.54947059e-02 2.07468886e+02] [-4.49908837e-01 -8.92490682e-01 -3.22865354e-02 1.29943834e+02] [-6.40913460e-02 -3.79237551e-03 9.97936830e-01 6.10356538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.96, Z:0.61 [[-8.91426139e-01 4.49715456e-01 -5.58161933e-02 2.07486049e+02] [-4.48560090e-01 -8.93163413e-01 -3.24494158e-02 1.29955492e+02] [-6.44459855e-02 -3.88934078e-03 9.97913618e-01 6.11467815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.95, Z:0.61 [[-8.92153414e-01 4.48215128e-01 -5.62626381e-02 2.07480611e+02] [-4.47039785e-01 -8.93916737e-01 -3.26848148e-02 1.29954053e+02] [-6.49439423e-02 -4.00823149e-03 9.97880864e-01 6.11004828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.96, Z:0.61 [[-8.92932316e-01 4.46600438e-01 -5.67444050e-02 2.07486279e+02] [-4.45403200e-01 -8.94723932e-01 -3.29404822e-02 1.29958883e+02] [-6.54818109e-02 -4.13948147e-03 9.97845177e-01 6.11600000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.97, Z:0.61 [[-8.93685696e-01 4.45031470e-01 -5.72089784e-02 2.07494565e+02] [-4.43812936e-01 -8.95504762e-01 -3.31858335e-02 1.29965072e+02] [-6.59996528e-02 -4.26762003e-03 9.97810520e-01 6.12438866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.97, Z:0.61 [[-8.95178494e-01 4.42001040e-01 -5.73632607e-02 2.07494573e+02] [-4.40771325e-01 -8.97003341e-01 -3.32512405e-02 1.29967310e+02] [-6.61521194e-02 -4.48171496e-03 9.97799485e-01 6.12667850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.96, Z:0.61 [[-8.95752503e-01 4.40920580e-01 -5.67141519e-02 2.07485008e+02] [-4.39717952e-01 -8.97534898e-01 -3.28516225e-02 1.29962988e+02] [-6.53878870e-02 -4.48869235e-03 9.97849826e-01 6.11499835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.97, Z:0.61 [[-8.96121846e-01 4.40198720e-01 -5.64864976e-02 2.07494108e+02] [-4.39005846e-01 -8.97889091e-01 -3.26962954e-02 1.29969802e+02] [-6.51114773e-02 -4.50196193e-03 9.97867841e-01 6.11275390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.641400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:207.49, Y:129.97, Z:0.61 [[-8.96030489e-01 4.40408070e-01 -5.63035899e-02 2.07485164e+02] [-4.39224848e-01 -8.97786678e-01 -3.25670637e-02 1.29965970e+02] [-6.48914106e-02 -4.45114631e-03 9.97882404e-01 6.10825595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.97, Z:0.61 [[-8.95972826e-01 4.40438126e-01 -5.69820392e-02 2.07490830e+02] [-4.39227816e-01 -8.97771784e-01 -3.29355424e-02 1.29971052e+02] [-6.56629355e-02 -4.48125440e-03 9.97831798e-01 6.11295811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.97, Z:0.61 [[-8.95909490e-01 4.40526276e-01 -5.72955955e-02 2.07488005e+02] [-4.39304352e-01 -8.97728549e-01 -3.30928836e-02 1.29971045e+02] [-6.60141766e-02 -4.47802406e-03 9.97808637e-01 6.11603673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.97, Z:0.61 [[-8.96294549e-01 4.39743698e-01 -5.72849138e-02 2.07478879e+02] [-4.38522208e-01 -8.98111969e-01 -3.30630421e-02 1.29968859e+02] [-6.59875311e-02 -4.51351754e-03 9.97810239e-01 6.11728284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.97, Z:0.61 [[-8.96833292e-01 4.38642216e-01 -5.72979348e-02 2.07474267e+02] [-4.37419506e-01 -8.98650145e-01 -3.30468310e-02 1.29966873e+02] [-6.59865326e-02 -4.57426384e-03 9.97810029e-01 6.11319425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.98, Z:0.61 [[-8.97394634e-01 4.37485685e-01 -5.73510807e-02 2.07491187e+02] [-4.36259934e-01 -8.99213393e-01 -3.30536592e-02 1.29976666e+02] [-6.60313626e-02 -4.64219778e-03 9.97806749e-01 6.12351131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.49, Y:129.98, Z:0.61 [[-8.98029366e-01 4.36207783e-01 -5.71491654e-02 2.07490474e+02] [-4.34989638e-01 -8.99833705e-01 -3.29138019e-02 1.29975821e+02] [-6.57820017e-02 -4.69826589e-03 9.97822958e-01 6.12049125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.96, Z:0.61 [[-8.98831579e-01 4.34561924e-01 -5.70765063e-02 2.07468658e+02] [-4.33345120e-01 -9.00629211e-01 -3.28486194e-02 1.29963085e+02] [-6.56795281e-02 -4.79155095e-03 9.97829264e-01 6.09469163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.97, Z:0.61 [[-9.00211009e-01 4.31680851e-01 -5.71994883e-02 2.07480412e+02] [-4.30454571e-01 -9.02012599e-01 -3.28957914e-02 1.29969435e+02] [-6.57951423e-02 -4.99137241e-03 9.97820668e-01 6.10893679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.97, Z:0.61 [[-9.00841370e-01 4.30339848e-01 -5.73797980e-02 2.07488709e+02] [-4.29104686e-01 -9.02652629e-01 -3.29757382e-02 1.29973381e+02] [-6.59847996e-02 -5.08396897e-03 9.97807677e-01 6.11417416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.96, Z:0.61 [[-9.01243188e-01 4.29472410e-01 -5.75687831e-02 2.07471709e+02] [-4.28228901e-01 -9.03065334e-01 -3.30607166e-02 1.29962453e+02] [-6.61870380e-02 -5.14312894e-03 9.97793979e-01 6.10000292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.97, Z:0.61 [[-9.01506694e-01 4.28839993e-01 -5.81544650e-02 2.07482384e+02] [-4.27571327e-01 -9.03365377e-01 -3.33729931e-02 1.29967925e+02] [-6.68464043e-02 -5.22079493e-03 9.97749619e-01 6.10264242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.97, Z:0.61 [[-9.01709739e-01 4.28349758e-01 -5.86176730e-02 2.07479968e+02] [-4.27061382e-01 -9.03597607e-01 -3.36145959e-02 1.29966082e+02] [-6.73655931e-02 -5.27726404e-03 9.97714402e-01 6.09920290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:129.96, Z:0.61 [[-9.01830904e-01 4.28024493e-01 -5.91274453e-02 2.07478828e+02] [-4.26714543e-01 -9.03751442e-01 -3.38825919e-02 1.29963539e+02] [-6.79390931e-02 -5.32582768e-03 9.97675255e-01 6.09443073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.96, Z:0.61 [[-9.01917039e-01 4.27890912e-01 -5.87794428e-02 2.07470678e+02] [-4.26597690e-01 -9.03814948e-01 -3.36593234e-02 1.29956839e+02] [-6.75282576e-02 -5.28274272e-03 9.97703376e-01 6.08675184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.96, Z:0.61 [[-9.02091955e-01 4.27591163e-01 -5.82743667e-02 2.07488196e+02] [-4.26321067e-01 -9.03957057e-01 -3.33464754e-02 1.29964890e+02] [-6.69361832e-02 -5.23799706e-03 9.97743510e-01 6.10599509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.96, Z:0.61 [[-9.02250402e-01 4.27273004e-01 -5.81548939e-02 2.07489713e+02] [-4.26009043e-01 -9.04107535e-01 -3.32544855e-02 1.29963833e+02] [-6.67870216e-02 -5.22936218e-03 9.97753551e-01 6.10386616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.95, Z:0.61 [[-9.02399688e-01 4.27031863e-01 -5.76072145e-02 2.07465727e+02] [-4.25792671e-01 -9.04221759e-01 -3.29182608e-02 1.29948706e+02] [-6.61468431e-02 -5.17669851e-03 9.97796471e-01 6.08269184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.94, Z:0.61 [[-9.02441526e-01 4.27120694e-01 -5.62779267e-02 2.07462175e+02] [-4.25939719e-01 -9.04180629e-01 -3.21363514e-02 1.29943414e+02] [-6.46115119e-02 -5.03017368e-03 9.97897815e-01 6.07184941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.94, Z:0.61 [[-9.02420459e-01 4.27248299e-01 -5.56435694e-02 2.07465295e+02] [-4.26095515e-01 -9.04120816e-01 -3.17515755e-02 1.29943094e+02] [-6.38743160e-02 -4.94379599e-03 9.97945705e-01 6.07565069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.94, Z:0.61 [[-9.02551889e-01 4.26969308e-01 -5.56533761e-02 2.07463197e+02] [-4.25817050e-01 -9.04252603e-01 -3.17343769e-02 1.29941791e+02] [-6.38743152e-02 -4.94376541e-03 9.97945705e-01 6.07395986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.94, Z:0.61 [[-9.02470043e-01 4.27152393e-01 -5.55756583e-02 2.07459644e+02] [-4.26005149e-01 -9.04166351e-01 -3.16673797e-02 1.29938271e+02] [-6.37764372e-02 -4.90334491e-03 9.97952165e-01 6.06848305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.94, Z:0.61 [[-9.02300360e-01 4.27469248e-01 -5.58936690e-02 2.07470821e+02] [-4.26310900e-01 -9.04016675e-01 -3.18255917e-02 1.29942785e+02] [-6.41332705e-02 -4.88816249e-03 9.97929371e-01 6.08005428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.93, Z:0.61 [[-9.02282713e-01 4.27393481e-01 -5.67513652e-02 2.07456237e+02] [-4.26200648e-01 -9.04052174e-01 -3.22904838e-02 1.29932219e+02] [-6.51069373e-02 -4.94767676e-03 9.97866027e-01 6.07125059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:129.93, Z:0.61 [[-9.02385921e-01 4.27117170e-01 -5.71889233e-02 2.07453178e+02] [-4.25906840e-01 -9.04182545e-01 -3.25159748e-02 1.29926982e+02] [-6.55973574e-02 -4.98480424e-03 9.97833723e-01 6.07331471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:129.92, Z:0.61 [[-9.02793384e-01 4.26371738e-01 -5.63138257e-02 2.07454431e+02] [-4.25198242e-01 -9.04534536e-01 -3.19957394e-02 1.29918913e+02] [-6.45798792e-02 -4.94100215e-03 9.97900309e-01 6.06772922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:129.91, Z:0.61 [[-9.02800087e-01 4.26488864e-01 -5.53105046e-02 2.07451882e+02] [-4.25358492e-01 -9.04479948e-01 -3.14034624e-02 1.29912619e+02] [-6.34204693e-02 -4.82425574e-03 9.97975236e-01 6.05467767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:129.90, Z:0.60 [[-9.02661729e-01 4.26875598e-01 -5.45804674e-02 2.07438327e+02] [-4.25776988e-01 -9.04298074e-01 -3.09669264e-02 1.29900065e+02] [-6.25760367e-02 -4.71355232e-03 9.98029069e-01 6.04031068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.481400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:207.44, Y:129.90, Z:0.60 [[-9.02443638e-01 4.27289532e-01 -5.49466612e-02 2.07440821e+02] [-4.26178312e-01 -9.04102652e-01 -3.11519054e-02 1.29897124e+02] [-6.29883052e-02 -4.69576355e-03 9.98003218e-01 6.04672107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.89, Z:0.60 [[-9.01891239e-01 4.28254896e-01 -5.64795285e-02 2.07430649e+02] [-4.27084165e-01 -9.03645568e-01 -3.19969458e-02 1.29886730e+02] [-6.47403243e-02 -4.73625284e-03 9.97890905e-01 6.04599526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.88, Z:0.60 [[-9.01205387e-01 4.29499681e-01 -5.79557943e-02 2.07428973e+02] [-4.28271056e-01 -9.03054536e-01 -3.28086513e-02 1.29880937e+02] [-6.64285481e-02 -4.74654407e-03 9.97779895e-01 6.04703705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.87, Z:0.60 [[-8.99707546e-01 4.32500624e-01 -5.89028103e-02 2.07429087e+02] [-4.31239520e-01 -9.01622017e-01 -3.33198769e-02 1.29871172e+02] [-6.75189382e-02 -4.57692508e-03 9.97707495e-01 6.04665818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.86, Z:0.60 [[-8.98952509e-01 4.34009538e-01 -5.93304931e-02 2.07414385e+02] [-4.32734985e-01 -9.00897167e-01 -3.35369478e-02 1.29858199e+02] [-6.80060284e-02 -4.47374337e-03 9.97674880e-01 6.03053550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.85, Z:0.60 [[-8.98189149e-01 4.35497202e-01 -5.99869951e-02 2.07404786e+02] [-4.34199287e-01 -9.00179395e-01 -3.38826760e-02 1.29849239e+02] [-6.87548675e-02 -4.38674143e-03 9.97623940e-01 6.02056880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.661400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.40, Y:129.84, Z:0.60 [[-8.97414934e-01 4.37048990e-01 -6.02877878e-02 2.07399749e+02] [-4.35743253e-01 -8.99427584e-01 -3.40270360e-02 1.29844380e+02] [-6.90959811e-02 -4.26637351e-03 9.97600894e-01 6.01588763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.84, Z:0.60 [[-8.96340192e-01 4.39269458e-01 -6.01381995e-02 2.07397217e+02] [-4.37976919e-01 -8.98346170e-01 -3.39172122e-02 1.29840748e+02] [-6.89237166e-02 -4.06221720e-03 9.97613663e-01 6.01394949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.82, Z:0.60 [[-8.95303455e-01 4.41463785e-01 -5.95100896e-02 2.07371973e+02] [-4.40204663e-01 -8.97270894e-01 -3.35379955e-02 1.29824867e+02] [-6.82024817e-02 -3.83006425e-03 9.97664148e-01 5.99360536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.82, Z:0.60 [[-8.93541104e-01 4.45187029e-01 -5.82477856e-02 2.07362922e+02] [-4.43990313e-01 -8.95430966e-01 -3.28022293e-02 1.29818181e+02] [-6.67599980e-02 -3.44868764e-03 9.97763103e-01 5.97607964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.82, Z:0.60 [[-8.93164459e-01 4.45898589e-01 -5.85807019e-02 2.07368218e+02] [-4.44691372e-01 -8.95077059e-01 -3.29642487e-02 1.29822014e+02] [-6.71329543e-02 -3.39216265e-03 9.97738272e-01 5.97476831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.82, Z:0.60 [[-8.93051210e-01 4.45991247e-01 -5.95931542e-02 2.07371203e+02] [-4.44743881e-01 -8.95030786e-01 -3.35077978e-02 1.29824543e+02] [-6.82818922e-02 -3.42048869e-03 9.97660204e-01 5.97693137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.83, Z:0.60 [[-8.93506465e-01 4.44946142e-01 -6.05733236e-02 2.07382300e+02] [-4.43656795e-01 -8.95550355e-01 -3.40324856e-02 1.29831008e+02] [-6.93890846e-02 -3.53447932e-03 9.97583411e-01 5.99090510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.82, Z:0.60 [[-8.94440824e-01 4.42974883e-01 -6.12279836e-02 2.07362093e+02] [-4.41654729e-01 -8.96526372e-01 -3.43739028e-02 1.29818129e+02] [-7.01192776e-02 -3.70379340e-03 9.97531738e-01 5.97650650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.83, Z:0.60 [[-8.97489626e-01 4.36902452e-01 -6.02380118e-02 2.07381056e+02] [-4.35612803e-01 -8.99499602e-01 -3.37927826e-02 1.29825493e+02] [-6.89482172e-02 -4.08822268e-03 9.97611863e-01 5.98044956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.83, Z:0.60 [[-8.99255523e-01 4.33415077e-01 -5.90836286e-02 2.07390478e+02] [-4.32168630e-01 -9.01184394e-01 -3.31204395e-02 1.29830325e+02] [-6.76001418e-02 -4.24964729e-03 9.97703444e-01 5.98053222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.83, Z:0.60 [[-9.00735189e-01 4.30407028e-01 -5.85312764e-02 2.07390299e+02] [-4.29179131e-01 -9.02624136e-01 -3.27863218e-02 1.29829888e+02] [-6.69432060e-02 -4.41139140e-03 9.97747036e-01 5.97338654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.83, Z:0.60 [[-9.01907214e-01 4.27937731e-01 -5.85890427e-02 2.07399917e+02] [-4.26703880e-01 -9.03796631e-01 -3.27940356e-02 1.29834513e+02] [-6.69863846e-02 -4.57700536e-03 9.97743392e-01 5.97925207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.84, Z:0.60 [[-9.03251748e-01 4.24948157e-01 -5.96267051e-02 2.07412182e+02] [-4.23665409e-01 -9.05204636e-01 -3.33494931e-02 1.29836750e+02] [-6.81461755e-02 -4.86121550e-03 9.97663504e-01 5.98800520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.83, Z:0.60 [[-9.03696033e-01 4.23970576e-01 -5.98534024e-02 2.07401825e+02] [-4.22677620e-01 -9.05662539e-01 -3.34513875e-02 1.29828759e+02] [-6.83893884e-02 -4.93119251e-03 9.97646518e-01 5.97182064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.83, Z:0.60 [[-9.04056949e-01 4.23260874e-01 -5.94244495e-02 2.07404408e+02] [-4.21986551e-01 -9.05994458e-01 -3.31872338e-02 1.29828324e+02] [-6.78850795e-02 -4.92683088e-03 9.97680982e-01 5.97028656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.83, Z:0.60 [[-9.04377948e-01 4.22673328e-01 -5.87178324e-02 2.07405231e+02] [-4.21429559e-01 -9.06268916e-01 -3.27685604e-02 1.29826336e+02] [-6.70645428e-02 -4.88973325e-03 9.97736657e-01 5.96609052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.82, Z:0.60 [[-9.07649641e-01 4.17309726e-01 -4.49969142e-02 2.07368968e+02] [-4.15932278e-01 -9.08642766e-01 -3.69954570e-02 1.29817983e+02] [-5.63246846e-02 -1.48632442e-02 9.98301865e-01 6.02810910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:129.77, Z:0.60 [[-9.07361409e-01 4.17483448e-01 -4.90188196e-02 2.07324286e+02] [-4.16592081e-01 -9.08672466e-01 -2.76656295e-02 1.29774485e+02] [-5.60919940e-02 -4.68187252e-03 9.98414627e-01 5.98360831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.81, Z:0.60 [[-9.05811600e-01 4.18958666e-01 -6.30791672e-02 2.07423272e+02] [-4.18399693e-01 -9.07985185e-01 -2.24633058e-02 1.29813206e+02] [-6.66861459e-02 6.04478124e-03 9.97755691e-01 5.96186230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.76, Z:0.59 [[-9.06696658e-01 4.18924346e-01 -4.90261346e-02 2.07298913e+02] [-4.17478683e-01 -9.07923978e-01 -3.72236515e-02 1.29761048e+02] [-6.01058970e-02 -1.32831943e-02 9.98103621e-01 5.94063736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.81, Z:0.60 [[-9.05207600e-01 4.20106369e-01 -6.41080268e-02 2.07427244e+02] [-4.19338525e-01 -9.07467475e-01 -2.56511771e-02 1.29810465e+02] [-6.89521721e-02 3.66332498e-03 9.97613241e-01 5.96689872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.80, Z:0.60 [[-9.04906117e-01 4.21321604e-01 -6.02745813e-02 2.07400468e+02] [-4.20011163e-01 -9.06897071e-01 -3.35905737e-02 1.29800128e+02] [-6.88152756e-02 -5.08031869e-03 9.97616484e-01 5.95251564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.80, Z:0.60 [[-9.04635459e-01 4.21983153e-01 -5.97068204e-02 2.07399827e+02] [-4.20700413e-01 -9.06590103e-01 -3.32497739e-02 1.29796730e+02] [-6.81604569e-02 -4.96024047e-03 9.97662041e-01 5.95049217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.79, Z:0.59 [[-9.04267023e-01 4.22828835e-01 -5.93036947e-02 2.07397264e+02] [-4.21566847e-01 -9.06196634e-01 -3.30008115e-02 1.29792190e+02] [-6.76945033e-02 -4.84107401e-03 9.97694351e-01 5.94435131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.77, Z:0.60 [[-9.06899712e-01 4.18991537e-01 -4.44860104e-02 2.07339985e+02] [-4.17554420e-01 -9.07847557e-01 -3.82246022e-02 1.29770969e+02] [-5.64023007e-02 -1.60905505e-02 9.98278456e-01 6.01405835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.411400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:207.35, Y:129.76, Z:0.60 [[-9.06801086e-01 4.18579908e-01 -5.00264986e-02 2.07348523e+02] [-4.17675764e-01 -9.08169555e-01 -2.78391025e-02 1.29760896e+02] [-5.70854320e-02 -4.34967238e-03 9.98359822e-01 6.00624901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.77, Z:0.59 [[-9.03472512e-01 4.23641221e-01 -6.53110746e-02 2.07397568e+02] [-4.23157575e-01 -9.05794900e-01 -2.17546680e-02 1.29767505e+02] [-6.83746124e-02 7.98213141e-03 9.97627785e-01 5.92935614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.77, Z:0.60 [[-9.07289598e-01 4.18267551e-01 -4.33340717e-02 2.07353427e+02] [-4.16832718e-01 -9.08167063e-01 -3.85106639e-02 1.29768746e+02] [-5.54623377e-02 -1.68772658e-02 9.98318129e-01 6.02113714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.76, Z:0.59 [[-9.04034695e-01 4.22614870e-01 -6.41711895e-02 2.07391085e+02] [-4.22191514e-01 -9.06270542e-01 -2.06888831e-02 1.29755733e+02] [-6.68998883e-02 8.38906351e-03 9.97724425e-01 5.92225501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.76, Z:0.59 [[-9.04315228e-01 4.23046279e-01 -5.69720470e-02 2.07380562e+02] [-4.21888222e-01 -9.06096656e-01 -3.16097879e-02 1.29758737e+02] [-6.49945843e-02 -4.54937692e-03 9.97875246e-01 5.91997004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.75, Z:0.59 [[-9.04141304e-01 4.23621376e-01 -5.54385498e-02 2.07364132e+02] [-4.22527401e-01 -9.05828831e-01 -3.07363811e-02 1.29745257e+02] [-6.32384248e-02 -4.36572533e-03 9.97988899e-01 5.91539872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.74, Z:0.60 [[-9.05644922e-01 4.21536915e-01 -4.59772100e-02 2.07344135e+02] [-4.20179275e-01 -9.06707406e-01 -3.64836493e-02 1.29743396e+02] [-5.70670818e-02 -1.37225610e-02 9.98276034e-01 5.95441429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.73, Z:0.60 [[-9.06389022e-01 4.19984547e-01 -4.55183687e-02 2.07329978e+02] [-4.19034599e-01 -9.07501302e-01 -2.91786045e-02 1.29728922e+02] [-5.35625418e-02 -7.37339542e-03 9.98537274e-01 5.98627100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.73, Z:0.60 [[-9.05505658e-01 4.21170048e-01 -5.17232537e-02 2.07356023e+02] [-4.20451506e-01 -9.06981540e-01 -2.45970789e-02 1.29728196e+02] [-5.72715892e-02 -5.25674182e-04 9.98358497e-01 5.97053106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.74, Z:0.60 [[-9.08111395e-01 4.15671543e-01 -5.05060712e-02 2.07369953e+02] [-4.14753585e-01 -9.09503920e-01 -2.79657616e-02 1.29740086e+02] [-5.75600410e-02 -4.44845262e-03 9.98332136e-01 5.98249542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.72, Z:0.60 [[-9.06511444e-01 4.19366089e-01 -4.86732565e-02 2.07344467e+02] [-4.18477536e-01 -9.07804859e-01 -2.76927795e-02 1.29718318e+02] [-5.57992313e-02 -4.73515709e-03 9.98430781e-01 5.97057847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.73, Z:0.60 [[-9.08993253e-01 4.13559985e-01 -5.19557917e-02 2.07378510e+02] [-4.12750176e-01 -9.10474335e-01 -2.59572175e-02 1.29734243e+02] [-5.80392814e-02 -2.15017338e-03 9.98311985e-01 5.98277702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.71, Z:0.60 [[-9.07439182e-01 4.17358674e-01 -4.86401810e-02 2.07349902e+02] [-4.16427569e-01 -9.08725076e-01 -2.84045037e-02 1.29712985e+02] [-5.60554182e-02 -5.52024723e-03 9.98412398e-01 5.98048289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.70, Z:0.60 [[-9.08455891e-01 4.15234817e-01 -4.78324210e-02 2.07343094e+02] [-4.14393918e-01 -9.09703025e-01 -2.67971615e-02 1.29698752e+02] [-5.46404125e-02 -4.52257488e-03 9.98495855e-01 5.98326359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.68, Z:0.60 [[-9.08338449e-01 4.15413304e-01 -4.85082408e-02 2.07325752e+02] [-4.14625758e-01 -9.09626774e-01 -2.57800808e-02 1.29683200e+02] [-5.48337832e-02 -3.30427253e-03 9.98490029e-01 5.95895680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.68, Z:0.60 [[-9.08581226e-01 4.15053989e-01 -4.70142688e-02 2.07330094e+02] [-4.14254507e-01 -9.09786934e-01 -2.60947993e-02 1.29681667e+02] [-5.36037180e-02 -4.23337198e-03 9.98553314e-01 5.96371896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.891400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:207.35, Y:129.69, Z:0.60 [[-9.08829132e-01 4.14357985e-01 -4.83432466e-02 2.07350872e+02] [-4.13595069e-01 -9.10109004e-01 -2.53124403e-02 1.29687463e+02] [-5.44860358e-02 -3.01015466e-03 9.98509995e-01 5.95877984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.921400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:207.31, Y:129.66, Z:0.59 [[-9.06157812e-01 4.19775393e-01 -5.16395215e-02 2.07310571e+02] [-4.18992446e-01 -9.07626551e-01 -2.56782712e-02 1.29655178e+02] [-5.76485072e-02 -1.63199667e-03 9.98335608e-01 5.91175137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.65, Z:0.59 [[-9.05758046e-01 4.21132133e-01 -4.74351078e-02 2.07294289e+02] [-4.20182799e-01 -9.06977465e-01 -2.89532987e-02 1.29649310e+02] [-5.52157383e-02 -6.29326686e-03 9.98454614e-01 5.93244469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.65, Z:0.59 [[-9.04427854e-01 4.23635111e-01 -5.04336277e-02 2.07310192e+02] [-4.22887082e-01 -9.05831735e-01 -2.52068177e-02 1.29651425e+02] [-5.63628735e-02 -1.47001834e-03 9.98409268e-01 5.94397906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.011400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.33, Y:129.66, Z:0.59 [[-9.05196471e-01 4.21893136e-01 -5.12399292e-02 2.07326244e+02] [-4.21044360e-01 -9.06641342e-01 -2.68909565e-02 1.29662441e+02] [-5.78013482e-02 -2.76731574e-03 9.98324269e-01 5.93120383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.65, Z:0.59 [[-9.03656131e-01 4.25570951e-01 -4.79057698e-02 2.07300921e+02] [-4.24743800e-01 -9.04916778e-01 -2.68016823e-02 1.29645675e+02] [-5.47567522e-02 -3.87182580e-03 9.98492217e-01 5.92963558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.63, Z:0.59 [[-9.03415395e-01 4.26312963e-01 -4.58026448e-02 2.07284184e+02] [-4.25488558e-01 -9.04562736e-01 -2.69396414e-02 1.29634117e+02] [-5.29160841e-02 -4.84918543e-03 9.98587189e-01 5.90428218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.63, Z:0.59 [[-9.04708577e-01 4.23408945e-01 -4.71938197e-02 2.07284641e+02] [-4.22688515e-01 -9.05935209e-01 -2.48156656e-02 1.29627018e+02] [-5.32617176e-02 -2.50265995e-03 9.98577451e-01 5.90347249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.63, Z:0.59 [[-9.04738839e-01 4.23374231e-01 -4.69243527e-02 2.07282950e+02] [-4.22626926e-01 -9.05949626e-01 -2.53329323e-02 1.29626654e+02] [-5.32364104e-02 -3.08819281e-03 9.98577162e-01 5.90208706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.64, Z:0.59 [[-9.05849726e-01 4.20848140e-01 -4.81987259e-02 2.07312019e+02] [-4.20137416e-01 -9.07128971e-01 -2.45271525e-02 1.29638837e+02] [-5.40446671e-02 -1.96782619e-03 9.98536580e-01 5.92551183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.66, Z:0.59 [[-9.07932124e-01 4.16135294e-01 -4.99066703e-02 2.07357137e+02] [-4.15362859e-01 -9.09299590e-01 -2.54548980e-02 1.29661032e+02] [-5.59727963e-02 -2.38194232e-03 9.98429453e-01 5.93243018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.65, Z:0.59 [[-9.08410737e-01 4.15224644e-01 -4.87691330e-02 2.07333772e+02] [-4.14373053e-01 -9.09709019e-01 -2.69160546e-02 1.29646383e+02] [-5.55419293e-02 -4.24221841e-03 9.98447344e-01 5.91788531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:129.64, Z:0.59 [[-9.08130384e-01 4.16200496e-01 -4.55670185e-02 2.07324074e+02] [-4.15377051e-01 -9.09257286e-01 -2.67038022e-02 1.29637502e+02] [-5.25462793e-02 -5.32304037e-03 9.98604303e-01 5.92768597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:129.63, Z:0.59 [[-9.09128755e-01 4.13541598e-01 -4.96815177e-02 2.07320083e+02] [-4.12825976e-01 -9.10483732e-01 -2.43739044e-02 1.29630882e+02] [-5.53138371e-02 -1.64919632e-03 9.98467656e-01 5.90767743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.64, Z:0.59 [[-9.09335647e-01 4.13021769e-01 -5.02165212e-02 2.07336033e+02] [-4.12178721e-01 -9.10714443e-01 -2.66065012e-02 1.29636644e+02] [-5.67219753e-02 -3.49605850e-03 9.98383892e-01 5.92929652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.63, Z:0.59 [[-9.09174578e-01 4.13350014e-01 -5.04316621e-02 2.07327234e+02] [-4.12420610e-01 -9.10559795e-01 -2.81087330e-02 1.29630316e+02] [-5.75397891e-02 -4.75668860e-03 9.98331882e-01 5.92608638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.65, Z:0.60 [[-9.09514185e-01 4.12539543e-01 -5.09418579e-02 2.07374784e+02] [-4.11663153e-01 -9.10932162e-01 -2.71301479e-02 1.29653331e+02] [-5.75968356e-02 -3.70436853e-03 9.98333052e-01 5.96973727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.63, Z:0.59 [[-9.09021986e-01 4.13787776e-01 -4.95853449e-02 2.07341604e+02] [-4.12899191e-01 -9.10362245e-01 -2.74743766e-02 1.29634001e+02] [-5.65091871e-02 -4.50106362e-03 9.98391933e-01 5.93956112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.61, Z:0.59 [[-9.08370912e-01 4.15046952e-01 -5.09736619e-02 2.07309452e+02] [-4.14268293e-01 -9.09797705e-01 -2.54934961e-02 1.29612813e+02] [-5.69567184e-02 -2.04077841e-03 9.98374563e-01 5.90605993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.63, Z:0.59 [[-9.08667530e-01 4.14921137e-01 -4.65163415e-02 2.07337712e+02] [-4.14092066e-01 -9.09843710e-01 -2.66867870e-02 1.29629792e+02] [-5.33955127e-02 -4.98736884e-03 9.98560987e-01 5.92790905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.60, Z:0.59 [[-9.08021369e-01 4.16225942e-01 -4.74674561e-02 2.07294682e+02] [-4.15448162e-01 -9.09254075e-01 -2.56875991e-02 1.29602885e+02] [-5.38518230e-02 -3.60462149e-03 9.98542432e-01 5.89538012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.59, Z:0.59 [[-9.06970455e-01 4.17822422e-01 -5.31885127e-02 2.07276584e+02] [-4.17367137e-01 -9.08519362e-01 -1.99309548e-02 1.29585541e+02] [-5.66503934e-02 4.12235011e-03 9.98385566e-01 5.90920482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.63, Z:0.60 [[-9.07187150e-01 4.17718392e-01 -5.02276698e-02 2.07337882e+02] [-4.16847208e-01 -9.08568764e-01 -2.72250899e-02 1.29626560e+02] [-5.70077126e-02 -3.76098781e-03 9.98366654e-01 5.97222456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.60, Z:0.59 [[-9.06875924e-01 4.18347906e-01 -5.06071904e-02 2.07297820e+02] [-4.17437668e-01 -9.08277281e-01 -2.78957827e-02 1.29604528e+02] [-5.76355035e-02 -4.17266612e-03 9.98328973e-01 5.93818649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.64, Z:0.60 [[-9.07606232e-01 4.17110971e-01 -4.76378593e-02 2.07347259e+02] [-4.15880591e-01 -9.08790498e-01 -3.38107168e-02 1.29637748e+02] [-5.73956548e-02 -1.08751562e-02 9.98292277e-01 5.95193887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.60, Z:0.59 [[-9.07160808e-01 4.17724643e-01 -5.06496938e-02 2.07289259e+02] [-4.16766304e-01 -9.08560288e-01 -2.87062888e-02 1.29601774e+02] [-5.80096246e-02 -4.93213443e-03 9.98303840e-01 5.91166938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.63, Z:0.60 [[-9.06804611e-01 4.17759562e-01 -5.64122809e-02 2.07346054e+02] [-4.17285835e-01 -9.08544117e-01 -2.04968376e-02 1.29625650e+02] [-5.98157958e-02 4.95341883e-03 9.98197142e-01 5.97211741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.64, Z:0.59 [[-9.07166778e-01 4.18049129e-01 -4.77845518e-02 2.07341299e+02] [-4.16807054e-01 -9.08358624e-01 -3.40072051e-02 1.29639012e+02] [-5.76221921e-02 -1.09332684e-02 9.98278592e-01 5.94540397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.63, Z:0.60 [[-9.06959860e-01 4.17627700e-01 -5.48718260e-02 2.07345336e+02] [-4.17075314e-01 -9.08612617e-01 -2.17093072e-02 1.29628945e+02] [-5.89236415e-02 3.19621388e-03 9.98257376e-01 5.97125140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.63, Z:0.60 [[-9.07829025e-01 4.16255327e-01 -5.07736579e-02 2.07333355e+02] [-4.15267682e-01 -9.09231809e-01 -2.91593887e-02 1.29630641e+02] [-5.83027757e-02 -5.38708019e-03 9.98284411e-01 5.95861382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.64, Z:0.59 [[-9.08532491e-01 4.15055842e-01 -4.79307843e-02 2.07334834e+02] [-4.13933068e-01 -9.09750635e-01 -3.18307819e-02 1.29635175e+02] [-5.68166134e-02 -9.07916299e-03 9.98343348e-01 5.94985447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.63, Z:0.59 [[-9.08890045e-01 4.14099290e-01 -4.94030807e-02 2.07331018e+02] [-4.13227632e-01 -9.10221540e-01 -2.71969244e-02 1.29629201e+02] [-5.62299752e-02 -4.30429579e-03 9.98408565e-01 5.94608279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.61, Z:0.59 [[-9.08952389e-01 4.13215548e-01 -5.53033878e-02 2.07312845e+02] [-4.12631471e-01 -9.10629227e-01 -2.21287211e-02 1.29612985e+02] [-5.95048129e-02 2.70596436e-03 9.98224351e-01 5.92440045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.62, Z:0.59 [[-9.09009275e-01 4.13675102e-01 -5.07449235e-02 2.07313146e+02] [-4.12891708e-01 -9.10421744e-01 -2.55477058e-02 1.29620564e+02] [-5.67677316e-02 -2.27094347e-03 9.98384829e-01 5.93692372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.62, Z:0.59 [[-9.09677540e-01 4.12933837e-01 -4.44119343e-02 2.07302094e+02] [-4.11804523e-01 -9.10690649e-01 -3.25511365e-02 1.29624405e+02] [-5.38869990e-02 -1.13220023e-02 9.98482851e-01 5.90349639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.66, Z:0.60 [[-9.09455635e-01 4.12726131e-01 -5.04736429e-02 2.07378282e+02] [-4.12152624e-01 -9.10854620e-01 -2.17732687e-02 1.29660107e+02] [-5.49605478e-02 1.00102244e-03 9.98488025e-01 5.96961655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.66, Z:0.60 [[-9.08427815e-01 4.14939184e-01 -5.08367924e-02 2.07364633e+02] [-4.14277955e-01 -9.09849124e-01 -2.34168168e-02 1.29657111e+02] [-5.59703659e-02 -2.11925322e-04 9.98432408e-01 5.96508711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.63, Z:0.59 [[-9.08031398e-01 4.16101744e-01 -4.83561673e-02 2.07300129e+02] [-4.15157630e-01 -9.09298758e-01 -2.86340909e-02 1.29629400e+02] [-5.58848980e-02 -5.92522179e-03 9.98419636e-01 5.90885551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.66, Z:0.59 [[-9.08338447e-01 4.15803391e-01 -4.50422624e-02 2.07350284e+02] [-4.14778077e-01 -9.09409223e-01 -3.05616256e-02 1.29662786e+02] [-5.36694765e-02 -9.07775658e-03 9.98517492e-01 5.93731566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.62, Z:0.59 [[-9.07876757e-01 4.15987638e-01 -5.20968234e-02 2.07294584e+02] [-4.15457955e-01 -9.09366938e-01 -2.11295738e-02 1.29623582e+02] [-5.61647703e-02 2.46099076e-03 9.98418480e-01 5.90087766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.66, Z:0.59 [[-9.09352695e-01 4.13403135e-01 -4.66425167e-02 2.07341848e+02] [-4.12562505e-01 -9.10533388e-01 -2.68538499e-02 1.29658975e+02] [-5.35710344e-02 -5.17666721e-03 9.98550623e-01 5.93922662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.64, Z:0.59 [[-9.10478375e-01 4.11335429e-01 -4.28052945e-02 2.07302850e+02] [-4.10394723e-01 -9.11439057e-01 -2.92406588e-02 1.29640420e+02] [-5.10421362e-02 -9.05592051e-03 9.98655441e-01 5.91066375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.65, Z:0.59 [[-9.11244885e-01 4.08571591e-01 -5.19809019e-02 2.07344694e+02] [-4.08181708e-01 -9.12715393e-01 -1.83930467e-02 1.29649306e+02] [-5.49586456e-02 4.45708359e-03 9.98478684e-01 5.94757611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.66, Z:0.59 [[-9.12759738e-01 4.05851320e-01 -4.64151460e-02 2.07344000e+02] [-4.04979678e-01 -9.13918766e-01 -2.72754268e-02 1.29657647e+02] [-5.34894409e-02 -6.09872053e-03 9.98549791e-01 5.94441910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.66, Z:0.60 [[-9.14403445e-01 4.01874616e-01 -4.86120571e-02 2.07363390e+02] [-4.01188872e-01 -9.15692441e-01 -2.35550775e-02 1.29661427e+02] [-5.39798810e-02 -2.03622765e-03 9.98539947e-01 5.95493118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.64, Z:0.59 [[-9.14329599e-01 4.02107322e-01 -4.80737527e-02 2.07328522e+02] [-4.01330996e-01 -9.15584635e-01 -2.52627769e-02 1.29641135e+02] [-5.41739369e-02 -3.80501759e-03 9.98524264e-01 5.93134758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.67, Z:0.60 [[-9.14421397e-01 4.01981989e-01 -4.73707695e-02 2.07384818e+02] [-4.01106639e-01 -9.15629067e-01 -2.71454519e-02 1.29670535e+02] [-5.42860363e-02 -5.82165193e-03 9.98508455e-01 5.97699094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.66, Z:0.60 [[-9.13557693e-01 4.03689789e-01 -4.94661043e-02 2.07382322e+02] [-4.02841500e-01 -9.14885879e-01 -2.65057311e-02 1.29664693e+02] [-5.59559333e-02 -4.28751490e-03 9.98424034e-01 5.98143516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.65, Z:0.60 [[-9.12317763e-01 4.06256747e-01 -5.13006375e-02 2.07366120e+02] [-4.05423580e-01 -9.13753733e-01 -2.61884712e-02 1.29653769e+02] [-5.75153922e-02 -3.09371938e-03 9.98339826e-01 5.96663784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.65, Z:0.59 [[-9.11455390e-01 4.08351388e-01 -4.99821653e-02 2.07348391e+02] [-4.07347039e-01 -9.12802622e-01 -2.93217265e-02 1.29646880e+02] [-5.75974193e-02 -6.36535866e-03 9.98319598e-01 5.94705497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.65, Z:0.60 [[-9.09853799e-01 4.11595099e-01 -5.24932262e-02 2.07369409e+02] [-4.10718441e-01 -9.11361801e-01 -2.70190506e-02 1.29654072e+02] [-5.89612300e-02 -3.02344982e-03 9.98255695e-01 5.96103622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.64, Z:0.60 [[-9.05736908e-01 4.20640247e-01 -5.19849637e-02 2.07350048e+02] [-4.19919511e-01 -9.07227405e-01 -2.46178975e-02 1.29639028e+02] [-5.75174622e-02 -4.67837853e-04 9.98344391e-01 5.96472753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.451400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.36, Y:129.65, Z:0.60 [[-9.06158102e-01 4.19999848e-01 -4.97757095e-02 2.07361722e+02] [-4.19105382e-01 -9.07514164e-01 -2.77258296e-02 1.29648412e+02] [-5.68170056e-02 -4.26271739e-03 9.98375509e-01 5.95878058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.63, Z:0.59 [[-9.09001289e-01 4.13678656e-01 -5.08588727e-02 2.07332381e+02] [-4.12706298e-01 -9.10408060e-01 -2.88214353e-02 1.29633043e+02] [-5.82251403e-02 -5.20894475e-03 9.98289888e-01 5.93645880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.64, Z:0.59 [[-9.09558479e-01 4.12552367e-01 -5.00391642e-02 2.07346545e+02] [-4.11572118e-01 -9.10915498e-01 -2.90059765e-02 1.29640833e+02] [-5.75479345e-02 -5.78790702e-03 9.98325967e-01 5.93693097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.63, Z:0.59 [[-9.09683234e-01 4.12096907e-01 -5.15029350e-02 2.07333383e+02] [-4.11238885e-01 -9.11134508e-01 -2.67672817e-02 1.29630381e+02] [-5.79568154e-02 -3.16973785e-03 9.98314059e-01 5.92104570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.33, Y:129.63, Z:0.59 [[-9.09643084e-01 4.12018917e-01 -5.28192433e-02 2.07333973e+02] [-4.11172937e-01 -9.11172170e-01 -2.64970223e-02 1.29629675e+02] [-5.90446990e-02 -2.38498970e-03 9.98252491e-01 5.92363324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.64, Z:0.59 [[-9.10295603e-01 4.10659900e-01 -5.21570951e-02 2.07356445e+02] [-4.09701374e-01 -9.11777585e-01 -2.83975310e-02 1.29643894e+02] [-5.92173975e-02 -4.48131406e-03 9.98235051e-01 5.94263180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.65, Z:0.60 [[-9.08009559e-01 4.15969084e-01 -4.98834840e-02 2.07368256e+02] [-4.15088587e-01 -9.09369320e-01 -2.73661310e-02 1.29649990e+02] [-5.67459744e-02 -4.14264368e-03 9.98380054e-01 5.96318437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.66, Z:0.60 [[-9.10503136e-01 4.10338814e-01 -5.10499561e-02 2.07374992e+02] [-4.09426139e-01 -9.11922953e-01 -2.76905036e-02 1.29655980e+02] [-5.79161151e-02 -4.31110395e-03 9.98312145e-01 5.96855434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.66, Z:0.60 [[-9.09142858e-01 4.13592201e-01 -4.89975002e-02 2.07377541e+02] [-4.12704413e-01 -9.10449675e-01 -2.75037613e-02 1.29656235e+02] [-5.59850993e-02 -4.78336357e-03 9.98420146e-01 5.97233355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.721400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.38, Y:129.66, Z:0.59 [[-9.09920790e-01 4.11913399e-01 -4.86981371e-02 2.07377919e+02] [-4.11048059e-01 -9.11211249e-01 -2.70841738e-02 1.29657686e+02] [-5.55306244e-02 -4.62717813e-03 9.98446262e-01 5.94881842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.65, Z:0.60 [[-9.08611191e-01 4.14748984e-01 -4.90814014e-02 2.07354915e+02] [-4.13874846e-01 -9.09924857e-01 -2.72830911e-02 1.29645104e+02] [-5.59760214e-02 -4.47616442e-03 9.98422080e-01 5.95204415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.65, Z:0.60 [[-9.08365060e-01 4.15256924e-01 -4.93417095e-02 2.07358130e+02] [-4.14372663e-01 -9.09693076e-01 -2.74554757e-02 1.29648469e+02] [-5.62868879e-02 -4.49373932e-03 9.98404524e-01 5.95708138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.62, Z:0.59 [[-9.09380850e-01 4.12800115e-01 -5.12106934e-02 2.07305228e+02] [-4.11888020e-01 -9.10812285e-01 -2.77351971e-02 1.29622585e+02] [-5.80924212e-02 -4.12878603e-03 9.98302671e-01 5.91089277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.66, Z:0.60 [[-9.07311709e-01 4.17346391e-01 -5.10632266e-02 2.07368047e+02] [-4.16375396e-01 -9.08734058e-01 -2.88780522e-02 1.29659517e+02] [-5.84550440e-02 -4.93992368e-03 9.98277820e-01 5.97043236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.65, Z:0.60 [[-9.07385529e-01 4.17131791e-01 -5.15031167e-02 2.07359369e+02] [-4.16171983e-01 -9.08834576e-01 -2.86460195e-02 1.29654680e+02] [-5.87569787e-02 -4.55882935e-03 9.98261907e-01 5.96981754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.66, Z:0.60 [[-9.07285487e-01 4.17325964e-01 -5.16922200e-02 2.07362443e+02] [-4.16359134e-01 -9.08745389e-01 -2.87556992e-02 1.29656606e+02] [-5.89755664e-02 -4.56710060e-03 9.98248979e-01 5.97132700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.64, Z:0.59 [[-9.09473950e-01 4.12168506e-01 -5.45367542e-02 2.07340731e+02] [-4.11213868e-01 -9.11101868e-01 -2.82230664e-02 1.29643787e+02] [-6.13211977e-02 -3.24187407e-03 9.98112820e-01 5.94274244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.66, Z:0.60 [[-9.09492221e-01 4.12295266e-01 -5.32589295e-02 2.07369402e+02] [-4.11295504e-01 -9.11039100e-01 -2.90476516e-02 1.29660437e+02] [-6.04971765e-02 -4.51345485e-03 9.98158164e-01 5.96832777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:129.66, Z:0.60 [[-9.07004653e-01 4.18136398e-01 -5.00450942e-02 2.07360908e+02] [-4.17154311e-01 -9.08367043e-01 -2.91821353e-02 1.29656110e+02] [-5.76614272e-02 -5.59180574e-03 9.98320536e-01 5.97255070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.64, Z:0.59 [[-9.07524302e-01 4.16098023e-01 -5.71145961e-02 2.07337925e+02] [-4.15193766e-01 -9.09318984e-01 -2.74430595e-02 1.29636764e+02] [-6.33543894e-02 -1.19161921e-03 9.97990381e-01 5.94442500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.64, Z:0.59 [[-9.07564944e-01 4.16233308e-01 -5.54590487e-02 2.07335099e+02] [-4.15145960e-01 -9.09246321e-01 -3.04131524e-02 1.29638427e+02] [-6.30849030e-02 -4.57831093e-03 9.97997662e-01 5.94136407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.65, Z:0.60 [[-9.05335519e-01 4.21761279e-01 -4.98499948e-02 2.07347987e+02] [-4.20650144e-01 -9.06675371e-01 -3.15155172e-02 1.29648665e+02] [-5.84897873e-02 -7.56270960e-03 9.98259360e-01 5.96642844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.64, Z:0.60 [[-9.04334751e-01 4.23773637e-01 -5.09368550e-02 2.07339201e+02] [-4.22846735e-01 -9.05759033e-01 -2.83056887e-02 1.29642133e+02] [-5.81317212e-02 -4.05933503e-03 9.98300669e-01 5.95496689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.141400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.33, Y:129.64, Z:0.59 [[-9.03402768e-01 4.25796547e-01 -5.06037461e-02 2.07330252e+02] [-4.24883384e-01 -9.04810411e-01 -2.81465856e-02 1.29638194e+02] [-5.77715152e-02 -3.92701245e-03 9.98322108e-01 5.93687629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:129.63, Z:0.59 [[-9.00874343e-01 4.31027235e-01 -5.13900791e-02 2.07313952e+02] [-4.30094088e-01 -9.02331557e-01 -2.85803689e-02 1.29628420e+02] [-5.86898075e-02 -3.64475187e-03 9.98269614e-01 5.93906449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:129.63, Z:0.59 [[-8.99278102e-01 4.34262783e-01 -5.21030716e-02 2.07319126e+02] [-4.33307241e-01 -9.00779405e-01 -2.90051539e-02 1.29630537e+02] [-5.95292327e-02 -3.50706152e-03 9.98220402e-01 5.94364358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.62, Z:0.59 [[-8.96154842e-01 4.40604101e-01 -5.26737613e-02 2.07296587e+02] [-4.39639151e-01 -8.97696142e-01 -2.93096110e-02 1.29619341e+02] [-6.01989671e-02 -3.10850210e-03 9.98181557e-01 5.93293418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.62, Z:0.59 [[-8.95166563e-01 4.42669380e-01 -5.21597934e-02 2.07287149e+02] [-4.41725281e-01 -8.96680015e-01 -2.90469873e-02 1.29615339e+02] [-5.96288562e-02 -2.96159239e-03 9.98216223e-01 5.92592577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.61, Z:0.59 [[-8.95525524e-01 4.41282514e-01 -5.74785150e-02 2.07288676e+02] [-4.40441120e-01 -8.97367770e-01 -2.72526246e-02 1.29611734e+02] [-6.36054735e-02 9.10480632e-04 9.97974707e-01 5.90938478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.61, Z:0.59 [[-8.94175382e-01 4.44999191e-01 -4.92555208e-02 2.07284561e+02] [-4.43903929e-01 -8.95506168e-01 -3.19061799e-02 1.29614845e+02] [-5.83068469e-02 -6.66500136e-03 9.98276459e-01 5.92722775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.61, Z:0.59 [[-8.94550080e-01 4.44031203e-01 -5.11512054e-02 2.07287911e+02] [-4.43124395e-01 -8.96006846e-01 -2.85044155e-02 1.29610933e+02] [-5.84886802e-02 -2.83228020e-03 9.98284054e-01 5.92756709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.60, Z:0.59 [[-8.94241644e-01 4.44660957e-01 -5.10736358e-02 2.07277010e+02] [-4.43758548e-01 -8.95694658e-01 -2.84505013e-02 1.29602194e+02] [-5.83972099e-02 -2.77726051e-03 9.98289564e-01 5.92232499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.61, Z:0.59 [[-8.94091668e-01 4.44926084e-01 -5.13893789e-02 2.07288419e+02] [-4.44011195e-01 -8.95562908e-01 -2.86554799e-02 1.29606699e+02] [-5.87719921e-02 -2.80316627e-03 9.98267497e-01 5.93175380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.60, Z:0.59 [[-8.93396730e-01 4.46263667e-01 -5.18750593e-02 2.07277952e+02] [-4.45334460e-01 -8.94897366e-01 -2.89123466e-02 1.29597463e+02] [-5.93253838e-02 -2.72844441e-03 9.98234970e-01 5.92666872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.60, Z:0.59 [[-8.92637383e-01 4.47686120e-01 -5.26843454e-02 2.07283343e+02] [-4.46728604e-01 -8.94186703e-01 -2.93886791e-02 1.29595923e+02] [-6.02665448e-02 -2.69782956e-03 9.98178674e-01 5.93109227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:129.58, Z:0.59 [[-8.91325199e-01 4.50103211e-01 -5.42815633e-02 2.07271370e+02] [-4.49089749e-01 -8.92972661e-01 -3.03022205e-02 1.29579497e+02] [-6.21110788e-02 -2.63183911e-03 9.98065773e-01 5.91668598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.531400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.29, Y:129.58, Z:0.59 [[-8.91001989e-01 4.50675653e-01 -5.48353110e-02 2.07286403e+02] [-4.49640694e-01 -8.92683856e-01 -3.06395139e-02 1.29583121e+02] [-6.27590798e-02 -2.64368058e-03 9.98025205e-01 5.91954811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:129.57, Z:0.59 [[-8.89842849e-01 4.52897412e-01 -5.53501495e-02 2.07277778e+02] [-4.51847302e-01 -8.91559106e-01 -3.09253138e-02 1.29572418e+02] [-6.33539245e-02 -2.50885361e-03 9.97987969e-01 5.91365561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:129.56, Z:0.59 [[-8.88795221e-01 4.54994065e-01 -5.49859608e-02 2.07262639e+02] [-4.53960120e-01 -8.90491324e-01 -3.07475330e-02 1.29557170e+02] [-6.29544661e-02 -2.36682706e-03 9.98013594e-01 5.90204278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:129.55, Z:0.59 [[-8.87821629e-01 4.56895922e-01 -5.49442507e-02 2.07268483e+02] [-4.55865522e-01 -8.89517306e-01 -3.07504233e-02 1.29553112e+02] [-6.29236049e-02 -2.25370141e-03 9.98015802e-01 5.90150606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:129.55, Z:0.59 [[-8.86628493e-01 4.59274378e-01 -5.43779434e-02 2.07272153e+02] [-4.58267971e-01 -8.88292009e-01 -3.04593883e-02 1.29547799e+02] [-6.22927091e-02 -2.08649176e-03 9.98055742e-01 5.90120601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:129.51, Z:0.59 [[-8.85307656e-01 4.61698098e-01 -5.53644371e-02 2.07225344e+02] [-4.60721068e-01 -8.87036462e-01 -3.00401898e-02 1.29507178e+02] [-6.29797728e-02 -1.08724746e-03 9.98014211e-01 5.85317362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:129.51, Z:0.59 [[-8.84446050e-01 4.63197180e-01 -5.65999747e-02 2.07247048e+02] [-4.62190468e-01 -8.86254849e-01 -3.05338159e-02 1.29511510e+02] [-6.43051795e-02 -8.45544108e-04 9.97929922e-01 5.85596705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.53, Z:0.59 [[-8.82974989e-01 4.66405368e-01 -5.31149751e-02 2.07287795e+02] [-4.65331665e-01 -8.84564682e-01 -3.18082481e-02 1.29528719e+02] [-6.18191687e-02 -3.36980768e-03 9.98081677e-01 5.89065303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:129.52, Z:0.59 [[-8.82099259e-01 4.68007247e-01 -5.35734527e-02 2.07287547e+02] [-4.67041547e-01 -8.83723321e-01 -3.00879691e-02 1.29518636e+02] [-6.14254971e-02 -1.51954704e-03 9.98110515e-01 5.88842671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:129.51, Z:0.59 [[-8.80793394e-01 4.70476501e-01 -5.34308735e-02 2.07300077e+02] [-4.69518883e-01 -8.82411465e-01 -3.00337319e-02 1.29510984e+02] [-6.12781805e-02 -1.36670865e-03 9.98119791e-01 5.89427295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.52, Z:0.59 [[-8.80144716e-01 4.71722026e-01 -5.31376399e-02 2.07325730e+02] [-4.70775597e-01 -8.81746365e-01 -2.98945855e-02 1.29519174e+02] [-6.09558552e-02 -1.29565739e-03 9.98139622e-01 5.91486889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:129.51, Z:0.59 [[-8.79975468e-01 4.71942850e-01 -5.39733543e-02 2.07323654e+02] [-4.70965160e-01 -8.81628149e-01 -3.03911850e-02 1.29512366e+02] [-6.19273309e-02 -1.32392775e-03 9.98079783e-01 5.90598188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.51, Z:0.59 [[-8.79858679e-01 4.72179562e-01 -5.38067557e-02 2.07329478e+02] [-4.71206759e-01 -8.81501392e-01 -3.03230420e-02 1.29509720e+02] [-6.17486507e-02 -1.32588471e-03 9.98090851e-01 5.91289234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.51, Z:0.59 [[-8.80210288e-01 4.71495859e-01 -5.40509390e-02 2.07333762e+02] [-4.70511289e-01 -8.81867159e-01 -3.04867253e-02 1.29506411e+02] [-6.20401128e-02 -1.40315228e-03 9.98072671e-01 5.91271722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.50, Z:0.59 [[-8.80752919e-01 4.70480546e-01 -5.40587747e-02 2.07340582e+02] [-4.69492166e-01 -8.82409096e-01 -3.05170949e-02 1.29504235e+02] [-6.20596540e-02 -1.49784913e-03 9.98071318e-01 5.91672345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.49, Z:0.59 [[-8.83357473e-01 4.65597826e-01 -5.38352978e-02 2.07344440e+02] [-4.64606940e-01 -8.84994474e-01 -3.04166603e-02 1.29494658e+02] [-6.18058719e-02 -1.85653120e-03 9.98086463e-01 5.92153305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.48, Z:0.59 [[-8.84957048e-01 4.62538753e-01 -5.39344510e-02 2.07330254e+02] [-4.61536923e-01 -8.86596584e-01 -3.04986171e-02 1.29480647e+02] [-6.19248924e-02 -2.09722558e-03 9.98078609e-01 5.91265540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.47, Z:0.59 [[-8.87972140e-01 4.56694745e-01 -5.41792214e-02 2.07325389e+02] [-4.55671262e-01 -8.89619838e-01 -3.06634031e-02 1.29465633e+02] [-6.22027252e-02 -2.54033353e-03 9.98060303e-01 5.90891319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:129.46, Z:0.59 [[-8.89120507e-01 4.54484604e-01 -5.39302109e-02 2.07322837e+02] [-4.53464826e-01 -8.90750482e-01 -3.05488174e-02 1.29459449e+02] [-6.19223286e-02 -2.70612626e-03 9.98077303e-01 5.90586687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.32, Y:129.45, Z:0.59 [[-8.89816258e-01 4.53150623e-01 -5.36799756e-02 2.07318292e+02] [-4.52136243e-01 -8.91429537e-01 -3.04335100e-02 1.29452510e+02] [-6.16428798e-02 -2.80956952e-03 9.98094315e-01 5.89135283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:129.46, Z:0.59 [[-8.90052270e-01 4.52649236e-01 -5.39965346e-02 2.07334130e+02] [-4.51620239e-01 -8.91683993e-01 -3.06400940e-02 1.29458157e+02] [-6.20170607e-02 -2.88535738e-03 9.98070919e-01 5.90069807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:129.46, Z:0.59 [[-8.89864657e-01 4.52962266e-01 -5.44617092e-02 2.07335371e+02] [-4.51914310e-01 -8.91524930e-01 -3.09314573e-02 1.29455043e+02] [-6.25647545e-02 -2.91278487e-03 9.98036656e-01 5.90099525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.191400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.34, Y:129.45, Z:0.59 [[-8.89408831e-01 4.53806864e-01 -5.48749685e-02 2.07341443e+02] [-4.52742790e-01 -8.91095350e-01 -3.11936394e-02 1.29453958e+02] [-6.30547169e-02 -2.89965198e-03 9.98005859e-01 5.90306259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:129.45, Z:0.59 [[-8.88862118e-01 4.54831835e-01 -5.52461526e-02 2.07348955e+02] [-4.53753513e-01 -8.90572715e-01 -3.14322965e-02 1.29454863e+02] [-6.34971252e-02 -2.87084186e-03 9.97977892e-01 5.91237960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.46, Z:0.59 [[-8.87735872e-01 4.56907790e-01 -5.62164886e-02 2.07368943e+02] [-4.55793513e-01 -8.89509671e-01 -3.20127858e-02 1.29461167e+02] [-6.46320015e-02 -2.79578748e-03 9.97905250e-01 5.92971016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.46, Z:0.59 [[-8.87258387e-01 4.57814531e-01 -5.63773934e-02 2.07365988e+02] [-4.56693873e-01 -8.89043432e-01 -3.21322549e-02 1.29457212e+02] [-6.48325645e-02 -2.76240243e-03 9.97892333e-01 5.92661013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.46, Z:0.59 [[-8.86991681e-01 4.58352274e-01 -5.62045403e-02 2.07374048e+02] [-4.57237781e-01 -8.88766386e-01 -3.20612202e-02 1.29459556e+02] [-6.46480394e-02 -2.73919634e-03 9.97904368e-01 5.92832087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.46, Z:0.59 [[-8.86876417e-01 4.58632868e-01 -5.57325197e-02 2.07376589e+02] [-4.57535847e-01 -8.88621682e-01 -3.18190913e-02 1.29458204e+02] [-6.41184065e-02 -2.71997609e-03 9.97938591e-01 5.92492055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.46, Z:0.59 [[-8.86940266e-01 4.58552317e-01 -5.53781303e-02 2.07376967e+02] [-4.57467340e-01 -8.88663213e-01 -3.16437341e-02 1.29455626e+02] [-6.37228147e-02 -2.73241596e-03 9.97963896e-01 5.91672337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.46, Z:0.59 [[-8.87148576e-01 4.58171722e-01 -5.51912854e-02 2.07388807e+02] [-4.57091608e-01 -8.88859368e-01 -3.15640021e-02 1.29459447e+02] [-6.35190242e-02 -2.77448605e-03 9.97976771e-01 5.92352289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.45, Z:0.59 [[-8.87952430e-01 4.56712403e-01 -5.43531247e-02 2.07383066e+02] [-4.55660512e-01 -8.89609808e-01 -3.11108852e-02 1.29450266e+02] [-6.25618000e-02 -2.85841343e-03 9.98036999e-01 5.92060223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.44, Z:0.59 [[-8.88151724e-01 4.56375303e-01 -5.39267837e-02 2.07373752e+02] [-4.55337615e-01 -8.89782711e-01 -3.08931056e-02 1.29441699e+02] [-6.20819702e-02 -2.88287188e-03 9.98066891e-01 5.91673880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:129.44, Z:0.59 [[-8.88128256e-01 4.56457989e-01 -5.36125501e-02 2.07371404e+02] [-4.55430889e-01 -8.89740292e-01 -3.07395094e-02 1.29436953e+02] [-6.17325407e-02 -2.88381546e-03 9.98088562e-01 5.91634671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:129.44, Z:0.59 [[-8.87917369e-01 4.56874349e-01 -5.35590829e-02 2.07383487e+02] [-4.55848398e-01 -8.89526593e-01 -3.07356350e-02 1.29441167e+02] [-6.16845517e-02 -2.87588207e-03 9.98091552e-01 5.92624669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.44, Z:0.59 [[-8.87449458e-01 4.57755872e-01 -5.37868186e-02 2.07386991e+02] [-4.56721102e-01 -8.89073358e-01 -3.08933614e-02 1.29437960e+02] [-6.19620449e-02 -2.85072176e-03 9.98074435e-01 5.92566226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.45, Z:0.59 [[-8.87213749e-01 4.58189821e-01 -5.39800968e-02 2.07406747e+02] [-4.57146708e-01 -8.88849784e-01 -3.10314183e-02 1.29445421e+02] [-6.21984774e-02 -2.85467741e-03 9.98059718e-01 5.94431025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.44, Z:0.59 [[-8.87267430e-01 4.58097279e-01 -5.38831250e-02 2.07398753e+02] [-4.57056085e-01 -8.88897401e-01 -3.10023499e-02 1.29436397e+02] [-6.20986620e-02 -2.87976519e-03 9.98065861e-01 5.93715990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:129.44, Z:0.59 [[-8.87484682e-01 4.57723783e-01 -5.34778272e-02 2.07411629e+02] [-4.56695912e-01 -8.89089695e-01 -3.07954324e-02 1.29439678e+02] [-6.16423868e-02 -2.90736945e-03 9.98094065e-01 5.94477075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:129.43, Z:0.59 [[-8.87819784e-01 4.57086184e-01 -5.33690156e-02 2.07400050e+02] [-4.56059719e-01 -8.89417453e-01 -3.07591912e-02 1.29429897e+02] [-6.15269352e-02 -2.96916028e-03 9.98101007e-01 5.93083052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.44, Z:0.59 [[-8.88007732e-01 4.56706991e-01 -5.34882460e-02 2.07424551e+02] [-4.55673594e-01 -8.89612033e-01 -3.08546109e-02 1.29440637e+02] [-6.16753038e-02 -3.02595177e-03 9.98091679e-01 5.94861103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:129.43, Z:0.59 [[-8.88034979e-01 4.56498390e-01 -5.48005073e-02 2.07421996e+02] [-4.55411441e-01 -8.89718697e-01 -3.16395433e-02 1.29432357e+02] [-6.32004365e-02 -3.14024318e-03 9.97995914e-01 5.94824010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:129.43, Z:0.60 [[-8.87716654e-01 4.57035260e-01 -5.54789473e-02 2.07430542e+02] [-4.55920461e-01 -8.89442944e-01 -3.20590355e-02 1.29433373e+02] [-6.39974679e-02 -3.16535243e-03 9.97945041e-01 5.95470929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:129.43, Z:0.60 [[-8.86665971e-01 4.59084013e-01 -5.53653788e-02 2.07442287e+02] [-4.57975999e-01 -8.88387671e-01 -3.20207835e-02 1.29433353e+02] [-6.38861497e-02 -3.03572445e-03 9.97952576e-01 5.95811005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:129.44, Z:0.60 [[-8.85894359e-01 4.60631638e-01 -5.48605331e-02 2.07455842e+02] [-4.59545015e-01 -8.87586593e-01 -3.17556144e-02 1.29438614e+02] [-6.33211144e-02 -2.92123515e-03 9.97988929e-01 5.96676924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.44, Z:0.60 [[-8.85108175e-01 4.62221518e-01 -5.41736792e-02 2.07466744e+02] [-4.61163285e-01 -8.86760088e-01 -3.13842456e-02 1.29442271e+02] [-6.25455302e-02 -2.79554049e-03 9.98038197e-01 5.97402478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.44, Z:0.60 [[-8.84277321e-01 4.63834935e-01 -5.39515798e-02 2.07470725e+02] [-4.62786728e-01 -8.85917546e-01 -3.12817337e-02 1.29441836e+02] [-6.23062121e-02 -2.69365260e-03 9.98053446e-01 5.97185702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.39, Z:0.59 [[-8.83436352e-01 4.65483332e-01 -5.35301770e-02 2.07391252e+02] [-4.64376229e-01 -8.85049029e-01 -3.22944892e-02 1.29393607e+02] [-6.24093776e-02 -3.67198395e-03 9.98043880e-01 5.90627527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:129.39, Z:0.59 [[-8.83255698e-01 4.65768260e-01 -5.40305483e-02 2.07393880e+02] [-4.64714284e-01 -8.84902765e-01 -3.14281830e-02 1.29394268e+02] [-6.24500317e-02 -2.65035415e-03 9.98044573e-01 5.91107577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.45, Z:0.60 [[-8.83092593e-01 4.66014506e-01 -5.45706239e-02 2.07493484e+02] [-4.65016021e-01 -8.84775659e-01 -3.05308566e-02 1.29448484e+02] [-6.25105818e-02 -1.58535890e-03 9.98043042e-01 5.99657257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.48, Y:129.44, Z:0.60 [[-8.82911918e-01 4.66456189e-01 -5.37137597e-02 2.07476120e+02] [-4.65416571e-01 -8.84540553e-01 -3.12318086e-02 1.29435099e+02] [-6.20802692e-02 -2.57566219e-03 9.98067836e-01 5.98720103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:129.43, Z:0.60 [[-8.82763864e-01 4.66715916e-01 -5.38907681e-02 2.07470494e+02] [-4.65668274e-01 -8.84403500e-01 -3.13609284e-02 1.29430678e+02] [-6.22978284e-02 -2.58907330e-03 9.98054246e-01 5.98208956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:129.44, Z:0.60 [[-8.82574578e-01 4.67040282e-01 -5.41801530e-02 2.07492353e+02] [-4.65980276e-01 -8.84232207e-01 -3.15560883e-02 1.29441579e+02] [-6.26458006e-02 -2.60371862e-03 9.98032427e-01 5.99614681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:129.44, Z:0.60 [[-8.82494652e-01 4.67135439e-01 -5.46595949e-02 2.07497299e+02] [-4.66055040e-01 -8.84181820e-01 -3.18623287e-02 1.29441934e+02] [-6.32130430e-02 -2.64395497e-03 9.97996553e-01 5.99915138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.121400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.51, Y:129.44, Z:0.60 [[-8.82590955e-01 4.66862146e-01 -5.54341294e-02 2.07509154e+02] [-4.65748584e-01 -8.84325906e-01 -3.23411262e-02 1.29444894e+02] [-6.41206842e-02 -2.72561815e-03 9.97938429e-01 6.00187136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:129.45, Z:0.60 [[-8.82416515e-01 4.67150844e-01 -5.57779794e-02 2.07514552e+02] [-4.66022227e-01 -8.84173372e-01 -3.25688862e-02 1.29447571e+02] [-6.45319868e-02 -2.74554485e-03 9.97911862e-01 6.00362066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:129.44, Z:0.60 [[-8.81977787e-01 4.67997645e-01 -5.56182297e-02 2.07498059e+02] [-4.66875447e-01 -8.83725589e-01 -3.25023140e-02 1.29437369e+02] [-6.43622592e-02 -2.69953311e-03 9.97922949e-01 5.99373749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:129.44, Z:0.60 [[-8.81155645e-01 4.69532426e-01 -5.57138213e-02 2.07511952e+02] [-4.68407669e-01 -8.82911354e-01 -3.25852378e-02 1.29444968e+02] [-6.44901911e-02 -2.61588513e-03 9.97914912e-01 6.00626639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:129.45, Z:0.60 [[-8.80041584e-01 4.71595730e-01 -5.58952413e-02 2.07524950e+02] [-4.70466000e-01 -8.81811336e-01 -3.27186515e-02 1.29452502e+02] [-6.47190337e-02 -2.49696332e-03 9.97900402e-01 6.01701833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:129.46, Z:0.60 [[-8.77242466e-01 4.76712500e-01 -5.64875993e-02 2.07536549e+02] [-4.75567408e-01 -8.79056595e-01 -3.30929586e-02 1.29461056e+02] [-6.54316237e-02 -2.16688739e-03 9.97854703e-01 6.01929480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:129.48, Z:0.60 [[-8.75480740e-01 4.79976279e-01 -5.61804695e-02 2.07559954e+02] [-4.78848564e-01 -8.77279330e-01 -3.29397894e-02 1.29476489e+02] [-6.50962821e-02 -1.93621407e-03 9.97877109e-01 6.03511815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:129.47, Z:0.60 [[-8.73963205e-01 4.82822715e-01 -5.54124737e-02 2.07553123e+02] [-4.81729692e-01 -8.75716425e-01 -3.25153406e-02 1.29473831e+02] [-6.42247583e-02 -1.72337739e-03 9.97933971e-01 6.03026976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:129.48, Z:0.60 [[-8.72892915e-01 4.84862786e-01 -5.44613491e-02 2.07562904e+02] [-4.83809370e-01 -8.74588829e-01 -3.19824053e-02 1.29480350e+02] [-6.31383656e-02 -1.56830404e-03 9.98003551e-01 6.04278249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:129.49, Z:0.61 [[-8.72017709e-01 4.86521390e-01 -5.36847521e-02 2.07572733e+02] [-4.85499414e-01 -8.73667463e-01 -3.15512604e-02 1.29485993e+02] [-6.22529843e-02 -1.44934207e-03 9.98059350e-01 6.05215497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:129.48, Z:0.60 [[-8.72139223e-01 4.86266185e-01 -5.40219647e-02 2.07562907e+02] [-4.85229229e-01 -8.73809447e-01 -3.17749197e-02 1.29480556e+02] [-6.26559721e-02 -1.49911754e-03 9.98034058e-01 6.04545558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.57, Y:129.48, Z:0.61 [[-8.72448367e-01 4.85733375e-01 -5.38231910e-02 2.07568876e+02] [-4.84701457e-01 -8.74105643e-01 -3.16831689e-02 1.29483059e+02] [-6.24367275e-02 -1.55374992e-03 9.98047715e-01 6.05533957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:129.49, Z:0.61 [[-8.73086676e-01 4.84583802e-01 -5.38348848e-02 2.07581980e+02] [-4.83547664e-01 -8.74743270e-01 -3.17154441e-02 1.29489947e+02] [-6.24604937e-02 -1.65859893e-03 9.98046059e-01 6.06729458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.511400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:207.57, Y:129.48, Z:0.61 [[-8.73499603e-01 4.83840768e-01 -5.38196448e-02 2.07574106e+02] [-4.82802229e-01 -8.75154333e-01 -3.17317005e-02 1.29482163e+02] [-6.24535857e-02 -1.73338334e-03 9.98046364e-01 6.05785094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:129.48, Z:0.61 [[-8.74058306e-01 4.82785703e-01 -5.42221566e-02 2.07573756e+02] [-4.81727911e-01 -8.75736582e-01 -3.19946621e-02 1.29477940e+02] [-6.29308915e-02 -1.84487390e-03 9.98016182e-01 6.05857238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:129.48, Z:0.61 [[-8.73605100e-01 4.83541170e-01 -5.47911099e-02 2.07582427e+02] [-4.82460852e-01 -8.75319701e-01 -3.23565566e-02 1.29480510e+02] [-6.36054652e-02 -1.83228726e-03 9.97973440e-01 6.06572343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.601400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.60, Y:129.48, Z:0.61 [[-8.72691595e-01 4.85111343e-01 -5.54649926e-02 2.07595215e+02] [-4.84005705e-01 -8.74450616e-01 -3.27810667e-02 1.29484493e+02] [-6.44038642e-02 -1.76238858e-03 9.97922360e-01 6.07931670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:129.49, Z:0.61 [[-8.71473763e-01 4.87202150e-01 -5.62809424e-02 2.07602172e+02] [-4.86066291e-01 -8.73287653e-01 -3.32901787e-02 1.29485577e+02] [-6.53684988e-02 -1.65524839e-03 9.97859820e-01 6.09060315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:129.49, Z:0.61 [[-8.70048882e-01 4.89661849e-01 -5.69755726e-02 2.07617295e+02] [-4.88501210e-01 -8.71911111e-01 -3.37280565e-02 1.29491011e+02] [-6.61929773e-02 -1.51242171e-03 9.97805694e-01 6.10514501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:129.50, Z:0.61 [[-8.66792424e-01 4.95298172e-01 -5.78844990e-02 2.07637701e+02] [-4.94110816e-01 -8.68722313e-01 -3.42935035e-02 1.29495683e+02] [-6.72710655e-02 -1.12399195e-03 9.97734103e-01 6.12773501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:129.50, Z:0.61 [[-8.65110595e-01 4.98250016e-01 -5.77111791e-02 2.07650425e+02] [-4.97074530e-01 -8.67032920e-01 -3.42173522e-02 1.29499676e+02] [-6.70862884e-02 -9.15036661e-04 9.97746758e-01 6.13822093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:129.50, Z:0.61 [[-8.63523027e-01 5.01022691e-01 -5.74825595e-02 2.07662311e+02] [-4.99860881e-01 -8.65433848e-01 -3.41079727e-02 1.29503214e+02] [-6.68362210e-02 -7.19736993e-04 9.97763700e-01 6.14647894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.781400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:207.67, Y:129.51, Z:0.62 [[-8.61797655e-01 5.03964343e-01 -5.76605806e-02 2.07673735e+02] [-5.02800115e-01 -8.63724305e-01 -3.42398925e-02 1.29506081e+02] [-6.70585298e-02 -5.16112574e-04 9.97748910e-01 6.15130309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:129.52, Z:0.62 [[-8.60019211e-01 5.06905345e-01 -5.84288247e-02 2.07696465e+02] [-5.05714792e-01 -8.62001666e-01 -3.47228560e-02 1.29516248e+02] [-6.79669456e-02 -3.14002274e-04 9.97687524e-01 6.17597761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.841400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.71, Y:129.52, Z:0.62 [[-8.56474999e-01 5.12752236e-01 -5.94619357e-02 2.07712823e+02] [-5.11531296e-01 -8.58536620e-01 -3.53638967e-02 1.29518466e+02] [-6.91831664e-02 1.28347659e-04 9.97603966e-01 6.18221564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.871400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.73, Y:129.52, Z:0.62 [[-8.54624014e-01 5.15843734e-01 -5.93551688e-02 2.07725724e+02] [-5.14632793e-01 -8.56682623e-01 -3.53266518e-02 1.29522820e+02] [-6.90715737e-02 3.55111307e-04 9.97611644e-01 6.18649651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.901400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:207.73, Y:129.52, Z:0.62 [[-8.52947304e-01 5.18600616e-01 -5.94499499e-02 2.07728586e+02] [-5.17390658e-01 -8.55016427e-01 -3.54092682e-02 1.29520891e+02] [-6.91939521e-02 5.56608839e-04 9.97603071e-01 6.17682940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.931400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.75, Y:129.53, Z:0.62 [[-8.51918545e-01 5.20329104e-01 -5.90966627e-02 2.07753487e+02] [-5.19135871e-01 -8.53965558e-01 -3.52246303e-02 1.29532510e+02] [-6.87949149e-02 6.70681620e-04 9.97630598e-01 6.20044015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.961400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.76, Y:129.53, Z:0.62 [[-8.51202394e-01 5.21548490e-01 -5.86656400e-02 2.07763049e+02] [-5.20373770e-01 -8.53221321e-01 -3.49931095e-02 1.29529924e+02] [-6.83053783e-02 7.41841608e-04 9.97664185e-01 6.20071967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.991400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.75, Y:129.52, Z:0.62 [[-8.51526519e-01 5.21121102e-01 -5.77527925e-02 2.07747421e+02] [-5.19980056e-01 -8.53482478e-01 -3.44731864e-02 1.29516822e+02] [-6.72557014e-02 6.75467882e-04 9.97735543e-01 6.18459421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.53, Z:0.62 [[-8.52147533e-01 5.20213393e-01 -5.67680157e-02 2.07770182e+02] [-5.19107349e-01 -8.54036122e-01 -3.39096174e-02 1.29526859e+02] [-6.61221731e-02 5.72697398e-04 9.97811370e-01 6.19572358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.51, Z:0.62 [[-8.52872075e-01 5.19125668e-01 -5.58369452e-02 2.07751606e+02] [-5.18051758e-01 -8.54697800e-01 -3.33773343e-02 1.29510730e+02] [-6.50507452e-02 4.59831282e-04 9.97881851e-01 6.17360250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.51, Z:0.62 [[-8.53714246e-01 5.17784446e-01 -5.54189005e-02 2.07761165e+02] [-5.16722197e-01 -8.55511050e-01 -3.31514047e-02 1.29510066e+02] [-6.45767634e-02 3.34349530e-04 9.97912687e-01 6.17523628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.111400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.77, Y:129.51, Z:0.62 [[-8.54458863e-01 5.16575865e-01 -5.52216120e-02 2.07771325e+02] [-5.15517092e-01 -8.56241395e-01 -3.30575508e-02 1.29508109e+02] [-6.43597630e-02 2.21367510e-04 9.97926737e-01 6.17503200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.48, Z:0.62 [[-8.57031254e-01 5.12382908e-01 -5.44167798e-02 2.07747447e+02] [-5.11344845e-01 -8.58757092e-01 -3.25991871e-02 1.29479504e+02] [-6.34340618e-02 -1.12782367e-04 9.97986026e-01 6.15932733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.48, Z:0.62 [[-8.58100983e-01 5.10586212e-01 -5.44465188e-02 2.07756189e+02] [-5.09541863e-01 -8.59826523e-01 -3.26410887e-02 1.29478344e+02] [-6.34806508e-02 -2.66569720e-04 9.97983034e-01 6.16296173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.201400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:207.76, Y:129.48, Z:0.62 [[-8.58543719e-01 5.09792860e-01 -5.48991973e-02 2.07763641e+02] [-5.08727844e-01 -8.60297110e-01 -3.29372525e-02 1.29475553e+02] [-6.40207969e-02 -3.49320961e-04 9.97948503e-01 6.15254158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.231400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.77, Y:129.47, Z:0.62 [[-8.58770100e-01 5.09420762e-01 -5.48124322e-02 2.07770266e+02] [-5.08356790e-01 -8.60517478e-01 -3.29096359e-02 1.29473873e+02] [-6.39319077e-02 -3.97539284e-04 9.97954184e-01 6.16213321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.261400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.78, Y:129.47, Z:0.62 [[-8.57691970e-01 5.11182166e-01 -5.52926618e-02 2.07781189e+02] [-5.10101492e-01 -8.59472343e-01 -3.32228690e-02 1.29467595e+02] [-6.45054518e-02 -2.90118685e-04 9.97917313e-01 6.16955743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.291400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:207.80, Y:129.47, Z:0.62 [[-8.56599406e-01 5.12998286e-01 -5.54095281e-02 2.07799922e+02] [-5.11915221e-01 -8.58389613e-01 -3.33178381e-02 1.29472761e+02] [-6.46549572e-02 -1.75059507e-04 9.97907664e-01 6.17768048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.321400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.81, Y:129.47, Z:0.62 [[-8.55639270e-01 5.14657242e-01 -5.48576667e-02 2.07807680e+02] [-5.13597525e-01 -8.57396010e-01 -3.30100614e-02 1.29471649e+02] [-6.40236117e-02 -6.99430017e-05 9.97948382e-01 6.17941060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.351400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.81, Y:129.47, Z:0.62 [[-8.54819815e-01 5.16108069e-01 -5.39957874e-02 2.07810123e+02] [-5.15082834e-01 -8.56523473e-01 -3.25148177e-02 1.29467794e+02] [-6.30298192e-02 1.79927879e-05 9.98011644e-01 6.17618673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.83, Y:129.47, Z:0.62 [[-8.54397990e-01 5.16896839e-01 -5.31199845e-02 2.07826812e+02] [-5.15904717e-01 -8.56047695e-01 -3.20104272e-02 1.29472549e+02] [-6.20193289e-02 5.52058877e-05 9.98074947e-01 6.18542652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.82, Y:129.46, Z:0.62 [[-8.54384208e-01 5.16963063e-01 -5.26955002e-02 2.07817379e+02] [-5.15985461e-01 -8.56007704e-01 -3.17775684e-02 1.29461690e+02] [-6.15355832e-02 3.98593763e-05 9.98104890e-01 6.17938617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.46, Z:0.62 [[-8.56233850e-01 5.13838020e-01 -5.32361127e-02 2.07832272e+02] [-5.12832715e-01 -8.57887199e-01 -3.21272445e-02 1.29459752e+02] [-6.21787794e-02 -2.07214056e-04 9.98065006e-01 6.22821209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.471400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.74, Y:129.41, Z:0.62 [[-8.60347621e-01 5.07672894e-01 -4.54994877e-02 2.07742202e+02] [-5.06439790e-01 -8.61511013e-01 -3.62975654e-02 1.29409398e+02] [-5.76255998e-02 -8.18577305e-03 9.98304705e-01 6.19341530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.501400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:207.82, Y:129.43, Z:0.63 [[-8.57792536e-01 5.10467489e-01 -6.01241072e-02 2.07817282e+02] [-5.09795794e-01 -8.59865799e-01 -2.71855772e-02 1.29429064e+02] [-6.55760168e-02 7.33143171e-03 9.97820643e-01 6.25062266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.531400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.82, Y:129.43, Z:0.62 [[-8.59093959e-01 5.08596869e-01 -5.73305744e-02 2.07824718e+02] [-5.07414855e-01 -8.61004502e-01 -3.46613935e-02 1.29430242e+02] [-6.69905589e-02 -6.87008726e-04 9.97753373e-01 6.20806694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.43, Z:0.62 [[-8.59662191e-01 5.07680618e-01 -5.69324879e-02 2.07831145e+02] [-5.06511283e-01 -8.61545002e-01 -3.44460536e-02 1.29430661e+02] [-6.65374941e-02 -7.75022409e-04 9.97783624e-01 6.22039224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.42, Z:0.62 [[-8.61718932e-01 5.04583203e-01 -5.32566729e-02 2.07819163e+02] [-5.03250155e-01 -8.63348087e-01 -3.70048885e-02 1.29422500e+02] [-6.46510918e-02 -5.08638416e-03 9.97894967e-01 6.20093982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.86, Y:129.43, Z:0.62 [[-8.59155016e-01 5.08410351e-01 -5.80652583e-02 2.07858924e+02] [-5.07543582e-01 -8.61106671e-01 -2.99134210e-02 1.29429231e+02] [-6.52086741e-02 3.77038348e-03 9.97864526e-01 6.24030591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.41, Z:0.62 [[-8.62304402e-01 5.03885192e-01 -5.03073794e-02 2.07815897e+02] [-5.02650925e-01 -8.63753316e-01 -3.56687193e-02 1.29409103e+02] [-6.14261052e-02 -5.47024287e-03 9.98096644e-01 6.19568003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:129.36, Z:0.62 [[-8.65742119e-01 4.98069419e-01 -4.91674426e-02 2.07745051e+02] [-4.97060206e-01 -8.67131510e-01 -3.18448829e-02 1.29362572e+02] [-5.84956010e-02 -3.13027731e-03 9.98282759e-01 6.17830076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:129.31, Z:0.61 [[-8.66455942e-01 4.96515141e-01 -5.22189284e-02 2.07687515e+02] [-4.95642210e-01 -8.68027978e-01 -2.94317773e-02 1.29313475e+02] [-5.99408138e-02 3.80566727e-04 9.98201860e-01 6.13851214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.38, Z:0.62 [[-8.65163466e-01 4.98769326e-01 -5.21664412e-02 2.07810883e+02] [-4.97860919e-01 -8.66734767e-01 -3.00890243e-02 1.29378872e+02] [-6.02219507e-02 -6.02922279e-05 9.98185009e-01 6.22457981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.38, Z:0.62 [[-8.66505646e-01 4.96634830e-01 -5.02176375e-02 2.07814632e+02] [-4.95658519e-01 -8.67956941e-01 -3.11990523e-02 1.29378231e+02] [-5.90812831e-02 -2.14335510e-03 9.98250874e-01 6.21314961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.33, Z:0.62 [[-8.69175492e-01 4.91823695e-01 -5.14141691e-02 2.07755309e+02] [-4.90933452e-01 -8.70694683e-01 -2.95823347e-02 1.29331796e+02] [-5.93153368e-02 -4.71304821e-04 9.98239184e-01 6.17011988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.36, Z:0.62 [[-8.69358604e-01 4.91427862e-01 -5.20986927e-02 2.07807547e+02] [-4.90416415e-01 -8.70916220e-01 -3.15701973e-02 1.29356469e+02] [-6.08880710e-02 -1.89576852e-03 9.98142800e-01 6.18485457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.36, Z:0.62 [[-8.69203332e-01 4.91666051e-01 -5.24410378e-02 2.07810059e+02] [-4.90690168e-01 -8.70783012e-01 -3.09855649e-02 1.29357442e+02] [-6.08993152e-02 -1.20045455e-03 9.98143192e-01 6.19039838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.34, Z:0.62 [[-8.70496750e-01 4.89208778e-01 -5.39460859e-02 2.07799247e+02] [-4.88207691e-01 -8.72166242e-01 -3.12937109e-02 1.29344412e+02] [-6.23591131e-02 -9.04179564e-04 9.98053367e-01 6.19059946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.921400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:207.76, Y:129.31, Z:0.61 [[-8.71978289e-01 4.86159231e-01 -5.74723107e-02 2.07755721e+02] [-4.85131940e-01 -8.73870179e-01 -3.15897385e-02 1.29311055e+02] [-6.55809814e-02 3.36087479e-04 9.97847194e-01 6.14509674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:129.32, Z:0.62 [[-8.73120983e-01 4.84689183e-01 -5.23081722e-02 2.07767781e+02] [-4.83517994e-01 -8.74675617e-01 -3.39546041e-02 1.29316063e+02] [-6.22101121e-02 -4.35453480e-03 9.98053576e-01 6.16138721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:129.30, Z:0.62 [[-8.75367544e-01 4.79987802e-01 -5.78219097e-02 2.07756787e+02] [-4.79026588e-01 -8.77274469e-01 -3.03814896e-02 1.29299430e+02] [-6.53084295e-02 1.10326220e-03 9.97864516e-01 6.15393850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.77, Y:129.30, Z:0.61 [[-8.77051711e-01 4.77279797e-01 -5.46286726e-02 2.07765595e+02] [-4.76258408e-01 -8.78750300e-01 -3.12384175e-02 1.29296470e+02] [-6.29144281e-02 -1.38034290e-03 9.98017971e-01 6.12168800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.32, Z:0.61 [[-8.75011795e-01 4.81478453e-01 -5.03275027e-02 2.07810903e+02] [-4.80430308e-01 -8.76449675e-01 -3.19794729e-02 1.29316891e+02] [-5.95069505e-02 -3.80355842e-03 9.98220645e-01 6.14734845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:129.29, Z:0.61 [[-8.77746698e-01 4.75904563e-01 -5.54579206e-02 2.07775183e+02] [-4.74964381e-01 -8.79496923e-01 -2.98998231e-02 1.29289391e+02] [-6.30045327e-02 9.60659273e-05 9.98013236e-01 6.12906016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:129.31, Z:0.62 [[-8.75106641e-01 4.81255091e-01 -5.08124444e-02 2.07820055e+02] [-4.80159549e-01 -8.76570317e-01 -3.27305178e-02 1.29311178e+02] [-6.02924088e-02 -4.24461314e-03 9.98171733e-01 6.15378281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.29, Z:0.61 [[-8.77498091e-01 4.76188368e-01 -5.69362620e-02 2.07799183e+02] [-4.75276474e-01 -8.79342491e-01 -2.94797564e-02 1.29291090e+02] [-6.41043915e-02 1.19203585e-03 9.97942486e-01 6.14300776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.161400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:207.79, Y:129.29, Z:0.61 [[-8.77080623e-01 4.77204674e-01 -5.48204262e-02 2.07794852e+02] [-4.76118866e-01 -8.78789472e-01 -3.22473200e-02 1.29289181e+02] [-6.35641852e-02 -2.18246042e-03 9.97975366e-01 6.11580470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.29, Z:0.61 [[-8.76787514e-01 4.77885862e-01 -5.35607837e-02 2.07804572e+02] [-4.76818247e-01 -8.78418261e-01 -3.20268290e-02 1.29292089e+02] [-6.23539392e-02 -2.54196482e-03 9.98050863e-01 6.12577270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.221400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.82, Y:129.30, Z:0.62 [[-8.75865192e-01 4.79464643e-01 -5.45327589e-02 2.07821571e+02] [-4.78460170e-01 -8.77560516e-01 -3.10387921e-02 1.29298290e+02] [-6.27377994e-02 -1.09404449e-03 9.98029444e-01 6.15405331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.31, Z:0.62 [[-8.74507408e-01 4.81947123e-01 -5.44404622e-02 2.07845050e+02] [-4.80850319e-01 -8.76197252e-01 -3.25783132e-02 1.29310671e+02] [-6.34016077e-02 -2.31226264e-03 9.97985416e-01 6.17101720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.30, Z:0.62 [[-8.74069033e-01 4.82388742e-01 -5.74841505e-02 2.07833101e+02] [-4.81353632e-01 -8.75957246e-01 -3.15845480e-02 1.29299427e+02] [-6.55896886e-02 6.31293030e-05 9.97846676e-01 6.17198044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.31, Z:0.62 [[-8.73563386e-01 4.83434331e-01 -5.63760385e-02 2.07841327e+02] [-4.82287178e-01 -8.75378490e-01 -3.33403057e-02 1.29305337e+02] [-6.54682199e-02 -1.93542978e-03 9.97852778e-01 6.17357028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.31, Z:0.62 [[-8.73769163e-01 4.82811420e-01 -5.84857438e-02 2.07855664e+02] [-4.81650765e-01 -8.75723682e-01 -3.34749744e-02 1.29312008e+02] [-6.73794508e-02 -1.07969712e-03 9.97726838e-01 6.17177347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.30, Z:0.62 [[-8.73401543e-01 4.83430303e-01 -5.88632820e-02 2.07841836e+02] [-4.82249118e-01 -8.75382128e-01 -3.37922760e-02 1.29299785e+02] [-6.78640754e-02 -1.12746020e-03 9.97693939e-01 6.17330126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.30, Z:0.62 [[-8.74492179e-01 4.81715782e-01 -5.66862793e-02 2.07843801e+02] [-4.80455622e-01 -8.76321082e-01 -3.49822287e-02 1.29296910e+02] [-6.65268733e-02 -3.35644386e-03 9.97778988e-01 6.16557392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:129.28, Z:0.62 [[-8.74434863e-01 4.81640411e-01 -5.81909333e-02 2.07825024e+02] [-4.80492507e-01 -8.76368227e-01 -3.32517957e-02 1.29280074e+02] [-6.70120936e-02 -1.11622202e-03 9.97751539e-01 6.15969049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.29, Z:0.62 [[-8.75547869e-01 4.79778207e-01 -5.68225363e-02 2.07840156e+02] [-4.78568046e-01 -8.77385595e-01 -3.41634682e-02 1.29287693e+02] [-6.62461624e-02 -2.71830159e-03 9.97799608e-01 6.16662201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.29, Z:0.62 [[-8.75787593e-01 4.79329288e-01 -5.69168360e-02 2.07850371e+02] [-4.78143657e-01 -8.77631948e-01 -3.37758423e-02 1.29290090e+02] [-6.61417840e-02 -2.36603948e-03 9.97807429e-01 6.18236536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.521400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.85, Y:129.28, Z:0.62 [[-8.75461051e-01 4.79646037e-01 -5.92252294e-02 2.07851277e+02] [-4.78521025e-01 -8.77461974e-01 -3.28346477e-02 1.29283549e+02] [-6.77168954e-02 -4.04937695e-04 9.97704494e-01 6.18236569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.29, Z:0.62 [[-8.75117835e-01 4.80459748e-01 -5.76819264e-02 2.07864118e+02] [-4.79230677e-01 -8.77013240e-01 -3.44344910e-02 1.29291966e+02] [-6.71322001e-02 -2.49128861e-03 9.97740979e-01 6.17287243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.29, Z:0.62 [[-8.74246858e-01 4.82087559e-01 -5.73063340e-02 2.07862754e+02] [-4.80917827e-01 -8.76121140e-01 -3.36123857e-02 1.29289115e+02] [-6.64114036e-02 -1.82588497e-03 9.97790655e-01 6.17451844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:129.30, Z:0.62 [[-8.73980393e-01 4.82512627e-01 -5.77913348e-02 2.07878467e+02] [-4.81372901e-01 -8.75888238e-01 -3.31651245e-02 1.29296086e+02] [-6.66213417e-02 -1.16648606e-03 9.97777649e-01 6.19479214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:129.30, Z:0.62 [[-8.73682685e-01 4.83087462e-01 -5.74897470e-02 2.07890059e+02] [-4.81947399e-01 -8.75571144e-01 -3.31945074e-02 1.29300017e+02] [-6.63722139e-02 -1.29443227e-03 9.97794094e-01 6.21034450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.28, Z:0.62 [[-8.74600225e-01 4.81627401e-01 -5.57628243e-02 2.07866785e+02] [-4.80473753e-01 -8.76372740e-01 -3.34034792e-02 1.29281790e+02] [-6.49570500e-02 -2.42211697e-03 9.97885121e-01 6.18853538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.28, Z:0.62 [[-8.75513972e-01 4.80156644e-01 -5.40821900e-02 2.07867075e+02] [-4.79073949e-01 -8.77179526e-01 -3.23145411e-02 1.29279503e+02] [-6.29558314e-02 -2.38246382e-03 9.98013470e-01 6.18688877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.27, Z:0.62 [[-8.77335199e-01 4.76673212e-01 -5.53678471e-02 2.07863996e+02] [-4.75645928e-01 -8.79079853e-01 -3.12979799e-02 1.29273537e+02] [-6.35916674e-02 -1.12332843e-03 9.97975369e-01 6.17800105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.761400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:207.87, Y:129.28, Z:0.62 [[-8.78319745e-01 4.74862489e-01 -5.53176441e-02 2.07874935e+02] [-4.73833585e-01 -8.80059117e-01 -3.12679454e-02 1.29276549e+02] [-6.35307714e-02 -1.25189619e-03 9.97979095e-01 6.18949335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.25, Z:0.62 [[-8.79393116e-01 4.73051194e-01 -5.37616461e-02 2.07835038e+02] [-4.71988211e-01 -8.81031134e-01 -3.18004744e-02 1.29247724e+02] [-6.24089364e-02 -2.59025516e-03 9.98047301e-01 6.15854308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:129.25, Z:0.62 [[-8.81726972e-01 4.68700211e-01 -5.36438178e-02 2.07845373e+02] [-4.67678707e-01 -8.83354420e-01 -3.10095931e-02 1.29249698e+02] [-6.19207064e-02 -2.25392327e-03 9.98078527e-01 6.15591267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:129.22, Z:0.61 [[-8.84392879e-01 4.63937929e-01 -5.10963113e-02 2.07805816e+02] [-4.62975305e-01 -8.85863014e-01 -3.00097781e-02 1.29218047e+02] [-5.91870067e-02 -2.88410373e-03 9.98242746e-01 6.10971252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:129.21, Z:0.61 [[-8.85247208e-01 4.62200254e-01 -5.20413829e-02 2.07799853e+02] [-4.61240201e-01 -8.86772212e-01 -2.98751044e-02 1.29209374e+02] [-5.99571331e-02 -2.44327490e-03 9.98197963e-01 6.10393604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:129.23, Z:0.61 [[-8.86321286e-01 4.60066858e-01 -5.26598978e-02 2.07842390e+02] [-4.59058198e-01 -8.87879414e-01 -3.05894888e-02 1.29231262e+02] [-6.08288492e-02 -2.93815722e-03 9.98143887e-01 6.14235496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.941400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:207.83, Y:129.22, Z:0.61 [[-8.86463707e-01 4.59565624e-01 -5.46034234e-02 2.07825879e+02] [-4.58508983e-01 -8.88139786e-01 -3.12607219e-02 1.29216785e+02] [-6.28618259e-02 -2.67533527e-03 9.98018654e-01 6.12618794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.24, Z:0.61 [[-8.85905379e-01 4.60746167e-01 -5.37087348e-02 2.07861083e+02] [-4.59653127e-01 -8.87524688e-01 -3.19207050e-02 1.29235210e+02] [-6.23751706e-02 -3.59133634e-03 9.98046312e-01 6.14465636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:129.24, Z:0.62 [[-8.85377445e-01 4.61773440e-01 -5.35916985e-02 2.07868151e+02] [-4.60683525e-01 -8.86990760e-01 -3.19073968e-02 1.29236088e+02] [-6.22693297e-02 -3.56127690e-03 9.98053029e-01 6.15322466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:129.23, Z:0.62 [[-8.85231382e-01 4.61825251e-01 -5.55233181e-02 2.07863211e+02] [-4.60750220e-01 -8.86967754e-01 -3.15822465e-02 1.29227031e+02] [-6.38328717e-02 -2.37521468e-03 9.97957776e-01 6.15278703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:129.24, Z:0.62 [[-8.85089604e-01 4.62175622e-01 -5.48642606e-02 2.07893349e+02] [-4.61090116e-01 -8.86783885e-01 -3.17843606e-02 1.29241892e+02] [-6.33426988e-02 -2.83463889e-03 9.97987809e-01 6.18203195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:129.24, Z:0.62 [[-8.84938554e-01 4.62546930e-01 -5.41672675e-02 2.07892690e+02] [-4.61435899e-01 -8.86587770e-01 -3.22341051e-02 1.29238553e+02] [-6.29338233e-02 -3.53048060e-03 9.98011458e-01 6.16805265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:129.24, Z:0.62 [[-8.84712355e-01 4.63016482e-01 -5.38496530e-02 2.07908793e+02] [-4.61961194e-01 -8.86344985e-01 -3.13755291e-02 1.29241262e+02] [-6.22567570e-02 -2.88186823e-03 9.98056006e-01 6.16960517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.151400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:207.92, Y:129.24, Z:0.62 [[-8.84676178e-01 4.62692171e-01 -5.71315586e-02 2.07915296e+02] [-4.61704817e-01 -8.86518941e-01 -3.02130823e-02 1.29238812e+02] [-6.46275654e-02 -3.50878397e-04 9.97909392e-01 6.17991041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:129.24, Z:0.62 [[-8.84318361e-01 4.63904570e-01 -5.26648564e-02 2.07915696e+02] [-4.62759521e-01 -8.85872509e-01 -3.29169119e-02 1.29236794e+02] [-6.19246543e-02 -4.73786586e-03 9.98069582e-01 6.17312243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:129.23, Z:0.62 [[-8.84014646e-01 4.64266432e-01 -5.45416008e-02 2.07920156e+02] [-4.63199736e-01 -8.85691658e-01 -3.15640778e-02 1.29232699e+02] [-6.29611827e-02 -2.63945198e-03 9.98012486e-01 6.18833756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:129.23, Z:0.62 [[-8.82647471e-01 4.66473497e-01 -5.77574065e-02 2.07923557e+02] [-4.65326505e-01 -8.84532834e-01 -3.27553026e-02 1.29227609e+02] [-6.63678030e-02 -2.03533292e-03 9.97793151e-01 6.17232967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:129.25, Z:0.62 [[-8.81332404e-01 4.69153728e-01 -5.61068006e-02 2.07961284e+02] [-4.67990609e-01 -8.83111567e-01 -3.31474038e-02 1.29249410e+02] [-6.50997926e-02 -2.95642534e-03 9.97874379e-01 6.20922441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.26, Z:0.62 [[-8.81214723e-01 4.69460606e-01 -5.53836718e-02 2.07975093e+02] [-4.68328510e-01 -8.82948697e-01 -3.27109524e-02 1.29255370e+02] [-6.42574443e-02 -2.88762039e-03 9.97929177e-01 6.21929755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.25, Z:0.62 [[-8.80818194e-01 4.69948577e-01 -5.75121162e-02 2.07977840e+02] [-4.68919391e-01 -8.82693698e-01 -3.10876366e-02 1.29252852e+02] [-6.53751731e-02 -4.14009464e-04 9.97860669e-01 6.22886706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.361400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:207.98, Y:129.25, Z:0.62 [[-8.80455845e-01 4.70809581e-01 -5.59986097e-02 2.07981384e+02] [-4.69654521e-01 -8.82230331e-01 -3.30798261e-02 1.29254715e+02] [-6.49779710e-02 -2.82532606e-03 9.97882699e-01 6.20953125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.25, Z:0.62 [[-8.80243465e-01 4.71504295e-01 -5.34335311e-02 2.07983466e+02] [-4.70349789e-01 -8.81854143e-01 -3.32317063e-02 1.29252592e+02] [-6.27894730e-02 -4.11954223e-03 9.98018292e-01 6.21999353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.25, Z:0.62 [[-8.80174748e-01 4.71325374e-01 -5.60785572e-02 2.07981464e+02] [-4.70285626e-01 -8.81958606e-01 -3.13120957e-02 1.29247858e+02] [-6.42171513e-02 -1.18717659e-03 9.97935242e-01 6.22390002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.97, Y:129.24, Z:0.62 [[-8.80370705e-01 4.70952186e-01 -5.61378596e-02 2.07968841e+02] [-4.69868930e-01 -8.82156960e-01 -3.19732204e-02 1.29240627e+02] [-6.45802616e-02 -1.77085059e-03 9.97910945e-01 6.19848035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:129.26, Z:0.62 [[-8.81108182e-01 4.69981565e-01 -5.25899225e-02 2.08000364e+02] [-4.68883757e-01 -8.82667924e-01 -3.23319930e-02 1.29260088e+02] [-6.16148784e-02 -3.82942318e-03 9.98092652e-01 6.22721254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:129.24, Z:0.62 [[-8.82329747e-01 4.67546616e-01 -5.37994318e-02 2.07987001e+02] [-4.66608852e-01 -8.83967820e-01 -2.96154066e-02 1.29243331e+02] [-6.14035495e-02 -1.02726311e-03 9.98112493e-01 6.24639141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.24, Z:0.62 [[-8.83446185e-01 4.65675594e-01 -5.16631297e-02 2.07976500e+02] [-4.64649519e-01 -8.84948736e-01 -3.10895378e-02 1.29236574e+02] [-6.01968602e-02 -3.46068521e-03 9.98180526e-01 6.21935387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:129.23, Z:0.62 [[-8.84336324e-01 4.63824144e-01 -5.30700431e-02 2.07975055e+02] [-4.62828608e-01 -8.85924094e-01 -3.04660430e-02 1.29231840e+02] [-6.11469162e-02 -2.37989428e-03 9.98125939e-01 6.22119659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:129.24, Z:0.62 [[-8.85609686e-01 4.61279942e-01 -5.40027690e-02 2.07987768e+02] [-4.60212929e-01 -8.87249416e-01 -3.15045118e-02 1.29237273e+02] [-6.24463246e-02 -3.04792834e-03 9.98043670e-01 6.21922513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.98, Y:129.23, Z:0.62 [[-8.85743061e-01 4.61112502e-01 -5.32399427e-02 2.07981828e+02] [-4.60017902e-01 -8.87333379e-01 -3.19844423e-02 1.29230324e+02] [-6.19900044e-02 -3.83867108e-03 9.98069388e-01 6.22217179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.661400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.98, Y:129.23, Z:0.62 [[-8.85460423e-01 4.61731713e-01 -5.25705754e-02 2.07983395e+02] [-4.60639904e-01 -8.87010068e-01 -3.20002942e-02 1.29226348e+02] [-6.14061803e-02 -4.11888920e-03 9.98104361e-01 6.22728028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.691400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.01, Y:129.24, Z:0.63 [[-8.84608395e-01 4.63185210e-01 -5.41059146e-02 2.08014573e+02] [-4.62167585e-01 -8.86258754e-01 -3.07659795e-02 1.29235125e+02] [-6.22021871e-02 -2.20984389e-03 9.98061123e-01 6.27147235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.23, Z:0.62 [[-8.84077688e-01 4.64406263e-01 -5.22825464e-02 2.08011447e+02] [-4.63268137e-01 -8.85609163e-01 -3.28487956e-02 1.29232278e+02] [-6.15570885e-02 -4.82004945e-03 9.98091926e-01 6.24856391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:129.23, Z:0.63 [[-8.83937364e-01 4.64565525e-01 -5.32316677e-02 2.08014422e+02] [-4.63519196e-01 -8.85533670e-01 -3.13061470e-02 1.29232494e+02] [-6.16821907e-02 -2.99877327e-03 9.98091336e-01 6.26429115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.781400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.03, Y:129.24, Z:0.63 [[-8.82875284e-01 4.66571310e-01 -5.33145947e-02 2.08028577e+02] [-4.65580966e-01 -8.84481177e-01 -3.04534533e-02 1.29236488e+02] [-6.13644631e-02 -2.06434070e-03 9.98113291e-01 6.28733158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.811400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.04, Y:129.23, Z:0.63 [[-8.81168935e-01 4.69930885e-01 -5.20218389e-02 2.08037213e+02] [-4.68891818e-01 -8.82697119e-01 -3.14047737e-02 1.29234508e+02] [-6.06776004e-02 -3.28029632e-03 9.98152027e-01 6.27288260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:129.24, Z:0.63 [[-8.80771838e-01 4.70513109e-01 -5.34638459e-02 2.08051135e+02] [-4.69539844e-01 -8.82391601e-01 -3.02885804e-02 1.29237201e+02] [-6.14272227e-02 -1.57392276e-03 9.98110324e-01 6.29678283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:129.24, Z:0.63 [[-8.80465501e-01 4.71235581e-01 -5.21299176e-02 2.08065683e+02] [-4.70145854e-01 -8.81998763e-01 -3.22654326e-02 1.29244271e+02] [-6.11831427e-02 -3.89993570e-03 9.98118938e-01 6.29328766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:129.25, Z:0.63 [[-8.80049776e-01 4.71937221e-01 -5.27982019e-02 2.08081600e+02] [-4.70867509e-01 -8.81626234e-01 -3.19213335e-02 1.29248339e+02] [-6.16131454e-02 -3.23140463e-03 9.98094874e-01 6.31305750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:129.24, Z:0.63 [[-8.79621960e-01 4.72526326e-01 -5.46267239e-02 2.08074391e+02] [-4.71513150e-01 -8.81315317e-01 -3.09622651e-02 1.29237495e+02] [-6.27738538e-02 -1.47786964e-03 9.98026683e-01 6.32567635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.961400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.08, Y:129.24, Z:0.63 [[-8.78877801e-01 4.73990323e-01 -5.39164531e-02 2.08081059e+02] [-4.72879829e-01 -8.80524468e-01 -3.25780468e-02 1.29239907e+02] [-6.29164351e-02 -3.13611907e-03 9.98013871e-01 6.30880751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:129.24, Z:0.63 [[-8.79330968e-01 4.72551783e-01 -5.89224977e-02 2.08085688e+02] [-4.71516323e-01 -8.81302859e-01 -3.12670427e-02 1.29236089e+02] [-6.67038624e-02 2.88840559e-04 9.97772775e-01 6.29643030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.24, Z:0.63 [[-8.78863217e-01 4.74335757e-01 -5.10395577e-02 2.08096591e+02] [-4.73126488e-01 -8.80323052e-01 -3.43896851e-02 1.29242477e+02] [-6.12435566e-02 -6.07566263e-03 9.98104360e-01 6.29964144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.051400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.11, Y:129.24, Z:0.63 [[-8.78750518e-01 4.74410092e-01 -5.22742078e-02 2.08105379e+02] [-4.73414238e-01 -8.80300884e-01 -3.08109296e-02 1.29240419e+02] [-6.06340473e-02 -2.32776614e-03 9.98157349e-01 6.33223787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.081400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:208.16, Y:129.27, Z:0.64 [[-8.74128126e-01 4.81920064e-01 -6.04406373e-02 2.08158786e+02] [-4.81164522e-01 -8.76200421e-01 -2.74504234e-02 1.29267562e+02] [-6.61870216e-02 5.08670319e-03 9.97794269e-01 6.35382790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:129.25, Z:0.62 [[-8.78875632e-01 4.74816698e-01 -4.61164508e-02 2.08104990e+02] [-4.73295007e-01 -8.79978939e-01 -4.03596808e-02 1.29245004e+02] [-5.97449558e-02 -1.36444541e-02 9.98120418e-01 6.24157187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:129.24, Z:0.63 [[-8.79715292e-01 4.72470143e-01 -5.36000877e-02 2.08114404e+02] [-4.71465323e-01 -8.81344688e-01 -3.08543462e-02 1.29235043e+02] [-6.18179099e-02 -1.87245752e-03 9.98085688e-01 6.34196948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.171400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.15, Y:129.25, Z:0.64 [[-8.77196690e-01 4.76149880e-01 -6.17029922e-02 2.08154036e+02] [-4.75390595e-01 -8.79348165e-01 -2.73968437e-02 1.29249481e+02] [-6.73034168e-02 5.30060157e-03 9.97718474e-01 6.35339167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:129.21, Z:0.62 [[-8.84273847e-01 4.64008262e-01 -5.24985461e-02 2.08081989e+02] [-4.62519469e-01 -8.85778292e-01 -3.83739256e-02 1.29211504e+02] [-6.43078910e-02 -9.65145907e-03 9.97883432e-01 6.19482514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.231400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:208.13, Y:129.23, Z:0.63 [[-8.80374489e-01 4.70754517e-01 -5.77143358e-02 2.08132021e+02] [-4.69839127e-01 -8.82263338e-01 -2.93700038e-02 1.29231379e+02] [-6.47453045e-02 1.25985103e-03 9.97901026e-01 6.28942016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:129.20, Z:0.62 [[-8.86505904e-01 4.60063593e-01 -4.94850732e-02 2.08078032e+02] [-4.58646580e-01 -8.87822029e-01 -3.76212770e-02 1.29200599e+02] [-6.12421179e-02 -1.06553246e-02 9.98066064e-01 6.18018252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:129.22, Z:0.63 [[-8.83374461e-01 4.65071859e-01 -5.79459027e-02 2.08137012e+02] [-4.64185603e-01 -8.85271642e-01 -2.87375315e-02 1.29216869e+02] [-6.46628817e-02 1.51165234e-03 9.97906021e-01 6.31352990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.321400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.13, Y:129.22, Z:0.62 [[-8.84410628e-01 4.63394921e-01 -5.55246668e-02 2.08134111e+02] [-4.62088603e-01 -8.86134978e-01 -3.51983467e-02 1.29216208e+02] [-6.55130845e-02 -5.47247615e-03 9.97836704e-01 6.24340930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.13, Y:129.21, Z:0.62 [[-8.85085732e-01 4.61999993e-01 -5.63848677e-02 2.08132615e+02] [-4.60648202e-01 -8.86861695e-01 -3.57710456e-02 1.29210368e+02] [-6.65318021e-02 -5.68685418e-03 9.97768099e-01 6.23878660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.15, Y:129.22, Z:0.63 [[-8.84944938e-01 4.62205414e-01 -5.69087981e-02 2.08150308e+02] [-4.60826911e-01 -8.86754253e-01 -3.61310428e-02 1.29216838e+02] [-6.71640824e-02 -5.74887778e-03 9.97725381e-01 6.25106260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.15, Y:129.21, Z:0.62 [[-8.84367751e-01 4.63348578e-01 -5.65842464e-02 2.08149701e+02] [-4.61986281e-01 -8.86158074e-01 -3.59519716e-02 1.29212083e+02] [-6.68008817e-02 -5.65361877e-03 9.97750309e-01 6.24573865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.15, Y:129.21, Z:0.62 [[-8.82474627e-01 4.67097425e-01 -5.53039577e-02 2.08154362e+02] [-4.65801735e-01 -8.84190145e-01 -3.51643467e-02 1.29207489e+02] [-6.53243902e-02 -5.27096431e-03 9.97850160e-01 6.23371756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:129.22, Z:0.63 [[-8.80891994e-01 4.70110268e-01 -5.50057350e-02 2.08175570e+02] [-4.68832630e-01 -8.82593280e-01 -3.50009659e-02 1.29217585e+02] [-6.50020056e-02 -5.04358729e-03 9.97872387e-01 6.25781526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.501400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.54, Y:129.45, Z:0.65 [[-8.79681437e-01 4.72437774e-01 -5.44345414e-02 2.08537673e+02] [-4.71189309e-01 -8.81350718e-01 -3.46633345e-02 1.29445608e+02] [-6.43521907e-02 -4.84371794e-03 9.97915494e-01 6.54749622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:129.44, Z:0.65 [[-8.78422820e-01 4.74809494e-01 -5.41229456e-02 2.08537916e+02] [-4.73578311e-01 -8.80076247e-01 -3.44874383e-02 1.29443021e+02] [-6.40072819e-02 -4.66309965e-03 9.97938537e-01 6.54187262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.561400513 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:208.53, Y:129.44, Z:0.65 [[-8.75064396e-01 4.80918567e-01 -5.45860264e-02 2.08531717e+02] [-4.79676628e-01 -8.76754863e-01 -3.48029208e-02 1.29436609e+02] [-6.45959349e-02 -4.27115581e-03 9.97902361e-01 6.52109278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:129.43, Z:0.65 [[-8.72840621e-01 4.84884490e-01 -5.51024627e-02 2.08529046e+02] [-4.83625210e-01 -8.74568888e-01 -3.51556095e-02 1.29432828e+02] [-6.52373093e-02 -4.03630395e-03 9.97861615e-01 6.54782833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:129.43, Z:0.66 [[-8.71044516e-01 4.88069248e-01 -5.54063160e-02 2.08528109e+02] [-4.86800864e-01 -8.72796463e-01 -3.53730525e-02 1.29431259e+02] [-6.56229358e-02 -3.83966097e-03 9.97837105e-01 6.55978634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.651400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.53, Y:129.43, Z:0.66 [[-8.68965626e-01 4.91779037e-01 -5.52459866e-02 2.08531104e+02] [-4.90523896e-01 -8.70712716e-01 -3.52940943e-02 1.29432060e+02] [-6.54602787e-02 -3.56987816e-03 9.97848790e-01 6.56930057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.53, Y:129.43, Z:0.66 [[-8.68664593e-01 4.92311998e-01 -5.52333470e-02 2.08530244e+02] [-4.91056961e-01 -8.70411569e-01 -3.53095182e-02 1.29431619e+02] [-6.54590436e-02 -3.54940871e-03 9.97848944e-01 6.56766171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:129.43, Z:0.66 [[-8.68850039e-01 4.91941398e-01 -5.56171866e-02 2.08523912e+02] [-4.90666502e-01 -8.70620775e-01 -3.55787794e-02 1.29428509e+02] [-6.59241526e-02 -3.62313346e-03 9.97818059e-01 6.56487329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.741400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.54, Y:129.44, Z:0.66 [[-8.69357759e-01 4.91002975e-01 -5.59746911e-02 2.08541039e+02] [-4.89708073e-01 -8.71149871e-01 -3.58316445e-02 1.29440216e+02] [-6.63557890e-02 -3.73926010e-03 9.97789019e-01 6.57515438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.771400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.55, Y:129.44, Z:0.66 [[-8.69980275e-01 4.89875297e-01 -5.61828593e-02 2.08545025e+02] [-4.88566963e-01 -8.71783979e-01 -3.59863367e-02 1.29442665e+02] [-6.66081340e-02 -3.85831421e-03 9.97771752e-01 6.57155261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.801400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.54, Y:129.44, Z:0.66 [[-8.70681315e-01 4.88484050e-01 -5.74228218e-02 2.08538325e+02] [-4.87112722e-01 -8.72563322e-01 -3.68027839e-02 1.29439768e+02] [-6.80826211e-02 -4.07210919e-03 9.97671376e-01 6.57106962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.831400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.54, Y:129.44, Z:0.66 [[-8.71154114e-01 4.87670611e-01 -5.71654137e-02 2.08536995e+02] [-4.86308177e-01 -8.73017898e-01 -3.66620691e-02 1.29439105e+02] [-6.77854429e-02 -4.13830424e-03 9.97691339e-01 6.56558220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.861400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:208.55, Y:129.45, Z:0.66 [[-8.71676939e-01 4.86805201e-01 -5.65686313e-02 2.08550009e+02] [-4.85467858e-01 -8.73500556e-01 -3.63006511e-02 1.29448337e+02] [-6.70840767e-02 -4.18018813e-03 9.97738569e-01 6.55845834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.891400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:208.55, Y:129.45, Z:0.66 [[-8.72414324e-01 4.85560275e-01 -5.58969229e-02 2.08554391e+02] [-4.84250608e-01 -8.74192893e-01 -3.58906073e-02 1.29452900e+02] [-6.62917459e-02 -4.24336100e-03 9.97791260e-01 6.55644053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:129.46, Z:0.66 [[-8.73117101e-01 4.84363831e-01 -5.53010595e-02 2.08564401e+02] [-4.83078226e-01 -8.74856067e-01 -3.55287256e-02 1.29460088e+02] [-6.55892970e-02 -4.30600021e-03 9.97837413e-01 6.56648435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:129.46, Z:0.66 [[-8.73697513e-01 4.83447114e-01 -5.41437388e-02 2.08563943e+02] [-4.82211784e-01 -8.75363007e-01 -3.48051897e-02 1.29460608e+02] [-6.42218945e-02 -4.30045877e-03 9.97926377e-01 6.55745981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.981400513 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:208.57, Y:129.46, Z:0.65 [[-8.73330705e-01 4.84159964e-01 -5.36899395e-02 2.08566603e+02] [-4.82945336e-01 -8.74969278e-01 -3.45335353e-02 1.29462568e+02] [-6.36968028e-02 -4.22989080e-03 9.97960333e-01 6.54891717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.011400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.57, Y:129.47, Z:0.66 [[-8.73928881e-01 4.83170704e-01 -5.28619203e-02 2.08572059e+02] [-4.81990264e-01 -8.75515840e-01 -3.40205741e-02 1.29465998e+02] [-6.27191933e-02 -4.25263131e-03 9.98022153e-01 6.55484826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.041400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:208.57, Y:129.47, Z:0.65 [[-8.73982017e-01 4.83142469e-01 -5.22377992e-02 2.08571470e+02] [-4.81988512e-01 -8.75531573e-01 -3.36383563e-02 1.29466371e+02] [-6.19879610e-02 -4.22129939e-03 9.98067970e-01 6.54831907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:129.47, Z:0.66 [[-8.74301160e-01 4.82518420e-01 -5.26636025e-02 2.08575705e+02] [-4.81343174e-01 -8.75875179e-01 -3.39325909e-02 1.29470915e+02] [-6.24998424e-02 -4.31803806e-03 9.98035633e-01 6.56303133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:129.47, Z:0.66 [[-8.75044971e-01 4.81200084e-01 -5.23715435e-02 2.08573911e+02] [-4.80034283e-01 -8.76599724e-01 -3.37640521e-02 1.29469139e+02] [-6.21561453e-02 -4.40492770e-03 9.98056717e-01 6.56272395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:129.48, Z:0.66 [[-8.75839501e-01 4.79746537e-01 -5.24254547e-02 2.08585196e+02] [-4.78574511e-01 -8.77395428e-01 -3.38186318e-02 1.29476478e+02] [-6.22222258e-02 -4.53020732e-03 9.98052039e-01 6.57230564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.59, Y:129.48, Z:0.66 [[-8.76519659e-01 4.78404108e-01 -5.33178893e-02 2.08587902e+02] [-4.77188029e-01 -8.78127101e-01 -3.44148038e-02 1.29478791e+02] [-6.32840671e-02 -4.72259356e-03 9.97984381e-01 6.56950217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.191400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.59, Y:129.48, Z:0.66 [[-8.77235368e-01 4.77041313e-01 -5.37558879e-02 2.08593440e+02] [-4.75801305e-01 -8.78867330e-01 -3.47179215e-02 1.29482598e+02] [-6.38061765e-02 -4.87866700e-03 9.97950385e-01 6.57095595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.60, Y:129.48, Z:0.66 [[-8.77390413e-01 4.76720251e-01 -5.40727829e-02 2.08597565e+02] [-4.75463642e-01 -8.79041131e-01 -3.49430424e-02 1.29484859e+02] [-6.41902561e-02 -4.94904809e-03 9.97925407e-01 6.56408727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.251400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:208.60, Y:129.48, Z:0.66 [[-8.76682111e-01 4.77882622e-01 -5.52872187e-02 2.08596871e+02] [-4.76569753e-01 -8.78409515e-01 -3.57490447e-02 1.29483275e+02] [-6.56486662e-02 -4.99233183e-03 9.97830311e-01 6.58030355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.76061173e-01 4.79033662e-01 -5.51685663e-02 2.08601231e+02] [-4.77727246e-01 -8.77782772e-01 -3.56943104e-02 1.29485421e+02] [-6.55247933e-02 -4.91487214e-03 9.97838837e-01 6.59345813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.311400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.75004860e-01 4.80912730e-01 -5.55827431e-02 2.08603777e+02] [-4.79588870e-01 -8.76755165e-01 -3.59846763e-02 1.29487036e+02] [-6.60379460e-02 -4.82990171e-03 9.97805423e-01 6.59547726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:129.48, Z:0.66 [[-8.75289254e-01 4.80421966e-01 -5.53484928e-02 2.08598888e+02] [-4.79106829e-01 -8.77023979e-01 -3.58550790e-02 1.29483711e+02] [-6.57675229e-02 -4.86572452e-03 9.97823109e-01 6.60162310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.75225608e-01 4.80498300e-01 -5.56912883e-02 2.08604927e+02] [-4.79165553e-01 -8.76981920e-01 -3.60982725e-02 1.29487893e+02] [-6.61854115e-02 -4.90878556e-03 9.97795267e-01 6.60203646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.401400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.60, Y:129.48, Z:0.66 [[-8.75564993e-01 4.79792620e-01 -5.64356745e-02 2.08598984e+02] [-4.78421054e-01 -8.77367404e-01 -3.66023650e-02 1.29483341e+02] [-6.70763658e-02 -5.04773456e-03 9.97735076e-01 6.61058387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:129.49, Z:0.66 [[-8.75539526e-01 4.79786597e-01 -5.68802273e-02 2.08611107e+02] [-4.78391826e-01 -8.77370354e-01 -3.69123704e-02 1.29491035e+02] [-6.76150857e-02 -5.10720350e-03 9.97698410e-01 6.62941430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.461400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.61, Y:129.49, Z:0.66 [[-8.74698515e-01 4.81288054e-01 -5.71342037e-02 2.08614286e+02] [-4.79882476e-01 -8.76548049e-01 -3.70988886e-02 1.29492544e+02] [-6.79361266e-02 -5.03263964e-03 9.97676979e-01 6.63073453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:129.49, Z:0.66 [[-8.74227616e-01 4.82136276e-01 -5.71899181e-02 2.08614265e+02] [-4.80728278e-01 -8.76082020e-01 -3.71566556e-02 1.29493574e+02] [-6.80176305e-02 -4.99056368e-03 9.97671638e-01 6.63472613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:129.48, Z:0.66 [[-8.70933007e-01 4.88470389e-01 -5.35945616e-02 2.08587367e+02] [-4.86849353e-01 -8.72528587e-01 -4.08848820e-02 1.29483141e+02] [-6.67338413e-02 -9.51551564e-03 9.97725438e-01 6.57627406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.551400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.70024113e-01 4.89388524e-01 -5.96398899e-02 2.08604827e+02] [-4.88275292e-01 -8.72065766e-01 -3.29930209e-02 1.29486572e+02] [-6.81563121e-02 4.15960912e-04 9.97674568e-01 6.64038215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.581400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.68288179e-01 4.92770044e-01 -5.70379048e-02 2.08604110e+02] [-4.91388505e-01 -8.70149459e-01 -3.71114105e-02 1.29490763e+02] [-6.79188934e-02 -4.19562824e-03 9.97682024e-01 6.58934686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.611400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:208.61, Y:129.49, Z:0.66 [[-8.67329898e-01 4.94473196e-01 -5.68779918e-02 2.08608278e+02] [-4.93101569e-01 -8.69183350e-01 -3.70290053e-02 1.29493037e+02] [-6.77472540e-02 -4.06973634e-03 9.97694215e-01 6.59890214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.641400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.66724650e-01 4.95575968e-01 -5.65052280e-02 2.08600885e+02] [-4.94223167e-01 -8.68555497e-01 -3.68077443e-02 1.29487968e+02] [-6.73189599e-02 -3.97598657e-03 9.97723584e-01 6.59550637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.671400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.66591430e-01 4.95810156e-01 -5.64941019e-02 2.08603135e+02] [-4.94456742e-01 -8.68421823e-01 -3.68248132e-02 1.29489546e+02] [-6.73188274e-02 -3.97817796e-03 9.97723584e-01 6.59718630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.66942399e-01 4.95254607e-01 -5.59799210e-02 2.08603296e+02] [-4.93923173e-01 -8.68738654e-01 -3.65109592e-02 1.29489585e+02] [-6.67141419e-02 -4.00311831e-03 9.97764100e-01 6.61013325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.731400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:208.61, Y:129.49, Z:0.66 [[-8.67332932e-01 4.94650432e-01 -5.52678474e-02 2.08606724e+02] [-4.93350093e-01 -8.69082747e-01 -3.60675107e-02 1.29489913e+02] [-6.58731424e-02 -4.01614217e-03 9.97819924e-01 6.59543925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.62, Y:129.50, Z:0.66 [[-8.68127385e-01 4.93300790e-01 -5.48559443e-02 2.08623011e+02] [-4.92015732e-01 -8.69849108e-01 -3.58196603e-02 1.29498645e+02] [-6.53862610e-02 -4.10604039e-03 9.97851581e-01 6.61285747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:129.50, Z:0.66 [[-8.68784947e-01 4.92181561e-01 -5.44979516e-02 2.08628516e+02] [-4.90909702e-01 -8.70482527e-01 -3.56066582e-02 1.29501859e+02] [-6.49644552e-02 -4.18095547e-03 9.97878820e-01 6.61117493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:129.50, Z:0.66 [[-8.67906182e-01 4.93677156e-01 -5.49702181e-02 2.08631430e+02] [-4.92384716e-01 -8.69635479e-01 -3.59363896e-02 1.29504786e+02] [-6.55450266e-02 -4.12291947e-03 9.97841095e-01 6.60580600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.851400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:208.61, Y:129.49, Z:0.66 [[-8.66158973e-01 4.96750098e-01 -5.48449967e-02 2.08610731e+02] [-4.95468294e-01 -8.67884861e-01 -3.58753121e-02 1.29489619e+02] [-6.54202072e-02 -3.89976653e-03 9.97850183e-01 6.58535172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.881400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:208.63, Y:129.50, Z:0.66 [[-8.65352884e-01 4.98121718e-01 -5.51283902e-02 2.08626603e+02] [-4.96827798e-01 -8.67098630e-01 -3.60847017e-02 1.29499580e+02] [-6.57763253e-02 -3.83668401e-03 9.97827017e-01 6.60031217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.911400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.61, Y:129.49, Z:0.66 [[-8.64337291e-01 4.99862969e-01 -5.52997354e-02 2.08614051e+02] [-4.98563110e-01 -8.66096454e-01 -3.62181968e-02 1.29491702e+02] [-6.59990401e-02 -3.73433007e-03 9.97812699e-01 6.59975308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.941400513 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:208.62, Y:129.50, Z:0.66 [[-8.63608897e-01 5.01123998e-01 -5.52667239e-02 2.08621344e+02] [-4.99826673e-01 -8.65367764e-01 -3.62205623e-02 1.29495986e+02] [-6.59770343e-02 -3.65661709e-03 9.97814442e-01 6.60637324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.971400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.62, Y:129.50, Z:0.66 [[-8.63810508e-01 5.00837221e-01 -5.47127463e-02 2.08622477e+02] [-4.99563688e-01 -8.65533747e-01 -3.58811029e-02 1.29495972e+02] [-6.53263202e-02 -3.66197239e-03 9.97857235e-01 6.61836834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.001400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.63, Y:129.50, Z:0.66 [[-8.63741420e-01 5.00960696e-01 -5.46730362e-02 2.08633728e+02] [-4.99687695e-01 -8.65462251e-01 -3.58789611e-02 1.29502889e+02] [-6.52913983e-02 -3.67070132e-03 9.97859489e-01 6.62741343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.031400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:208.64, Y:129.51, Z:0.66 [[-8.63755794e-01 5.00878303e-01 -5.51983206e-02 2.08642739e+02] [-4.99579105e-01 -8.65509679e-01 -3.62451851e-02 1.29508504e+02] [-6.59291076e-02 -3.73106104e-03 9.97817334e-01 6.63357310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.63, Y:129.50, Z:0.66 [[-8.64313074e-01 4.99901557e-01 -5.53294175e-02 2.08629085e+02] [-4.98592589e-01 -8.66073740e-01 -3.63552989e-02 1.29499058e+02] [-6.60934261e-02 -3.83552256e-03 9.97806067e-01 6.63505589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.64, Y:129.51, Z:0.67 [[-8.64555029e-01 4.99354624e-01 -5.64761989e-02 2.08641688e+02] [-4.97987906e-01 -8.66388550e-01 -3.71338893e-02 1.29507898e+02] [-6.74733114e-02 -3.97982678e-03 9.97713142e-01 6.65235315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.121400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:208.64, Y:129.51, Z:0.66 [[-8.64109372e-01 5.00164258e-01 -5.61311713e-02 2.08639139e+02] [-4.98814454e-01 -8.65921715e-01 -3.69286419e-02 1.29505049e+02] [-6.70755869e-02 -3.91134600e-03 9.97740230e-01 6.64385966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.151400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.65, Y:129.52, Z:0.67 [[-8.64238063e-01 4.99985102e-01 -5.57446643e-02 2.08654669e+02] [-4.98651864e-01 -8.66025137e-01 -3.66985041e-02 1.29515438e+02] [-6.66249858e-02 -3.91906334e-03 9.97770391e-01 6.66610746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.181400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.64, Y:129.51, Z:0.67 [[-8.63722949e-01 5.00852396e-01 -5.59423262e-02 2.08639971e+02] [-4.99510028e-01 -8.65523995e-01 -3.68503114e-02 1.29505471e+02] [-6.68759924e-02 -3.88470665e-03 9.97753733e-01 6.65547267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.211400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.64, Y:129.50, Z:0.67 [[-8.62917265e-01 5.02133474e-01 -5.68838168e-02 2.08639961e+02] [-5.00746530e-01 -8.64781468e-01 -3.74956761e-02 1.29504755e+02] [-6.80199047e-02 -3.87129241e-03 9.97676453e-01 6.65909757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.241400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:208.65, Y:129.51, Z:0.67 [[-8.62367497e-01 5.03049901e-01 -5.71235256e-02 2.08652901e+02] [-5.01651502e-01 -8.64248850e-01 -3.76788402e-02 1.29513113e+02] [-6.83232782e-02 -3.83690470e-03 9.97655856e-01 6.65522193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:129.51, Z:0.67 [[-8.62814875e-01 5.02284551e-01 -5.71027281e-02 2.08646127e+02] [-5.00883793e-01 -8.64693519e-01 -3.76901157e-02 1.29509807e+02] [-6.83075217e-02 -3.91776141e-03 9.97656621e-01 6.65265697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:129.52, Z:0.67 [[-8.62695651e-01 5.02437180e-01 -5.75594735e-02 2.08660048e+02] [-5.01012482e-01 -8.64604653e-01 -3.80169298e-02 1.29519877e+02] [-6.88673076e-02 -3.95902532e-03 9.97617973e-01 6.65610206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:129.52, Z:0.67 [[-8.61929551e-01 5.03613483e-01 -5.87444348e-02 2.08660526e+02] [-5.02130499e-01 -8.63919983e-01 -3.88230041e-02 1.29518976e+02] [-7.03022794e-02 -3.96532208e-03 9.97517852e-01 6.66797682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.361400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.67, Y:129.52, Z:0.67 [[-8.60877640e-01 5.05373367e-01 -5.90546244e-02 2.08669527e+02] [-5.03876935e-01 -8.62892129e-01 -3.90539189e-02 1.29523423e+02] [-7.06945811e-02 -3.86438238e-03 9.97490523e-01 6.67244349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:129.52, Z:0.67 [[-8.60594555e-01 5.05870868e-01 -5.89209369e-02 2.08667580e+02] [-5.04380556e-01 -8.62600685e-01 -3.89911794e-02 1.29522917e+02] [-7.05497423e-02 -3.83702173e-03 9.97500883e-01 6.67887173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.421400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.68, Y:129.53, Z:0.67 [[-8.59780918e-01 5.07253053e-01 -5.89161537e-02 2.08679396e+02] [-5.05764389e-01 -8.61789018e-01 -3.90137388e-02 1.29531161e+02] [-7.05631323e-02 -3.74557567e-03 9.97500283e-01 6.67239180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.451400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:208.68, Y:129.53, Z:0.67 [[-8.59599392e-01 5.07615248e-01 -5.84435199e-02 2.08677018e+02] [-5.06149463e-01 -8.61575889e-01 -3.87260660e-02 1.29529730e+02] [-7.00114692e-02 -3.70774663e-03 9.97539296e-01 6.65949930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.481400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.66, Y:129.52, Z:0.66 [[-8.59136629e-01 5.08270787e-01 -5.95404013e-02 2.08657961e+02] [-5.06749060e-01 -8.61189163e-01 -3.94793134e-02 1.29517492e+02] [-7.13417300e-02 -3.74608181e-03 9.97444898e-01 6.64735803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:129.52, Z:0.67 [[-8.59323654e-01 5.07939617e-01 -5.96674406e-02 2.08668451e+02] [-5.06408700e-01 -8.61384277e-01 -3.95898512e-02 1.29524443e+02] [-7.15058490e-02 -3.80438455e-03 9.97432925e-01 6.66004311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:129.54, Z:0.67 [[-8.58926200e-01 5.08655968e-01 -5.92865107e-02 2.08689346e+02] [-5.07144417e-01 -8.60961727e-01 -3.93629848e-02 1.29539104e+02] [-7.10656338e-02 -3.74307602e-03 9.97464618e-01 6.67516102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.571400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.69, Y:129.54, Z:0.67 [[-8.58734322e-01 5.09015435e-01 -5.89800931e-02 2.08693143e+02] [-5.07518703e-01 -8.60749379e-01 -3.91825525e-02 1.29541817e+02] [-7.07116025e-02 -3.71390224e-03 9.97489888e-01 6.67113841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:129.54, Z:0.67 [[-8.58783495e-01 5.08982915e-01 -5.85431506e-02 2.08686668e+02] [-5.07506449e-01 -8.60768623e-01 -3.89176248e-02 1.29537521e+02] [-7.02005133e-02 -3.71078736e-03 9.97525999e-01 6.66849538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.631400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:208.70, Y:129.54, Z:0.67 [[-8.57936013e-01 5.10412648e-01 -5.85211636e-02 2.08698222e+02] [-5.08938799e-01 -8.59922010e-01 -3.89285938e-02 1.29544288e+02] [-7.01932833e-02 -3.61455179e-03 9.97526861e-01 6.68031581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.661400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.69, Y:129.54, Z:0.67 [[-8.57843981e-01 5.10625338e-01 -5.80126548e-02 2.08691383e+02] [-5.09175753e-01 -8.59795845e-01 -3.86155122e-02 1.29539973e+02] [-6.95970985e-02 -3.58744748e-03 9.97568732e-01 6.67988944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.691400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:208.70, Y:129.54, Z:0.67 [[-8.58007077e-01 5.10460513e-01 -5.70431481e-02 2.08696164e+02] [-5.09056990e-01 -8.59893819e-01 -3.79947530e-02 1.29543122e+02] [-6.84458716e-02 -3.56155372e-03 9.97648474e-01 6.68699667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.721400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.70, Y:129.55, Z:0.67 [[-8.58518726e-01 5.09646748e-01 -5.66196991e-02 2.08700331e+02] [-5.08260569e-01 -8.60376129e-01 -3.77373977e-02 1.29546398e+02] [-6.79469795e-02 -3.62070213e-03 9.97682364e-01 6.69364994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.751400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.71, Y:129.55, Z:0.67 [[-8.59527781e-01 5.07899590e-01 -5.70087745e-02 2.08711402e+02] [-5.06488714e-01 -8.61407869e-01 -3.80219181e-02 1.29553440e+02] [-6.84191236e-02 -3.80659402e-03 9.97649404e-01 6.70161038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.71, Y:129.55, Z:0.67 [[-8.59682605e-01 5.07581261e-01 -5.75072362e-02 2.08706286e+02] [-5.06143105e-01 -8.61595120e-01 -3.83797696e-02 1.29550068e+02] [-6.90288059e-02 -3.88752925e-03 9.97607093e-01 6.70674251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.811400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.72, Y:129.56, Z:0.67 [[-8.59385435e-01 5.08093147e-01 -5.74284504e-02 2.08719688e+02] [-5.06658334e-01 -8.61293465e-01 -3.83523185e-02 1.29558871e+02] [-6.89492992e-02 -3.86282093e-03 9.97612687e-01 6.71245189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.841400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:208.72, Y:129.56, Z:0.67 [[-8.58925742e-01 5.08967864e-01 -5.65533634e-02 2.08715121e+02] [-5.07576725e-01 -8.60777328e-01 -3.77923138e-02 1.29556105e+02] [-6.79149263e-02 -3.75562023e-03 9.97684047e-01 6.70702279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.871400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.72, Y:129.56, Z:0.67 [[-8.58696026e-01 5.09559778e-01 -5.46805963e-02 2.08718988e+02] [-5.08259032e-01 -8.60427704e-01 -3.65639469e-02 1.29558771e+02] [-6.56802166e-02 -3.60540895e-03 9.97834210e-01 6.71414454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:129.57, Z:0.67 [[-8.58872619e-01 5.09281429e-01 -5.45000062e-02 2.08729010e+02] [-5.07987150e-01 -8.60592361e-01 -3.64670319e-02 1.29566515e+02] [-6.54742711e-02 -3.63523240e-03 9.97847636e-01 6.72664058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:129.57, Z:0.67 [[-8.58882920e-01 5.09245902e-01 -5.46693801e-02 2.08732022e+02] [-5.07941903e-01 -8.60613236e-01 -3.66043858e-02 1.29568799e+02] [-6.56898256e-02 -3.67001278e-03 9.97833342e-01 6.73184955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.961400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.73, Y:129.57, Z:0.67 [[-8.58789378e-01 5.09368114e-01 -5.49993539e-02 2.08734625e+02] [-5.08046953e-01 -8.60540764e-01 -3.68495079e-02 1.29570461e+02] [-6.60991504e-02 -3.70371174e-03 9.97806186e-01 6.72283888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.991400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.73, Y:129.57, Z:0.67 [[-8.58617372e-01 5.09601272e-01 -5.55225335e-02 2.08730921e+02] [-5.08253669e-01 -8.60402546e-01 -3.72245522e-02 1.29568234e+02] [-6.67414083e-02 -3.74211588e-03 9.97763289e-01 6.71660963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:129.58, Z:0.67 [[-8.58758944e-01 5.09349852e-01 -5.56399476e-02 2.08744254e+02] [-5.07994373e-01 -8.60551194e-01 -3.73277167e-02 1.29576877e+02] [-6.68938904e-02 -3.79073032e-03 9.97752894e-01 6.73649021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.051400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:208.74, Y:129.57, Z:0.67 [[-8.57819345e-01 5.10849061e-01 -5.63844740e-02 2.08740744e+02] [-5.09458531e-01 -8.59662267e-01 -3.78522372e-02 1.29573416e+02] [-6.78083846e-02 -3.74483003e-03 9.97691335e-01 6.73222476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.75, Y:129.58, Z:0.67 [[-8.57870939e-01 5.10710504e-01 -5.68527274e-02 2.08749025e+02] [-5.09294729e-01 -8.59744308e-01 -3.81916848e-02 1.29578621e+02] [-6.83837033e-02 -3.80874215e-03 9.97651824e-01 6.74534934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:129.41, Z:0.66 [[-8.57811241e-01 5.10757963e-01 -5.73251953e-02 2.08503805e+02] [-5.09316873e-01 -8.59715892e-01 -3.85345153e-02 1.29414004e+02] [-6.89651919e-02 -3.85865124e-03 9.97611604e-01 6.55314223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:129.58, Z:0.68 [[-8.57561317e-01 5.11089086e-01 -5.81079433e-02 2.08756601e+02] [-5.09606913e-01 -8.59518847e-01 -3.90915026e-02 1.29584173e+02] [-6.99241128e-02 -3.91115093e-03 9.97544646e-01 6.76100784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.171400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.76, Y:129.58, Z:0.68 [[-8.56373717e-01 5.12965367e-01 -5.90811997e-02 2.08758928e+02] [-5.11435684e-01 -8.58400700e-01 -3.97715768e-02 1.29584357e+02] [-7.11167847e-02 -3.84309929e-03 9.97460593e-01 6.75234857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.201400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:208.76, Y:129.58, Z:0.68 [[-8.55437172e-01 5.14472308e-01 -5.95440177e-02 2.08756573e+02] [-5.12920269e-01 -8.57498708e-01 -4.01093971e-02 1.29582682e+02] [-7.16940924e-02 -3.76973562e-03 9.97419544e-01 6.75195926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.231400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.53, Y:129.43, Z:0.66 [[-8.54938806e-01 5.15295978e-01 -5.95792990e-02 2.08529857e+02] [-5.13742180e-01 -8.57004186e-01 -4.01596483e-02 1.29429433e+02] [-7.17538139e-02 -3.72564281e-03 9.97415415e-01 6.57095392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:129.43, Z:0.66 [[-8.54609718e-01 5.15778571e-01 -6.01223337e-02 2.08529851e+02] [-5.14195151e-01 -8.56713739e-01 -4.05575625e-02 1.29429737e+02] [-7.24263510e-02 -3.74627457e-03 9.97366728e-01 6.57531928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:129.44, Z:0.66 [[-8.54024056e-01 5.16656593e-01 -6.09005383e-02 2.08549509e+02] [-5.15031765e-01 -8.56184517e-01 -4.11139051e-02 1.29443073e+02] [-7.33838681e-02 -3.74655233e-03 9.97296732e-01 6.59312439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.321400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:208.76, Y:129.59, Z:0.68 [[-8.53480442e-01 5.17503262e-01 -6.13311396e-02 2.08764270e+02] [-5.15855447e-01 -8.55673131e-01 -4.14324893e-02 1.29587110e+02] [-7.39208566e-02 -3.72381683e-03 9.97257159e-01 6.76398623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.77, Y:129.59, Z:0.68 [[-8.52694348e-01 5.18830567e-01 -6.10507306e-02 2.08770075e+02] [-5.17199298e-01 -8.54869452e-01 -4.12686943e-02 1.29590944e+02] [-7.36018647e-02 -3.61418730e-03 9.97281156e-01 6.78502629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.77, Y:129.59, Z:0.68 [[-8.52009842e-01 5.20012552e-01 -6.05489528e-02 2.08772001e+02] [-5.18409056e-01 -8.54151424e-01 -4.09560239e-02 1.29592335e+02] [-7.30156208e-02 -3.50580996e-03 9.97324635e-01 6.78652292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.411400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.56, Y:129.45, Z:0.66 [[-8.50991327e-01 5.21685792e-01 -6.04788955e-02 2.08555413e+02] [-5.20088233e-01 -8.53130998e-01 -4.09356870e-02 1.29445657e+02] [-7.29519868e-02 -3.38155274e-03 9.97329721e-01 6.60453895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.441400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.77, Y:129.59, Z:0.68 [[-8.50539621e-01 5.22396170e-01 -6.07008616e-02 2.08770000e+02] [-5.20786325e-01 -8.52696284e-01 -4.11175214e-02 1.29590932e+02] [-7.32390348e-02 -3.35990239e-03 9.97308756e-01 6.77067460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.471400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.77, Y:129.59, Z:0.68 [[-8.50112891e-01 5.23067476e-01 -6.08973518e-02 2.08773986e+02] [-5.21446982e-01 -8.52284749e-01 -4.12765305e-02 1.29593947e+02] [-7.34922948e-02 -3.33497036e-03 9.97290209e-01 6.77310690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.501400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.78, Y:129.60, Z:0.68 [[-8.48313653e-01 5.25940623e-01 -6.12405669e-02 2.08776415e+02] [-5.24307197e-01 -8.50515539e-01 -4.15365010e-02 1.29596415e+02] [-7.39317870e-02 -3.12711093e-03 9.97258398e-01 6.76561253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:129.60, Z:0.68 [[-8.47676179e-01 5.27091238e-01 -6.01657831e-02 2.08778011e+02] [-5.25515697e-01 -8.49803419e-01 -4.08338117e-02 1.29597927e+02] [-7.26522326e-02 -2.99578603e-03 9.97352835e-01 6.76511951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:129.60, Z:0.68 [[-8.47516194e-01 5.27349860e-01 -6.01533557e-02 2.08780954e+02] [-5.25773672e-01 -8.49642955e-01 -4.08521112e-02 1.29600025e+02] [-7.26522300e-02 -2.99577511e-03 9.97352836e-01 6.76738204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.591400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:208.60, Y:129.47, Z:0.66 [[-8.46366248e-01 5.29249591e-01 -5.96577397e-02 2.08597577e+02] [-5.27702092e-01 -8.48461461e-01 -4.05419653e-02 1.29474701e+02] [-7.20741115e-02 -2.83183702e-03 9.97395259e-01 6.60808804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:129.59, Z:0.68 [[-8.46183083e-01 5.29709887e-01 -5.81517526e-02 2.08772091e+02] [-5.28238839e-01 -8.48174454e-01 -3.95452339e-02 1.29593731e+02] [-7.02703323e-02 -2.74449363e-03 9.97524209e-01 6.76428526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.651400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.78, Y:129.60, Z:0.68 [[-8.44545240e-01 5.32512991e-01 -5.63316284e-02 2.08781842e+02] [-5.31137333e-01 -8.46418279e-01 -3.83305521e-02 1.29601762e+02] [-6.80916369e-02 -2.45205448e-03 9.97676058e-01 6.76568971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:129.61, Z:0.68 [[-8.44408667e-01 5.32780526e-01 -5.58472355e-02 2.08787279e+02] [-5.31427358e-01 -8.46249965e-01 -3.80257737e-02 1.29605865e+02] [-6.75201128e-02 -2.43054410e-03 9.97714953e-01 6.76125349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:129.61, Z:0.68 [[-8.44049852e-01 5.33304051e-01 -5.62728724e-02 2.08789586e+02] [-5.31929582e-01 -8.45920145e-01 -3.83409374e-02 1.29608075e+02] [-6.80497337e-02 -2.42845704e-03 9.97678975e-01 6.76493735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.741400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:208.79, Y:129.60, Z:0.68 [[-8.43540964e-01 5.34048581e-01 -5.68397305e-02 2.08785021e+02] [-5.32646161e-01 -8.45450345e-01 -3.87528259e-02 1.29603341e+02] [-6.87510614e-02 -2.41413194e-03 9.97630926e-01 6.76558151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.771400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.81, Y:129.62, Z:0.68 [[-8.46068383e-01 5.30015564e-01 -5.70244970e-02 2.08806571e+02] [-5.28528038e-01 -8.47980401e-01 -3.98415979e-02 1.29623039e+02] [-6.94723228e-02 -3.56967078e-03 9.97577493e-01 6.79031835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.801400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.78, Y:129.60, Z:0.68 [[-8.43500460e-01 5.34165806e-01 -5.63370743e-02 2.08778844e+02] [-5.32713234e-01 -8.45373247e-01 -3.95054970e-02 1.29602399e+02] [-6.87283410e-02 -3.31139983e-03 9.97629916e-01 6.75914688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.831400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.79, Y:129.61, Z:0.68 [[-8.40372486e-01 5.39183697e-01 -5.52722846e-02 2.08791930e+02] [-5.38042843e-01 -8.42188141e-01 -3.50576026e-02 1.29608776e+02] [-6.54521503e-02 2.77412443e-04 9.97855670e-01 6.77863042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.861400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.79, Y:129.61, Z:0.68 [[-8.39153711e-01 5.41233899e-01 -5.37300207e-02 2.08793583e+02] [-5.39989310e-01 -8.40870146e-01 -3.67279666e-02 1.29611343e+02] [-6.50583909e-02 -1.80677265e-03 9.97879823e-01 6.77137978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.891400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.82, Y:129.63, Z:0.68 [[-8.44112262e-01 5.32739451e-01 -6.05241032e-02 2.08819265e+02] [-5.31503102e-01 -8.46277944e-01 -3.63055746e-02 1.29633214e+02] [-7.05616255e-02 1.52276784e-03 9.97506260e-01 6.80540886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.921400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:208.85, Y:129.65, Z:0.68 [[-8.49414418e-01 5.22086799e-01 -7.69449264e-02 2.08851107e+02] [-5.21026532e-01 -8.52828041e-01 -3.48666767e-02 1.29654843e+02] [-8.38242225e-02 1.04740903e-02 9.96425508e-01 6.82800689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.951400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.83, Y:129.66, Z:0.67 [[-8.45259965e-01 5.31592843e-01 -5.42645457e-02 2.08826332e+02] [-5.29295221e-01 -8.46869692e-01 -5.15586472e-02 1.29657743e+02] [-7.33632069e-02 -1.48584956e-02 9.97194597e-01 6.67784594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.84, Y:129.66, Z:0.68 [[-8.46283601e-01 5.28379342e-01 -6.79657070e-02 2.08843215e+02] [-5.26873956e-01 -8.49005965e-01 -3.99087219e-02 1.29656058e+02] [-7.87902348e-02 2.03526400e-03 9.96889140e-01 6.79549216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:129.65, Z:0.67 [[-8.44122995e-01 5.32700017e-01 -6.07211759e-02 2.08824455e+02] [-5.30846018e-01 -8.46286001e-01 -4.47494064e-02 1.29649299e+02] [-7.52254907e-02 -5.54040860e-03 9.97151157e-01 6.73751797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.041400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.82, Y:129.64, Z:0.68 [[-8.41496771e-01 5.36579773e-01 -6.29708815e-02 2.08822525e+02] [-5.35045834e-01 -8.43849492e-01 -4.05461636e-02 1.29643595e+02] [-7.48941976e-02 -4.27157924e-04 9.97191394e-01 6.76985370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:129.66, Z:0.68 [[-8.41628433e-01 5.36352722e-01 -6.31453710e-02 2.08838867e+02] [-5.34878760e-01 -8.43993867e-01 -3.97374495e-02 1.29655995e+02] [-7.46075951e-02 3.30950367e-04 9.97212915e-01 6.78886596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.101400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:208.85, Y:129.66, Z:0.68 [[-8.42809892e-01 5.33546424e-01 -7.07085503e-02 2.08850066e+02] [-5.32283664e-01 -8.45747546e-01 -3.72181390e-02 1.29664508e+02] [-7.96591878e-02 6.26919050e-03 9.96802443e-01 6.77791518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.131400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:208.84, Y:129.67, Z:0.67 [[-8.41629002e-01 5.36402598e-01 -6.27126432e-02 2.08835233e+02] [-5.34622632e-01 -8.43955680e-01 -4.37887163e-02 1.29665011e+02] [-7.64150726e-02 -3.32625523e-03 9.97070546e-01 6.71591499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.161400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.85, Y:129.67, Z:0.67 [[-8.41803313e-01 5.35792779e-01 -6.55231264e-02 2.08847282e+02] [-5.34204810e-01 -8.44349457e-01 -4.12215299e-02 1.29671046e+02] [-7.74106143e-02 3.02348877e-04 9.96999250e-01 6.74661120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:129.67, Z:0.67 [[-8.41219089e-01 5.37186585e-01 -6.14899691e-02 2.08841159e+02] [-5.35520890e-01 -8.43459110e-01 -4.23568916e-02 1.29668258e+02] [-7.46178286e-02 -2.70226283e-03 9.97208543e-01 6.73170744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.85, Y:129.67, Z:0.67 [[-8.42236326e-01 5.34987959e-01 -6.65271060e-02 2.08850620e+02] [-5.33483850e-01 -8.44857979e-01 -4.01245129e-02 1.29674046e+02] [-7.76720876e-02 1.69681439e-03 9.96977516e-01 6.74225504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.251400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:208.80, Y:129.64, Z:0.67 [[-8.41341593e-01 5.36597811e-01 -6.48622607e-02 2.08798523e+02] [-5.34931631e-01 -8.43837691e-01 -4.22622859e-02 1.29644485e+02] [-7.74110705e-02 -8.60144046e-04 9.96998890e-01 6.68493942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:129.68, Z:0.67 [[-8.42775513e-01 5.34587752e-01 -6.28121732e-02 2.08857561e+02] [-5.32976577e-01 -8.45111644e-01 -4.15003343e-02 1.29683894e+02] [-7.52688694e-02 -1.49804851e-03 9.97162150e-01 6.72560510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.311400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:208.84, Y:129.67, Z:0.67 [[-8.41190976e-01 5.36766236e-01 -6.54198021e-02 2.08843763e+02] [-5.35251215e-01 -8.43730284e-01 -4.03155681e-02 1.29674568e+02] [-7.68367039e-02 1.10293653e-03 9.97043081e-01 6.71664601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.341400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.84, Y:129.68, Z:0.67 [[-8.40355270e-01 5.38513566e-01 -6.16940902e-02 2.08844133e+02] [-5.36936418e-01 -8.42615493e-01 -4.12118144e-02 1.29676261e+02] [-7.41775174e-02 -1.50676159e-03 9.97243915e-01 6.69963127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:129.68, Z:0.67 [[-8.40981598e-01 5.37535730e-01 -6.16870316e-02 2.08851269e+02] [-5.36088685e-01 -8.43240969e-01 -3.94156029e-02 1.29683837e+02] [-7.32043272e-02 -7.80770897e-05 9.97316961e-01 6.71178921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.401400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:208.85, Y:129.69, Z:0.67 [[-8.40811378e-01 5.37987537e-01 -6.00469616e-02 2.08848410e+02] [-5.36618425e-01 -8.42952792e-01 -3.83569582e-02 1.29686922e+02] [-7.12523193e-02 -2.86608673e-05 9.97458323e-01 6.69600002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.431400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:208.88, Y:129.72, Z:0.68 [[-8.44151141e-01 5.33211283e-01 -5.56289305e-02 2.08879836e+02] [-5.31762598e-01 -8.45973910e-01 -3.94548227e-02 1.29717742e+02] [-6.80983805e-02 -3.72444901e-03 9.97671659e-01 6.75149479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:129.71, Z:0.68 [[-8.46325472e-01 5.29244590e-01 -6.02773486e-02 2.08879378e+02] [-5.28101575e-01 -8.48466069e-01 -3.48433014e-02 1.29710221e+02] [-6.95839137e-02 2.34378924e-03 9.97573349e-01 6.80135529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:129.72, Z:0.68 [[-8.48228863e-01 5.25928106e-01 -6.25093814e-02 2.08891874e+02] [-5.24627111e-01 -8.50527855e-01 -3.69967929e-02 1.29719061e+02] [-7.26236233e-02 1.41236856e-03 9.97358418e-01 6.79295162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.521400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.89, Y:129.73, Z:0.68 [[-8.49927688e-01 5.23551760e-01 -5.92999107e-02 2.08892707e+02] [-5.21965967e-01 -8.51985370e-01 -4.08957071e-02 1.29726658e+02] [-7.19336758e-02 -3.80585853e-03 9.97402157e-01 6.77822761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.551400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.53, Y:129.47, Z:0.65 [[-8.47898917e-01 5.26603832e-01 -6.12848255e-02 2.08528581e+02] [-5.25274993e-01 -8.50110678e-01 -3.73900539e-02 1.29466595e+02] [-7.17886302e-02 4.88400067e-04 9.97419748e-01 6.49991969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.581400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.51, Y:129.46, Z:0.65 [[-8.49363311e-01 5.24484541e-01 -5.91433141e-02 2.08514891e+02] [-5.23009214e-01 -8.51416223e-01 -3.93926089e-02 1.29458857e+02] [-7.10163915e-02 -2.52613850e-03 9.97471950e-01 6.46414142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.611400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.50, Y:129.45, Z:0.64 [[-8.50472823e-01 5.22579688e-01 -6.00537019e-02 2.08499555e+02] [-5.21145532e-01 -8.52588876e-01 -3.87239476e-02 1.29447619e+02] [-7.14374666e-02 -1.63694660e-03 9.97443737e-01 6.44685469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.641400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.50, Y:129.45, Z:0.64 [[-8.51382193e-01 5.21233462e-01 -5.88560922e-02 2.08500047e+02] [-5.19771224e-01 -8.53409844e-01 -3.91089924e-02 1.29446823e+02] [-7.06132839e-02 -2.70499667e-03 9.97500099e-01 6.44524164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.671400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.53, Y:129.47, Z:0.65 [[-8.52872203e-01 5.18754373e-01 -5.91853478e-02 2.08526475e+02] [-5.17301569e-01 -8.54919548e-01 -3.88799886e-02 1.29465111e+02] [-7.07678749e-02 -2.54298825e-03 9.97489569e-01 6.46932990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.701400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.51, Y:129.45, Z:0.65 [[-8.54647764e-01 5.15817470e-01 -5.92413439e-02 2.08512177e+02] [-5.14308900e-01 -8.56691985e-01 -3.95625882e-02 1.29453307e+02] [-7.11586587e-02 -3.34372716e-03 9.97459405e-01 6.46168088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.731400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:208.49, Y:129.43, Z:0.65 [[-8.55649509e-01 5.13867788e-01 -6.16750682e-02 2.08486289e+02] [-5.12369937e-01 -8.57867086e-01 -3.92569784e-02 1.29432410e+02] [-7.30819077e-02 -1.98976344e-03 9.97323957e-01 6.46013783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.51, Y:129.45, Z:0.65 [[-8.57065395e-01 5.11430099e-01 -6.22748907e-02 2.08510184e+02] [-5.09783034e-01 -8.59317617e-01 -4.11641965e-02 1.29450129e+02] [-7.45665198e-02 -3.53372558e-03 9.97209781e-01 6.47035136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.791400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:208.50, Y:129.45, Z:0.65 [[-8.57573986e-01 5.10636929e-01 -6.17801400e-02 2.08504143e+02] [-5.08957644e-01 -8.59786058e-01 -4.15938944e-02 1.29445319e+02] [-7.43570815e-02 -4.22636734e-03 9.97222725e-01 6.46360361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:129.44, Z:0.65 [[-8.57730189e-01 5.10189033e-01 -6.32935557e-02 2.08501699e+02] [-5.08581191e-01 -8.60058377e-01 -4.05556482e-02 1.29442116e+02] [-7.51271997e-02 -2.59589184e-03 9.97170580e-01 6.46723307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.851400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.51, Y:129.44, Z:0.65 [[-8.57022940e-01 5.11641645e-01 -6.11106250e-02 2.08505446e+02] [-5.10055740e-01 -8.59191999e-01 -4.04011285e-02 1.29444852e+02] [-7.31766598e-02 -3.45486890e-03 9.97313010e-01 6.46203465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.881400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:208.50, Y:129.44, Z:0.65 [[-8.55936258e-01 5.13568767e-01 -6.01684627e-02 2.08502135e+02] [-5.12011328e-01 -8.58041157e-01 -4.01219804e-02 1.29441574e+02] [-7.22324133e-02 -3.53492328e-03 9.97381563e-01 6.46216736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.911400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.53, Y:129.46, Z:0.65 [[-8.55127693e-01 5.14940889e-01 -5.99375505e-02 2.08533364e+02] [-5.13445907e-01 -8.57220974e-01 -3.93128717e-02 1.29462873e+02] [-7.16235306e-02 -2.84283524e-03 9.97427686e-01 6.48518997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.941400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.52, Y:129.45, Z:0.64 [[-8.52712547e-01 5.19240253e-01 -5.71915403e-02 2.08516897e+02] [-5.17848469e-01 -8.54623490e-01 -3.81005768e-02 1.29451722e+02] [-6.86605869e-02 -2.87228826e-03 9.97635943e-01 6.44963138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.971400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.54, Y:129.46, Z:0.65 [[-8.52276220e-01 5.20090231e-01 -5.59588723e-02 2.08535273e+02] [-5.18741710e-01 -8.54106153e-01 -3.75461939e-02 1.29464919e+02] [-6.73222258e-02 -2.97152716e-03 9.97726860e-01 6.45201724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:129.48, Z:0.65 [[-8.52518850e-01 5.19691959e-01 -5.59631859e-02 2.08555915e+02] [-5.18405205e-01 -8.54350873e-01 -3.66146013e-02 1.29477199e+02] [-6.68405106e-02 -2.20303091e-03 9.97761240e-01 6.48158172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.031400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:208.52, Y:129.45, Z:0.64 [[-8.50508097e-01 5.22877885e-01 -5.68743827e-02 2.08519313e+02] [-5.21591015e-01 -8.52406203e-01 -3.66943885e-02 1.29450729e+02] [-6.76667608e-02 -1.54370757e-03 9.97706784e-01 6.44783724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.061400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:208.57, Y:129.49, Z:0.65 [[-8.50926582e-01 5.22222254e-01 -5.66380519e-02 2.08570135e+02] [-5.20850029e-01 -8.52804895e-01 -3.79349136e-02 1.29485709e+02] [-6.81116640e-02 -2.77989539e-03 9.97673831e-01 6.48150278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.58, Y:129.49, Z:0.65 [[-8.50092588e-01 5.23480383e-01 -5.75402424e-02 2.08583664e+02] [-5.22173211e-01 -8.52036568e-01 -3.69976352e-02 1.29493172e+02] [-6.83939269e-02 -1.40544235e-03 9.97657404e-01 6.50772233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:129.73, Z:0.68 [[-8.53793568e-01 5.17527374e-01 -5.65858648e-02 2.08923728e+02] [-5.16171579e-01 -8.55661914e-01 -3.75445103e-02 1.29730904e+02] [-6.78486812e-02 -2.84724617e-03 9.97691560e-01 6.78270518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.151400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:208.93, Y:129.73, Z:0.68 [[-8.53087702e-01 5.18356613e-01 -5.95633636e-02 2.08930067e+02] [-5.17188347e-01 -8.55163827e-01 -3.48000225e-02 1.29730935e+02] [-6.89752558e-02 1.11800635e-03 9.97617745e-01 6.81828636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.181400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.93, Y:129.74, Z:0.68 [[-8.53197597e-01 5.18455365e-01 -5.70779636e-02 2.08930546e+02] [-5.17101877e-01 -8.55101043e-01 -3.75213847e-02 1.29735048e+02] [-6.82605894e-02 -2.49803310e-03 9.97664398e-01 6.78757809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.211400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.93, Y:129.73, Z:0.68 [[-8.52748515e-01 5.19062940e-01 -5.82549131e-02 2.08929337e+02] [-5.17801847e-01 -8.54735752e-01 -3.61668562e-02 1.29731046e+02] [-6.85654317e-02 -6.76731328e-04 9.97646392e-01 6.80637331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:129.74, Z:0.68 [[-8.52876756e-01 5.18900435e-01 -5.78236741e-02 2.08934606e+02] [-5.17597723e-01 -8.54833482e-01 -3.67738433e-02 1.29735027e+02] [-6.85115760e-02 -1.43415417e-03 9.97649291e-01 6.80376263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:129.73, Z:0.68 [[-8.53202679e-01 5.18390175e-01 -5.75918002e-02 2.08929474e+02] [-5.17085809e-01 -8.55142706e-01 -3.67861291e-02 1.29731057e+02] [-6.83187757e-02 -1.60612131e-03 9.97662250e-01 6.80046888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.301400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.94, Y:129.74, Z:0.68 [[-8.53717682e-01 5.17562279e-01 -5.74056297e-02 2.08937279e+02] [-5.16265046e-01 -8.55643929e-01 -3.66588365e-02 1.29736241e+02] [-6.80920095e-02 -1.65977686e-03 9.97677665e-01 6.80819149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:129.74, Z:0.68 [[-8.54306812e-01 5.16417897e-01 -5.89273000e-02 2.08942367e+02] [-5.15179743e-01 -8.56336689e-01 -3.57394352e-02 1.29738563e+02] [-6.89180930e-02 -1.74291741e-04 9.97622306e-01 6.81849044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.361400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.94, Y:129.74, Z:0.68 [[-8.54594285e-01 5.16238167e-01 -5.62739974e-02 2.08942938e+02] [-5.14913811e-01 -8.56440850e-01 -3.70518292e-02 1.29740587e+02] [-6.73229186e-02 -2.68802302e-03 9.97727618e-01 6.81277559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.391400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.94, Y:129.74, Z:0.68 [[-8.55077357e-01 5.15427416e-01 -5.63674754e-02 2.08943794e+02] [-5.14088916e-01 -8.56928475e-01 -3.72313767e-02 1.29740002e+02] [-6.74929670e-02 -2.85781290e-03 9.97715657e-01 6.82272954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.421400513 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:208.95, Y:129.74, Z:0.69 [[-8.56032180e-01 5.13343034e-01 -6.07275522e-02 2.08953335e+02] [-5.12114692e-01 -8.58183210e-01 -3.54981571e-02 1.29742430e+02] [-7.03380974e-02 7.11906839e-04 9.97522955e-01 6.85820415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.451400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.95, Y:129.74, Z:0.68 [[-8.56162311e-01 5.13241413e-01 -5.97440327e-02 2.08948245e+02] [-5.11759318e-01 -8.58239430e-01 -3.90830105e-02 1.29740873e+02] [-7.13337041e-02 -2.88683515e-03 9.97448329e-01 6.83593124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.95, Y:129.74, Z:0.69 [[-8.57045012e-01 5.11792994e-01 -5.95128444e-02 2.08954771e+02] [-5.10373371e-01 -8.59105627e-01 -3.81646951e-02 1.29742992e+02] [-7.06602431e-02 -2.33509058e-03 9.97497708e-01 6.87009797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.511400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.96, Y:129.74, Z:0.69 [[-8.56928926e-01 5.11955373e-01 -5.97872212e-02 2.08957828e+02] [-5.10563906e-01 -8.59010083e-01 -3.77647283e-02 1.29744740e+02] [-7.06916814e-02 -1.83649083e-03 9.97496523e-01 6.87672891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.541400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.97, Y:129.76, Z:0.69 [[-8.59361224e-01 5.08193176e-01 -5.69032719e-02 2.08974932e+02] [-5.06701120e-01 -8.61229349e-01 -3.92171360e-02 1.29758300e+02] [-6.89366487e-02 -4.86873435e-03 9.97609159e-01 6.88826237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.571400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.53, Y:129.45, Z:0.65 [[-8.55123226e-01 5.15063035e-01 -5.89435219e-02 2.08532027e+02] [-5.13607696e-01 -8.57147377e-01 -3.88008770e-02 1.29445311e+02] [-7.05081827e-02 -2.90568465e-03 9.97506969e-01 6.53160785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:129.46, Z:0.66 [[-8.56066230e-01 5.13339418e-01 -6.02764688e-02 2.08550199e+02] [-5.11893402e-01 -8.58182956e-01 -3.85637088e-02 1.29456385e+02] [-7.15245100e-02 -2.15796212e-03 9.97436508e-01 6.55331390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.56480121e-01 5.12669246e-01 -6.01003089e-02 2.08602462e+02] [-5.11181581e-01 -8.58581658e-01 -3.91270805e-02 1.29493640e+02] [-7.16602737e-02 -2.78939575e-03 9.97425197e-01 6.59399756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.661400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.58, Y:129.48, Z:0.66 [[-8.55745766e-01 5.13916122e-01 -5.99116306e-02 2.08584911e+02] [-5.12365164e-01 -8.57832962e-01 -4.00568129e-02 1.29482877e+02] [-7.19800134e-02 -3.58181554e-03 9.97399643e-01 6.56397221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.62, Y:129.50, Z:0.66 [[-8.56311870e-01 5.12900662e-01 -6.05218287e-02 2.08617319e+02] [-5.11455731e-01 -8.58445551e-01 -3.85262360e-02 1.29504133e+02] [-7.17148265e-02 -2.03623710e-03 9.97423099e-01 6.60768155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.721400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:208.61, Y:129.50, Z:0.66 [[-8.55549164e-01 5.14140982e-01 -6.07838645e-02 2.08610586e+02] [-5.12637542e-01 -8.57701978e-01 -3.93709111e-02 1.29501126e+02] [-7.23766397e-02 -2.52365917e-03 9.97374179e-01 6.57489828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.751400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:208.61, Y:129.50, Z:0.66 [[-8.56693483e-01 5.12522873e-01 -5.82801854e-02 2.08607679e+02] [-5.10888326e-01 -8.58655378e-01 -4.12802746e-02 1.29500100e+02] [-7.11996796e-02 -5.58987590e-03 9.97446419e-01 6.55043042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:129.52, Z:0.66 [[-8.56476189e-01 5.12635483e-01 -6.04433525e-02 2.08633797e+02] [-5.11115724e-01 -8.58601155e-01 -3.95572205e-02 1.29516018e+02] [-7.21751672e-02 -2.98626965e-03 9.97387501e-01 6.59808583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.811400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:208.61, Y:129.50, Z:0.66 [[-8.56112986e-01 5.13313245e-01 -5.98336598e-02 2.08614858e+02] [-5.11740438e-01 -8.58192376e-01 -4.03431505e-02 1.29503193e+02] [-7.20574641e-02 -3.91899180e-03 9.97392783e-01 6.57332505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:129.51, Z:0.66 [[-8.55956123e-01 5.13807549e-01 -5.78006770e-02 2.08622533e+02] [-5.12318443e-01 -8.57896039e-01 -3.92963087e-02 1.29507446e+02] [-6.97777119e-02 -4.02356316e-03 9.97554451e-01 6.60086119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.871400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.63, Y:129.51, Z:0.66 [[-8.55597509e-01 5.14159909e-01 -5.99373907e-02 2.08629973e+02] [-5.12790671e-01 -8.57693250e-01 -3.75235363e-02 1.29510368e+02] [-7.07009934e-02 -1.36970943e-03 9.97496613e-01 6.61193563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:129.76, Z:0.69 [[-8.57907993e-01 5.10271074e-01 -6.01440525e-02 2.08987306e+02] [-5.08866317e-01 -8.60011532e-01 -3.78845084e-02 1.29762539e+02] [-7.10559475e-02 -1.89614016e-03 9.97470529e-01 6.89294056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:129.77, Z:0.69 [[-8.57804669e-01 5.10511350e-01 -5.95760950e-02 2.08994033e+02] [-5.09055451e-01 -8.59866425e-01 -3.86300418e-02 1.29767980e+02] [-7.09485586e-02 -2.80949434e-03 9.97476019e-01 6.88925370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.961400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.99, Y:129.76, Z:0.69 [[-8.57228145e-01 5.11826978e-01 -5.65070998e-02 2.08985481e+02] [-5.10366423e-01 -8.59076728e-01 -3.89010275e-02 1.29762577e+02] [-6.84545297e-02 -4.50772929e-03 9.97644054e-01 6.88328672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.991400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.54168156e-01 5.17114421e-01 -5.46757467e-02 2.08601794e+02] [-5.15664978e-01 -8.55900817e-01 -3.90310504e-02 1.29492650e+02] [-6.69805353e-02 -5.14471261e-03 9.97741018e-01 6.56296477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.021400513 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:208.59, Y:129.48, Z:0.66 [[-8.56162828e-01 5.13542656e-01 -5.70889864e-02 2.08593759e+02] [-5.12257853e-01 -8.58062008e-01 -3.63521981e-02 1.29483881e+02] [-6.76542947e-02 -1.87911906e-03 9.97707054e-01 6.56505717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.051400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:208.63, Y:129.51, Z:0.66 [[-8.56950841e-01 5.12369309e-01 -5.57937857e-02 2.08630675e+02] [-5.10971831e-01 -8.58755490e-01 -3.80367859e-02 1.29512210e+02] [-6.74021015e-02 -4.08660279e-03 9.97717523e-01 6.57891485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.081400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.63, Y:129.51, Z:0.66 [[-8.57396405e-01 5.11533246e-01 -5.66139911e-02 2.08625368e+02] [-5.10129063e-01 -8.59255288e-01 -3.80616542e-02 1.29508606e+02] [-6.81156728e-02 -3.75348321e-03 9.97670370e-01 6.58470428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.111400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:208.62, Y:129.50, Z:0.66 [[-8.57890626e-01 5.10652790e-01 -5.70736578e-02 2.08617660e+02] [-5.09251457e-01 -8.59779872e-01 -3.79674175e-02 1.29501196e+02] [-6.84589499e-02 -3.50704815e-03 9.97647770e-01 6.59362470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.141400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:208.63, Y:129.51, Z:0.66 [[-8.57799645e-01 5.10867556e-01 -5.65164495e-02 2.08631798e+02] [-5.09438692e-01 -8.59649395e-01 -3.84075098e-02 1.29512103e+02] [-6.82054823e-02 -4.15428221e-03 9.97662645e-01 6.61026401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.171400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:208.59, Y:129.48, Z:0.66 [[-8.58617654e-01 5.09604270e-01 -5.54906493e-02 2.08590902e+02] [-5.08186160e-01 -8.60396259e-01 -3.82766876e-02 1.29482743e+02] [-6.72499105e-02 -4.66545972e-03 9.97725254e-01 6.55749236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.201400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.66 [[-8.59155349e-01 5.08677103e-01 -5.56748750e-02 2.08603715e+02] [-5.07289860e-01 -8.60947066e-01 -3.77776002e-02 1.29493327e+02] [-6.71497205e-02 -4.21352777e-03 9.97734013e-01 6.56687356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.231400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.62, Y:129.51, Z:0.66 [[-8.59655815e-01 5.08017054e-01 -5.39495306e-02 2.08622678e+02] [-5.06647553e-01 -8.61332504e-01 -3.76108240e-02 1.29506979e+02] [-6.55754243e-02 -4.99896590e-03 9.97835094e-01 6.59650601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.261400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.62, Y:129.51, Z:0.66 [[-8.60351122e-01 5.06776814e-01 -5.45271263e-02 2.08622064e+02] [-5.05445423e-01 -8.62066903e-01 -3.69537470e-02 1.29506553e+02] [-6.57333331e-02 -4.23271122e-03 9.97828248e-01 6.59929786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:129.48, Z:0.66 [[-8.61591048e-01 5.04606284e-01 -5.50759919e-02 2.08587290e+02] [-5.03260526e-01 -8.63339260e-01 -3.70697334e-02 1.29480860e+02] [-6.62548865e-02 -4.22137781e-03 9.97793801e-01 6.57635348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.321400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:208.62, Y:129.51, Z:0.66 [[-8.61917602e-01 5.03951261e-01 -5.59568981e-02 2.08624952e+02] [-5.02611376e-01 -8.63724218e-01 -3.69090784e-02 1.29506946e+02] [-6.69317046e-02 -3.68801079e-03 9.97750743e-01 6.60208222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:129.51, Z:0.66 [[-8.61244123e-01 5.05489671e-01 -5.23331023e-02 2.08626219e+02] [-5.04139040e-01 -8.62813082e-01 -3.73819887e-02 1.29511449e+02] [-6.40498944e-02 -5.81185808e-03 9.97929774e-01 6.59977623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.63, Y:129.51, Z:0.66 [[-8.61770998e-01 5.03682743e-01 -6.04519779e-02 2.08629898e+02] [-5.02422342e-01 -8.63888647e-01 -3.56117330e-02 1.29509828e+02] [-7.01607928e-02 -3.16734372e-04 9.97535645e-01 6.58552345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.60, Y:129.49, Z:0.65 [[-8.61342648e-01 5.05421680e-01 -5.13592085e-02 2.08595986e+02] [-5.03922880e-01 -8.62831680e-01 -3.97897362e-02 1.29492393e+02] [-6.44249475e-02 -8.39151645e-03 9.97887273e-01 6.54230873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:129.51, Z:0.66 [[-8.60558841e-01 5.05819647e-01 -5.98745898e-02 2.08623825e+02] [-5.04472802e-01 -8.62637831e-01 -3.69210686e-02 1.29506592e+02] [-7.03254881e-02 -1.56764994e-03 9.97522866e-01 6.57845250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.471400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.64, Y:129.52, Z:0.66 [[-8.60099075e-01 5.06958585e-01 -5.67677182e-02 2.08638065e+02] [-5.05396747e-01 -8.61950340e-01 -4.01962648e-02 1.29521323e+02] [-6.93087955e-02 -5.88255011e-03 9.97577910e-01 6.55248670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:129.50, Z:0.66 [[-8.60961071e-01 5.05333676e-01 -5.81713832e-02 2.08616884e+02] [-5.03848905e-01 -8.62913735e-01 -3.89379971e-02 1.29503386e+02] [-6.98735667e-02 -4.21451194e-03 9.97546953e-01 6.55850044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.531400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.64, Y:129.52, Z:0.66 [[-8.61029632e-01 5.05326605e-01 -5.72100963e-02 2.08639869e+02] [-5.03794891e-01 -8.62911643e-01 -3.96762318e-02 1.29521482e+02] [-6.94167137e-02 -5.34025699e-03 9.97573457e-01 6.56617750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:129.53, Z:0.66 [[-8.61027094e-01 5.05244064e-01 -5.79722244e-02 2.08657948e+02] [-5.03734175e-01 -8.62964017e-01 -3.93063017e-02 1.29532889e+02] [-6.98872193e-02 -4.64120007e-03 9.97544102e-01 6.58990033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.591400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:208.65, Y:129.53, Z:0.66 [[-8.59782672e-01 5.07431461e-01 -5.73329667e-02 2.08650435e+02] [-5.05865745e-01 -8.61674069e-01 -4.02199725e-02 1.29527918e+02] [-6.98112101e-02 -5.57765156e-03 9.97544628e-01 6.56887373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:129.52, Z:0.66 [[-8.58085651e-01 5.10574483e-01 -5.47970191e-02 2.08635328e+02] [-5.09087575e-01 -8.59813312e-01 -3.93815830e-02 1.29516902e+02] [-6.72224378e-02 -5.89628971e-03 9.97720591e-01 6.57922538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.651400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.66, Y:129.53, Z:0.66 [[-8.56479622e-01 5.12944932e-01 -5.77074945e-02 2.08658793e+02] [-5.11560618e-01 -8.58416869e-01 -3.77652382e-02 1.29533718e+02] [-6.89085742e-02 -2.82427534e-03 9.97618981e-01 6.58732562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.681400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.01, Y:129.78, Z:0.69 [[-8.52243511e-01 5.19692121e-01 -6.00091432e-02 2.09008331e+02] [-5.18437748e-01 -8.54353541e-01 -3.60877896e-02 1.29784523e+02] [-7.00235639e-02 3.55420539e-04 9.97545274e-01 6.88409885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.711400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.69, Y:129.56, Z:0.65 [[-8.54597946e-01 5.16749375e-01 -5.13072487e-02 2.08690434e+02] [-5.15058382e-01 -8.56074151e-01 -4.30338328e-02 1.29564401e+02] [-6.61605155e-02 -1.03503966e-02 9.97755308e-01 6.54432213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.741400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.74, Y:129.59, Z:0.67 [[-8.49486116e-01 5.24214028e-01 -5.97745033e-02 2.08737529e+02] [-5.22964821e-01 -8.51586384e-01 -3.61721707e-02 1.29590200e+02] [-6.98651124e-02 5.32205587e-04 9.97556306e-01 6.65334578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.771400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:208.74, Y:129.60, Z:0.66 [[-8.49652542e-01 5.24344383e-01 -5.61562732e-02 2.08741929e+02] [-5.22773004e-01 -8.51489084e-01 -4.09234177e-02 1.29600355e+02] [-6.92744178e-02 -5.41370227e-03 9.97582952e-01 6.60073387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.801400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.06, Y:129.83, Z:0.69 [[-8.50241027e-01 5.23502953e-01 -5.50895145e-02 2.09058394e+02] [-5.21987179e-01 -8.52006741e-01 -4.01733508e-02 1.29831579e+02] [-6.79675055e-02 -5.40101084e-03 9.97672916e-01 6.87949535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.831400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.72, Y:129.59, Z:0.66 [[-8.49660353e-01 5.24364398e-01 -5.58503629e-02 2.08722804e+02] [-5.22806496e-01 -8.51476669e-01 -4.07535165e-02 1.29587220e+02] [-6.89249741e-02 -5.42771466e-03 9.97607081e-01 6.58436067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.861400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:209.06, Y:129.83, Z:0.69 [[-8.49912275e-01 5.23914027e-01 -5.62424782e-02 2.09062049e+02] [-5.22330931e-01 -8.51753197e-01 -4.10717630e-02 1.29834667e+02] [-6.94227833e-02 -5.53020955e-03 9.97571999e-01 6.87935895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.891400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.73, Y:129.59, Z:0.66 [[-8.49570789e-01 5.24365550e-01 -5.71860410e-02 2.08734244e+02] [-5.22728762e-01 -8.51474852e-01 -4.17758059e-02 1.29594740e+02] [-7.05982692e-02 -5.59871605e-03 9.97489117e-01 6.59384363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.921400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.06, Y:129.84, Z:0.69 [[-8.48900964e-01 5.25381096e-01 -5.78087957e-02 2.09064992e+02] [-5.23708403e-01 -8.50848586e-01 -4.22633682e-02 1.29837508e+02] [-7.13909068e-02 -5.60246200e-03 9.97432680e-01 6.87639991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.951400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:209.07, Y:129.84, Z:0.69 [[-8.48941224e-01 5.25387800e-01 -5.71529362e-02 2.09071107e+02] [-5.23751896e-01 -8.50844788e-01 -4.17983005e-02 1.29842150e+02] [-7.05885950e-02 -5.55034172e-03 9.97490072e-01 6.88184865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:129.84, Z:0.69 [[-8.48895627e-01 5.25522917e-01 -5.65851427e-02 2.09075525e+02] [-5.23917905e-01 -8.50761630e-01 -4.14086557e-02 1.29844795e+02] [-6.99016658e-02 -5.50565732e-03 9.97538693e-01 6.90019818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:129.61, Z:0.66 [[-8.48665087e-01 5.25824131e-01 -5.72411871e-02 2.08759964e+02] [-5.24180325e-01 -8.50575085e-01 -4.19167278e-02 1.29613646e+02] [-7.07287545e-02 -5.56855943e-03 9.97480042e-01 6.62886337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:129.60, Z:0.66 [[-8.48634174e-01 5.25755203e-01 -5.83224275e-02 2.08745427e+02] [-5.24046040e-01 -8.50616764e-01 -4.27418834e-02 1.29602662e+02] [-7.20818021e-02 -5.70858572e-03 9.97382387e-01 6.62818226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:129.85, Z:0.69 [[-8.49206427e-01 5.24829897e-01 -5.83268708e-02 2.09085048e+02] [-5.23116198e-01 -8.51187284e-01 -4.27744124e-02 1.29851190e+02] [-7.20963812e-02 -5.81257499e-03 9.97380733e-01 6.93833141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.101400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.09, Y:129.85, Z:0.69 [[-8.49722903e-01 5.23951587e-01 -5.87002814e-02 2.09088604e+02] [-5.22212645e-01 -8.51727346e-01 -4.30636846e-02 1.29854919e+02] [-7.25599208e-02 -5.93816990e-03 9.97346377e-01 6.92506465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:129.62, Z:0.66 [[-8.49387741e-01 5.24462186e-01 -5.89905192e-02 2.08762675e+02] [-5.22705194e-01 -8.51412971e-01 -4.33039623e-02 1.29616154e+02] [-7.29365839e-02 -5.94720396e-03 9.97318849e-01 6.64518314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.161400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.09, Y:129.86, Z:0.69 [[-8.49560117e-01 5.24206464e-01 -5.87808783e-02 2.09094036e+02] [-5.22458958e-01 -8.51570239e-01 -4.31829308e-02 1.29859292e+02] [-7.26928181e-02 -5.97589929e-03 9.97336474e-01 6.93191698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:129.86, Z:0.69 [[-8.49460596e-01 5.24308204e-01 -5.93093908e-02 2.09092246e+02] [-5.22527329e-01 -8.51507119e-01 -4.35983542e-02 1.29857771e+02] [-7.33613432e-02 -6.04430635e-03 9.97287110e-01 6.94900703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.221400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:209.10, Y:129.86, Z:0.70 [[-8.49790913e-01 5.23716025e-01 -5.98074342e-02 2.09101585e+02] [-5.21901461e-01 -8.51870551e-01 -4.39935107e-02 1.29864166e+02] [-7.39882984e-02 -6.17169833e-03 9.97240012e-01 6.95279215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.251400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.77, Y:129.62, Z:0.67 [[-8.50133689e-01 5.23116807e-01 -6.01790451e-02 2.08765437e+02] [-5.21276001e-01 -8.52237809e-01 -4.42950046e-02 1.29617283e+02] [-7.44583188e-02 -6.28678367e-03 9.97204310e-01 6.66625900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:129.60, Z:0.66 [[-8.51672601e-01 5.20701402e-01 -5.93618664e-02 2.08739688e+02] [-5.18902084e-01 -8.53714592e-01 -4.37266822e-02 1.29599275e+02] [-7.34466363e-02 -6.43782097e-03 9.97278369e-01 6.63517880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:129.61, Z:0.66 [[-8.51756228e-01 5.20590521e-01 -5.91340659e-02 2.08754015e+02] [-5.18802488e-01 -8.53782128e-01 -4.35896388e-02 1.29610119e+02] [-7.31799613e-02 -6.44884582e-03 9.97297902e-01 6.64500012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.341400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.76, Y:129.61, Z:0.67 [[-8.51569827e-01 5.20944744e-01 -5.86975554e-02 2.08756935e+02] [-5.19181653e-01 -8.53566431e-01 -4.32984816e-02 1.29612429e+02] [-7.26583793e-02 -6.39698666e-03 9.97336372e-01 6.65040265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.371400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.76, Y:129.61, Z:0.67 [[-8.51394116e-01 5.21233515e-01 -5.86828949e-02 2.08759137e+02] [-5.19469749e-01 -8.53390123e-01 -4.33183425e-02 1.29614173e+02] [-7.26583748e-02 -6.39699324e-03 9.97336372e-01 6.65215995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.76, Y:129.61, Z:0.67 [[-8.51193368e-01 5.21650227e-01 -5.78868876e-02 2.08757633e+02] [-5.19932863e-01 -8.53136183e-01 -4.27606243e-02 1.29613412e+02] [-7.16914877e-02 -6.30026463e-03 9.97406957e-01 6.65024447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.431400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.76, Y:129.62, Z:0.67 [[-8.51042458e-01 5.22014820e-01 -5.68089949e-02 2.08764145e+02] [-5.20359652e-01 -8.52914046e-01 -4.19936166e-02 1.29618830e+02] [-7.03744799e-02 -6.17724186e-03 9.97501516e-01 6.65180636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.461400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.77, Y:129.62, Z:0.67 [[-8.51204783e-01 5.21782547e-01 -5.65100875e-02 2.08769014e+02] [-5.20142203e-01 -8.53056077e-01 -4.18021279e-02 1.29623183e+02] [-7.00178943e-02 -6.18888984e-03 9.97526537e-01 6.65701570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:129.60, Z:0.66 [[-8.50849273e-01 5.22310920e-01 -5.69808590e-02 2.08742373e+02] [-5.20642132e-01 -8.52732422e-01 -4.21804070e-02 1.29603869e+02] [-7.06207130e-02 -6.22253274e-03 9.97483832e-01 6.63195580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.521400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.76, Y:129.62, Z:0.66 [[-8.50716057e-01 5.22548768e-01 -5.67888745e-02 2.08763229e+02] [-5.20889636e-01 -8.52586802e-01 -4.20681999e-02 1.29618922e+02] [-7.04001309e-02 -6.20735701e-03 9.97499519e-01 6.64976098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.551400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.77, Y:129.62, Z:0.67 [[-8.50646992e-01 5.22717228e-01 -5.62707226e-02 2.08767416e+02] [-5.21086572e-01 -8.52483859e-01 -4.17139676e-02 1.29621480e+02] [-6.97744922e-02 -6.16194314e-03 9.97543759e-01 6.65380778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.581400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:208.77, Y:129.62, Z:0.66 [[-8.50527913e-01 5.23011438e-01 -5.53290534e-02 2.08766550e+02] [-5.21433621e-01 -8.52304126e-01 -4.10445601e-02 1.29620368e+02] [-6.86239549e-02 -6.05911539e-03 9.97624198e-01 6.63526566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:129.63, Z:0.66 [[-8.49060913e-01 5.25514327e-01 -5.41318601e-02 2.08772911e+02] [-5.24007278e-01 -8.50765296e-01 -4.01843658e-02 1.29626199e+02] [-6.71709680e-02 -5.75348566e-03 9.97724891e-01 6.63706865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.641400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.79, Y:129.64, Z:0.67 [[-8.48019949e-01 5.27192844e-01 -5.41282908e-02 2.08788611e+02] [-5.25687445e-01 -8.49726923e-01 -4.02102805e-02 1.29637311e+02] [-6.71928381e-02 -5.64455715e-03 9.97724041e-01 6.66195352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.671400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:209.13, Y:129.89, Z:0.70 [[-8.46989530e-01 5.28828087e-01 -5.43101303e-02 2.09131015e+02] [-5.27313922e-01 -8.48710766e-01 -4.03740443e-02 1.29890822e+02] [-6.74445209e-02 -5.55790492e-03 9.97707546e-01 6.96522499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.13, Y:129.89, Z:0.70 [[-8.45919673e-01 5.30544004e-01 -5.42491164e-02 2.09127019e+02] [-5.29035053e-01 -8.47639964e-01 -4.03534954e-02 1.29887726e+02] [-6.73930241e-02 -5.43613152e-03 9.97711696e-01 6.97187704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.731400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.13, Y:129.89, Z:0.70 [[-8.45395876e-01 5.31434698e-01 -5.36933445e-02 2.09134558e+02] [-5.29956583e-01 -8.47082482e-01 -3.99660850e-02 1.29893112e+02] [-6.67220559e-02 -5.33202204e-03 9.97757354e-01 6.98475977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.761400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:209.14, Y:129.90, Z:0.70 [[-8.45254200e-01 5.31671527e-01 -5.35791502e-02 2.09140538e+02] [-5.30198524e-01 -8.46933914e-01 -3.99057849e-02 1.29897912e+02] [-6.65947690e-02 -5.32294594e-03 9.97765906e-01 6.98789639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:129.65, Z:0.67 [[-8.45803953e-01 5.30608564e-01 -5.54096106e-02 2.08811737e+02] [-5.29028866e-01 -8.47598380e-01 -4.12970363e-02 1.29652562e+02] [-6.88776573e-02 -5.61591306e-03 9.97609307e-01 6.71310753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:129.90, Z:0.70 [[-8.45894172e-01 5.30325817e-01 -5.67236976e-02 2.09143312e+02] [-5.28667226e-01 -8.47774069e-01 -4.23094902e-02 1.29899124e+02] [-7.05266949e-02 -5.80139129e-03 9.97493022e-01 7.01075302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.851400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.15, Y:129.90, Z:0.70 [[-8.45751277e-01 5.30447596e-01 -5.77072416e-02 2.09145353e+02] [-5.28730071e-01 -8.47697160e-01 -4.30585158e-02 1.29900138e+02] [-7.17585510e-02 -5.90524072e-03 9.97404551e-01 7.01809595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.881400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:208.81, Y:129.65, Z:0.67 [[-8.44999126e-01 5.31603879e-01 -5.80843639e-02 2.08806550e+02] [-5.29864516e-01 -8.46972772e-01 -4.33672397e-02 1.29647428e+02] [-7.22500676e-02 -5.86843620e-03 9.97369284e-01 6.70765318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.911400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:209.15, Y:129.91, Z:0.70 [[-8.45044176e-01 5.31595511e-01 -5.75026424e-02 2.09151836e+02] [-5.29888522e-01 -8.46978238e-01 -4.29653226e-02 1.29906096e+02] [-7.15436594e-02 -5.83760540e-03 9.97420386e-01 7.01314508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.941400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.16, Y:129.91, Z:0.70 [[-8.45106137e-01 5.31480195e-01 -5.76577703e-02 2.09155476e+02] [-5.29762608e-01 -8.47050337e-01 -4.30964790e-02 1.29909335e+02] [-7.17439588e-02 -5.87616810e-03 9.97405773e-01 7.02167720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.82, Y:129.66, Z:0.67 [[-8.45591399e-01 5.30663013e-01 -5.80685206e-02 2.08819546e+02] [-5.28916836e-01 -8.47561571e-01 -4.34323020e-02 1.29657115e+02] [-7.22645627e-02 -6.01256281e-03 9.97367376e-01 6.73058552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.001400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.45990247e-01 5.29904644e-01 -5.91740618e-02 2.09167106e+02] [-5.28086912e-01 -8.48034404e-01 -4.42929262e-02 1.29917184e+02] [-7.36526676e-02 -6.22233603e-03 9.97264542e-01 7.03403780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.031400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:208.82, Y:129.66, Z:0.67 [[-8.46968453e-01 5.28355812e-01 -5.90302882e-02 2.08821918e+02] [-5.26542009e-01 -8.48999261e-01 -4.42014320e-02 1.29659349e+02] [-7.34707546e-02 -6.35529192e-03 9.97277122e-01 6.72650754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.46740793e-01 5.28793697e-01 -5.83717021e-02 2.09172454e+02] [-5.27018860e-01 -8.48727201e-01 -4.37408332e-02 1.29922414e+02] [-7.26715283e-02 -6.27415993e-03 9.97336194e-01 7.02821357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.091400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.84, Y:129.68, Z:0.67 [[-8.45238624e-01 5.31228731e-01 -5.80319222e-02 2.08843190e+02] [-5.29479063e-01 -8.47206894e-01 -4.35017265e-02 1.29675511e+02] [-7.22744115e-02 -6.04265164e-03 9.97366480e-01 6.74485791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.121400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.43662136e-01 5.33673400e-01 -5.85397531e-02 2.09172046e+02] [-5.31896275e-01 -8.45669992e-01 -4.39160174e-02 1.29921585e+02] [-7.29421229e-02 -5.91320438e-03 9.97318646e-01 7.02121910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:129.92, Z:0.70 [[-8.42433906e-01 5.35618679e-01 -5.84614758e-02 2.09175242e+02] [-5.33848971e-01 -8.44440320e-01 -4.38841868e-02 1.29924150e+02] [-7.28724175e-02 -5.75992818e-03 9.97324638e-01 7.03270986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.40312751e-01 5.38931741e-01 -5.85410840e-02 2.09170277e+02] [-5.37163143e-01 -8.42331461e-01 -4.39712110e-02 1.29920701e+02] [-7.30084781e-02 -5.50345666e-03 9.97316136e-01 7.02302977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.39335213e-01 5.40514960e-01 -5.79653252e-02 2.09167180e+02] [-5.38782825e-01 -8.41317486e-01 -4.35655305e-02 1.29918241e+02] [-7.23150626e-02 -5.33536219e-03 9.97367568e-01 7.01503486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.241400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.37548423e-01 5.43356350e-01 -5.72408569e-02 2.09174444e+02] [-5.41671969e-01 -8.39486979e-01 -4.30475317e-02 1.29923533e+02] [-7.14431037e-02 -5.04862468e-03 9.97431900e-01 7.01834142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.36692692e-01 5.44771519e-01 -5.62968115e-02 2.09172545e+02] [-5.43143661e-01 -8.38570387e-01 -4.23635439e-02 1.29922225e+02] [-7.02872912e-02 -4.86801133e-03 9.97514912e-01 7.02641836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.301400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.17, Y:129.92, Z:0.70 [[-8.35876767e-01 5.46004454e-01 -5.64727072e-02 2.09173855e+02] [-5.44367300e-01 -8.37768512e-01 -4.25224952e-02 1.29922937e+02] [-7.05285277e-02 -4.80167071e-03 9.97498206e-01 7.02060211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.331400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.18, Y:129.93, Z:0.70 [[-8.36539335e-01 5.44992227e-01 -5.64394645e-02 2.09180247e+02] [-5.43352841e-01 -8.38426740e-01 -4.25240059e-02 1.29928398e+02] [-7.04956090e-02 -4.90646022e-03 9.97500023e-01 7.02610844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:129.93, Z:0.70 [[-8.37575783e-01 5.43320767e-01 -5.71782517e-02 2.09185109e+02] [-5.41632302e-01 -8.39509476e-01 -4.31078797e-02 1.29932293e+02] [-7.14230904e-02 -5.13652800e-03 9.97432884e-01 7.03748663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.391400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.19, Y:129.93, Z:0.70 [[-8.37339044e-01 5.43688937e-01 -5.71460028e-02 2.09188177e+02] [-5.42001308e-01 -8.39271158e-01 -4.31103973e-02 1.29933296e+02] [-7.13996380e-02 -5.12481059e-03 9.97434623e-01 7.04429067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:129.93, Z:0.71 [[-8.36584049e-01 5.44849224e-01 -5.71528769e-02 2.09188730e+02] [-5.43161946e-01 -8.38518831e-01 -4.31424340e-02 1.29933854e+02] [-7.14298852e-02 -5.04900426e-03 9.97432844e-01 7.05074749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.18, Y:129.93, Z:0.70 [[-8.36131119e-01 5.45583599e-01 -5.67740030e-02 2.09182055e+02] [-5.43918440e-01 -8.38041635e-01 -4.28829671e-02 1.29928406e+02] [-7.09752219e-02 -4.97535614e-03 9.97465670e-01 7.03931696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.19, Y:129.93, Z:0.70 [[-8.36156526e-01 5.45623348e-01 -5.60127252e-02 2.09185738e+02] [-5.44000865e-01 -8.38016042e-01 -4.23340569e-02 1.29932005e+02] [-7.00380122e-02 -4.92692698e-03 9.97532156e-01 7.03924549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:129.94, Z:0.70 [[-8.35974019e-01 5.45893663e-01 -5.61030154e-02 2.09192650e+02] [-5.44264667e-01 -8.37839936e-01 -4.24289252e-02 1.29938478e+02] [-7.01670282e-02 -4.93459013e-03 9.97523051e-01 7.03429226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.541400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.20, Y:129.94, Z:0.71 [[-8.35752435e-01 5.46152936e-01 -5.68756374e-02 2.09201512e+02] [-5.44477347e-01 -8.37670540e-01 -4.30405117e-02 1.29944703e+02] [-7.11497477e-02 -5.00371626e-03 9.97453095e-01 7.05135328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.20, Y:129.94, Z:0.71 [[-8.35542989e-01 5.46394435e-01 -5.76284176e-02 2.09201269e+02] [-5.44672709e-01 -8.37512621e-01 -4.36377176e-02 1.29944095e+02] [-7.21079331e-02 -5.07256275e-03 9.97383936e-01 7.06225112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:129.95, Z:0.71 [[-8.35815480e-01 5.46003914e-01 -5.73777782e-02 2.09208335e+02] [-5.44294301e-01 -8.37767061e-01 -4.34748737e-02 1.29948996e+02] [-7.18066638e-02 -5.10657473e-03 9.97405497e-01 7.07884689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.21, Y:129.95, Z:0.71 [[-8.35854323e-01 5.45942284e-01 -5.73983749e-02 2.09212856e+02] [-5.44229347e-01 -8.37807042e-01 -4.35175703e-02 1.29952856e+02] [-7.18468444e-02 -5.13646915e-03 9.97402450e-01 7.07574710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:129.95, Z:0.71 [[-8.35778212e-01 5.46071236e-01 -5.72798851e-02 2.09206956e+02] [-5.44363738e-01 -8.37722993e-01 -4.34546673e-02 1.29949856e+02] [-7.17140207e-02 -5.13737180e-03 9.97412005e-01 7.05510680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.691400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.22, Y:129.96, Z:0.71 [[-8.35457297e-01 5.46531129e-01 -5.75745665e-02 2.09218784e+02] [-5.44805097e-01 -8.37422970e-01 -4.37055493e-02 1.29958557e+02] [-7.21007077e-02 -5.14720276e-03 9.97384076e-01 7.05502842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.721400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.22, Y:129.96, Z:0.71 [[-8.35003237e-01 5.47157429e-01 -5.82094674e-02 2.09217131e+02] [-5.45392536e-01 -8.37013733e-01 -4.42152946e-02 1.29957845e+02] [-7.29148505e-02 -5.17290507e-03 9.97324754e-01 7.05697051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.751400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.22, Y:129.96, Z:0.71 [[-8.34672939e-01 5.47639580e-01 -5.84121242e-02 2.09223082e+02] [-5.45861497e-01 -8.36698358e-01 -4.43968918e-02 1.29961786e+02] [-7.31868236e-02 -5.17195458e-03 9.97304838e-01 7.06426290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.22, Y:129.96, Z:0.71 [[-8.33988356e-01 5.48790202e-01 -5.73823705e-02 2.09223810e+02] [-5.47075128e-01 -8.35945142e-01 -4.36408538e-02 1.29962338e+02] [-7.19181868e-02 -5.00349617e-03 9.97397985e-01 7.07874530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:129.97, Z:0.71 [[-8.33770794e-01 5.49223771e-01 -5.63871646e-02 2.09229245e+02] [-5.47566885e-01 -8.35660951e-01 -4.29101615e-02 1.29966762e+02] [-7.06878323e-02 -4.90149535e-03 9.97486444e-01 7.07701746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.841400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:209.23, Y:129.97, Z:0.71 [[-8.33177251e-01 5.50156913e-01 -5.60628230e-02 2.09232015e+02] [-5.48519296e-01 -8.35047407e-01 -4.26896856e-02 1.29968300e+02] [-7.03011406e-02 -4.81653468e-03 9.97514186e-01 7.06898117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:129.97, Z:0.71 [[-8.32998015e-01 5.50402399e-01 -5.63161339e-02 2.09231245e+02] [-5.48748592e-01 -8.34885486e-01 -4.29092997e-02 1.29968701e+02] [-7.06349043e-02 -4.83996226e-03 9.97490494e-01 7.08002310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.901400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.24, Y:129.97, Z:0.71 [[-8.33119517e-01 5.50137608e-01 -5.71006407e-02 2.09238054e+02] [-5.48434752e-01 -8.35059325e-01 -4.35344285e-02 1.29973477e+02] [-7.16323488e-02 -4.95340631e-03 9.97418804e-01 7.08944192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.931400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.23, Y:129.97, Z:0.71 [[-8.34830570e-01 5.47528799e-01 -5.71850774e-02 2.09228670e+02] [-5.45812869e-01 -8.36770633e-01 -4.36259162e-02 1.29966895e+02] [-7.17372389e-02 -5.20789730e-03 9.97409969e-01 7.08551311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:129.76, Z:0.68 [[-8.35488296e-01 5.46524599e-01 -5.71854030e-02 2.08952714e+02] [-5.44804351e-01 -8.37426171e-01 -4.36534970e-02 1.29757260e+02] [-7.17462630e-02 -5.31712939e-03 9.97408744e-01 6.83613922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.991400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.96, Y:129.76, Z:0.68 [[-8.35581617e-01 5.46353658e-01 -5.74546857e-02 2.08955353e+02] [-5.44614326e-01 -8.37537271e-01 -4.38925459e-02 1.29759392e+02] [-7.21012937e-02 -5.38515956e-03 9.97382777e-01 6.83738025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.021400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.95, Y:129.76, Z:0.68 [[-8.35159159e-01 5.46913763e-01 -5.82624744e-02 2.08953173e+02] [-5.45124212e-01 -8.37171288e-01 -4.45401789e-02 1.29757633e+02] [-7.31353076e-02 -5.43785292e-03 9.97307203e-01 6.83425500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:129.75, Z:0.68 [[-8.35060572e-01 5.47064630e-01 -5.82591715e-02 2.08947341e+02] [-5.45273432e-01 -8.37072632e-01 -4.45678365e-02 1.29753313e+02] [-7.31486450e-02 -5.44966468e-03 9.97306160e-01 6.83634361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.96, Y:129.76, Z:0.68 [[-8.34647147e-01 5.47709494e-01 -5.81244290e-02 2.08956112e+02] [-5.45925922e-01 -8.36651113e-01 -4.44949654e-02 1.29760585e+02] [-7.30001832e-02 -5.40596346e-03 9.97317276e-01 6.84546683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:129.75, Z:0.68 [[-8.34608143e-01 5.47851065e-01 -5.73450869e-02 2.08944109e+02] [-5.46113273e-01 -8.36558805e-01 -4.39278750e-02 1.29750710e+02] [-7.20384704e-02 -5.34564906e-03 9.97387529e-01 6.83879591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:129.76, Z:0.69 [[-8.34216742e-01 5.48438900e-01 -5.74212613e-02 2.08957138e+02] [-5.46695683e-01 -8.36173663e-01 -4.40163055e-02 1.29760725e+02] [-7.21544006e-02 -5.32718330e-03 9.97379248e-01 6.85232492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.171400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.97, Y:129.77, Z:0.69 [[-8.33317618e-01 5.49726033e-01 -5.81638772e-02 2.08967954e+02] [-5.47938205e-01 -8.35328138e-01 -4.46164133e-02 1.29768677e+02] [-7.31127271e-02 -5.30943275e-03 9.97309550e-01 6.85990267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.201400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.98, Y:129.78, Z:0.69 [[-8.32689792e-01 5.50673674e-01 -5.81911930e-02 2.08980232e+02] [-5.48884233e-01 -8.34704079e-01 -4.46676523e-02 1.29778203e+02] [-7.31697263e-02 -5.25406973e-03 9.97305663e-01 6.87697609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:129.79, Z:0.69 [[-8.31649169e-01 5.52239217e-01 -5.82366528e-02 2.08990449e+02] [-5.50448561e-01 -8.33669821e-01 -4.47326665e-02 1.29786953e+02] [-7.32532727e-02 -5.14560321e-03 9.97300096e-01 6.87686595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.261400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.98, Y:129.78, Z:0.69 [[-8.31078264e-01 5.53065823e-01 -5.85415717e-02 2.08980948e+02] [-5.51256121e-01 -8.33121799e-01 -4.49972999e-02 1.29779637e+02] [-7.36587282e-02 -5.12487808e-03 9.97270338e-01 6.86418715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.291400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.98, Y:129.78, Z:0.69 [[-8.30899172e-01 5.53336566e-01 -5.85252958e-02 2.08983106e+02] [-5.51526052e-01 -8.32941986e-01 -4.50184596e-02 1.29781418e+02] [-7.36585359e-02 -5.12757552e-03 9.97270339e-01 6.86592066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.321400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:208.98, Y:129.78, Z:0.69 [[-8.29980957e-01 5.54649294e-01 -5.91250574e-02 2.08981257e+02] [-5.52802415e-01 -8.32068668e-01 -4.55106859e-02 1.29779104e+02] [-7.44385776e-02 -5.08852808e-03 9.97212618e-01 6.85842158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.00, Y:129.80, Z:0.69 [[-8.28802146e-01 5.56393452e-01 -5.92733408e-02 2.09003413e+02] [-5.54539395e-01 -8.30904101e-01 -4.56556178e-02 1.29796052e+02] [-7.46529487e-02 -4.97007151e-03 9.97197190e-01 6.89843089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.381400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.02, Y:129.81, Z:0.69 [[-8.26725963e-01 5.59407280e-01 -5.98972242e-02 2.09023054e+02] [-5.57519392e-01 -8.28879186e-01 -4.61673269e-02 1.29810237e+02] [-7.54739012e-02 -4.77386374e-03 9.97136350e-01 6.91270147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.411400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.02, Y:129.81, Z:0.69 [[-8.25576063e-01 5.61088495e-01 -6.00322056e-02 2.09021542e+02] [-5.59194137e-01 -8.27742725e-01 -4.63022512e-02 1.29809326e+02] [-7.56708819e-02 -4.65637290e-03 9.97121976e-01 6.92010227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.441400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:209.03, Y:129.82, Z:0.69 [[-8.24649684e-01 5.62386361e-01 -6.06174899e-02 2.09030732e+02] [-5.60455630e-01 -8.26861731e-01 -4.67885079e-02 1.29815576e+02] [-7.64355013e-02 -4.61071479e-03 9.97063867e-01 6.92284668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.471400513 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:209.27, Y:130.00, Z:0.71 [[-8.23772069e-01 5.63541440e-01 -6.18111897e-02 2.09270557e+02] [-5.61534265e-01 -8.26074866e-01 -4.77450095e-02 1.30001203e+02] [-7.79669617e-02 -4.62190430e-03 9.96945230e-01 7.13350106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.501400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:209.03, Y:129.82, Z:0.69 [[-8.22673736e-01 5.65147138e-01 -6.17789305e-02 2.09031571e+02] [-5.63144257e-01 -8.24977901e-01 -4.77494467e-02 1.29816878e+02] [-7.79517155e-02 -4.49176581e-03 9.96947017e-01 6.92938644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.27, Y:130.00, Z:0.71 [[-8.21194012e-01 5.67510827e-01 -5.97650106e-02 2.09271783e+02] [-5.65640309e-01 -8.23355450e-01 -4.62260025e-02 1.30003762e+02] [-7.54416041e-02 -4.15501744e-03 9.97141565e-01 7.13459050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.27, Y:130.01, Z:0.71 [[-8.20522729e-01 5.68585303e-01 -5.87639707e-02 2.09274303e+02] [-5.66777751e-01 -8.22614534e-01 -4.54786785e-02 1.30006197e+02] [-7.41986045e-02 -4.01017826e-03 9.97235421e-01 7.12816162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.591400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.05, Y:129.83, Z:0.69 [[-8.20588585e-01 5.68535566e-01 -5.83239649e-02 2.09050147e+02] [-5.66752809e-01 -8.22648922e-01 -4.51664187e-02 1.29833067e+02] [-7.36588622e-02 -4.00777669e-03 9.97275443e-01 6.93289483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.621400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.03, Y:129.81, Z:0.69 [[-8.21371842e-01 5.67374217e-01 -5.86071238e-02 2.09025396e+02] [-5.65568607e-01 -8.23449567e-01 -4.54198264e-02 1.29813842e+02] [-7.40300491e-02 -4.16021710e-03 9.97247334e-01 6.91005748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:129.82, Z:0.69 [[-8.23795449e-01 5.63695899e-01 -6.00665649e-02 2.09027748e+02] [-5.61786670e-01 -8.25969412e-01 -4.65861253e-02 1.29816845e+02] [-7.58735531e-02 -4.63284248e-03 9.97106685e-01 6.91745185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.681400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:209.04, Y:129.83, Z:0.69 [[-8.24239832e-01 5.62916971e-01 -6.12632323e-02 2.09039178e+02] [-5.60925837e-01 -8.26499345e-01 -4.75503801e-02 1.29826046e+02] [-7.74009373e-02 -4.82878740e-03 9.96988354e-01 6.90925282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.711400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.05, Y:129.83, Z:0.69 [[-8.24588876e-01 5.62403639e-01 -6.12807748e-02 2.09049265e+02] [-5.60407235e-01 -8.26848272e-01 -4.75990253e-02 1.29834821e+02] [-7.74397678e-02 -4.90743720e-03 9.96984955e-01 6.92283830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.741400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.03, Y:129.82, Z:0.69 [[-8.23765839e-01 5.63609216e-01 -6.12739274e-02 2.09032538e+02] [-5.61614102e-01 -8.26027494e-01 -4.76254160e-02 1.29822798e+02] [-7.74560721e-02 -4.81988900e-03 9.96984115e-01 6.91066497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.771400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.05, Y:129.83, Z:0.69 [[-8.23291401e-01 5.64310607e-01 -6.11948319e-02 2.09047030e+02] [-5.62319861e-01 -8.25548740e-01 -4.75988518e-02 1.29834068e+02] [-7.73798533e-02 -4.77665602e-03 9.96990242e-01 6.92326350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.801400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.03, Y:129.82, Z:0.69 [[-8.23000703e-01 5.64780330e-01 -6.07702399e-02 2.09033763e+02] [-5.62816005e-01 -8.25227756e-01 -4.73000592e-02 1.29823141e+02] [-7.68634317e-02 -4.72551833e-03 9.97030432e-01 6.90880987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.831400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.04, Y:129.83, Z:0.69 [[-8.22126965e-01 5.66037129e-01 -6.09033787e-02 2.09043932e+02] [-5.64064855e-01 -8.24366647e-01 -4.74391238e-02 1.29832223e+02] [-7.70590195e-02 -4.64752744e-03 9.97015701e-01 6.91827158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.861400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.05, Y:129.84, Z:0.69 [[-8.21751112e-01 5.66754506e-01 -5.92827160e-02 2.09053417e+02] [-5.64885286e-01 -8.23874511e-01 -4.62104314e-02 1.29839861e+02] [-7.50314889e-02 -4.48553939e-03 9.97171076e-01 6.93483941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.891400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.06, Y:129.85, Z:0.69 [[-8.20913986e-01 5.67962643e-01 -5.93183277e-02 2.09060726e+02] [-5.66091712e-01 -8.23042539e-01 -4.62725886e-02 1.29846009e+02] [-7.51026088e-02 -4.40620147e-03 9.97166076e-01 6.94241388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.921400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.06, Y:129.85, Z:0.69 [[-8.20190473e-01 5.69017926e-01 -5.92130698e-02 2.09060754e+02] [-5.67153801e-01 -8.22313717e-01 -4.62246234e-02 1.29845820e+02] [-7.49943589e-02 -4.33007806e-03 9.97174557e-01 6.94207355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.951400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:209.06, Y:129.85, Z:0.69 [[-8.18460077e-01 5.71432567e-01 -5.98992731e-02 2.09062617e+02] [-5.69528666e-01 -8.20638350e-01 -4.67952669e-02 1.29846427e+02] [-7.58959802e-02 -4.18570465e-03 9.97106955e-01 6.94574473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.981400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:209.08, Y:129.86, Z:0.70 [[-8.17660774e-01 5.72598816e-01 -5.96779204e-02 2.09080760e+02] [-5.70709458e-01 -8.19825508e-01 -4.66567470e-02 1.29860294e+02] [-7.56410795e-02 -4.09063829e-03 9.97126719e-01 6.96574321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.011400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.08, Y:129.86, Z:0.70 [[-8.16952147e-01 5.73689692e-01 -5.89009901e-02 2.09080462e+02] [-5.71849592e-01 -8.19063133e-01 -4.60828374e-02 1.29860674e+02] [-7.46808783e-02 -3.96496585e-03 9.97199602e-01 6.97094340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.041400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.09, Y:129.87, Z:0.70 [[-8.16195629e-01 5.74832608e-01 -5.82423240e-02 2.09090919e+02] [-5.73033937e-01 -8.18261997e-01 -4.56005668e-02 1.29869559e+02] [-7.38701730e-02 -3.84415508e-03 9.97260458e-01 6.97814907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.09, Y:129.87, Z:0.70 [[-8.15793743e-01 5.75479742e-01 -5.74772581e-02 2.09092470e+02] [-5.73727306e-01 -8.17807381e-01 -4.50340658e-02 1.29871821e+02] [-7.29215185e-02 -3.76223662e-03 9.97330586e-01 6.97242683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.101400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.10, Y:129.88, Z:0.70 [[-8.15574234e-01 5.75808694e-01 -5.72976125e-02 2.09096250e+02] [-5.74065638e-01 -8.17575869e-01 -4.49259609e-02 1.29876337e+02] [-7.27139042e-02 -3.74786569e-03 9.97345798e-01 6.96804291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.131400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.09, Y:129.87, Z:0.70 [[-8.15738332e-01 5.75594666e-01 -5.71117664e-02 2.09092401e+02] [-5.73860028e-01 -8.17726410e-01 -4.48127935e-02 1.29873890e+02] [-7.24958046e-02 -3.78135359e-03 9.97361549e-01 6.96620985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.161400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.10, Y:129.88, Z:0.70 [[-8.15753987e-01 5.75584981e-01 -5.69856420e-02 2.09096395e+02] [-5.73855619e-01 -8.17733139e-01 -4.47464277e-02 1.29877846e+02] [-7.23544196e-02 -3.80054593e-03 9.97371743e-01 6.97329542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.191400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.08, Y:129.87, Z:0.70 [[-8.16248792e-01 5.74921203e-01 -5.65996512e-02 2.09084888e+02] [-5.73211307e-01 -8.18199679e-01 -4.44756504e-02 1.29869507e+02] [-7.18798109e-02 -3.85963585e-03 9.97405833e-01 6.95713772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.221400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.07, Y:129.86, Z:0.70 [[-8.17366169e-01 5.73461501e-01 -5.52671057e-02 2.09071989e+02] [-5.71825766e-01 -8.19223136e-01 -4.34597262e-02 1.29861812e+02] [-7.01985714e-02 -3.91935489e-03 9.97525338e-01 6.95078885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.251400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.05, Y:129.85, Z:0.69 [[-8.19850064e-01 5.69961121e-01 -5.46826585e-02 2.09054727e+02] [-5.68349886e-01 -8.21660924e-01 -4.30317547e-02 1.29851291e+02] [-6.94570309e-02 -4.20070405e-03 9.97576100e-01 6.92740153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.281400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.05, Y:129.85, Z:0.69 [[-8.20781069e-01 5.68558801e-01 -5.53111799e-02 2.09052979e+02] [-5.66904763e-01 -8.22630877e-01 -4.35595075e-02 1.29850915e+02] [-7.02668257e-02 -4.39664779e-03 9.97518543e-01 6.92031258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:129.86, Z:0.69 [[-8.21793462e-01 5.67097130e-01 -5.52842672e-02 2.09059986e+02] [-5.65439092e-01 -8.23638374e-01 -4.35713386e-02 1.29858003e+02] [-7.02434251e-02 -4.54675535e-03 9.97519518e-01 6.93669414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:129.80, Z:0.68 [[-8.26589977e-01 5.61093205e-01 -4.38568703e-02 2.08966101e+02] [-5.59343805e-01 -8.27637563e-01 -4.63742576e-02 1.29799738e+02] [-6.23178741e-02 -1.38014279e-02 9.97960923e-01 6.83720929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:129.85, Z:0.70 [[-8.21256683e-01 5.67526121e-01 -5.87500090e-02 2.09059470e+02] [-5.66543094e-01 -8.23337058e-01 -3.38380239e-02 1.29850185e+02] [-6.75750220e-02 5.49470869e-03 9.97699065e-01 7.01369406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:129.85, Z:0.69 [[-8.20189607e-01 5.69729675e-01 -5.19336672e-02 2.09046747e+02] [-5.68267447e-01 -8.21821857e-01 -4.09993243e-02 1.29851984e+02] [-6.60387545e-02 -4.11500723e-03 9.97808574e-01 6.91484799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.431400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:209.02, Y:129.84, Z:0.69 [[-8.22311274e-01 5.67101700e-01 -4.69023658e-02 2.09023777e+02] [-5.65443499e-01 -8.23586303e-01 -4.44887718e-02 1.29843190e+02] [-6.38578041e-02 -1.00629807e-02 9.97908271e-01 6.85406413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:129.84, Z:0.69 [[-8.22840000e-01 5.66079213e-01 -4.98864585e-02 2.09023774e+02] [-5.64731816e-01 -8.24340529e-01 -3.92513426e-02 1.29838147e+02] [-6.33427987e-02 -4.12510445e-03 9.97983303e-01 6.92973156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:129.84, Z:0.70 [[-8.22964717e-01 5.65769194e-01 -5.13253679e-02 2.09024155e+02] [-5.64405343e-01 -8.24556363e-01 -3.94133647e-02 1.29838665e+02] [-6.46195263e-02 -3.46749663e-03 9.97903950e-01 6.95091785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:129.79, Z:0.69 [[-8.24888132e-01 5.63239636e-01 -4.81734611e-02 2.08949192e+02] [-5.61828117e-01 -8.26270319e-01 -4.03302314e-02 1.29786172e+02] [-6.25198859e-02 -6.20272434e-03 9.98024444e-01 6.88325641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.551400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:209.03, Y:129.84, Z:0.70 [[-8.21118827e-01 5.68215322e-01 -5.38072482e-02 2.09029327e+02] [-5.66967774e-01 -8.22879816e-01 -3.76344438e-02 1.29840880e+02] [-6.56613661e-02 -3.95374564e-04 9.97841886e-01 6.96546592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.581400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:209.02, Y:129.84, Z:0.69 [[-8.21108066e-01 5.68444710e-01 -5.14990848e-02 2.09019125e+02] [-5.67019472e-01 -8.22711777e-01 -4.04258697e-02 1.29838978e+02] [-6.53487753e-02 -3.99302380e-03 9.97854495e-01 6.92107008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:129.86, Z:0.70 [[-8.19557319e-01 5.70607241e-01 -5.22797981e-02 2.09040853e+02] [-5.69230433e-01 -8.21218367e-01 -3.97128325e-02 1.29855126e+02] [-6.55935601e-02 -2.78769043e-03 9.97842530e-01 6.95866473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.641400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:209.02, Y:129.84, Z:0.69 [[-8.18188342e-01 5.72523847e-01 -5.27662999e-02 2.09022322e+02] [-5.70984084e-01 -8.19876311e-01 -4.21901628e-02 1.29844780e+02] [-6.74167137e-02 -4.39078195e-03 9.97715244e-01 6.90967000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:129.86, Z:0.70 [[-8.17586972e-01 5.73485205e-01 -5.16358662e-02 2.09041390e+02] [-5.72031802e-01 -8.19206244e-01 -4.09969228e-02 1.29860862e+02] [-6.58115527e-02 -3.98119234e-03 9.97824128e-01 6.95224691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:129.87, Z:0.70 [[-8.16665724e-01 5.74810294e-01 -5.14802924e-02 2.09050954e+02] [-5.73486707e-01 -8.18283258e-01 -3.90577372e-02 1.29866501e+02] [-6.45762508e-02 -2.37385189e-03 9.97909952e-01 6.96619027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.01, Y:129.84, Z:0.69 [[-8.18303219e-01 5.72763466e-01 -4.81856250e-02 2.09014442e+02] [-5.71515365e-01 -8.19713136e-01 -3.79547463e-02 1.29843290e+02] [-6.12374818e-02 -3.51966599e-03 9.98117019e-01 6.94351833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.761400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.06, Y:129.87, Z:0.70 [[-8.15583340e-01 5.76329588e-01 -5.16529048e-02 2.09055732e+02] [-5.75124561e-01 -8.17217074e-01 -3.72557719e-02 1.29868526e+02] [-6.36832394e-02 -6.78332660e-04 9.97969932e-01 6.96920275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.791400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.00, Y:129.83, Z:0.69 [[-8.23884104e-01 5.63896685e-01 -5.68815618e-02 2.09003178e+02] [-5.62606350e-01 -8.25845133e-01 -3.81301797e-02 1.29828134e+02] [-6.84768429e-02 5.87078921e-04 9.97652533e-01 6.92844115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:129.83, Z:0.69 [[-8.24142116e-01 5.63703155e-01 -5.50320417e-02 2.09000635e+02] [-5.62094840e-01 -8.25966181e-01 -4.27698274e-02 1.29831269e+02] [-6.95640920e-02 -4.31518939e-03 9.97568151e-01 6.88989986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.851400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:209.00, Y:129.82, Z:0.69 [[-8.25222598e-01 5.61576994e-01 -6.03236480e-02 2.08997296e+02] [-5.59958217e-01 -8.27423298e-01 -4.26319319e-02 1.29824672e+02] [-7.38543039e-02 -1.40211126e-03 9.97268056e-01 6.89807490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.881400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.00, Y:129.83, Z:0.69 [[-8.24765361e-01 5.62628015e-01 -5.66728828e-02 2.08996717e+02] [-5.60834430e-01 -8.26691765e-01 -4.52268500e-02 1.29826334e+02] [-7.22968984e-02 -5.51743533e-03 9.97367894e-01 6.86731834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.911400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.01, Y:129.84, Z:0.69 [[-8.22725854e-01 5.65589312e-01 -5.68409959e-02 2.09012903e+02] [-5.63985365e-01 -8.24681404e-01 -4.26742361e-02 1.29835027e+02] [-7.10118041e-02 -3.05170752e-03 9.97470807e-01 6.89973866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.941400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.01, Y:129.84, Z:0.69 [[-8.21070307e-01 5.68015318e-01 -5.65875365e-02 2.09014387e+02] [-5.66417185e-01 -8.23012534e-01 -4.26842081e-02 1.29835428e+02] [-7.08175358e-02 -2.99458273e-03 9.97484791e-01 6.89694756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.971400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.03, Y:129.85, Z:0.69 [[-8.19300205e-01 5.70883015e-01 -5.32893749e-02 2.09028781e+02] [-5.69321680e-01 -8.21019523e-01 -4.24236703e-02 1.29847015e+02] [-6.79705699e-02 -4.41892537e-03 9.97677540e-01 6.91911476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.06, Y:129.87, Z:0.69 [[-8.16592418e-01 5.74722543e-01 -5.35800399e-02 2.09055224e+02] [-5.73204941e-01 -8.18340894e-01 -4.18840846e-02 1.29865008e+02] [-6.79184654e-02 -3.48988228e-03 9.97684771e-01 6.94148687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.031400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.06, Y:129.86, Z:0.70 [[-8.15629895e-01 5.75854259e-01 -5.60334391e-02 2.09057646e+02] [-5.74457914e-01 -8.17552213e-01 -4.00809825e-02 1.29862389e+02] [-6.88910666e-02 -5.02395057e-04 9.97624062e-01 6.97416628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:129.88, Z:0.70 [[-8.13777498e-01 5.78737171e-01 -5.31927659e-02 2.09074910e+02] [-5.77268931e-01 -8.15508958e-01 -4.13003614e-02 1.29879164e+02] [-6.72812314e-02 -2.90277366e-03 9.97729828e-01 6.97763474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.42, Y:130.15, Z:0.73 [[-8.18424088e-01 5.71696073e-01 -5.78412701e-02 2.09421590e+02] [-5.70408168e-01 -8.20463961e-01 -3.83850446e-02 1.30150480e+02] [-6.94012568e-02 1.57788777e-03 9.97587578e-01 7.30050063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.121400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.41, Y:130.14, Z:0.73 [[-8.17534465e-01 5.73127423e-01 -5.62348316e-02 2.09412778e+02] [-5.71828111e-01 -8.19466029e-01 -3.85751024e-02 1.30141335e+02] [-6.81909832e-02 6.20181820e-04 9.97672093e-01 7.28003722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.151400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:209.42, Y:130.14, Z:0.73 [[-8.17381263e-01 5.73224843e-01 -5.74556427e-02 2.09418098e+02] [-5.71898651e-01 -8.19397516e-01 -3.89826057e-02 1.30143971e+02] [-6.94248089e-02 9.95153103e-04 9.97586691e-01 7.27959784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.181400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:209.42, Y:130.15, Z:0.73 [[-8.17259213e-01 5.73503238e-01 -5.64040340e-02 2.09420033e+02] [-5.72083128e-01 -8.19202994e-01 -4.03404210e-02 1.30147410e+02] [-6.93417156e-02 -7.00784557e-04 9.97592720e-01 7.26728180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:130.14, Z:0.73 [[-8.16097943e-01 5.75501455e-01 -5.27467780e-02 2.09410525e+02] [-5.73953696e-01 -8.17789298e-01 -4.24007050e-02 1.30142250e+02] [-6.75374180e-02 -4.32892002e-03 9.97707351e-01 7.25144869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:130.14, Z:0.73 [[-8.15812526e-01 5.75670055e-01 -5.52621929e-02 2.09417000e+02] [-5.74265786e-01 -8.17681396e-01 -4.01987816e-02 1.30142712e+02] [-6.83281018e-02 -1.05948298e-03 9.97662342e-01 7.28871961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.271400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.43, Y:130.15, Z:0.73 [[-8.16887651e-01 5.73475040e-01 -6.18137864e-02 2.09425746e+02] [-5.71938785e-01 -8.19222328e-01 -4.19619346e-02 1.30145491e+02] [-7.47033560e-02 1.07551571e-03 9.97205221e-01 7.30960868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.301400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:209.41, Y:130.14, Z:0.73 [[-8.15908991e-01 5.75039011e-01 -6.01884887e-02 2.09413580e+02] [-5.73229716e-01 -8.18121351e-01 -4.56634205e-02 1.30139959e+02] [-7.54997358e-02 -2.75536501e-03 9.97142015e-01 7.27360888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.331400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:209.42, Y:130.14, Z:0.73 [[-8.15632390e-01 5.75221976e-01 -6.21569178e-02 2.09415813e+02] [-5.73487212e-01 -8.17996997e-01 -4.46467252e-02 1.30138696e+02] [-7.65259496e-02 -7.69117670e-04 9.97067293e-01 7.28912718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:130.14, Z:0.73 [[-8.15776738e-01 5.75038111e-01 -6.19635784e-02 2.09416413e+02] [-5.73366050e-01 -8.18126593e-01 -4.38206671e-02 1.30139086e+02] [-7.58926050e-02 -2.20068657e-04 9.97115973e-01 7.27777688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:130.15, Z:0.73 [[-8.15880855e-01 5.74973713e-01 -6.11854475e-02 2.09430575e+02] [-5.73334350e-01 -8.18171820e-01 -4.33889038e-02 1.30149840e+02] [-7.50076880e-02 -3.20457142e-04 9.97182904e-01 7.27797336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:130.15, Z:0.73 [[-8.14727916e-01 5.76942022e-01 -5.79338052e-02 2.09427001e+02] [-5.75283067e-01 -8.16781741e-01 -4.37833320e-02 1.30148731e+02] [-7.25797184e-02 -2.34316567e-03 9.97359862e-01 7.26611479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.43, Y:130.15, Z:0.73 [[-8.14138200e-01 5.77801560e-01 -5.76571649e-02 2.09428462e+02] [-5.76243131e-01 -8.16176218e-01 -4.24291757e-02 1.30147825e+02] [-7.15740507e-02 -1.31866747e-03 9.97434417e-01 7.27858436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.481400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:209.43, Y:130.15, Z:0.73 [[-8.13362504e-01 5.78834335e-01 -5.82430273e-02 2.09431634e+02] [-5.77303740e-01 -8.15444946e-01 -4.20705658e-02 1.30149415e+02] [-7.18458702e-02 -5.94703309e-04 9.97415569e-01 7.28866719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.511400513 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:209.39, Y:130.12, Z:0.72 [[-8.12172158e-01 5.80717850e-01 -5.60639336e-02 2.09388095e+02] [-5.79231757e-01 -8.14103916e-01 -4.15377529e-02 1.30115331e+02] [-6.97635825e-02 -1.26179565e-03 9.97562755e-01 7.23615845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:130.14, Z:0.73 [[-8.12628719e-01 5.79918197e-01 -5.77013927e-02 2.09426145e+02] [-5.78521107e-01 -8.14674424e-01 -4.02357103e-02 1.30143334e+02] [-7.03412693e-02 6.84779860e-04 9.97522750e-01 7.27170860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.571400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:209.42, Y:130.14, Z:0.73 [[-8.13389394e-01 5.78530172e-01 -6.08320044e-02 2.09424279e+02] [-5.77113338e-01 -8.15658156e-01 -4.05211868e-02 1.30141310e+02] [-7.30608498e-02 2.14745756e-03 9.97325173e-01 7.25861197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:130.14, Z:0.72 [[-8.13090861e-01 5.79383202e-01 -5.65540252e-02 2.09417065e+02] [-5.77721169e-01 -8.15049488e-01 -4.39611484e-02 1.30139036e+02] [-7.15646802e-02 -3.07195038e-03 9.97431231e-01 7.23632250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.631400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:209.38, Y:130.10, Z:0.72 [[-8.13100923e-01 5.79210102e-01 -5.81596682e-02 2.09376508e+02] [-5.77604402e-01 -8.15176972e-01 -4.31237770e-02 1.30103965e+02] [-7.23881495e-02 -1.47070248e-03 9.97375452e-01 7.22153989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.661400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.44, Y:130.15, Z:0.73 [[-8.13858958e-01 5.78067625e-01 -5.89187327e-02 2.09439036e+02] [-5.76579704e-01 -8.15988826e-01 -4.14497369e-02 1.30151062e+02] [-7.20377785e-02 2.37105752e-04 9.97401876e-01 7.27918430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.691400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.40, Y:130.12, Z:0.72 [[-8.12946882e-01 5.79613840e-01 -5.62597862e-02 2.09395120e+02] [-5.78043838e-01 -8.14888356e-01 -4.26882644e-02 1.30120504e+02] [-7.05881535e-02 -2.18266870e-03 9.97503157e-01 7.21757514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.721400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:209.40, Y:130.12, Z:0.72 [[-8.12767844e-01 5.79894886e-01 -5.59495676e-02 2.09400840e+02] [-5.78453874e-01 -8.14690862e-01 -4.08645952e-02 1.30122335e+02] [-6.92787712e-02 -8.49184792e-04 9.97596978e-01 7.23694094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:130.15, Z:0.73 [[-8.12689073e-01 5.80238273e-01 -5.34791236e-02 2.09437929e+02] [-5.78753877e-01 -8.14441836e-01 -4.15745863e-02 1.30152238e+02] [-6.76788017e-02 -2.83596188e-03 9.97703131e-01 7.26632535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.781400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.40, Y:130.12, Z:0.72 [[-8.12678626e-01 5.79768944e-01 -5.84929289e-02 2.09399418e+02] [-5.78398206e-01 -8.14779678e-01 -3.98696789e-02 1.30119425e+02] [-7.07740515e-02 1.43096927e-03 9.97491346e-01 7.24976606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:129.91, Z:0.70 [[-8.10083287e-01 5.83927151e-01 -5.28597232e-02 2.09126830e+02] [-5.82288569e-01 -8.11791575e-01 -4.39825154e-02 1.29905635e+02] [-6.85936629e-02 -4.84988811e-03 9.97632892e-01 6.99271697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.841400513 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:209.41, Y:130.12, Z:0.73 [[-8.14950012e-01 5.76904748e-01 -5.51125195e-02 2.09406073e+02] [-5.75465871e-01 -8.16810068e-01 -4.07473236e-02 1.30124229e+02] [-6.85237852e-02 -1.49165787e-03 9.97648368e-01 7.28039455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:130.13, Z:0.73 [[-8.16325933e-01 5.74922146e-01 -5.54661777e-02 2.09420589e+02] [-5.73520198e-01 -8.18207563e-01 -4.01368375e-02 1.30134822e+02] [-6.84584028e-02 -9.53768065e-04 9.97653516e-01 7.29929703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.901400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.45, Y:130.16, Z:0.73 [[-8.17302387e-01 5.73701892e-01 -5.36930794e-02 2.09446245e+02] [-5.72216486e-01 -8.19058356e-01 -4.13727232e-02 1.30158162e+02] [-6.77133749e-02 -3.08996018e-03 9.97700031e-01 7.30504538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.931400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.45, Y:130.16, Z:0.73 [[-8.19864841e-01 5.69709457e-01 -5.70331323e-02 2.09448351e+02] [-5.68336145e-01 -8.21846175e-01 -3.95334188e-02 1.30157073e+02] [-6.93950241e-02 1.93044367e-06 9.97589260e-01 7.32556293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:130.15, Z:0.73 [[-8.20670511e-01 5.68669028e-01 -5.58162030e-02 2.09438209e+02] [-5.67211079e-01 -8.22564531e-01 -4.07330857e-02 1.30150318e+02] [-6.90760731e-02 -1.76887349e-03 9.97609827e-01 7.30488868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:130.18, Z:0.73 [[-8.22426853e-01 5.66128216e-01 -5.57935018e-02 2.09476212e+02] [-5.64670137e-01 -8.24314944e-01 -4.06510611e-02 1.30180777e+02] [-6.90051300e-02 -1.92759997e-03 9.97614443e-01 7.33884830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.021400513 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:209.47, Y:130.17, Z:0.73 [[-8.23567429e-01 5.64641435e-01 -5.40068514e-02 2.09466309e+02] [-5.63134425e-01 -8.25328150e-01 -4.13891875e-02 1.30174438e+02] [-6.79434250e-02 -3.67366952e-03 9.97682412e-01 7.32211674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.051400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.13, Y:129.91, Z:0.70 [[-8.20677879e-01 5.69199915e-01 -4.99927562e-02 2.09129559e+02] [-5.67651434e-01 -8.22173776e-01 -4.24515163e-02 1.29906097e+02] [-6.52661325e-02 -6.46056060e-03 9.97846979e-01 7.02761943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.081400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:209.49, Y:130.19, Z:0.74 [[-8.24357201e-01 5.63743504e-01 -5.12685756e-02 2.09488524e+02] [-5.62437600e-01 -8.25944941e-01 -3.84564783e-02 1.30189551e+02] [-6.40246104e-02 -2.86650017e-03 9.97944203e-01 7.37825006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:129.92, Z:0.71 [[-8.24252598e-01 5.63203409e-01 -5.83915730e-02 2.09147914e+02] [-5.61762460e-01 -8.26318203e-01 -4.02637121e-02 1.29915478e+02] [-7.09266795e-02 -3.85275649e-04 9.97481457e-01 7.09219472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:129.88, Z:0.70 [[-8.24544870e-01 5.62756151e-01 -5.85770597e-02 2.09097462e+02] [-5.61136408e-01 -8.26619576e-01 -4.27318190e-02 1.29876902e+02] [-7.24685382e-02 -2.36458128e-03 9.97367896e-01 7.01396315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:129.91, Z:0.70 [[-8.24009541e-01 5.63874541e-01 -5.52610007e-02 2.09131139e+02] [-5.62237267e-01 -8.25848165e-01 -4.31748055e-02 1.29906596e+02] [-6.99823697e-02 -4.50665768e-03 9.97538048e-01 7.03068547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:129.90, Z:0.70 [[-8.22123868e-01 5.66599493e-01 -5.54739572e-02 2.09119717e+02] [-5.65022811e-01 -8.23985895e-01 -4.23847638e-02 1.29895973e+02] [-6.97249439e-02 -3.50147471e-03 9.97560109e-01 7.02596002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.20, Z:0.74 [[-8.23474210e-01 5.65343716e-01 -4.77148577e-02 2.09496040e+02] [-5.63823342e-01 -8.24818371e-01 -4.21650930e-02 1.30200390e+02] [-6.31938615e-02 -7.81911612e-03 9.97970640e-01 7.35817745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.261400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.17, Y:129.93, Z:0.71 [[-8.20513400e-01 5.68450127e-01 -6.01848308e-02 2.09169598e+02] [-5.67103810e-01 -8.22715276e-01 -3.91515372e-02 1.29929067e+02] [-7.17706760e-02 2.00668591e-03 9.97419141e-01 7.07036480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.291400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.48, Y:130.19, Z:0.73 [[-8.23478205e-01 5.65283313e-01 -4.83572361e-02 2.09481931e+02] [-5.63757307e-01 -8.24863021e-01 -4.21745739e-02 1.30188529e+02] [-6.37286787e-02 -7.46809721e-03 9.97939318e-01 7.33777015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.321400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.17, Y:129.94, Z:0.71 [[-8.22136762e-01 5.66701407e-01 -5.42278561e-02 2.09171363e+02] [-5.65298904e-01 -8.23920438e-01 -3.99031414e-02 1.29935785e+02] [-6.72926054e-02 -2.15089180e-03 9.97730965e-01 7.09224980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.351400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.17, Y:129.93, Z:0.71 [[-8.21922960e-01 5.67197996e-01 -5.22406184e-02 2.09165253e+02] [-5.65743868e-01 -8.23571924e-01 -4.07818766e-02 1.29930440e+02] [-6.61553052e-02 -3.96475121e-03 9.97801461e-01 7.09453249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.18, Y:129.94, Z:0.71 [[-8.20767945e-01 5.68263695e-01 -5.84495837e-02 2.09180156e+02] [-5.66860338e-01 -8.22846422e-01 -3.99139516e-02 1.29937556e+02] [-7.07766805e-02 3.72658791e-04 9.97492117e-01 7.08365731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.411400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.49, Y:130.20, Z:0.74 [[-8.21521859e-01 5.68404659e-01 -4.49219137e-02 2.09494761e+02] [-5.66878755e-01 -8.22692766e-01 -4.27210781e-02 1.30199928e+02] [-6.12397932e-02 -9.63102103e-03 9.98076616e-01 7.35428516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.51, Y:130.20, Z:0.74 [[-8.20783464e-01 5.69031961e-01 -5.01710342e-02 2.09508934e+02] [-5.67902170e-01 -8.22314875e-01 -3.58520849e-02 1.30201858e+02] [-6.16573699e-02 -9.34559208e-04 9.98096937e-01 7.42675904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.471400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.50, Y:130.19, Z:0.74 [[-8.19443072e-01 5.71033330e-01 -4.93354646e-02 2.09495436e+02] [-5.69857573e-01 -8.20924583e-01 -3.66766401e-02 1.30192282e+02] [-6.14442796e-02 -1.94023049e-03 9.98108629e-01 7.39660229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.501400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.50, Y:130.19, Z:0.74 [[-8.20113211e-01 5.69390612e-01 -5.66449729e-02 2.09503591e+02] [-5.68251489e-01 -8.22063031e-01 -3.60918007e-02 1.30194611e+02] [-6.71160706e-02 2.58922761e-03 9.97741815e-01 7.37898449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.531400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:209.52, Y:130.21, Z:0.74 [[-8.15899575e-01 5.75357788e-01 -5.71952775e-02 2.09523882e+02] [-5.74145892e-01 -8.17898528e-01 -3.73964205e-02 1.30212316e+02] [-6.82962550e-02 2.32671002e-03 9.97662372e-01 7.36574099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.561400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:209.52, Y:130.22, Z:0.73 [[-8.16343864e-01 5.75157086e-01 -5.26974559e-02 2.09522156e+02] [-5.73605118e-01 -8.18030986e-01 -4.24555595e-02 1.30217677e+02] [-6.75267677e-02 -4.43080508e-03 9.97707624e-01 7.30622708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:129.95, Z:0.70 [[-8.21098123e-01 5.68761840e-01 -4.80400001e-02 2.09179341e+02] [-5.67004263e-01 -8.22436078e-01 -4.58809702e-02 1.29947545e+02] [-6.56051743e-02 -1.04338937e-02 9.97791108e-01 6.98670793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.621400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.19, Y:129.95, Z:0.70 [[-8.20309385e-01 5.69569526e-01 -5.17983310e-02 2.09194163e+02] [-5.68208674e-01 -8.21937915e-01 -3.94584218e-02 1.29952798e+02] [-6.50493267e-02 -2.93585273e-03 9.97877731e-01 7.04337086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:130.22, Z:0.74 [[-8.15782502e-01 5.75643592e-01 -5.59764675e-02 2.09531548e+02] [-5.74533655e-01 -8.17695514e-01 -3.58486485e-02 1.30219037e+02] [-6.64077512e-02 2.91566433e-03 9.97788309e-01 7.38944434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.681400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.73 [[-8.17151763e-01 5.73985917e-01 -5.29449104e-02 2.09530972e+02] [-5.72411039e-01 -8.18852141e-01 -4.27407736e-02 1.30226853e+02] [-6.78866553e-02 -4.61944727e-03 9.97682346e-01 7.30728556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:130.01, Z:0.71 [[-8.19307917e-01 5.70785835e-01 -5.42039431e-02 2.09257562e+02] [-5.69126176e-01 -8.21083605e-01 -4.37848050e-02 1.30005314e+02] [-6.94977155e-02 -5.02435458e-03 9.97569458e-01 7.09439860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.741400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.21, Y:129.97, Z:0.70 [[-8.25852213e-01 5.61614340e-01 -5.05712921e-02 2.09207465e+02] [-5.59711327e-01 -8.27327470e-01 -4.74603945e-02 1.29968920e+02] [-6.84934573e-02 -1.08899468e-02 9.97592129e-01 7.01525632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:129.99, Z:0.72 [[-8.20113265e-01 5.69126873e-01 -5.92354102e-02 2.09248312e+02] [-5.67779532e-01 -8.22248332e-01 -3.91673848e-02 1.29991367e+02] [-7.09974284e-02 1.51096163e-03 9.97475354e-01 7.15232615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:129.97, Z:0.70 [[-8.26105492e-01 5.61238069e-01 -5.06117219e-02 2.09203955e+02] [-5.59326535e-01 -8.27581475e-01 -4.75681591e-02 1.29966560e+02] [-6.85823852e-02 -1.09878384e-02 9.97584946e-01 7.01616284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.831400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:209.23, Y:129.98, Z:0.71 [[-8.19619613e-01 5.69820666e-01 -5.93978059e-02 2.09229846e+02] [-5.68458693e-01 -8.21767756e-01 -3.94013932e-02 1.29978158e+02] [-7.12629298e-02 1.47104446e-03 9.97456481e-01 7.11624939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.861400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.21, Y:129.97, Z:0.70 [[-8.19812770e-01 5.70048439e-01 -5.43304715e-02 2.09214916e+02] [-5.68365434e-01 -8.21594227e-01 -4.40869598e-02 1.29973408e+02] [-6.97693043e-02 -5.26349059e-03 9.97549267e-01 7.04356196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:130.00, Z:0.71 [[-8.19744816e-01 5.70129265e-01 -5.45074112e-02 2.09251209e+02] [-5.68433284e-01 -8.21537912e-01 -4.42612756e-02 1.30003449e+02] [-7.00145533e-02 -5.29912440e-03 9.97531895e-01 7.09549998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:130.00, Z:0.71 [[-8.20278026e-01 5.69355633e-01 -5.45721894e-02 2.09251117e+02] [-5.67651778e-01 -8.22073622e-01 -4.43443363e-02 1.30003587e+02] [-7.01100550e-02 -5.39668432e-03 9.97524664e-01 7.09476714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.951400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.25, Y:130.01, Z:0.71 [[-8.20241110e-01 5.69338392e-01 -5.53020475e-02 2.09253346e+02] [-5.67586353e-01 -8.22084903e-01 -4.49682533e-02 1.30005835e+02] [-7.10651314e-02 -5.49612256e-03 9.97456535e-01 7.09353920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.24, Y:130.00, Z:0.71 [[-8.21651123e-01 5.67293832e-01 -5.53817584e-02 2.09244960e+02] [-5.65529949e-01 -8.23495685e-01 -4.50636578e-02 1.29999326e+02] [-7.11709742e-02 -5.70656199e-03 9.97447807e-01 7.09053901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.011400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.25, Y:130.01, Z:0.71 [[-8.20919793e-01 5.68293866e-01 -5.59712091e-02 2.09252104e+02] [-5.66492215e-01 -8.22805886e-01 -4.55746111e-02 1.30005805e+02] [-7.19532122e-02 -5.70584610e-03 9.97391688e-01 7.07810298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.041400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:209.25, Y:130.00, Z:0.71 [[-8.20989039e-01 5.68238791e-01 -5.55128252e-02 2.09249108e+02] [-5.66464258e-01 -8.22844039e-01 -4.52319724e-02 1.30004338e+02] [-7.13809586e-02 -5.68892226e-03 9.97432903e-01 7.06435247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:130.02, Z:0.71 [[-8.19935015e-01 5.69822695e-01 -5.48513166e-02 2.09262586e+02] [-5.68091632e-01 -8.21749197e-01 -4.47231029e-02 1.30015505e+02] [-7.05582644e-02 -5.50946417e-03 9.97492445e-01 7.08924569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.101400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.26, Y:130.01, Z:0.71 [[-8.20031668e-01 5.69783702e-01 -5.38014584e-02 2.09256251e+02] [-5.68116247e-01 -8.21776757e-01 -4.38963758e-02 1.30011432e+02] [-6.92242275e-02 -5.43093561e-03 9.97586343e-01 7.06573760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.131400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.26, Y:130.01, Z:0.71 [[-8.19842120e-01 5.70057780e-01 -5.37868599e-02 2.09258362e+02] [-5.68389747e-01 -8.21586656e-01 -4.39142565e-02 1.30013277e+02] [-6.92242299e-02 -5.43085736e-03 9.97586343e-01 7.06744881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:130.01, Z:0.71 [[-8.19772569e-01 5.70186278e-01 -5.34840570e-02 2.09253428e+02] [-5.68535228e-01 -8.21497596e-01 -4.36966181e-02 1.30009152e+02] [-6.88522363e-02 -5.41371831e-03 9.97612180e-01 7.07497479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.191400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.25, Y:130.01, Z:0.71 [[-8.20004218e-01 5.69877326e-01 -5.32251537e-02 2.09254736e+02] [-5.68239569e-01 -8.21711791e-01 -4.35146586e-02 1.30010433e+02] [-6.85337536e-02 -5.43756519e-03 9.97633980e-01 7.07801493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.221400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.26, Y:130.01, Z:0.71 [[-8.20325670e-01 5.69461200e-01 -5.27232085e-02 2.09255256e+02] [-5.67851388e-01 -8.22000181e-01 -4.31335478e-02 1.30011382e+02] [-6.79013688e-02 -5.44460932e-03 9.97677182e-01 7.07400999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:130.01, Z:0.71 [[-8.20084870e-01 5.69842631e-01 -5.23467537e-02 2.09255665e+02] [-5.68254553e-01 -8.21736110e-01 -4.28547256e-02 1.30012223e+02] [-6.74356673e-02 -5.39823093e-03 9.97709021e-01 7.07838711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.281400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.26, Y:130.02, Z:0.71 [[-8.19208694e-01 5.71117679e-01 -5.21700356e-02 2.09261672e+02] [-5.69540904e-01 -8.20851091e-01 -4.27392750e-02 1.30017735e+02] [-6.72329862e-02 -5.29941639e-03 9.97723229e-01 7.06122111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.25, Y:130.01, Z:0.71 [[-8.18690035e-01 5.71896012e-01 -5.17839606e-02 2.09250069e+02] [-5.70342126e-01 -8.20309514e-01 -4.24518578e-02 1.30008193e+02] [-6.67569238e-02 -5.22033879e-03 9.97755612e-01 7.05593364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:130.02, Z:0.71 [[-8.18148329e-01 5.72717462e-01 -5.12642095e-02 2.09264592e+02] [-5.71194348e-01 -8.19736814e-01 -4.20544035e-02 1.30020154e+02] [-6.61084510e-02 -5.12491324e-03 9.97799282e-01 7.07761259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.371400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.26, Y:130.02, Z:0.71 [[-8.18187353e-01 5.72728114e-01 -5.05169574e-02 2.09263095e+02] [-5.71247318e-01 -8.19729700e-01 -4.14695137e-02 1.30018677e+02] [-6.51610067e-02 -5.07215519e-03 9.97861872e-01 7.07631255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:130.02, Z:0.71 [[-8.17961073e-01 5.73044636e-01 -5.05917830e-02 2.09260152e+02] [-5.71558177e-01 -8.19508426e-01 -4.15594763e-02 1.30015950e+02] [-6.52758274e-02 -5.07788656e-03 9.97854339e-01 7.08375656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.431400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.27, Y:130.02, Z:0.71 [[-8.18898439e-01 5.71618554e-01 -5.15516674e-02 2.09270610e+02] [-5.70070302e-01 -8.20502273e-01 -4.23777151e-02 1.30024151e+02] [-6.65221485e-02 -5.31497009e-03 9.97770793e-01 7.09955754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.461400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.28, Y:130.03, Z:0.71 [[-8.19011174e-01 5.71403202e-01 -5.21447710e-02 2.09278395e+02] [-5.69816630e-01 -8.20651582e-01 -4.28950890e-02 1.30030938e+02] [-6.73030800e-02 -5.41859952e-03 9.97717863e-01 7.11064287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.491400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.28, Y:130.03, Z:0.71 [[-8.19124748e-01 5.71186925e-01 -5.27270768e-02 2.09278820e+02] [-5.69562184e-01 -8.20801441e-01 -4.34040791e-02 1.30031266e+02] [-6.80703030e-02 -5.52200636e-03 9.97665245e-01 7.10923399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.521400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:209.26, Y:130.02, Z:0.71 [[-8.19295348e-01 5.70915687e-01 -5.30133212e-02 2.09264663e+02] [-5.69270615e-01 -8.20989601e-01 -4.36696889e-02 1.30019591e+02] [-6.84550958e-02 -5.59944691e-03 9.97638485e-01 7.08965067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.551400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.28, Y:130.03, Z:0.71 [[-8.19196999e-01 5.71007866e-01 -5.35377785e-02 2.09279607e+02] [-5.69327851e-01 -8.20924969e-01 -4.41360686e-02 1.30033203e+02] [-6.91525415e-02 -5.67558651e-03 9.97589953e-01 7.10855843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.581400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.27, Y:130.03, Z:0.71 [[-8.20125720e-01 5.69759137e-01 -5.26149156e-02 2.09274963e+02] [-5.68132080e-01 -8.21791932e-01 -4.34046203e-02 1.30028813e+02] [-6.79686921e-02 -5.70502404e-03 9.97671143e-01 7.10044370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:130.03, Z:0.71 [[-8.19757121e-01 5.70301521e-01 -5.24827447e-02 2.09279516e+02] [-5.68681721e-01 -8.21415866e-01 -4.33252399e-02 1.30033471e+02] [-6.78186094e-02 -5.67019637e-03 9.97681555e-01 7.11242847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.641400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:209.27, Y:130.03, Z:0.71 [[-8.19429704e-01 5.70789371e-01 -5.22920152e-02 2.09272008e+02] [-5.69180315e-01 -8.21077193e-01 -4.31973663e-02 1.30027227e+02] [-6.75923786e-02 -5.63361932e-03 9.97697115e-01 7.09096861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.671400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.27, Y:130.03, Z:0.71 [[-8.19865723e-01 5.70161330e-01 -5.23092147e-02 2.09269349e+02] [-5.68547931e-01 -8.21512893e-01 -4.32413818e-02 1.30025181e+02] [-6.76272580e-02 -5.71183098e-03 9.97694306e-01 7.10120688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.28, Y:130.04, Z:0.71 [[-8.19160435e-01 5.71046520e-01 -5.36847550e-02 2.09284219e+02] [-5.69346709e-01 -8.20897115e-01 -4.44100473e-02 1.30036893e+02] [-6.94298634e-02 -5.81371512e-03 9.97569895e-01 7.11869765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.731400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.29, Y:130.04, Z:0.71 [[-8.18210712e-01 5.72385693e-01 -5.39059271e-02 2.09288913e+02] [-5.70672530e-01 -8.19964369e-01 -4.46239598e-02 1.30040428e+02] [-6.97430556e-02 -5.74917015e-03 9.97548422e-01 7.12723989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.761400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.30, Y:130.05, Z:0.71 [[-8.16678085e-01 5.74594668e-01 -5.36458096e-02 2.09303844e+02] [-5.72900608e-01 -8.18419250e-01 -4.44389957e-02 1.30052489e+02] [-6.94391732e-02 -5.55863697e-03 9.97570701e-01 7.13195431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:130.05, Z:0.71 [[-8.15756261e-01 5.75989745e-01 -5.27023425e-02 2.09294619e+02] [-5.74355698e-01 -8.17439295e-01 -4.36867550e-02 1.30045616e+02] [-6.82440885e-02 -5.36785320e-03 9.97654214e-01 7.12250498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.821400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.31, Y:130.06, Z:0.71 [[-8.14774019e-01 5.77414669e-01 -5.23029455e-02 2.09309644e+02] [-5.75805985e-01 -8.16434252e-01 -4.33887033e-02 1.30058063e+02] [-6.77551900e-02 -5.23563908e-03 9.97688239e-01 7.12836556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.851400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:209.31, Y:130.06, Z:0.72 [[-8.15387105e-01 5.76568874e-01 -5.20788127e-02 2.09313359e+02] [-5.74970274e-01 -8.17031314e-01 -4.32321102e-02 1.30057078e+02] [-6.74763098e-02 -5.30713602e-03 9.97706762e-01 7.15911706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.881400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.31, Y:130.05, Z:0.72 [[-8.16422769e-01 5.75080758e-01 -5.23066352e-02 2.09309233e+02] [-5.73463092e-01 -8.18078303e-01 -4.34508101e-02 1.30053200e+02] [-6.77786482e-02 -5.47830593e-03 9.97685343e-01 7.16686594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.911400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.31, Y:130.06, Z:0.72 [[-8.16642440e-01 5.74747702e-01 -5.25376351e-02 2.09312491e+02] [-5.73112981e-01 -8.18311813e-01 -4.36725122e-02 1.30056944e+02] [-6.80928435e-02 -5.55482622e-03 9.97663525e-01 7.16445633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:130.05, Z:0.72 [[-8.18336198e-01 5.72455252e-01 -5.11942558e-02 2.09298730e+02] [-5.70896851e-01 -8.19916693e-01 -4.25840449e-02 1.30045791e+02] [-6.63524851e-02 -5.62142597e-03 9.97780410e-01 7.15242431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.971400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.29, Y:130.04, Z:0.71 [[-8.19712078e-01 5.70433499e-01 -5.17468200e-02 2.09291120e+02] [-5.68835245e-01 -8.21322798e-01 -4.30734951e-02 1.30040283e+02] [-6.70714074e-02 -5.87244910e-03 9.97730896e-01 7.12665566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.29, Y:130.04, Z:0.71 [[-8.20093548e-01 5.69794379e-01 -5.27345980e-02 2.09291334e+02] [-5.68131015e-01 -8.21764927e-01 -4.39266927e-02 1.30039924e+02] [-6.83646257e-02 -6.06383661e-03 9.97641974e-01 7.13594257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.031400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:209.30, Y:130.04, Z:0.71 [[-8.20189954e-01 5.69569275e-01 -5.36589288e-02 2.09298469e+02] [-5.67844324e-01 -8.21919829e-01 -4.47282763e-02 1.30044853e+02] [-6.95791895e-02 -6.21576476e-03 9.97557066e-01 7.14970791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.061400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:209.29, Y:130.04, Z:0.71 [[-8.19741068e-01 5.70189382e-01 -5.39319121e-02 2.09288117e+02] [-5.68445929e-01 -8.21489729e-01 -4.49872351e-02 1.30035357e+02] [-6.99557556e-02 -6.22050820e-03 9.97530700e-01 7.14085550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.30, Y:130.05, Z:0.72 [[-8.20439815e-01 5.69267601e-01 -5.30368481e-02 2.09301677e+02] [-5.67577625e-01 -8.22128774e-01 -4.42709748e-02 1.30047900e+02] [-6.88051505e-02 -6.21914212e-03 9.97610733e-01 7.15893233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.121400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.30, Y:130.04, Z:0.71 [[-8.20756790e-01 5.68918355e-01 -5.18671036e-02 2.09296555e+02] [-5.67299522e-01 -8.22371130e-01 -4.33241044e-02 1.30043743e+02] [-6.73018868e-02 -6.13436979e-03 9.97713799e-01 7.14838715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:130.04, Z:0.71 [[-8.21003067e-01 5.68588966e-01 -5.15805322e-02 2.09291581e+02] [-5.66985354e-01 -8.22598774e-01 -4.31145622e-02 1.30040059e+02] [-6.69445469e-02 -6.15178148e-03 9.97737733e-01 7.14429616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.181400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.30, Y:130.04, Z:0.72 [[-8.21443044e-01 5.68007843e-01 -5.09746603e-02 2.09296537e+02] [-5.66438673e-01 -8.23000160e-01 -4.26376122e-02 1.30043287e+02] [-6.61706517e-02 -6.15035103e-03 9.97789366e-01 7.15525350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.211400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.29, Y:130.03, Z:0.71 [[-8.22190911e-01 5.66880970e-01 -5.14594130e-02 2.09285260e+02] [-5.65277559e-01 -8.23775424e-01 -4.30735703e-02 1.30033553e+02] [-6.68085871e-02 -6.32584668e-03 9.97745757e-01 7.14670462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.241400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.29, Y:130.04, Z:0.72 [[-8.23514616e-01 5.64717641e-01 -5.40154040e-02 2.09292058e+02] [-5.62943819e-01 -8.25255728e-01 -4.52464434e-02 1.30037658e+02] [-7.01279863e-02 -6.85346964e-03 9.97514459e-01 7.15735797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.271400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.30, Y:130.04, Z:0.72 [[-8.23859294e-01 5.64146591e-01 -5.47219049e-02 2.09295966e+02] [-5.62322415e-01 -8.25644805e-01 -4.58710924e-02 1.30040923e+02] [-7.10588769e-02 -7.01997211e-03 9.97447420e-01 7.16621926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.301400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.31, Y:130.05, Z:0.72 [[-8.23457262e-01 5.64748844e-01 -5.45608035e-02 2.09305069e+02] [-5.62934421e-01 -8.25233364e-01 -4.57682394e-02 1.30048891e+02] [-7.08729558e-02 -6.97403476e-03 9.97460970e-01 7.16608741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.29, Y:130.04, Z:0.71 [[-8.23237328e-01 5.65115262e-01 -5.40836576e-02 2.09288691e+02] [-5.63331030e-01 -8.24983045e-01 -4.53996230e-02 1.30036123e+02] [-7.02741204e-02 -6.90766180e-03 9.97503801e-01 7.14337086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.361400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.30, Y:130.05, Z:0.71 [[-8.23085648e-01 5.65449941e-01 -5.28808070e-02 2.09298766e+02] [-5.63742867e-01 -8.24754989e-01 -4.44205886e-02 1.30045141e+02] [-6.87313286e-02 -6.75077119e-03 9.97612365e-01 7.14910553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:130.05, Z:0.72 [[-8.22573572e-01 5.66209827e-01 -5.27176556e-02 2.09301969e+02] [-5.64512666e-01 -8.24233973e-01 -4.43148591e-02 1.30047795e+02] [-6.85431914e-02 -6.69244760e-03 9.97625702e-01 7.15117180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:130.06, Z:0.72 [[-8.22114214e-01 5.66904089e-01 -5.24211110e-02 2.09313892e+02] [-5.65225266e-01 -8.23757182e-01 -4.40965426e-02 1.30058117e+02] [-6.81807770e-02 -6.62265809e-03 9.97651002e-01 7.16034659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.451400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.30, Y:130.05, Z:0.71 [[-8.21860213e-01 5.67363901e-01 -5.14197899e-02 2.09301486e+02] [-5.65747570e-01 -8.23441666e-01 -4.32840528e-02 1.30047067e+02] [-6.68990065e-02 -6.48281966e-03 9.97738691e-01 7.14889612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:130.05, Z:0.72 [[-8.22220375e-01 5.66861379e-01 -5.12038294e-02 2.09307926e+02] [-5.65255638e-01 -8.23787382e-01 -4.31324965e-02 1.30052189e+02] [-6.66312150e-02 -6.52116420e-03 9.97756361e-01 7.16000682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.511400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:209.31, Y:130.05, Z:0.72 [[-8.22631409e-01 5.66224553e-01 -5.16461071e-02 2.09310169e+02] [-5.64587589e-01 -8.24224157e-01 -4.35361152e-02 1.30053324e+02] [-6.72191864e-02 -6.65542471e-03 9.97716035e-01 7.15274059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:130.06, Z:0.72 [[-8.23794490e-01 5.64470355e-01 -5.23054175e-02 2.09318419e+02] [-5.62785641e-01 -8.25424402e-01 -4.41234382e-02 1.30061125e+02] [-6.80805408e-02 -6.91190733e-03 9.97655885e-01 7.17014992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.31, Y:130.06, Z:0.71 [[-8.24566415e-01 5.63219205e-01 -5.36130089e-02 2.09314464e+02] [-5.61444200e-01 -8.26275996e-01 -4.52591244e-02 1.30057016e+02] [-6.97899504e-02 -7.21844102e-03 9.97535592e-01 7.14966127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.601400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:209.32, Y:130.06, Z:0.71 [[-8.23466176e-01 5.64788510e-01 -5.40129208e-02 2.09317489e+02] [-5.62987914e-01 -8.25204579e-01 -4.56290780e-02 1.30059358e+02] [-7.03424885e-02 -7.16538081e-03 9.97497164e-01 7.14942141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.32, Y:130.06, Z:0.71 [[-8.22173373e-01 5.66722475e-01 -5.34470034e-02 2.09318829e+02] [-5.64961270e-01 -8.23879421e-01 -4.51825539e-02 1.30059288e+02] [-6.96398550e-02 -6.95240578e-03 9.97547971e-01 7.14883304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.661400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.32, Y:130.06, Z:0.72 [[-8.20864490e-01 5.68678500e-01 -5.27849641e-02 2.09322504e+02] [-5.66962538e-01 -8.22532370e-01 -4.46540104e-02 1.30062636e+02] [-6.88111174e-02 -6.72779428e-03 9.97607020e-01 7.16251620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.691400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:209.33, Y:130.07, Z:0.72 [[-8.19091892e-01 5.71280387e-01 -5.22225256e-02 2.09331694e+02] [-5.69603929e-01 -8.20729506e-01 -4.42090703e-02 1.30069554e+02] [-6.81163424e-02 -6.46513529e-03 9.97656437e-01 7.16295563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.721400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.34, Y:130.08, Z:0.72 [[-8.18017114e-01 5.72845689e-01 -5.19212732e-02 2.09343692e+02] [-5.71189555e-01 -8.19638842e-01 -4.39847843e-02 1.30079673e+02] [-6.77531862e-02 -6.32341740e-03 9.97682074e-01 7.16746474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:130.08, Z:0.72 [[-8.14053111e-01 5.78356000e-01 -5.31212775e-02 2.09350260e+02] [-5.76631588e-01 -8.15762219e-01 -4.50334901e-02 1.30083904e+02] [-6.93797204e-02 -6.02824609e-03 9.97572110e-01 7.19213166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.781400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.38, Y:130.10, Z:0.72 [[-8.12400497e-01 5.80657938e-01 -5.33084521e-02 2.09376275e+02] [-5.78924016e-01 -8.14126407e-01 -4.52236409e-02 1.30103837e+02] [-6.96592847e-02 -5.87816517e-03 9.97553523e-01 7.22642639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.811400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.39, Y:130.11, Z:0.72 [[-8.11673603e-01 5.81689328e-01 -5.31364927e-02 2.09387580e+02] [-5.79966624e-01 -8.13390393e-01 -4.51085843e-02 1.30113295e+02] [-6.94598948e-02 -5.79605488e-03 9.97567907e-01 7.24791051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:130.12, Z:0.73 [[-8.11428470e-01 5.82068528e-01 -5.27263422e-02 2.09390215e+02] [-5.80371059e-01 -8.13119451e-01 -4.47905343e-02 1.30115523e+02] [-6.89439748e-02 -5.74347166e-03 9.97604000e-01 7.25432044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:130.12, Z:0.73 [[-8.11483749e-01 5.81993391e-01 -5.27050036e-02 2.09392246e+02] [-5.80294796e-01 -8.13173008e-01 -4.48063490e-02 1.30117077e+02] [-6.89352852e-02 -5.77518476e-03 9.97604417e-01 7.25590756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.40, Y:130.13, Z:0.73 [[-8.09966635e-01 5.83950697e-01 -5.43657335e-02 2.09402028e+02] [-5.82144980e-01 -8.11768292e-01 -4.62543113e-02 1.30125443e+02] [-7.11426160e-02 -5.81571006e-03 9.97449200e-01 7.25049315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.931400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.41, Y:130.13, Z:0.73 [[-8.08693790e-01 5.85751324e-01 -5.39420135e-02 2.09410785e+02] [-5.83975196e-01 -8.10471199e-01 -4.59282739e-02 1.30132158e+02] [-7.06209956e-02 -5.64111194e-03 9.97487270e-01 7.25766260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.961400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.39, Y:130.12, Z:0.72 [[-8.07340836e-01 5.87707985e-01 -5.29159653e-02 2.09393810e+02] [-5.86000710e-01 -8.09055156e-01 -4.50879405e-02 1.30117109e+02] [-6.93104772e-02 -5.39254228e-03 9.97580562e-01 7.24025368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.991400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.40, Y:130.12, Z:0.72 [[-8.07120022e-01 5.88012716e-01 -5.28991148e-02 2.09396553e+02] [-5.86304806e-01 -8.08833709e-01 -4.51077018e-02 1.30119559e+02] [-6.93104895e-02 -5.39232400e-03 9.97580563e-01 7.24253346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.021400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.43, Y:130.14, Z:0.73 [[-8.04232352e-01 5.92024074e-01 -5.21327124e-02 2.09425474e+02] [-5.90371379e-01 -8.05904764e-01 -4.44876009e-02 1.30143843e+02] [-6.83517320e-02 -5.00070656e-03 9.97648753e-01 7.26718115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.051400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:209.43, Y:130.15, Z:0.73 [[-8.03826784e-01 5.92556113e-01 -5.23426688e-02 2.09428737e+02] [-5.90889103e-01 -8.05513659e-01 -4.46969116e-02 1.30145153e+02] [-6.86481628e-02 -4.99986213e-03 9.97628403e-01 7.27471926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:130.39, Z:0.75 [[-8.03415828e-01 5.93001883e-01 -5.35889426e-02 2.09714006e+02] [-5.91252967e-01 -8.05184867e-01 -4.57958435e-02 1.30389655e+02] [-7.03060270e-02 -5.10848418e-03 9.97512389e-01 7.54268983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.111400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.72, Y:130.39, Z:0.75 [[-8.02774251e-01 5.93815946e-01 -5.41860219e-02 2.09715542e+02] [-5.92027635e-01 -8.04584643e-01 -4.63339071e-02 1.30390304e+02] [-7.11110540e-02 -5.11604512e-03 9.97455284e-01 7.53869544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.45, Y:130.16, Z:0.73 [[-8.02187803e-01 5.94629377e-01 -5.39502824e-02 2.09446072e+02] [-5.92856440e-01 -8.03984115e-01 -4.61604161e-02 1.30160379e+02] [-7.08235095e-02 -5.04455042e-03 9.97476107e-01 7.29587332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:130.17, Z:0.73 [[-8.01870717e-01 5.95113469e-01 -5.33227197e-02 2.09461445e+02] [-5.93380310e-01 -8.03626316e-01 -4.56568861e-02 1.30173381e+02] [-7.00225687e-02 -4.97026802e-03 9.97533025e-01 7.31599796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.201400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.45, Y:130.17, Z:0.73 [[-8.01401249e-01 5.95758977e-01 -5.31721700e-02 2.09454857e+02] [-5.94034669e-01 -8.03148160e-01 -4.55614365e-02 1.30166492e+02] [-6.98487653e-02 -4.92687968e-03 9.97545425e-01 7.30504662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.231400513 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:209.46, Y:130.17, Z:0.73 [[-8.00897410e-01 5.96406753e-01 -5.35006936e-02 2.09462532e+02] [-5.94660080e-01 -8.02667241e-01 -4.58768874e-02 1.30172669e+02] [-7.03045396e-02 -4.92795351e-03 9.97513402e-01 7.31702332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.45, Y:130.16, Z:0.73 [[-8.01143075e-01 5.96081376e-01 -5.34487291e-02 2.09450316e+02] [-5.94335003e-01 -8.02908590e-01 -4.58661080e-02 1.30162753e+02] [-7.02543765e-02 -4.97886427e-03 9.97516683e-01 7.31616896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.291400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:209.45, Y:130.16, Z:0.73 [[-8.00908612e-01 5.96388920e-01 -5.35317734e-02 2.09451401e+02] [-5.94635385e-01 -8.02680126e-01 -4.59714483e-02 1.30163717e+02] [-7.03857530e-02 -4.98704221e-03 9.97507381e-01 7.30859857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.321400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:209.46, Y:130.17, Z:0.73 [[-8.00679333e-01 5.96792008e-01 -5.24585999e-02 2.09456602e+02] [-5.95106750e-01 -8.02381144e-01 -4.50827631e-02 1.30168060e+02] [-6.89968241e-02 -4.87836978e-03 9.97604952e-01 7.31139103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:130.18, Z:0.73 [[-8.00858939e-01 5.96588682e-01 -5.20279240e-02 2.09468364e+02] [-5.94928327e-01 -8.02532311e-01 -4.47456893e-02 1.30178682e+02] [-6.84488619e-02 -4.88209944e-03 9.97642681e-01 7.33447269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.47, Y:130.18, Z:0.73 [[-8.01280563e-01 5.96097833e-01 -5.11549907e-02 2.09470793e+02] [-5.94489643e-01 -8.02897059e-01 -4.40270073e-02 1.30179938e+02] [-6.73165952e-02 -4.86687301e-03 9.97719795e-01 7.34080137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:130.17, Z:0.73 [[-8.01666365e-01 5.95628541e-01 -5.05735198e-02 2.09464085e+02] [-5.94053704e-01 -8.03245210e-01 -4.35583432e-02 1.30174166e+02] [-6.65675300e-02 -4.87587188e-03 9.97770009e-01 7.32944792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.441400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.47, Y:130.18, Z:0.73 [[-8.02145360e-01 5.94950219e-01 -5.09613381e-02 2.09470034e+02] [-5.93347543e-01 -8.03747019e-01 -4.39251850e-02 1.30179154e+02] [-6.70933220e-02 -4.99659863e-03 9.97734193e-01 7.34228434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:130.17, Z:0.73 [[-8.02007384e-01 5.95119108e-01 -5.11605587e-02 2.09464378e+02] [-5.93501978e-01 -8.03621777e-01 -4.41298244e-02 1.30173355e+02] [-6.73762409e-02 -5.02855227e-03 9.97714967e-01 7.34296918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:130.17, Z:0.74 [[-8.01356910e-01 5.95948044e-01 -5.17013734e-02 2.09465712e+02] [-5.94295910e-01 -8.03007186e-01 -4.46299155e-02 1.30174615e+02] [-6.81136852e-02 -5.03857637e-03 9.97664843e-01 7.35207661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.531400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.46, Y:130.17, Z:0.73 [[-8.00824537e-01 5.96697160e-01 -5.13084833e-02 2.09458898e+02] [-5.95069365e-01 -8.02451160e-01 -4.43236597e-02 1.30166929e+02] [-6.76203538e-02 -4.96336765e-03 9.97698779e-01 7.34899626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.561400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:209.48, Y:130.18, Z:0.74 [[-8.00023357e-01 5.97756821e-01 -5.14724328e-02 2.09475050e+02] [-5.96118480e-01 -8.01662405e-01 -4.44988422e-02 1.30180221e+02] [-6.78630007e-02 -4.91644475e-03 9.97682536e-01 7.36048580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.591400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.49, Y:130.19, Z:0.74 [[-7.99270019e-01 5.98730879e-01 -5.18533708e-02 2.09487691e+02] [-5.97067867e-01 -8.00935300e-01 -4.48620864e-02 1.30191344e+02] [-6.83915115e-02 -4.89693909e-03 9.97646541e-01 7.36720847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:130.19, Z:0.74 [[-7.98536289e-01 5.99659853e-01 -5.24199953e-02 2.09483959e+02] [-5.97959864e-01 -8.00240010e-01 -4.53864180e-02 1.30188797e+02] [-6.91649903e-02 -4.89764851e-03 9.97593212e-01 7.35670151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.651400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.49, Y:130.20, Z:0.74 [[-7.97935140e-01 6.00473977e-01 -5.22543301e-02 2.09494294e+02] [-5.98784142e-01 -7.99629659e-01 -4.52764825e-02 1.30196449e+02] [-6.89714617e-02 -4.83863218e-03 9.97606899e-01 7.36469344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.681400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:209.50, Y:130.21, Z:0.74 [[-7.96605871e-01 6.02200574e-01 -5.26645570e-02 2.09503370e+02] [-6.00485419e-01 -7.98330679e-01 -4.56660648e-02 1.30205070e+02] [-6.95438620e-02 -4.75355680e-03 9.97567569e-01 7.37322166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:130.20, Z:0.74 [[-7.97499628e-01 6.01183149e-01 -5.07263740e-02 2.09493831e+02] [-5.99587933e-01 -7.99097516e-01 -4.40167049e-02 1.30196347e+02] [-6.69974207e-02 -4.68838408e-03 9.97742133e-01 7.37936190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:130.18, Z:0.74 [[-7.98219374e-01 6.00260657e-01 -5.03286670e-02 2.09473949e+02] [-5.98686435e-01 -7.99790312e-01 -4.37036542e-02 1.30180585e+02] [-6.64859645e-02 -4.75401326e-03 9.97776035e-01 7.35782047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.771400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.48, Y:130.18, Z:0.74 [[-7.99315380e-01 5.98790256e-01 -5.04494983e-02 2.09478061e+02] [-5.97203353e-01 -8.00890801e-01 -4.38415307e-02 1.30184400e+02] [-6.66564206e-02 -4.91460025e-03 9.97763884e-01 7.36793566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.801400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:209.48, Y:130.18, Z:0.74 [[-8.00965984e-01 5.96498605e-01 -5.14092110e-02 2.09478980e+02] [-5.94843645e-01 -8.02597068e-01 -4.47100005e-02 1.30184512e+02] [-6.79303349e-02 -5.23074712e-03 9.97676355e-01 7.36887604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.831400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.48, Y:130.18, Z:0.74 [[-8.03439560e-01 5.92868976e-01 -5.46923223e-02 2.09477374e+02] [-5.90984458e-01 -8.05277145e-01 -4.76034626e-02 1.30182571e+02] [-7.22650933e-02 -5.92419260e-03 9.97367866e-01 7.38328584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.861400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:209.47, Y:130.18, Z:0.74 [[-8.03860300e-01 5.92299648e-01 -5.46785551e-02 2.09473369e+02] [-5.90412162e-01 -8.05695408e-01 -4.76276048e-02 1.30179153e+02] [-7.22640743e-02 -6.00305675e-03 9.97367468e-01 7.37929118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.891400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.49, Y:130.19, Z:0.74 [[-8.03885937e-01 5.92375151e-01 -5.34703659e-02 2.09486394e+02] [-5.90567977e-01 -8.05640722e-01 -4.66099876e-02 1.30190764e+02] [-7.06885026e-02 -5.89122775e-03 9.97481042e-01 7.38190304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.20, Z:0.74 [[-8.01940013e-01 5.95217718e-01 -5.10694104e-02 2.09495572e+02] [-5.93572888e-01 -8.03546248e-01 -4.45494542e-02 1.30200692e+02] [-6.75532576e-02 -5.41257246e-03 9.97700988e-01 7.36668579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.951400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.50, Y:130.20, Z:0.74 [[-8.00217613e-01 5.97542324e-01 -5.09405793e-02 2.09497286e+02] [-5.95908175e-01 -8.01820314e-01 -4.44705650e-02 1.30201842e+02] [-6.74182361e-02 -5.23022179e-03 9.97711094e-01 7.37493781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.981400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.50, Y:130.20, Z:0.74 [[-7.99505445e-01 5.98474504e-01 -5.11792172e-02 2.09500805e+02] [-5.96824577e-01 -8.01124957e-01 -4.47127245e-02 1.30204110e+02] [-6.77603738e-02 -5.20305206e-03 9.97688057e-01 7.38682036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.47, Y:130.18, Z:0.74 [[-7.99275692e-01 5.98781057e-01 -5.11821628e-02 2.09473504e+02] [-5.97129271e-01 -8.00895848e-01 -4.47490078e-02 1.30179470e+02] [-6.77864399e-02 -5.20442663e-03 9.97686280e-01 7.36123750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:130.20, Z:0.74 [[-7.98844655e-01 5.99381644e-01 -5.08808628e-02 2.09494541e+02] [-5.97748197e-01 -8.00446826e-01 -4.45193376e-02 1.30198292e+02] [-6.74114989e-02 -5.15009088e-03 9.97711966e-01 7.37789417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.20, Z:0.74 [[-7.97785284e-01 6.00777327e-01 -5.10415971e-02 2.09497739e+02] [-5.99134020e-01 -7.99400301e-01 -4.46943509e-02 1.30199876e+02] [-6.76540207e-02 -5.07573818e-03 9.97695931e-01 7.37896012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.74 [[-7.95152001e-01 6.04203798e-01 -5.16823568e-02 2.09529579e+02] [-6.02523661e-01 -7.96814926e-01 -4.52903060e-02 1.30227267e+02] [-6.85458482e-02 -4.87283464e-03 9.97636067e-01 7.41724589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.131400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.54, Y:130.24, Z:0.74 [[-7.92922531e-01 6.07132740e-01 -5.16109957e-02 2.09542355e+02] [-6.05461043e-01 -7.94586874e-01 -4.52617350e-02 1.30237621e+02] [-6.84893010e-02 -4.64060218e-03 9.97641058e-01 7.43320186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.74 [[-7.91284735e-01 6.09322972e-01 -5.09311670e-02 2.09534061e+02] [-6.07697358e-01 -7.92909828e-01 -4.46981605e-02 1.30230461e+02] [-6.76194388e-02 -4.41823646e-03 9.97701404e-01 7.41635751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.191400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.55, Y:130.24, Z:0.74 [[-7.87692480e-01 6.14182784e-01 -4.81670485e-02 2.09548440e+02] [-6.12736112e-01 -7.89154620e-01 -4.23018101e-02 1.30243477e+02] [-6.39922924e-02 -3.80712771e-03 9.97943131e-01 7.42227847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:130.25, Z:0.74 [[-7.86470370e-01 6.15811147e-01 -4.73390680e-02 2.09560825e+02] [-6.14414859e-01 -7.87885408e-01 -4.16048672e-02 1.30254255e+02] [-6.29185019e-02 -3.63516856e-03 9.98012048e-01 7.43348126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.251400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.56, Y:130.25, Z:0.74 [[-7.84871672e-01 6.17837457e-01 -4.74693062e-02 2.09559691e+02] [-6.16435200e-01 -7.86298022e-01 -4.17500280e-02 1.30251979e+02] [-6.31197527e-02 -3.50666300e-03 9.97999800e-01 7.43673677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.281400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.56, Y:130.25, Z:0.75 [[-7.84593495e-01 6.18204378e-01 -4.72905311e-02 2.09563804e+02] [-6.16811426e-01 -7.86009658e-01 -4.16231068e-02 1.30254932e+02] [-6.29024010e-02 -3.48787889e-03 9.98013588e-01 7.45983115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.311400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.57, Y:130.26, Z:0.75 [[-7.82958046e-01 6.20237928e-01 -4.77662080e-02 2.09566452e+02] [-6.18818551e-01 -7.84406444e-01 -4.20729246e-02 1.30258213e+02] [-6.35633449e-02 -3.38271920e-03 9.97972073e-01 7.47019215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.341400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.58, Y:130.27, Z:0.75 [[-7.82848623e-01 6.20464909e-01 -4.65975266e-02 2.09580328e+02] [-6.19112791e-01 -7.84227248e-01 -4.10728095e-02 1.30270056e+02] [-6.20272870e-02 -3.30466760e-03 9.98068983e-01 7.47549418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.371400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:209.58, Y:130.27, Z:0.75 [[-7.81308231e-01 6.22419120e-01 -4.63884345e-02 2.09584815e+02] [-6.21080705e-01 -7.82677750e-01 -4.09181751e-02 1.30274319e+02] [-6.17754502e-02 -3.15874540e-03 9.98085075e-01 7.47027436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:130.26, Z:0.74 [[-7.82357753e-01 6.21309193e-01 -4.34883135e-02 2.09564305e+02] [-6.19906174e-01 -7.83542305e-01 -4.21638686e-02 1.30263231e+02] [-6.02717326e-02 -6.02855548e-03 9.98163802e-01 7.44345494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.431400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.60, Y:130.28, Z:0.75 [[-7.78554640e-01 6.25715386e-01 -4.83003917e-02 2.09595929e+02] [-6.24527724e-01 -7.80051427e-01 -3.85343198e-02 1.30280660e+02] [-6.17883062e-02 1.63860135e-04 9.98089264e-01 7.50233864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.461400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:209.61, Y:130.30, Z:0.75 [[-7.77182556e-01 6.27562373e-01 -4.63976595e-02 2.09610928e+02] [-6.26228269e-01 -7.78561238e-01 -4.09945502e-02 1.30297311e+02] [-6.18500565e-02 -2.80472331e-03 9.98081512e-01 7.49466672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.491400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:209.61, Y:130.30, Z:0.75 [[-7.76163751e-01 6.28890739e-01 -4.54562531e-02 2.09610167e+02] [-6.27610831e-01 -7.77489120e-01 -4.01909525e-02 1.30296333e+02] [-6.06174601e-02 -2.66592363e-03 9.98157511e-01 7.50228697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:130.29, Z:0.75 [[-7.76796077e-01 6.28114827e-01 -4.53830303e-02 2.09598144e+02] [-6.26835991e-01 -7.78115822e-01 -4.01548068e-02 1.30288905e+02] [-6.05350835e-02 -2.74437960e-03 9.98162297e-01 7.50722306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.551400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.58, Y:130.28, Z:0.75 [[-7.80443419e-01 6.23862543e-01 -4.12746582e-02 2.09583458e+02] [-6.22491045e-01 -7.81502394e-01 -4.19393231e-02 1.30282362e+02] [-5.84206170e-02 -7.03816362e-03 9.98267247e-01 7.48370658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.581400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.61, Y:130.29, Z:0.76 [[-7.76718705e-01 6.27954330e-01 -4.87997170e-02 2.09607862e+02] [-6.26854334e-01 -7.78248327e-01 -3.71912071e-02 1.30292292e+02] [-6.13326777e-02 1.70320792e-03 9.98115926e-01 7.56548678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.611400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:209.51, Y:130.22, Z:0.74 [[-7.84742481e-01 6.18360767e-01 -4.25346875e-02 2.09505703e+02] [-6.16894713e-01 -7.85856673e-01 -4.32458319e-02 1.30222040e+02] [-6.01676938e-02 -7.69741760e-03 9.98158604e-01 7.42755489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:130.23, Z:0.75 [[-7.84642618e-01 6.18416424e-01 -4.35555801e-02 2.09516562e+02] [-6.17152065e-01 -7.85838718e-01 -3.97597488e-02 1.30228199e+02] [-5.88157429e-02 -4.31677722e-03 9.98259522e-01 7.47661302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.671400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.54, Y:130.24, Z:0.75 [[-7.86027526e-01 6.16534717e-01 -4.52291034e-02 2.09535224e+02] [-6.15404210e-01 -7.87326248e-01 -3.73502116e-02 1.30242253e+02] [-5.86377624e-02 -1.52411379e-03 9.98278163e-01 7.51031103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.21, Z:0.75 [[-7.87150789e-01 6.15190171e-01 -4.39851084e-02 2.09498338e+02] [-6.13977074e-01 -7.88370912e-01 -3.87744341e-02 1.30214471e+02] [-5.85302308e-02 -3.51547825e-03 9.98279447e-01 7.46105068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:130.25, Z:0.75 [[-7.85920178e-01 6.16648180e-01 -4.55466429e-02 2.09544485e+02] [-6.15447796e-01 -7.87235660e-01 -3.85230504e-02 1.30251212e+02] [-5.96111105e-02 -2.24446160e-03 9.98219153e-01 7.52272570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.761400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.48, Y:130.20, Z:0.75 [[-7.91054019e-01 6.09250097e-01 -5.52074089e-02 2.09484207e+02] [-6.07908508e-01 -7.92976577e-01 -4.04399982e-02 1.30202441e+02] [-6.84162550e-02 1.57083048e-03 9.97655626e-01 7.45609425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:130.27, Z:0.75 [[-7.86108116e-01 6.16502044e-01 -4.42635336e-02 2.09555747e+02] [-6.14921634e-01 -7.87312352e-01 -4.48402117e-02 1.30269865e+02] [-6.24933089e-02 -8.03064990e-03 9.98013074e-01 7.48448949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.51, Y:130.22, Z:0.75 [[-7.91482051e-01 6.08569732e-01 -5.65601039e-02 2.09506315e+02] [-6.07220106e-01 -7.93497252e-01 -4.05691335e-02 1.30223516e+02] [-6.95694337e-02 2.23469133e-03 9.97574609e-01 7.48494671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.22, Z:0.74 [[-7.91055267e-01 6.09499397e-01 -5.23645884e-02 2.09495085e+02] [-6.07861564e-01 -7.92778326e-01 -4.47978310e-02 1.30223031e+02] [-6.88177616e-02 -3.60713952e-03 9.97622726e-01 7.42536421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.881400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.51, Y:130.23, Z:0.74 [[-7.91406887e-01 6.09094786e-01 -5.17559775e-02 2.09506466e+02] [-6.07535575e-01 -7.93091323e-01 -4.36655178e-02 1.30232322e+02] [-6.76436559e-02 -3.11359395e-03 9.97704686e-01 7.43873808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.911400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.51, Y:130.23, Z:0.74 [[-7.91205960e-01 6.09355860e-01 -5.17548523e-02 2.09509125e+02] [-6.07796550e-01 -7.92890805e-01 -4.36752239e-02 1.30234806e+02] [-6.76497001e-02 -3.09967675e-03 9.97704320e-01 7.44113592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.941400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:209.49, Y:130.22, Z:0.74 [[-7.90276662e-01 6.10625792e-01 -5.09798063e-02 2.09493232e+02] [-6.09078933e-01 -7.91912066e-01 -4.35675764e-02 1.30221671e+02] [-6.69750095e-02 -3.37971284e-03 9.97748929e-01 7.41786924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.971400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.50, Y:130.23, Z:0.74 [[-7.90246961e-01 6.10808055e-01 -4.92266333e-02 2.09502723e+02] [-6.09334110e-01 -7.91770338e-01 -4.25637760e-02 1.30232324e+02] [-6.49744853e-02 -3.64042784e-03 9.97880285e-01 7.43026337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.001400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:209.46, Y:130.20, Z:0.74 [[-7.89544769e-01 6.11788532e-01 -4.83099335e-02 2.09462991e+02] [-6.10440412e-01 -7.91017002e-01 -4.06768562e-02 1.30197760e+02] [-6.30996129e-02 -2.62586334e-03 9.98003779e-01 7.39301765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:130.21, Z:0.74 [[-7.92680486e-01 6.07833239e-01 -4.68657740e-02 2.09477022e+02] [-6.06521770e-01 -7.94057772e-01 -4.00449376e-02 1.30207701e+02] [-6.15547762e-02 -3.31772839e-03 9.98098193e-01 7.40627920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.061400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.49, Y:130.22, Z:0.74 [[-7.93626237e-01 6.06438097e-01 -4.88899810e-02 2.09488903e+02] [-6.05078926e-01 -7.95126142e-01 -4.06683146e-02 1.30219055e+02] [-6.35365173e-02 -2.69314429e-03 9.97975880e-01 7.42376804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.091400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:209.51, Y:130.23, Z:0.75 [[-7.94723930e-01 6.04929269e-01 -4.97438874e-02 2.09506088e+02] [-6.03515185e-01 -7.96273882e-01 -4.14406266e-02 1.30234196e+02] [-6.46784063e-02 -2.91266618e-03 9.97901909e-01 7.45228842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.121400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.49, Y:130.21, Z:0.74 [[-7.95417028e-01 6.03997881e-01 -4.99831040e-02 2.09487185e+02] [-6.02562420e-01 -7.96979989e-01 -4.17304196e-02 1.30214499e+02] [-6.50406187e-02 -3.07514625e-03 9.97877879e-01 7.43682174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.151400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.48, Y:130.21, Z:0.74 [[-7.95519585e-01 6.04040990e-01 -4.77815135e-02 2.09480269e+02] [-6.02608309e-01 -7.96940694e-01 -4.18181372e-02 1.30208509e+02] [-6.33389015e-02 -4.47361016e-03 9.97982049e-01 7.42208141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.22, Z:0.74 [[-7.96289888e-01 6.02793137e-01 -5.06245776e-02 2.09497449e+02] [-6.01436580e-01 -7.97895550e-01 -4.04565380e-02 1.30220920e+02] [-6.47800487e-02 -1.76765924e-03 9.97898001e-01 7.44651248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.22, Z:0.74 [[-7.97489471e-01 6.01400793e-01 -4.82455205e-02 2.09498530e+02] [-5.99956089e-01 -7.98934986e-01 -4.18996416e-02 1.30222988e+02] [-6.37435119e-02 -4.46932927e-03 9.97956307e-01 7.44188719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.241400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.49, Y:130.21, Z:0.74 [[-7.97659772e-01 6.01175817e-01 -4.82340608e-02 2.09487093e+02] [-5.99765705e-01 -7.99106498e-01 -4.13509967e-02 1.30210602e+02] [-6.34033706e-02 -4.05489108e-03 9.97979745e-01 7.44211157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.22, Z:0.75 [[-7.98828342e-01 5.99516070e-01 -4.95354573e-02 2.09503837e+02] [-5.98089641e-01 -8.00355027e-01 -4.14802589e-02 1.30224645e+02] [-6.45140340e-02 -3.50896256e-03 9.97910631e-01 7.46812855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.301400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.51, Y:130.23, Z:0.75 [[-7.99664990e-01 5.98238380e-01 -5.14465224e-02 2.09505961e+02] [-5.96733338e-01 -8.01311327e-01 -4.25379864e-02 1.30225221e+02] [-6.66725372e-02 -3.31628345e-03 9.97769400e-01 7.47068193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.331400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.50, Y:130.22, Z:0.75 [[-8.00685135e-01 5.96857073e-01 -5.16231464e-02 2.09497480e+02] [-5.95147216e-01 -8.02327241e-01 -4.55059284e-02 1.30217870e+02] [-6.85791919e-02 -5.71254852e-03 9.97629321e-01 7.46526321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:130.22, Z:0.75 [[-8.01614266e-01 5.95486164e-01 -5.30169575e-02 2.09507620e+02] [-5.93808833e-01 -8.03352946e-01 -4.48900163e-02 1.30223463e+02] [-6.93227126e-02 -4.50253980e-03 9.97584126e-01 7.49627459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.391400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.51, Y:130.23, Z:0.75 [[-8.01367790e-01 5.95810475e-01 -5.30993794e-02 2.09514025e+02] [-5.94129930e-01 -8.03112651e-01 -4.49410339e-02 1.30229024e+02] [-6.94211220e-02 -4.46636643e-03 9.97577445e-01 7.49505492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.421400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:209.51, Y:130.22, Z:0.75 [[-8.01751567e-01 5.95257717e-01 -5.35039796e-02 2.09508078e+02] [-5.93586702e-01 -8.03524240e-01 -4.47618448e-02 1.30223338e+02] [-6.96365781e-02 -4.12862844e-03 9.97563883e-01 7.48035627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.451400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.51, Y:130.22, Z:0.75 [[-8.01799601e-01 5.95196989e-01 -5.34597459e-02 2.09509927e+02] [-5.93566270e-01 -8.03571338e-01 -4.41835627e-02 1.30221646e+02] [-6.92566430e-02 -3.69446104e-03 9.97592035e-01 7.49416535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.21, Z:0.75 [[-7.99967483e-01 5.97704929e-01 -5.29229935e-02 2.09498378e+02] [-5.95974791e-01 -8.01700352e-01 -4.57230059e-02 1.30212036e+02] [-6.97572486e-02 -5.03614799e-03 9.97551284e-01 7.48230340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.511400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:209.54, Y:130.24, Z:0.75 [[-8.01036965e-01 5.95984237e-01 -5.60586339e-02 2.09535874e+02] [-5.94270574e-01 -8.02990751e-01 -4.52585648e-02 1.30242590e+02] [-7.19879558e-02 -2.93978680e-03 9.97401169e-01 7.53825519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.541400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.51, Y:130.23, Z:0.75 [[-8.00116286e-01 5.97528702e-01 -5.26628915e-02 2.09514327e+02] [-5.95706092e-01 -8.01822945e-01 -4.70554759e-02 1.30226065e+02] [-7.03433121e-02 -6.27824733e-03 9.97503084e-01 7.48409332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.571400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:209.55, Y:130.25, Z:0.75 [[-8.01670819e-01 5.95292052e-01 -5.43255930e-02 2.09547372e+02] [-5.93605923e-01 -8.03500554e-01 -4.49318170e-02 1.30252094e+02] [-7.03981977e-02 -3.77253275e-03 9.97511835e-01 7.53682899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.601400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.75 [[-8.01576830e-01 5.95464316e-01 -5.38222501e-02 2.09527270e+02] [-5.93750935e-01 -8.03369725e-01 -4.53532022e-02 1.30234090e+02] [-7.02453797e-02 -4.39706479e-03 9.97520051e-01 7.51308070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:130.25, Z:0.75 [[-8.01118629e-01 5.96141595e-01 -5.31426459e-02 2.09540915e+02] [-5.94435562e-01 -8.02865490e-01 -4.53141051e-02 1.30247249e+02] [-6.96800193e-02 -4.71209521e-03 9.97558265e-01 7.51126519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.661400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.53, Y:130.24, Z:0.75 [[-8.01058210e-01 5.96320790e-01 -5.20313336e-02 2.09532270e+02] [-5.94715020e-01 -8.02734963e-01 -4.39388777e-02 1.30237726e+02] [-6.79690370e-02 -4.25378312e-03 9.97678363e-01 7.50858827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:130.24, Z:0.75 [[-8.00976323e-01 5.96330589e-01 -5.31672706e-02 2.09530902e+02] [-5.94742195e-01 -8.02732090e-01 -4.36223898e-02 1.30235230e+02] [-6.86924397e-02 -3.31968217e-03 9.97632361e-01 7.50669389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.721400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.54, Y:130.24, Z:0.75 [[-8.01222467e-01 5.96108541e-01 -5.19342375e-02 2.09540274e+02] [-5.94481760e-01 -8.02890810e-01 -4.42468575e-02 1.30244294e+02] [-6.80734517e-02 -4.57761945e-03 9.97669810e-01 7.51096779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:130.25, Z:0.75 [[-8.01073761e-01 5.96470402e-01 -5.00388754e-02 2.09550159e+02] [-5.94849614e-01 -8.02614595e-01 -4.43142041e-02 1.30254131e+02] [-6.65940429e-02 -5.73334040e-03 9.97763681e-01 7.51833026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:130.17, Z:0.75 [[-8.01342916e-01 5.95919621e-01 -5.22430537e-02 2.09467436e+02] [-5.94437408e-01 -8.03039639e-01 -4.20892600e-02 1.30174534e+02] [-6.70350588e-02 -2.67270488e-03 9.97747041e-01 7.47416188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:130.21, Z:0.75 [[-8.04460705e-01 5.91937323e-01 -4.95295825e-02 2.09503969e+02] [-5.90413960e-01 -8.05967553e-01 -4.27511254e-02 1.30210178e+02] [-6.52252232e-02 -5.14864354e-03 9.97857285e-01 7.48947964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:130.22, Z:0.75 [[-8.06317399e-01 5.89420476e-01 -4.93533690e-02 2.09521283e+02] [-5.87938365e-01 -8.07811569e-01 -4.20588538e-02 1.30224989e+02] [-6.46585721e-02 -4.89604652e-03 9.97895434e-01 7.51545742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.75 [[-8.07987529e-01 5.87192063e-01 -4.85966539e-02 2.09533610e+02] [-5.85747208e-01 -8.09431911e-01 -4.14751732e-02 1.30234807e+02] [-6.36895749e-02 -5.04606839e-03 9.97957001e-01 7.53268842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.901400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:209.48, Y:130.19, Z:0.75 [[-8.08138325e-01 5.86807093e-01 -5.06940188e-02 2.09483464e+02] [-5.85323663e-01 -8.09715894e-01 -4.19091978e-02 1.30189323e+02] [-6.56403673e-02 -4.19602011e-03 9.97834523e-01 7.46948097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.931400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.75 [[-8.08294985e-01 5.86492115e-01 -5.18287265e-02 2.09527880e+02] [-5.84888390e-01 -8.09939829e-01 -4.36238965e-02 1.30229357e+02] [-6.75632212e-02 -4.94695635e-03 9.97702731e-01 7.52126883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:130.24, Z:0.75 [[-8.07233638e-01 5.88060814e-01 -5.05799715e-02 2.09540087e+02] [-5.86397117e-01 -8.08791442e-01 -4.46634495e-02 1.30240763e+02] [-6.71734725e-02 -6.39388931e-03 9.97720824e-01 7.52758312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:130.24, Z:0.76 [[-8.06755182e-01 5.88560846e-01 -5.23660834e-02 2.09543700e+02] [-5.86975967e-01 -8.08441735e-01 -4.33725177e-02 1.30240837e+02] [-6.78622931e-02 -4.25337097e-03 9.97685631e-01 7.55805149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:130.24, Z:0.75 [[-8.05986318e-01 5.89715795e-01 -5.11989836e-02 2.09542346e+02] [-5.88125422e-01 -8.07595341e-01 -4.35689389e-02 1.30239754e+02] [-6.70413521e-02 -5.00454480e-03 9.97737647e-01 7.54920610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.051400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.57, Y:130.26, Z:0.76 [[-8.05608484e-01 5.90178975e-01 -5.18049018e-02 2.09567340e+02] [-5.88648267e-01 -8.07263164e-01 -4.26544452e-02 1.30259788e+02] [-6.69939457e-02 -3.86791725e-03 9.97745885e-01 7.57304473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.081400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.75 [[-8.03645822e-01 5.92887853e-01 -5.13554963e-02 2.09529893e+02] [-5.91258049e-01 -8.05268342e-01 -4.42359195e-02 1.30227243e+02] [-6.75818947e-02 -5.18566131e-03 9.97700254e-01 7.52415461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.111400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.53, Y:130.23, Z:0.75 [[-8.02450548e-01 5.94320824e-01 -5.34403916e-02 2.09530843e+02] [-5.92649902e-01 -8.04216948e-01 -4.47347102e-02 1.30226328e+02] [-6.95644385e-02 -4.22594991e-03 9.97568509e-01 7.53695675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.141400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:209.57, Y:130.26, Z:0.76 [[-8.02118727e-01 5.94648638e-01 -5.47589810e-02 2.09567965e+02] [-5.92921902e-01 -8.03975763e-01 -4.54597820e-02 1.30258585e+02] [-7.10574910e-02 -3.99634326e-03 9.97464216e-01 7.58173102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.171400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:209.59, Y:130.28, Z:0.76 [[-8.01179100e-01 5.95982004e-01 -5.40138927e-02 2.09590991e+02] [-5.94190828e-01 -8.02981440e-01 -4.64549990e-02 1.30280197e+02] [-7.10584968e-02 -5.12421463e-03 9.97458988e-01 7.59007024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:130.28, Z:0.76 [[-8.00397975e-01 5.96998909e-01 -5.43634458e-02 2.09593090e+02] [-5.95250283e-01 -8.02230245e-01 -4.58664817e-02 1.30280855e+02] [-7.09942400e-02 -4.35158256e-03 9.97467233e-01 7.59865523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:130.30, Z:0.76 [[-8.00163546e-01 5.97203393e-01 -5.55554459e-02 2.09617335e+02] [-5.95440060e-01 -8.02081136e-01 -4.60107212e-02 1.30301567e+02] [-7.20377340e-02 -3.73616384e-03 9.97394910e-01 7.63041256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:130.26, Z:0.76 [[-7.98680831e-01 5.99240242e-01 -5.49551065e-02 2.09576191e+02] [-5.97409314e-01 -8.00555190e-01 -4.70478317e-02 1.30264603e+02] [-7.21875498e-02 -4.74550878e-03 9.97379786e-01 7.58500784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.291400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.63, Y:130.31, Z:0.76 [[-7.97952498e-01 6.00011513e-01 -5.70788522e-02 2.09625120e+02] [-5.98144375e-01 -7.99982731e-01 -4.74440306e-02 1.30308015e+02] [-7.41290607e-02 -3.71668829e-03 9.97241730e-01 7.63319682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.321400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.62, Y:130.30, Z:0.76 [[-7.96734205e-01 6.01676503e-01 -5.65684695e-02 2.09618341e+02] [-5.99837810e-01 -7.98731635e-01 -4.71421054e-02 1.30300942e+02] [-7.35473233e-02 -3.62782108e-03 9.97285130e-01 7.62268426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:130.32, Z:0.76 [[-7.96694920e-01 6.01746844e-01 -5.63732185e-02 2.09638570e+02] [-5.99925452e-01 -7.98678946e-01 -4.69190076e-02 1.30320182e+02] [-7.32574675e-02 -3.56040645e-03 9.97306707e-01 7.62903927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.60, Y:130.29, Z:0.76 [[-7.96297531e-01 6.02419543e-01 -5.47808065e-02 2.09601153e+02] [-6.00612668e-01 -7.98167551e-01 -4.68293061e-02 1.30287991e+02] [-7.19351514e-02 -4.38801444e-03 9.97399659e-01 7.58242743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:130.34, Z:0.76 [[-7.96984304e-01 6.01568595e-01 -5.41409604e-02 2.09659133e+02] [-5.99768024e-01 -7.98806779e-01 -4.67551776e-02 1.30341711e+02] [-7.13746127e-02 -4.79112578e-03 9.97438073e-01 7.62451250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:130.28, Z:0.76 [[-7.98581766e-01 5.99546797e-01 -5.30170027e-02 2.09596593e+02] [-5.97859693e-01 -8.00327797e-01 -4.51575462e-02 1.30284646e+02] [-6.95050431e-02 -4.36526399e-03 9.97572049e-01 7.58308320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:130.31, Z:0.76 [[-8.00518364e-01 5.96980980e-01 -5.27641770e-02 2.09628817e+02] [-5.95243112e-01 -8.02238049e-01 -4.58230244e-02 1.30314939e+02] [-6.96849044e-02 -5.27465959e-03 9.97555107e-01 7.60571078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:130.31, Z:0.76 [[-8.01713413e-01 5.95269812e-01 -5.39393522e-02 2.09622294e+02] [-5.93559069e-01 -8.03514364e-01 -4.53022978e-02 1.30307102e+02] [-7.03081346e-02 -4.30326816e-03 9.97516039e-01 7.60556273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:130.31, Z:0.76 [[-8.02713696e-01 5.93956033e-01 -5.35439411e-02 2.09630939e+02] [-5.92244004e-01 -8.04484033e-01 -4.53043040e-02 1.30314634e+02] [-6.99840103e-02 -4.65530718e-03 9.97537251e-01 7.61119079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.561400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.62, Y:130.31, Z:0.76 [[-8.01683968e-01 5.95433818e-01 -5.25488643e-02 2.09622736e+02] [-5.93704099e-01 -8.03386087e-01 -4.56753497e-02 1.30307452e+02] [-6.94136744e-02 -5.41871941e-03 9.97573245e-01 7.59648615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:130.30, Z:0.76 [[-8.00431974e-01 5.97177368e-01 -5.18444467e-02 2.09617644e+02] [-5.95403689e-01 -8.02084571e-01 -4.64196961e-02 1.30303947e+02] [-6.93044227e-02 -6.28743416e-03 9.97575744e-01 7.58570384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.621400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:209.64, Y:130.32, Z:0.76 [[-7.99884827e-01 5.97588832e-01 -5.54242813e-02 2.09636502e+02] [-5.95866207e-01 -8.01795750e-01 -4.54646882e-02 1.30317436e+02] [-7.16081431e-02 -3.34105798e-03 9.97427246e-01 7.62368336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:130.33, Z:0.76 [[-7.98607049e-01 5.99495894e-01 -5.32114150e-02 2.09651279e+02] [-5.97716367e-01 -8.00360296e-01 -4.64600929e-02 1.30333092e+02] [-7.04409388e-02 -5.29802396e-03 9.97501882e-01 7.62804493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.681400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.62, Y:130.30, Z:0.76 [[-7.98332185e-01 5.99809045e-01 -5.38036407e-02 2.09615698e+02] [-5.98061473e-01 -8.00130376e-01 -4.59767024e-02 1.30299585e+02] [-7.06271691e-02 -4.52679673e-03 9.97492512e-01 7.60140442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.711400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:209.66, Y:130.33, Z:0.76 [[-7.99184058e-01 5.98690279e-01 -5.36170771e-02 2.09655322e+02] [-5.96917953e-01 -8.00965012e-01 -4.63034160e-02 1.30334953e+02] [-7.06668078e-02 -4.99995602e-03 9.97487445e-01 7.64277909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:130.32, Z:0.76 [[-7.99680145e-01 5.98135914e-01 -5.23936459e-02 2.09641361e+02] [-5.96382173e-01 -8.01374897e-01 -4.61148372e-02 1.30323084e+02] [-6.95698929e-02 -5.63048332e-03 9.97561190e-01 7.64102435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:130.33, Z:0.77 [[-8.00535370e-01 5.97043913e-01 -5.17850176e-02 2.09647407e+02] [-5.95327359e-01 -8.02188506e-01 -4.55953605e-02 1.30328461e+02] [-6.87637783e-02 -5.67166098e-03 9.97616848e-01 7.66728229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:130.33, Z:0.77 [[-8.00338077e-01 5.97278672e-01 -5.21262917e-02 2.09650276e+02] [-5.95585708e-01 -8.02017207e-01 -4.52334493e-02 1.30330679e+02] [-6.88231574e-02 -5.15637747e-03 9.97615550e-01 7.67427840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.831400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:209.64, Y:130.32, Z:0.77 [[-8.01100354e-01 5.96225309e-01 -5.24747920e-02 2.09641939e+02] [-5.94483152e-01 -8.02797883e-01 -4.58839932e-02 1.30322943e+02] [-6.94838499e-02 -5.56230342e-03 9.97567569e-01 7.65702834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.861400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.65, Y:130.33, Z:0.77 [[-8.00612562e-01 5.96809584e-01 -5.32714396e-02 2.09648018e+02] [-5.94960978e-01 -8.02358856e-01 -4.73466069e-02 1.30328448e+02] [-7.09997201e-02 -6.21186035e-03 9.97456993e-01 7.66564694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:130.34, Z:0.77 [[-8.00273104e-01 5.97020651e-01 -5.59401603e-02 2.09663101e+02] [-5.95137416e-01 -8.02211370e-01 -4.76274611e-02 1.30340650e+02] [-7.33104104e-02 -4.82289365e-03 9.97297510e-01 7.68890601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:130.35, Z:0.77 [[-7.99324267e-01 5.98368330e-01 -5.51004450e-02 2.09676569e+02] [-5.96428567e-01 -8.01199391e-01 -4.85025857e-02 1.30353767e+02] [-7.31688542e-02 -5.90581431e-03 9.97302081e-01 7.70329480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.951400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:209.64, Y:130.32, Z:0.77 [[-7.98464702e-01 5.99569240e-01 -5.45054570e-02 2.09639794e+02] [-5.97622204e-01 -8.00298064e-01 -4.86899285e-02 1.30320183e+02] [-7.28135952e-02 -6.30351790e-03 9.97325647e-01 7.66978902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:130.34, Z:0.77 [[-7.97597852e-01 6.00656201e-01 -5.52249565e-02 2.09660791e+02] [-5.98742974e-01 -7.99489311e-01 -4.82046959e-02 1.30340339e+02] [-7.31062119e-02 -5.38240722e-03 9.97309637e-01 7.68985240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.011400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:209.67, Y:130.34, Z:0.77 [[-7.98184768e-01 5.99964178e-01 -5.42591972e-02 2.09665714e+02] [-5.98107953e-01 -8.00008387e-01 -4.74705992e-02 1.30343301e+02] [-7.18884718e-02 -5.43745186e-03 9.97397855e-01 7.70007593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.041400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:209.63, Y:130.31, Z:0.77 [[-7.96582634e-01 6.01974058e-01 -5.55278404e-02 2.09634349e+02] [-6.00147755e-01 -7.98504885e-01 -4.70385086e-02 1.30314905e+02] [-7.26552137e-02 -4.14515029e-03 9.97348504e-01 7.67352611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.65, Y:130.33, Z:0.77 [[-7.96804524e-01 6.01922005e-01 -5.28436367e-02 2.09650023e+02] [-6.00059965e-01 -7.98529859e-01 -4.77294788e-02 1.30333094e+02] [-7.09266453e-02 -6.32171387e-03 9.97461502e-01 7.66398582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:130.33, Z:0.77 [[-7.97192754e-01 6.01357666e-01 -5.34104094e-02 2.09648935e+02] [-5.99552864e-01 -7.98962143e-01 -4.68599807e-02 1.30332789e+02] [-7.08525037e-02 -5.33407313e-03 9.97472541e-01 7.66030709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.131400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.64, Y:130.33, Z:0.77 [[-7.97594578e-01 6.00901004e-01 -5.25440001e-02 2.09640802e+02] [-5.99080213e-01 -7.99300006e-01 -4.71423191e-02 1.30325717e+02] [-7.03262864e-02 -6.12238733e-03 9.97505253e-01 7.65168774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:130.32, Z:0.77 [[-7.98005069e-01 6.00268454e-01 -5.35321637e-02 2.09632246e+02] [-5.98507525e-01 -7.99784024e-01 -4.61980267e-02 1.30317450e+02] [-7.05453874e-02 -4.82685672e-03 9.97496892e-01 7.65582524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.191400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.65, Y:130.33, Z:0.76 [[-7.99514730e-01 5.98408502e-01 -5.18021344e-02 2.09649170e+02] [-5.96602751e-01 -8.01163898e-01 -4.69208476e-02 1.30334186e+02] [-6.95798340e-02 -6.60861291e-03 9.97554496e-01 7.64949148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.221400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:209.69, Y:130.38, Z:0.77 [[-7.96059970e-01 6.02820305e-01 -5.38163921e-02 2.09693026e+02] [-6.00989845e-01 -7.97859651e-01 -4.72354073e-02 1.30380038e+02] [-7.14123904e-02 -5.25911177e-03 9.97433011e-01 7.68204321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.68, Y:130.36, Z:0.77 [[-8.03198710e-01 5.93424063e-01 -5.21508713e-02 2.09675995e+02] [-5.91484958e-01 -8.04848053e-01 -4.86328766e-02 1.30360820e+02] [-7.08334464e-02 -8.21540783e-03 9.97454325e-01 7.65920294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:130.35, Z:0.77 [[-8.04245851e-01 5.91806809e-01 -5.43443828e-02 2.09665544e+02] [-5.89944825e-01 -8.06057727e-01 -4.72868240e-02 1.30349523e+02] [-7.17893741e-02 -5.97004459e-03 9.97401947e-01 7.68551869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.311400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.68, Y:130.37, Z:0.77 [[-7.99559197e-01 5.98226116e-01 -5.32034333e-02 2.09681560e+02] [-5.96300662e-01 -8.01296507e-01 -4.84709073e-02 1.30371614e+02] [-7.16282879e-02 -7.03011726e-03 9.97406620e-01 7.67275913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.68, Y:130.37, Z:0.77 [[-8.00482033e-01 5.97126359e-01 -5.16587430e-02 2.09676179e+02] [-5.95210758e-01 -8.02106824e-01 -4.84643876e-02 1.30369306e+02] [-7.03751936e-02 -8.04703194e-03 9.97488134e-01 7.65097287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:130.37, Z:0.76 [[-8.02186158e-01 5.94900243e-01 -5.09025501e-02 2.09674280e+02] [-5.93033375e-01 -8.03758202e-01 -4.77929839e-02 1.30368738e+02] [-6.93453999e-02 -8.15195898e-03 9.97559402e-01 7.64599470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.401400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.66, Y:130.36, Z:0.76 [[-8.04028904e-01 5.92448155e-01 -5.04252460e-02 2.09660295e+02] [-5.90608859e-01 -8.05565661e-01 -4.73829281e-02 1.30355333e+02] [-6.86927749e-02 -8.31564670e-03 9.97603204e-01 7.63828939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.431400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.65, Y:130.35, Z:0.76 [[-8.03537398e-01 5.93143772e-01 -5.00810834e-02 2.09653856e+02] [-5.91328224e-01 -8.05054485e-01 -4.70978506e-02 1.30349873e+02] [-6.82537976e-02 -8.23052625e-03 9.97634040e-01 7.63357924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.461400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.66, Y:130.35, Z:0.76 [[-8.07215254e-01 5.88183182e-01 -4.94376081e-02 2.09661685e+02] [-5.86454818e-01 -8.08688768e-01 -4.57517650e-02 1.30353845e+02] [-6.68900571e-02 -7.93859918e-03 9.97728770e-01 7.63590603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.491400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.67, Y:130.37, Z:0.76 [[-8.01421593e-01 5.95969643e-01 -5.04342594e-02 2.09674934e+02] [-5.94193393e-01 -8.02973343e-01 -4.65620291e-02 1.30370024e+02] [-6.82469217e-02 -7.34811184e-03 9.97641400e-01 7.63910284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.521400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.69, Y:130.39, Z:0.77 [[-7.99560808e-01 5.98366189e-01 -5.15792402e-02 2.09694826e+02] [-5.96445503e-01 -8.01182018e-01 -4.85812283e-02 1.30388954e+02] [-7.03937242e-02 -8.07944029e-03 9.97486564e-01 7.65755131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:130.40, Z:0.77 [[-7.98011501e-01 6.00318267e-01 -5.28736380e-02 2.09705088e+02] [-5.98301304e-01 -7.99719810e-01 -4.98374802e-02 1.30397354e+02] [-7.22024455e-02 -8.13651582e-03 9.97356809e-01 7.68039867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:130.41, Z:0.77 [[-7.95416511e-01 6.03641392e-01 -5.41261804e-02 2.09719247e+02] [-6.01531959e-01 -7.97215267e-01 -5.10599732e-02 1.30409801e+02] [-7.39721307e-02 -8.05531843e-03 9.97227775e-01 7.70529218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:130.42, Z:0.77 [[-7.93836016e-01 6.05743929e-01 -5.38393247e-02 2.09727894e+02] [-6.03658576e-01 -7.95620936e-01 -5.08296241e-02 1.30417186e+02] [-7.36254301e-02 -7.84981622e-03 9.97255071e-01 7.70946990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.641400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.73, Y:130.42, Z:0.77 [[-7.92526393e-01 6.07451012e-01 -5.38997692e-02 2.09730512e+02] [-6.05361843e-01 -7.94319510e-01 -5.09269651e-02 1.30420059e+02] [-7.37492746e-02 -7.73210032e-03 9.97246840e-01 7.70292139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:130.44, Z:0.77 [[-7.90849385e-01 6.09569075e-01 -5.46149611e-02 2.09749139e+02] [-6.07425851e-01 -7.92695872e-01 -5.16438740e-02 1.30438508e+02] [-7.47735627e-02 -7.66798676e-03 9.97171057e-01 7.71530194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.701400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.74, Y:130.43, Z:0.77 [[-7.90210744e-01 6.10349115e-01 -5.51447031e-02 2.09744314e+02] [-6.08162784e-01 -7.92095103e-01 -5.21859629e-02 1.30433466e+02] [-7.55315056e-02 -7.70095234e-03 9.97113678e-01 7.71808893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.76, Y:130.45, Z:0.77 [[-7.89008210e-01 6.11955272e-01 -5.45599710e-02 2.09761349e+02] [-6.09815905e-01 -7.90856826e-01 -5.16724655e-02 1.30449809e+02] [-7.47703631e-02 -7.49846138e-03 9.97172586e-01 7.73820700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.76, Y:130.44, Z:0.77 [[-7.89169696e-01 6.11778660e-01 -5.42039018e-02 2.09756153e+02] [-6.09663808e-01 -7.90993465e-01 -5.13749000e-02 1.30444984e+02] [-7.43049996e-02 -7.49735705e-03 9.97207379e-01 7.73057170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.791400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:209.75, Y:130.44, Z:0.77 [[-7.89483917e-01 6.11394214e-01 -5.39653540e-02 2.09754739e+02] [-6.09294156e-01 -7.91290333e-01 -5.11882919e-02 1.30443916e+02] [-7.39984884e-02 -7.53155841e-03 9.97229913e-01 7.73398061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.821400513 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:209.76, Y:130.45, Z:0.77 [[-7.90313392e-01 6.10349180e-01 -5.36527792e-02 2.09762273e+02] [-6.08268148e-01 -7.92095871e-01 -5.09312399e-02 1.30451319e+02] [-7.35839854e-02 -7.61636432e-03 9.97259940e-01 7.74395506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.851400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.75, Y:130.44, Z:0.77 [[-7.90704553e-01 6.09861666e-01 -5.34327507e-02 2.09751617e+02] [-6.07793712e-01 -7.92470852e-01 -5.07617251e-02 1.30441872e+02] [-7.33015277e-02 -7.66143721e-03 9.97280396e-01 7.72772804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:130.43, Z:0.77 [[-7.92283543e-01 6.07796368e-01 -5.35757686e-02 2.09737576e+02] [-6.05709743e-01 -7.94053573e-01 -5.09375046e-02 1.30428910e+02] [-7.35016607e-02 -7.90558153e-03 9.97263760e-01 7.71653485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.911400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:209.74, Y:130.43, Z:0.77 [[-7.92499822e-01 6.07467596e-01 -5.41031638e-02 2.09742958e+02] [-6.05335810e-01 -7.94303695e-01 -5.14800637e-02 1.30433622e+02] [-7.42468135e-02 -8.04735880e-03 9.97207426e-01 7.72195243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:130.43, Z:0.77 [[-7.92463539e-01 6.07504842e-01 -5.42162899e-02 2.09740004e+02] [-6.05361128e-01 -7.94274739e-01 -5.16289116e-02 1.30432470e+02] [-7.44274433e-02 -8.09359558e-03 9.97193587e-01 7.72069160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:130.44, Z:0.77 [[-7.93370413e-01 6.06355480e-01 -5.38183927e-02 2.09744950e+02] [-6.04237571e-01 -7.95151701e-01 -5.12906375e-02 1.30437696e+02] [-7.38941456e-02 -8.17337941e-03 9.97232596e-01 7.72300834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:130.44, Z:0.77 [[-7.93754317e-01 6.05891063e-01 -5.33863764e-02 2.09745183e+02] [-6.03803083e-01 -7.95505542e-01 -5.09192588e-02 1.30438391e+02] [-7.33206821e-02 -8.18252282e-03 9.97274849e-01 7.71791121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:130.44, Z:0.77 [[-7.93745936e-01 6.05926980e-01 -5.31025906e-02 2.09746658e+02] [-6.03858308e-01 -7.95478337e-01 -5.06888430e-02 1.30440076e+02] [-7.29556980e-02 -8.16762261e-03 9.97301738e-01 7.71516073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.061400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:209.75, Y:130.44, Z:0.77 [[-7.93256328e-01 6.06598652e-01 -5.27491483e-02 2.09750362e+02] [-6.04556008e-01 -7.94967126e-01 -5.03914954e-02 1.30443384e+02] [-7.25012520e-02 -8.08355813e-03 9.97335563e-01 7.71409814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.091400513 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:209.77, Y:130.46, Z:0.77 [[-7.90314178e-01 6.10494459e-01 -5.19616766e-02 2.09765172e+02] [-6.08517826e-01 -7.91983659e-01 -4.96783537e-02 1.30458464e+02] [-7.14811585e-02 -7.64190080e-03 9.97412676e-01 7.72525024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:130.46, Z:0.77 [[-7.88728158e-01 6.12652210e-01 -5.06474340e-02 2.09766690e+02] [-6.10776160e-01 -7.90319030e-01 -4.84594067e-02 1.30460015e+02] [-6.97163935e-02 -7.28705334e-03 9.97540236e-01 7.72819161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.151400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:209.78, Y:130.47, Z:0.77 [[-7.86902429e-01 6.15000527e-01 -5.05857632e-02 2.09776019e+02] [-6.13131118e-01 -7.88494725e-01 -4.84386284e-02 1.30468979e+02] [-6.96763894e-02 -7.10076881e-03 9.97544375e-01 7.72812010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.181400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.79, Y:130.48, Z:0.77 [[-7.85075896e-01 6.17339135e-01 -5.04799861e-02 2.09789607e+02] [-6.15479621e-01 -7.86666803e-01 -4.83753802e-02 1.30481988e+02] [-6.95749447e-02 -6.90894225e-03 9.97552802e-01 7.74706127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.211400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.80, Y:130.49, Z:0.78 [[-7.83250598e-01 6.19529924e-01 -5.19728142e-02 2.09803569e+02] [-6.17560477e-01 -7.84942311e-01 -4.98460151e-02 1.30493279e+02] [-7.16767589e-02 -6.94556515e-03 9.97403730e-01 7.76421259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.241400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.81, Y:130.50, Z:0.78 [[-7.81572011e-01 6.21547577e-01 -5.31394564e-02 2.09809145e+02] [-6.19490186e-01 -7.83345632e-01 -5.10052058e-02 1.30498555e+02] [-7.33287231e-02 -6.94486951e-03 9.97283644e-01 7.77346584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.271400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.83, Y:130.51, Z:0.78 [[-7.79429632e-01 6.24186436e-01 -5.36725460e-02 2.09826479e+02] [-6.22090649e-01 -7.81245871e-01 -5.15568993e-02 1.30514512e+02] [-7.41125721e-02 -6.79578611e-03 9.97226726e-01 7.78699422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.301400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:210.13, Y:130.80, Z:0.81 [[-7.73131791e-01 6.31845079e-01 -5.51274002e-02 2.10128428e+02] [-6.29649859e-01 -7.75069413e-01 -5.29949130e-02 1.30803118e+02] [-7.62121367e-02 -6.26109228e-03 9.97071968e-01 8.07062124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.331400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.13, Y:130.81, Z:0.81 [[-7.69693115e-01 6.36038475e-01 -5.50233357e-02 2.10132756e+02] [-6.33859674e-01 -7.71635095e-01 -5.29263049e-02 1.30806904e+02] [-7.61211031e-02 -5.85993885e-03 9.97081360e-01 8.07200317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:130.81, Z:0.81 [[-7.66260557e-01 6.40234654e-01 -5.42618361e-02 2.10133045e+02] [-6.38123865e-01 -7.68160475e-01 -5.22246856e-02 1.30806957e+02] [-7.51178512e-02 -5.39194411e-03 9.97160085e-01 8.06855766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:130.80, Z:0.81 [[-7.62818620e-01 6.44383877e-01 -5.36392753e-02 2.10127339e+02] [-6.42329146e-01 -7.64686155e-01 -5.16560986e-02 1.30801546e+02] [-7.43035683e-02 -4.95016396e-03 9.97223383e-01 8.05872995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:130.80, Z:0.81 [[-7.60359762e-01 6.47345062e-01 -5.28904886e-02 2.10121401e+02] [-6.45352236e-01 -7.62183073e-01 -5.09652306e-02 1.30795057e+02] [-7.33043255e-02 -4.61891554e-03 9.97298923e-01 8.05757069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:130.80, Z:0.81 [[-7.57224678e-01 6.51006864e-01 -5.29230511e-02 2.10131541e+02] [-6.49018142e-01 -7.59059713e-01 -5.10274721e-02 1.30803824e+02] [-7.33909906e-02 -4.29124085e-03 9.97294013e-01 8.06737802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.481400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.12, Y:130.79, Z:0.81 [[-7.55795507e-01 6.52684552e-01 -5.26880128e-02 2.10119887e+02] [-6.50715276e-01 -7.57618500e-01 -5.08314788e-02 1.30792525e+02] [-7.30943342e-02 -4.13330858e-03 9.97316466e-01 8.05087332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.511400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.13, Y:130.80, Z:0.80 [[-7.54690578e-01 6.54013084e-01 -5.20482296e-02 2.10126648e+02] [-6.52092361e-01 -7.56472773e-01 -5.02443664e-02 1.30799383e+02] [-7.22335416e-02 -3.97869697e-03 9.97379810e-01 8.04680950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.541400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.12, Y:130.80, Z:0.80 [[-7.53418566e-01 6.55500501e-01 -5.17644454e-02 2.10124334e+02] [-6.53601995e-01 -7.55184986e-01 -5.00006925e-02 1.30797620e+02] [-7.18672109e-02 -3.83810525e-03 9.97406824e-01 8.03961160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.571400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.11, Y:130.78, Z:0.80 [[-7.51374193e-01 6.57795671e-01 -5.23610235e-02 2.10111258e+02] [-6.55856341e-01 -7.53187414e-01 -5.06081007e-02 1.30783273e+02] [-7.27274535e-02 -3.68431155e-03 9.97345047e-01 8.03974719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.601400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.13, Y:130.80, Z:0.81 [[-7.50264733e-01 6.59053359e-01 -5.24547461e-02 2.10131338e+02] [-6.57107843e-01 -7.52087605e-01 -5.07298533e-02 1.30801568e+02] [-7.28842445e-02 -3.59239480e-03 9.97333937e-01 8.06092144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:130.79, Z:0.81 [[-7.49679801e-01 6.59773377e-01 -5.17618311e-02 2.10123844e+02] [-6.57878511e-01 -7.51456486e-01 -5.00900564e-02 1.30794909e+02] [-7.19448494e-02 -3.49850709e-03 9.97402476e-01 8.05780409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:130.80, Z:0.81 [[-7.49801159e-01 6.59712287e-01 -5.07732279e-02 2.10130902e+02] [-6.57886979e-01 -7.51510300e-01 -4.91629027e-02 1.30803205e+02] [-7.05899747e-02 -3.45935591e-03 9.97499418e-01 8.05944669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.691400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.13, Y:130.80, Z:0.81 [[-7.51294902e-01 6.58071239e-01 -4.99821557e-02 2.10129202e+02] [-6.56296789e-01 -7.52947166e-01 -4.84261354e-02 1.30801907e+02] [-6.95017694e-02 -3.57918035e-03 9.97575407e-01 8.05480730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:130.82, Z:0.81 [[-7.52196317e-01 6.57002668e-01 -5.04796502e-02 2.10148915e+02] [-6.55188147e-01 -7.53878986e-01 -4.89384044e-02 1.30820981e+02] [-7.02082097e-02 -3.73761912e-03 9.97525357e-01 8.08674016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:130.82, Z:0.81 [[-7.51997930e-01 6.57230875e-01 -5.04647408e-02 2.10151455e+02] [-6.55415839e-01 -7.53680042e-01 -4.89537742e-02 1.30823558e+02] [-7.02081998e-02 -3.73774646e-03 9.97525357e-01 8.08903335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:130.82, Z:0.81 [[-7.52971378e-01 6.56052570e-01 -5.12750290e-02 2.10151964e+02] [-6.54173791e-01 -7.54704947e-01 -4.97704149e-02 1.30823503e+02] [-7.13495267e-02 -3.93291781e-03 9.97443621e-01 8.09512533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:130.83, Z:0.81 [[-7.54398249e-01 6.54352825e-01 -5.20159794e-02 2.10158574e+02] [-6.52413004e-01 -7.56177846e-01 -5.05206725e-02 1.30830392e+02] [-7.23916761e-02 -4.17680555e-03 9.97367535e-01 8.09559175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:130.81, Z:0.81 [[-7.55562038e-01 6.52924915e-01 -5.30571654e-02 2.10135655e+02] [-6.50900684e-01 -7.57409716e-01 -5.15637648e-02 1.30809662e+02] [-7.38532793e-02 -4.42467802e-03 9.97259302e-01 8.06803971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:130.83, Z:0.81 [[-7.57814798e-01 6.50163974e-01 -5.48045606e-02 2.10158233e+02] [-6.47994253e-01 -7.59778284e-01 -5.32954726e-02 1.30832765e+02] [-7.62901113e-02 -4.87505756e-03 9.97073745e-01 8.09360871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.901400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:210.17, Y:130.84, Z:0.81 [[-7.58848100e-01 6.48931115e-01 -5.51177735e-02 2.10170567e+02] [-6.46730723e-01 -7.60830386e-01 -5.36329766e-02 1.30843402e+02] [-7.67393842e-02 -5.05292491e-03 9.97038382e-01 8.10709769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.931400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:210.18, Y:130.85, Z:0.81 [[-7.59187346e-01 6.48502451e-01 -5.54900533e-02 2.10178021e+02] [-6.46268504e-01 -7.61195105e-01 -5.40280766e-02 1.30851247e+02] [-7.72760970e-02 -5.15595832e-03 9.96996400e-01 8.10796487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.961400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.18, Y:130.85, Z:0.81 [[-7.59705785e-01 6.47863176e-01 -5.58607678e-02 2.10179520e+02] [-6.45594949e-01 -7.61738415e-01 -5.44219530e-02 1.30853347e+02] [-7.78092721e-02 -5.28124300e-03 9.96954275e-01 8.10690570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:130.86, Z:0.81 [[-7.60277786e-01 6.47189331e-01 -5.58896983e-02 2.10185571e+02] [-6.44914389e-01 -7.62310335e-01 -5.44828784e-02 1.30859956e+02] [-7.78660322e-02 -5.37805148e-03 9.96949326e-01 8.11282764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.021400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.18, Y:130.86, Z:0.81 [[-7.59791521e-01 6.47747302e-01 -5.60381711e-02 2.10184137e+02] [-6.45459162e-01 -7.61836400e-01 -5.46604921e-02 1.30858644e+02] [-7.80981048e-02 -5.36022744e-03 9.96931268e-01 8.10813327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:130.86, Z:0.81 [[-7.59601631e-01 6.47980790e-01 -5.59129458e-02 2.10189463e+02] [-6.45700953e-01 -7.61637894e-01 -5.45710310e-02 1.30864453e+02] [-7.79463981e-02 -5.34920178e-03 9.96943201e-01 8.11337006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.081400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:210.18, Y:130.86, Z:0.81 [[-7.58758648e-01 6.48968205e-01 -5.59069076e-02 2.10180746e+02] [-6.46688947e-01 -7.60797261e-01 -5.45979265e-02 1.30855939e+02] [-7.79661405e-02 -5.27226964e-03 9.96942067e-01 8.09430926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:130.86, Z:0.81 [[-7.57975680e-01 6.49907055e-01 -5.56209358e-02 2.10179028e+02] [-6.47651057e-01 -7.59996086e-01 -5.43512471e-02 1.30855424e+02] [-7.75949524e-02 -5.17396565e-03 9.96971541e-01 8.09520371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:130.84, Z:0.81 [[-7.56947648e-01 6.51217218e-01 -5.42806974e-02 2.10160004e+02] [-6.48902568e-01 -7.58862679e-01 -5.52529776e-02 1.30838043e+02] [-7.71732858e-02 -6.60072750e-03 9.96995845e-01 8.06161305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:130.86, Z:0.81 [[-7.56175826e-01 6.51917045e-01 -5.65887502e-02 2.10182419e+02] [-6.49758608e-01 -7.58282694e-01 -5.31140988e-02 1.30856618e+02] [-7.75362562e-02 -3.39457002e-03 9.96983754e-01 8.10904270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.201400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.16, Y:130.84, Z:0.81 [[-7.55850982e-01 6.52431181e-01 -5.49804262e-02 2.10164103e+02] [-6.50227672e-01 -7.57832030e-01 -5.38013744e-02 1.30841260e+02] [-7.67676222e-02 -4.91602712e-03 9.97036892e-01 8.06416341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.231400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:210.18, Y:130.86, Z:0.81 [[-7.55772951e-01 6.52574548e-01 -5.43480166e-02 2.10179494e+02] [-6.50419436e-01 -7.57708882e-01 -5.32147327e-02 1.30856874e+02] [-7.59065550e-02 -4.86924929e-03 9.97103047e-01 8.06572335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.20, Y:130.87, Z:0.81 [[-7.55628831e-01 6.52837856e-01 -5.31770922e-02 2.10195147e+02] [-6.50773065e-01 -7.57482713e-01 -5.20994953e-02 1.30873827e+02] [-7.42932508e-02 -4.76166147e-03 9.97225070e-01 8.08048815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.291400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.21, Y:130.89, Z:0.81 [[-7.55811074e-01 6.52701453e-01 -5.22535446e-02 2.10206120e+02] [-6.50705304e-01 -7.57600543e-01 -5.12252340e-02 1.30885152e+02] [-7.30220984e-02 -4.71494049e-03 9.97319178e-01 8.08481200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.321400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:210.20, Y:130.88, Z:0.81 [[-7.55794335e-01 6.52788006e-01 -5.14076118e-02 2.10202960e+02] [-6.50854103e-01 -7.57526350e-01 -5.04258377e-02 1.30882081e+02] [-7.18600026e-02 -4.65270735e-03 9.97403876e-01 8.07902896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:130.89, Z:0.81 [[-7.55951998e-01 6.52667571e-01 -5.06124403e-02 2.10207049e+02] [-6.50790760e-01 -7.57630354e-01 -4.96752829e-02 1.30887182e+02] [-7.07669673e-02 -4.61402080e-03 9.97482204e-01 8.08836778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.21, Y:130.89, Z:0.81 [[-7.56303184e-01 6.52267566e-01 -5.05224331e-02 2.10213368e+02] [-6.50394437e-01 -7.57974441e-01 -4.96167671e-02 1.30892195e+02] [-7.06581209e-02 -4.66580946e-03 9.97489679e-01 8.10765449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.411400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.22, Y:130.90, Z:0.81 [[-7.56394176e-01 6.52100039e-01 -5.13165614e-02 2.10218101e+02] [-6.50164882e-01 -7.58117868e-01 -5.04274220e-02 1.30896801e+02] [-7.17877261e-02 -4.77878223e-03 9.97408485e-01 8.11455673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.441400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:210.22, Y:130.90, Z:0.81 [[-7.57129173e-01 6.51189411e-01 -5.20362100e-02 2.10221962e+02] [-6.49195114e-01 -7.58899055e-01 -5.11656959e-02 1.30899859e+02] [-7.28087899e-02 -4.95738771e-03 9.97333597e-01 8.12456075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.471400513 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:210.23, Y:130.91, Z:0.81 [[-7.58284309e-01 6.49641586e-01 -5.45042827e-02 2.10228534e+02] [-6.47446783e-01 -7.60221624e-01 -5.36259741e-02 1.30906632e+02] [-7.62729971e-02 -5.37511224e-03 9.97072484e-01 8.13244791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.501400513 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:210.23, Y:130.91, Z:0.81 [[-7.58811150e-01 6.48946356e-01 -5.54460700e-02 2.10228160e+02] [-6.46670503e-01 -7.60813814e-01 -5.45857314e-02 1.30906484e+02] [-7.76073474e-02 -5.56492363e-03 9.96968471e-01 8.13932569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.531400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.24, Y:130.92, Z:0.82 [[-7.59961799e-01 6.47577187e-01 -5.56942721e-02 2.10237296e+02] [-6.45274734e-01 -7.61978128e-01 -5.48621035e-02 1.30916037e+02] [-7.79652639e-02 -5.75499628e-03 9.96939465e-01 8.15369790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.561400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:210.24, Y:130.92, Z:0.81 [[-7.60672769e-01 6.46722879e-01 -5.59147148e-02 2.10239876e+02] [-6.44397832e-01 -7.62702352e-01 -5.51049481e-02 1.30918623e+02] [-7.82839152e-02 -5.88551245e-03 9.96913732e-01 8.14509666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:130.66, Z:0.79 [[-7.61308355e-01 6.45996784e-01 -5.56573699e-02 2.09977540e+02] [-6.43689086e-01 -7.63316914e-01 -5.48784930e-02 1.30661128e+02] [-7.79355419e-02 -5.95341364e-03 9.96940624e-01 7.89952260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.98, Y:130.67, Z:0.79 [[-7.63425107e-01 6.43518615e-01 -5.53705609e-02 2.09982464e+02] [-6.41225139e-01 -7.65405311e-01 -5.46354489e-02 1.30665387e+02] [-7.75398497e-02 -6.20507783e-03 9.96969944e-01 7.91584379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:130.66, Z:0.79 [[-7.64983458e-01 6.41632622e-01 -5.57484323e-02 2.09975637e+02] [-6.39299556e-01 -7.66984809e-01 -5.50488931e-02 1.30659335e+02] [-7.80793663e-02 -6.47154452e-03 9.96926142e-01 7.91754791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.96, Y:130.64, Z:0.79 [[-7.66386919e-01 6.39918042e-01 -5.61781973e-02 2.09958585e+02] [-6.37541009e-01 -7.68413699e-01 -5.55144084e-02 1.30642228e+02] [-7.86927678e-02 -6.72961183e-03 9.96876201e-01 7.90595110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.711400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.98, Y:130.66, Z:0.79 [[-7.68306812e-01 6.37590867e-01 -5.64138986e-02 2.09976685e+02] [-6.35184319e-01 -7.70343084e-01 -5.57890135e-02 1.30662824e+02] [-7.90286221e-02 -7.02985538e-03 9.96847560e-01 7.91047702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:130.66, Z:0.79 [[-7.68526837e-01 6.37373803e-01 -5.58671364e-02 2.09970255e+02] [-6.35009988e-01 -7.70522826e-01 -5.52891505e-02 1.30658186e+02] [-7.82867599e-02 -7.01500634e-03 9.96906201e-01 7.89938324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:130.65, Z:0.79 [[-7.68271917e-01 6.37723045e-01 -5.53857288e-02 2.09964622e+02] [-6.35397605e-01 -7.70234388e-01 -5.48531830e-02 1.30653276e+02] [-7.76411318e-02 -6.95020064e-03 9.96957145e-01 7.88554984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.801400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.96, Y:130.65, Z:0.79 [[-7.67647740e-01 6.38487308e-01 -5.52349940e-02 2.09959507e+02] [-6.36173298e-01 -7.69601549e-01 -5.47447806e-02 1.30648425e+02] [-7.74627846e-02 -6.88567882e-03 9.96971466e-01 7.87522067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.831400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.97, Y:130.66, Z:0.79 [[-7.67213027e-01 6.39003374e-01 -5.53069579e-02 2.09967687e+02] [-6.36681418e-01 -7.69173212e-01 -5.48574755e-02 1.30657054e+02] [-7.75947423e-02 -6.87445746e-03 9.96961282e-01 7.88336346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.861400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:209.98, Y:130.67, Z:0.79 [[-7.67084626e-01 6.39072397e-01 -5.62818573e-02 2.09983038e+02] [-6.36664512e-01 -7.69114530e-01 -5.58671495e-02 1.30673340e+02] [-7.89903474e-02 -7.02217033e-03 9.96850648e-01 7.88816446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.891400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:209.97, Y:130.66, Z:0.79 [[-7.66623537e-01 6.39627897e-01 -5.62539527e-02 2.09971117e+02] [-6.37220566e-01 -7.68652875e-01 -5.58811929e-02 1.30662344e+02] [-7.89829324e-02 -6.99366215e-03 9.96851436e-01 7.87365666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.921400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.98, Y:130.67, Z:0.79 [[-7.66634288e-01 6.39685480e-01 -5.54468674e-02 2.09976612e+02] [-6.37343818e-01 -7.68605636e-01 -5.51201757e-02 1.30668397e+02] [-7.78763508e-02 -6.91829843e-03 9.96939021e-01 7.87534156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.951400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.98, Y:130.68, Z:0.79 [[-7.66601686e-01 6.39808863e-01 -5.44653365e-02 2.09983924e+02] [-6.37546744e-01 -7.68503866e-01 -5.41844774e-02 1.30675770e+02] [-7.65245305e-02 -6.81371380e-03 9.97044417e-01 7.87953331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:130.67, Z:0.79 [[-7.66741380e-01 6.39687414e-01 -5.39227993e-02 2.09976962e+02] [-6.37466888e-01 -7.68605186e-01 -5.36845765e-02 1.30669273e+02] [-7.57866911e-02 -6.78818722e-03 9.97100947e-01 7.88304336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:130.68, Z:0.79 [[-7.66601906e-01 6.39844262e-01 -5.40447835e-02 2.09986235e+02] [-6.37610960e-01 -7.68474345e-01 -5.38464982e-02 1.30678325e+02] [-7.59854025e-02 -6.81928190e-03 9.97085611e-01 7.89562684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:130.67, Z:0.79 [[-7.65878947e-01 6.40715830e-01 -5.39691108e-02 2.09978631e+02] [-6.38487840e-01 -7.67748398e-01 -5.38114731e-02 1.30671335e+02] [-7.59125610e-02 -6.75445336e-03 9.97091601e-01 7.88434209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.071400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:209.97, Y:130.66, Z:0.79 [[-7.64988236e-01 6.41803146e-01 -5.36816632e-02 2.09968367e+02] [-6.39598454e-01 -7.66840666e-01 -5.35650049e-02 1.30660941e+02] [-7.55434710e-02 -6.64188980e-03 9.97120389e-01 7.87041291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.101400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:209.97, Y:130.67, Z:0.79 [[-7.64106531e-01 6.42937612e-01 -5.26539286e-02 2.09973403e+02] [-6.40816390e-01 -7.65891524e-01 -5.25787736e-02 1.30665947e+02] [-7.41320688e-02 -6.43428380e-03 9.97227675e-01 7.87135098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.131400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.99, Y:130.68, Z:0.79 [[-7.63358347e-01 6.43816940e-01 -5.27615535e-02 2.09985202e+02] [-6.41686084e-01 -7.65152846e-01 -5.27265684e-02 1.30677716e+02] [-7.43169108e-02 -6.39291143e-03 9.97214183e-01 7.88700977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.161400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:209.99, Y:130.69, Z:0.79 [[-7.62713721e-01 6.44564361e-01 -5.29581371e-02 2.09994295e+02] [-6.42416325e-01 -7.64523477e-01 -5.29633723e-02 1.30686347e+02] [-7.46260414e-02 -6.37471897e-03 9.97191214e-01 7.90284117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.191400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:209.99, Y:130.69, Z:0.79 [[-7.62078142e-01 6.45435924e-01 -5.14720632e-02 2.09990774e+02] [-6.43165312e-01 -7.63765557e-01 -5.47773311e-02 1.30685126e+02] [-7.46678463e-02 -8.63956117e-03 9.97171034e-01 7.88330272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:130.70, Z:0.79 [[-7.61377268e-01 6.46010823e-01 -5.45405517e-02 2.10005248e+02] [-6.43979624e-01 -7.63317939e-01 -5.13416734e-02 1.30695124e+02] [-7.47990582e-02 -3.96737902e-03 9.97190734e-01 7.93898899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.251400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:210.00, Y:130.69, Z:0.79 [[-7.60294441e-01 6.47385069e-01 -5.33379338e-02 2.10002199e+02] [-6.45204105e-01 -7.62137616e-01 -5.34594899e-02 1.30694971e+02] [-7.52597213e-02 -6.23109913e-03 9.97144497e-01 7.90435094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:130.69, Z:0.79 [[-7.59558158e-01 6.48217929e-01 -5.37114669e-02 2.09997172e+02] [-6.46005217e-01 -7.61429440e-01 -5.38745597e-02 1.30690717e+02] [-7.58199477e-02 -6.22297350e-03 9.97102106e-01 7.91088986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:130.70, Z:0.79 [[-7.59114015e-01 6.48713742e-01 -5.40036355e-02 2.10004614e+02] [-6.46474947e-01 -7.61006939e-01 -5.42086881e-02 1.30697791e+02] [-7.62630623e-02 -6.23857751e-03 9.97068215e-01 7.91672194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.341400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:210.02, Y:130.71, Z:0.79 [[-7.58301314e-01 6.49629374e-01 -5.44131771e-02 2.10020742e+02] [-6.47355558e-01 -7.60225575e-01 -5.46612867e-02 1.30714035e+02] [-7.68758663e-02 -6.22505288e-03 9.97021238e-01 7.91923875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:130.71, Z:0.79 [[-7.57439709e-01 6.50663976e-01 -5.40506967e-02 2.10012863e+02] [-6.48419900e-01 -7.59341201e-01 -5.43375834e-02 1.30708122e+02] [-7.63984290e-02 -6.10989597e-03 9.97058649e-01 7.90593854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:130.72, Z:0.79 [[-7.56286291e-01 6.52023318e-01 -5.38204316e-02 2.10026416e+02] [-6.49798668e-01 -7.58175349e-01 -5.41463994e-02 1.30721807e+02] [-7.61100395e-02 -5.97773480e-03 9.97081506e-01 7.91901927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.431400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.03, Y:130.72, Z:0.79 [[-7.54656217e-01 6.53888601e-01 -5.40711734e-02 2.10026709e+02] [-6.51644723e-01 -7.56568239e-01 -5.44394657e-02 1.30722029e+02] [-7.65058785e-02 -5.84788643e-03 9.97051981e-01 7.91868626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.461400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.02, Y:130.72, Z:0.79 [[-7.53716833e-01 6.54979736e-01 -5.39674029e-02 2.10023916e+02] [-6.52744140e-01 -7.55624513e-01 -5.43753867e-02 1.30718967e+02] [-7.63938690e-02 -5.75673829e-03 9.97061100e-01 7.91459558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.491400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.04, Y:130.74, Z:0.79 [[-7.52782852e-01 6.56116765e-01 -5.31861734e-02 2.10038308e+02] [-6.53945344e-01 -7.54638689e-01 -5.36277494e-02 1.30735317e+02] [-7.53224097e-02 -5.58919966e-03 9.97143568e-01 7.92263180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.521400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:210.03, Y:130.73, Z:0.79 [[-7.52231774e-01 6.56750423e-01 -5.31623982e-02 2.10033586e+02] [-6.54579495e-01 -7.54087555e-01 -5.36436726e-02 1.30730257e+02] [-7.53196075e-02 -5.55345923e-03 9.97143980e-01 7.91368175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.551400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.05, Y:130.75, Z:0.79 [[-7.52565867e-01 6.56355124e-01 -5.33157379e-02 2.10049673e+02] [-6.54167618e-01 -7.54431009e-01 -5.38384593e-02 1.30747277e+02] [-7.55601945e-02 -5.63955749e-03 9.97125294e-01 7.93439864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.581400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.03, Y:130.73, Z:0.79 [[-7.52649543e-01 6.56196708e-01 -5.40790739e-02 2.10034020e+02] [-6.53942457e-01 -7.54567831e-01 -5.46502580e-02 1.30731592e+02] [-7.66676489e-02 -5.76788924e-03 9.97040021e-01 7.92168540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.611400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.04, Y:130.73, Z:0.79 [[-7.52405003e-01 6.56478757e-01 -5.40587836e-02 2.10036545e+02] [-6.54223800e-01 -7.54322461e-01 -5.46703222e-02 1.30734266e+02] [-7.66676598e-02 -5.76768116e-03 9.97040021e-01 7.92398069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.641400513 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:210.05, Y:130.75, Z:0.79 [[-7.52919092e-01 6.55874343e-01 -5.42373305e-02 2.10048123e+02] [-6.53599716e-01 -7.54847187e-01 -5.48920357e-02 1.30745964e+02] [-7.69431741e-02 -5.87975780e-03 9.97018143e-01 7.93362187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.671400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.04, Y:130.74, Z:0.79 [[-7.54614049e-01 6.54042074e-01 -5.27882919e-02 2.10037483e+02] [-6.51880204e-01 -7.56434903e-01 -5.34643548e-02 1.30738683e+02] [-7.48988439e-02 -5.93331074e-03 9.97173485e-01 7.92001493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.701400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.04, Y:130.74, Z:0.79 [[-7.55511933e-01 6.53083309e-01 -5.18064731e-02 2.10040781e+02] [-6.50996170e-01 -7.57262734e-01 -5.25084510e-02 1.30743767e+02] [-7.35235044e-02 -5.94494575e-03 9.97275765e-01 7.93013956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:130.73, Z:0.79 [[-7.56026592e-01 6.52540046e-01 -5.11398226e-02 2.10029792e+02] [-6.50502336e-01 -7.57730885e-01 -5.18711601e-02 1.30733337e+02] [-7.25982322e-02 -5.94940235e-03 9.97343522e-01 7.92135754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.761400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.03, Y:130.73, Z:0.79 [[-7.55351422e-01 6.53295894e-01 -5.14655684e-02 2.10030916e+02] [-6.51230929e-01 -7.57079348e-01 -5.22411551e-02 1.30734243e+02] [-7.30924511e-02 -5.94446088e-03 9.97307454e-01 7.91392716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.791400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:210.04, Y:130.74, Z:0.79 [[-7.55118269e-01 6.53608378e-01 -5.09164842e-02 2.10036674e+02] [-6.51585190e-01 -7.56810089e-01 -5.17226120e-02 1.30740893e+02] [-7.23404415e-02 -5.88026215e-03 9.97362664e-01 7.92153227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.821400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:210.04, Y:130.74, Z:0.79 [[-7.53759182e-01 6.55226193e-01 -5.02566659e-02 2.10037812e+02] [-6.53255980e-01 -7.55411397e-01 -5.10905623e-02 1.30743766e+02] [-7.14403328e-02 -5.67951286e-03 9.97428705e-01 7.91763270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:130.73, Z:0.79 [[-7.56164533e-01 6.52679532e-01 -4.71659560e-02 2.10019698e+02] [-6.50648621e-01 -7.57583257e-01 -5.21917739e-02 1.30733746e+02] [-6.97966411e-02 -8.77710410e-03 9.97522627e-01 7.90308920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:130.75, Z:0.80 [[-7.53376630e-01 6.55465960e-01 -5.28017745e-02 2.10047171e+02] [-6.53633586e-01 -7.55220807e-01 -4.90374211e-02 1.30752648e+02] [-7.20193591e-02 -2.43063390e-03 9.97400273e-01 7.96885413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:130.73, Z:0.79 [[-7.56146932e-01 6.52609915e-01 -4.83954093e-02 2.10011218e+02] [-6.50503046e-01 -7.57644363e-01 -5.31112668e-02 1.30727010e+02] [-7.13274484e-02 -8.67856028e-03 9.97415198e-01 7.89942666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:130.72, Z:0.79 [[-7.55595727e-01 6.53103627e-01 -5.03065598e-02 2.10005271e+02] [-6.51133438e-01 -7.57246372e-01 -5.10213590e-02 1.30718549e+02] [-7.14166945e-02 -5.79523754e-03 9.97429732e-01 7.92217044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.971400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:210.03, Y:130.74, Z:0.79 [[-7.51981575e-01 6.57147790e-01 -5.17734720e-02 2.10030584e+02] [-6.55219823e-01 -7.53751017e-01 -5.04617570e-02 1.30742700e+02] [-7.21851393e-02 -4.02330638e-03 9.97383135e-01 7.94100186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:130.74, Z:0.79 [[-7.51528095e-01 6.57922920e-01 -4.84040761e-02 2.10018974e+02] [-6.55992517e-01 -7.53058075e-01 -5.07676425e-02 1.30736586e+02] [-6.98522759e-02 -6.40059795e-03 9.97536812e-01 7.92111663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.031400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.05, Y:130.76, Z:0.79 [[-7.50095495e-01 6.59437646e-01 -4.99873920e-02 2.10046404e+02] [-6.57558410e-01 -7.51745151e-01 -4.99616366e-02 1.30763386e+02] [-7.05243636e-02 -4.60636857e-03 9.97499421e-01 7.93990992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:130.76, Z:0.79 [[-7.47546243e-01 6.62212577e-01 -5.14695780e-02 2.10039270e+02] [-6.60319186e-01 -7.49307786e-01 -5.01638665e-02 1.30755808e+02] [-7.17856988e-02 -3.51346003e-03 9.97413891e-01 7.94313891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.091400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.07, Y:130.79, Z:0.80 [[-7.43143583e-01 6.67081187e-01 -5.23479262e-02 2.10067884e+02] [-6.65041005e-01 -7.44974047e-01 -5.22889165e-02 1.30785869e+02] [-7.38787989e-02 -4.04465529e-03 9.97259025e-01 7.95585412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:130.72, Z:0.79 [[-7.43784325e-01 6.66659544e-01 -4.84760767e-02 2.09993864e+02] [-6.64617425e-01 -7.45330412e-01 -5.25952071e-02 1.30718465e+02] [-7.11937909e-02 -6.90144535e-03 9.97438627e-01 7.89366769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:130.79, Z:0.80 [[-7.38358959e-01 6.72572629e-01 -4.97202793e-02 2.10073630e+02] [-6.70893465e-01 -7.40029084e-01 -4.75280287e-02 1.30791644e+02] [-6.87605040e-02 -1.73573538e-03 9.97631686e-01 7.99641289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.181400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.09, Y:130.80, Z:0.80 [[-7.35825564e-01 6.75389985e-01 -4.90826572e-02 2.10085905e+02] [-6.73693139e-01 -7.37457548e-01 -4.78948873e-02 1.30804507e+02] [-6.85441032e-02 -2.17563307e-03 9.97645715e-01 7.98388664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.211400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.03, Y:130.76, Z:0.79 [[-7.35282065e-01 6.76098802e-01 -4.74414842e-02 2.10031457e+02] [-6.74397730e-01 -7.36803435e-01 -4.80458032e-02 1.30755408e+02] [-6.74387585e-02 -3.33278817e-03 9.97717849e-01 7.92780247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.241400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.10, Y:130.82, Z:0.80 [[-7.32539889e-01 6.78966779e-01 -4.88817400e-02 2.10100754e+02] [-6.77279133e-01 -7.34166354e-01 -4.78825698e-02 1.30822615e+02] [-6.83980030e-02 -1.96930985e-03 9.97656171e-01 7.99058952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.271400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.11, Y:130.83, Z:0.80 [[-7.29219966e-01 6.82584204e-01 -4.81356983e-02 2.10105033e+02] [-6.80905409e-01 -7.30803798e-01 -4.78918893e-02 1.30827122e+02] [-6.78679983e-02 -2.14786452e-03 9.97691997e-01 7.98132244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.301400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.12, Y:130.84, Z:0.80 [[-7.28052040e-01 6.83884566e-01 -4.73511097e-02 2.10121062e+02] [-6.82274270e-01 -7.29587835e-01 -4.69405099e-02 1.30843957e+02] [-6.66486839e-02 -1.86869019e-03 9.97774755e-01 8.01788280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.331400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.10, Y:130.82, Z:0.80 [[-7.28701091e-01 6.83289423e-01 -4.59378252e-02 2.10100962e+02] [-6.81733469e-01 -7.30143985e-01 -4.61436785e-02 1.30823861e+02] [-6.50707142e-02 -2.30759593e-03 9.97877987e-01 7.99918118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:130.83, Z:0.80 [[-7.29806229e-01 6.82173912e-01 -4.49624509e-02 2.10106757e+02] [-6.80748210e-01 -7.31188243e-01 -4.41092626e-02 1.30826726e+02] [-6.29662037e-02 -1.58310660e-03 9.98014404e-01 8.01115171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.391400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.08, Y:130.81, Z:0.80 [[-7.35514344e-01 6.75737523e-01 -4.89637611e-02 2.10084207e+02] [-6.74268315e-01 -7.37142275e-01 -4.45365688e-02 1.30806612e+02] [-6.61882889e-02 2.57427482e-04 9.97807118e-01 7.97715383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:130.80, Z:0.80 [[-7.36452927e-01 6.74805236e-01 -4.76967475e-02 2.10076015e+02] [-6.73203508e-01 -7.37992738e-01 -4.65161783e-02 1.30799030e+02] [-6.65892140e-02 -2.14735790e-03 9.97778164e-01 7.95623259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.451400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.07, Y:130.79, Z:0.79 [[-7.35974680e-01 6.75277026e-01 -4.83963800e-02 2.10073377e+02] [-6.73597603e-01 -7.37560034e-01 -4.76598891e-02 1.30794445e+02] [-6.78788639e-02 -2.47678607e-03 9.97690496e-01 7.94805093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.481400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:210.10, Y:130.82, Z:0.80 [[-7.35967210e-01 6.75174085e-01 -4.99221438e-02 2.10102222e+02] [-6.73441853e-01 -7.37655764e-01 -4.83740059e-02 1.30821814e+02] [-6.94862323e-02 -1.98202114e-03 9.97580942e-01 7.99425494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.511400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.10, Y:130.82, Z:0.80 [[-7.35164964e-01 6.75981327e-01 -5.08106402e-02 2.10100789e+02] [-6.74215314e-01 -7.36916876e-01 -4.88592760e-02 1.30817713e+02] [-7.04711765e-02 -1.66231614e-03 9.97512431e-01 7.99531399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:130.80, Z:0.80 [[-7.32747791e-01 6.78689852e-01 -4.96060446e-02 2.10088970e+02] [-6.76943032e-01 -7.34421971e-01 -4.87083153e-02 1.30803449e+02] [-6.94896083e-02 -2.11044416e-03 9.97580443e-01 7.98767518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.83 [[-7.35794119e-01 6.75212727e-01 -5.19113556e-02 2.10386457e+02] [-6.73523681e-01 -7.37623040e-01 -4.77294552e-02 1.31104940e+02] [-7.05185475e-02 -1.55525153e-04 9.97510456e-01 8.27684969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.09, Z:0.82 [[-7.32121651e-01 6.79298850e-01 -5.05070443e-02 2.10366789e+02] [-6.77540393e-01 -7.33860098e-01 -4.88709786e-02 1.31085487e+02] [-7.02631040e-02 -1.55893888e-03 9.97527276e-01 8.24539755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.631400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:210.38, Y:131.10, Z:0.83 [[-7.29718419e-01 6.81709504e-01 -5.27558719e-02 2.10383615e+02] [-6.79959265e-01 -7.31622916e-01 -4.88191304e-02 1.31098694e+02] [-7.18778700e-02 2.47625202e-04 9.97413410e-01 8.26991844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.661400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.38, Y:131.09, Z:0.83 [[-7.23085457e-01 6.88871715e-01 -5.10213954e-02 2.10377864e+02] [-6.87032041e-01 -7.24882037e-01 -5.03289880e-02 1.31092901e+02] [-7.16547093e-02 -1.33882582e-03 9.97428599e-01 8.25590289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.691400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.83 [[-7.20860206e-01 6.90899233e-01 -5.49437223e-02 2.10372890e+02] [-6.89218375e-01 -7.22944519e-01 -4.82623547e-02 1.31081294e+02] [-7.30656867e-02 3.07781202e-03 9.97322381e-01 8.26913296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.721400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.17579527e-01 6.94627303e-01 -5.07201353e-02 2.10369489e+02] [-6.92836937e-01 -7.19369528e-01 -4.98443755e-02 1.31082050e+02] [-7.11097839e-02 -6.26520303e-04 9.97468298e-01 8.22069796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.09, Z:0.82 [[-7.15641001e-01 6.96627974e-01 -5.06697616e-02 2.10377076e+02] [-6.94920647e-01 -7.17432477e-01 -4.87435726e-02 1.31087869e+02] [-7.03082687e-02 3.28564447e-04 9.97525258e-01 8.23013148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.781400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.13683372e-01 6.98639309e-01 -5.05881512e-02 2.10357385e+02] [-6.96950425e-01 -7.15473793e-01 -4.85526075e-02 1.31065706e+02] [-7.01152566e-02 6.06244856e-04 9.97538713e-01 8.21181207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.11512756e-01 7.00700327e-01 -5.26179508e-02 2.10371741e+02] [-6.99039821e-01 -7.13451553e-01 -4.82722563e-02 1.31076899e+02] [-7.13647445e-02 2.43571675e-03 9.97447312e-01 8.24105293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.06307717e-01 7.06069837e-01 -5.09391194e-02 2.10372311e+02] [-7.04304108e-01 -7.08141929e-01 -4.99072223e-02 1.31077088e+02] [-7.13101107e-02 6.26774838e-04 9.97453997e-01 8.22256322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.05216026e-01 7.07035061e-01 -5.26476917e-02 2.10366242e+02] [-7.05358423e-01 -7.07173098e-01 -4.87411880e-02 1.31067100e+02] [-7.16927601e-02 2.76242589e-03 9.97422938e-01 8.23011949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.901400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.03876595e-01 7.08436713e-01 -5.17219804e-02 2.10374814e+02] [-7.06705101e-01 -7.05772324e-01 -4.95310729e-02 1.31076657e+02] [-7.15935728e-02 1.68842447e-03 9.97432459e-01 8.22391832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.08, Z:0.82 [[-7.01307711e-01 7.11019420e-01 -5.11749895e-02 2.10379912e+02] [-7.09397279e-01 -7.03167599e-01 -4.80710776e-02 1.31080788e+02] [-7.01640642e-02 2.59078085e-03 9.97532101e-01 8.24104145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.961400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.38, Y:131.08, Z:0.82 [[-7.00179644e-01 7.12157639e-01 -5.07933410e-02 2.10379039e+02] [-7.10566308e-01 -7.02014309e-01 -4.76595456e-02 1.31080348e+02] [-6.95987616e-02 2.72179305e-03 9.97571353e-01 8.23178643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.991400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.38, Y:131.08, Z:0.82 [[-7.00134140e-01 7.12277758e-01 -4.97250577e-02 2.10378623e+02] [-7.10717115e-01 -7.01893919e-01 -4.71816660e-02 1.31080904e+02] [-6.85081669e-02 2.30695440e-03 9.97647888e-01 8.22562068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.09, Z:0.82 [[-6.99839044e-01 7.12682120e-01 -4.80573429e-02 2.10384073e+02] [-7.11223606e-01 -7.01483530e-01 -4.56271710e-02 1.31085951e+02] [-6.62291035e-02 2.24784097e-03 9.97801911e-01 8.22614447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.08, Z:0.82 [[-6.97193760e-01 7.15331357e-01 -4.71371469e-02 2.10378744e+02] [-7.13938699e-01 -6.98780942e-01 -4.46847793e-02 1.31079001e+02] [-6.49029637e-02 2.49908404e-03 9.97888451e-01 8.22829405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.081400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:210.38, Y:131.08, Z:0.82 [[-6.97114711e-01 7.15343050e-01 -4.81186094e-02 2.10381373e+02] [-7.13951978e-01 -6.98766155e-01 -4.47038388e-02 1.31079684e+02] [-6.56022361e-02 3.19067268e-03 9.97840752e-01 8.23276391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.111400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.38, Y:131.08, Z:0.82 [[-6.96797866e-01 7.15601286e-01 -4.88623822e-02 2.10383807e+02] [-7.14123541e-01 -6.98503347e-01 -4.60504311e-02 1.31081777e+02] [-6.70842852e-02 2.80593529e-03 9.97743367e-01 8.23088166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.141400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.39, Y:131.08, Z:0.82 [[-6.95642827e-01 7.16663405e-01 -4.97455624e-02 2.10385811e+02] [-7.15083758e-01 -6.97414928e-01 -4.76197218e-02 1.31083178e+02] [-6.88206097e-02 2.44592576e-03 9.97626053e-01 8.24265933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.08, Z:0.82 [[-6.95586283e-01 7.16700473e-01 -5.00015552e-02 2.10387730e+02] [-7.15128713e-01 -6.97375875e-01 -4.75164476e-02 1.31082075e+02] [-6.89249387e-02 2.70575870e-03 9.97618179e-01 8.24824272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.201400513 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:210.39, Y:131.09, Z:0.82 [[-6.94727076e-01 7.17456131e-01 -5.10978512e-02 2.10391508e+02] [-7.15831235e-01 -6.96597288e-01 -4.83514461e-02 1.31085172e+02] [-7.02846660e-02 2.98637912e-03 9.97522505e-01 8.24675127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.231400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.39, Y:131.09, Z:0.82 [[-6.92394622e-01 7.19841638e-01 -4.91701490e-02 2.10391675e+02] [-7.18206546e-01 -6.94136199e-01 -4.85210634e-02 1.31085475e+02] [-6.90582621e-02 1.71859952e-03 9.97611148e-01 8.23783010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.261400513 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:210.39, Y:131.08, Z:0.83 [[-6.90856560e-01 7.21139852e-01 -5.17158294e-02 2.10391793e+02] [-7.19601210e-01 -6.92774662e-01 -4.73008199e-02 1.31081137e+02] [-6.99379225e-02 4.53669170e-03 9.97541029e-01 8.26052807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.291400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.39, Y:131.08, Z:0.83 [[-6.89718054e-01 7.22362346e-01 -4.98161334e-02 2.10390919e+02] [-7.20811896e-01 -6.91507306e-01 -4.74115776e-02 1.31079336e+02] [-6.86965586e-02 3.20744050e-03 9.97632445e-01 8.25657783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.321400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:210.39, Y:131.08, Z:0.83 [[-6.86423731e-01 7.25435035e-01 -5.06603543e-02 2.10391002e+02] [-7.23839041e-01 -6.88281404e-01 -4.82260525e-02 1.31078334e+02] [-6.98534478e-02 3.56643541e-03 9.97550889e-01 8.25227246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.351400513 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:210.39, Y:131.08, Z:0.83 [[-6.86041747e-01 7.25860433e-01 -4.97328210e-02 2.10391946e+02] [-7.24204291e-01 -6.87837969e-01 -4.90619375e-02 1.31079107e+02] [-6.98202418e-02 2.35818510e-03 9.97556802e-01 8.25001615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.381400513 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:210.40, Y:131.08, Z:0.83 [[-6.86037549e-01 7.25672962e-01 -5.24522036e-02 2.10396671e+02] [-7.24051119e-01 -6.88024643e-01 -4.87038746e-02 1.31081283e+02] [-7.14314936e-02 4.56538991e-03 9.97435060e-01 8.27219214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:131.08, Z:0.83 [[-6.84732631e-01 7.27050426e-01 -5.03875101e-02 2.10395455e+02] [-7.25340169e-01 -6.86579931e-01 -4.98962678e-02 1.31081027e+02] [-7.08721560e-02 2.38248238e-03 9.97482562e-01 8.26007742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.08, Z:0.83 [[-6.83852282e-01 7.27977143e-01 -4.89421601e-02 2.10393149e+02] [-7.26505658e-01 -6.85590799e-01 -4.64196626e-02 1.31078443e+02] [-6.73467480e-02 3.81256399e-03 9.97722346e-01 8.26023399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.471400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:210.40, Y:131.08, Z:0.83 [[-6.84148673e-01 7.27692598e-01 -4.90313767e-02 2.10399274e+02] [-7.26266316e-01 -6.85889832e-01 -4.57425024e-02 1.31083095e+02] [-6.69166031e-02 4.31516500e-03 9.97749241e-01 8.26054132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.40, Y:131.08, Z:0.82 [[-6.82554859e-01 7.29269073e-01 -4.78067319e-02 2.10396223e+02] [-7.27735139e-01 -6.84222535e-01 -4.73401564e-02 1.31084644e+02] [-6.72341553e-02 2.47838487e-03 9.97734146e-01 8.23331420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.40, Y:131.09, Z:0.82 [[-6.82377337e-01 7.29380174e-01 -4.86387911e-02 2.10399272e+02] [-7.27904023e-01 -6.84098815e-01 -4.65246622e-02 1.31086550e+02] [-6.72079056e-02 3.65699664e-03 9.97732291e-01 8.24628312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.561400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:210.41, Y:131.09, Z:0.83 [[-6.82629485e-01 7.29057032e-01 -4.99282568e-02 2.10405091e+02] [-7.27612870e-01 -6.84435805e-01 -4.61209372e-02 1.31092740e+02] [-6.77974802e-02 4.84493063e-03 9.97687340e-01 8.25421529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.591400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:210.41, Y:131.09, Z:0.82 [[-6.84720972e-01 7.27366328e-01 -4.57757128e-02 2.10407201e+02] [-7.25893516e-01 -6.86247678e-01 -4.62896138e-02 1.31094500e+02] [-6.50829830e-02 1.53282373e-03 9.97878678e-01 8.24497864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.41, Y:131.09, Z:0.83 [[-6.84465551e-01 7.27319820e-01 -5.01277330e-02 2.10407448e+02] [-7.25847735e-01 -6.86283444e-01 -4.64768787e-02 1.31091312e+02] [-6.82053883e-02 4.57327910e-03 9.97660819e-01 8.25832685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.651400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.41, Y:131.10, Z:0.82 [[-6.84292337e-01 7.27736690e-01 -4.62958808e-02 2.10412337e+02] [-7.26156646e-01 -6.85856140e-01 -4.79362181e-02 1.31100843e+02] [-6.66372587e-02 8.15674818e-04 9.97776934e-01 8.24867032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.681400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:210.42, Y:131.10, Z:0.83 [[-6.85048746e-01 7.26808859e-01 -4.95691195e-02 2.10415756e+02] [-7.25496284e-01 -6.86815369e-01 -4.40430568e-02 1.31099308e+02] [-6.60557170e-02 5.79057117e-03 9.97799134e-01 8.26726820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.711400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.41, Y:131.10, Z:0.82 [[-6.83155542e-01 7.28825290e-01 -4.59586943e-02 2.10414068e+02] [-7.27388044e-01 -6.84696361e-01 -4.57987492e-02 1.31102607e+02] [-6.48470375e-02 2.14213544e-03 9.97892917e-01 8.24443710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:131.10, Z:0.83 [[-6.81257743e-01 7.30646440e-01 -4.52069393e-02 2.10408729e+02] [-7.29381684e-01 -6.82746548e-01 -4.31220450e-02 1.31096137e+02] [-6.23718504e-02 3.59588647e-03 9.98046503e-01 8.25584697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.771400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.41, Y:131.10, Z:0.82 [[-6.80622046e-01 7.31397090e-01 -4.25667419e-02 2.10407490e+02] [-7.30225327e-01 -6.81945876e-01 -4.14824620e-02 1.31097150e+02] [-5.93683661e-02 2.84943478e-03 9.98232076e-01 8.24190455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:131.11, Z:0.83 [[-6.84459877e-01 7.27652149e-01 -4.51334314e-02 2.10419411e+02] [-7.26455049e-01 -6.85934104e-01 -4.19221564e-02 1.31106203e+02] [-6.14633070e-02 4.09337514e-03 9.98100950e-01 8.25068609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.831400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.42, Y:131.11, Z:0.83 [[-6.87278577e-01 7.24928873e-01 -4.61116755e-02 2.10424767e+02] [-7.23548953e-01 -6.88818874e-01 -4.47824911e-02 1.31109966e+02] [-6.42267133e-02 2.58600776e-03 9.97931983e-01 8.25523339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.43, Y:131.12, Z:0.83 [[-6.89246068e-01 7.22890829e-01 -4.86693685e-02 2.10433418e+02] [-7.21328784e-01 -6.90958334e-01 -4.75538231e-02 1.31118611e+02] [-6.80047283e-02 2.33033080e-03 9.97682277e-01 8.27369770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:131.12, Z:0.83 [[-6.90970971e-01 7.21085512e-01 -5.09391877e-02 2.10437757e+02] [-7.19440622e-01 -6.92839790e-01 -4.87669655e-02 1.31121368e+02] [-7.04578484e-02 2.95116333e-03 9.97510392e-01 8.29287867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:131.12, Z:0.83 [[-6.91278958e-01 7.20855034e-01 -5.00142145e-02 2.10436488e+02] [-7.19189521e-01 -6.93082733e-01 -4.90179467e-02 1.31119428e+02] [-6.99988221e-02 2.08462385e-03 9.97544896e-01 8.29505568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.951400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.44, Y:131.12, Z:0.83 [[-6.89560166e-01 7.22440675e-01 -5.08551653e-02 2.10440332e+02] [-7.20823753e-01 -6.91425178e-01 -4.84183964e-02 1.31120467e+02] [-7.01419608e-02 3.27021361e-03 9.97531659e-01 8.30858659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:131.12, Z:0.83 [[-6.89027992e-01 7.23033760e-01 -4.96246846e-02 2.10439821e+02] [-7.21372524e-01 -6.90809751e-01 -4.90262150e-02 1.31120425e+02] [-6.97288245e-02 2.01744948e-03 9.97563943e-01 8.30489062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.011400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:210.44, Y:131.12, Z:0.83 [[-6.87947840e-01 7.24122009e-01 -4.87348499e-02 2.10443171e+02] [-7.22490077e-01 -6.89669638e-01 -4.86197491e-02 1.31122744e+02] [-6.88175766e-02 1.76259408e-03 9.97627703e-01 8.32355955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.041400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.45, Y:131.13, Z:0.83 [[-6.89404179e-01 7.22536840e-01 -5.15983895e-02 2.10448643e+02] [-7.20913389e-01 -6.91322378e-01 -4.85515740e-02 1.31126561e+02] [-7.07514221e-02 3.72631186e-03 9.97487018e-01 8.33929676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.071400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.44, Y:131.13, Z:0.83 [[-6.91936880e-01 7.20241293e-01 -4.97577490e-02 2.10444282e+02] [-7.18418390e-01 -6.93723563e-01 -5.12116683e-02 1.31125473e+02] [-7.14028812e-02 3.11639966e-04 9.97447508e-01 8.30822279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.101400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:210.45, Y:131.13, Z:0.83 [[-6.92108282e-01 7.19995470e-01 -5.09180681e-02 2.10452111e+02] [-7.18209356e-01 -6.93977192e-01 -5.07048192e-02 1.31132434e+02] [-7.18432180e-02 1.47660755e-03 9.97414844e-01 8.33602369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.131400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:210.46, Y:131.14, Z:0.83 [[-6.93193148e-01 7.18812887e-01 -5.28326847e-02 2.10459957e+02] [-7.17019240e-01 -6.95198519e-01 -5.08176023e-02 1.31139934e+02] [-7.32575515e-02 2.65563769e-03 9.97309520e-01 8.34159348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.161400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:210.46, Y:131.14, Z:0.83 [[-6.93390148e-01 7.18772609e-01 -5.07546885e-02 2.10461970e+02] [-7.16933751e-01 -6.95244823e-01 -5.13870833e-02 1.31143173e+02] [-7.22225624e-02 7.56451891e-04 9.97388254e-01 8.33481893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.191400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.47, Y:131.15, Z:0.83 [[-6.94680773e-01 7.17488754e-01 -5.12690149e-02 2.10465468e+02] [-7.15733829e-01 -6.96567679e-01 -5.01852054e-02 1.31145148e+02] [-7.17196592e-02 1.83227101e-03 9.97423147e-01 8.34259216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:131.15, Z:0.83 [[-6.95451180e-01 7.16803193e-01 -5.04067334e-02 2.10463824e+02] [-7.15051227e-01 -6.97274508e-01 -5.00999400e-02 1.31145899e+02] [-7.10591272e-02 1.20133420e-03 9.97471382e-01 8.33235689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.47, Y:131.15, Z:0.83 [[-6.97063761e-01 7.15246430e-01 -5.02459646e-02 2.10466948e+02] [-7.13581493e-01 -6.98869936e-01 -4.88084613e-02 1.31149267e+02] [-7.00254718e-02 1.83198080e-03 9.97543521e-01 8.33081970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:131.15, Z:0.83 [[-6.99760744e-01 7.12438600e-01 -5.25941274e-02 2.10464662e+02] [-7.10828757e-01 -7.01724242e-01 -4.80163105e-02 1.31148489e+02] [-7.11152472e-02 3.78548901e-03 9.97460922e-01 8.31272126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.46, Y:131.15, Z:0.83 [[-7.01756530e-01 7.10939409e-01 -4.58577071e-02 2.10462104e+02] [-7.09224722e-01 -7.03250014e-01 -4.93934347e-02 1.31150262e+02] [-6.73651724e-02 -2.13874577e-03 9.97726094e-01 8.28749382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:131.17, Z:0.83 [[-7.04207108e-01 7.08388791e-01 -4.77249334e-02 2.10481463e+02] [-7.06799473e-01 -7.05822364e-01 -4.74267439e-02 1.31167689e+02] [-6.72818991e-02 3.33707597e-04 9.97733950e-01 8.32995664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.371400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:210.49, Y:131.17, Z:0.83 [[-7.09410844e-01 7.02847577e-01 -5.23596928e-02 2.10489562e+02] [-7.01249451e-01 -7.11333974e-01 -4.74677258e-02 1.31174517e+02] [-7.06078044e-02 3.04308642e-03 9.97499513e-01 8.33647030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.401400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.49, Y:131.19, Z:0.83 [[-7.10278071e-01 7.02520807e-01 -4.43799314e-02 2.10494867e+02] [-7.00827078e-01 -7.11653992e-01 -4.88876596e-02 1.31187167e+02] [-6.59277534e-02 -3.62117489e-03 9.97817828e-01 8.31989167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.431400513 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:210.41, Y:131.10, Z:0.82 [[-7.16762636e-01 6.95497486e-01 -5.03445229e-02 2.10408974e+02] [-6.94032614e-01 -7.18523999e-01 -4.51884258e-02 1.31096377e+02] [-6.76021845e-02 2.55136565e-03 9.97709094e-01 8.24115946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:131.00, Z:0.81 [[-7.20204300e-01 6.92161016e-01 -4.71051309e-02 2.10311581e+02] [-6.90511083e-01 -7.21740617e-01 -4.78008940e-02 1.31001439e+02] [-6.70836016e-02 -1.89979448e-03 9.97745549e-01 8.12211002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.491400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.52, Y:131.22, Z:0.84 [[-7.17452734e-01 6.94706677e-01 -5.14218539e-02 2.10522194e+02] [-6.93194688e-01 -7.19288000e-01 -4.58900694e-02 1.31220600e+02] [-6.88672600e-02 2.72140018e-03 9.97622120e-01 8.35594483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.521400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.52, Y:131.23, Z:0.83 [[-7.20430631e-01 6.91839745e-01 -4.83474232e-02 2.10520730e+02] [-6.89968977e-01 -7.22043311e-01 -5.09535792e-02 1.31226147e+02] [-7.01606447e-02 -3.35029709e-03 9.97530080e-01 8.31141814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:131.23, Z:0.83 [[-7.23010565e-01 6.89083906e-01 -4.91842872e-02 2.10526084e+02] [-6.87139062e-01 -7.24672097e-01 -5.18677344e-02 1.31231479e+02] [-7.13837016e-02 -3.70447498e-03 9.97442050e-01 8.33716888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.581400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.54, Y:131.24, Z:0.84 [[-7.26773920e-01 6.85069823e-01 -4.97896228e-02 2.10536906e+02] [-6.83064998e-01 -7.28465452e-01 -5.25384961e-02 1.31244324e+02] [-7.22625584e-02 -4.17406017e-03 9.97376910e-01 8.35782926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.611400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:210.54, Y:131.25, Z:0.84 [[-7.28949330e-01 6.82799253e-01 -4.91737197e-02 2.10541684e+02] [-6.80836424e-01 -7.30592981e-01 -5.19197329e-02 1.31250929e+02] [-7.13767293e-02 -4.36759503e-03 9.97439866e-01 8.35682846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:131.26, Z:0.84 [[-7.30499307e-01 6.81143349e-01 -4.91375650e-02 2.10547678e+02] [-6.79177449e-01 -7.32135946e-01 -5.19129075e-02 1.31257752e+02] [-7.13355093e-02 -4.54921693e-03 9.97442003e-01 8.36057559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:131.21, Z:0.83 [[-7.36441120e-01 6.74885692e-01 -4.67309192e-02 2.10496271e+02] [-6.72745524e-01 -7.37871961e-01 -5.43914464e-02 1.31207211e+02] [-7.11894440e-02 -8.61808096e-03 9.97425582e-01 8.29786556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.701400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.56, Y:131.27, Z:0.84 [[-7.35207604e-01 6.75597064e-01 -5.51215633e-02 2.10560900e+02] [-6.73689995e-01 -7.37271037e-01 -5.07268080e-02 1.31266913e+02] [-7.49104146e-02 -1.59889278e-04 9.97190255e-01 8.42128961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.731400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.57, Y:131.28, Z:0.84 [[-7.39378098e-01 6.71196312e-01 -5.30616519e-02 2.10568893e+02] [-6.68871182e-01 -7.41255202e-01 -5.61432844e-02 1.31282052e+02] [-7.70153910e-02 -6.01970505e-03 9.97011732e-01 8.39605063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.57, Y:131.29, Z:0.84 [[-7.41351630e-01 6.69021529e-01 -5.29901383e-02 2.10571280e+02] [-6.66694474e-01 -7.43216631e-01 -5.61027391e-02 1.31285055e+02] [-7.69170924e-02 -6.26362468e-03 9.97017817e-01 8.39414797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:131.29, Z:0.84 [[-7.41902783e-01 6.68420082e-01 -5.28663884e-02 2.10575884e+02] [-6.66099818e-01 -7.43756981e-01 -5.60052194e-02 1.31290521e+02] [-7.67547588e-02 -6.33613642e-03 9.97029869e-01 8.39826776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.821400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:210.31, Y:131.01, Z:0.81 [[-7.42495579e-01 6.67793048e-01 -5.24667662e-02 2.10310530e+02] [-6.65503545e-01 -7.44319661e-01 -5.56172129e-02 1.31010168e+02] [-7.61928337e-02 -6.37871580e-03 9.97072698e-01 8.12529593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.851400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.29, Y:130.99, Z:0.81 [[-7.43534092e-01 6.66751342e-01 -5.09872694e-02 2.10292546e+02] [-6.64584053e-01 -7.45253360e-01 -5.40875660e-02 1.30992193e+02] [-7.40613911e-02 -6.33062314e-03 9.97233590e-01 8.10882015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:130.99, Z:0.81 [[-7.43778559e-01 6.66555208e-01 -4.99760933e-02 2.10289292e+02] [-6.64469888e-01 -7.45429446e-01 -5.30538387e-02 1.30989357e+02] [-7.26169640e-02 -6.25269860e-03 9.97340303e-01 8.10832632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:130.99, Z:0.81 [[-7.44295590e-01 6.66000950e-01 -4.96669960e-02 2.10288616e+02] [-6.63937298e-01 -7.45924312e-01 -5.27653739e-02 1.30989354e+02] [-7.21896090e-02 -6.29726401e-03 9.97371047e-01 8.10340814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.941400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.30, Y:131.00, Z:0.81 [[-7.46329446e-01 6.63694751e-01 -5.00163502e-02 2.10298546e+02] [-6.61593861e-01 -7.47974435e-01 -5.31771384e-02 1.31001673e+02] [-7.27043389e-02 -6.59715400e-03 9.97331719e-01 8.10159777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:130.99, Z:0.81 [[-7.46430608e-01 6.63592414e-01 -4.98643809e-02 2.10283769e+02] [-6.61501154e-01 -7.48065053e-01 -5.30556284e-02 1.30985936e+02] [-7.25091132e-02 -6.61699942e-03 9.97345800e-01 8.09066044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:131.00, Z:0.81 [[-7.46060116e-01 6.64004850e-01 -4.99185556e-02 2.10297668e+02] [-6.61906996e-01 -7.47699009e-01 -5.31537401e-02 1.31001224e+02] [-7.26183958e-02 -6.61444434e-03 9.97337865e-01 8.10382744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:131.00, Z:0.81 [[-7.45430436e-01 6.64747511e-01 -4.94389763e-02 2.10293013e+02] [-6.62688563e-01 -7.47039746e-01 -5.26828802e-02 1.30996122e+02] [-7.19536938e-02 -6.50877817e-03 9.97386736e-01 8.10236246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:131.01, Z:0.81 [[-7.43810512e-01 6.66650123e-01 -4.82030678e-02 2.10306632e+02] [-6.64694203e-01 -7.45345048e-01 -5.14040396e-02 1.31011350e+02] [-7.01964272e-02 -6.19456527e-03 9.97513954e-01 8.10972358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:131.02, Z:0.81 [[-7.42921573e-01 6.67626590e-01 -4.83970362e-02 2.10315729e+02] [-6.65654127e-01 -7.44470842e-01 -5.16502502e-02 1.31021023e+02] [-7.05132627e-02 -6.15639817e-03 9.97491844e-01 8.11569800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:131.02, Z:0.81 [[-7.42983730e-01 6.67525643e-01 -4.88333170e-02 2.10316371e+02] [-6.65514365e-01 -7.44560566e-01 -5.21554707e-02 1.31021523e+02] [-7.11744762e-02 -6.25139221e-03 9.97444291e-01 8.11983491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.151400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.31, Y:131.02, Z:0.81 [[-7.42454451e-01 6.68044676e-01 -4.97764901e-02 2.10314577e+02] [-6.65953022e-01 -7.44094052e-01 -5.32035209e-02 1.31018461e+02] [-7.25807191e-02 -6.35238691e-03 9.97342312e-01 8.12731972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.181400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.32, Y:131.03, Z:0.81 [[-7.42086722e-01 6.68477736e-01 -4.94450618e-02 2.10322580e+02] [-6.66411963e-01 -7.43705493e-01 -5.28888987e-02 1.31026397e+02] [-7.21276153e-02 -6.29736878e-03 9.97375531e-01 8.13974886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:131.03, Z:0.81 [[-7.41265397e-01 6.69449869e-01 -4.86054030e-02 2.10324455e+02] [-6.67453068e-01 -7.42831979e-01 -5.20293446e-02 1.31029002e+02] [-7.09366856e-02 -6.12572739e-03 9.97462010e-01 8.13883730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:131.04, Z:0.81 [[-7.40247122e-01 6.70627671e-01 -4.78824199e-02 2.10332178e+02] [-6.68689669e-01 -7.41770254e-01 -5.12934494e-02 1.31037205e+02] [-6.99165612e-02 -5.95134883e-03 9.97535090e-01 8.14968353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:131.03, Z:0.81 [[-7.37874304e-01 6.73214243e-01 -4.82088608e-02 2.10323171e+02] [-6.71252348e-01 -7.39424936e-01 -5.16821906e-02 1.31026290e+02] [-7.04400206e-02 -5.77464941e-03 9.97499302e-01 8.14676865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:131.34, Z:0.84 [[-7.36926100e-01 6.74227163e-01 -4.85557042e-02 2.10616547e+02] [-6.72236274e-01 -7.38501655e-01 -5.20931603e-02 1.31340938e+02] [-7.09810915e-02 -5.74790375e-03 9.97461100e-01 8.43662041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.331400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.62, Y:131.34, Z:0.84 [[-7.35881055e-01 6.75342476e-01 -4.89041323e-02 2.10615064e+02] [-6.73323044e-01 -7.37482205e-01 -5.24983448e-02 1.31339992e+02] [-7.15202895e-02 -5.70425810e-03 9.97422834e-01 8.43002191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:131.34, Z:0.84 [[-7.35587421e-01 6.75696732e-01 -4.84259420e-02 2.10614259e+02] [-6.73715117e-01 -7.37158151e-01 -5.20173280e-02 1.31338951e+02] [-7.08455164e-02 -5.63800298e-03 9.97471366e-01 8.42873402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:131.34, Z:0.84 [[-7.35437088e-01 6.75940165e-01 -4.72988734e-02 2.10617324e+02] [-6.74048277e-01 -7.36935944e-01 -5.08363517e-02 1.31340967e+02] [-6.92185719e-02 -5.50521436e-03 9.97586328e-01 8.43717662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:131.34, Z:0.84 [[-7.35224968e-01 6.76172002e-01 -4.72828735e-02 2.10619726e+02] [-6.74279642e-01 -7.36723229e-01 -5.08512289e-02 1.31343687e+02] [-6.92185685e-02 -5.50521409e-03 9.97586328e-01 8.43945997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.451400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.63, Y:131.35, Z:0.84 [[-7.35380810e-01 6.76002900e-01 -4.72773025e-02 2.10625774e+02] [-6.74108417e-01 -7.36878105e-01 -5.08773026e-02 1.31349987e+02] [-6.92308131e-02 -5.54416444e-03 9.97585263e-01 8.43465719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:131.35, Z:0.84 [[-7.35148779e-01 6.76195465e-01 -4.81244782e-02 2.10625766e+02] [-6.74230562e-01 -7.36700607e-01 -5.18205144e-02 1.31351122e+02] [-7.04941291e-02 -5.64879386e-03 9.97496200e-01 8.43945561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.511400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:210.63, Y:131.36, Z:0.84 [[-7.35534540e-01 6.75584322e-01 -5.07421376e-02 2.10631518e+02] [-6.73395390e-01 -7.37257940e-01 -5.46752065e-02 1.31355258e+02] [-7.43477561e-02 -6.04598132e-03 9.97214048e-01 8.44087468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:131.36, Z:0.85 [[-7.35470534e-01 6.75601018e-01 -5.14427565e-02 2.10635956e+02] [-6.73348633e-01 -7.37241755e-01 -5.54636194e-02 1.31360114e+02] [-7.53970258e-02 -6.15294806e-03 9.97134610e-01 8.45528112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.35252877e-01 6.75829734e-01 -5.15497647e-02 2.10371534e+02] [-6.73565932e-01 -7.37031976e-01 -5.56129601e-02 1.31074688e+02] [-7.55787170e-02 -6.16742356e-03 9.97120765e-01 8.18584822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.601400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:210.38, Y:131.09, Z:0.82 [[-7.34506289e-01 6.76676021e-01 -5.10888875e-02 2.10384036e+02] [-6.74451574e-01 -7.36255998e-01 -5.51559555e-02 1.31087911e+02] [-7.49372124e-02 -6.05541557e-03 9.97169868e-01 8.18554116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:131.37, Z:0.85 [[-7.34208619e-01 6.77062635e-01 -5.02383495e-02 2.10643332e+02] [-6.74909759e-01 -7.35901391e-01 -5.42767082e-02 1.31369265e+02] [-7.37192023e-02 -5.94407467e-03 9.97261323e-01 8.45194959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:131.37, Z:0.85 [[-7.34955825e-01 6.76310149e-01 -4.94420696e-02 2.10642166e+02] [-6.74221017e-01 -7.36592971e-01 -5.34491817e-02 1.31368441e+02] [-7.25669050e-02 -5.94790497e-03 9.97345811e-01 8.45148760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.691400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.37619019e-01 6.73430656e-01 -4.90849709e-02 2.10371213e+02] [-6.71362922e-01 -7.39224304e-01 -5.30966555e-02 1.31076153e+02] [-7.20417190e-02 -6.21127342e-03 9.97382279e-01 8.17048323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.39177166e-01 6.71734393e-01 -4.88878662e-02 2.10367126e+02] [-6.69676800e-01 -7.40764606e-01 -5.29224104e-02 1.31071755e+02] [-7.17642041e-02 -6.37996746e-03 9.97401221e-01 8.18182912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.40122846e-01 6.70633882e-01 -4.96826954e-02 2.10365258e+02] [-6.68503298e-01 -7.41758943e-01 -5.38238974e-02 1.31069392e+02] [-7.29487128e-02 -6.62325043e-03 9.97313701e-01 8.19012086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.781400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.41941672e-01 6.68531077e-01 -5.08798043e-02 2.10366745e+02] [-6.66288366e-01 -7.43651004e-01 -5.51633798e-02 1.31070332e+02] [-7.47152512e-02 -7.02738864e-03 9.97180148e-01 8.18377417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.811400513 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.42544530e-01 6.67879344e-01 -5.06438870e-02 2.10365681e+02] [-6.65652837e-01 -7.44235784e-01 -5.49490494e-02 1.31070453e+02] [-7.43903280e-02 -7.09086902e-03 9.97203991e-01 8.17205788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.841400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:210.36, Y:131.06, Z:0.82 [[-7.42566405e-01 6.67908207e-01 -4.99375760e-02 2.10359487e+02] [-6.65740541e-01 -7.44210563e-01 -5.42233439e-02 1.31064084e+02] [-7.33802879e-02 -7.01896465e-03 9.97279333e-01 8.15891807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.871400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.42470153e-01 6.68058182e-01 -4.93592687e-02 2.10360901e+02] [-6.65937884e-01 -7.44076557e-01 -5.36359153e-02 1.31066079e+02] [-7.25589868e-02 -6.95285931e-03 9.97339888e-01 8.15538652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:131.06, Z:0.82 [[-7.41314600e-01 6.69405906e-01 -4.84602635e-02 2.10351022e+02] [-6.67362230e-01 -7.42866406e-01 -5.26987406e-02 1.31055944e+02] [-7.12763499e-02 -6.72579630e-03 9.97433930e-01 8.16090543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.35, Y:131.06, Z:0.82 [[-7.41529129e-01 6.69196532e-01 -4.80682079e-02 2.10351714e+02] [-6.67182566e-01 -7.43055066e-01 -5.23124584e-02 1.31056078e+02] [-7.07246411e-02 -6.72094144e-03 9.97473235e-01 8.16171104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.961400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.41851958e-01 6.68821344e-01 -4.83082060e-02 2.10363232e+02] [-6.66783481e-01 -7.43391876e-01 -5.26147170e-02 1.31068741e+02] [-7.11017736e-02 -6.82121709e-03 9.97445742e-01 8.17461014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.42238630e-01 6.68365178e-01 -4.86806446e-02 2.10370754e+02] [-6.66291792e-01 -7.43800848e-01 -5.30617244e-02 1.31077031e+02] [-7.16733136e-02 -6.94894767e-03 9.97403954e-01 8.18935184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.42672201e-01 6.67839761e-01 -4.92752953e-02 2.10360968e+02] [-6.65711160e-01 -7.44271056e-01 -5.37517090e-02 1.31066616e+02] [-7.25717046e-02 -7.11678611e-03 9.97337806e-01 8.17898433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.051400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.42964265e-01 6.67467480e-01 -4.99125679e-02 2.10365663e+02] [-6.65279419e-01 -7.44603381e-01 -5.44894483e-02 1.31071578e+02] [-7.35350015e-02 -7.27790874e-03 9.97266081e-01 8.17494978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.081400513 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.44255587e-01 6.65999524e-01 -5.02817537e-02 2.10373707e+02] [-6.63772458e-01 -7.45914358e-01 -5.49353728e-02 1.31080210e+02] [-7.40928141e-02 -7.51031492e-03 9.97223069e-01 8.18592539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.111400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.37, Y:131.07, Z:0.82 [[-7.44390987e-01 6.65853477e-01 -5.02116067e-02 2.10366999e+02] [-6.63629161e-01 -7.46044372e-01 -5.49011064e-02 1.31073833e+02] [-7.40161792e-02 -7.54600241e-03 9.97228491e-01 8.17505427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.141400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.44769331e-01 6.65428064e-01 -5.02407766e-02 2.10361069e+02] [-6.63197049e-01 -7.46423041e-01 -5.49756042e-02 1.31068290e+02] [-7.40831832e-02 -7.62460915e-03 9.97222918e-01 8.16799304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.171400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.44983716e-01 6.65168863e-01 -5.04940324e-02 2.10358305e+02] [-6.62911442e-01 -7.46653039e-01 -5.52961055e-02 1.31065171e+02] [-7.44827703e-02 -7.72162631e-03 9.97192405e-01 8.15477773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.37, Y:131.08, Z:0.82 [[-7.47224893e-01 6.62644684e-01 -5.05666053e-02 2.10370984e+02] [-6.60371849e-01 -7.48891005e-01 -5.54191663e-02 1.31079880e+02] [-7.45920918e-02 -8.01781800e-03 9.97181896e-01 8.18597681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.48261631e-01 6.61508812e-01 -5.01061130e-02 2.10357844e+02] [-6.59271601e-01 -7.49893767e-01 -5.49571980e-02 1.31065791e+02] [-7.39289326e-02 -8.08882531e-03 9.97230707e-01 8.16666258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.261400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.35, Y:131.06, Z:0.82 [[-7.49058762e-01 6.60622198e-01 -4.98927101e-02 2.10352791e+02] [-6.58398951e-01 -7.50674033e-01 -5.47660243e-02 1.31061253e+02] [-7.36328132e-02 -8.17366241e-03 9.97251924e-01 8.15042356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:131.06, Z:0.81 [[-7.49917464e-01 6.59664194e-01 -4.96683904e-02 2.10348505e+02] [-6.57455707e-01 -7.51515053e-01 -5.45629877e-02 1.31057334e+02] [-7.33197923e-02 -8.26297063e-03 9.97274251e-01 8.14935522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.321400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:210.35, Y:131.06, Z:0.82 [[-7.50610432e-01 6.58842253e-01 -5.01085268e-02 2.10353587e+02] [-6.56589312e-01 -7.52233650e-01 -5.50909316e-02 1.31062312e+02] [-7.39895535e-02 -8.45110481e-03 9.97223207e-01 8.15324477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.50954706e-01 6.58457125e-01 -5.00124481e-02 2.10358158e+02] [-6.56208739e-01 -7.52570172e-01 -5.50293254e-02 1.31068098e+02] [-7.38723281e-02 -8.50592538e-03 9.97231432e-01 8.16654270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.51399280e-01 6.57977897e-01 -4.96408013e-02 2.10355546e+02] [-6.55758647e-01 -7.52989020e-01 -5.46638200e-02 1.31065602e+02] [-7.33465636e-02 -8.52197028e-03 9.97270103e-01 8.16304662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.411400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.51657352e-01 6.57707788e-01 -4.93121785e-02 2.10359748e+02] [-6.55514145e-01 -7.53224937e-01 -5.43451941e-02 1.31070288e+02] [-7.28864199e-02 -8.52413418e-03 9.97303820e-01 8.16140854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.35, Y:131.06, Z:0.81 [[-7.52011491e-01 6.57326508e-01 -4.89957058e-02 2.10351159e+02] [-6.55157060e-01 -7.53557534e-01 -5.40395171e-02 1.31061560e+02] [-7.24426903e-02 -8.53845529e-03 9.97336027e-01 8.14549131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.471400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.35, Y:131.06, Z:0.81 [[-7.51552430e-01 6.57867330e-01 -4.87803260e-02 2.10346070e+02] [-6.55714919e-01 -7.53086077e-01 -5.38451946e-02 1.31055299e+02] [-7.21587788e-02 -8.48149933e-03 9.97357095e-01 8.14794869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.501400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:210.36, Y:131.06, Z:0.82 [[-7.51138349e-01 6.58347279e-01 -4.86830653e-02 2.10355026e+02] [-6.56201278e-01 -7.52666880e-01 -5.37815057e-02 1.31064673e+02] [-7.20490388e-02 -8.45146170e-03 9.97365284e-01 8.15512639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.50854891e-01 6.58684672e-01 -4.84916028e-02 2.10360120e+02] [-6.56553094e-01 -7.52372002e-01 -5.36134798e-02 1.31071204e+02] [-7.17981017e-02 -8.41863166e-03 9.97383657e-01 8.16196023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.561400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.36, Y:131.08, Z:0.82 [[-7.50368576e-01 6.59241031e-01 -4.84588880e-02 2.10364660e+02] [-6.57110331e-01 -7.51884851e-01 -5.36207373e-02 1.31077151e+02] [-7.17844940e-02 -8.39248032e-03 9.97384857e-01 8.15905057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:131.08, Z:0.82 [[-7.50210311e-01 6.59430392e-01 -4.83326704e-02 2.10364573e+02] [-6.57308075e-01 -7.51718864e-01 -5.35242375e-02 1.31077152e+02] [-7.16280890e-02 -8.38498031e-03 9.97396165e-01 8.16466673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:131.08, Z:0.82 [[-7.48759080e-01 6.61018276e-01 -4.91393888e-02 2.10362473e+02] [-6.58824452e-01 -7.50322728e-01 -5.44623322e-02 1.31075671e+02] [-7.28709972e-02 -8.40493484e-03 9.97305959e-01 8.16712656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.651400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:210.36, Y:131.07, Z:0.82 [[-7.48729828e-01 6.61076681e-01 -4.87982258e-02 2.10363341e+02] [-6.58910213e-01 -7.50271622e-01 -5.41278516e-02 1.31074578e+02] [-7.23945845e-02 -8.37348766e-03 9.97340919e-01 8.17515332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.681400513 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:210.38, Y:131.09, Z:0.82 [[-7.48292282e-01 6.61569710e-01 -4.88280599e-02 2.10380864e+02] [-6.59398399e-01 -7.49837023e-01 -5.42050812e-02 1.31093624e+02] [-7.24735269e-02 -8.36409936e-03 9.97335265e-01 8.18583301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.82 [[-7.47701184e-01 6.62270942e-01 -4.83749946e-02 2.10388996e+02] [-6.60138119e-01 -7.49219006e-01 -5.37451941e-02 1.31104505e+02] [-7.18373456e-02 -8.25116732e-03 9.97382231e-01 8.19688628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.11, Z:0.82 [[-7.46688771e-01 6.63375287e-01 -4.88785014e-02 2.10391425e+02] [-6.61196862e-01 -7.48241238e-01 -5.43485038e-02 1.31107085e+02] [-7.26263646e-02 -8.26310577e-03 9.97324988e-01 8.20286601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:131.11, Z:0.82 [[-7.46648670e-01 6.63405956e-01 -4.90744479e-02 2.10395593e+02] [-6.61206869e-01 -7.48213346e-01 -5.46101139e-02 1.31110638e+02] [-7.29468317e-02 -8.32620689e-03 9.97301075e-01 8.21895889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.82 [[-7.47267100e-01 6.62727615e-01 -4.88261158e-02 2.10386795e+02] [-6.60546214e-01 -7.48813626e-01 -5.43769442e-02 1.31100673e+02] [-7.25987633e-02 -8.38219545e-03 9.97326004e-01 8.21320477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.11, Z:0.82 [[-7.47873825e-01 6.62043192e-01 -4.88216614e-02 2.10390495e+02] [-6.59857599e-01 -7.49417701e-01 -5.44156123e-02 1.31106854e+02] [-7.26133028e-02 -8.48066784e-03 9.97324113e-01 8.20576780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.861400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.82 [[-7.49551936e-01 6.60150888e-01 -4.87103775e-02 2.10386170e+02] [-6.57968212e-01 -7.51082893e-01 -5.43352552e-02 1.31103319e+02] [-7.24549982e-02 -8.67721576e-03 9.97333936e-01 8.18788035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.891400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.38, Y:131.09, Z:0.82 [[-7.51542884e-01 6.57880353e-01 -4.87517704e-02 2.10376397e+02] [-6.55686133e-01 -7.53069431e-01 -5.44254208e-02 1.31092840e+02] [-7.25188830e-02 -8.93717793e-03 9.97326997e-01 8.17097545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:131.08, Z:0.82 [[-7.53016960e-01 6.56108348e-01 -4.98727645e-02 2.10364691e+02] [-6.53647701e-01 -7.54587470e-01 -5.78137909e-02 1.31081272e+02] [-7.55654740e-02 -1.09355473e-02 9.97080876e-01 8.16350157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.951400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.82 [[-7.53499863e-01 6.55372219e-01 -5.22035528e-02 2.10387247e+02] [-6.52997189e-01 -7.55259497e-01 -5.63716592e-02 1.31101438e+02] [-7.63716484e-02 -8.38726426e-03 9.97044144e-01 8.21335126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.981400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:210.37, Y:131.09, Z:0.82 [[-7.52709131e-01 6.56397563e-01 -5.07070254e-02 2.10371104e+02] [-6.54011888e-01 -7.54354971e-01 -5.67188570e-02 1.31086104e+02] [-7.54812162e-02 -9.52980413e-03 9.97101684e-01 8.17548457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.09, Z:0.82 [[-7.52701887e-01 6.56536772e-01 -4.89830251e-02 2.10375184e+02] [-6.54307896e-01 -7.54237620e-01 -5.48341946e-02 1.31093631e+02] [-7.29455054e-02 -9.22382161e-03 9.97293274e-01 8.16451487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.10, Z:0.82 [[-7.52347998e-01 6.56904268e-01 -4.94901334e-02 2.10383233e+02] [-6.54626264e-01 -7.53916402e-01 -5.54482906e-02 1.31102295e+02] [-7.37356420e-02 -9.31886927e-03 9.97234282e-01 8.17430600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.071400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.82 [[-7.52254130e-01 6.56943300e-01 -5.03907180e-02 2.10385300e+02] [-6.54578010e-01 -7.53879862e-01 -5.65047130e-02 1.31103558e+02] [-7.51089401e-02 -9.52124782e-03 9.97129878e-01 8.18323623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.82 [[-7.52776724e-01 6.56329478e-01 -5.05847763e-02 2.10385879e+02] [-6.53941018e-01 -7.54412615e-01 -5.67692717e-02 1.31104242e+02] [-7.54211398e-02 -9.65512624e-03 9.97105025e-01 8.19835109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.131400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:210.39, Y:131.10, Z:0.82 [[-7.53769070e-01 6.55236910e-01 -4.99677985e-02 2.10385764e+02] [-6.52900717e-01 -7.55361435e-01 -5.61226817e-02 1.31104001e+02] [-7.45174005e-02 -9.67953007e-03 9.97172735e-01 8.19110101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.37, Y:131.09, Z:0.82 [[-7.54217964e-01 6.54775772e-01 -4.92336388e-02 2.10372696e+02] [-6.52503560e-01 -7.55762016e-01 -5.53432845e-02 1.31091518e+02] [-7.34463560e-02 -9.61577478e-03 9.97252811e-01 8.16750675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.09, Z:0.82 [[-7.55416250e-01 6.53472692e-01 -4.81635770e-02 2.10370655e+02] [-6.51292583e-01 -7.56889676e-01 -5.41847721e-02 1.31089527e+02] [-7.18627831e-02 -9.56347690e-03 9.97368678e-01 8.17013324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.221400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.36, Y:131.08, Z:0.82 [[-7.55422569e-01 6.53428386e-01 -4.86630050e-02 2.10359325e+02] [-6.51199271e-01 -7.56926153e-01 -5.47933312e-02 1.31076938e+02] [-7.26378191e-02 -9.70280566e-03 9.97311187e-01 8.16290154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:131.09, Z:0.82 [[-7.55314694e-01 6.53509696e-01 -4.92421643e-02 2.10369365e+02] [-6.51223763e-01 -7.56854088e-01 -5.54932428e-02 1.31088930e+02] [-7.35345055e-02 -9.84719414e-03 9.97244057e-01 8.18492110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.11, Z:0.82 [[-7.55783791e-01 6.52949315e-01 -4.94778115e-02 2.10391466e+02] [-6.50636721e-01 -7.57335777e-01 -5.58066264e-02 1.31113740e+02] [-7.39102153e-02 -9.98566259e-03 9.97214905e-01 8.21026011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.37, Y:131.09, Z:0.82 [[-7.57910934e-01 6.50556306e-01 -4.84511034e-02 2.10371877e+02] [-6.48330869e-01 -7.59391650e-01 -5.46937520e-02 1.31092209e+02] [-7.23747286e-02 -1.00406467e-02 9.97326970e-01 8.17260663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.341400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.36, Y:131.08, Z:0.82 [[-7.58172365e-01 6.50244684e-01 -4.85439595e-02 2.10363820e+02] [-6.48006712e-01 -7.59657379e-01 -5.48449421e-02 1.31083910e+02] [-7.25394091e-02 -1.01251079e-02 9.97314151e-01 8.16104638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.371400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.37, Y:131.09, Z:0.82 [[-7.57894903e-01 6.50569803e-01 -4.85205917e-02 2.10366223e+02] [-6.48331202e-01 -7.59378968e-01 -5.48656081e-02 1.31086758e+02] [-7.25394247e-02 -1.01249512e-02 9.97314152e-01 8.16332984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.10, Z:0.82 [[-7.58427560e-01 6.49961054e-01 -4.83556087e-02 2.10378107e+02] [-6.47733081e-01 -7.59899276e-01 -5.47260953e-02 1.31099226e+02] [-7.23152227e-02 -1.01842515e-02 9.97329830e-01 8.19339246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:131.10, Z:0.82 [[-7.57695283e-01 6.50761154e-01 -4.90691198e-02 2.10375081e+02] [-6.48464883e-01 -7.59212712e-01 -5.55819575e-02 1.31095341e+02] [-7.34244783e-02 -1.02945860e-02 9.97247646e-01 8.19617442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:131.11, Z:0.82 [[-7.56424552e-01 6.52239434e-01 -4.90470930e-02 2.10385727e+02] [-6.49944685e-01 -7.57944610e-01 -5.56046320e-02 1.31107497e+02] [-7.34425135e-02 -1.01828114e-02 9.97247466e-01 8.21754545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.491400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.39, Y:131.11, Z:0.82 [[-7.55579998e-01 6.53258641e-01 -4.84975658e-02 2.10388064e+02] [-6.51013717e-01 -7.57068712e-01 -5.50282235e-02 1.31109207e+02] [-7.26636521e-02 -1.00056445e-02 9.97306312e-01 8.21050963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.521400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.39, Y:131.11, Z:0.82 [[-7.54546280e-01 6.54584155e-01 -4.66850744e-02 2.10388490e+02] [-6.52333327e-01 -7.55903821e-01 -5.54133887e-02 1.31112516e+02] [-7.15621523e-02 -1.13577364e-02 9.97371476e-01 8.18396901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:131.13, Z:0.82 [[-7.53526791e-01 6.55530762e-01 -4.97674149e-02 2.10404019e+02] [-6.53338713e-01 -7.55122501e-01 -5.42082542e-02 1.31127700e+02] [-7.31156730e-02 -8.33239308e-03 9.97288659e-01 8.23610063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:131.13, Z:0.82 [[-7.52716488e-01 6.56555618e-01 -4.85036949e-02 2.10403774e+02] [-6.54306368e-01 -7.54214004e-01 -5.51762095e-02 1.31128728e+02] [-7.28084163e-02 -9.79576617e-03 9.97297838e-01 8.22917416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:131.12, Z:0.82 [[-7.51835996e-01 6.57597758e-01 -4.80398281e-02 2.10398964e+02] [-6.55390116e-01 -7.53307594e-01 -5.46942805e-02 1.31122165e+02] [-7.21556035e-02 -9.63630033e-03 9.97346836e-01 8.22322069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.641400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:210.41, Y:131.14, Z:0.82 [[-7.50154871e-01 6.59503690e-01 -4.81928691e-02 2.10410933e+02] [-6.57282312e-01 -7.51641057e-01 -5.49152426e-02 1.31135711e+02] [-7.24405442e-02 -9.51861632e-03 9.97327310e-01 8.22091653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:131.15, Z:0.83 [[-7.48207891e-01 6.61720737e-01 -4.80688983e-02 2.10427228e+02] [-6.59511818e-01 -7.49692536e-01 -5.48202926e-02 1.31153811e+02] [-7.23126186e-02 -9.31496901e-03 9.97338517e-01 8.25098473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:131.15, Z:0.83 [[-7.46969281e-01 6.63110182e-01 -4.81848510e-02 2.10422005e+02] [-6.60889998e-01 -7.48464800e-01 -5.49986701e-02 1.31147336e+02] [-7.25348430e-02 -9.23743098e-03 9.97323100e-01 8.25120135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.731400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:210.43, Y:131.16, Z:0.82 [[-7.45495561e-01 6.64746055e-01 -4.84670030e-02 2.10430542e+02] [-6.62499675e-01 -7.47013156e-01 -5.53671879e-02 1.31157189e+02] [-7.30106086e-02 -9.16661906e-03 9.97289037e-01 8.24599148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.761400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.44, Y:131.16, Z:0.82 [[-7.44171308e-01 6.66266722e-01 -4.79345440e-02 2.10435207e+02] [-6.64069256e-01 -7.45659788e-01 -5.48042346e-02 1.31163782e+02] [-7.22570997e-02 -8.95188197e-03 9.97345866e-01 8.24858672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.791400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:210.44, Y:131.17, Z:0.82 [[-7.42332267e-01 6.68384701e-01 -4.69542008e-02 2.10440758e+02] [-6.66277297e-01 -7.43766059e-01 -5.37272130e-02 1.31170242e+02] [-7.08333881e-02 -8.59892591e-03 9.97451096e-01 8.24755293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.44, Y:131.17, Z:0.83 [[-7.41307591e-01 6.69550880e-01 -4.65260668e-02 2.10437687e+02] [-6.67480919e-01 -7.42718213e-01 -5.32811281e-02 1.31167329e+02] [-7.02301834e-02 -8.44244289e-03 9.97495086e-01 8.25489676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:131.19, Z:0.83 [[-7.39834407e-01 6.71187824e-01 -4.63891792e-02 2.10455873e+02] [-6.69130056e-01 -7.41240913e-01 -5.31683820e-02 1.31188442e+02] [-7.00715281e-02 -8.29540433e-03 9.97507477e-01 8.27485426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:131.19, Z:0.83 [[-7.37589119e-01 6.73651716e-01 -4.64290669e-02 2.10454330e+02] [-6.71592018e-01 -7.39004558e-01 -5.32580932e-02 1.31189363e+02] [-7.01886979e-02 -8.10119926e-03 9.97500836e-01 8.27121205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.47, Y:131.21, Z:0.83 [[-7.34824747e-01 6.76713969e-01 -4.57252049e-02 2.10468129e+02] [-6.74719121e-01 -7.36205529e-01 -5.24931048e-02 1.31206443e+02] [-6.91859660e-02 -7.72156239e-03 9.97573897e-01 8.27183478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.47, Y:131.21, Z:0.83 [[-7.34766856e-01 6.76791423e-01 -4.55086550e-02 2.10471630e+02] [-6.74812663e-01 -7.36134460e-01 -5.22869734e-02 1.31210389e+02] [-6.88878643e-02 -7.70891844e-03 9.97594624e-01 8.26984489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.971400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:210.48, Y:131.22, Z:0.83 [[-7.34665623e-01 6.76843122e-01 -4.63660488e-02 2.10482206e+02] [-6.74785995e-01 -7.36085089e-01 -5.33160734e-02 1.31221450e+02] [-7.02159747e-02 -7.88232591e-03 9.97500670e-01 8.28198970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.001400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.47, Y:131.21, Z:0.83 [[-7.35765159e-01 6.75655538e-01 -4.62517567e-02 2.10473562e+02] [-6.73603266e-01 -7.37173977e-01 -5.32275164e-02 1.31211283e+02] [-7.00590576e-02 -8.00761774e-03 9.97510705e-01 8.28484146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:131.22, Z:0.83 [[-7.36092377e-01 6.75258170e-01 -4.68446003e-02 2.10478502e+02] [-6.73148949e-01 -7.37536076e-01 -5.39539476e-02 1.31217759e+02] [-7.09824267e-02 -8.18169607e-03 9.97444011e-01 8.29700138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.061400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.48, Y:131.21, Z:0.83 [[-7.36212055e-01 6.75098430e-01 -4.72643519e-02 2.10476155e+02] [-6.72947660e-01 -7.37680930e-01 -5.44820378e-02 1.31214751e+02] [-7.16467493e-02 -8.30389797e-03 9.97395503e-01 8.28718350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:131.21, Z:0.83 [[-7.35556765e-01 6.75838478e-01 -4.68892116e-02 2.10470044e+02] [-6.73720105e-01 -7.37004164e-01 -5.40932848e-02 1.31209394e+02] [-7.11158675e-02 -8.19847703e-03 9.97434368e-01 8.28498903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.121400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.46, Y:131.20, Z:0.83 [[-7.34530742e-01 6.76965583e-01 -4.67138999e-02 2.10463692e+02] [-6.74862121e-01 -7.35970194e-01 -5.39350543e-02 1.31201779e+02] [-7.08922134e-02 -8.09151389e-03 9.97451162e-01 8.28921051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.151400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.48, Y:131.22, Z:0.83 [[-7.33639340e-01 6.77974127e-01 -4.60912329e-02 2.10477261e+02] [-6.75925327e-01 -7.35043109e-01 -5.32595649e-02 1.31217849e+02] [-6.99876502e-02 -7.91908042e-03 9.97516424e-01 8.30345280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:131.23, Z:0.83 [[-7.34102567e-01 6.77535569e-01 -4.51550007e-02 2.10482828e+02] [-6.75565562e-01 -7.35448332e-01 -5.22199440e-02 1.31226630e+02] [-6.85900395e-02 -7.82963151e-03 9.97614206e-01 8.30318154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.211400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.48, Y:131.23, Z:0.83 [[-7.34487527e-01 6.77125831e-01 -4.50408910e-02 2.10480430e+02] [-6.75162115e-01 -7.35825064e-01 -5.21305379e-02 1.31225850e+02] [-6.84411503e-02 -7.87932664e-03 9.97624040e-01 8.29208328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:131.23, Z:0.83 [[-7.35022010e-01 6.76524950e-01 -4.53501624e-02 2.10482601e+02] [-6.74530039e-01 -7.36376018e-01 -5.25317642e-02 1.31229480e+02] [-6.89338211e-02 -8.02195609e-03 9.97588982e-01 8.30134625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:131.23, Z:0.83 [[-7.35458622e-01 6.76001910e-01 -4.60655212e-02 2.10482497e+02] [-6.73939362e-01 -7.36853891e-01 -5.34048677e-02 1.31228913e+02] [-7.00453511e-02 -8.23170243e-03 9.97509844e-01 8.30634230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.301400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.48, Y:131.23, Z:0.83 [[-7.35242255e-01 6.76168196e-01 -4.70679975e-02 2.10480682e+02] [-6.74011810e-01 -7.36699069e-01 -5.46128428e-02 1.31226429e+02] [-7.16024173e-02 -8.42928354e-03 9.97397634e-01 8.30856890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.48, Y:131.22, Z:0.83 [[-7.36406242e-01 6.74958556e-01 -4.62254824e-02 2.10476378e+02] [-6.72873414e-01 -7.37807535e-01 -5.36787643e-02 1.31222198e+02] [-7.03364504e-02 -8.42547890e-03 9.97487742e-01 8.29438563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.361400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:210.48, Y:131.22, Z:0.83 [[-7.36279159e-01 6.75116677e-01 -4.59398764e-02 2.10475195e+02] [-6.73054470e-01 -7.37663249e-01 -5.33911198e-02 1.31222514e+02] [-6.99333939e-02 -8.39072959e-03 9.97516374e-01 8.27403276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:131.23, Z:0.83 [[-7.36441249e-01 6.74983847e-01 -4.52889984e-02 2.10475195e+02] [-6.72976506e-01 -7.37785643e-01 -5.26779600e-02 1.31226723e+02] [-6.89703449e-02 -8.31579072e-03 9.97584051e-01 8.27955149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.421400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.49, Y:131.24, Z:0.83 [[-7.36115377e-01 6.75318184e-01 -4.56015540e-02 2.10486412e+02] [-6.73280515e-01 -7.37478957e-01 -5.30861205e-02 1.31240006e+02] [-6.94802089e-02 -8.37487178e-03 9.97548175e-01 8.29124814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.49, Y:131.24, Z:0.83 [[-7.36997857e-01 6.74397893e-01 -4.49626530e-02 2.10486808e+02] [-6.72412396e-01 -7.38320629e-01 -5.23852955e-02 1.31237734e+02] [-6.85253872e-02 -8.37440531e-03 9.97614224e-01 8.30196934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.481400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.49, Y:131.23, Z:0.83 [[-7.37793064e-01 6.73569567e-01 -4.43332059e-02 2.10485307e+02] [-6.71635041e-01 -7.39076508e-01 -5.16941757e-02 1.31234935e+02] [-6.75852545e-02 -8.36386978e-03 9.97678445e-01 8.30143611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.511400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.48, Y:131.23, Z:0.83 [[-7.37750557e-01 6.73624713e-01 -4.42025077e-02 2.10480831e+02] [-6.71698795e-01 -7.39026224e-01 -5.15845813e-02 1.31230987e+02] [-6.74154611e-02 -8.36578241e-03 9.97689916e-01 8.30227723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:131.24, Z:0.83 [[-7.36973034e-01 6.74461812e-01 -4.44073351e-02 2.10486744e+02] [-6.72516480e-01 -7.38262401e-01 -5.18672474e-02 1.31237973e+02] [-6.77667435e-02 -8.36009800e-03 9.97666165e-01 8.31900083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:131.24, Z:0.83 [[-7.35595930e-01 6.75939466e-01 -4.47712660e-02 2.10486840e+02] [-6.73961677e-01 -7.36910132e-01 -5.23365607e-02 1.31236549e+02] [-6.83687464e-02 -8.32444353e-03 9.97625390e-01 8.32323140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:131.26, Z:0.83 [[-7.31203276e-01 6.80643608e-01 -4.54538033e-02 2.10503767e+02] [-6.78610551e-01 -7.32570571e-01 -5.31796722e-02 1.31255095e+02] [-6.94945226e-02 -8.03972004e-03 9.97549936e-01 8.34876729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.50, Y:131.26, Z:0.83 [[-7.31059437e-01 6.81221248e-01 -3.85967577e-02 2.10499648e+02] [-6.79184564e-01 -7.31952836e-01 -5.43449537e-02 1.31257016e+02] [-6.52719435e-02 -1.35150692e-02 9.97775985e-01 8.28763334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:131.27, Z:0.84 [[-7.26554263e-01 6.85399903e-01 -4.84342519e-02 2.10526235e+02] [-6.83787809e-01 -7.28166138e-01 -4.69926338e-02 1.31273277e+02] [-6.74769288e-02 -1.02394736e-03 9.97720309e-01 8.41819310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:131.28, Z:0.84 [[-7.24976356e-01 6.87445525e-01 -4.27543362e-02 2.10525832e+02] [-6.85651196e-01 -7.26201921e-01 -5.01318897e-02 1.31280040e+02] [-6.55112244e-02 -7.02987290e-03 9.97827069e-01 8.36872335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.721400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:210.53, Y:131.29, Z:0.84 [[-7.23151809e-01 6.89342386e-01 -4.31107392e-02 2.10534798e+02] [-6.87518496e-01 -7.24402396e-01 -5.05913712e-02 1.31288766e+02] [-6.61042993e-02 -6.94581112e-03 9.97788543e-01 8.36545733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.751400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:210.54, Y:131.30, Z:0.84 [[-7.22265709e-01 6.90298701e-01 -4.26608578e-02 2.10541641e+02] [-6.88511706e-01 -7.23492398e-01 -5.01037010e-02 1.31295437e+02] [-6.54513261e-02 -6.81568512e-03 9.97832486e-01 8.38954208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:131.30, Z:0.84 [[-7.22582482e-01 6.90002129e-01 -4.20906040e-02 2.10542483e+02] [-6.88259603e-01 -7.23775588e-01 -4.94733977e-02 1.31298057e+02] [-6.46009014e-02 -6.77934811e-03 9.97888152e-01 8.40640989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:131.28, Z:0.84 [[-7.23128619e-01 6.89432326e-01 -4.20483982e-02 2.10530416e+02] [-6.87689780e-01 -7.24317688e-01 -4.94636586e-02 1.31284000e+02] [-6.45582437e-02 -6.85233348e-03 9.97890414e-01 8.38799336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:131.29, Z:0.84 [[-7.23893428e-01 6.88616440e-01 -4.22575935e-02 2.10533968e+02] [-6.86852492e-01 -7.25092097e-01 -4.97504204e-02 1.31288861e+02] [-6.48996044e-02 -6.98926899e-03 9.97867322e-01 8.38848548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.871400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.54, Y:131.29, Z:0.84 [[-7.24344160e-01 6.88078412e-01 -4.32855275e-02 2.10539449e+02] [-6.86223706e-01 -7.25600216e-01 -5.10034411e-02 1.31294873e+02] [-6.65023549e-02 -7.24048955e-03 9.97759997e-01 8.38582859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.901400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.54, Y:131.30, Z:0.84 [[-7.25097374e-01 6.87232238e-01 -4.41095134e-02 2.10544157e+02] [-6.85301688e-01 -7.26399172e-01 -5.20176876e-02 1.31299591e+02] [-6.77893459e-02 -7.48956472e-03 9.97671545e-01 8.41218619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.931400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.55, Y:131.31, Z:0.84 [[-7.24462459e-01 6.87865592e-01 -4.46662285e-02 2.10551323e+02] [-6.85884107e-01 -7.25798754e-01 -5.27177413e-02 1.31307325e+02] [-6.86814134e-02 -7.55616826e-03 9.97610028e-01 8.40153461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:131.29, Z:0.84 [[-7.24382016e-01 6.88023990e-01 -4.35164832e-02 2.10537947e+02] [-6.86140879e-01 -7.25650458e-01 -5.14014402e-02 1.31292111e+02] [-6.69431798e-02 -7.37584087e-03 9.97729526e-01 8.40261342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:131.31, Z:0.84 [[-7.23440088e-01 6.89013491e-01 -4.35298521e-02 2.10555010e+02] [-6.87128131e-01 -7.24711576e-01 -5.14593397e-02 1.31313027e+02] [-6.70027669e-02 -7.31716335e-03 9.97725959e-01 8.42346748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.021400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:210.55, Y:131.30, Z:0.84 [[-7.23182647e-01 6.89256737e-01 -4.39546192e-02 2.10548161e+02] [-6.87331876e-01 -7.24479420e-01 -5.20044446e-02 1.31302911e+02] [-6.76886308e-02 -7.39730110e-03 9.97679071e-01 8.41256749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.051400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.55, Y:131.31, Z:0.84 [[-7.23340771e-01 6.89114811e-01 -4.35764355e-02 2.10552856e+02] [-6.87219914e-01 -7.24614628e-01 -5.15987549e-02 1.31310247e+02] [-6.71335888e-02 -7.37688890e-03 9.97716725e-01 8.42834552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:131.31, Z:0.84 [[-7.24606613e-01 6.87840984e-01 -4.26618870e-02 2.10551221e+02] [-6.86020072e-01 -7.25824024e-01 -5.05563766e-02 1.31309425e+02] [-6.57397703e-02 -7.36657400e-03 9.97809609e-01 8.43116055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.111400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.54, Y:131.30, Z:0.84 [[-7.25666025e-01 6.86723831e-01 -4.26520818e-02 2.10544806e+02] [-6.84899154e-01 -7.26879760e-01 -5.05862002e-02 1.31301838e+02] [-6.57416842e-02 -7.49631207e-03 9.97808517e-01 8.39867240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.141400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.54, Y:131.29, Z:0.84 [[-7.26425528e-01 6.85908904e-01 -4.28360693e-02 2.10537485e+02] [-6.84064270e-01 -7.27647376e-01 -5.08465411e-02 1.31293559e+02] [-6.60456487e-02 -7.63360098e-03 9.97787402e-01 8.38232215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.51, Y:131.28, Z:0.83 [[-7.31341303e-01 6.81178142e-01 -3.37081238e-02 2.10514721e+02] [-6.79226032e-01 -7.31926555e-01 -5.41803999e-02 1.31277108e+02] [-6.15783751e-02 -1.67289290e-02 9.97962047e-01 8.34668306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.201400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.56, Y:131.31, Z:0.85 [[-7.27476917e-01 6.84195389e-01 -5.15170399e-02 2.10560601e+02] [-6.82639520e-01 -7.29296998e-01 -4.61429908e-02 1.31306751e+02] [-6.91420441e-02 1.59960670e-03 9.97605543e-01 8.53016991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.231400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.55, Y:131.31, Z:0.85 [[-7.27655299e-01 6.84532565e-01 -4.39651383e-02 2.10551003e+02] [-6.82580471e-01 -7.28938027e-01 -5.22805336e-02 1.31308078e+02] [-6.78355889e-02 -8.03246250e-03 9.97664178e-01 8.45334388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.55, Y:131.31, Z:0.85 [[-7.27375526e-01 6.84831212e-01 -4.39437731e-02 2.10553323e+02] [-6.82878596e-01 -7.28657459e-01 -5.22984858e-02 1.31310973e+02] [-6.78355934e-02 -8.03237657e-03 9.97664179e-01 8.45562067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.291400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.55, Y:131.31, Z:0.84 [[-7.27519968e-01 6.84681576e-01 -4.38843456e-02 2.10548482e+02] [-6.82731031e-01 -7.28797682e-01 -5.22711986e-02 1.31305803e+02] [-6.77719359e-02 -8.06713630e-03 9.97668224e-01 8.43099682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:131.31, Z:0.84 [[-7.26428174e-01 6.85861922e-01 -4.35377155e-02 2.10554203e+02] [-6.83941253e-01 -7.27688541e-01 -5.19013412e-02 1.31313979e+02] [-6.72790503e-02 -7.92535687e-03 9.97702720e-01 8.44219329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.57, Y:131.33, Z:0.84 [[-7.25348223e-01 6.87003068e-01 -4.35515834e-02 2.10566015e+02] [-6.85080223e-01 -7.26612072e-01 -5.19613817e-02 1.31326434e+02] [-6.73427349e-02 -7.85376745e-03 9.97698990e-01 8.44958402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.381400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.54, Y:131.31, Z:0.84 [[-7.28679819e-01 6.83977418e-01 -3.46498654e-02 2.10543765e+02] [-6.81994829e-01 -7.29326543e-01 -5.44595850e-02 1.31310017e+02] [-6.25201929e-02 -1.60525715e-02 9.97914596e-01 8.36982047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:131.31, Z:0.85 [[-7.25079906e-01 6.86896403e-01 -4.93199906e-02 2.10564096e+02] [-6.85418724e-01 -7.26754446e-01 -4.50460600e-02 1.31312827e+02] [-6.67854991e-02 1.14285208e-03 9.97766702e-01 8.54769168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:131.32, Z:0.85 [[-7.26387987e-01 6.85981420e-01 -4.23082124e-02 2.10561116e+02] [-6.84158415e-01 -7.27577282e-01 -5.05822308e-02 1.31322375e+02] [-6.54809647e-02 -7.79680529e-03 9.97823358e-01 8.46218344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:131.31, Z:0.84 [[-7.30806358e-01 6.81736868e-01 -3.40133608e-02 2.10542845e+02] [-6.79807182e-01 -7.31419117e-01 -5.37426240e-02 1.31310482e+02] [-6.15163505e-02 -1.61529244e-02 9.97975361e-01 8.38661368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.501400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.57, Y:131.32, Z:0.85 [[-7.26846016e-01 6.84965737e-01 -5.01678122e-02 2.10571857e+02] [-6.83411780e-01 -7.28574881e-01 -4.61192170e-02 1.31322914e+02] [-6.81410913e-02 7.63704697e-04 9.97675402e-01 8.54251983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:131.34, Z:0.85 [[-7.26569715e-01 6.85743589e-01 -4.30369452e-02 2.10575243e+02] [-6.83848433e-01 -7.27798748e-01 -5.15781207e-02 1.31340807e+02] [-6.66916004e-02 -8.04435294e-03 9.97741208e-01 8.47677759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.561400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.57, Y:131.33, Z:0.84 [[-7.26306088e-01 6.86022890e-01 -4.30355809e-02 2.10567406e+02] [-6.84125451e-01 -7.27535425e-01 -5.16195073e-02 1.31331774e+02] [-6.67220732e-02 -8.04982616e-03 9.97739127e-01 8.44299669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.591400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.58, Y:131.34, Z:0.84 [[-7.26117563e-01 6.86220895e-01 -4.30600439e-02 2.10576820e+02] [-6.84318741e-01 -7.27348469e-01 -5.16920232e-02 1.31344180e+02] [-6.67918034e-02 -8.06769092e-03 9.97734317e-01 8.44445017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:131.34, Z:0.85 [[-7.25481634e-01 6.86907651e-01 -4.28284758e-02 2.10570477e+02] [-6.85024230e-01 -7.26700764e-01 -5.14568186e-02 1.31336811e+02] [-6.64695685e-02 -7.99243325e-03 9.97756442e-01 8.46265224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.58, Y:131.35, Z:0.85 [[-7.23766399e-01 6.88754490e-01 -4.21835611e-02 2.10579844e+02] [-6.86927710e-01 -7.24953392e-01 -5.07237622e-02 1.31346749e+02] [-6.55173346e-02 -7.73509767e-03 9.97821451e-01 8.48763146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.681400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:210.59, Y:131.36, Z:0.85 [[-7.22008638e-01 6.90583104e-01 -4.24087574e-02 2.10589798e+02] [-6.88736945e-01 -7.23212687e-01 -5.10375483e-02 1.31359210e+02] [-6.59162199e-02 -7.64107275e-03 9.97795904e-01 8.48194793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.711400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.59, Y:131.36, Z:0.85 [[-7.20623521e-01 6.92055683e-01 -4.19603696e-02 2.10593781e+02] [-6.90248094e-01 -7.21805602e-01 -5.05395010e-02 1.31364870e+02] [-6.52633787e-02 -7.45688802e-03 9.97840211e-01 8.49269175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.60, Y:131.37, Z:0.85 [[-7.19140078e-01 6.93607472e-01 -4.17878422e-02 2.10600482e+02] [-6.91814563e-01 -7.20316008e-01 -5.03731885e-02 1.31373357e+02] [-6.50396716e-02 -7.31594089e-03 9.97855860e-01 8.50898112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.771400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.61, Y:131.39, Z:0.85 [[-7.15131324e-01 6.97683380e-01 -4.27210878e-02 2.10611730e+02] [-6.95813510e-01 -7.16370728e-01 -5.15416253e-02 1.31385210e+02] [-6.65638721e-02 -7.13312067e-03 9.97756669e-01 8.49166845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.801400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:210.62, Y:131.39, Z:0.85 [[-7.11753634e-01 7.01114567e-01 -4.29549702e-02 2.10619571e+02] [-6.99227322e-01 -7.13015440e-01 -5.18665049e-02 1.31394319e+02] [-6.69919191e-02 -6.88088459e-03 9.97729791e-01 8.50185439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:131.35, Z:0.84 [[-7.11745360e-01 7.01538868e-01 -3.55212546e-02 2.10574536e+02] [-6.99575386e-01 -7.12498691e-01 -5.42207922e-02 1.31347594e+02] [-6.33468406e-02 -1.37416018e-02 9.97896962e-01 8.41635795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.861400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.66, Y:131.42, Z:0.86 [[-7.04309805e-01 7.08236607e-01 -4.84624384e-02 2.10655246e+02] [-7.06732640e-01 -7.05973012e-01 -4.61636510e-02 1.31424733e+02] [-6.69079612e-02 1.73647500e-03 9.97757641e-01 8.61868670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.66, Y:131.44, Z:0.86 [[-6.98444705e-01 7.14474419e-01 -4.12468101e-02 2.10659091e+02] [-7.12750566e-01 -6.99640306e-01 -4.99006368e-02 1.31439076e+02] [-6.45106593e-02 -5.45414836e-03 9.97902113e-01 8.56077969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.921400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:210.67, Y:131.45, Z:0.86 [[-6.95566102e-01 7.17263079e-01 -4.14906425e-02 2.10669621e+02] [-7.15521025e-01 -6.96782652e-01 -5.02354346e-02 1.31451741e+02] [-6.49419824e-02 -5.25463838e-03 9.97875207e-01 8.55324401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:131.79, Z:0.89 [[-6.92978230e-01 7.19755255e-01 -4.16358596e-02 2.10951664e+02] [-7.18002749e-01 -6.94209404e-01 -5.04515218e-02 1.31793451e+02] [-6.52167532e-02 -5.06714459e-03 9.97858256e-01 8.86888755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.981400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.95, Y:131.79, Z:0.89 [[-6.90722872e-01 7.21896317e-01 -4.20430950e-02 2.10950513e+02] [-7.20111809e-01 -6.91983688e-01 -5.09662432e-02 1.31791379e+02] [-6.58854792e-02 -4.92782069e-03 9.97815023e-01 8.86136355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.011400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.95, Y:131.79, Z:0.89 [[-6.88666861e-01 7.23917734e-01 -4.10008353e-02 2.10949151e+02] [-7.22222777e-01 -6.89870752e-01 -4.97252966e-02 1.31789418e+02] [-6.42823011e-02 -4.63242674e-03 9.97921002e-01 8.87007863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:131.79, Z:0.89 [[-6.88510424e-01 7.24099075e-01 -4.04218521e-02 2.10951426e+02] [-7.22450144e-01 -6.89680826e-01 -4.90525055e-02 1.31792709e+02] [-6.33970502e-02 -4.57038850e-03 9.97977918e-01 8.88002026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:131.80, Z:0.89 [[-6.89387963e-01 7.23290681e-01 -3.99352899e-02 2.10954616e+02] [-7.21678081e-01 -6.90528312e-01 -4.84912166e-02 1.31796716e+02] [-6.26496934e-02 -4.60883766e-03 9.98024937e-01 8.88344254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.101400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.96, Y:131.80, Z:0.89 [[-6.90131194e-01 7.22540725e-01 -4.06673694e-02 2.10960633e+02] [-7.20865147e-01 -6.91311805e-01 -4.94108201e-02 1.31804728e+02] [-6.38151623e-02 -4.78425912e-03 9.97950267e-01 8.86687611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:131.81, Z:0.89 [[-6.91312069e-01 7.21392023e-01 -4.10021105e-02 2.10962282e+02] [-7.19684756e-01 -6.92509226e-01 -4.98480097e-02 1.31806951e+02] [-6.43542964e-02 -4.95193678e-03 9.97914828e-01 8.88847655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.161400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.97, Y:131.81, Z:0.89 [[-6.92271210e-01 7.20420964e-01 -4.18832482e-02 2.10966939e+02] [-7.18635487e-01 -6.93517744e-01 -5.09526813e-02 1.31813503e+02] [-6.57541556e-02 -5.17428585e-03 9.97822438e-01 8.89773265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:131.81, Z:0.89 [[-6.95475163e-01 7.17359414e-01 -4.13493551e-02 2.10958575e+02] [-7.15611916e-01 -6.96682240e-01 -5.03333035e-02 1.31805735e+02] [-6.49144305e-02 -5.41547123e-03 9.97876139e-01 8.88200978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.221400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.69, Y:131.48, Z:0.86 [[-6.96648023e-01 7.16234249e-01 -4.11099941e-02 2.10693416e+02] [-7.14503086e-01 -6.97838196e-01 -5.00718614e-02 1.31484140e+02] [-6.45513062e-02 -5.50924555e-03 9.97899182e-01 8.59032820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.251400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.69, Y:131.49, Z:0.86 [[-6.98209674e-01 7.14675604e-01 -4.17376636e-02 2.10693597e+02] [-7.12885794e-01 -6.99432281e-01 -5.08756280e-02 1.31485290e+02] [-6.55522394e-02 -5.76766820e-03 9.97832470e-01 8.57467916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.281400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.69, Y:131.48, Z:0.86 [[-6.99844384e-01 7.13037164e-01 -4.23773768e-02 2.10686027e+02] [-7.11186326e-01 -7.01100213e-01 -5.16962426e-02 1.31476809e+02] [-6.65721300e-02 -6.04111414e-03 9.97763327e-01 8.58318077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.311400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:210.69, Y:131.48, Z:0.86 [[-7.00848238e-01 7.11990106e-01 -4.33801311e-02 2.10686149e+02] [-7.10045662e-01 -7.02161087e-01 -5.29619317e-02 1.31476704e+02] [-6.81682114e-02 -6.31640256e-03 9.97653847e-01 8.58113045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.341400513 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.70, Y:131.49, Z:0.86 [[-7.01674452e-01 7.11177542e-01 -4.33528191e-02 2.10695140e+02] [-7.09231183e-01 -7.02983128e-01 -5.29702840e-02 1.31487229e+02] [-6.81475767e-02 -6.42072387e-03 9.97654591e-01 8.60620278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.371400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:210.68, Y:131.47, Z:0.86 [[-7.01760311e-01 7.11118044e-01 -4.29370853e-02 2.10681353e+02] [-7.09206009e-01 -7.03043563e-01 -5.25031963e-02 1.31471606e+02] [-6.75226117e-02 -6.39342046e-03 9.97697259e-01 8.57577570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.401400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.67, Y:131.46, Z:0.86 [[-7.02519339e-01 7.10483467e-01 -4.09856303e-02 2.10670735e+02] [-7.08737989e-01 -7.03686699e-01 -5.01546809e-02 1.31459675e+02] [-6.44751145e-02 -6.18656004e-03 9.97900138e-01 8.56884428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.431400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.68, Y:131.47, Z:0.86 [[-7.02448745e-01 7.10535555e-01 -4.12914790e-02 2.10678867e+02] [-7.08761327e-01 -7.03633482e-01 -5.05698026e-02 1.31470007e+02] [-6.49857099e-02 -6.25689091e-03 9.97866579e-01 8.59536372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.461400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.67, Y:131.46, Z:0.86 [[-7.02830542e-01 7.10120367e-01 -4.19320082e-02 2.10668353e+02] [-7.08287099e-01 -7.04051000e-01 -5.13962608e-02 1.31456457e+02] [-6.60198038e-02 -6.42296146e-03 9.97797640e-01 8.59584798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.491400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.69, Y:131.48, Z:0.86 [[-7.04667502e-01 7.08259620e-01 -4.25678579e-02 2.10689126e+02] [-7.06364065e-01 -7.05919997e-01 -5.22184410e-02 1.31483054e+02] [-6.70337153e-02 -6.72823322e-03 9.97728025e-01 8.61346831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.521400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.68, Y:131.47, Z:0.86 [[-7.05305747e-01 7.07613609e-01 -4.27408918e-02 2.10677674e+02] [-7.05698574e-01 -7.06566411e-01 -5.24731325e-02 1.31470127e+02] [-6.73299812e-02 -6.84741550e-03 9.97707265e-01 8.58391047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.551400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:210.67, Y:131.46, Z:0.86 [[-7.06364470e-01 7.06567200e-01 -4.25679041e-02 2.10668097e+02] [-7.04662992e-01 -7.07611834e-01 -5.23025809e-02 1.31459060e+02] [-6.70768408e-02 -6.94865818e-03 9.97723616e-01 8.56925619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:131.47, Z:0.86 [[-7.06727430e-01 7.06205700e-01 -4.25423171e-02 2.10674702e+02] [-7.04300287e-01 -7.07972022e-01 -5.23136846e-02 1.31468121e+02] [-6.70629925e-02 -7.00894973e-03 9.97724125e-01 8.59278198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.611400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.68, Y:131.48, Z:0.86 [[-7.06006316e-01 7.06919826e-01 -4.26549111e-02 2.10683755e+02] [-7.05002668e-01 -7.07259146e-01 -5.24951365e-02 1.31478683e+02] [-6.72779287e-02 -6.99007186e-03 9.97709787e-01 8.60983991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:131.48, Z:0.86 [[-7.06298220e-01 7.06671646e-01 -4.19286302e-02 2.10684191e+02] [-7.04816142e-01 -7.07507779e-01 -5.16425186e-02 1.31479945e+02] [-6.61591356e-02 -6.92304356e-03 9.97785067e-01 8.61248260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.671400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.67, Y:131.47, Z:0.86 [[-7.06671244e-01 7.06321669e-01 -4.15385743e-02 2.10673756e+02] [-7.04497283e-01 -7.07857199e-01 -5.12031666e-02 1.31468090e+02] [-6.55692849e-02 -6.91999270e-03 9.97824024e-01 8.59394369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.701400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.68, Y:131.47, Z:0.86 [[-7.07527212e-01 7.05471506e-01 -4.14149596e-02 2.10676466e+02] [-7.03653836e-01 -7.08703640e-01 -5.10923559e-02 1.31472498e+02] [-6.53951339e-02 -7.00743688e-03 9.97834842e-01 8.59461648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.731400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.68, Y:131.47, Z:0.86 [[-7.08528536e-01 7.04434091e-01 -4.19514641e-02 2.10678102e+02] [-7.02564334e-01 -7.09732620e-01 -5.17973429e-02 1.31474914e+02] [-6.62621367e-02 -7.22629311e-03 9.97776082e-01 8.58824983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.761400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:210.67, Y:131.47, Z:0.86 [[-7.09882719e-01 7.02987628e-01 -4.33003463e-02 2.10673499e+02] [-7.00989816e-01 -7.11161132e-01 -5.35081532e-02 1.31470131e+02] [-6.84090930e-02 -7.63141150e-03 9.97628166e-01 8.59043906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:131.47, Z:0.86 [[-7.10929473e-01 7.01930017e-01 -4.32843591e-02 2.10676283e+02] [-6.99928756e-01 -7.12203626e-01 -5.35325307e-02 1.31474488e+02] [-6.84033677e-02 -7.76188629e-03 9.97627552e-01 8.60258448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.821400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.67, Y:131.47, Z:0.86 [[-7.11698454e-01 7.01163240e-01 -4.30746143e-02 2.10672686e+02] [-6.99176998e-01 -7.12957797e-01 -5.33170293e-02 1.31469768e+02] [-6.80943231e-02 -7.82886777e-03 9.97648170e-01 8.59718539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:131.47, Z:0.86 [[-7.11498280e-01 7.01368762e-01 -4.30355346e-02 2.10674059e+02] [-6.99383475e-01 -7.12755564e-01 -5.33128573e-02 1.31471582e+02] [-6.80657895e-02 -7.83366454e-03 9.97650080e-01 8.59530366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.881400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.69, Y:131.49, Z:0.86 [[-7.10472497e-01 7.02384709e-01 -4.34114272e-02 2.10691495e+02] [-7.00363260e-01 -7.11754389e-01 -5.38237346e-02 1.31492410e+02] [-6.87032420e-02 -7.83651439e-03 9.97606362e-01 8.61262560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:131.49, Z:0.86 [[-7.09949759e-01 7.02909846e-01 -4.34636477e-02 2.10687575e+02] [-7.00881395e-01 -7.11235887e-01 -5.39331283e-02 1.31488065e+02] [-6.88230329e-02 -7.82694944e-03 9.97598180e-01 8.61358210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.941400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.69, Y:131.50, Z:0.86 [[-7.08597574e-01 7.04277699e-01 -4.33866377e-02 2.10694264e+02] [-7.02255865e-01 -7.09882699e-01 -5.38818450e-02 1.31496266e+02] [-6.87472053e-02 -7.71202389e-03 9.97604304e-01 8.62382009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.971400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.70, Y:131.50, Z:0.86 [[-7.07410395e-01 7.05516408e-01 -4.26278233e-02 2.10696940e+02] [-7.03564036e-01 -7.08654016e-01 -5.29823776e-02 1.31498759e+02] [-6.75883149e-02 -7.48888118e-03 9.97685189e-01 8.62733885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.69, Y:131.50, Z:0.86 [[-7.06499032e-01 7.06473735e-01 -4.18805326e-02 2.10694421e+02] [-7.04588127e-01 -7.07701643e-01 -5.20956429e-02 1.31496453e+02] [-6.64431251e-02 -7.29699533e-03 9.97763532e-01 8.63049251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.031400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.69, Y:131.50, Z:0.86 [[-7.05501897e-01 7.07493220e-01 -4.14779128e-02 2.10692769e+02] [-7.05642661e-01 -7.06683846e-01 -5.16369686e-02 1.31495701e+02] [-6.58445761e-02 -7.16139450e-03 9.97804192e-01 8.62813941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:131.50, Z:0.86 [[-7.05816136e-01 7.07196247e-01 -4.11952650e-02 2.10696686e+02] [-7.05367596e-01 -7.06980948e-01 -5.13273067e-02 1.31500398e+02] [-6.54227462e-02 -7.16983629e-03 9.97831879e-01 8.62917270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:131.51, Z:0.86 [[-7.05600207e-01 7.07371576e-01 -4.18784087e-02 2.10701272e+02] [-7.05479060e-01 -7.06804151e-01 -5.22224905e-02 1.31506339e+02] [-6.65405385e-02 -7.30385969e-03 9.97756990e-01 8.63555836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:131.50, Z:0.86 [[-7.05846209e-01 7.07107487e-01 -4.21916097e-02 2.10695919e+02] [-7.05183114e-01 -7.07067197e-01 -5.26569498e-02 1.31499581e+02] [-6.70664267e-02 -7.41489767e-03 9.97720960e-01 8.63315849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:131.50, Z:0.86 [[-7.05559365e-01 7.07394974e-01 -4.21702765e-02 2.10698168e+02] [-7.05470109e-01 -7.06779578e-01 -5.26740289e-02 1.31502525e+02] [-6.70664336e-02 -7.41478482e-03 9.97720960e-01 8.63543120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.181400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.71, Y:131.51, Z:0.86 [[-7.06108434e-01 7.06868565e-01 -4.18056335e-02 2.10706008e+02] [-7.04973114e-01 -7.07305887e-01 -5.22617527e-02 1.31513951e+02] [-6.65115608e-02 -7.43061667e-03 9.97757986e-01 8.63250495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.211400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:210.71, Y:131.53, Z:0.86 [[-7.04665766e-01 7.08306911e-01 -4.18028569e-02 2.10714587e+02] [-7.06411258e-01 -7.05866603e-01 -5.23017455e-02 1.31525032e+02] [-6.65529284e-02 -7.32524085e-03 9.97756007e-01 8.62876844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.241400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.72, Y:131.53, Z:0.86 [[-7.03697942e-01 7.09275415e-01 -4.16844309e-02 2.10719994e+02] [-7.07389287e-01 -7.04894260e-01 -5.21965441e-02 1.31531772e+02] [-6.64048415e-02 -7.24348084e-03 9.97766470e-01 8.64772520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.271400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:210.72, Y:131.53, Z:0.87 [[-7.02345220e-01 7.10580692e-01 -4.22643145e-02 2.10721368e+02] [-7.08640964e-01 -7.03578359e-01 -5.29667645e-02 1.31532349e+02] [-6.73734173e-02 -7.25072929e-03 9.97701483e-01 8.65002351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.301400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.71, Y:131.52, Z:0.87 [[-7.02275325e-01 7.10642943e-01 -4.23789496e-02 2.10714754e+02] [-7.08689811e-01 -7.03515022e-01 -5.31541729e-02 1.31523798e+02] [-6.75878655e-02 -7.29533428e-03 9.97686654e-01 8.65078705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.331400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:210.72, Y:131.53, Z:0.87 [[-7.03870966e-01 7.09096344e-01 -4.18095477e-02 2.10718813e+02] [-7.07189903e-01 -7.05073048e-01 -5.24827392e-02 1.31531268e+02] [-6.66941037e-02 -7.37378637e-03 9.97746222e-01 8.65085921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.361400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:210.70, Y:131.51, Z:0.86 [[-7.05363869e-01 7.07644545e-01 -4.12432959e-02 2.10703322e+02] [-7.05784263e-01 -7.06529446e-01 -5.18142519e-02 1.31512962e+02] [-6.58056758e-02 -7.43903199e-03 9.97804727e-01 8.62591718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.71, Y:131.52, Z:0.86 [[-7.07178013e-01 7.05857310e-01 -4.08009379e-02 2.10706059e+02] [-7.04031122e-01 -7.08313772e-01 -5.13008810e-02 1.31518246e+02] [-6.51109681e-02 -7.55372500e-03 9.97849439e-01 8.63647111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.421400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.70, Y:131.51, Z:0.86 [[-7.07026583e-01 7.06042981e-01 -4.02084508e-02 2.10695556e+02] [-7.04051545e-01 -7.08101283e-01 -5.38887284e-02 1.31508338e+02] [-6.65194140e-02 -9.79194158e-03 9.97737082e-01 8.60502267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:131.51, Z:0.87 [[-7.10960080e-01 7.01961727e-01 -4.22551672e-02 2.10699371e+02] [-7.00174427e-01 -7.12186943e-01 -5.04532388e-02 1.31509121e+02] [-6.55098210e-02 -6.28425114e-03 9.97832136e-01 8.65356773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.71, Y:131.52, Z:0.86 [[-7.12106905e-01 7.00847658e-01 -4.14284428e-02 2.10705311e+02] [-6.98948242e-01 -7.13263542e-01 -5.22156502e-02 1.31520561e+02] [-6.61446140e-02 -8.22678780e-03 9.97776132e-01 8.64596244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.511400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:210.69, Y:131.50, Z:0.86 [[-7.13984068e-01 6.98863631e-01 -4.26189586e-02 2.10685946e+02] [-6.96846727e-01 -7.15202180e-01 -5.37631901e-02 1.31500219e+02] [-6.80543103e-02 -8.68717935e-03 9.97643796e-01 8.62606639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:131.51, Z:0.86 [[-7.14561782e-01 6.98268625e-01 -4.26894354e-02 2.10687987e+02] [-6.96240854e-01 -7.15781835e-01 -5.38984073e-02 1.31505642e+02] [-6.81918891e-02 -8.79161296e-03 9.97633487e-01 8.63005807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.571400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.70, Y:131.53, Z:0.86 [[-7.13012714e-01 6.99879830e-01 -4.22030076e-02 2.10702251e+02] [-6.97897674e-01 -7.14209180e-01 -5.33299573e-02 1.31527482e+02] [-6.74663369e-02 -8.57155675e-03 9.97684731e-01 8.64993992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:131.53, Z:0.86 [[-7.11225215e-01 7.01714874e-01 -4.18918688e-02 2.10702794e+02] [-6.99761883e-01 -7.12408742e-01 -5.29819926e-02 1.31530795e+02] [-6.70223858e-02 -8.36779612e-03 9.97716382e-01 8.64951945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.631400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.64, Y:131.46, Z:0.86 [[-7.06867143e-01 7.06143774e-01 -4.12287860e-02 2.10640513e+02] [-7.04082492e-01 -7.08002121e-01 -5.47799329e-02 1.31457461e+02] [-6.78725765e-02 -9.69366823e-03 9.97646905e-01 8.56450114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:131.55, Z:0.87 [[-7.05675488e-01 7.07250053e-01 -4.26552220e-02 2.10712226e+02] [-7.05375518e-01 -7.06933459e-01 -5.18696735e-02 1.31548556e+02] [-6.68392329e-02 -6.51520785e-03 9.97742486e-01 8.66816860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:131.56, Z:0.87 [[-7.02584451e-01 7.10387796e-01 -4.15243161e-02 2.10714688e+02] [-7.08474347e-01 -7.03769717e-01 -5.26524853e-02 1.31556529e+02] [-6.66272393e-02 -7.57390471e-03 9.97749190e-01 8.66484759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:131.57, Z:0.87 [[-6.99951932e-01 7.12976055e-01 -4.16225753e-02 2.10726703e+02] [-7.11054940e-01 -7.01149576e-01 -5.28218214e-02 1.31574003e+02] [-6.68443449e-02 -7.37679815e-03 9.97736146e-01 8.68978921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:131.60, Z:0.87 [[-6.96075673e-01 7.16746223e-01 -4.18749269e-02 2.10742646e+02] [-7.14805260e-01 -6.97298062e-01 -5.31869543e-02 1.31596156e+02] [-6.73208540e-02 -7.08972700e-03 9.97706188e-01 8.72239265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.73, Y:131.58, Z:0.87 [[-6.94740984e-01 7.18029936e-01 -4.20473148e-02 2.10733903e+02] [-7.16072208e-01 -6.95976765e-01 -5.34503060e-02 1.31584986e+02] [-6.76428739e-02 -7.02520463e-03 9.97684864e-01 8.71130829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.811400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.74, Y:131.59, Z:0.87 [[-6.93380545e-01 7.19332554e-01 -4.22385667e-02 2.10735889e+02] [-7.17356260e-01 -6.94630998e-01 -5.37379970e-02 1.31586730e+02] [-6.79957084e-02 -6.96078139e-03 9.97661331e-01 8.70247477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:131.61, Z:0.87 [[-6.92948458e-01 7.19781885e-01 -4.16709967e-02 2.10754366e+02] [-7.17856276e-01 -6.94166453e-01 -5.30594161e-02 1.31607701e+02] [-6.71178146e-02 -6.85365406e-03 9.97721517e-01 8.72905388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:131.62, Z:0.87 [[-6.91653322e-01 7.21086593e-01 -4.06178175e-02 2.10766794e+02] [-7.19256660e-01 -6.92813654e-01 -5.17600095e-02 1.31617307e+02] [-6.54640275e-02 -6.58534681e-03 9.97833200e-01 8.73778636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.901400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:210.76, Y:131.61, Z:0.87 [[-6.90520523e-01 7.22201148e-01 -4.00862664e-02 2.10762007e+02] [-7.20418016e-01 -6.91653269e-01 -5.11237451e-02 1.31609091e+02] [-6.46474247e-02 -6.42312669e-03 9.97887496e-01 8.72422293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.931400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.77, Y:131.62, Z:0.87 [[-6.87231051e-01 7.25535690e-01 -3.62138731e-02 2.10768039e+02] [-7.23684372e-01 -6.88111100e-01 -5.27640437e-02 1.31619027e+02] [-6.32013649e-02 -1.00536752e-02 9.97950155e-01 8.71024711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:131.62, Z:0.88 [[-6.87411568e-01 7.24969441e-01 -4.34125029e-02 2.10781123e+02] [-7.23292262e-01 -6.88776409e-01 -4.93493874e-02 1.31623178e+02] [-6.56783057e-02 -2.52341235e-03 9.97837658e-01 8.76654377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.991400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.80, Y:131.64, Z:0.87 [[-6.85598753e-01 7.26820048e-01 -4.10727201e-02 2.10795368e+02] [-7.24947429e-01 -6.86799723e-01 -5.25106288e-02 1.31641116e+02] [-6.63745105e-02 -6.22565880e-03 9.97775358e-01 8.74736729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:131.64, Z:0.88 [[-6.83199161e-01 7.29098515e-01 -4.06726163e-02 2.10802803e+02] [-7.27263440e-01 -6.84382687e-01 -5.20406237e-02 1.31640804e+02] [-6.57783759e-02 -5.97440358e-03 9.97816372e-01 8.75348022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:131.65, Z:0.88 [[-6.81237492e-01 7.30950987e-01 -4.03253453e-02 2.10813274e+02] [-7.29147638e-01 -6.82405535e-01 -5.16372710e-02 1.31651049e+02] [-6.52625531e-02 -5.77411478e-03 9.97851421e-01 8.75303467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.081400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.10, Y:132.01, Z:0.90 [[-6.77443475e-01 7.34443725e-01 -4.07768665e-02 2.11096510e+02] [-7.32603062e-01 -6.78647073e-01 -5.22580635e-02 1.32013980e+02] [-6.60537079e-02 -5.52862689e-03 9.97800753e-01 9.04796853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.111400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.09, Y:132.00, Z:0.90 [[-6.73441184e-01 7.38102478e-01 -4.10085922e-02 2.11088063e+02] [-7.36245960e-01 -6.74668463e-01 -5.25771124e-02 1.32002340e+02] [-6.64745007e-02 -5.21518251e-03 9.97774495e-01 9.04605885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:132.00, Z:0.91 [[-6.67952741e-01 7.43093169e-01 -4.06408422e-02 2.11091843e+02] [-7.41276760e-01 -6.69171472e-01 -5.21373721e-02 1.32004772e+02] [-6.59386173e-02 -4.69918876e-03 9.97812616e-01 9.06479343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.171400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.09, Y:132.00, Z:0.91 [[-6.66172579e-01 7.44706692e-01 -4.03241581e-02 2.11087419e+02] [-7.42919341e-01 -6.67376553e-01 -5.17628063e-02 1.31998907e+02] [-6.54595059e-02 -4.52536519e-03 9.97844965e-01 9.06013938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.10, Y:132.01, Z:0.91 [[-6.65932806e-01 7.44940489e-01 -3.99645501e-02 2.11095115e+02] [-7.43183280e-01 -6.67115859e-01 -5.13326754e-02 1.32009043e+02] [-6.49007735e-02 -4.48312713e-03 9.97881652e-01 9.07084493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.231400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.09, Y:132.01, Z:0.91 [[-6.66016752e-01 7.44839434e-01 -4.04463045e-02 2.11093843e+02] [-7.43037224e-01 -6.67228102e-01 -5.19840739e-02 1.32007902e+02] [-6.57066992e-02 -4.56915422e-03 9.97828519e-01 9.06934770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.261400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:211.10, Y:132.01, Z:0.91 [[-6.67746710e-01 7.43283597e-01 -4.05441071e-02 2.11096813e+02] [-7.41467680e-01 -6.68959549e-01 -5.21421310e-02 1.32011938e+02] [-6.58787583e-02 -4.75559147e-03 9.97816303e-01 9.07449787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.291400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.10, Y:132.02, Z:0.91 [[-6.71124833e-01 7.40177560e-01 -4.15768971e-02 2.11104685e+02] [-7.38259632e-01 -6.72391254e-01 -5.35043631e-02 1.32023640e+02] [-6.75586709e-02 -5.21356200e-03 9.97701681e-01 9.07258078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.321400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.11, Y:132.03, Z:0.91 [[-6.73086622e-01 7.38400845e-01 -4.14558847e-02 2.11112463e+02] [-7.36488538e-01 -6.74340453e-01 -5.33815208e-02 1.32034139e+02] [-6.73723401e-02 -5.39860361e-03 9.97713297e-01 9.09238830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.351400513 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:211.12, Y:132.04, Z:0.91 [[-6.73406458e-01 7.38073283e-01 -4.20900416e-02 2.11115035e+02] [-7.36098866e-01 -6.74697820e-01 -5.42338483e-02 1.32037244e+02] [-6.84266138e-02 -5.53899178e-03 9.97640776e-01 9.09020093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.381400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.12, Y:132.04, Z:0.91 [[-6.74175004e-01 7.37356126e-01 -4.23557316e-02 2.11116686e+02] [-7.35352823e-01 -6.75480405e-01 -5.46117879e-02 1.32039531e+02] [-6.88788031e-02 -5.67149546e-03 9.97608914e-01 9.10521173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.411400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:211.12, Y:132.04, Z:0.91 [[-6.74353769e-01 7.37182479e-01 -4.25322002e-02 2.11118370e+02] [-7.35159611e-01 -6.75669355e-01 -5.48750231e-02 1.32042402e+02] [-6.91906099e-02 -5.73722283e-03 9.97586961e-01 9.09963992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:132.05, Z:0.91 [[-6.77347588e-01 7.34522076e-01 -4.09580919e-02 2.11118480e+02] [-7.32639352e-01 -6.78559930e-01 -5.28772215e-02 1.32045894e+02] [-6.66320065e-02 -5.80874849e-03 9.97760710e-01 9.09934206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.471400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.13, Y:132.06, Z:0.91 [[-6.78386736e-01 7.33578635e-01 -4.06672124e-02 2.11126118e+02] [-7.31719285e-01 -6.79579175e-01 -5.25264919e-02 1.32057431e+02] [-6.61689029e-02 -5.87629180e-03 9.97791133e-01 9.09985017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:131.71, Z:0.88 [[-6.79694006e-01 7.32363300e-01 -4.07437803e-02 2.10853336e+02] [-7.30492656e-01 -6.80887406e-01 -5.26575727e-02 1.31707571e+02] [-6.63064006e-02 -6.02800423e-03 9.97781100e-01 8.79646494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.85, Y:131.71, Z:0.88 [[-6.78644015e-01 7.33298285e-01 -4.14237479e-02 2.10851316e+02] [-7.31363482e-01 -6.79880023e-01 -5.35780810e-02 1.31707794e+02] [-6.74518935e-02 -6.06462750e-03 9.97704096e-01 8.79498242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.561400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.84, Y:131.69, Z:0.88 [[-6.76918354e-01 7.34865018e-01 -4.18920836e-02 2.10837071e+02] [-7.32886125e-01 -6.78186805e-01 -5.42271699e-02 1.31689104e+02] [-6.82603085e-02 -6.00523982e-03 9.97649471e-01 8.77899299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.591400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:210.86, Y:131.72, Z:0.88 [[-6.76491716e-01 7.35267344e-01 -4.17239895e-02 2.10858769e+02] [-7.33302138e-01 -6.77750908e-01 -5.40525785e-02 1.31716536e+02] [-6.80215676e-02 -5.96983083e-03 9.97665990e-01 8.81088325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:131.71, Z:0.88 [[-6.76466654e-01 7.35301163e-01 -4.15339021e-02 2.10851184e+02] [-7.33351004e-01 -6.77714232e-01 -5.38490893e-02 1.31708420e+02] [-6.77434146e-02 -5.96818446e-03 9.97684926e-01 8.80060079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:131.72, Z:0.88 [[-6.74968310e-01 7.36679744e-01 -4.14817483e-02 2.10859713e+02] [-7.34734134e-01 -6.76216470e-01 -5.38241435e-02 1.31723652e+02] [-6.77017976e-02 -5.85153476e-03 9.97688441e-01 8.79672151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.681400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:211.14, Y:132.08, Z:0.91 [[-6.74366850e-01 7.37258920e-01 -4.09711723e-02 2.11137420e+02] [-7.35359209e-01 -6.75585835e-01 -5.32035001e-02 1.32081978e+02] [-6.69042987e-02 -5.75014791e-03 9.97742828e-01 9.09425939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:131.71, Z:0.88 [[-6.75579551e-01 7.36216553e-01 -3.97172126e-02 2.10849638e+02] [-7.34427944e-01 -6.76722090e-01 -5.16024066e-02 1.31705578e+02] [-6.48680610e-02 -5.69209985e-03 9.97877615e-01 8.78834542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.741400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.86, Y:131.71, Z:0.88 [[-6.75562062e-01 7.36281869e-01 -3.87931620e-02 2.10856120e+02] [-7.34573306e-01 -6.76651968e-01 -5.04397796e-02 1.31712020e+02] [-6.33873646e-02 -5.57878023e-03 9.97973406e-01 8.78451663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.771400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.86, Y:131.72, Z:0.88 [[-6.75194732e-01 7.36616401e-01 -3.88375049e-02 2.10858891e+02] [-7.34901878e-01 -6.76287754e-01 -5.05381420e-02 1.31716836e+02] [-6.34925533e-02 -5.58133192e-03 9.97966705e-01 8.79012368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.801400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.87, Y:131.73, Z:0.88 [[-6.74861467e-01 7.36906768e-01 -3.91205248e-02 2.10867582e+02] [-7.35164972e-01 -6.75971007e-01 -5.09476309e-02 1.31728161e+02] [-6.39879945e-02 -5.62255342e-03 9.97934829e-01 8.80594376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.831400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.14, Y:132.08, Z:0.91 [[-6.70820487e-01 7.40537869e-01 -4.00442029e-02 2.11142472e+02] [-7.38716227e-01 -6.71992683e-01 -5.21935849e-02 1.32084008e+02] [-6.55607375e-02 -5.43122361e-03 9.97833800e-01 9.10821678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.861400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.15, Y:132.09, Z:0.91 [[-6.67954648e-01 7.43105101e-01 -4.03905524e-02 2.11145310e+02] [-7.41254184e-01 -6.69154153e-01 -5.26778358e-02 1.32087899e+02] [-6.61726744e-02 -5.24673933e-03 9.97794392e-01 9.11067973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.891400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.15, Y:132.09, Z:0.91 [[-6.66066296e-01 7.44806417e-01 -4.02379259e-02 2.11146181e+02] [-7.42970392e-01 -6.67261263e-01 -5.25109872e-02 1.32089364e+02] [-6.59597295e-02 -5.08021115e-03 9.97809353e-01 9.12103262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.09, Z:0.91 [[-6.63549554e-01 7.47070229e-01 -3.98504951e-02 2.11146182e+02] [-7.45271232e-01 -6.64727564e-01 -5.20390011e-02 1.32090238e+02] [-6.53665110e-02 -4.83102839e-03 9.97849628e-01 9.11841437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:132.09, Z:0.91 [[-6.63284008e-01 7.47332282e-01 -3.93546117e-02 2.11146096e+02] [-7.45576254e-01 -6.64433402e-01 -5.14227992e-02 1.32089281e+02] [-6.45784364e-02 -4.76605634e-03 9.97901253e-01 9.12847456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.981400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:211.15, Y:132.09, Z:0.91 [[-6.62135562e-01 7.48335666e-01 -3.96261060e-02 2.11147553e+02] [-7.46554959e-01 -6.63303425e-01 -5.18098432e-02 1.32091452e+02] [-6.50552853e-02 -4.72207370e-03 9.97870489e-01 9.11442692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.011400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.15, Y:132.09, Z:0.91 [[-6.63160302e-01 7.47438109e-01 -3.94295193e-02 2.11149289e+02] [-7.45671419e-01 -6.64314054e-01 -5.15846197e-02 1.32094544e+02] [-6.47498945e-02 -4.80740636e-03 9.97889944e-01 9.13146772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.041400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.15, Y:132.10, Z:0.91 [[-6.62937171e-01 7.47636835e-01 -3.94140819e-02 2.11151415e+02] [-7.45869800e-01 -6.64090394e-01 -5.15964121e-02 1.32097460e+02] [-6.47498914e-02 -4.80740614e-03 9.97889944e-01 9.13373859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.071400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.15, Y:132.10, Z:0.91 [[-6.62665163e-01 7.47862048e-01 -3.97144720e-02 2.11154453e+02] [-7.46066215e-01 -6.63836498e-01 -5.20221749e-02 1.32101362e+02] [-6.52693263e-02 -4.84365720e-03 9.97855929e-01 9.12637315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.101400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.16, Y:132.10, Z:0.91 [[-6.62842189e-01 7.47681758e-01 -4.01524785e-02 2.11156368e+02] [-7.45843538e-01 -6.64038864e-01 -5.26289269e-02 1.32104678e+02] [-6.60124948e-02 -4.93720647e-03 9.97806582e-01 9.13642127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:132.11, Z:0.92 [[-6.65358148e-01 7.45430384e-01 -4.03989901e-02 2.11161021e+02] [-7.43563199e-01 -6.66563087e-01 -5.29850966e-02 1.32110744e+02] [-6.64251765e-02 -5.21486342e-03 9.97777781e-01 9.15843365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:132.12, Z:0.92 [[-6.66921196e-01 7.44028763e-01 -4.04637776e-02 2.11166257e+02] [-7.42150844e-01 -6.68125885e-01 -5.31029871e-02 1.32119874e+02] [-6.65450470e-02 -5.38528099e-03 9.97768889e-01 9.16537655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:132.13, Z:0.92 [[-6.68691759e-01 7.42426315e-01 -4.06755259e-02 2.11169299e+02] [-7.40523400e-01 -6.69904347e-01 -5.34159206e-02 1.32126633e+02] [-6.69060967e-02 -5.59760720e-03 9.97743575e-01 9.17087297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.221400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.88, Y:131.75, Z:0.89 [[-6.72245503e-01 7.39145954e-01 -4.18239486e-02 2.10882387e+02] [-7.37125266e-01 -6.73517518e-01 -5.49590295e-02 1.31754436e+02] [-6.87919064e-02 -6.11647120e-03 9.97612281e-01 8.85037292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:131.77, Z:0.89 [[-6.73051692e-01 7.38386476e-01 -4.22709355e-02 2.10893551e+02] [-7.36317793e-01 -6.74348460e-01 -5.55901165e-02 1.31773106e+02] [-6.95523305e-02 -6.29018007e-03 9.97558473e-01 8.86464410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:131.77, Z:0.89 [[-6.73950929e-01 7.37595870e-01 -4.17430043e-02 2.10890755e+02] [-7.35574115e-01 -6.75212835e-01 -5.49394979e-02 1.31772943e+02] [-6.87085590e-02 -6.32145221e-03 9.97616747e-01 8.85685101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:131.76, Z:0.88 [[-6.75295635e-01 7.36378908e-01 -4.14958831e-02 2.10881177e+02] [-7.34375823e-01 -6.76538745e-01 -5.46578153e-02 1.31764241e+02] [-6.83224350e-02 -6.43661082e-03 9.97642529e-01 8.84291600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.89, Y:131.77, Z:0.88 [[-6.76876842e-01 7.34947703e-01 -4.11049093e-02 2.10885873e+02] [-7.32976716e-01 -6.78092170e-01 -5.41861805e-02 1.31772149e+02] [-6.76969261e-02 -6.54842926e-03 9.97684441e-01 8.84849535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:131.75, Z:0.88 [[-6.79176856e-01 7.32831356e-01 -4.09512084e-02 2.10866537e+02] [-7.30868395e-01 -6.80376698e-01 -5.40272035e-02 1.31747881e+02] [-6.74550768e-02 -6.76408231e-03 9.97699384e-01 8.83481462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:131.74, Z:0.88 [[-6.83274490e-01 7.28984748e-01 -4.14392200e-02 2.10860841e+02] [-7.26964655e-01 -6.84491423e-01 -5.47163747e-02 1.31743953e+02] [-6.82521933e-02 -7.26145469e-03 9.97641674e-01 8.82296547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:131.75, Z:0.88 [[-6.85000586e-01 7.27351734e-01 -4.16371608e-02 2.10861848e+02] [-7.25306184e-01 -6.86223966e-01 -5.50237007e-02 1.31747100e+02] [-6.85940017e-02 -7.49157695e-03 9.97616529e-01 8.81931266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:131.74, Z:0.88 [[-6.86109322e-01 7.26318230e-01 -4.14225492e-02 2.10854576e+02] [-7.24288805e-01 -6.87316715e-01 -5.47855921e-02 1.31738304e+02] [-6.82621847e-02 -7.58701682e-03 9.97638568e-01 8.80893489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:131.73, Z:0.88 [[-6.86557499e-01 7.25932145e-01 -4.07593158e-02 2.10849684e+02] [-7.23963611e-01 -6.87725067e-01 -5.39529626e-02 1.31732893e+02] [-6.71973930e-02 -7.53354964e-03 9.97711259e-01 8.80456170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:131.75, Z:0.88 [[-6.85256407e-01 7.27222504e-01 -3.96369289e-02 2.10857002e+02] [-7.25360271e-01 -6.86363698e-01 -5.25104884e-02 1.31745064e+02] [-6.53921580e-02 -7.23209521e-03 9.97833434e-01 8.80872763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.551400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.86, Y:131.75, Z:0.88 [[-6.82804106e-01 7.29535513e-01 -3.94523619e-02 2.10861562e+02] [-7.27691441e-01 -6.83907024e-01 -5.23101142e-02 1.31752352e+02] [-6.51438335e-02 -7.00841465e-03 9.97851273e-01 8.79902192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.581400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.87, Y:131.77, Z:0.88 [[-6.81388765e-01 7.30866513e-01 -3.92872827e-02 2.10870737e+02] [-7.29037149e-01 -6.82485731e-01 -5.21350316e-02 1.31765941e+02] [-6.49167586e-02 -6.88233619e-03 9.97866949e-01 8.81199825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.611400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.88, Y:131.78, Z:0.88 [[-6.79893955e-01 7.32243611e-01 -3.95411829e-02 2.10881260e+02] [-7.30389844e-01 -6.81008600e-01 -5.25163064e-02 1.31781915e+02] [-6.53826154e-02 -6.82504085e-03 9.97836927e-01 8.83493954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.641400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.87, Y:131.77, Z:0.88 [[-6.78857340e-01 7.33198510e-01 -3.96567404e-02 2.10871869e+02] [-7.31332569e-01 -6.79980837e-01 -5.27137080e-02 1.31769854e+02] [-6.56154357e-02 -6.78282178e-03 9.97821932e-01 8.82588052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.88, Y:131.78, Z:0.88 [[-6.79277509e-01 7.32819118e-01 -3.94741255e-02 2.10877185e+02] [-7.30966875e-01 -6.80389345e-01 -5.25144367e-02 1.31776271e+02] [-6.53413576e-02 -6.81759757e-03 9.97839680e-01 8.84663446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.701400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:210.88, Y:131.77, Z:0.88 [[-6.78571189e-01 7.33485722e-01 -3.92407590e-02 2.10875731e+02] [-7.31653593e-01 -6.79671413e-01 -5.22474022e-02 1.31772563e+02] [-6.49935456e-02 -6.74293953e-03 9.97862902e-01 8.84096548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:131.78, Z:0.89 [[-6.80042579e-01 7.32142167e-01 -3.88579213e-02 2.10880816e+02] [-7.30340757e-01 -6.81117575e-01 -5.17805674e-02 1.31778532e+02] [-6.43775499e-02 -6.83346688e-03 9.97902217e-01 8.85858907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:210.88, Y:131.77, Z:0.88 [[-6.80115652e-01 7.32061376e-01 -3.91004122e-02 2.10875679e+02] [-7.30234400e-01 -6.81203595e-01 -5.21476994e-02 1.31770078e+02] [-6.48106579e-02 -6.91400052e-03 9.97873627e-01 8.84274768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:131.78, Z:0.89 [[-6.82303640e-01 7.30002311e-01 -3.94761792e-02 2.10882030e+02] [-7.28133730e-01 -6.83406654e-01 -5.26936141e-02 1.31777961e+02] [-6.54447436e-02 -7.20910716e-03 9.97830153e-01 8.85271734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:131.77, Z:0.88 [[-6.82014270e-01 7.30249031e-01 -3.99110054e-02 2.10874181e+02] [-7.28336399e-01 -6.83142094e-01 -5.33194983e-02 1.31767783e+02] [-6.62013998e-02 -7.29602075e-03 9.97779606e-01 8.84225820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:131.77, Z:0.88 [[-6.81437458e-01 7.30760763e-01 -4.03942756e-02 2.10875983e+02] [-7.28799232e-01 -6.82593911e-01 -5.40114017e-02 1.31770181e+02] [-6.70422997e-02 -7.36607525e-03 9.97722943e-01 8.84936200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.881400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.89, Y:131.79, Z:0.89 [[-6.79704485e-01 7.32312635e-01 -4.14730994e-02 2.10892253e+02] [-7.30244225e-01 -6.80927936e-01 -5.55024153e-02 1.31790544e+02] [-6.88853120e-02 -7.43974931e-03 9.97596844e-01 8.86438244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.911400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.88, Y:131.78, Z:0.89 [[-6.78443336e-01 7.33841888e-01 -3.45068470e-02 2.10879867e+02] [-7.31841457e-01 -6.79206402e-01 -5.55584850e-02 1.31780750e+02] [-6.42084149e-02 -1.24397427e-02 9.97858974e-01 8.85141198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:131.80, Z:0.89 [[-6.77724838e-01 7.33897937e-01 -4.56383938e-02 2.10901400e+02] [-7.32050306e-01 -6.79257143e-01 -5.20776649e-02 1.31796200e+02] [-6.92198958e-02 -1.88472681e-03 9.97599646e-01 8.91472261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.91, Y:131.81, Z:0.89 [[-6.75115797e-01 7.36571879e-01 -4.09942366e-02 2.10909108e+02] [-7.34549387e-01 -6.76322879e-01 -5.49960163e-02 1.31814019e+02] [-6.82338592e-02 -7.01638800e-03 9.97644682e-01 8.86999629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:131.83, Z:0.89 [[-6.72752306e-01 7.38748574e-01 -4.06802114e-02 2.10920596e+02] [-7.36757770e-01 -6.73947071e-01 -5.46199058e-02 1.31832664e+02] [-6.77666868e-02 -6.77420578e-03 9.97678198e-01 8.89179551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.031400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:210.92, Y:131.83, Z:0.89 [[-6.70502850e-01 7.40799387e-01 -4.05240222e-02 2.10917781e+02] [-7.38824462e-01 -6.71694183e-01 -5.44549179e-02 1.31830569e+02] [-6.75599198e-02 -6.57203873e-03 9.97693573e-01 8.87569529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:131.83, Z:0.89 [[-6.70184577e-01 7.41109452e-01 -4.01174894e-02 2.10916158e+02] [-7.39171600e-01 -6.71352719e-01 -5.39525090e-02 1.31830244e+02] [-6.69177000e-02 -6.50443062e-03 9.97737297e-01 8.88228547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.93, Y:131.85, Z:0.89 [[-6.68883819e-01 7.42306406e-01 -3.96942859e-02 2.10927841e+02] [-7.40408425e-01 -6.70030538e-01 -5.34269705e-02 1.31845451e+02] [-6.62555662e-02 -6.34645230e-03 9.97782503e-01 8.89434262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:131.85, Z:0.89 [[-6.68528214e-01 7.42663193e-01 -3.90052444e-02 2.10930061e+02] [-7.40828432e-01 -6.69636151e-01 -5.25419819e-02 1.31846561e+02] [-6.51403178e-02 -6.22960330e-03 9.97856669e-01 8.89852446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.92, Y:131.83, Z:0.89 [[-6.68533745e-01 7.42665332e-01 -3.88694830e-02 2.10920039e+02] [-7.40840560e-01 -6.69633716e-01 -5.24018356e-02 1.31832665e+02] [-6.49453429e-02 -6.23630585e-03 9.97869336e-01 8.88576165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:131.85, Z:0.89 [[-6.69203026e-01 7.42056189e-01 -3.89861812e-02 2.10929923e+02] [-7.40216581e-01 -6.70307668e-01 -5.26026972e-02 1.31846598e+02] [-6.51668932e-02 -6.34366632e-03 9.97854215e-01 8.89626296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:131.85, Z:0.89 [[-6.69698977e-01 7.41607379e-01 -3.90099524e-02 2.10934695e+02] [-7.39761932e-01 -6.70803453e-01 -5.26783864e-02 1.31853194e+02] [-6.52346908e-02 -6.42058372e-03 9.97849293e-01 8.90293346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:131.83, Z:0.89 [[-6.70165251e-01 7.41186279e-01 -3.90055928e-02 2.10919331e+02] [-7.39337717e-01 -6.71268039e-01 -5.27158405e-02 1.31831756e+02] [-6.52554654e-02 -6.49001858e-03 9.97847485e-01 8.88657231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.271400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:210.93, Y:131.84, Z:0.89 [[-6.70142111e-01 7.41228193e-01 -3.86046217e-02 2.10930636e+02] [-7.39414779e-01 -6.71222163e-01 -5.22167876e-02 1.31841731e+02] [-6.46168328e-02 -6.44784045e-03 9.97889318e-01 8.88607485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:131.84, Z:0.89 [[-6.71429777e-01 7.40071636e-01 -3.84191136e-02 2.10933214e+02] [-7.38271001e-01 -6.72496083e-01 -5.20091073e-02 1.31843727e+02] [-6.43271686e-02 -6.55674584e-03 9.97907323e-01 8.90064480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:131.84, Z:0.89 [[-6.71249608e-01 7.40249122e-01 -3.81470913e-02 2.10933519e+02] [-7.38471468e-01 -6.72301049e-01 -5.16835661e-02 1.31843551e+02] [-6.39050439e-02 -6.52203494e-03 9.97934671e-01 8.89627886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.361400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.94, Y:131.85, Z:0.89 [[-6.70645503e-01 7.40807350e-01 -3.79352018e-02 2.10938658e+02] [-7.39047559e-01 -6.71686474e-01 -5.14391441e-02 1.31849367e+02] [-6.35870580e-02 -6.46151238e-03 9.97955377e-01 8.89371923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.94, Y:131.85, Z:0.89 [[-6.70766511e-01 7.40693192e-01 -3.80247680e-02 2.10940306e+02] [-7.38922138e-01 -6.71811824e-01 -5.16037435e-02 1.31849570e+02] [-6.37680303e-02 -6.51672006e-03 9.97943471e-01 8.90319585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.421400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.95, Y:131.86, Z:0.89 [[-6.69248649e-01 7.42050744e-01 -3.83006493e-02 2.10947200e+02] [-7.40253205e-01 -6.70312553e-01 -5.20218640e-02 1.31857415e+02] [-6.42762689e-02 -6.46338380e-03 9.97911211e-01 8.90026789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:131.70, Z:0.88 [[-6.66650285e-01 7.44722150e-01 -3.10856177e-02 2.10828360e+02] [-7.42979493e-01 -6.67271408e-01 -5.22526692e-02 1.31703544e+02] [-5.96562641e-02 -1.17382804e-02 9.98149960e-01 8.78330375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.481400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.96, Y:131.86, Z:0.90 [[-6.65079509e-01 7.45533127e-01 -4.30070201e-02 2.10957500e+02] [-7.43936394e-01 -6.66468426e-01 -4.87696527e-02 1.31864858e+02] [-6.50222126e-02 -4.41209184e-04 9.97883719e-01 8.96693804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.511400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:210.96, Y:131.88, Z:0.89 [[-6.62164369e-01 7.48369069e-01 -3.84978666e-02 2.10962481e+02] [-7.46554933e-01 -6.63255694e-01 -5.24177081e-02 1.31879321e+02] [-6.47617207e-02 -5.96836635e-03 9.97882908e-01 8.91634425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.541400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.97, Y:131.89, Z:0.89 [[-6.62043019e-01 7.48475125e-01 -3.85230872e-02 2.10969805e+02] [-7.46655968e-01 -6.63135807e-01 -5.24954016e-02 1.31890124e+02] [-6.48375408e-02 -5.99072119e-03 9.97877851e-01 8.93726992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.571400513 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:210.97, Y:131.89, Z:0.89 [[-6.60408447e-01 7.49909690e-01 -3.86799747e-02 2.10973617e+02] [-7.48075227e-01 -6.61513881e-01 -5.27526280e-02 1.31894559e+02] [-6.51470471e-02 -5.90275028e-03 9.97858216e-01 8.93103928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.601400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.97, Y:131.90, Z:0.89 [[-6.60399551e-01 7.49905458e-01 -3.89132100e-02 2.10973301e+02] [-7.48045904e-01 -6.61518095e-01 -5.31143698e-02 1.31895787e+02] [-6.55725483e-02 -5.96783868e-03 9.97829958e-01 8.93588048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.97, Y:131.90, Z:0.89 [[-6.60664722e-01 7.49662916e-01 -3.90850006e-02 2.10973046e+02] [-7.47783579e-01 -6.61792218e-01 -5.33926831e-02 1.31895720e+02] [-6.58926637e-02 -6.04754047e-03 9.97808391e-01 8.93634649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:131.91, Z:0.90 [[-6.62078539e-01 7.48390497e-01 -3.95432825e-02 2.10983747e+02] [-7.46461564e-01 -6.63228668e-01 -5.40635490e-02 1.31910730e+02] [-6.66868849e-02 -6.27677501e-03 9.97754209e-01 8.96207351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:131.90, Z:0.90 [[-6.62782696e-01 7.47784577e-01 -3.92087246e-02 2.10978348e+02] [-7.45884273e-01 -6.63911421e-01 -5.36495728e-02 1.31902012e+02] [-6.61494432e-02 -6.31283742e-03 9.97789757e-01 8.95926781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.721400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.96, Y:131.88, Z:0.89 [[-6.63153055e-01 7.47469159e-01 -3.89600219e-02 2.10962758e+02] [-7.45589534e-01 -6.64266327e-01 -5.33525327e-02 1.31878337e+02] [-6.57592034e-02 -6.33271039e-03 9.97815426e-01 8.93346134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.751400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.97, Y:131.89, Z:0.89 [[-6.64420615e-01 7.46336225e-01 -3.90830653e-02 2.10971924e+02] [-7.44439840e-01 -6.65537417e-01 -5.35655877e-02 1.31890388e+02] [-6.59891809e-02 -6.49508986e-03 9.97799199e-01 8.93554707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.781400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.98, Y:131.90, Z:0.89 [[-6.66045010e-01 7.44822643e-01 -4.02898854e-02 2.10975512e+02] [-7.42801243e-01 -6.67226989e-01 -5.52671644e-02 1.31895892e+02] [-6.80467343e-02 -6.88304214e-03 9.97658391e-01 8.93631391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.811400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:210.98, Y:131.89, Z:0.89 [[-6.64598146e-01 7.46097655e-01 -4.05905602e-02 2.10975507e+02] [-7.44045026e-01 -6.65801457e-01 -5.57262796e-02 1.31894404e+02] [-6.86025006e-02 -6.83437766e-03 9.97620664e-01 8.93661238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.841400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.98, Y:131.90, Z:0.90 [[-6.64670128e-01 7.46056959e-01 -4.01576214e-02 2.10977051e+02] [-7.44044776e-01 -6.65847455e-01 -5.51773317e-02 1.31896401e+02] [-6.79042823e-02 -6.79565572e-03 9.97668696e-01 8.95486963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:131.91, Z:0.90 [[-6.63328338e-01 7.47279061e-01 -3.96171696e-02 2.10985268e+02] [-7.45319844e-01 -6.64477470e-01 -5.44795629e-02 1.31908838e+02] [-6.70361532e-02 -6.61037526e-03 9.97728649e-01 8.95879203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.901400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.99, Y:131.92, Z:0.89 [[-6.61432326e-01 7.49029964e-01 -3.82281436e-02 2.10991405e+02] [-7.47205981e-01 -6.62506786e-01 -5.26116014e-02 1.31920428e+02] [-6.47340704e-02 -6.23471634e-03 9.97883074e-01 8.94664252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.98, Y:131.91, Z:0.89 [[-6.62252967e-01 7.48310833e-01 -3.81038596e-02 2.10983651e+02] [-7.46494752e-01 -6.63318205e-01 -5.24837616e-02 1.31911486e+02] [-6.45491511e-02 -6.31319566e-03 9.97894559e-01 8.94608511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.961400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.99, Y:131.91, Z:0.89 [[-6.61957667e-01 7.48573120e-01 -3.80832039e-02 2.10985748e+02] [-7.46756622e-01 -6.63022193e-01 -5.24987452e-02 1.31914521e+02] [-6.45491589e-02 -6.31306219e-03 9.97894559e-01 8.94835566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:131.91, Z:0.90 [[-6.62904921e-01 7.47732760e-01 -3.81154174e-02 2.10981202e+02] [-7.45908997e-01 -6.63968659e-01 -5.25869559e-02 1.31909646e+02] [-6.46284322e-02 -6.42951908e-03 9.97888685e-01 8.95446833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.021400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:210.99, Y:131.92, Z:0.90 [[-6.63104585e-01 7.47558877e-01 -3.80530401e-02 2.10985250e+02] [-7.45737973e-01 -6.64164082e-01 -5.25447261e-02 1.31915842e+02] [-6.45537389e-02 -6.46505184e-03 9.97893290e-01 8.95588640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.051400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.98, Y:131.92, Z:0.90 [[-6.64575436e-01 7.46251472e-01 -3.80556335e-02 2.10983750e+02] [-7.44425385e-01 -6.65631197e-01 -5.25923591e-02 1.31916203e+02] [-6.45781423e-02 -6.62201040e-03 9.97890682e-01 8.95652746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.081400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.98, Y:131.91, Z:0.89 [[-6.67847764e-01 7.43329377e-01 -3.79578936e-02 2.10975774e+02] [-7.41505248e-01 -6.68889823e-01 -5.25011523e-02 1.31907904e+02] [-6.44152975e-02 -6.91679985e-03 9.97899207e-01 8.94445474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.111400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.96, Y:131.89, Z:0.89 [[-6.69362857e-01 7.41960140e-01 -3.80593937e-02 2.10964242e+02] [-7.40121206e-01 -6.70406426e-01 -5.26860909e-02 1.31892051e+02] [-6.46062415e-02 -7.09754797e-03 9.97885594e-01 8.92874557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.141400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.97, Y:131.89, Z:0.89 [[-6.70232677e-01 7.41170193e-01 -3.81432003e-02 2.10965442e+02] [-7.39318968e-01 -6.71278345e-01 -5.28473905e-02 1.31893143e+02] [-6.47736149e-02 -7.22005652e-03 9.97873865e-01 8.93287469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:131.90, Z:0.90 [[-6.71414414e-01 7.40070187e-01 -3.87143708e-02 2.10974045e+02] [-7.38158174e-01 -6.72488176e-01 -5.36857839e-02 1.31904337e+02] [-6.57662047e-02 -7.46807990e-03 9.97807113e-01 8.95182072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:131.89, Z:0.89 [[-6.70929295e-01 7.40523005e-01 -3.84650596e-02 2.10963313e+02] [-7.38633294e-01 -6.71990196e-01 -5.33857008e-02 1.31890442e+02] [-6.53814825e-02 -7.40645691e-03 9.97832855e-01 8.93846671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:131.90, Z:0.90 [[-6.69801696e-01 7.41577604e-01 -3.77934680e-02 2.10972923e+02] [-7.39752126e-01 -6.70828397e-01 -5.24981346e-02 1.31904852e+02] [-6.42843724e-02 -7.20554131e-03 9.97905607e-01 8.95197007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:131.92, Z:0.90 [[-6.68115392e-01 7.43134914e-01 -3.70448728e-02 2.10981996e+02] [-7.41380656e-01 -6.69105573e-01 -5.15019916e-02 1.31917909e+02] [-6.30598590e-02 -6.94492122e-03 9.97985582e-01 8.96251650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:131.79, Z:0.88 [[-6.62246493e-01 7.48430250e-01 -3.58014393e-02 2.10890311e+02] [-7.46584994e-01 -6.63158938e-01 -5.32077965e-02 1.31793333e+02] [-6.35643689e-02 -8.50785928e-03 9.97941475e-01 8.84661941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:131.94, Z:0.90 [[-6.59854801e-01 7.50405014e-01 -3.85221455e-02 2.10999742e+02] [-7.48725279e-01 -6.60963679e-01 -5.03733221e-02 1.31943542e+02] [-6.32621325e-02 -4.39657427e-03 9.97987261e-01 9.00394925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.00, Y:131.96, Z:0.90 [[-6.55706019e-01 7.54095758e-01 -3.72720377e-02 2.11004617e+02] [-7.52330114e-01 -6.56737036e-01 -5.19217165e-02 1.31956728e+02] [-6.36318737e-02 -6.00450568e-03 9.97955375e-01 8.99101890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.381400513 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:211.02, Y:131.98, Z:0.90 [[-6.51653216e-01 7.57587273e-01 -3.75447673e-02 2.11020490e+02] [-7.55798435e-01 -6.52708689e-01 -5.23458987e-02 1.31982839e+02] [-6.41623825e-02 -5.73509681e-03 9.97922992e-01 9.00776245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.411400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.03, Y:132.00, Z:0.90 [[-6.48567792e-01 7.60238136e-01 -3.73870918e-02 2.11028333e+02] [-7.58465833e-01 -6.49621400e-01 -5.21691210e-02 1.31997877e+02] [-6.39484103e-02 -5.47837988e-03 9.97938169e-01 9.03001039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.441400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.04, Y:132.02, Z:0.90 [[-6.42389930e-01 7.65535553e-01 -3.59234504e-02 2.11036719e+02] [-7.63905056e-01 -6.43375807e-01 -5.01660890e-02 1.32015293e+02] [-6.15162036e-02 -4.78408500e-03 9.98094619e-01 9.04285802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.471400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.05, Y:132.04, Z:0.91 [[-6.40110837e-01 7.67449484e-01 -3.57687751e-02 2.11051681e+02] [-7.65833458e-01 -6.41092871e-01 -4.99904565e-02 1.32039728e+02] [-6.12962568e-02 -4.60650828e-03 9.98108987e-01 9.06285916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.501400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:211.05, Y:132.04, Z:0.91 [[-6.38080480e-01 7.69120682e-01 -3.61479963e-02 2.11047194e+02] [-7.67470258e-01 -6.39087591e-01 -5.05613973e-02 1.32037263e+02] [-6.19895522e-02 -4.51972856e-03 9.98066565e-01 9.05640298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.05, Y:132.05, Z:0.91 [[-6.37271779e-01 7.69772683e-01 -3.65335107e-02 2.11054318e+02] [-7.68085297e-01 -6.38302039e-01 -5.11418059e-02 1.32050846e+02] [-6.26869795e-02 -4.53037724e-03 9.98022955e-01 9.08695596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.06, Y:132.06, Z:0.91 [[-6.36171452e-01 7.70661542e-01 -3.69685288e-02 2.11059367e+02] [-7.68932509e-01 -6.37228636e-01 -5.17925036e-02 1.32059798e+02] [-6.34718958e-02 -4.52260856e-03 9.97973379e-01 9.09806633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.591400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.05, Y:132.05, Z:0.91 [[-6.35712177e-01 7.71015879e-01 -3.74772256e-02 2.11048976e+02] [-7.69236767e-01 -6.36799477e-01 -5.25473414e-02 1.32045500e+02] [-6.43803122e-02 -4.57612496e-03 9.97914944e-01 9.10206398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.621400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.99, Y:131.97, Z:0.90 [[-6.34436176e-01 7.72368498e-01 -3.06209477e-02 2.10990750e+02] [-7.70710682e-01 -6.35111054e-01 -5.13711331e-02 1.31967097e+02] [-5.91251472e-02 -8.99181376e-03 9.98210080e-01 9.04090342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.651400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:211.07, Y:132.06, Z:0.91 [[-6.34190174e-01 7.72090518e-01 -4.09762876e-02 2.11067879e+02] [-7.70517752e-01 -6.35512487e-01 -4.92572091e-02 1.32062377e+02] [-6.40719665e-02 3.34519026e-04 9.97945225e-01 9.14822002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.681400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.06, Y:132.06, Z:0.91 [[-6.33596372e-01 7.72792864e-01 -3.66991454e-02 2.11064081e+02] [-7.71083664e-01 -6.34643304e-01 -5.15544395e-02 1.32062219e+02] [-6.31317699e-02 -4.36659434e-03 9.97995648e-01 9.11066071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.711400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.07, Y:132.07, Z:0.91 [[-6.32598294e-01 7.73605194e-01 -3.68022091e-02 2.11073521e+02] [-7.71885111e-01 -6.33653146e-01 -5.17403658e-02 1.32072370e+02] [-6.33464513e-02 -4.32378995e-03 9.97982230e-01 9.11665517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.741400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.08, Y:132.08, Z:0.91 [[-6.31824757e-01 7.74236729e-01 -3.68098400e-02 2.11078187e+02] [-7.72514380e-01 -6.32881589e-01 -5.17921451e-02 1.32076092e+02] [-6.33956510e-02 -4.28742875e-03 9.97979263e-01 9.12315731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.771400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:211.08, Y:132.08, Z:0.91 [[-6.30751204e-01 7.75103285e-01 -3.69840003e-02 2.11083228e+02] [-7.73363411e-01 -6.31820279e-01 -5.20785008e-02 1.32080429e+02] [-6.37334584e-02 -4.24650447e-03 9.97957922e-01 9.12434698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.801400513 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:211.31, Y:132.39, Z:0.94 [[-6.29491619e-01 7.76134871e-01 -3.68098465e-02 2.11306433e+02] [-7.74410476e-01 -6.30553290e-01 -5.18745007e-02 1.32392095e+02] [-6.34721787e-02 -4.14863267e-03 9.97974985e-01 9.39268513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.831400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:211.31, Y:132.38, Z:0.94 [[-6.25501166e-01 7.79378408e-01 -3.62986146e-02 2.11305021e+02] [-7.77705012e-01 -6.26542063e-01 -5.11855224e-02 1.32383893e+02] [-6.26354998e-02 -3.78698946e-03 9.98029285e-01 9.38549054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.31, Y:132.39, Z:0.94 [[-6.23302427e-01 7.81156172e-01 -3.59043211e-02 2.11307994e+02] [-7.79519897e-01 -6.24325358e-01 -5.06614092e-02 1.32386990e+02] [-6.19904506e-02 -3.58924659e-03 9.98070289e-01 9.38795728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.31, Y:132.38, Z:0.94 [[-6.20237129e-01 7.83615094e-01 -3.54018116e-02 2.11305680e+02] [-7.82026366e-01 -6.21237784e-01 -4.99837960e-02 1.32382088e+02] [-6.11610000e-02 -3.31665611e-03 9.98122403e-01 9.37151743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.921400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.31, Y:132.38, Z:0.94 [[-6.17365816e-01 7.85889002e-01 -3.51841744e-02 2.11305807e+02] [-7.84321483e-01 -6.18359858e-01 -4.97081240e-02 1.32380783e+02] [-6.08215491e-02 -3.09239268e-03 9.98143866e-01 9.36927359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.951400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.31, Y:132.38, Z:0.94 [[-6.14786774e-01 7.87908297e-01 -3.51815104e-02 2.11305716e+02] [-7.86342334e-01 -6.15785704e-01 -4.97363181e-02 1.32378713e+02] [-6.08519289e-02 -2.91251955e-03 9.98142555e-01 9.37370759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.981400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.30, Y:132.37, Z:0.94 [[-6.10993076e-01 7.90816801e-01 -3.60034529e-02 2.11299509e+02] [-7.89179619e-01 -6.12046947e-01 -5.09319477e-02 1.32365714e+02] [-6.23136434e-02 -2.70587605e-03 9.98052949e-01 9.38140076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.37, Z:0.94 [[-6.09587720e-01 7.91879450e-01 -3.64657237e-02 2.11302821e+02] [-7.90199651e-01 -6.10671684e-01 -5.16198223e-02 1.32369650e+02] [-6.31452614e-02 -2.65160769e-03 9.98000824e-01 9.39218064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.37, Z:0.94 [[-6.08119318e-01 7.93000485e-01 -3.66213983e-02 2.11301336e+02] [-7.91306155e-01 -6.09215596e-01 -5.18741405e-02 1.32366892e+02] [-6.34465455e-02 -2.56692903e-03 9.97981937e-01 9.39068016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:132.36, Z:0.94 [[-6.06846841e-01 7.93966549e-01 -3.67971527e-02 2.11295072e+02] [-7.92255478e-01 -6.07956310e-01 -5.21572925e-02 1.32356523e+02] [-6.37822067e-02 -2.49874238e-03 9.97960714e-01 9.38245017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.101400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:211.30, Y:132.36, Z:0.94 [[-6.05274228e-01 7.95167610e-01 -3.67638644e-02 2.11297260e+02] [-7.93459650e-01 -6.06384990e-01 -5.21442965e-02 1.32356780e+02] [-6.37565111e-02 -2.39095583e-03 9.97962620e-01 9.37657501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.131400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.31, Y:132.37, Z:0.94 [[-6.03638991e-01 7.96407434e-01 -3.68126077e-02 2.11307383e+02] [-7.94695016e-01 -6.04756135e-01 -5.22479531e-02 1.32367547e+02] [-6.38733086e-02 -2.28410584e-03 9.97955402e-01 9.40024741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.161400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:211.31, Y:132.37, Z:0.94 [[-6.02182084e-01 7.97491596e-01 -3.72007040e-02 2.11308442e+02] [-7.95742621e-01 -6.03325995e-01 -5.28339436e-02 1.32366522e+02] [-6.45787777e-02 -2.21346863e-03 9.97910157e-01 9.40327019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.191400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:211.32, Y:132.38, Z:0.94 [[-6.00889869e-01 7.98435190e-01 -3.78498784e-02 2.11320751e+02] [-7.96624061e-01 -6.02076851e-01 -5.37919186e-02 1.32381706e+02] [-6.57378963e-02 -2.17089505e-03 9.97834564e-01 9.41880065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.221400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.32, Y:132.38, Z:0.94 [[-5.98961583e-01 7.99837832e-01 -3.87874236e-02 2.11320382e+02] [-7.97936179e-01 -6.00212525e-01 -5.51613963e-02 1.32376754e+02] [-6.74008691e-02 -2.08966866e-03 9.97723788e-01 9.42247401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.33, Y:132.39, Z:0.94 [[-5.98133996e-01 8.00440411e-01 -3.91263479e-02 2.11327247e+02] [-7.98504117e-01 -5.99408790e-01 -5.56801322e-02 1.32385372e+02] [-6.80213047e-02 -2.06163008e-03 9.97681739e-01 9.42520526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:132.39, Z:0.94 [[-5.97070976e-01 8.01237273e-01 -3.90522882e-02 2.11330333e+02] [-7.99307535e-01 -5.98343443e-01 -5.56110526e-02 1.32388172e+02] [-6.79243287e-02 -1.98895724e-03 9.97688493e-01 9.42540101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:132.39, Z:0.94 [[-5.95898137e-01 8.02129457e-01 -3.86489965e-02 2.11332508e+02] [-8.00238884e-01 -5.97147189e-01 -5.50723490e-02 1.32389013e+02] [-6.72542930e-02 -1.88908038e-03 9.97734079e-01 9.42718464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.341400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.34, Y:132.39, Z:0.94 [[-5.93489669e-01 8.03983554e-01 -3.71545239e-02 2.11335756e+02] [-8.02237983e-01 -5.94649288e-01 -5.29758626e-02 1.32386474e+02] [-6.46856334e-02 -1.63385686e-03 9.97904354e-01 9.43391997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:132.39, Z:0.94 [[-5.92372275e-01 8.04829835e-01 -3.66609373e-02 2.11338897e+02] [-8.03129596e-01 -5.93503626e-01 -5.23096269e-02 1.32389668e+02] [-6.38587476e-02 -1.54328888e-03 9.97957754e-01 9.43880713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:132.39, Z:0.94 [[-5.91145144e-01 8.05732500e-01 -3.66409255e-02 2.11340183e+02] [-8.04033406e-01 -5.92277793e-01 -5.23191871e-02 1.32391442e+02] [-6.38568759e-02 -1.46770527e-03 9.97957988e-01 9.43260456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:132.39, Z:0.94 [[-5.89768008e-01 8.06733195e-01 -3.68136980e-02 2.11340971e+02] [-8.05017484e-01 -5.90914227e-01 -5.26044485e-02 1.32392775e+02] [-6.41914927e-02 -1.38875034e-03 9.97936633e-01 9.42562170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.461400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.34, Y:132.40, Z:0.94 [[-5.88406254e-01 8.07703342e-01 -3.73281711e-02 2.11343204e+02] [-8.05938650e-01 -5.89587617e-01 -5.33791614e-02 1.32395132e+02] [-6.51227544e-02 -1.32441656e-03 9.97876382e-01 9.42678754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:132.40, Z:0.94 [[-5.87162309e-01 8.08595713e-01 -3.75951457e-02 2.11346380e+02] [-8.06804875e-01 -5.88363315e-01 -5.38005921e-02 1.32396932e+02] [-6.56225327e-02 -1.25773307e-03 9.97843726e-01 9.43929084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:132.40, Z:0.95 [[-5.85978660e-01 8.09452044e-01 -3.76350710e-02 2.11351336e+02] [-8.07656552e-01 -5.87184793e-01 -5.38972402e-02 1.32397590e+02] [-6.57259726e-02 -1.18642098e-03 9.97837005e-01 9.45828833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.551400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.35, Y:132.40, Z:0.95 [[-5.85338977e-01 8.09922350e-01 -3.74709009e-02 2.11353604e+02] [-8.08140897e-01 -5.86535983e-01 -5.37013122e-02 1.32399075e+02] [-6.54719247e-02 -1.15170364e-03 9.97853747e-01 9.45054446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.581400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:211.35, Y:132.40, Z:0.94 [[-5.83422913e-01 8.11378997e-01 -3.58026211e-02 2.11354226e+02] [-8.09634805e-01 -5.84516797e-01 -5.32127463e-02 1.32397268e+02] [-6.41029381e-02 -2.05848734e-03 9.97941169e-01 9.44642629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:132.40, Z:0.95 [[-5.85191893e-01 8.09998168e-01 -3.81236962e-02 2.11357373e+02] [-8.08245747e-01 -5.86432302e-01 -5.32537978e-02 1.32399417e+02] [-6.54924456e-02 -3.50375436e-04 9.97853004e-01 9.46520200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.641400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.95 [[-5.85227257e-01 8.09939258e-01 -3.88259626e-02 2.11365685e+02] [-8.08018322e-01 -5.86512408e-01 -5.57636784e-02 1.32406439e+02] [-6.79371011e-02 -1.26233536e-03 9.97688808e-01 9.46382643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.671400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.95 [[-5.84939547e-01 8.10150670e-01 -3.87507180e-02 2.11369134e+02] [-8.08234864e-01 -5.86220356e-01 -5.56964975e-02 1.32408921e+02] [-6.78390145e-02 -1.25940274e-03 9.97695486e-01 9.46933572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.95 [[-5.84029050e-01 8.10831545e-01 -3.82396960e-02 2.11371452e+02] [-8.08964770e-01 -5.85278390e-01 -5.50018808e-02 1.32410577e+02] [-6.69781277e-02 -1.18812923e-03 9.97753737e-01 9.46213361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.731400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.94 [[-5.81494273e-01 8.12652130e-01 -3.82220610e-02 2.11373409e+02] [-8.10788273e-01 -5.82748240e-01 -5.50169525e-02 1.32414130e+02] [-6.69834824e-02 -1.00204399e-03 9.97753581e-01 9.44718294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.761400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.95 [[-5.75485170e-01 8.16895785e-01 -3.87052370e-02 2.11369358e+02] [-8.14991110e-01 -5.76785041e-01 -5.57539975e-02 1.32406807e+02] [-6.78698073e-02 -5.41174636e-04 9.97694040e-01 9.46093705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.791400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.95 [[-5.73447225e-01 8.18332087e-01 -3.86118657e-02 2.11374270e+02] [-8.16437056e-01 -5.74745544e-01 -5.56605230e-02 1.32411367e+02] [-6.77407897e-02 -3.94214497e-04 9.97702877e-01 9.46659461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.95 [[-5.70017326e-01 8.20710526e-01 -3.89163245e-02 2.11371771e+02] [-8.18788089e-01 -5.71344217e-01 -5.61413488e-02 1.32408973e+02] [-6.83104129e-02 -1.37318546e-04 9.97664106e-01 9.45765337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:132.41, Z:0.94 [[-5.64922956e-01 8.24264661e-01 -3.80765324e-02 2.11368747e+02] [-8.22429708e-01 -5.66204645e-01 -5.49697763e-02 1.32412715e+02] [-6.68687535e-02 2.61582894e-04 9.97761746e-01 9.42158811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:132.42, Z:0.94 [[-5.64635997e-01 8.24462144e-01 -3.80573663e-02 2.11371243e+02] [-8.22626745e-01 -5.65917047e-01 -5.49830424e-02 1.32416448e+02] [-6.68687494e-02 2.61602393e-04 9.97761746e-01 9.42442013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:132.42, Z:0.94 [[-5.60861888e-01 8.27092787e-01 -3.67622606e-02 2.11366986e+02] [-8.25383439e-01 -5.62065154e-01 -5.31501695e-02 1.32417250e+02] [-6.46229075e-02 5.33056653e-04 9.97909613e-01 9.40998004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.941400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.36, Y:132.41, Z:0.94 [[-5.57851860e-01 8.29154267e-01 -3.61179206e-02 2.11359921e+02] [-8.27506227e-01 -5.59019373e-01 -5.22569034e-02 1.32410323e+02] [-6.35196517e-02 7.36193432e-04 9.97980316e-01 9.41254942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.971400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:211.38, Y:132.46, Z:0.94 [[-5.47914064e-01 8.35808339e-01 -3.48510885e-02 2.11381249e+02] [-8.34284914e-01 -5.49019473e-01 -5.04608772e-02 1.32458321e+02] [-6.13095482e-02 1.42751302e-03 9.98117779e-01 9.41896516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:132.47, Z:0.94 [[-5.42610872e-01 8.39275278e-01 -3.45028872e-02 2.11378733e+02] [-8.37787096e-01 -5.43703812e-01 -4.99894688e-02 1.32466313e+02] [-6.07142766e-02 1.78124442e-03 9.98153597e-01 9.42609786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.031400513 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:211.40, Y:132.50, Z:0.95 [[-5.38443246e-01 8.41906773e-01 -3.56630969e-02 2.11399789e+02] [-8.40319933e-01 -5.39618817e-01 -5.17101819e-02 1.32504268e+02] [-6.27796305e-02 2.12541298e-03 9.98025150e-01 9.45704308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:132.51, Z:0.95 [[-5.35869069e-01 8.43502703e-01 -3.67087369e-02 2.11395581e+02] [-8.41822743e-01 -5.37119742e-01 -5.32621107e-02 1.32505006e+02] [-6.46437216e-02 2.36073188e-03 9.97905615e-01 9.47854808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.091400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.40, Y:132.52, Z:0.95 [[-5.34123688e-01 8.44558116e-01 -3.78612676e-02 2.11404201e+02] [-8.42770784e-01 -5.35457855e-01 -5.49753769e-02 1.32524392e+02] [-6.67030138e-02 2.54471908e-03 9.97769629e-01 9.49330433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.121400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:211.40, Y:132.53, Z:0.95 [[-5.33674568e-01 8.44814409e-01 -3.84716713e-02 2.11403809e+02] [-8.42967080e-01 -5.35053138e-01 -5.58984924e-02 1.32533486e+02] [-6.78082403e-02 2.59874867e-03 9.97694988e-01 9.49737619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.151400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.40, Y:132.54, Z:0.95 [[-5.34465843e-01 8.44372853e-01 -3.71584195e-02 2.11397520e+02] [-8.42646348e-01 -5.35750450e-01 -5.40239620e-02 1.32540963e+02] [-6.55240069e-02 2.43744407e-03 9.97848016e-01 9.50577825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:132.53, Z:0.95 [[-5.35242812e-01 8.43910976e-01 -3.64608866e-02 2.11383554e+02] [-8.42245520e-01 -5.36478230e-01 -5.30433167e-02 1.32525065e+02] [-6.43243091e-02 2.31796437e-03 9.97926355e-01 9.50344364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:132.52, Z:0.95 [[-5.36377760e-01 8.43177030e-01 -3.67613173e-02 2.11380167e+02] [-8.41479993e-01 -5.37631403e-01 -5.35153731e-02 1.32523618e+02] [-6.48869720e-02 2.22945712e-03 9.97890129e-01 9.50239231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.241400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.38, Y:132.54, Z:0.95 [[-5.37778400e-01 8.42257451e-01 -3.73734963e-02 2.11384799e+02] [-8.40498753e-01 -5.39071267e-01 -5.44427676e-02 1.32535035e+02] [-6.60018047e-02 2.13423252e-03 9.97817221e-01 9.50483922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.271400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.36, Y:132.51, Z:0.95 [[-5.41335450e-01 8.39958428e-01 -3.77593563e-02 2.11363750e+02] [-8.38155151e-01 -5.42647590e-01 -5.50412180e-02 1.32514149e+02] [-6.67223587e-02 1.85243643e-03 9.97769861e-01 9.47403878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.301400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.36, Y:132.51, Z:0.95 [[-5.43490674e-01 8.38588468e-01 -3.72460550e-02 2.11362070e+02] [-8.36828391e-01 -5.44762963e-01 -5.43282379e-02 1.32514491e+02] [-6.58493051e-02 1.64166569e-03 9.97828229e-01 9.48411110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.331400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:211.36, Y:132.51, Z:0.95 [[-5.45610715e-01 8.37215466e-01 -3.71377402e-02 2.11359463e+02] [-8.35460074e-01 -5.46871243e-01 -5.42061707e-02 1.32512532e+02] [-6.56918066e-02 1.45163163e-03 9.97838905e-01 9.48213167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.361400513 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:211.35, Y:132.51, Z:0.95 [[-5.48974519e-01 8.34959107e-01 -3.83440797e-02 2.11354855e+02] [-8.33079545e-01 -5.50310690e-01 -5.60054988e-02 1.32511549e+02] [-6.78634582e-02 1.19807679e-03 9.97693899e-01 9.46804614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.391400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:211.34, Y:132.50, Z:0.95 [[-5.49913275e-01 8.34297844e-01 -3.92746434e-02 2.11342652e+02] [-8.32321410e-01 -5.51312841e-01 -5.74040202e-02 1.32495880e+02] [-6.95446655e-02 1.12189380e-03 9.97578208e-01 9.45118182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.421400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:211.35, Y:132.51, Z:0.95 [[-5.50758239e-01 8.33728984e-01 -3.95138408e-02 2.11353675e+02] [-8.31724157e-01 -5.52172899e-01 -5.77928747e-02 1.32512997e+02] [-7.00020667e-02 1.03471408e-03 9.97546310e-01 9.47465926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.451400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.35, Y:132.50, Z:0.95 [[-5.51659557e-01 8.33144186e-01 -3.92746622e-02 2.11346971e+02] [-8.31159406e-01 -5.53055056e-01 -5.74817053e-02 1.32502445e+02] [-6.96115990e-02 9.33172890e-04 9.97573734e-01 9.47211468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.481400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.36, Y:132.51, Z:0.95 [[-5.51935506e-01 8.32987074e-01 -3.87263755e-02 2.11356086e+02] [-8.31054398e-01 -5.53291750e-01 -5.67170797e-02 1.32513922e+02] [-6.86715784e-02 8.79554629e-04 9.97638933e-01 9.48313068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.511400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.36, Y:132.52, Z:0.95 [[-5.51310126e-01 8.33418671e-01 -3.83466122e-02 2.11362119e+02] [-8.31522228e-01 -5.52641387e-01 -5.61985952e-02 1.32518541e+02] [-6.80288834e-02 9.03205769e-04 9.97682943e-01 9.49118910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.541400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:211.37, Y:132.52, Z:0.95 [[-5.50204893e-01 8.34134085e-01 -3.86639849e-02 2.11367245e+02] [-8.32205190e-01 -5.51560850e-01 -5.67023007e-02 1.32524333e+02] [-6.86228621e-02 9.78485621e-04 9.97642193e-01 9.49120416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:132.51, Z:0.95 [[-5.48514628e-01 8.35242230e-01 -3.87571947e-02 2.11360808e+02] [-8.33304116e-01 -5.49881087e-01 -5.68774170e-02 1.32513086e+02] [-6.88182690e-02 1.09843464e-03 9.97628608e-01 9.48456805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:132.51, Z:0.95 [[-5.46168210e-01 8.36774820e-01 -3.88353876e-02 2.11358353e+02] [-8.34830046e-01 -5.47545689e-01 -5.70308121e-02 1.32508132e+02] [-6.89860965e-02 1.27253186e-03 9.97616810e-01 9.47335349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:132.53, Z:0.95 [[-5.43162487e-01 8.38733452e-01 -3.87389893e-02 2.11374900e+02] [-8.36800605e-01 -5.44540136e-01 -5.69279226e-02 1.32531075e+02] [-6.88422875e-02 1.49569770e-03 9.97626434e-01 9.48257847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.661400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.39, Y:132.55, Z:0.95 [[-5.36840471e-01 8.42839526e-01 -3.77338325e-02 2.11392224e+02] [-8.41013315e-01 -5.38161448e-01 -5.54874770e-02 1.32550983e+02] [-6.70739328e-02 1.94673225e-03 9.97746109e-01 9.50366509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:132.56, Z:0.95 [[-5.33801966e-01 8.44778349e-01 -3.74833678e-02 2.11397439e+02] [-8.42978607e-01 -5.35112041e-01 -5.51558834e-02 1.32555840e+02] [-6.66522975e-02 2.15535818e-03 9.97773935e-01 9.50880677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:132.58, Z:0.95 [[-5.31416268e-01 8.46273871e-01 -3.76468515e-02 2.11416820e+02] [-8.44459610e-01 -5.32742989e-01 -5.54335119e-02 1.32582022e+02] [-6.69680289e-02 2.33297552e-03 9.97752394e-01 9.53048392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.751400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.43, Y:132.59, Z:0.95 [[-5.29586597e-01 8.47372188e-01 -3.87093181e-02 2.11425059e+02] [-8.45454198e-01 -5.30993427e-01 -5.70366505e-02 1.32588234e+02] [-6.88856648e-02 2.52110989e-03 9.97621376e-01 9.54576528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:132.60, Z:0.96 [[-5.30314231e-01 8.46906926e-01 -3.89290955e-02 2.11434035e+02] [-8.44963199e-01 -5.31735492e-01 -5.73982462e-02 1.32597452e+02] [-6.93109540e-02 2.45454625e-03 9.97592084e-01 9.55756886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:132.59, Z:0.95 [[-5.31874848e-01 8.45924855e-01 -3.89908403e-02 2.11430782e+02] [-8.43969702e-01 -5.33297106e-01 -5.75268498e-02 1.32589163e+02] [-6.94570944e-02 2.31000343e-03 9.97582265e-01 9.54657836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.841400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.43, Y:132.58, Z:0.95 [[-5.34075079e-01 8.44540953e-01 -3.89151445e-02 2.11429452e+02] [-8.42587119e-01 -5.35486831e-01 -5.74525980e-02 1.32584457e+02] [-6.93596193e-02 2.10539860e-03 9.97589500e-01 9.52728430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.42, Y:132.56, Z:0.95 [[-5.40412877e-01 8.40472854e-01 -3.94880236e-02 2.11417663e+02] [-8.38447298e-01 -5.41851343e-01 -5.83373891e-02 1.32558835e+02] [-7.04276305e-02 1.58235045e-03 9.97515637e-01 9.50725205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.901400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:211.42, Y:132.55, Z:0.95 [[-5.44350669e-01 8.37910793e-01 -3.98478670e-02 2.11417112e+02] [-8.35838099e-01 -5.45805801e-01 -5.89126416e-02 1.32550823e+02] [-7.11127352e-02 1.23722954e-03 9.97467517e-01 9.51573231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:132.54, Z:0.95 [[-5.49136484e-01 8.34788238e-01 -3.97205144e-02 2.11412541e+02] [-8.32717768e-01 -5.50570565e-01 -5.87636952e-02 1.32536614e+02] [-7.09241876e-02 8.06689141e-04 9.97481383e-01 9.52245735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.961400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.42, Y:132.54, Z:0.95 [[-5.53653214e-01 8.31787614e-01 -3.99685452e-02 2.11419923e+02] [-8.29680420e-01 -5.55093871e-01 -5.91709063e-02 1.32540703e+02] [-7.14039214e-02 4.00956849e-04 9.97447402e-01 9.52517383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:132.55, Z:0.95 [[-5.62119444e-01 8.26040088e-01 -4.09817459e-02 2.11435195e+02] [-8.23805975e-01 -5.63611248e-01 -6.07130651e-02 1.32553218e+02] [-7.32491986e-02 -3.66987316e-04 9.97313602e-01 9.51771304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.021400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.44, Y:132.56, Z:0.95 [[-5.65660984e-01 8.23582328e-01 -4.17109091e-02 2.11444963e+02] [-8.21258008e-01 -5.67196285e-01 -6.18357372e-02 1.32560196e+02] [-7.45850931e-02 -7.22645804e-04 9.97214391e-01 9.52311344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.051400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.45, Y:132.56, Z:0.95 [[-5.68925528e-01 8.21328087e-01 -4.17602498e-02 2.11453623e+02] [-8.18989006e-01 -5.70455155e-01 -6.19509791e-02 1.32563965e+02] [-7.47044289e-02 -1.04430798e-03 9.97205173e-01 9.53773477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.081400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.46, Y:132.57, Z:0.95 [[-5.71478374e-01 8.19576471e-01 -4.13143721e-02 2.11463329e+02] [-8.17279201e-01 -5.72968371e-01 -6.13347603e-02 1.32569332e+02] [-7.39403549e-02 -1.28611205e-03 9.97261836e-01 9.54607702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.111400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:211.47, Y:132.57, Z:0.95 [[-5.73575023e-01 8.18156389e-01 -4.03957449e-02 2.11470130e+02] [-8.15953586e-01 -5.74993901e-01 -6.00146621e-02 1.32572293e+02] [-7.23286861e-02 -1.46185829e-03 9.97379779e-01 9.54506590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.141400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.47, Y:132.57, Z:0.95 [[-5.70010566e-01 8.20617672e-01 -4.09217714e-02 2.11469373e+02] [-8.18359976e-01 -5.71476349e-01 -6.08418706e-02 1.32569389e+02] [-7.33137387e-02 -1.19176926e-03 9.97308215e-01 9.53178699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.171400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:211.47, Y:132.57, Z:0.95 [[-5.66414185e-01 8.23069263e-01 -4.16168216e-02 2.11470335e+02] [-8.20737178e-01 -5.67940268e-01 -6.19220176e-02 1.32569779e+02] [-7.46019782e-02 -9.17036487e-04 9.97212968e-01 9.54568674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.201400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.47, Y:132.57, Z:0.96 [[-5.64928697e-01 8.24119490e-01 -4.10199282e-02 2.11473655e+02] [-8.21853354e-01 -5.66415429e-01 -6.10788519e-02 1.32572030e+02] [-7.35705925e-02 -7.92830677e-04 9.97289697e-01 9.56486631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.231400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:211.47, Y:132.57, Z:0.95 [[-5.62345377e-01 8.25948170e-01 -3.97152065e-02 2.11473230e+02] [-8.23825552e-01 -5.63745782e-01 -5.91789899e-02 1.32573918e+02] [-7.12680586e-02 -5.60629501e-04 9.97457041e-01 9.53633655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.261400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.47, Y:132.58, Z:0.95 [[-5.62740886e-01 8.25718607e-01 -3.88777245e-02 2.11474029e+02] [-8.23681156e-01 -5.64081927e-01 -5.79735509e-02 1.32577120e+02] [-6.98000614e-02 -6.01238271e-04 9.97560820e-01 9.52769261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:132.59, Z:0.95 [[-5.64105560e-01 8.24794345e-01 -3.87195673e-02 2.11479380e+02] [-8.22768274e-01 -5.65432352e-01 -5.77808159e-02 1.32585331e+02] [-6.95505862e-02 -7.37247950e-04 9.97578154e-01 9.53479686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.321400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.48, Y:132.59, Z:0.96 [[-5.65769148e-01 8.23598550e-01 -3.98835752e-02 2.11483379e+02] [-8.21442400e-01 -5.67172416e-01 -5.95636920e-02 1.32591062e+02] [-7.16774341e-02 -9.37239493e-04 9.97427424e-01 9.56146223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.351400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:211.49, Y:132.59, Z:0.96 [[-5.66971733e-01 8.22771984e-01 -3.98662212e-02 2.11485321e+02] [-8.20612472e-01 -5.68370587e-01 -5.95822692e-02 1.32592499e+02] [-7.16814093e-02 -1.06674412e-03 9.97427009e-01 9.56502646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.49, Y:132.60, Z:0.96 [[-5.67956185e-01 8.22101417e-01 -3.96866857e-02 2.11489698e+02] [-8.19956539e-01 -5.69339871e-01 -5.93581101e-02 1.32601388e+02] [-7.13935990e-02 -1.17144828e-03 9.97447533e-01 9.56366326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.411400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.49, Y:132.61, Z:0.96 [[-5.69931485e-01 8.20731797e-01 -3.97167623e-02 2.11491841e+02] [-8.18577150e-01 -5.71312036e-01 -5.94475212e-02 1.32611544e+02] [-7.14811352e-02 -1.36977994e-03 9.97441011e-01 9.55387015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.441400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:211.49, Y:132.62, Z:0.96 [[-5.71643494e-01 8.19526309e-01 -4.00043069e-02 2.11494725e+02] [-8.17334110e-01 -5.73039443e-01 -5.99228641e-02 1.32617430e+02] [-7.20324093e-02 -1.55763086e-03 9.97401076e-01 9.55667402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.471400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.50, Y:132.63, Z:0.96 [[-5.74088419e-01 8.17791702e-01 -4.04872738e-02 2.11499787e+02] [-8.15538522e-01 -5.75511430e-01 -6.06919596e-02 1.32625599e+02] [-7.29342698e-02 -1.82361970e-03 9.97335083e-01 9.57048107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.501400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.50, Y:132.63, Z:0.96 [[-5.77117852e-01 8.15628425e-01 -4.10518878e-02 2.11504134e+02] [-8.13302956e-01 -5.78572064e-01 -6.15846470e-02 1.32632666e+02] [-7.39816640e-02 -2.15397753e-03 9.97257276e-01 9.58120236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.531400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.51, Y:132.64, Z:0.96 [[-5.84435614e-01 8.10352055e-01 -4.20066772e-02 2.11508037e+02] [-8.07899638e-01 -5.85936021e-01 -6.30646888e-02 1.32640203e+02] [-7.57178255e-02 -2.92007084e-03 9.97125009e-01 9.59253017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.561400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.51, Y:132.64, Z:0.96 [[-5.87846556e-01 8.07874261e-01 -4.21379312e-02 2.11506766e+02] [-8.05396533e-01 -5.89345766e-01 -6.33087093e-02 1.32639910e+02] [-7.59792881e-02 -3.27806304e-03 9.97104008e-01 9.58836703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:132.65, Z:0.96 [[-5.91087386e-01 8.05514442e-01 -4.19784073e-02 2.11508973e+02] [-8.03045994e-01 -5.92565230e-01 -6.31156145e-02 1.32645247e+02] [-7.57154836e-02 -3.59625179e-03 9.97122978e-01 9.59259321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.621400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:211.51, Y:132.65, Z:0.96 [[-5.93657162e-01 8.03617027e-01 -4.20814486e-02 2.11513335e+02] [-8.01128102e-01 -5.95134143e-01 -6.33175763e-02 1.32652911e+02] [-7.59271893e-02 -3.87630153e-03 9.97105830e-01 9.59794250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.651400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:211.53, Y:132.67, Z:0.96 [[-5.99628454e-01 7.99180736e-01 -4.19030730e-02 2.11525480e+02] [-7.96698590e-01 -6.01074332e-01 -6.30952073e-02 1.32672749e+02] [-7.56113358e-02 -4.44956242e-03 9.97127438e-01 9.60925114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:132.69, Z:0.96 [[-6.02694509e-01 7.96877655e-01 -4.17771681e-02 2.11532932e+02] [-7.94401796e-01 -6.04122041e-01 -6.29471672e-02 1.32686343e+02] [-7.53996990e-02 -4.75005465e-03 9.97142077e-01 9.61358961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.711400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.53, Y:132.69, Z:0.96 [[-6.04842049e-01 7.95236671e-01 -4.20087231e-02 2.11533438e+02] [-7.92726117e-01 -6.06278446e-01 -6.33383766e-02 1.32688634e+02] [-7.58379831e-02 -5.00830154e-03 9.97107576e-01 9.59330061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.741400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.54, Y:132.70, Z:0.96 [[-6.06633354e-01 7.93883846e-01 -4.17661712e-02 2.11542062e+02] [-7.91395661e-01 -6.08047413e-01 -6.30178678e-02 1.32702643e+02] [-7.54246796e-02 -5.17517382e-03 9.97138072e-01 9.60418308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.771400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.54, Y:132.71, Z:0.96 [[-6.06369215e-01 7.94086624e-01 -4.17469770e-02 2.11544473e+02] [-7.91598049e-01 -6.07782588e-01 -6.30305811e-02 1.32706410e+02] [-7.54248271e-02 -5.17297845e-03 9.97138073e-01 9.60703464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.801400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.55, Y:132.71, Z:0.96 [[-6.06459926e-01 7.94043657e-01 -4.12435299e-02 2.11550536e+02] [-7.91611395e-01 -6.07838978e-01 -6.23151435e-02 1.32714156e+02] [-7.45503694e-02 -5.14278913e-03 9.97203988e-01 9.62502081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.72, Z:0.96 [[-6.04992656e-01 7.95199137e-01 -4.05243000e-02 2.11552115e+02] [-7.92850424e-01 -6.06328239e-01 -6.12721057e-02 1.32716003e+02] [-7.32945530e-02 -4.93946549e-03 9.97298105e-01 9.64086380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.71, Z:0.96 [[-6.02895252e-01 7.96815490e-01 -4.00298504e-02 2.11549785e+02] [-7.94524171e-01 -6.04204334e-01 -6.05678519e-02 1.32713247e+02] [-7.24476117e-02 -4.71138668e-03 9.97361091e-01 9.63688121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.891400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.55, Y:132.71, Z:0.96 [[-6.00811296e-01 7.98390518e-01 -3.99795760e-02 2.11546994e+02] [-7.96105198e-01 -6.02122866e-01 -6.05356821e-02 1.32711067e+02] [-7.24037314e-02 -4.54257338e-03 9.97365061e-01 9.62361995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.921400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.55, Y:132.71, Z:0.96 [[-5.96691693e-01 8.01453244e-01 -4.03945597e-02 2.11546795e+02] [-7.99123739e-01 -5.98042387e-01 -6.12090929e-02 1.32714656e+02] [-7.32138850e-02 -4.24270569e-03 9.97307238e-01 9.60238242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.951400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.54, Y:132.71, Z:0.96 [[-5.94219012e-01 8.03286791e-01 -4.04239754e-02 2.11544418e+02] [-8.00954767e-01 -5.95578672e-01 -6.12985082e-02 1.32711526e+02] [-7.33159395e-02 -4.04696315e-03 9.97300554e-01 9.59565451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.981400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.54, Y:132.71, Z:0.96 [[-5.91762290e-01 8.05108083e-01 -4.02289300e-02 2.11542675e+02] [-8.02799425e-01 -5.93115763e-01 -6.10473142e-02 1.32709664e+02] [-7.30100986e-02 -3.82973660e-03 9.97323848e-01 9.59821698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.72, Z:0.96 [[-5.86450864e-01 8.09018487e-01 -3.95534137e-02 2.11545176e+02] [-8.06792416e-01 -5.87773854e-01 -6.00657444e-02 1.32718295e+02] [-7.18427601e-02 -3.31421350e-03 9.97410464e-01 9.61276313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:132.70, Z:0.96 [[-5.83247570e-01 8.11341989e-01 -3.93249075e-02 2.11533485e+02] [-8.09143673e-01 -5.84563901e-01 -5.97625502e-02 1.32704099e+02] [-7.14757877e-02 -3.03686205e-03 9.97437712e-01 9.60199584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.071400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.54, Y:132.71, Z:0.96 [[-5.79884344e-01 8.13750533e-01 -3.92965354e-02 2.11537378e+02] [-8.11557703e-01 -5.81207732e-01 -5.97634343e-02 1.32712720e+02] [-7.14719767e-02 -2.76447388e-03 9.97438777e-01 9.60996000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.101400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.52, Y:132.69, Z:0.96 [[-5.76613107e-01 8.16070131e-01 -3.93302193e-02 2.11522850e+02] [-8.13875974e-01 -5.77947468e-01 -5.98550226e-02 1.32693266e+02] [-7.15766968e-02 -2.50327001e-03 9.97431958e-01 9.59405618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.131400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.53, Y:132.71, Z:0.96 [[-5.73702399e-01 8.18112146e-01 -3.94724588e-02 2.11529694e+02] [-8.15903618e-01 -5.75054175e-01 -6.01164035e-02 1.32706986e+02] [-7.18807621e-02 -2.28320294e-03 9.97410619e-01 9.60093982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.161400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:211.53, Y:132.71, Z:0.96 [[-5.70895385e-01 8.20051119e-01 -3.99327085e-02 2.11531093e+02] [-8.17792380e-01 -5.72286471e-01 -6.08589991e-02 1.32711657e+02] [-7.27604391e-02 -2.08745704e-03 9.97347262e-01 9.59831725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.191400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.52, Y:132.70, Z:0.96 [[-5.67361316e-01 8.22457638e-01 -4.07991636e-02 2.11519949e+02] [-8.20102609e-01 -5.68823379e-01 -6.22227774e-02 1.32700025e+02] [-7.43831166e-02 -1.84329634e-03 9.97228035e-01 9.58148253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.221400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.53, Y:132.72, Z:0.96 [[-5.65886094e-01 8.23484214e-01 -4.05792775e-02 2.11534165e+02] [-8.21153743e-01 -5.67336560e-01 -6.19335020e-02 1.32723738e+02] [-7.40233689e-02 -1.72548198e-03 9.97255014e-01 9.61109375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.251400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.53, Y:132.72, Z:0.96 [[-5.64738388e-01 8.24274292e-01 -4.05270985e-02 2.11531082e+02] [-8.21948735e-01 -5.66188299e-01 -6.18957710e-02 1.32720439e+02] [-7.39650618e-02 -1.64372059e-03 9.97259479e-01 9.59631695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.281400513 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:211.54, Y:132.73, Z:0.96 [[-5.63539904e-01 8.25119688e-01 -4.00034664e-02 2.11535001e+02] [-8.22853052e-01 -5.64955875e-01 -6.11368468e-02 1.32726596e+02] [-7.30454093e-02 -1.53607829e-03 9.97327433e-01 9.60908563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.54, Y:132.73, Z:0.96 [[-5.62133053e-01 8.26133865e-01 -3.88492888e-02 2.11538607e+02] [-8.23995933e-01 -5.63472197e-01 -5.94120031e-02 1.32731717e+02] [-7.09727618e-02 -1.38579476e-03 9.97477291e-01 9.62825952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:132.73, Z:0.96 [[-5.61219961e-01 8.26764909e-01 -3.86256456e-02 2.11539345e+02] [-8.24650231e-01 -5.62546034e-01 -5.91096907e-02 1.32733811e+02] [-7.05985218e-02 -1.32089077e-03 9.97503937e-01 9.62621275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:132.73, Z:0.96 [[-5.60359392e-01 8.27352563e-01 -3.85368535e-02 2.11537781e+02] [-8.25246184e-01 -5.61681523e-01 -5.90135760e-02 1.32731927e+02] [-7.04704719e-02 -1.26642019e-03 9.97513062e-01 9.62176035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.401400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.54, Y:132.73, Z:0.96 [[-5.58938399e-01 8.28296861e-01 -3.88867130e-02 2.11539400e+02] [-8.26151387e-01 -5.60288244e-01 -5.95900217e-02 1.32732378e+02] [-7.11459960e-02 -1.18083948e-03 9.97465214e-01 9.61910465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.431400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.54, Y:132.74, Z:0.96 [[-5.58031504e-01 8.28905890e-01 -3.89341212e-02 2.11544883e+02] [-8.26753755e-01 -5.59386945e-01 -5.97032228e-02 1.32739483e+02] [-7.12675921e-02 -1.12734833e-03 9.97456595e-01 9.61947277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.74, Z:0.96 [[-5.57294395e-01 8.29417432e-01 -3.85963711e-02 2.11547344e+02] [-8.27300923e-01 -5.58628291e-01 -5.92251286e-02 1.32743007e+02] [-7.06833789e-02 -1.07501880e-03 9.97498223e-01 9.62764351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.74, Z:0.96 [[-5.56328452e-01 8.30086277e-01 -3.81500369e-02 2.11546992e+02] [-8.28017315e-01 -5.57634084e-01 -5.85794705e-02 1.32741867e+02] [-6.98997755e-02 -1.00053505e-03 9.97553518e-01 9.62993493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.521400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.54, Y:132.74, Z:0.96 [[-5.54357673e-01 8.31436711e-01 -3.74241334e-02 2.11543870e+02] [-8.29446259e-01 -5.55618841e-01 -5.75031101e-02 1.32737806e+02] [-6.86037503e-02 -8.35982843e-04 9.97643637e-01 9.62124720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.551400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.55, Y:132.75, Z:0.96 [[-5.53046943e-01 8.32315720e-01 -3.72776074e-02 2.11549027e+02] [-8.30340168e-01 -5.54301349e-01 -5.73168422e-02 1.32746932e+02] [-6.83687369e-02 -7.45809587e-04 9.97659842e-01 9.62649201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.581400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.55, Y:132.75, Z:0.96 [[-5.51399099e-01 8.33396656e-01 -3.75372875e-02 2.11547568e+02] [-8.31393209e-01 -5.52674956e-01 -5.77557411e-02 1.32745231e+02] [-6.88793602e-02 -6.38217647e-04 9.97624792e-01 9.62286211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.611400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.55, Y:132.75, Z:0.96 [[-5.49764808e-01 8.34469924e-01 -3.76643335e-02 2.11549599e+02] [-8.32452636e-01 -5.51053235e-01 -5.79908638e-02 1.32748874e+02] [-6.91466846e-02 -5.27562391e-04 9.97606364e-01 9.63949223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.75, Z:0.96 [[-5.47712756e-01 8.35793552e-01 -3.82083145e-02 2.11549627e+02] [-8.33717839e-01 -5.49043703e-01 -5.88691553e-02 1.32751802e+02] [-7.01804948e-02 -3.88433921e-04 9.97534234e-01 9.63984119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.671400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.55, Y:132.75, Z:0.96 [[-5.47176036e-01 8.36117911e-01 -3.87972375e-02 2.11547672e+02] [-8.33975485e-01 -5.48549632e-01 -5.98179813e-02 1.32750728e+02] [-7.12970959e-02 -3.75020892e-04 9.97455053e-01 9.62582538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.76, Z:0.96 [[-5.47243391e-01 8.36061707e-01 -3.90575750e-02 2.11549078e+02] [-8.33887266e-01 -5.48635267e-01 -6.02608620e-02 1.32755889e+02] [-7.18101622e-02 -4.07743970e-04 9.97418234e-01 9.63636004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.731400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.55, Y:132.76, Z:0.96 [[-5.46932389e-01 8.36238593e-01 -3.96229438e-02 2.11549672e+02] [-8.33998020e-01 -5.48365612e-01 -6.11756352e-02 1.32758553e+02] [-7.28852870e-02 -4.13479620e-04 9.97340245e-01 9.63140002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.761400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.55, Y:132.76, Z:0.96 [[-5.46273828e-01 8.36674208e-01 -3.95117163e-02 2.11551905e+02] [-8.34444308e-01 -5.47700765e-01 -6.10456255e-02 1.32764992e+02] [-7.27158976e-02 -3.77300748e-04 9.97352624e-01 9.64513695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.791400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.55, Y:132.77, Z:0.96 [[-5.45894942e-01 8.36923940e-01 -3.94592329e-02 2.11553370e+02] [-8.34697580e-01 -5.47319088e-01 -6.10062771e-02 1.32769212e+02] [-7.26544051e-02 -3.66491925e-04 9.97357109e-01 9.63706169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:132.77, Z:0.96 [[-5.45603942e-01 8.37131575e-01 -3.90776809e-02 2.11553230e+02] [-8.34945690e-01 -5.47001462e-01 -6.04573856e-02 1.32770982e+02] [-7.19863350e-02 -3.58046660e-04 9.97405554e-01 9.63979563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.851400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.56, Y:132.78, Z:0.96 [[-5.45186419e-01 8.37412034e-01 -3.88954094e-02 2.11556316e+02] [-8.35244282e-01 -5.46572015e-01 -6.02164629e-02 1.32776682e+02] [-7.16851330e-02 -3.42029485e-04 9.97427253e-01 9.63095725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.881400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.56, Y:132.78, Z:0.96 [[-5.44001832e-01 8.38211680e-01 -3.82516106e-02 2.11556354e+02] [-8.36114330e-01 -5.45344950e-01 -5.92597113e-02 1.32776926e+02] [-7.05325049e-02 -2.54671749e-04 9.97509449e-01 9.63519924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.911400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.56, Y:132.78, Z:0.96 [[-5.42787146e-01 8.39010279e-01 -3.79982337e-02 2.11556462e+02] [-8.36939788e-01 -5.44115541e-01 -5.89073010e-02 1.32777979e+02] [-7.00992605e-02 -1.71892115e-04 9.97540006e-01 9.64066281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:132.78, Z:0.96 [[-5.41265699e-01 8.40007367e-01 -3.76705081e-02 2.11556742e+02] [-8.37972111e-01 -5.42574990e-01 -5.84390380e-02 1.32780402e+02] [-6.95282979e-02 -6.42115610e-05 9.97579978e-01 9.64601303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.971400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.55, Y:132.78, Z:0.96 [[-5.37133437e-01 8.42653578e-01 -3.77176080e-02 2.11553773e+02] [-8.40616876e-01 -5.38456016e-01 -5.85524218e-02 1.32778757e+02] [-6.96486807e-02 2.55594289e-04 9.97571549e-01 9.62607895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.001400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.55, Y:132.78, Z:0.96 [[-5.34358790e-01 8.44416539e-01 -3.77013693e-02 2.11553720e+02] [-8.42383134e-01 -5.35686938e-01 -5.85675724e-02 1.32779389e+02] [-6.96515578e-02 4.62900549e-04 9.97571274e-01 9.62363659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.031400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.55, Y:132.78, Z:0.96 [[-5.31394468e-01 8.46304006e-01 -3.72753051e-02 2.11552048e+02] [-8.44318231e-01 -5.32699790e-01 -5.79453178e-02 1.32778627e+02] [-6.88959018e-02 6.80398368e-04 9.97623622e-01 9.61870984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.061400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.56, Y:132.79, Z:0.96 [[-5.28246648e-01 8.48293765e-01 -3.67854095e-02 2.11556909e+02] [-8.46362022e-01 -5.29525134e-01 -5.72229044e-02 1.32788763e+02] [-6.80206319e-02 9.05966160e-04 9.97683503e-01 9.63403465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:132.80, Z:0.97 [[-5.23118007e-01 8.51458427e-01 -3.69607625e-02 2.11561908e+02] [-8.49513263e-01 -5.24420494e-01 -5.75357330e-02 1.32799334e+02] [-6.83722661e-02 1.30068005e-03 9.97659031e-01 9.66117583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.121400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.57, Y:132.82, Z:0.97 [[-5.20920871e-01 8.52788619e-01 -3.73231474e-02 2.11571336e+02] [-8.50805668e-01 -5.22254167e-01 -5.81403519e-02 1.32815532e+02] [-6.90735997e-02 1.46822259e-03 9.97610486e-01 9.67884392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.151400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.58, Y:132.83, Z:0.97 [[-5.18805969e-01 8.54076738e-01 -3.73268252e-02 2.11577601e+02] [-8.52093941e-01 -5.20144504e-01 -5.81860028e-02 1.32827675e+02] [-6.91106545e-02 1.61871604e-03 9.97607687e-01 9.68993607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.181400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.58, Y:132.83, Z:0.97 [[-5.17157280e-01 8.55085573e-01 -3.71080904e-02 2.11577429e+02] [-8.53125850e-01 -5.18484036e-01 -5.78842713e-02 1.32831458e+02] [-6.87359578e-02 1.72259880e-03 9.97633400e-01 9.67633172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:132.82, Z:0.97 [[-5.15207337e-01 8.56268062e-01 -3.69649255e-02 2.11566655e+02] [-8.54323785e-01 -5.16528386e-01 -5.77000535e-02 1.32823220e+02] [-6.85001463e-02 1.85252422e-03 9.97649386e-01 9.65468430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:132.86, Z:0.97 [[-5.14449711e-01 8.56715942e-01 -3.71387863e-02 2.11589361e+02] [-8.54751725e-01 -5.15785016e-01 -5.80112682e-02 1.32861158e+02] [-6.88548078e-02 1.90056147e-03 9.97624881e-01 9.69054271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.271400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.58, Y:132.85, Z:0.97 [[-5.13665411e-01 8.57176687e-01 -3.73627104e-02 2.11579150e+02] [-8.55187125e-01 -5.15018748e-01 -5.84009462e-02 1.32846117e+02] [-6.93024259e-02 1.95356285e-03 9.97593784e-01 9.67910389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.301400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.58, Y:132.85, Z:0.97 [[-5.12827725e-01 8.57691258e-01 -3.70598264e-02 2.11580318e+02] [-8.55732514e-01 -5.14161220e-01 -5.79664030e-02 1.32850726e+02] [-6.87720026e-02 1.98651978e-03 9.97630425e-01 9.69033269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:132.87, Z:0.97 [[-5.10548277e-01 8.59044739e-01 -3.71832370e-02 2.11583505e+02] [-8.57073724e-01 -5.11895976e-01 -5.81991428e-02 1.32865469e+02] [-6.90296168e-02 2.15530334e-03 9.97612283e-01 9.69336257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:132.87, Z:0.97 [[-5.09189547e-01 8.59846188e-01 -3.72899135e-02 2.11581144e+02] [-8.57863210e-01 -5.10548206e-01 -5.84058428e-02 1.32866536e+02] [-6.92583398e-02 2.25000027e-03 9.97596221e-01 9.69368068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.391400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.58, Y:132.87, Z:0.97 [[-5.07683590e-01 8.60724386e-01 -3.75619966e-02 2.11583370e+02] [-8.58711907e-01 -5.09065743e-01 -5.88721553e-02 1.32872091e+02] [-6.97942254e-02 2.36650658e-03 9.97558603e-01 9.69100746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:132.90, Z:0.97 [[-5.06504026e-01 8.61429374e-01 -3.73243292e-02 2.11597644e+02] [-8.59441468e-01 -5.07871578e-01 -5.85390817e-02 1.32896055e+02] [-6.93832505e-02 2.42779573e-03 9.97587124e-01 9.72194513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:132.91, Z:0.97 [[-5.05106652e-01 8.62242767e-01 -3.74790827e-02 2.11603342e+02] [-8.60237766e-01 -5.06488906e-01 -5.88215506e-02 1.32910178e+02] [-6.97011961e-02 2.52976586e-03 9.97564706e-01 9.72564400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:132.91, Z:0.97 [[-5.04573205e-01 8.62543680e-01 -3.77396422e-02 2.11601640e+02] [-8.60508705e-01 -5.05976086e-01 -5.92703000e-02 1.32911979e+02] [-7.02185791e-02 2.56908538e-03 9.97528321e-01 9.72225060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.511400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:211.60, Y:132.91, Z:0.97 [[-5.04163354e-01 8.62766287e-01 -3.81267082e-02 2.11599319e+02] [-8.60687071e-01 -5.05596222e-01 -5.99184971e-02 1.32912301e+02] [-7.09723789e-02 2.60645430e-03 9.97474876e-01 9.71692342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:132.91, Z:0.97 [[-5.04020448e-01 8.62861257e-01 -3.78660781e-02 2.11597357e+02] [-8.60807877e-01 -5.05434255e-01 -5.95484043e-02 1.32911715e+02] [-7.05208240e-02 2.58180491e-03 9.97506966e-01 9.73419292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.571400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.59, Y:132.91, Z:0.97 [[-5.04194593e-01 8.62793282e-01 -3.70886210e-02 2.11594838e+02] [-8.60820616e-01 -5.05550694e-01 -5.83640589e-02 1.32909834e+02] [-6.91062960e-02 2.49980668e-03 9.97606170e-01 9.72968994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:132.91, Z:0.97 [[-5.04652912e-01 8.62538715e-01 -3.67750284e-02 2.11593374e+02] [-8.60595982e-01 -5.05985263e-01 -5.79091519e-02 1.32910213e+02] [-6.85565079e-02 2.42441950e-03 9.97644289e-01 9.71438644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:132.91, Z:0.97 [[-5.04885875e-01 8.62411877e-01 -3.65514410e-02 2.11590098e+02] [-8.60489755e-01 -5.06201663e-01 -5.75956461e-02 1.32909268e+02] [-6.81735695e-02 2.37291240e-03 9.97670654e-01 9.69281297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:132.91, Z:0.97 [[-5.04622458e-01 8.62566783e-01 -3.65338349e-02 2.11591955e+02] [-8.60644259e-01 -5.05937659e-01 -5.76068118e-02 1.32912347e+02] [-6.81735652e-02 2.37294428e-03 9.97670654e-01 9.69508050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.691400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:211.60, Y:132.92, Z:0.97 [[-5.04346900e-01 8.62736333e-01 -3.63348985e-02 2.11596601e+02] [-8.60832526e-01 -5.05648530e-01 -5.73317288e-02 1.32922414e+02] [-6.78348535e-02 2.36318277e-03 9.97693765e-01 9.69559334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.721400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:211.60, Y:132.92, Z:0.97 [[-5.03907611e-01 8.62992559e-01 -3.63450482e-02 2.11595857e+02] [-8.61085710e-01 -5.05211030e-01 -5.73865445e-02 1.32922877e+02] [-6.78860801e-02 2.37868500e-03 9.97690244e-01 9.72301543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:132.92, Z:0.97 [[-5.03725985e-01 8.63097872e-01 -3.63620044e-02 2.11595021e+02] [-8.61186870e-01 -5.05031114e-01 -5.74521413e-02 1.32923594e+02] [-6.79507645e-02 2.37434428e-03 9.97685850e-01 9.73303555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.781400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.59, Y:132.92, Z:0.97 [[-5.03590415e-01 8.63164551e-01 -3.66558568e-02 2.11587536e+02] [-8.61219963e-01 -5.04917103e-01 -5.79559725e-02 1.32915096e+02] [-6.85337100e-02 2.38268337e-03 9.97645956e-01 9.70575942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.811400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.60, Y:132.94, Z:0.97 [[-5.03794594e-01 8.63053323e-01 -3.64687397e-02 2.11603267e+02] [-8.61125600e-01 -5.05107421e-01 -5.76991739e-02 1.32941716e+02] [-6.82180948e-02 2.33563350e-03 9.97667698e-01 9.72444437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.841400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.59, Y:132.92, Z:0.97 [[-5.06502558e-01 8.61476372e-01 -3.62438832e-02 2.11594442e+02] [-8.59565705e-01 -5.07793356e-01 -5.73821001e-02 1.32922465e+02] [-6.78377265e-02 2.08981860e-03 9.97694179e-01 9.73217230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.871400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.60, Y:132.92, Z:0.97 [[-5.08735812e-01 8.60155540e-01 -3.63362190e-02 2.11596227e+02] [-8.58229077e-01 -5.10028277e-01 -5.75674182e-02 1.32921560e+02] [-6.80494329e-02 1.89819245e-03 9.97680145e-01 9.73778689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.901400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.59, Y:132.91, Z:0.97 [[-5.11575932e-01 8.58455753e-01 -3.66576871e-02 2.11591918e+02] [-8.56487884e-01 -5.12884924e-01 -5.81167700e-02 1.32913547e+02] [-6.86918506e-02 1.66572405e-03 9.97636535e-01 9.73055558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.931400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.58, Y:132.89, Z:0.97 [[-5.14822051e-01 8.56502376e-01 -3.69044026e-02 2.11576176e+02] [-8.54500058e-01 -5.16141201e-01 -5.85483620e-02 1.32889861e+02] [-6.91946938e-02 1.39282633e-03 9.97602203e-01 9.71005319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.961400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.58, Y:132.90, Z:0.97 [[-5.21534763e-01 8.52412392e-01 -3.73444094e-02 2.11581674e+02] [-8.50348461e-01 -5.22869407e-01 -5.92880934e-02 1.32896796e+02] [-7.00641547e-02 8.34959305e-04 9.97542138e-01 9.71215819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.991400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.59, Y:132.90, Z:0.97 [[-5.24965957e-01 8.50303631e-01 -3.73427275e-02 2.11585999e+02] [-8.48231608e-01 -5.26292175e-01 -5.93269374e-02 1.32899045e+02] [-7.00990955e-02 5.30659340e-04 9.97539892e-01 9.72243658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.021400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:211.59, Y:132.90, Z:0.97 [[-5.28264531e-01 8.48254406e-01 -3.74305794e-02 2.11592052e+02] [-8.46164504e-01 -5.29588904e-01 -5.95081925e-02 1.32903941e+02] [-7.03009060e-02 2.36360347e-04 9.97525803e-01 9.72170319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.051400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.60, Y:132.91, Z:0.97 [[-5.31731915e-01 8.46097746e-01 -3.71453165e-02 2.11600320e+02] [-8.44031461e-01 -5.33027766e-01 -5.90956245e-02 1.32914001e+02] [-6.98001597e-02 -7.12138588e-05 9.97560992e-01 9.73982707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:132.92, Z:0.97 [[-5.39727830e-01 8.40992018e-01 -3.77663325e-02 2.11605968e+02] [-8.38840282e-01 -5.41046976e-01 -6.01261252e-02 1.32919160e+02] [-7.09989514e-02 -7.71822024e-04 9.97476092e-01 9.74361415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.111400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.60, Y:132.91, Z:0.97 [[-5.43405689e-01 8.38594400e-01 -3.83365216e-02 2.11600185e+02] [-8.36368011e-01 -5.44755141e-01 -6.10768842e-02 1.32905605e+02] [-7.21027503e-02 -1.12608608e-03 9.97396574e-01 9.73533588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.141400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:211.60, Y:132.91, Z:0.97 [[-5.46830309e-01 8.36353047e-01 -3.86030170e-02 2.11603952e+02] [-8.34086806e-01 -5.48189255e-01 -6.15446236e-02 1.32906422e+02] [-7.26347926e-02 -1.45619836e-03 9.97357542e-01 9.73916081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.171400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.62, Y:132.93, Z:0.98 [[-5.50147525e-01 8.34195444e-01 -3.81531276e-02 2.11623486e+02] [-8.31973549e-01 -5.51466152e-01 -6.08695096e-02 1.32933393e+02] [-7.18172261e-02 -1.74481715e-03 9.97416283e-01 9.76232285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.201400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.64, Y:132.95, Z:0.98 [[-5.55555457e-01 8.30621239e-01 -3.77689257e-02 2.11637345e+02] [-8.28432659e-01 -5.56833434e-01 -6.02980572e-02 1.32947156e+02] [-7.11158476e-02 -2.20990315e-03 9.97465615e-01 9.75917999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.231400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.64, Y:132.95, Z:0.98 [[-5.57815749e-01 8.29100483e-01 -3.78679194e-02 2.11640153e+02] [-8.26893919e-01 -5.59094326e-01 -6.04977809e-02 1.32947754e+02] [-7.13304782e-02 -2.43386266e-03 9.97449768e-01 9.76938251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.261400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.64, Y:132.95, Z:0.98 [[-5.61828147e-01 8.26354000e-01 -3.85772096e-02 2.11644134e+02] [-8.24054270e-01 -5.63143752e-01 -6.16739330e-02 1.32946812e+02] [-7.26890158e-02 -2.86043715e-03 9.97350553e-01 9.77086333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:132.96, Z:0.98 [[-5.63649294e-01 8.25130391e-01 -3.82009366e-02 2.11654008e+02] [-8.22869568e-01 -5.64934301e-01 -6.11139123e-02 1.32960330e+02] [-7.20079657e-02 -3.01242539e-03 9.97399508e-01 9.78841330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.321400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.66, Y:132.96, Z:0.98 [[-5.64750875e-01 8.24385043e-01 -3.80230245e-02 2.11657658e+02] [-8.22140599e-01 -5.66020837e-01 -6.08707468e-02 1.32963603e+02] [-7.17027573e-02 -3.11653534e-03 9.97421176e-01 9.77314036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.66, Y:132.97, Z:0.98 [[-5.65278778e-01 8.24040631e-01 -3.76422776e-02 2.11662570e+02] [-8.21837314e-01 -5.66521938e-01 -6.03019407e-02 1.32969036e+02] [-7.10164253e-02 -3.15157909e-03 9.97470167e-01 9.78553530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:132.96, Z:0.98 [[-5.65381693e-01 8.23963669e-01 -3.77811297e-02 2.11660405e+02] [-8.21740914e-01 -5.66633617e-01 -6.05657888e-02 1.32961160e+02] [-7.13120677e-02 -3.19648817e-03 9.97448932e-01 9.78523793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.411400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.67, Y:132.97, Z:0.98 [[-5.65035134e-01 8.24206201e-01 -3.76753978e-02 2.11665713e+02] [-8.21993485e-01 -5.66280870e-01 -6.04374586e-02 1.32968376e+02] [-7.11477852e-02 -3.18035600e-03 9.97460715e-01 9.78803188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.441400513 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:211.67, Y:132.98, Z:0.98 [[-5.64644504e-01 8.24479908e-01 -3.75428407e-02 2.11674014e+02] [-8.22280435e-01 -5.65882415e-01 -6.02659013e-02 1.32980125e+02] [-7.09328582e-02 -3.15806653e-03 9.97476093e-01 9.78701943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.471400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:211.68, Y:132.99, Z:0.98 [[-5.64457708e-01 8.24625352e-01 -3.71554273e-02 2.11679594e+02] [-8.22468574e-01 -5.65670604e-01 -5.96842690e-02 1.32987883e+02] [-7.02348943e-02 -3.13007439e-03 9.97525570e-01 9.79299916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.501400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.67, Y:132.97, Z:0.98 [[-5.64063056e-01 8.24889561e-01 -3.72837936e-02 2.11669818e+02] [-8.22715523e-01 -5.65285246e-01 -5.99312901e-02 1.32969826e+02] [-7.05126739e-02 -3.13107091e-03 9.97505970e-01 9.77854159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.69, Y:132.99, Z:0.98 [[-5.63724426e-01 8.25112204e-01 -3.74782920e-02 2.11685527e+02] [-8.22912944e-01 -5.64960152e-01 -6.02852604e-02 1.32993617e+02] [-7.09158456e-02 -3.14290219e-03 9.97477351e-01 9.79821775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.561400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.69, Y:133.00, Z:0.98 [[-5.63682241e-01 8.25137045e-01 -3.75657745e-02 2.11687291e+02] [-8.22924601e-01 -5.64923715e-01 -6.04673171e-02 1.32995408e+02] [-7.11156203e-02 -3.17055275e-03 9.97463040e-01 9.80613483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.591400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:211.68, Y:132.99, Z:0.98 [[-5.64264380e-01 8.24764195e-01 -3.70099010e-02 2.11682549e+02] [-8.22613230e-01 -5.65467800e-01 -5.96124255e-02 1.32988230e+02] [-7.00941014e-02 -3.19233414e-03 9.97535276e-01 9.78811810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.00, Z:0.98 [[-5.64858423e-01 8.24380793e-01 -3.64865810e-02 2.11690684e+02] [-8.22286774e-01 -5.66026469e-01 -5.88089890e-02 1.33002952e+02] [-6.91333716e-02 -3.21631981e-03 9.97602242e-01 9.80201149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.651400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.69, Y:133.00, Z:0.98 [[-5.65368724e-01 8.24017931e-01 -3.67784675e-02 2.11688355e+02] [-8.21886626e-01 -5.66554052e-01 -5.93201494e-02 1.32999718e+02] [-6.97178565e-02 -3.31002666e-03 9.97561258e-01 9.78513356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.01, Z:0.98 [[-5.66371056e-01 8.23318970e-01 -3.70094686e-02 2.11696831e+02] [-8.21156417e-01 -5.67568529e-01 -5.97336040e-02 1.33012876e+02] [-7.01852189e-02 -3.44082175e-03 9.97528043e-01 9.80628294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.711400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.70, Y:133.02, Z:0.98 [[-5.69293977e-01 8.21247496e-01 -3.81696022e-02 2.11702788e+02] [-8.18939289e-01 -5.70559218e-01 -6.16491719e-02 1.33020832e+02] [-7.24072464e-02 -3.83791532e-03 9.97367766e-01 9.82107748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.741400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.70, Y:133.02, Z:0.98 [[-5.71251122e-01 8.19868920e-01 -3.85630559e-02 2.11701473e+02] [-8.17506576e-01 -5.72536737e-01 -6.23272222e-02 1.33019088e+02] [-7.31789186e-02 -4.07894379e-03 9.97310487e-01 9.82741871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.03, Z:0.98 [[-5.73387836e-01 8.18366654e-01 -3.87609166e-02 2.11709183e+02] [-8.15973427e-01 -5.74680239e-01 -6.26896218e-02 1.33032677e+02] [-7.35782289e-02 -4.31758856e-03 9.97280102e-01 9.83551779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.04, Z:0.98 [[-5.77383043e-01 8.15575537e-01 -3.82800816e-02 2.11715309e+02] [-8.13232301e-01 -5.78632018e-01 -6.19533129e-02 1.33044406e+02] [-7.26776873e-02 -4.64019349e-03 9.97344686e-01 9.83467578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.05, Z:0.98 [[-5.78676224e-01 8.14658118e-01 -3.82881010e-02 2.11715265e+02] [-8.12308880e-01 -5.79921801e-01 -6.20079741e-02 1.33045878e+02] [-7.27194040e-02 -4.78077593e-03 9.97340981e-01 9.83041884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.05, Z:0.98 [[-5.79373889e-01 8.14148782e-01 -3.85701712e-02 2.11717682e+02] [-8.11760538e-01 -5.80635600e-01 -6.25070273e-02 1.33051134e+02] [-7.32852346e-02 -4.90519650e-03 9.97298959e-01 9.83259328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.891400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.72, Y:133.06, Z:0.98 [[-5.79533068e-01 8.14019608e-01 -3.89037382e-02 2.11719868e+02] [-8.11586366e-01 -5.80815966e-01 -6.30902962e-02 1.33055960e+02] [-7.39526504e-02 -4.98916943e-03 9.97249274e-01 9.82497086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.921400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.72, Y:133.06, Z:0.98 [[-5.79108611e-01 8.14335556e-01 -3.86111197e-02 2.11721073e+02] [-8.11936448e-01 -5.80373363e-01 -6.26575108e-02 1.33059181e+02] [-7.34331044e-02 -4.93572867e-03 9.97287931e-01 9.83175066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.951400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.72, Y:133.07, Z:0.98 [[-5.78314678e-01 8.14936636e-01 -3.78207915e-02 2.11721766e+02] [-8.12633218e-01 -5.79530329e-01 -6.14153911e-02 1.33065773e+02] [-7.19679480e-02 -4.78299061e-03 9.97395477e-01 9.83382433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.981400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.72, Y:133.06, Z:0.98 [[-5.77565529e-01 8.15450557e-01 -3.81896433e-02 2.11715412e+02] [-8.13099968e-01 -5.78806919e-01 -6.20563641e-02 1.33059028e+02] [-7.27083264e-02 -4.78961907e-03 9.97341746e-01 9.81598409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.07, Z:0.98 [[-5.76623218e-01 8.16112370e-01 -3.82918208e-02 2.11720847e+02] [-8.13747531e-01 -5.77873776e-01 -6.22643989e-02 1.33071875e+02] [-7.29425853e-02 -4.74322344e-03 9.97324862e-01 9.83627313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:132.77, Z:0.96 [[-5.75306431e-01 8.17036984e-01 -3.83806902e-02 2.11534684e+02] [-8.14660016e-01 -5.76566419e-01 -6.24517617e-02 1.32772750e+02] [-7.31544161e-02 -4.66168646e-03 9.97309731e-01 9.59823627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.08, Z:0.98 [[-5.72596757e-01 8.18994468e-01 -3.71620192e-02 2.11715039e+02] [-8.16766900e-01 -5.73785309e-01 -6.05165213e-02 1.33075013e+02] [-7.08857169e-02 -4.29885656e-03 9.97475180e-01 9.83012373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.08, Z:0.98 [[-5.70987386e-01 8.20136595e-01 -3.67337765e-02 2.11712332e+02] [-8.17959720e-01 -5.72152860e-01 -5.98581754e-02 1.33075769e+02] [-7.01092155e-02 -4.13151357e-03 9.97530766e-01 9.82191922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.131400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.55, Y:132.81, Z:0.96 [[-5.69177693e-01 8.21378595e-01 -3.70669274e-02 2.11545946e+02] [-8.19161641e-01 -5.70369084e-01 -6.04426462e-02 1.32808863e+02] [-7.07881252e-02 -4.03880083e-03 9.97483198e-01 9.59979078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.161400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.71, Y:133.08, Z:0.98 [[-5.67831584e-01 8.22294565e-01 -3.74024035e-02 2.11712484e+02] [-8.20035630e-01 -5.69048097e-01 -6.10395714e-02 1.33084456e+02] [-7.14762744e-02 -3.98889301e-03 9.97434324e-01 9.83425973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.191400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.98 [[-5.65630022e-01 8.23828128e-01 -3.70120763e-02 2.11709227e+02] [-8.21616602e-01 -5.66827084e-01 -6.04418400e-02 1.33085604e+02] [-7.07731351e-02 -3.77798287e-03 9.97485283e-01 9.82306195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.221400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.98 [[-5.64587009e-01 8.24589213e-01 -3.59741373e-02 2.11707818e+02] [-8.22498991e-01 -5.65720481e-01 -5.87856056e-02 1.33087130e+02] [-6.88252825e-02 -3.60089762e-03 9.97622230e-01 9.82272534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.251400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.71, Y:133.09, Z:0.98 [[-5.63484966e-01 8.25368590e-01 -3.53749156e-02 2.11709215e+02] [-8.23346399e-01 -5.64583614e-01 -5.78450526e-02 1.33093193e+02] [-6.77155872e-02 -3.46900817e-03 9.97698635e-01 9.81847346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.55, Y:132.84, Z:0.96 [[-5.62292842e-01 8.26196207e-01 -3.50226750e-02 2.11554864e+02] [-8.24213132e-01 -5.63372483e-01 -5.73075695e-02 1.32843147e+02] [-6.70781080e-02 -3.35748743e-03 9.97742078e-01 9.63206002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.311400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.98 [[-5.60863823e-01 8.27145892e-01 -3.55168412e-02 2.11708737e+02] [-8.25104986e-01 -5.61977464e-01 -5.81643542e-02 1.33098455e+02] [-6.80700710e-02 -3.31715938e-03 9.97675028e-01 9.84990984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.99 [[-5.60732909e-01 8.27231986e-01 -3.55787304e-02 2.11705519e+02] [-8.25181509e-01 -5.61850625e-01 -5.83039705e-02 1.33095210e+02] [-6.82208412e-02 -3.33404451e-03 9.97664674e-01 9.85703001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.371400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.99 [[-5.60500189e-01 8.27378630e-01 -3.58349067e-02 2.11704423e+02] [-8.25295996e-01 -5.61634483e-01 -5.87641519e-02 1.33095986e+02] [-6.87463228e-02 -3.36291324e-03 9.97628505e-01 9.85264447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.401400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.98 [[-5.59846899e-01 8.27787475e-01 -3.65970752e-02 2.11706068e+02] [-8.25613102e-01 -5.61031450e-01 -6.00559538e-02 1.33101998e+02] [-7.02456766e-02 -3.40711467e-03 9.97523903e-01 9.84530344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.431400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.99 [[-5.59624148e-01 8.27913520e-01 -3.71485847e-02 2.11712341e+02] [-8.25670275e-01 -5.60845066e-01 -6.10033579e-02 1.33113294e+02] [-7.13401052e-02 -3.46647007e-03 9.97446025e-01 9.85802309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:132.88, Z:0.97 [[-5.59011762e-01 8.28312098e-01 -3.74822290e-02 2.11568580e+02] [-8.26026110e-01 -5.60256212e-01 -6.15941834e-02 1.32877574e+02] [-7.20188589e-02 -3.47057314e-03 9.97397232e-01 9.66814695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.99 [[-5.57939500e-01 8.29056221e-01 -3.70040229e-02 2.11708630e+02] [-8.26826419e-01 -5.59155169e-01 -6.08569598e-02 1.33108316e+02] [-7.11448318e-02 -3.35859794e-03 9.97460341e-01 9.85243017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.521400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.72, Y:133.12, Z:0.98 [[-5.56381359e-01 8.30125639e-01 -3.64857075e-02 2.11715333e+02] [-8.27957481e-01 -5.57567210e-01 -6.00434523e-02 1.33118683e+02] [-7.01868433e-02 -3.19844314e-03 9.97528735e-01 9.84977596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.551400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.72, Y:133.12, Z:0.99 [[-5.53536627e-01 8.32047186e-01 -3.59816970e-02 2.11717114e+02] [-8.29939816e-01 -5.54697085e-01 -5.92540764e-02 1.33118337e+02] [-6.92611300e-02 -2.93665863e-03 9.97594242e-01 9.85524850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.581400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.72, Y:133.12, Z:0.99 [[-5.53284456e-01 8.32215671e-01 -3.59637050e-02 2.11718909e+02] [-8.30107949e-01 -5.54444275e-01 -5.92649946e-02 1.33121452e+02] [-6.92611275e-02 -2.93664293e-03 9.97594242e-01 9.85751581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.611400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.72, Y:133.12, Z:0.99 [[-5.51037327e-01 8.33692628e-01 -3.62555522e-02 2.11719733e+02] [-8.31550785e-01 -5.52221677e-01 -5.97872237e-02 1.33121148e+02] [-6.98652695e-02 -2.79665907e-03 9.97552516e-01 9.85067106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.99 [[-5.48461819e-01 8.35384623e-01 -3.63615740e-02 2.11713246e+02] [-8.33230993e-01 -5.49659630e-01 -6.00033540e-02 1.33109417e+02] [-7.01123686e-02 -2.61195829e-03 9.97535680e-01 9.85118388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.98 [[-5.45622347e-01 8.37230818e-01 -3.66171033e-02 2.11713765e+02] [-8.35047911e-01 -5.46844333e-01 -6.04670328e-02 1.33108594e+02] [-7.06487187e-02 -2.41512874e-03 9.97498334e-01 9.84958833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.99 [[-5.40776827e-01 8.40351249e-01 -3.70162488e-02 2.11708662e+02] [-8.38124567e-01 -5.42038336e-01 -6.11690509e-02 1.33097543e+02] [-7.14677142e-02 -2.05457773e-03 9.97440798e-01 9.85409338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.99 [[-5.38006169e-01 8.42140453e-01 -3.67262849e-02 2.11710859e+02] [-8.39949705e-01 -5.39255156e-01 -6.07319562e-02 1.33101088e+02] [-7.09496756e-02 -1.82593492e-03 9.97478225e-01 9.85572363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.761400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.70, Y:133.09, Z:0.98 [[-5.34955759e-01 8.44098029e-01 -3.63435477e-02 2.11702869e+02] [-8.41954300e-01 -5.36186575e-01 -6.01407759e-02 1.33088426e+02] [-7.02516327e-02 -1.57304814e-03 9.97528062e-01 9.83758971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.791400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.99 [[-5.28777800e-01 8.47986092e-01 -3.62439851e-02 2.11713987e+02] [-8.45860150e-01 -5.30017381e-01 -6.00181809e-02 1.33108667e+02] [-7.01045247e-02 -1.07893896e-03 9.97539068e-01 9.85341354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.821400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:211.70, Y:133.09, Z:0.98 [[-5.25165128e-01 8.50225814e-01 -3.62994890e-02 2.11704315e+02] [-8.48095665e-01 -5.26417532e-01 -6.01525250e-02 1.33094530e+02] [-7.02519169e-02 -8.04569293e-04 9.97528957e-01 9.83424370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.851400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.71, Y:133.11, Z:0.99 [[-5.21721789e-01 8.52355885e-01 -3.59974997e-02 2.11711757e+02] [-8.50263188e-01 -5.22961908e-01 -5.96938377e-02 1.33109450e+02] [-6.97057150e-02 -5.36226951e-04 9.97567454e-01 9.85499138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.99 [[-5.18382129e-01 8.54404469e-01 -3.56787427e-02 2.11707031e+02] [-8.52350655e-01 -5.19608434e-01 -5.92067174e-02 1.33103691e+02] [-6.91254595e-02 -2.80904447e-04 9.97607935e-01 9.85195966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.911400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.98 [[-5.13099023e-01 8.57609346e-01 -3.51511330e-02 2.11704381e+02] [-8.55620557e-01 -5.14301656e-01 -5.83718084e-02 1.33104570e+02] [-6.81384944e-02 1.25514138e-04 9.97675864e-01 9.84668861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.70, Y:133.11, Z:0.98 [[-5.10699999e-01 8.59042823e-01 -3.50847472e-02 2.11703642e+02] [-8.57062096e-01 -5.11903645e-01 -5.83028521e-02 1.33106814e+02] [-6.80446566e-02 2.94540473e-04 9.97682233e-01 9.84141511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.09, Z:0.98 [[-5.08471325e-01 8.60362597e-01 -3.51157190e-02 2.11690759e+02] [-8.58378659e-01 -5.09682254e-01 -5.83958768e-02 1.33088172e+02] [-6.81394870e-02 4.49954859e-04 9.97675703e-01 9.82755941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.99 [[-5.05140223e-01 8.62315322e-01 -3.52936385e-02 2.11698275e+02] [-8.60313030e-01 -5.06371211e-01 -5.87340471e-02 1.33102898e+02] [-6.85189512e-02 6.94647480e-04 9.97649573e-01 9.86024854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.031400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.70, Y:133.11, Z:0.99 [[-5.04047765e-01 8.62949801e-01 -3.54046696e-02 2.11701576e+02] [-8.60933504e-01 -5.05289086e-01 -5.89613589e-02 1.33108821e+02] [-6.87702861e-02 7.61725068e-04 9.97632231e-01 9.86869045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.70, Y:133.11, Z:0.99 [[-5.02239011e-01 8.64020660e-01 -3.49896303e-02 2.11699545e+02] [-8.62051184e-01 -5.03455589e-01 -5.83114618e-02 1.33106814e+02] [-6.79980327e-02 8.76561358e-04 9.97685070e-01 9.86078793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.11, Z:0.99 [[-5.01107249e-01 8.64693781e-01 -3.45859841e-02 2.11700353e+02] [-8.62768374e-01 -5.02298506e-01 -5.76796624e-02 1.33108925e+02] [-6.72477335e-02 9.35996371e-04 9.97735870e-01 9.85978217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.121400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.71, Y:133.12, Z:0.99 [[-4.99861814e-01 8.65412865e-01 -3.46228333e-02 2.11706794e+02] [-8.63482258e-01 -5.01058428e-01 -5.77827105e-02 1.33119721e+02] [-6.73539634e-02 1.01283178e-03 9.97728629e-01 9.86348807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.13, Z:0.99 [[-4.98642220e-01 8.66103212e-01 -3.49451297e-02 2.11711867e+02] [-8.64135260e-01 -4.99864008e-01 -5.83628854e-02 1.33129709e+02] [-6.80160951e-02 1.09511998e-03 9.97683623e-01 9.87170044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.13, Z:0.99 [[-4.97223427e-01 8.66902209e-01 -3.53471878e-02 2.11713609e+02] [-8.64887721e-01 -4.98476807e-01 -5.90770866e-02 1.33134510e+02] [-6.88338102e-02 1.19683724e-03 9.97627423e-01 9.86828575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:133.13, Z:0.99 [[-4.95211390e-01 8.68057100e-01 -3.52498368e-02 2.11712500e+02] [-8.66053725e-01 -4.96462583e-01 -5.89563298e-02 1.33133130e+02] [-6.86776857e-02 1.33240640e-03 9.97638011e-01 9.87111771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.14, Z:0.99 [[-4.94253539e-01 8.68625440e-01 -3.46883719e-02 2.11718615e+02] [-8.66684076e-01 -4.95467428e-01 -5.80580839e-02 1.33140685e+02] [-6.76176871e-02 1.36844608e-03 9.97710367e-01 9.88667374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:133.14, Z:0.99 [[-4.93604724e-01 8.69017941e-01 -3.40909712e-02 2.11719288e+02] [-8.67141203e-01 -4.94778657e-01 -5.70982954e-02 1.33139944e+02] [-6.64869281e-02 1.37769745e-03 9.97786345e-01 9.88273316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.301400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:211.73, Y:133.16, Z:0.99 [[-4.92860043e-01 8.69438640e-01 -3.41383709e-02 2.11733405e+02] [-8.67554946e-01 -4.94038911e-01 -5.72186207e-02 1.33161781e+02] [-6.66137634e-02 1.41614068e-03 9.97777832e-01 9.87878360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:133.16, Z:0.99 [[-4.91879900e-01 8.69977239e-01 -3.45509456e-02 2.11730482e+02] [-8.68046191e-01 -4.93089642e-01 -5.79518448e-02 1.33156595e+02] [-6.74534993e-02 1.48646905e-03 9.97721312e-01 9.88031070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:133.18, Z:0.99 [[-4.90191190e-01 8.70923260e-01 -3.47170252e-02 2.11743695e+02] [-8.68973118e-01 -4.91416425e-01 -5.82719211e-02 1.33177471e+02] [-6.78108879e-02 1.60377929e-03 9.97696904e-01 9.90185362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:133.19, Z:0.99 [[-4.86727412e-01 8.72857889e-01 -3.48644772e-02 2.11751102e+02] [-8.70893199e-01 -4.87970948e-01 -5.85609923e-02 1.33187430e+02] [-6.81282761e-02 1.85999587e-03 9.97674836e-01 9.90978620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.75, Y:133.19, Z:0.99 [[-4.85553137e-01 8.73516716e-01 -3.47375503e-02 2.11754600e+02] [-8.71565218e-01 -4.86790345e-01 -5.83886192e-02 1.33192880e+02] [-6.79133390e-02 1.92526341e-03 9.97689366e-01 9.90906595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:133.18, Z:0.99 [[-4.84897546e-01 8.73899545e-01 -3.42630290e-02 2.11745148e+02] [-8.71999335e-01 -4.86102717e-01 -5.76308000e-02 1.33176360e+02] [-6.70188813e-02 1.93230497e-03 9.97749836e-01 9.89629624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:133.19, Z:0.99 [[-4.84048747e-01 8.74395957e-01 -3.35934736e-02 2.11752932e+02] [-8.72567984e-01 -4.85209168e-01 -5.65435833e-02 1.33187861e+02] [-6.57413420e-02 1.94273889e-03 9.97834807e-01 9.90380868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.511400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.76, Y:133.20, Z:0.99 [[-4.83036629e-01 8.74970072e-01 -3.32112846e-02 2.11763285e+02] [-8.73182301e-01 -4.84172963e-01 -5.59393465e-02 1.33203969e+02] [-6.50252600e-02 1.97875256e-03 9.97881656e-01 9.91003775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:133.21, Z:0.99 [[-4.80889909e-01 8.76142517e-01 -3.34542232e-02 2.11770052e+02] [-8.74328662e-01 -4.82047444e-01 -5.63884158e-02 1.33212573e+02] [-6.55308113e-02 2.13336605e-03 9.97848266e-01 9.91958268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.571400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:211.77, Y:133.21, Z:0.99 [[-4.79649177e-01 8.76802216e-01 -3.39785330e-02 2.11766822e+02] [-8.74929930e-01 -4.80845985e-01 -5.73127885e-02 1.33206507e+02] [-6.65904211e-02 2.23880370e-03 9.97777883e-01 9.90551026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.78, Y:133.23, Z:0.99 [[-4.76969203e-01 8.78256628e-01 -3.41419865e-02 2.11783387e+02] [-8.76367235e-01 -4.78183410e-01 -5.76289566e-02 1.33232359e+02] [-6.69391446e-02 2.43368083e-03 9.97754092e-01 9.94393591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:133.23, Z:0.99 [[-4.75711760e-01 8.78955183e-01 -3.37061853e-02 2.11781192e+02] [-8.77112913e-01 -4.76897926e-01 -5.69324659e-02 1.33226752e+02] [-6.61154959e-02 2.48068681e-03 9.97808893e-01 9.94022455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.661400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.79, Y:133.24, Z:0.99 [[-4.74457997e-01 8.79646171e-01 -3.33500123e-02 2.11790449e+02] [-8.77841826e-01 -4.75621917e-01 -5.63694952e-02 1.33240340e+02] [-6.54472073e-02 2.53107789e-03 9.97852823e-01 9.94205318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.79, Y:133.23, Z:0.99 [[-4.73460619e-01 8.80182558e-01 -3.33722574e-02 2.11786028e+02] [-8.78374555e-01 -4.74628240e-01 -5.64462166e-02 1.33231082e+02] [-6.55223911e-02 2.58828108e-03 9.97847742e-01 9.93715442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.721400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:211.81, Y:133.27, Z:1.00 [[-4.70603185e-01 8.81688848e-01 -3.40208427e-02 2.11810168e+02] [-8.79810970e-01 -4.71822796e-01 -5.75839108e-02 1.33269086e+02] [-6.68229011e-02 2.83273882e-03 9.97760831e-01 9.96476430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.751400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.81, Y:133.26, Z:1.00 [[-4.68967929e-01 8.82556818e-01 -3.40961145e-02 2.11806451e+02] [-8.80670053e-01 -4.70196558e-01 -5.77534049e-02 1.33261854e+02] [-6.70025369e-02 2.94293226e-03 9.97748465e-01 9.95389175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.81, Y:133.27, Z:1.00 [[-4.67570053e-01 8.83312941e-01 -3.37119339e-02 2.11810100e+02] [-8.81467876e-01 -4.68774208e-01 -5.71412682e-02 1.33265792e+02] [-6.62769067e-02 2.99844100e-03 9.97796763e-01 9.96352334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.811400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:211.81, Y:133.27, Z:1.00 [[-4.66044765e-01 8.84134160e-01 -3.33026204e-02 2.11812824e+02] [-8.82333233e-01 -4.67223104e-01 -5.64857205e-02 1.33267735e+02] [-6.55007088e-02 3.05913440e-03 9.97847834e-01 9.95869233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.841400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:211.83, Y:133.29, Z:1.00 [[-4.64341451e-01 8.85051775e-01 -3.27165386e-02 2.11827834e+02] [-8.83313576e-01 -4.65482174e-01 -5.55290192e-02 1.33288076e+02] [-6.43750225e-02 3.11453733e-03 9.97920917e-01 9.96928850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.871400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.83, Y:133.28, Z:1.00 [[-4.64540944e-01 8.84938474e-01 -3.29485675e-02 2.11827057e+02] [-8.83172733e-01 -4.65697614e-01 -5.59612061e-02 1.33283010e+02] [-6.48662936e-02 3.10300491e-03 9.97889140e-01 9.97734917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.901400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:211.83, Y:133.28, Z:1.00 [[-4.65188583e-01 8.84576137e-01 -3.35356365e-02 2.11827400e+02] [-8.82743153e-01 -4.66385596e-01 -5.70000206e-02 1.33278329e+02] [-6.60613958e-02 3.08759466e-03 9.97810783e-01 9.97512208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.931400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:211.83, Y:133.28, Z:1.00 [[-4.66112565e-01 8.84088161e-01 -3.35738143e-02 2.11833983e+02] [-8.82247151e-01 -4.67310499e-01 -5.71039516e-02 1.33283677e+02] [-6.61743235e-02 3.00353272e-03 9.97803557e-01 9.99726863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.961400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:211.83, Y:133.27, Z:1.00 [[-4.69419052e-01 8.82355129e-01 -3.30935120e-02 2.11832070e+02] [-8.80559699e-01 -4.70576383e-01 -5.63248084e-02 1.33270672e+02] [-6.52715087e-02 2.70087482e-03 9.97863886e-01 9.97580252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:133.27, Z:1.00 [[-4.71428960e-01 8.81296455e-01 -3.27306332e-02 2.11832084e+02] [-8.79534961e-01 -4.72557170e-01 -5.57492043e-02 1.33265061e+02] [-6.45986715e-02 2.50594682e-03 9.97908178e-01 9.98098811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.021400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.84, Y:133.27, Z:1.00 [[-4.73564953e-01 8.80155286e-01 -3.26022644e-02 2.11836831e+02] [-8.78402142e-01 -4.74680196e-01 -5.55732682e-02 1.33266877e+02] [-6.43887550e-02 2.32034676e-03 9.97922194e-01 9.97820387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.051400513 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:211.83, Y:133.25, Z:1.00 [[-4.75308791e-01 8.79208013e-01 -3.27844940e-02 2.11829301e+02] [-8.77430432e-01 -4.76433094e-01 -5.59226515e-02 1.33247315e+02] [-6.47872613e-02 2.18558488e-03 9.97896705e-01 9.96428085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.081400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.84, Y:133.25, Z:1.00 [[-4.77964879e-01 8.77758061e-01 -3.30206161e-02 2.11837177e+02] [-8.75948416e-01 -4.79100051e-01 -5.63694358e-02 1.33253041e+02] [-6.52989055e-02 1.98174588e-03 9.97863781e-01 9.98004998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.111400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.83, Y:133.24, Z:1.00 [[-4.79301759e-01 8.77019942e-01 -3.32542617e-02 2.11833097e+02] [-8.75179855e-01 -4.80450324e-01 -5.68129091e-02 1.33242789e+02] [-6.58030750e-02 1.87293272e-03 9.97830871e-01 9.96101929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.141400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.84, Y:133.25, Z:1.00 [[-4.81463702e-01 8.75829891e-01 -3.33872104e-02 2.11837702e+02] [-8.73969214e-01 -4.82616959e-01 -5.70848757e-02 1.33245432e+02] [-6.61098744e-02 1.69509846e-03 9.97810910e-01 9.96339190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.171400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.84, Y:133.23, Z:1.00 [[-4.87803450e-01 8.72296896e-01 -3.38514198e-02 2.11837541e+02] [-8.70372369e-01 -4.88975119e-01 -5.79247138e-02 1.33229340e+02] [-6.70800501e-02 1.20746519e-03 9.97746866e-01 9.96467052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.201400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.84, Y:133.23, Z:1.00 [[-4.90858173e-01 8.70573993e-01 -3.40466935e-02 2.11839989e+02] [-8.68619880e-01 -4.92036597e-01 -5.83051601e-02 1.33226453e+02] [-6.75111752e-02 9.54070435e-04 9.97718062e-01 9.96385394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.231400513 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:211.83, Y:133.21, Z:0.99 [[-4.93489892e-01 8.69074276e-01 -3.43166189e-02 2.11833600e+02] [-8.67082165e-01 -4.94681078e-01 -5.88145452e-02 1.33209879e+02] [-6.80899903e-02 7.30944676e-04 9.97678916e-01 9.94717379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.261400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.84, Y:133.21, Z:1.00 [[-4.98172325e-01 8.66393857e-01 -3.44386219e-02 2.11842026e+02] [-8.64377830e-01 -4.99361160e-01 -5.90711364e-02 1.33214281e+02] [-6.83761799e-02 3.40375894e-04 9.97659552e-01 9.95803331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.291400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.85, Y:133.22, Z:1.00 [[-5.00265132e-01 8.65179248e-01 -3.46362106e-02 2.11850910e+02] [-8.63133752e-01 -5.01462707e-01 -5.94582164e-02 1.33223720e+02] [-6.88107828e-02 1.50809972e-04 9.97629718e-01 9.96692507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.321400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:211.86, Y:133.23, Z:1.00 [[-5.02227873e-01 8.64028432e-01 -3.49575924e-02 2.11856973e+02] [-8.61938569e-01 -5.03443014e-01 -6.00585923e-02 1.33227936e+02] [-6.94914870e-02 -3.18018677e-05 9.97582544e-01 9.96449658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:133.24, Z:1.00 [[-5.06315286e-01 8.61638776e-01 -3.49778682e-02 2.11866583e+02] [-8.59537381e-01 -5.07521893e-01 -6.01416522e-02 1.33235276e+02] [-6.95724134e-02 -3.85852644e-04 9.97576829e-01 9.97636239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.381400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.87, Y:133.24, Z:1.00 [[-5.07391773e-01 8.61015622e-01 -3.47230067e-02 2.11870184e+02] [-8.58940030e-01 -5.08578270e-01 -5.97508887e-02 1.33238409e+02] [-6.91058153e-02 -4.92128997e-04 9.97609214e-01 9.96874192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.88, Y:133.25, Z:1.00 [[-5.08117324e-01 8.60608833e-01 -3.41938732e-02 2.11875891e+02] [-8.58592010e-01 -5.09266256e-01 -5.88866831e-02 1.33245519e+02] [-6.80921854e-02 -5.62757508e-04 9.97678875e-01 9.98273502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.441400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:211.88, Y:133.25, Z:1.00 [[-5.07169561e-01 8.61154697e-01 -3.45199082e-02 2.11877299e+02] [-8.59097140e-01 -5.08342718e-01 -5.94960947e-02 1.33247674e+02] [-6.87832853e-02 -5.18653833e-04 9.97631490e-01 9.97908484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.471400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.88, Y:133.25, Z:1.00 [[-5.06463436e-01 8.61542155e-01 -3.52122679e-02 2.11879319e+02] [-8.59398588e-01 -5.07685794e-01 -6.07387974e-02 1.33250761e+02] [-7.02058026e-02 -5.00606717e-04 9.97532403e-01 1.00002672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.501400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.88, Y:133.25, Z:1.00 [[-5.06165646e-01 8.61718003e-01 -3.51912193e-02 2.11881506e+02] [-8.59574014e-01 -5.07387261e-01 -6.07509904e-02 1.33254680e+02] [-7.02057985e-02 -5.00606691e-04 9.97532403e-01 1.00030991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.531400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:211.88, Y:133.26, Z:1.00 [[-5.06844128e-01 8.61307427e-01 -3.54759837e-02 2.11883369e+02] [-8.59124046e-01 -5.08083823e-01 -6.12919415e-02 1.33257679e+02] [-7.08159779e-02 -5.87190015e-04 9.97489224e-01 9.99938620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.561400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:211.89, Y:133.27, Z:1.00 [[-5.07393770e-01 8.60981972e-01 -3.55191099e-02 2.11886996e+02] [-8.58788979e-01 -5.08635047e-01 -6.14156182e-02 1.33265291e+02] [-7.09440042e-02 -6.58481895e-04 9.97480082e-01 9.99151785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.591400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.89, Y:133.27, Z:1.00 [[-5.08266921e-01 8.60482866e-01 -3.51279697e-02 2.11889797e+02] [-8.58333391e-01 -5.09478835e-01 -6.07873860e-02 1.33271905e+02] [-7.02034612e-02 -7.44708141e-04 9.97532415e-01 9.99648934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:133.28, Z:1.00 [[-5.11524113e-01 8.58588047e-01 -3.42001218e-02 2.11891977e+02] [-8.56543345e-01 -5.12665155e-01 -5.92278387e-02 1.33275836e+02] [-6.83855251e-02 -1.00258095e-03 9.97658466e-01 1.00158616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.651400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.90, Y:133.28, Z:1.00 [[-5.13849932e-01 8.57212038e-01 -3.38492071e-02 2.11896332e+02] [-8.55202993e-01 -5.14962219e-01 -5.86664645e-02 1.33283163e+02] [-6.77206624e-02 -1.19781560e-03 9.97703602e-01 1.00350133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:133.30, Z:1.01 [[-5.21108421e-01 8.52819885e-01 -3.38268641e-02 2.11904251e+02] [-8.50800966e-01 -5.22202085e-01 -5.86745061e-02 1.33300549e+02] [-6.77032445e-02 -1.79585052e-03 9.97703887e-01 1.00523751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.711400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.91, Y:133.31, Z:1.00 [[-5.25128270e-01 8.50325943e-01 -3.44396759e-02 2.11907606e+02] [-8.48224401e-01 -5.26251867e-01 -5.97857650e-02 1.33308041e+02] [-6.89613307e-02 -2.18262191e-03 9.97616946e-01 1.00468273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:133.32, Z:1.01 [[-5.29514377e-01 8.47576595e-01 -3.50491284e-02 2.11914565e+02] [-8.45390438e-01 -5.30666644e-01 -6.08926965e-02 1.33320897e+02] [-7.02106277e-02 -2.61336020e-03 9.97528766e-01 1.00708735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.771400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.92, Y:133.32, Z:1.01 [[-5.33673231e-01 8.44931092e-01 -3.58375915e-02 2.11916012e+02] [-8.42635760e-01 -5.34866439e-01 -6.23126669e-02 1.33322878e+02] [-7.18182346e-02 -3.05656605e-03 9.97413053e-01 1.00747184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.801400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.92, Y:133.34, Z:1.01 [[-5.37746885e-01 8.42335105e-01 -3.60535541e-02 2.11923412e+02] [-8.40002568e-01 -5.38943090e-01 -6.27377939e-02 1.33336795e+02] [-7.22770601e-02 -3.45197516e-03 9.97378619e-01 1.00846461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.831400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:211.93, Y:133.35, Z:1.01 [[-5.44692835e-01 8.37880649e-01 -3.55771491e-02 2.11925155e+02] [-8.35596487e-01 -5.45838679e-01 -6.19568118e-02 1.33346428e+02] [-7.13317977e-02 -4.01929068e-03 9.97444545e-01 1.00597485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:133.36, Z:1.01 [[-5.47424453e-01 8.36114360e-01 -3.52029273e-02 2.11934097e+02] [-8.33871083e-01 -5.48538854e-01 -6.13526082e-02 1.33363613e+02] [-7.06079701e-02 -4.23121488e-03 9.97495169e-01 1.00844117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.891400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:211.93, Y:133.36, Z:1.01 [[-5.49482409e-01 8.34756134e-01 -3.53734110e-02 2.11934493e+02] [-8.32484836e-01 -5.50601814e-01 -6.16979773e-02 1.33364859e+02] [-7.09794292e-02 -4.45412495e-03 9.97467835e-01 1.00801326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.921400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.94, Y:133.38, Z:1.01 [[-5.51493671e-01 8.33418627e-01 -3.56107105e-02 2.11941037e+02] [-8.31110482e-01 -5.52622335e-01 -6.21604473e-02 1.33377483e+02] [-7.14849487e-02 -4.68465846e-03 9.97430677e-01 1.01046100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:133.39, Z:1.01 [[-5.54779025e-01 8.31225203e-01 -3.58454378e-02 2.11942856e+02] [-8.28878446e-01 -5.55913104e-01 -6.26190254e-02 1.33388626e+02] [-7.19774607e-02 -5.02821101e-03 9.97393584e-01 1.01213966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:133.39, Z:1.01 [[-5.55427715e-01 8.30792508e-01 -3.58310283e-02 2.11942338e+02] [-8.28443267e-01 -5.56558806e-01 -6.26422333e-02 1.33392998e+02] [-7.19847725e-02 -5.10925834e-03 9.97392645e-01 1.01230037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.011400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:211.94, Y:133.40, Z:1.01 [[-5.55570363e-01 8.30701961e-01 -3.57186734e-02 2.11943110e+02] [-8.28363806e-01 -5.56693737e-01 -6.24939084e-02 1.33400967e+02] [-7.17981741e-02 -5.13170711e-03 9.97405979e-01 1.01170768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:133.40, Z:1.01 [[-5.55368247e-01 8.30845818e-01 -3.55153072e-02 2.11941070e+02] [-8.28531117e-01 -5.56479208e-01 -6.21858387e-02 1.33404501e+02] [-7.14303740e-02 -5.11050304e-03 9.97432496e-01 1.01215360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.071400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.76, Y:133.09, Z:0.99 [[-5.54370769e-01 8.31508255e-01 -3.55959611e-02 2.11755756e+02] [-8.29180862e-01 -5.55489316e-01 -6.23756166e-02 1.33094804e+02] [-7.16390162e-02 -5.06372882e-03 9.97417771e-01 9.86897792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:133.42, Z:1.01 [[-5.53830197e-01 8.31870955e-01 -3.55362915e-02 2.11935341e+02] [-8.29548340e-01 -5.54946248e-01 -6.23234633e-02 1.33417962e+02] [-7.15658105e-02 -5.03754435e-03 9.97423159e-01 1.01221348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.131400513 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:211.75, Y:133.11, Z:0.99 [[-5.53226490e-01 8.32280823e-01 -3.53423663e-02 2.11754838e+02] [-8.29981300e-01 -5.54331871e-01 -6.20259540e-02 1.33109412e+02] [-7.12144120e-02 -4.98089776e-03 9.97448594e-01 9.87354726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:133.11, Z:0.99 [[-5.53441243e-01 8.32149144e-01 -3.50798040e-02 2.11753346e+02] [-8.29879756e-01 -5.54529447e-01 -6.16172367e-02 1.33114608e+02] [-7.07275151e-02 -4.98950089e-03 9.97483195e-01 9.88814561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.191400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:211.73, Y:133.09, Z:0.99 [[-5.54800932e-01 8.31268863e-01 -3.44674314e-02 2.11733232e+02] [-8.29072913e-01 -5.55847703e-01 -6.05923790e-02 1.33094863e+02] [-6.95272006e-02 -5.04069457e-03 9.97567321e-01 9.86673909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.221400513 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:211.73, Y:133.09, Z:0.99 [[-5.55648677e-01 8.30709389e-01 -3.42995455e-02 2.11725867e+02] [-8.28530175e-01 -5.56682811e-01 -6.03489543e-02 1.33091347e+02] [-6.92264104e-02 -5.11460816e-03 9.97587863e-01 9.85350985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.251400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:211.72, Y:133.09, Z:0.98 [[-5.56344592e-01 8.30240238e-01 -3.43779371e-02 2.11718396e+02] [-8.28046481e-01 -5.57381338e-01 -6.05398155e-02 1.33088493e+02] [-6.94242114e-02 -5.21446904e-03 9.97573600e-01 9.84636146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.281400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.72, Y:133.10, Z:0.99 [[-5.56865111e-01 8.29873057e-01 -3.48131841e-02 2.11718404e+02] [-8.27618778e-01 -5.57926523e-01 -6.13608355e-02 1.33098919e+02] [-7.03449029e-02 -5.35766362e-03 9.97508341e-01 9.85197166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.311400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.71, Y:133.10, Z:0.99 [[-5.58454690e-01 8.28773760e-01 -3.55304783e-02 2.11710064e+02] [-8.26419277e-01 -5.59555384e-01 -6.26813467e-02 1.33103782e+02] [-7.18299257e-02 -5.64161985e-03 9.97400939e-01 9.86795538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.99 [[-5.59303237e-01 8.28198788e-01 -3.55901294e-02 2.11704744e+02] [-8.25831250e-01 -5.60404884e-01 -6.28419717e-02 1.33103740e+02] [-7.19905271e-02 -5.75627712e-03 9.97388705e-01 9.86803557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.371400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.70, Y:133.10, Z:0.99 [[-5.59801654e-01 8.27861860e-01 -3.55928169e-02 2.11699985e+02] [-8.25489289e-01 -5.60901717e-01 -6.29022819e-02 1.33104520e+02] [-7.20384722e-02 -5.83131235e-03 9.97384808e-01 9.85481519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.11, Z:0.99 [[-5.60900947e-01 8.27115246e-01 -3.56440279e-02 2.11692271e+02] [-8.24730315e-01 -5.62000676e-01 -6.30487706e-02 1.33111010e+02] [-7.21805672e-02 -5.96740477e-03 9.97373729e-01 9.85294415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.09, Z:0.98 [[-5.60886620e-01 8.27113015e-01 -3.59201908e-02 2.11674621e+02] [-8.24686768e-01 -5.62003117e-01 -6.35942664e-02 1.33088959e+02] [-7.27869046e-02 -6.04626709e-03 9.97329188e-01 9.84166257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:133.10, Z:0.99 [[-5.60802728e-01 8.27156514e-01 -3.62270817e-02 2.11679200e+02] [-8.24684374e-01 -5.61938237e-01 -6.41958091e-02 1.33104794e+02] [-7.34573641e-02 -6.12527671e-03 9.97279548e-01 9.87212351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:133.12, Z:0.99 [[-5.60754387e-01 8.27185719e-01 -3.63084471e-02 2.11685832e+02] [-8.24698194e-01 -5.61894776e-01 -6.43983647e-02 1.33124716e+02] [-7.36709344e-02 -6.16815480e-03 9.97263530e-01 9.89956620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.12, Z:0.99 [[-5.60996908e-01 8.27034080e-01 -3.60152689e-02 2.11671675e+02] [-8.24582147e-01 -5.62117925e-01 -6.39352849e-02 1.33119666e+02] [-7.31214877e-02 -6.16994935e-03 9.97303956e-01 9.88247936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:133.12, Z:0.99 [[-5.60762750e-01 8.27201534e-01 -3.58156424e-02 2.11667366e+02] [-8.24772934e-01 -5.61871738e-01 -6.36377031e-02 1.33122657e+02] [-7.27650028e-02 -6.14588094e-03 9.97330177e-01 9.87404039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.581400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.67, Y:133.13, Z:0.99 [[-5.60288274e-01 8.27534079e-01 -3.55583840e-02 2.11668467e+02] [-8.25136831e-01 -5.61382448e-01 -6.32373019e-02 1.33134373e+02] [-7.22928751e-02 -6.09058642e-03 9.97364851e-01 9.87209062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:133.13, Z:0.99 [[-5.60068427e-01 8.27697182e-01 -3.52240213e-02 2.11658552e+02] [-8.25341154e-01 -5.61142449e-01 -6.26987300e-02 1.33127459e+02] [-7.16612556e-02 -6.04374472e-03 9.97410717e-01 9.86519584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:133.13, Z:0.99 [[-5.59828997e-01 8.27882008e-01 -3.46824806e-02 2.11646675e+02] [-8.25594410e-01 -5.60870646e-01 -6.17898744e-02 1.33128990e+02] [-7.06071106e-02 -5.95810125e-03 9.97486409e-01 9.86726569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.13, Z:0.99 [[-5.59924465e-01 8.27824484e-01 -3.45140291e-02 2.11640020e+02] [-8.25555040e-01 -5.60955445e-01 -6.15456301e-02 1.33128036e+02] [-7.03098120e-02 -5.96767328e-03 9.97507352e-01 9.86434024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:133.14, Z:0.99 [[-5.60036519e-01 8.27748420e-01 -3.45202834e-02 2.11640977e+02] [-8.25474046e-01 -5.61067227e-01 -6.16130314e-02 1.33139161e+02] [-7.03682890e-02 -6.00994962e-03 9.97502975e-01 9.87125880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.731400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:211.63, Y:133.13, Z:0.99 [[-5.61005254e-01 8.27075755e-01 -3.49113203e-02 2.11625508e+02] [-8.24744558e-01 -5.62056354e-01 -6.23623965e-02 1.33130314e+02] [-7.12005556e-02 -6.19271067e-03 9.97442796e-01 9.85371706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:133.13, Z:0.99 [[-5.61576892e-01 8.26686782e-01 -3.49336422e-02 2.11620347e+02] [-8.24348211e-01 -5.62627399e-01 -6.24534759e-02 1.33132142e+02] [-7.12840873e-02 -6.27494339e-03 9.97436316e-01 9.85897297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:133.12, Z:0.98 [[-5.61829638e-01 8.26530447e-01 -3.45670243e-02 2.11606920e+02] [-8.24236907e-01 -5.62857239e-01 -6.18486032e-02 1.33120533e+02] [-7.05760534e-02 -6.25696115e-03 9.97486777e-01 9.84205647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.14, Z:0.99 [[-5.61812631e-01 8.26560605e-01 -3.41194079e-02 2.11603253e+02] [-8.24322703e-01 -5.62813578e-01 -6.10979268e-02 1.33139951e+02] [-6.97040054e-02 -6.20018447e-03 9.97548450e-01 9.85323551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:133.14, Z:0.99 [[-5.61376887e-01 8.26859041e-01 -3.40605098e-02 2.11597792e+02] [-8.24625851e-01 -5.62375249e-01 -6.10433102e-02 1.33142050e+02] [-6.96290006e-02 -6.18112657e-03 9.97553806e-01 9.86191346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:133.14, Z:0.99 [[-5.61128835e-01 8.27028707e-01 -3.40286325e-02 2.11590683e+02] [-8.24796460e-01 -5.62125688e-01 -6.10369498e-02 1.33141574e+02] [-6.96076781e-02 -6.18289692e-03 9.97555283e-01 9.86038959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:133.15, Z:0.99 [[-5.61172461e-01 8.26991882e-01 -3.42037440e-02 2.11579923e+02] [-8.24732887e-01 -5.62179138e-01 -6.14026149e-02 1.33151769e+02] [-7.00080954e-02 -6.24850400e-03 9.97526853e-01 9.85457026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.941400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.57, Y:133.15, Z:0.98 [[-5.61429110e-01 8.26805478e-01 -3.44971921e-02 2.11572522e+02] [-8.24503456e-01 -5.62452053e-01 -6.19817619e-02 1.33154339e+02] [-7.06498768e-02 -6.35531133e-03 9.97480930e-01 9.84967642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:133.17, Z:0.99 [[-5.62125732e-01 8.26328207e-01 -3.45883829e-02 2.11570801e+02] [-8.24009394e-01 -5.63151790e-01 -6.21979088e-02 1.33166493e+02] [-7.08743961e-02 -6.46189256e-03 9.97464317e-01 9.86070119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:133.15, Z:0.99 [[-5.64209326e-01 8.24920197e-01 -3.42710548e-02 2.11546358e+02] [-8.22637672e-01 -5.65210595e-01 -6.16785529e-02 1.33151305e+02] [-7.02502473e-02 -6.60695401e-03 9.97507519e-01 9.85245181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.14, Z:0.98 [[-5.65332385e-01 8.24154547e-01 -3.41844648e-02 2.11534806e+02] [-8.21878560e-01 -5.66325169e-01 -6.15746358e-02 1.33144599e+02] [-7.01065388e-02 -6.71465703e-03 9.97516910e-01 9.84410037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:133.14, Z:0.98 [[-5.66746767e-01 8.23178182e-01 -3.42896759e-02 2.11526877e+02] [-8.20882677e-01 -5.67741358e-01 -6.18173240e-02 1.33144922e+02] [-7.03543396e-02 -6.88696765e-03 9.97498289e-01 9.83340352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:133.13, Z:0.98 [[-5.68421799e-01 8.22026915e-01 -3.41820009e-02 2.11509008e+02] [-8.19740084e-01 -5.69405146e-01 -6.16763739e-02 1.33127993e+02] [-7.01630465e-02 -7.03783913e-03 9.97510710e-01 9.81332509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.13, Z:0.98 [[-5.71363351e-01 8.20011719e-01 -3.35365852e-02 2.11493685e+02] [-8.17803619e-01 -5.72301724e-01 -6.05638245e-02 1.33128175e+02] [-6.88560914e-02 -7.17760895e-03 9.97600782e-01 9.80732145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:133.13, Z:0.98 [[-5.72054443e-01 8.19547892e-01 -3.30902943e-02 2.11486945e+02] [-8.17393940e-01 -5.72965871e-01 -5.98101790e-02 1.33129423e+02] [-6.79769154e-02 -7.16687261e-03 9.97661152e-01 9.80606878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:133.13, Z:0.98 [[-5.72350037e-01 8.19349189e-01 -3.28989645e-02 2.11481675e+02] [-8.17216218e-01 -5.73249830e-01 -5.95171069e-02 1.33132977e+02] [-6.76246191e-02 -7.17905104e-03 9.97685007e-01 9.80921701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:133.13, Z:0.98 [[-5.72347120e-01 8.19332040e-01 -3.33733700e-02 2.11470255e+02] [-8.17133233e-01 -5.73272602e-01 -6.04301570e-02 1.33125829e+02] [-6.86444025e-02 -7.31653658e-03 9.97614362e-01 9.80669613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:133.14, Z:0.98 [[-5.71689371e-01 8.19757476e-01 -3.41898225e-02 2.11472924e+02] [-8.17446319e-01 -5.72662011e-01 -6.19656099e-02 1.33144017e+02] [-7.03759845e-02 -7.47673600e-03 9.97492516e-01 9.82580183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:133.17, Z:0.98 [[-5.68594728e-01 8.21852892e-01 -3.54663216e-02 2.11467812e+02] [-8.19365162e-01 -5.69650094e-01 -6.43389536e-02 1.33165114e+02] [-7.30805485e-02 -7.52292141e-03 9.97297668e-01 9.83708646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.17, Z:0.98 [[-5.66143698e-01 8.23550013e-01 -3.53085046e-02 2.11460700e+02] [-8.21083394e-01 -5.67196640e-01 -6.41095269e-02 1.33168906e+02] [-7.28242669e-02 -7.30397779e-03 9.97318043e-01 9.83095810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.17, Z:0.98 [[-5.63835883e-01 8.25160584e-01 -3.46281344e-02 2.11453567e+02] [-8.22787206e-01 -5.64854981e-01 -6.29290414e-02 1.33173103e+02] [-7.14864388e-02 -6.99006563e-03 9.97417078e-01 9.81866752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:133.19, Z:0.98 [[-5.62022177e-01 8.26428148e-01 -3.38760801e-02 2.11454689e+02] [-8.24155311e-01 -5.63002208e-01 -6.16160448e-02 1.33191223e+02] [-6.99935417e-02 -6.71043224e-03 9.97524874e-01 9.83316594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:133.19, Z:0.98 [[-5.61715133e-01 8.26637818e-01 -3.38530153e-02 2.11455916e+02] [-8.24364613e-01 -5.62694310e-01 -6.16287146e-02 1.33193654e+02] [-6.99935253e-02 -6.71055376e-03 9.97524874e-01 9.83486776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.18, Z:0.98 [[-5.60809813e-01 8.27281076e-01 -3.31417360e-02 2.11433867e+02] [-8.25099999e-01 -5.61750401e-01 -6.03860829e-02 1.33183976e+02] [-6.85736471e-02 -6.51986156e-03 9.97624752e-01 9.82632454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.20, Z:0.98 [[-5.61530943e-01 8.26791138e-01 -3.31574102e-02 2.11433574e+02] [-8.24603468e-01 -5.62470158e-01 -6.04685181e-02 1.33198101e+02] [-6.86448887e-02 -6.61322853e-03 9.97619238e-01 9.83537968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.18, Z:0.98 [[-5.65491897e-01 8.24090109e-01 -3.30818111e-02 2.11409796e+02] [-8.21904259e-01 -5.66416007e-01 -6.03845616e-02 1.33180500e+02] [-6.85003874e-02 -6.95689882e-03 9.97626833e-01 9.81678971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.18, Z:0.98 [[-5.67368002e-01 8.22800934e-01 -3.30480389e-02 2.11401974e+02] [-8.20613726e-01 -5.68284870e-01 -6.03773127e-02 1.33177885e+02] [-6.84592098e-02 -7.13648094e-03 9.97628391e-01 9.80782587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.19, Z:0.98 [[-5.68800149e-01 8.21810172e-01 -3.30821952e-02 2.11401264e+02] [-8.19613028e-01 -5.69714686e-01 -6.04951248e-02 1.33188255e+02] [-6.85629214e-02 -7.29503779e-03 9.97620122e-01 9.81111851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.20, Z:0.98 [[-5.69715339e-01 8.21175139e-01 -3.31032165e-02 2.11400988e+02] [-8.18970358e-01 -5.70628174e-01 -6.05891069e-02 1.33199246e+02] [-6.86438962e-02 -7.40799050e-03 9.97613721e-01 9.81897621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.21, Z:0.98 [[-5.70034404e-01 8.20951641e-01 -3.31539016e-02 2.11398242e+02] [-8.18735910e-01 -5.70948755e-01 -6.07373820e-02 1.33205222e+02] [-6.87916323e-02 -7.47810753e-03 9.97603022e-01 9.81665152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:133.21, Z:0.98 [[-5.70001634e-01 8.20978775e-01 -3.30452278e-02 2.11393686e+02] [-8.18773827e-01 -5.70909690e-01 -6.05932822e-02 1.33208146e+02] [-6.86116394e-02 -7.48170224e-03 9.97615390e-01 9.81936336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:133.24, Z:0.98 [[-5.68967912e-01 8.21710047e-01 -3.26820189e-02 2.11395104e+02] [-8.19550827e-01 -5.69858475e-01 -5.99813397e-02 1.33238817e+02] [-6.79113948e-02 -7.34288200e-03 9.97664335e-01 9.82255576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.23, Z:0.98 [[-5.67365874e-01 8.22826290e-01 -3.24478416e-02 2.11381339e+02] [-8.20696052e-01 -5.68247507e-01 -5.96050509e-02 1.33228559e+02] [-6.74830080e-02 -7.18805634e-03 9.97694530e-01 9.80378049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.24, Z:0.98 [[-5.65691848e-01 8.23983177e-01 -3.23180610e-02 2.11381093e+02] [-8.21868157e-01 -5.66570374e-01 -5.94200627e-02 1.33240842e+02] [-6.72715880e-02 -7.05225983e-03 9.97709777e-01 9.81324707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.25, Z:0.98 [[-5.64407108e-01 8.24864082e-01 -3.23088588e-02 2.11381816e+02] [-8.22748006e-01 -5.65288053e-01 -5.94570092e-02 1.33254311e+02] [-6.73077632e-02 -6.97590945e-03 9.97707874e-01 9.82512618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:133.26, Z:0.98 [[-5.63182018e-01 8.25671579e-01 -3.30523711e-02 2.11367287e+02] [-8.23454313e-01 -5.64106778e-01 -6.08813423e-02 1.33255308e+02] [-6.89130606e-02 -7.07015971e-03 9.97597616e-01 9.83207262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:133.27, Z:0.98 [[-5.62675364e-01 8.26007253e-01 -3.32934283e-02 2.11366189e+02] [-8.23754167e-01 -5.63614618e-01 -6.13810668e-02 1.33269146e+02] [-6.94658692e-02 -7.11201380e-03 9.97558977e-01 9.83989142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.28, Z:0.98 [[-5.62190796e-01 8.26339893e-01 -3.32248480e-02 2.11362613e+02] [-8.24092812e-01 -5.63127117e-01 -6.13097703e-02 1.33279871e+02] [-6.93725219e-02 -7.08743011e-03 9.97565648e-01 9.84389145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.29, Z:0.98 [[-5.61838599e-01 8.26586254e-01 -3.30538020e-02 2.11360220e+02] [-8.24358914e-01 -5.62765888e-01 -6.10486317e-02 1.33293246e+02] [-6.90635120e-02 -7.05128142e-03 9.97587345e-01 9.84816179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.32, Z:0.99 [[-5.62271931e-01 8.26304072e-01 -3.27392098e-02 2.11357124e+02] [-8.24114852e-01 -5.63180166e-01 -6.05211609e-02 1.33324756e+02] [-6.84469553e-02 -7.04848096e-03 9.97629858e-01 9.85985824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.33, Z:0.99 [[-5.62851243e-01 8.25906150e-01 -3.28254392e-02 2.11350990e+02] [-8.23701018e-01 -5.63762330e-01 -6.07343983e-02 1.33331309e+02] [-6.86666591e-02 -7.14608387e-03 9.97614065e-01 9.86281624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.36, Z:0.99 [[-5.63776816e-01 8.25266227e-01 -3.30356647e-02 2.11354782e+02] [-8.23027936e-01 -5.64696687e-01 -6.11773540e-02 1.33355202e+02] [-6.91427345e-02 -7.30109897e-03 9.97580060e-01 9.87946079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.37, Z:0.99 [[-5.64927409e-01 8.24473280e-01 -3.31788113e-02 2.11352316e+02] [-8.22210477e-01 -5.65851699e-01 -6.14962315e-02 1.33367387e+02] [-6.94762864e-02 -7.46094052e-03 9.97555703e-01 9.88835003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.39, Z:0.99 [[-5.67325430e-01 8.22833433e-01 -3.29696610e-02 2.11349168e+02] [-8.20592839e-01 -5.68231219e-01 -6.11610558e-02 1.33391639e+02] [-6.90597522e-02 -7.64355453e-03 9.97583243e-01 9.89540126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.40, Z:0.99 [[-5.68157927e-01 8.22266892e-01 -3.27677986e-02 2.11347188e+02] [-8.20049229e-01 -5.69050043e-01 -6.08383961e-02 1.33401356e+02] [-6.86719161e-02 -7.69460907e-03 9.97609624e-01 9.89162967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.41, Z:0.99 [[-5.68389639e-01 8.22122198e-01 -3.23776047e-02 2.11341702e+02] [-8.19953439e-01 -5.69259683e-01 -6.01645326e-02 1.33413722e+02] [-6.78938628e-02 -7.64876860e-03 9.97663230e-01 9.88616380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.42, Z:0.99 [[-5.67660696e-01 8.22622459e-01 -3.24595866e-02 2.11342062e+02] [-8.20439955e-01 -5.68536682e-01 -6.03682179e-02 1.33423321e+02] [-6.81147175e-02 -7.63752280e-03 9.97648261e-01 9.88810296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.43, Z:0.99 [[-5.66180110e-01 8.23641355e-01 -3.24807901e-02 2.11344080e+02] [-8.21454079e-01 -5.67060782e-01 -6.04587984e-02 1.33434029e+02] [-6.82149489e-02 -7.54909168e-03 9.97642086e-01 9.89993187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.43, Z:0.99 [[-5.64357677e-01 8.24892436e-01 -3.24481284e-02 2.11340374e+02] [-8.22708039e-01 -5.65241029e-01 -6.04488432e-02 1.33433776e+02] [-6.82048070e-02 -7.41943265e-03 9.97643752e-01 9.90044005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.43, Z:0.99 [[-5.59909640e-01 8.27909360e-01 -3.26693416e-02 2.11327844e+02] [-8.25696321e-01 -5.60816589e-01 -6.09125504e-02 1.33425927e+02] [-6.87515793e-02 -7.13056896e-03 9.97608328e-01 9.89102210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.42, Z:0.99 [[-5.57005460e-01 8.29857656e-01 -3.28814429e-02 2.11320583e+02] [-8.27615336e-01 -5.57931682e-01 -6.13603582e-02 1.33420475e+02] [-6.92659618e-02 -6.96486809e-03 9.97573916e-01 9.87875695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.42, Z:0.99 [[-5.54112819e-01 8.31790410e-01 -3.29195699e-02 2.11318915e+02] [-8.29542459e-01 -5.55048649e-01 -6.14841835e-02 1.33423848e+02] [-6.94139170e-02 -6.76099326e-03 9.97565034e-01 9.88113249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.41, Z:0.99 [[-5.51476953e-01 8.33534519e-01 -3.30662253e-02 2.11306894e+02] [-8.31265728e-01 -5.52427946e-01 -6.18114499e-02 1.33406806e+02] [-6.97886841e-02 -6.60077026e-03 9.97539959e-01 9.86824560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.41, Z:0.99 [[-5.47095838e-01 8.36424104e-01 -3.28764712e-02 2.11303583e+02] [-8.34182596e-01 -5.48047393e-01 -6.15097700e-02 1.33412769e+02] [-6.94661186e-02 -6.22675911e-03 9.97564878e-01 9.87486884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.41, Z:0.99 [[-5.44961926e-01 8.37829775e-01 -3.25233240e-02 2.11297637e+02] [-8.35634999e-01 -5.45898461e-01 -6.09017109e-02 1.33409908e+02] [-6.87796993e-02 -6.01148586e-03 9.97613760e-01 9.87377398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.42, Z:0.99 [[-5.43181730e-01 8.38992793e-01 -3.23218438e-02 2.11301037e+02] [-8.36823525e-01 -5.44111011e-01 -6.05771852e-02 1.33423498e+02] [-6.84104929e-02 -5.85674103e-03 9.97640067e-01 9.88898887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.42, Z:0.99 [[-5.41964809e-01 8.39764590e-01 -3.27044253e-02 2.11293412e+02] [-8.37541181e-01 -5.42919076e-01 -6.13485648e-02 1.33421143e+02] [-6.92742087e-02 -5.85746020e-03 9.97580460e-01 9.89662914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.43, Z:0.99 [[-5.41690791e-01 8.39926514e-01 -3.30837974e-02 2.11291785e+02] [-8.37647582e-01 -5.42667698e-01 -6.21151930e-02 1.33425758e+02] [-7.01257058e-02 -5.93466515e-03 9.97520509e-01 9.89931192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.43, Z:0.99 [[-5.41645982e-01 8.39956403e-01 -3.30585977e-02 2.11289443e+02] [-8.37677169e-01 -5.42621201e-01 -6.21223970e-02 1.33431027e+02] [-7.01184011e-02 -5.95591418e-03 9.97520896e-01 9.89888112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.45, Z:0.99 [[-5.41905845e-01 8.39813962e-01 -3.24124300e-02 2.11291775e+02] [-8.37619204e-01 -5.42842398e-01 -6.09606371e-02 1.33445269e+02] [-6.87904353e-02 -5.88565174e-03 9.97613771e-01 9.90699880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.44, Z:0.99 [[-5.43445779e-01 8.38895576e-01 -3.03463000e-02 2.11281170e+02] [-8.36787356e-01 -5.44245572e-01 -5.98638374e-02 1.33438645e+02] [-6.67353477e-02 -7.13934958e-03 9.97745169e-01 9.89611715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.46, Z:0.99 [[-5.44952025e-01 8.37812616e-01 -3.31256893e-02 2.11292627e+02] [-8.35695263e-01 -5.45936223e-01 -5.97249320e-02 1.33457483e+02] [-6.81228153e-02 -4.86424099e-03 9.97665085e-01 9.92844055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.47, Z:0.99 [[-5.46432334e-01 8.36878950e-01 -3.23315207e-02 2.11293332e+02] [-8.34681902e-01 -5.47351668e-01 -6.09284307e-02 1.33465017e+02] [-6.86864329e-02 -6.30672942e-03 9.97618364e-01 9.93042038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.48, Z:0.99 [[-5.47572585e-01 8.36133211e-01 -3.23344687e-02 2.11299228e+02] [-8.33930869e-01 -5.48488750e-01 -6.09868643e-02 1.33482639e+02] [-6.87282350e-02 -6.43002333e-03 9.97614697e-01 9.93404449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.49, Z:0.99 [[-5.48029325e-01 8.35848958e-01 -3.19433530e-02 2.11297799e+02] [-8.33695681e-01 -5.48921999e-01 -6.03005008e-02 1.33487013e+02] [-6.79365200e-02 -6.41540733e-03 9.97669019e-01 9.92760307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.48, Z:0.99 [[-5.47693838e-01 8.36077374e-01 -3.17188331e-02 2.11293260e+02] [-8.33951214e-01 -5.48574559e-01 -5.99276731e-02 1.33482332e+02] [-6.75043164e-02 -6.37005786e-03 9.97698647e-01 9.91898647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.50, Z:0.99 [[-5.44672742e-01 8.38022145e-01 -3.24112464e-02 2.11302177e+02] [-8.35801588e-01 -5.45599924e-01 -6.12897162e-02 1.33501785e+02] [-6.90457130e-02 -6.29346656e-03 9.97593646e-01 9.94133481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.49, Z:0.99 [[-5.42068728e-01 8.39674387e-01 -3.32929162e-02 2.11292408e+02] [-8.37330252e-01 -5.43053853e-01 -6.30123972e-02 1.33485886e+02] [-7.09897424e-02 -6.27988412e-03 9.97457277e-01 9.93097279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.48, Z:0.99 [[-5.39463207e-01 8.41320552e-01 -3.40466885e-02 2.11288450e+02] [-8.38867945e-01 -5.40500589e-01 -6.44956165e-02 1.33483282e+02] [-7.26637428e-02 -6.23233650e-03 9.97337024e-01 9.92649407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.49, Z:0.99 [[-5.34953491e-01 8.44196882e-01 -3.40056832e-02 2.11285709e+02] [-8.41751696e-01 -5.36001131e-01 -6.44737994e-02 1.33490635e+02] [-7.26556651e-02 -5.86614259e-03 9.97339833e-01 9.92227562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.49, Z:0.99 [[-5.32633507e-01 8.45693653e-01 -3.32233787e-02 2.11280466e+02] [-8.43358823e-01 -5.33639700e-01 -6.30441554e-02 1.33487500e+02] [-7.10453559e-02 -5.56020001e-03 9.97457589e-01 9.91991251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.47, Z:0.99 [[-5.30447627e-01 8.47087942e-01 -3.26700789e-02 2.11269087e+02] [-8.44829165e-01 -5.31426193e-01 -6.20474233e-02 1.33473001e+02] [-6.99213597e-02 -5.31227299e-03 9.97538362e-01 9.90897123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.48, Z:0.99 [[-5.28556586e-01 8.48275671e-01 -3.25010920e-02 2.11269604e+02] [-8.46038636e-01 -5.29529779e-01 -6.17805797e-02 1.33481388e+02] [-6.96172588e-02 -5.15735273e-03 9.97560444e-01 9.91532472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.48, Z:0.99 [[-5.27379323e-01 8.49004164e-01 -3.26033567e-02 2.11260554e+02] [-8.46750506e-01 -5.28361480e-01 -6.20300529e-02 1.33477647e+02] [-6.98901311e-02 -5.10645856e-03 9.97541625e-01 9.91661594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.50, Z:0.99 [[-5.28388501e-01 8.48375461e-01 -3.26292853e-02 2.11269718e+02] [-8.46113173e-01 -5.29369245e-01 -6.21345443e-02 1.33500716e+02] [-6.99863628e-02 -5.22311059e-03 9.97534274e-01 9.93680769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.49, Z:0.99 [[-5.30678947e-01 8.46939111e-01 -3.27719118e-02 2.11263453e+02] [-8.44650394e-01 -5.31661794e-01 -6.24615824e-02 1.33493179e+02] [-7.03247305e-02 -5.46623860e-03 9.97509174e-01 9.93271183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.51, Z:0.99 [[-5.33716655e-01 8.45026065e-01 -3.28250183e-02 2.11270342e+02] [-8.42722482e-01 -5.34694114e-01 -6.26180756e-02 1.33509748e+02] [-7.04652502e-02 -5.75792892e-03 9.97497616e-01 9.94613961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.54, Z:1.00 [[-5.39715546e-01 8.41222213e-01 -3.24394634e-02 2.11283126e+02] [-8.38962025e-01 -5.40653857e-01 -6.19364889e-02 1.33542035e+02] [-6.96408712e-02 -6.21260803e-03 9.97552782e-01 9.97677361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.071400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:211.29, Y:133.56, Z:1.00 [[-5.41688362e-01 8.39967474e-01 -3.20680707e-02 2.11288154e+02] [-8.37753060e-01 -5.42599835e-01 -6.12799268e-02 1.33556697e+02] [-6.88732752e-02 -6.32949881e-03 9.97605338e-01 9.98715732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.56, Z:1.00 [[-5.43161743e-01 8.39012316e-01 -3.21505050e-02 2.11289351e+02] [-8.36781232e-01 -5.44073647e-01 -6.14901316e-02 1.33563978e+02] [-6.90832202e-02 -6.49614783e-03 9.97589750e-01 9.99032763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.56, Z:1.00 [[-5.43914870e-01 8.38522204e-01 -3.22044760e-02 2.11286164e+02] [-8.36279146e-01 -5.44827475e-01 -6.16458586e-02 1.33561615e+02] [-6.92373046e-02 -6.59816748e-03 9.97578398e-01 9.98845359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.59, Z:1.00 [[-5.44015606e-01 8.38463755e-01 -3.20242555e-02 2.11298279e+02] [-8.36242082e-01 -5.44917438e-01 -6.13527964e-02 1.33589614e+02] [-6.88926713e-02 -6.59684857e-03 9.97602266e-01 1.00000161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.56, Z:1.00 [[-5.43313300e-01 8.38928563e-01 -3.17730039e-02 2.11282341e+02] [-8.36738915e-01 -5.44202563e-01 -6.09225568e-02 1.33562922e+02] [-6.84006232e-02 -6.51432660e-03 9.97636667e-01 9.97319911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.57, Z:1.00 [[-5.42167162e-01 8.39672148e-01 -3.17088833e-02 2.11285579e+02] [-8.37489031e-01 -5.43055492e-01 -6.08510892e-02 1.33573581e+02] [-6.83146479e-02 -6.43562037e-03 9.97643068e-01 9.97478535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.57, Z:1.00 [[-5.40443190e-01 8.40785773e-01 -3.16297709e-02 2.11283094e+02] [-8.38611832e-01 -5.41331230e-01 -6.07510852e-02 1.33573626e+02] [-6.82008310e-02 -6.30741018e-03 9.97651674e-01 9.97694225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.58, Z:1.00 [[-5.40149526e-01 8.40975262e-01 -3.16085243e-02 2.11284209e+02] [-8.38801011e-01 -5.41036806e-01 -6.07621378e-02 1.33575971e+02] [-6.82008298e-02 -6.30737778e-03 9.97651675e-01 9.97864475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.59, Z:1.00 [[-5.38139202e-01 8.42262195e-01 -3.16321660e-02 2.11287159e+02] [-8.40083247e-01 -5.39032685e-01 -6.08596959e-02 1.33585347e+02] [-6.83105925e-02 -6.17733544e-03 9.97644979e-01 9.98988592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.59, Z:1.00 [[-5.35250089e-01 8.44076501e-01 -3.22831780e-02 2.11285820e+02] [-8.41806196e-01 -5.36188093e-01 -6.21663712e-02 1.33589385e+02] [-6.97830287e-02 -6.09837640e-03 9.97543552e-01 1.00048343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.59, Z:1.00 [[-5.34309822e-01 8.44663481e-01 -3.25056549e-02 2.11282733e+02] [-8.42358993e-01 -5.35263008e-01 -6.26485320e-02 1.33587708e+02] [-7.03160018e-02 -6.09229523e-03 9.97506162e-01 1.00055276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.59, Z:1.00 [[-5.33475152e-01 8.45181630e-01 -3.27455920e-02 2.11282085e+02] [-8.42840031e-01 -5.34444411e-01 -6.31652957e-02 1.33591261e+02] [-7.08868462e-02 -6.09781998e-03 9.97465725e-01 1.00057976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.59, Z:1.00 [[-5.33298170e-01 8.45284616e-01 -3.29693779e-02 2.11277823e+02] [-8.42907121e-01 -5.34280854e-01 -6.36518224e-02 1.33592400e+02] [-7.14188137e-02 -6.15527696e-03 9.97427424e-01 1.00004796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.60, Z:1.00 [[-5.33821539e-01 8.44955624e-01 -3.29326258e-02 2.11279389e+02] [-8.42578931e-01 -5.34800229e-01 -6.36353686e-02 1.33598635e+02] [-7.13814384e-02 -6.22159372e-03 9.97429688e-01 1.00063556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.61, Z:1.00 [[-5.34543090e-01 8.44505445e-01 -3.27755723e-02 2.11281968e+02] [-8.42146726e-01 -5.35510136e-01 -6.33860134e-02 1.33605531e+02] [-7.10814847e-02 -6.28071456e-03 9.97450738e-01 1.00113160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.61, Z:1.00 [[-5.35312522e-01 8.44026561e-01 -3.25525467e-02 2.11283702e+02] [-8.41695231e-01 -5.36264019e-01 -6.30082585e-02 1.33609564e+02] [-7.06374032e-02 -6.32978644e-03 9.97481975e-01 1.00188103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.62, Z:1.00 [[-5.37512063e-01 8.42643686e-01 -3.21309808e-02 2.11284741e+02] [-8.40366374e-01 -5.38432859e-01 -6.22447930e-02 1.33615312e+02] [-6.97505577e-02 -6.45553126e-03 9.97543576e-01 1.00272014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.62, Z:1.00 [[-5.38357341e-01 8.42105736e-01 -3.20827364e-02 2.11283074e+02] [-8.39830648e-01 -5.39272754e-01 -6.22043393e-02 1.33615287e+02] [-6.96839766e-02 -6.54409742e-03 9.97547652e-01 1.00254024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.62, Z:1.00 [[-5.38960589e-01 8.41716654e-01 -3.21645616e-02 2.11283698e+02] [-8.39425523e-01 -5.39878674e-01 -6.24164106e-02 1.33620713e+02] [-6.99018931e-02 -6.64023142e-03 9.97531770e-01 1.00304667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.63, Z:1.00 [[-5.38933237e-01 8.41727959e-01 -3.23265968e-02 2.11287574e+02] [-8.39409878e-01 -5.39860290e-01 -6.27847514e-02 1.33631988e+02] [-7.02995266e-02 -6.70152466e-03 9.97503417e-01 1.00348307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.63, Z:1.00 [[-5.36781630e-01 8.43105693e-01 -3.22222425e-02 2.11281627e+02] [-8.40801201e-01 -5.37708252e-01 -6.26352622e-02 1.33628342e+02] [-7.01343118e-02 -6.52895796e-03 9.97516191e-01 1.00198301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.62, Z:1.00 [[-5.34290750e-01 8.44698750e-01 -3.18969673e-02 2.11276102e+02] [-8.42439675e-01 -5.35205128e-01 -6.20553383e-02 1.33622507e+02] [-6.94894872e-02 -6.28432246e-03 9.97562890e-01 1.00118931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.63, Z:1.00 [[-5.31041614e-01 8.46758974e-01 -3.15284607e-02 2.11278248e+02] [-8.44551746e-01 -5.31943190e-01 -6.13904769e-02 1.33633239e+02] [-6.87542872e-02 -5.97348142e-03 9.97615740e-01 1.00165966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.63, Z:1.00 [[-5.24955728e-01 8.50532481e-01 -3.18744921e-02 2.11268364e+02] [-8.48279357e-01 -5.25893017e-01 -6.21181638e-02 1.33630699e+02] [-6.95960888e-02 -5.57081218e-03 9.97559698e-01 1.00211841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.62, Z:1.00 [[-5.23141074e-01 8.51630237e-01 -3.23937636e-02 2.11259096e+02] [-8.49301123e-01 -5.24113744e-01 -6.31853330e-02 1.33620809e+02] [-7.07885568e-02 -5.54278313e-03 9.97475944e-01 1.00177998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.62, Z:1.00 [[-5.22606579e-01 8.51945637e-01 -3.27260459e-02 2.11255282e+02] [-8.49565014e-01 -5.23600445e-01 -6.38894424e-02 1.33621562e+02] [-7.15657039e-02 -5.58613933e-03 9.97420245e-01 1.00219433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.63, Z:1.00 [[-5.23006372e-01 8.51699363e-01 -3.27494972e-02 2.11257914e+02] [-8.49310837e-01 -5.24000224e-01 -6.39911534e-02 1.33634222e+02] [-7.16619684e-02 -5.65327809e-03 9.97412955e-01 1.00312757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.66, Z:1.00 [[-5.26274133e-01 8.49696828e-01 -3.24166265e-02 2.11259843e+02] [-8.47349083e-01 -5.27238606e-01 -6.33954654e-02 1.33655727e+02] [-7.09582228e-02 -5.89519491e-03 9.97461868e-01 1.00347767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.68, Z:1.01 [[-5.28034710e-01 8.48610276e-01 -3.22481679e-02 2.11268589e+02] [-8.46281098e-01 -5.28984058e-01 -6.31202800e-02 1.33681457e+02] [-7.06232849e-02 -6.03868375e-03 9.97484780e-01 1.00521357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.70, Z:1.01 [[-5.29755810e-01 8.47539837e-01 -3.21715261e-02 2.11274759e+02] [-8.45216038e-01 -5.30695621e-01 -6.30238644e-02 1.33700304e+02] [-7.04885238e-02 -6.19536847e-03 9.97493351e-01 1.00651096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.971400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.27, Y:133.70, Z:1.01 [[-5.30946336e-01 8.46800655e-01 -3.20099711e-02 2.11269707e+02] [-8.44495175e-01 -5.31873187e-01 -6.27599598e-02 1.33695468e+02] [-7.01704204e-02 -6.28990459e-03 9.97515188e-01 1.00531219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.72, Z:1.01 [[-5.32161985e-01 8.46059093e-01 -3.14266356e-02 2.11276654e+02] [-8.43832221e-01 -5.33051917e-01 -6.16671390e-02 1.33719117e+02] [-6.89260720e-02 -6.29809935e-03 9.97601890e-01 1.00632891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:133.71, Z:1.01 [[-5.31303551e-01 8.46598495e-01 -3.14249144e-02 2.11269726e+02] [-8.44369201e-01 -5.32195320e-01 -6.17154324e-02 1.33712149e+02] [-6.89723846e-02 -6.25539849e-03 9.97598958e-01 1.00527193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.72, Z:1.01 [[-5.27161931e-01 8.49184331e-01 -3.14049557e-02 2.11263638e+02] [-8.46958686e-01 -5.28063128e-01 -6.17277558e-02 1.33715713e+02] [-6.90020421e-02 -5.94182289e-03 9.97598824e-01 1.00596148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.71, Z:1.01 [[-5.23997426e-01 8.51133957e-01 -3.15861599e-02 2.11255986e+02] [-8.48882268e-01 -5.24917105e-01 -6.21363680e-02 1.33711131e+02] [-6.94664883e-02 -5.74636585e-03 9.97567735e-01 1.00553988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:133.72, Z:1.01 [[-5.20495309e-01 8.53280435e-01 -3.15773980e-02 2.11254512e+02] [-8.51030144e-01 -5.21423432e-01 -6.21715263e-02 1.33720079e+02] [-6.95149422e-02 -5.48667026e-03 9.97565822e-01 1.00625775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.70, Z:1.00 [[-5.17064666e-01 8.55360474e-01 -3.16637066e-02 2.11238795e+02] [-8.53097912e-01 -5.18006660e-01 -6.23943353e-02 1.33701728e+02] [-6.97716591e-02 -5.24966415e-03 9.97549175e-01 1.00455288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.71, Z:1.00 [[-5.13703786e-01 8.57376783e-01 -3.18350755e-02 2.11237540e+02] [-8.55089593e-01 -5.14664683e-01 -6.27857642e-02 1.33710586e+02] [-7.02154456e-02 -5.03144299e-03 9.97519161e-01 1.00458547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.71, Z:1.00 [[-5.08338735e-01 8.60574376e-01 -3.16776546e-02 2.11227535e+02] [-8.58312035e-01 -5.09304051e-01 -6.25286664e-02 1.33707821e+02] [-6.99441259e-02 -4.59643101e-03 9.97540321e-01 1.00378085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.70, Z:1.00 [[-5.05781782e-01 8.62087067e-01 -3.14750415e-02 2.11221678e+02] [-8.59852761e-01 -5.06741203e-01 -6.21818474e-02 1.33702742e+02] [-6.95558669e-02 -4.38654429e-03 9.97568414e-01 1.00298083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.70, Z:1.00 [[-5.03433653e-01 8.63474705e-01 -3.10803750e-02 2.11219225e+02] [-8.61295111e-01 -5.04374913e-01 -6.14546904e-02 1.33704585e+02] [-6.87407321e-02 -4.16898425e-03 9.97625847e-01 1.00325662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.70, Z:1.00 [[-5.00234073e-01 8.65348755e-01 -3.06170540e-02 2.11210377e+02] [-8.63233640e-01 -5.01155145e-01 -6.05904569e-02 1.33698893e+02] [-6.77757706e-02 -3.87974011e-03 9.97693035e-01 1.00319788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.71, Z:1.00 [[-4.98814647e-01 8.66160286e-01 -3.08270524e-02 2.11213802e+02] [-8.64013865e-01 -4.99751687e-01 -6.10597523e-02 1.33709946e+02] [-6.82934040e-02 -3.82249813e-03 9.97657957e-01 1.00474185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.70, Z:1.00 [[-4.97433675e-01 8.66937619e-01 -3.12874270e-02 2.11206682e+02] [-8.64724209e-01 -4.98402178e-01 -6.20266994e-02 1.33698005e+02] [-6.93670009e-02 -3.79917343e-03 9.97583974e-01 1.00429661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.67, Z:1.00 [[-4.95961105e-01 8.67765742e-01 -3.17048917e-02 2.11193867e+02] [-8.65490511e-01 -4.96959228e-01 -6.29102668e-02 1.33673142e+02] [-7.03474128e-02 -3.76076251e-03 9.97515463e-01 1.00259354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.69, Z:1.00 [[-4.92296388e-01 8.69837089e-01 -3.20578470e-02 2.11202631e+02] [-8.67511052e-01 -4.93326421e-01 -6.36680269e-02 1.33692208e+02] [-7.11957941e-02 -3.53300305e-03 9.97456103e-01 1.00323942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.69, Z:1.00 [[-4.89736840e-01 8.71272611e-01 -3.22779451e-02 2.11199837e+02] [-8.68913383e-01 -4.90787774e-01 -6.41630207e-02 1.33687716e+02] [-7.17451034e-02 -3.37625647e-03 9.97417285e-01 1.00256594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.69, Z:1.00 [[-4.87026660e-01 8.72787915e-01 -3.23463792e-02 2.11202021e+02] [-8.70417789e-01 -4.88089223e-01 -6.43566941e-02 1.33692397e+02] [-7.19576639e-02 -3.18856195e-03 9.97402591e-01 1.00281293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.66, Z:1.00 [[-4.83990093e-01 8.74487717e-01 -3.20128547e-02 2.11186905e+02] [-8.72165897e-01 -4.85038788e-01 -6.37496899e-02 1.33661656e+02] [-7.12757970e-02 -2.93369818e-03 9.97452332e-01 1.00063028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.66, Z:1.00 [[-4.80726445e-01 8.76299349e-01 -3.16470549e-02 2.11186840e+02] [-8.74030219e-01 -4.81759651e-01 -6.30778518e-02 1.33659681e+02] [-7.05213545e-02 -2.66270915e-03 9.97506716e-01 1.00033397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.571400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.18, Y:133.65, Z:1.00 [[-4.74514555e-01 8.79711993e-01 -3.07041911e-02 2.11183215e+02] [-8.77579465e-01 -4.75502171e-01 -6.12533053e-02 1.33650030e+02] [-6.84851768e-02 -2.12021726e-03 9.97649881e-01 9.98938234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.66, Z:1.00 [[-4.71661208e-01 8.81250883e-01 -3.05382733e-02 2.11187749e+02] [-8.79140718e-01 -4.72644918e-01 -6.09785107e-02 1.33659804e+02] [-6.81711261e-02 -1.91375846e-03 9.97671807e-01 9.99990587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.67, Z:1.00 [[-4.69345876e-01 8.82483864e-01 -3.06051982e-02 2.11192927e+02] [-8.80363126e-01 -4.70339358e-01 -6.11690605e-02 1.33670207e+02] [-6.83755382e-02 -1.76575829e-03 9.97658092e-01 1.00084362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:133.67, Z:1.00 [[-4.67738922e-01 8.83338934e-01 -3.05389516e-02 2.11192430e+02] [-8.81225336e-01 -4.68731862e-01 -6.10929549e-02 1.33668070e+02] [-6.82803653e-02 -1.66385501e-03 9.97664785e-01 1.00100888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.68, Z:1.00 [[-4.66456769e-01 8.84048966e-01 -2.95889814e-02 2.11199369e+02] [-8.82062871e-01 -4.67391769e-01 -5.92454766e-02 1.33677443e+02] [-6.62055487e-02 -1.53611174e-03 9.97804823e-01 1.00059824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.69, Z:1.00 [[-4.66137209e-01 8.84239261e-01 -2.89315083e-02 2.11204485e+02] [-8.82337517e-01 -4.67031777e-01 -5.79812568e-02 1.33686121e+02] [-6.47812374e-02 -1.49986602e-03 9.97898362e-01 1.00082333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.751400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.19, Y:133.66, Z:1.00 [[-4.65589806e-01 8.84544711e-01 -2.84040153e-02 2.11193832e+02] [-8.82709054e-01 -4.66453148e-01 -5.69753246e-02 1.33663166e+02] [-6.36463643e-02 -1.45464882e-03 9.97971455e-01 9.98654442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:133.68, Z:1.00 [[-4.63188048e-01 8.85797392e-01 -2.86323776e-02 2.11204795e+02] [-8.83930996e-01 -4.64070300e-01 -5.74869676e-02 1.33681910e+02] [-6.42092421e-02 -1.31823027e-03 9.97935587e-01 1.00115998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.811400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:211.21, Y:133.69, Z:1.00 [[-4.60940978e-01 8.86953842e-01 -2.90911815e-02 2.11207800e+02] [-8.85025767e-01 -4.61856512e-01 -5.84632723e-02 1.33688501e+02] [-6.52901757e-02 -1.20167269e-03 9.97865597e-01 1.00115915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.70, Z:1.00 [[-4.58523768e-01 8.88192056e-01 -2.95097574e-02 2.11210440e+02] [-8.86206900e-01 -4.59471147e-01 -5.93598904e-02 1.33697278e+02] [-6.62818652e-02 -1.06616993e-03 9.97800370e-01 1.00194331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:133.71, Z:1.00 [[-4.55695359e-01 8.89641208e-01 -2.96691829e-02 2.11214487e+02] [-8.87633885e-01 -4.56659322e-01 -5.97356703e-02 1.33709662e+02] [-6.66920228e-02 -8.85895697e-04 9.97773215e-01 1.00240131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.73, Z:1.00 [[-4.49681904e-01 8.92701557e-01 -2.94977172e-02 2.11225178e+02] [-8.90720297e-01 -4.50648112e-01 -5.94443585e-02 1.33734896e+02] [-6.63591620e-02 -4.56836934e-04 9.97795697e-01 1.00418230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.72, Z:1.00 [[-4.47145559e-01 8.93980672e-01 -2.93156453e-02 2.11219357e+02] [-8.92023048e-01 -4.48105427e-01 -5.91304311e-02 1.33724751e+02] [-6.59979623e-02 -2.89678352e-04 9.97819716e-01 1.00374681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.74, Z:1.00 [[-4.45404196e-01 8.94846875e-01 -2.93968177e-02 2.11225875e+02] [-8.92876709e-01 -4.46373203e-01 -5.93476721e-02 1.33741990e+02] [-6.62290305e-02 -1.85968297e-04 9.97804430e-01 1.00476243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.76, Z:1.01 [[-4.43208986e-01 8.95919578e-01 -2.98982277e-02 2.11229599e+02] [-8.93880248e-01 -4.44216284e-01 -6.04151917e-02 1.33758397e+02] [-6.74084327e-02 -5.11206245e-05 9.97725464e-01 1.00673110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.76, Z:1.01 [[-4.42645650e-01 8.96189612e-01 -3.01497606e-02 2.11227311e+02] [-8.94112677e-01 -4.43671251e-01 -6.09782152e-02 1.33755694e+02] [-6.80246250e-02 -3.44585786e-05 9.97683642e-01 1.00685273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.78, Z:1.01 [[-4.42701256e-01 8.96163419e-01 -3.01118570e-02 2.11237950e+02] [-8.94087964e-01 -4.43724151e-01 -6.09556446e-02 1.33777660e+02] [-6.79875770e-02 -6.24915472e-05 9.97686166e-01 1.00831724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.76, Z:1.01 [[-4.42979773e-01 8.96032783e-01 -2.99027289e-02 2.11228619e+02] [-8.93982188e-01 -4.43987884e-01 -6.05855215e-02 1.33759964e+02] [-6.75630627e-02 -1.05653502e-04 9.97715000e-01 1.00643810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.76, Z:1.01 [[-4.43736543e-01 8.95655113e-01 -2.99966477e-02 2.11225766e+02] [-8.93587069e-01 -4.44749237e-01 -6.08298128e-02 1.33761041e+02] [-6.78235191e-02 -1.87794348e-04 9.97697316e-01 1.00564130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.77, Z:1.01 [[-4.43982088e-01 8.95521161e-01 -3.03604391e-02 2.11228871e+02] [-8.93398445e-01 -4.45018870e-01 -6.16232395e-02 1.33770502e+02] [-6.86958833e-02 -2.35645422e-04 9.97637620e-01 1.00693634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.76, Z:1.01 [[-4.43732367e-01 8.95651846e-01 -3.01555716e-02 2.11223577e+02] [-8.93554301e-01 -4.44755792e-01 -6.12617089e-02 1.33758739e+02] [-6.82810278e-02 -2.38162360e-04 9.97666099e-01 1.00698339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:133.76, Z:1.01 [[-4.43413865e-01 8.95810301e-01 -3.01338497e-02 2.11224618e+02] [-8.93712396e-01 -4.44436551e-01 -6.12723918e-02 1.33761068e+02] [-6.82810240e-02 -2.38033025e-04 9.97666099e-01 1.00715361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.76, Z:1.01 [[-4.42771509e-01 8.96144825e-01 -2.96284293e-02 2.11227070e+02] [-8.94113937e-01 -4.43761659e-01 -6.02980803e-02 1.33764383e+02] [-6.71837735e-02 -2.07080382e-04 9.97740596e-01 1.00737022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.261400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:211.23, Y:133.78, Z:1.01 [[-4.41724349e-01 8.96674018e-01 -2.92455935e-02 2.11234660e+02] [-8.94692968e-01 -4.42691409e-01 -5.95718931e-02 1.33779027e+02] [-6.63633417e-02 -1.48528901e-04 9.97795513e-01 1.00773616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:133.77, Z:1.01 [[-4.40331274e-01 8.97356949e-01 -2.93065658e-02 2.11231854e+02] [-8.95365548e-01 -4.41305451e-01 -5.97497625e-02 1.33773406e+02] [-6.65500118e-02 -6.95997226e-05 9.97783088e-01 1.00748031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.80, Z:1.01 [[-4.36514774e-01 8.99196838e-01 -2.99983044e-02 2.11243916e+02] [-8.97110680e-01 -4.37544295e-01 -6.12161584e-02 1.33796430e+02] [-6.81709631e-02 1.90041719e-04 9.97673636e-01 1.00894717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.24, Y:133.79, Z:1.01 [[-4.34322725e-01 9.00256296e-01 -3.00395157e-02 2.11242097e+02] [-8.98163165e-01 -4.35360185e-01 -6.13550141e-02 1.33791898e+02] [-6.83132468e-02 3.32509564e-04 9.97663866e-01 1.00818662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:133.79, Z:1.01 [[-4.31892255e-01 9.01429223e-01 -2.99071241e-02 2.11243150e+02] [-8.99353633e-01 -4.32926223e-01 -6.11386044e-02 1.33792781e+02] [-6.80597029e-02 4.91791005e-04 9.97681129e-01 1.00820606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.82, Z:1.01 [[-4.27724923e-01 9.03435375e-01 -2.92560057e-02 2.11261501e+02] [-9.01450437e-01 -4.28723607e-01 -5.98596477e-02 1.33824683e+02] [-6.66220636e-02 7.69375914e-04 9.97777986e-01 1.01154833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:133.82, Z:1.01 [[-4.26163165e-01 9.04175279e-01 -2.91894006e-02 2.11261961e+02] [-9.02197604e-01 -4.27160771e-01 -5.97759156e-02 1.33820903e+02] [-6.65164721e-02 8.60313876e-04 9.97784956e-01 1.01184821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.471400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.27, Y:133.84, Z:1.01 [[-4.25195611e-01 9.04630970e-01 -2.91804921e-02 2.11272865e+02] [-9.02652091e-01 -4.26194770e-01 -5.98098743e-02 1.33837873e+02] [-6.65424377e-02 9.08936169e-04 9.97783182e-01 1.01343364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.85, Z:1.01 [[-4.24529581e-01 9.04932404e-01 -2.95292819e-02 2.11280140e+02] [-9.02903006e-01 -4.25554287e-01 -6.05781322e-02 1.33847343e+02] [-6.73854273e-02 9.44868360e-04 9.97726572e-01 1.01485109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:133.84, Z:1.01 [[-4.24674103e-01 9.04851228e-01 -2.99359575e-02 2.11278300e+02] [-9.02761598e-01 -4.25726914e-01 -6.14661885e-02 1.33838036e+02] [-6.83622989e-02 9.21934324e-04 9.97660136e-01 1.01407016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.84, Z:1.01 [[-4.25107655e-01 9.04650520e-01 -2.98482502e-02 2.11285218e+02] [-9.02569024e-01 -4.26153363e-01 -6.13389624e-02 1.33836875e+02] [-6.82102564e-02 8.64443608e-04 9.97670594e-01 1.01400158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:133.83, Z:1.01 [[-4.24375743e-01 9.05017667e-01 -2.91247683e-02 2.11286211e+02] [-9.03033438e-01 -4.25373071e-01 -5.99029182e-02 1.33831800e+02] [-6.66020914e-02 8.79294243e-04 9.97779228e-01 1.01317685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.85, Z:1.01 [[-4.23019171e-01 9.05674913e-01 -2.84206375e-02 2.11298065e+02] [-9.03783806e-01 -4.23971782e-01 -5.85043584e-02 1.33850869e+02] [-6.50354780e-02 9.37646819e-04 9.97882512e-01 1.01405608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:133.84, Z:1.01 [[-4.21531027e-01 9.06378146e-01 -2.81113658e-02 2.11296152e+02] [-9.04526366e-01 -4.22466127e-01 -5.79173972e-02 1.33843112e+02] [-6.43711630e-02 1.01349161e-03 9.97925511e-01 1.01320282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.681400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.31, Y:133.85, Z:1.01 [[-4.20130340e-01 9.07026579e-01 -2.81652629e-02 2.11305996e+02] [-9.05165876e-01 -4.21071952e-01 -5.80788077e-02 1.33854060e+02] [-6.45386245e-02 1.09356562e-03 9.97914611e-01 1.01354710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.86, Z:1.01 [[-4.19962681e-01 9.07095218e-01 -2.84536701e-02 2.11312339e+02] [-9.05192972e-01 -4.20924065e-01 -5.87249127e-02 1.33863114e+02] [-6.52459220e-02 1.09379039e-03 9.97868615e-01 1.01419191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.85, Z:1.01 [[-4.19826080e-01 9.07156798e-01 -2.85062463e-02 2.11305741e+02] [-9.05244323e-01 -4.20791359e-01 -5.88841874e-02 1.33846210e+02] [-6.54123730e-02 1.08400006e-03 9.97857729e-01 1.01260597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:133.86, Z:1.01 [[-4.19743479e-01 9.07195720e-01 -2.84839745e-02 2.11313454e+02] [-9.05282992e-01 -4.20707482e-01 -5.88890414e-02 1.33858084e+02] [-6.54073075e-02 1.06776655e-03 9.97858078e-01 1.01337562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:133.86, Z:1.02 [[-4.19758070e-01 9.07185004e-01 -2.86099935e-02 2.11321949e+02] [-9.05251873e-01 -4.20730636e-01 -5.92011671e-02 1.33862542e+02] [-6.57435117e-02 1.04908257e-03 9.97836004e-01 1.01505787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.86, Z:1.02 [[-4.19705182e-01 9.07198753e-01 -2.89479342e-02 2.11325571e+02] [-9.05216174e-01 -4.20701008e-01 -5.99528166e-02 1.33861769e+02] [-6.65675455e-02 1.04163041e-03 9.97781377e-01 1.01536189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:133.87, Z:1.02 [[-4.19667911e-01 9.07197060e-01 -2.95353949e-02 2.11337745e+02] [-9.05129431e-01 -4.20704663e-01 -6.12233623e-02 1.33874201e+02] [-6.79673327e-02 1.03987466e-03 9.97687005e-01 1.01584935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:133.86, Z:1.01 [[-4.19324792e-01 9.07353035e-01 -2.96173652e-02 2.11334400e+02] [-9.05270668e-01 -4.20368143e-01 -6.14462575e-02 1.33862010e+02] [-6.82036450e-02 1.04579283e-03 9.97670872e-01 1.01464782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:133.88, Z:1.02 [[-4.18693781e-01 9.07643303e-01 -2.96505073e-02 2.11345900e+02] [-9.05553360e-01 -4.19740975e-01 -6.15680583e-02 1.33878212e+02] [-6.83273686e-02 1.07195333e-03 9.97662379e-01 1.01559492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.951400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.35, Y:133.88, Z:1.02 [[-4.17397149e-01 9.08235383e-01 -2.98011686e-02 2.11351173e+02] [-9.06121935e-01 -4.18458076e-01 -6.19344581e-02 1.33880432e+02] [-6.87216059e-02 1.15222635e-03 9.97635211e-01 1.01502877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.89, Z:1.02 [[-4.15805793e-01 9.08961754e-01 -2.99010410e-02 2.11358400e+02] [-9.06832274e-01 -4.16877629e-01 -6.21954143e-02 1.33888339e+02] [-6.89983279e-02 1.25401541e-03 9.97615987e-01 1.01648755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:133.89, Z:1.02 [[-4.12925669e-01 9.10267283e-01 -3.00976120e-02 2.11364759e+02] [-9.08109362e-01 -4.14018534e-01 -6.26581212e-02 1.33891464e+02] [-6.94966069e-02 1.45877660e-03 9.97581121e-01 1.01681674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.041400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:211.37, Y:133.89, Z:1.02 [[-4.11492227e-01 9.10922480e-01 -2.99062520e-02 2.11366564e+02] [-9.08790012e-01 -4.12574688e-01 -6.23124548e-02 1.33890826e+02] [-6.91003784e-02 1.53741230e-03 9.97608528e-01 1.01703225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:133.90, Z:1.02 [[-4.09884838e-01 9.11645367e-01 -2.99523785e-02 2.11371603e+02] [-9.09504526e-01 -4.10974497e-01 -6.24618262e-02 1.33895995e+02] [-6.92526981e-02 1.63966831e-03 9.97597802e-01 1.01718860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.39, Y:133.93, Z:1.02 [[-4.06393533e-01 9.13214398e-01 -2.97281141e-02 2.11392787e+02] [-9.11106062e-01 -4.07475112e-01 -6.20465720e-02 1.33928531e+02] [-6.87752895e-02 1.87013942e-03 9.97630424e-01 1.01832489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:133.91, Z:1.02 [[-4.04426818e-01 9.14093284e-01 -2.95366963e-02 2.11384796e+02] [-9.12010830e-01 -4.05499108e-01 -6.16986203e-02 1.33909069e+02] [-6.83753985e-02 1.98521023e-03 9.97657689e-01 1.01675440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.161400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.40, Y:133.93, Z:1.02 [[-4.02465843e-01 9.14961883e-01 -2.94278331e-02 2.11396496e+02] [-9.12893554e-01 -4.03534790e-01 -6.15226138e-02 1.33930908e+02] [-6.81660010e-02 2.10372848e-03 9.97671775e-01 1.01858603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.191400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.41, Y:133.95, Z:1.02 [[-3.98327642e-01 9.16785872e-01 -2.89612530e-02 2.11408631e+02] [-9.14784053e-01 -3.99372151e-01 -6.05972114e-02 1.33949250e+02] [-6.71209852e-02 2.35574802e-03 9.97742063e-01 1.01978063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:133.95, Z:1.02 [[-3.96121418e-01 9.17751244e-01 -2.86439590e-02 2.11411941e+02] [-9.15792310e-01 -3.97148014e-01 -5.99824987e-02 1.33953139e+02] [-6.64249042e-02 2.47156496e-03 9.97788366e-01 1.01956364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:133.96, Z:1.02 [[-3.94139176e-01 9.18609453e-01 -2.84777672e-02 2.11417505e+02] [-9.16672180e-01 -3.95158210e-01 -5.96833677e-02 1.33960994e+02] [-6.60789293e-02 2.58122356e-03 9.97811061e-01 1.02014455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.99, Z:1.02 [[-3.92559502e-01 9.19285367e-01 -2.84860095e-02 2.11433788e+02] [-9.17345469e-01 -3.93582587e-01 -5.97497883e-02 1.33991069e+02] [-6.61387034e-02 2.67616461e-03 9.97806850e-01 1.02255791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:133.99, Z:1.02 [[-3.90947812e-01 9.19964387e-01 -2.87286285e-02 2.11435845e+02] [-9.17989769e-01 -3.91991980e-01 -6.03081335e-02 1.33988430e+02] [-6.67427271e-02 2.79525420e-03 9.97766303e-01 1.02241306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:133.98, Z:1.02 [[-3.90164974e-01 9.20290883e-01 -2.89133931e-02 2.11433004e+02] [-9.18288320e-01 -3.91224447e-01 -6.07453191e-02 1.33978867e+02] [-6.72149896e-02 2.85013535e-03 9.97734445e-01 1.02162403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.371400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.44, Y:133.99, Z:1.02 [[-3.89561275e-01 9.20546240e-01 -2.89246136e-02 2.11438206e+02] [-9.18539489e-01 -3.90623027e-01 -6.08182351e-02 1.33985483e+02] [-6.72846178e-02 2.87597052e-03 9.97729677e-01 1.02171919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.401400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:211.45, Y:133.99, Z:1.02 [[-3.89150060e-01 9.20726775e-01 -2.87130194e-02 2.11447195e+02] [-9.18746528e-01 -3.90197371e-01 -6.04220941e-02 1.33988926e+02] [-6.68359845e-02 2.86672542e-03 9.97759857e-01 1.02289813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.431400513 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:211.42, Y:133.93, Z:1.02 [[-3.89281522e-01 9.20725519e-01 -2.69149709e-02 2.11419454e+02] [-9.18724180e-01 -3.90209303e-01 -6.06842773e-02 1.33925112e+02] [-6.63760347e-02 1.10416669e-03 9.97794068e-01 1.01748641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.461400513 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:211.46, Y:133.99, Z:1.02 [[-3.90128701e-01 9.20260661e-01 -3.03300592e-02 2.11456308e+02] [-9.18313567e-01 -3.91280653e-01 -5.99970198e-02 1.33986202e+02] [-6.70804625e-02 4.44594546e-03 9.97737664e-01 1.02351654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.491400513 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:211.46, Y:134.00, Z:1.02 [[-3.91079605e-01 9.19895283e-01 -2.91446597e-02 2.11463681e+02] [-9.17844920e-01 -3.92154648e-01 -6.14445660e-02 1.33995147e+02] [-6.79517801e-02 2.72056127e-03 9.97684897e-01 1.02407119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.521400513 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:211.47, Y:133.99, Z:1.02 [[-3.93035134e-01 9.19042815e-01 -2.97268903e-02 2.11471521e+02] [-9.16903589e-01 -3.94149114e-01 -6.27238768e-02 1.33989059e+02] [-6.93627558e-02 2.60400504e-03 9.97588105e-01 1.02476117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.551400513 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:211.48, Y:133.99, Z:1.03 [[-3.93239646e-01 9.18949116e-01 -2.99182777e-02 2.11479438e+02] [-9.16778351e-01 -3.94367653e-01 -6.31791846e-02 1.33994037e+02] [-6.98572568e-02 2.58386911e-03 9.97553651e-01 1.02506181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.581400513 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:211.48, Y:133.99, Z:1.02 [[-3.93269669e-01 9.18935508e-01 -2.99416190e-02 2.11481978e+02] [-9.16757715e-01 -3.94399496e-01 -6.32797690e-02 1.33988734e+02] [-6.99589861e-02 2.56319642e-03 9.97546576e-01 1.02448055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.611400513 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:211.49, Y:134.01, Z:1.03 [[-3.92968217e-01 9.19067341e-01 -2.98530209e-02 2.11494362e+02] [-9.16899240e-01 -3.94092216e-01 -6.31435554e-02 1.34005536e+02] [-6.97980227e-02 2.55880188e-03 9.97557862e-01 1.02573278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.641400513 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:211.50, Y:134.00, Z:1.02 [[-3.90194659e-01 9.20270177e-01 -2.91707058e-02 2.11500358e+02] [-9.18200130e-01 -3.91274282e-01 -6.17491434e-02 1.34000728e+02] [-6.82396421e-02 2.69035992e-03 9.97665331e-01 1.02407943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.671400513 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:211.50, Y:134.00, Z:1.02 [[-3.88058039e-01 9.21192697e-01 -2.85477423e-02 2.11504180e+02] [-9.19209481e-01 -3.89096813e-01 -6.04781001e-02 1.34003795e+02] [-6.68198197e-02 2.77234245e-03 9.97761207e-01 1.02427146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.701400513 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:211.51, Y:134.01, Z:1.02 [[-3.85241751e-01 9.22387883e-01 -2.80960277e-02 2.11507781e+02] [-9.20467000e-01 -3.86253940e-01 -5.95684165e-02 1.34007308e+02] [-6.57973870e-02 2.91322531e-03 9.97828751e-01 1.02391766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.731400513 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:211.52, Y:134.03, Z:1.03 [[-3.80019857e-01 9.24559692e-01 -2.78259686e-02 2.11522683e+02] [-9.22678182e-01 -3.81023488e-01 -5.90429778e-02 1.34034607e+02] [-6.51911050e-02 3.23691018e-03 9.97867547e-01 1.02544361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.761400513 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:211.53, Y:134.05, Z:1.03 [[-3.76915644e-01 9.25828011e-01 -2.78763543e-02 2.11529587e+02] [-9.23939957e-01 -3.77929405e-01 -5.91973032e-02 1.34046206e+02] [-6.53418154e-02 3.44368794e-03 9.97856998e-01 1.02648602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.791400513 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:211.54, Y:134.06, Z:1.03 [[-3.74600842e-01 9.26763665e-01 -2.79878254e-02 2.11537114e+02] [-9.24859911e-01 -3.75627644e-01 -5.94812413e-02 1.34060563e+02] [-6.56380541e-02 3.60309465e-03 9.97836993e-01 1.02802232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.821400513 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:211.54, Y:134.06, Z:1.03 [[-3.72246026e-01 9.27708996e-01 -2.80876458e-02 2.11540265e+02] [-9.25791139e-01 -3.73285204e-01 -5.97404681e-02 1.34064166e+02] [-6.59064722e-02 3.76514173e-03 9.97818701e-01 1.02840860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.851400513 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:211.54, Y:134.06, Z:1.03 [[-3.71523484e-01 9.28006300e-01 -2.78317871e-02 2.11538976e+02] [-9.26121071e-01 -3.72545469e-01 -5.92421757e-02 1.34061711e+02] [-6.53457185e-02 3.76574498e-03 9.97855579e-01 1.02831989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.881400513 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:211.54, Y:134.06, Z:1.03 [[-3.71115390e-01 9.28175374e-01 -2.76377037e-02 2.11540590e+02] [-9.26313854e-01 -3.72124172e-01 -5.88748261e-02 1.34062495e+02] [-6.49308213e-02 3.75183378e-03 9.97882715e-01 1.02829302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.911400513 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:211.55, Y:134.07, Z:1.03 [[-3.70846243e-01 9.28290401e-01 -2.73860338e-02 2.11546385e+02] [-9.26460040e-01 -3.71837449e-01 -5.83841220e-02 1.34072344e+02] [-6.43805729e-02 3.72053365e-03 9.97918483e-01 1.02926422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.941400513 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:211.54, Y:134.06, Z:1.03 [[-3.70459142e-01 9.28441752e-01 -2.74943267e-02 2.11544517e+02] [-9.26594289e-01 -3.71459140e-01 -5.86611568e-02 1.34064670e+02] [-6.46764861e-02 3.74452427e-03 9.97899259e-01 1.02940313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.971400513 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:211.55, Y:134.07, Z:1.03 [[-3.70558706e-01 9.28398347e-01 -2.76180115e-02 2.11546310e+02] [-9.26531063e-01 -3.71567689e-01 -5.89715332e-02 1.34068228e+02] [-6.50110346e-02 3.73653051e-03 9.97877550e-01 1.03043217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.001400513 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:211.55, Y:134.08, Z:1.03 [[-3.70518978e-01 9.28411048e-01 -2.77238665e-02 2.11554678e+02] [-9.26526381e-01 -3.71535961e-01 -5.92443678e-02 1.34083886e+02] [-6.53035390e-02 3.73573111e-03 9.97858453e-01 1.03183933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.031400513 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:211.55, Y:134.07, Z:1.03 [[-3.70918493e-01 9.28255107e-01 -2.76030597e-02 2.11548232e+02] [-9.26383420e-01 -3.71926004e-01 -5.90322584e-02 1.34068882e+02] [-6.50632910e-02 3.67486052e-03 9.97874373e-01 1.03094645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.061400513 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:211.55, Y:134.07, Z:1.03 [[-3.72323644e-01 9.27685525e-01 -2.78329251e-02 2.11551930e+02] [-9.25777834e-01 -3.73345280e-01 -5.95710060e-02 1.34074289e+02] [-6.56544512e-02 3.58741105e-03 9.97835970e-01 1.03122982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.091400513 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:211.55, Y:134.08, Z:1.03 [[-3.72573938e-01 9.27583927e-01 -2.78696720e-02 2.11553725e+02] [-9.25667804e-01 -3.73597924e-01 -5.96968063e-02 1.34076930e+02] [-6.57858496e-02 3.55658389e-03 9.97827426e-01 1.03141797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.121400513 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:211.55, Y:134.08, Z:1.03 [[-3.72294472e-01 9.27696670e-01 -2.78516477e-02 2.11554739e+02] [-9.25780238e-01 -3.73317879e-01 -5.97052143e-02 1.34079319e+02] [-6.57858466e-02 3.55658372e-03 9.97827427e-01 1.03158821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.151400513 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:211.55, Y:134.08, Z:1.03 [[-3.73646012e-01 9.27143519e-01 -2.81700568e-02 2.11553227e+02] [-9.25178206e-01 -3.74690245e-01 -6.04359830e-02 1.34078104e+02] [-6.65878754e-02 3.48065852e-03 9.97774494e-01 1.03217188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.181400513 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:211.55, Y:134.07, Z:1.03 [[-3.74500707e-01 9.26787153e-01 -2.85445942e-02 2.11550805e+02] [-9.24764837e-01 -3.75571177e-01 -6.12885595e-02 1.34070873e+02] [-6.75219764e-02 3.44442813e-03 9.97711842e-01 1.03249028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.211400513 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:211.56, Y:134.09, Z:1.03 [[-3.75218288e-01 9.26478851e-01 -2.91234333e-02 2.11560055e+02] [-9.24369179e-01 -3.76331121e-01 -6.25820228e-02 1.34085314e+02] [-6.89409749e-02 3.43888468e-03 9.97614814e-01 1.03360130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.241400513 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:211.57, Y:134.09, Z:1.03 [[-3.77065066e-01 9.25716375e-01 -2.95148915e-02 2.11565398e+02] [-9.23543658e-01 -3.78203836e-01 -6.34741768e-02 1.34090622e+02] [-6.99217300e-02 3.32439619e-03 9.97546941e-01 1.03324765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.271400513 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:211.56, Y:134.08, Z:1.03 [[-3.77180303e-01 9.25682680e-01 -2.90963144e-02 2.11561541e+02] [-9.23567755e-01 -3.78286926e-01 -6.26227093e-02 1.34081734e+02] [-6.89755127e-02 3.25236532e-03 9.97613052e-01 1.03185250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.301400513 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:211.56, Y:134.08, Z:1.03 [[-3.76667759e-01 9.25911491e-01 -2.84483902e-02 2.11558690e+02] [-9.23887247e-01 -3.77726958e-01 -6.12756002e-02 1.34076097e+02] [-6.74815062e-02 3.20256195e-03 9.97715385e-01 1.03053425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.331400513 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:211.56, Y:134.08, Z:1.03 [[-3.75536576e-01 9.26390934e-01 -2.77870023e-02 2.11559788e+02] [-9.24458028e-01 -3.76549644e-01 -5.98975816e-02 1.34079277e+02] [-6.59517624e-02 3.19418462e-03 9.97817700e-01 1.03040900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.361400513 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:211.56, Y:134.08, Z:1.03 [[-3.74767724e-01 9.26713125e-01 -2.74214596e-02 2.11558977e+02] [-9.24828598e-01 -3.75756045e-01 -5.91562242e-02 1.34079793e+02] [-6.51246287e-02 3.19030653e-03 9.97872038e-01 1.03091834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.391400513 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:211.56, Y:134.09, Z:1.03 [[-3.73638690e-01 9.27153109e-01 -2.79506934e-02 2.11563504e+02] [-9.25192996e-01 -3.74668045e-01 -6.03471326e-02 1.34089790e+02] [-6.64232633e-02 3.31176217e-03 9.97786040e-01 1.03191765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.421400513 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:211.56, Y:134.09, Z:1.03 [[-3.74179169e-01 9.26924854e-01 -2.82889331e-02 2.11562684e+02] [-9.24912990e-01 -3.75232560e-01 -6.11268089e-02 1.34087733e+02] [-6.72748872e-02 3.29242311e-03 9.97729046e-01 1.03188815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.451400513 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:211.57, Y:134.10, Z:1.03 [[-3.75198554e-01 9.26513402e-01 -2.82658922e-02 2.11567662e+02] [-9.24500378e-01 -3.76248177e-01 -6.11257722e-02 1.34097531e+02] [-6.72688376e-02 3.19752671e-03 9.97729763e-01 1.03266602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.481400513 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:211.56, Y:134.07, Z:1.03 [[-3.76364268e-01 9.26058652e-01 -2.76642499e-02 2.11556035e+02] [-9.24126200e-01 -3.77367435e-01 -5.98714106e-02 1.34072163e+02] [-6.58840248e-02 3.03179855e-03 9.97822681e-01 1.03039043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.511400513 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:211.55, Y:134.06, Z:1.03 [[-3.77869106e-01 9.25486266e-01 -2.62699504e-02 2.11548422e+02] [-9.23739799e-01 -3.78771059e-01 -5.68970015e-02 1.34057008e+02] [-6.26076904e-02 2.76697964e-03 9.98034379e-01 1.02765313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.541400513 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:211.55, Y:134.06, Z:1.03 [[-3.77251124e-01 9.25742412e-01 -2.61261570e-02 2.11546836e+02] [-9.24012771e-01 -3.78144519e-01 -5.66314621e-02 1.34055270e+02] [-6.23056094e-02 2.77662004e-03 9.98053256e-01 1.02706643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.571400513 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:211.56, Y:134.09, Z:1.03 [[-3.75946449e-01 9.26264257e-01 -2.64347106e-02 2.11559565e+02] [-9.24491732e-01 -3.76863687e-01 -5.73480462e-02 1.34085670e+02] [-6.30817279e-02 2.87887700e-03 9.98004212e-01 1.02920827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.601400513 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:211.56, Y:134.10, Z:1.03 [[-3.74350634e-01 9.26896984e-01 -2.68995342e-02 2.11563601e+02] [-9.25059992e-01 -3.75303695e-01 -5.84050341e-02 1.34098930e+02] [-6.42309445e-02 3.01972139e-03 9.97930492e-01 1.03024799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.631400513 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:211.56, Y:134.11, Z:1.03 [[-3.72466912e-01 9.27644298e-01 -2.72847262e-02 2.11563263e+02] [-9.25753061e-01 -3.73451435e-01 -5.92899262e-02 1.34109632e+02] [-6.51894821e-02 3.17538306e-03 9.97867851e-01 1.03128155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.661400513 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:211.56, Y:134.10, Z:1.03 [[-3.72210375e-01 9.27755170e-01 -2.70144498e-02 2.11559768e+02] [-9.25898521e-01 -3.73176164e-01 -5.87492950e-02 1.34104378e+02] [-6.45861109e-02 3.14554194e-03 9.97907180e-01 1.03120944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.691400513 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:211.56, Y:134.10, Z:1.03 [[-3.72978425e-01 9.27460376e-01 -2.65395073e-02 2.11556943e+02] [-9.25664864e-01 -3.73909232e-01 -5.77619691e-02 1.34097235e+02] [-6.34953044e-02 3.02272119e-03 9.97977560e-01 1.03210926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.721400513 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:211.56, Y:134.10, Z:1.03 [[-3.73785384e-01 9.27139781e-01 -2.63877465e-02 2.11561305e+02] [-9.25361052e-01 -3.74704176e-01 -5.74778626e-02 1.34098569e+02] [-6.31776117e-02 2.93380784e-03 9.97997987e-01 1.03266269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.751400513 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:211.56, Y:134.08, Z:1.03 [[-3.77645536e-01 9.25549053e-01 -2.72543703e-02 2.11558013e+02] [-9.23644056e-01 -3.78617840e-01 -5.94153951e-02 1.34081558e+02] [-6.53108535e-02 2.73537840e-03 9.97861218e-01 1.03220572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.781400513 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:211.56, Y:134.09, Z:1.03 [[-3.80145750e-01 9.24501999e-01 -2.80225478e-02 2.11561910e+02] [-9.22481694e-01 -3.81168276e-01 -6.11413811e-02 1.34086605e+02] [-6.72066353e-02 2.60765114e-03 9.97735671e-01 1.03308347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.811400513 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:211.56, Y:134.08, Z:1.03 [[-3.83249829e-01 9.23205867e-01 -2.84692198e-02 2.11561681e+02] [-9.21113450e-01 -3.84298295e-01 -6.21677754e-02 1.34079683e+02] [-6.83343276e-02 2.39759194e-03 9.97659597e-01 1.03286181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.841400513 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:211.56, Y:134.07, Z:1.03 [[-3.86715682e-01 9.21764154e-01 -2.83165451e-02 2.11559660e+02] [-9.19686824e-01 -3.87745266e-01 -6.18850153e-02 1.34065293e+02] [-6.80229950e-02 2.11044756e-03 9.97681521e-01 1.03177327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.871400513 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:211.56, Y:134.06, Z:1.03 [[-3.90244758e-01 9.20295731e-01 -2.76549524e-02 2.11563859e+02] [-9.18307482e-01 -3.91219326e-01 -6.04880775e-02 1.34060805e+02] [-6.64860713e-02 1.79059457e-03 9.97785747e-01 1.03141109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.901400513 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:211.56, Y:134.02, Z:1.03 [[-3.97918279e-01 9.17024517e-01 -2.69643917e-02 2.11559115e+02] [-9.15123682e-01 -3.98829064e-01 -5.90256296e-02 1.34020984e+02] [-6.48821326e-02 1.18837649e-03 9.97892227e-01 1.02817632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.931400513 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:211.56, Y:134.01, Z:1.03 [[-4.01355748e-01 9.15516372e-01 -2.72641941e-02 2.11559808e+02] [-9.13566122e-01 -4.02279631e-01 -5.97330614e-02 1.34006761e+02] [-6.56544256e-02 9.33436594e-04 9.97841984e-01 1.02763822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.961400513 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:211.57, Y:134.00, Z:1.03 [[-4.04753572e-01 9.14002056e-01 -2.78350059e-02 2.11565469e+02] [-9.11961982e-01 -4.05708985e-01 -6.10373965e-02 1.34003382e+02] [-6.70812179e-02 6.79362852e-04 9.97747287e-01 1.02796497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.991400513 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:211.57, Y:134.01, Z:1.03 [[-4.07704521e-01 9.12678300e-01 -2.82018298e-02 2.11574229e+02] [-9.10577146e-01 -4.08678507e-01 -6.18961922e-02 1.34006969e+02] [-6.80167932e-02 4.44584261e-04 9.97684077e-01 1.02919946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.021400513 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:211.58, Y:134.00, Z:1.03 [[-4.10077475e-01 9.11598524e-01 -2.87157772e-02 2.11579306e+02] [-9.09413467e-01 -4.11081586e-01 -6.30799089e-02 1.34002885e+02] [-6.93080791e-02 2.46864765e-04 9.97595273e-01 1.02865863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.051400513 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:211.60, Y:134.02, Z:1.03 [[-4.11438705e-01 9.10975171e-01 -2.90246659e-02 2.11601092e+02] [-9.08737308e-01 -4.12461179e-01 -6.38144301e-02 1.34020507e+02] [-7.01049092e-02 1.20070281e-04 9.97539617e-01 1.02886262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.081400513 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:211.61, Y:134.02, Z:1.03 [[-4.10861251e-01 9.11230254e-01 -2.91968616e-02 2.11606840e+02] [-9.08962421e-01 -4.11897322e-01 -6.42488425e-02 1.34017201e+02] [-7.05715982e-02 1.41490242e-04 9.97506707e-01 1.02871862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.111400513 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:211.62, Y:134.02, Z:1.03 [[-4.08669849e-01 9.12205957e-01 -2.94829977e-02 2.11618363e+02] [-9.09891894e-01 -4.09731875e-01 -6.49348263e-02 1.34017390e+02] [-7.13140593e-02 2.89434958e-04 9.97453869e-01 1.02914421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.141400513 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:211.63, Y:134.03, Z:1.03 [[-4.06811260e-01 9.13040986e-01 -2.93386472e-02 2.11627447e+02] [-9.10747774e-01 -4.07867612e-01 -6.46722694e-02 1.34029171e+02] [-7.10147166e-02 4.10700263e-04 9.97475183e-01 1.02998853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.171400513 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:211.63, Y:134.03, Z:1.03 [[-4.05026573e-01 9.13846527e-01 -2.89482207e-02 2.11632596e+02] [-9.11612267e-01 -4.06059419e-01 -6.38656646e-02 1.34031613e+02] [-7.01181135e-02 5.22261810e-04 9.97538559e-01 1.02978255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.201400513 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:211.65, Y:134.05, Z:1.03 [[-4.03423503e-01 9.14573550e-01 -2.83672046e-02 2.11645193e+02] [-9.12426357e-01 -4.04419144e-01 -6.26362470e-02 1.34048706e+02] [-6.87576954e-02 6.14050942e-04 9.97633200e-01 1.03046541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.231400513 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:211.65, Y:134.05, Z:1.03 [[-4.02209792e-01 9.15129901e-01 -2.76504417e-02 2.11654482e+02] [-9.13087874e-01 -4.03158547e-01 -6.11041794e-02 1.34048037e+02] [-6.70657736e-02 6.70583726e-04 9.97748331e-01 1.02955461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.261400513 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:211.65, Y:134.04, Z:1.03 [[-4.02584879e-01 9.14963335e-01 -2.77039974e-02 2.11654983e+02] [-9.12909491e-01 -4.03536502e-01 -6.12744064e-02 1.34041043e+02] [-6.72434094e-02 6.23092667e-04 9.97736406e-01 1.02858924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.291400513 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:211.65, Y:134.03, Z:1.03 [[-4.03372301e-01 9.14625115e-01 -2.74169017e-02 2.11651893e+02] [-9.12609488e-01 -4.04302619e-01 -6.06903108e-02 1.34026090e+02] [-6.65936077e-02 5.40134329e-04 9.97780036e-01 1.02803263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.321400513 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:211.66, Y:134.04, Z:1.03 [[-4.04467080e-01 9.14148249e-01 -2.71911763e-02 2.11659517e+02] [-9.12161252e-01 -4.05379807e-01 -6.02417107e-02 1.34035267e+02] [-6.60926082e-02 4.36948629e-04 9.97813398e-01 1.02875479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.351400513 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:211.66, Y:134.04, Z:1.03 [[-4.05613392e-01 9.13650500e-01 -2.68428609e-02 2.11663839e+02] [-9.11709750e-01 -4.06500497e-01 -5.95203955e-02 1.34038824e+02] [-6.52924754e-02 3.30628528e-04 9.97866115e-01 1.03025214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.381400513 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:211.66, Y:134.02, Z:1.03 [[-4.08784638e-01 9.12225830e-01 -2.71874165e-02 2.11659717e+02] [-9.10228245e-01 -4.09687721e-01 -6.03366707e-02 1.34016059e+02] [-6.61790202e-02 8.20503140e-05 9.97807762e-01 1.02833876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.411400513 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:211.67, Y:134.03, Z:1.03 [[-4.10705461e-01 9.11349962e-01 -2.76092559e-02 2.11668178e+02] [-9.09284234e-01 -4.11632409e-01 -6.13265212e-02 1.34029671e+02] [-6.72547873e-02 -8.24761130e-05 9.97735830e-01 1.02963713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.441400513 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:211.67, Y:134.03, Z:1.03 [[-4.12991521e-01 9.10306027e-01 -2.79453132e-02 2.11668641e+02] [-9.08183532e-01 -4.13935816e-01 -6.21273987e-02 1.34025356e+02] [-6.81225116e-02 -2.78615637e-04 9.97676925e-01 1.03026855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.471400513 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:211.66, Y:134.01, Z:1.03 [[-4.15660498e-01 9.09086736e-01 -2.80652393e-02 2.11664873e+02] [-9.06939451e-01 -4.16606593e-01 -6.24482046e-02 1.34011307e+02] [-6.84629981e-02 -5.03779071e-04 9.97653529e-01 1.02966121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.501400513 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:211.66, Y:134.00, Z:1.03 [[-4.18266820e-01 9.07900116e-01 -2.77533023e-02 2.11660539e+02] [-9.05794118e-01 -4.19185961e-01 -6.18073310e-02 1.33995207e+02] [-6.77486777e-02 -7.13177861e-04 9.97702164e-01 1.02860893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.531400513 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:211.67, Y:133.99, Z:1.03 [[-4.23235394e-01 9.05598697e-01 -2.76188431e-02 2.11665055e+02] [-9.03504483e-01 -4.24134161e-01 -6.15618605e-02 1.33991160e+02] [-6.74644355e-02 -1.10140972e-03 9.97721072e-01 1.02866227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.561400513 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:211.66, Y:133.98, Z:1.03 [[-4.24963044e-01 9.04777003e-01 -2.80176133e-02 2.11663877e+02] [-9.02616153e-01 -4.25883731e-01 -6.25070290e-02 1.33982161e+02] [-6.84871680e-02 -1.27402699e-03 9.97651184e-01 1.02856089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.591400513 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:211.67, Y:133.99, Z:1.03 [[-4.26455299e-01 9.04059832e-01 -2.84903155e-02 2.11671308e+02] [-9.01819727e-01 -4.27403502e-01 -6.36193836e-02 1.33993493e+02] [-6.96925898e-02 -1.43769469e-03 9.97567479e-01 1.02982259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.621400513 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:211.67, Y:133.99, Z:1.03 [[-4.28824189e-01 9.02910776e-01 -2.93589209e-02 2.11671835e+02] [-9.00524772e-01 -4.29824661e-01 -6.56193278e-02 1.33985150e+02] [-7.18675864e-02 -1.70071953e-03 9.97412732e-01 1.02972417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.651400513 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:211.67, Y:133.99, Z:1.03 [[-4.29313818e-01 9.02675122e-01 -2.94494372e-02 2.11674759e+02] [-9.00269539e-01 -4.30319053e-01 -6.58807229e-02 1.33987742e+02] [-7.21415436e-02 -1.77107343e-03 9.97392832e-01 1.02965927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.681400513 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:211.67, Y:133.97, Z:1.03 [[-4.29608493e-01 9.02543096e-01 -2.91976626e-02 2.11668834e+02] [-9.00174043e-01 -4.30595762e-01 -6.53757021e-02 1.33969896e+02] [-7.15767783e-02 -1.80297884e-03 9.97433464e-01 1.02865159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.711400513 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:211.68, Y:133.99, Z:1.03 [[-4.29855262e-01 9.02440994e-01 -2.87177093e-02 2.11678771e+02] [-9.00145016e-01 -4.30809656e-01 -6.43583017e-02 1.33986190e+02] [-7.04514362e-02 -1.81465171e-03 9.97513560e-01 1.02961581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.741400513 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:211.68, Y:133.99, Z:1.03 [[-4.30072171e-01 9.02353192e-01 -2.82249028e-02 2.11683349e+02] [-9.00131331e-01 -4.30993501e-01 -6.33102645e-02 1.33990666e+02] [-6.92929689e-02 -1.82186356e-03 9.97594690e-01 1.03000238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.771400513 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:211.68, Y:133.97, Z:1.03 [[-4.31955161e-01 9.01460323e-01 -2.80004389e-02 2.11679776e+02] [-8.99267957e-01 -4.32857238e-01 -6.28629666e-02 1.33970961e+02] [-6.87886628e-02 -1.97408540e-03 9.97629301e-01 1.02876924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.801400513 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:211.69, Y:133.98, Z:1.03 [[-4.33741728e-01 9.00597002e-01 -2.81629854e-02 2.11685233e+02] [-8.98373257e-01 -4.34649771e-01 -6.32856021e-02 1.33975971e+02] [-6.92358586e-02 -2.14873354e-03 9.97598005e-01 1.02859079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.831400513 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:211.69, Y:133.97, Z:1.03 [[-4.35681415e-01 8.99658770e-01 -2.82099831e-02 2.11686139e+02] [-8.97421594e-01 -4.36587542e-01 -6.34491940e-02 1.33972338e+02] [-6.93987510e-02 -2.32738660e-03 9.97586285e-01 1.02855337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.861400513 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:211.69, Y:133.97, Z:1.03 [[-4.37241310e-01 8.98904194e-01 -2.81298314e-02 2.11687184e+02] [-8.96674171e-01 -4.38138301e-01 -6.33266160e-02 1.33968980e+02] [-6.92493172e-02 -2.46571926e-03 9.97596337e-01 1.02883536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.891400513 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:211.69, Y:133.97, Z:1.03 [[-4.38920498e-01 8.98092486e-01 -2.79048815e-02 2.11691009e+02] [-8.95892457e-01 -4.39798971e-01 -6.28774321e-02 1.33969610e+02] [-6.87422874e-02 -2.59842098e-03 9.97631067e-01 1.02842696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.921400513 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:211.69, Y:133.94, Z:1.03 [[-4.41332103e-01 8.96925010e-01 -2.74135365e-02 2.11685690e+02] [-8.94795841e-01 -4.42174094e-01 -6.18261547e-02 1.33943156e+02] [-6.75749801e-02 -2.75634847e-03 9.97710391e-01 1.02645945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.951400513 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:211.69, Y:133.95, Z:1.03 [[-4.42283433e-01 8.96460670e-01 -2.72696126e-02 2.11691731e+02] [-8.94349117e-01 -4.43114223e-01 -6.15584474e-02 1.33950367e+02] [-6.72682802e-02 -2.83772755e-03 9.97730889e-01 1.02567062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.981400513 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:211.69, Y:133.95, Z:1.03 [[-4.42653631e-01 8.96275972e-01 -2.73339587e-02 2.11694027e+02] [-8.94150162e-01 -4.43487296e-01 -6.17616937e-02 1.33950343e+02] [-6.74777855e-02 -2.89837438e-03 9.97716567e-01 1.02578413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.011400513 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:211.70, Y:133.95, Z:1.03 [[-4.42343953e-01 8.96429501e-01 -2.73125734e-02 2.11695021e+02] [-8.94303403e-01 -4.43176882e-01 -6.17711495e-02 1.33952823e+02] [-6.74777818e-02 -2.89836716e-03 9.97716567e-01 1.02595436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.041400513 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:211.70, Y:133.95, Z:1.03 [[-4.43157771e-01 8.96003860e-01 -2.80762055e-02 2.11698532e+02] [-8.93751962e-01 -4.44035624e-01 -6.35593808e-02 1.33954763e+02] [-6.94162859e-02 -3.07366979e-03 9.97583045e-01 1.02637592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.071400513 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:211.70, Y:133.96, Z:1.03 [[-4.43306910e-01 8.95923024e-01 -2.83005014e-02 2.11701967e+02] [-8.93630543e-01 -4.44198253e-01 -6.41277264e-02 1.33962464e+02] [-7.00245398e-02 -3.13807186e-03 9.97540333e-01 1.02676764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.101400513 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:211.70, Y:133.95, Z:1.03 [[-4.43179525e-01 8.95986139e-01 -2.82974703e-02 2.11697192e+02] [-8.93690057e-01 -4.44070813e-01 -6.41809492e-02 1.33952072e+02] [-7.00713215e-02 -3.15451475e-03 9.97536996e-01 1.02581426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.131400513 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:211.70, Y:133.97, Z:1.03 [[-4.42894255e-01 8.96127327e-01 -2.82929788e-02 2.11703923e+02] [-8.93828021e-01 -4.43785801e-01 -6.42310838e-02 1.33967656e+02] [-7.01152517e-02 -3.15852073e-03 9.97533897e-01 1.02724307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.161400513 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:211.70, Y:133.97, Z:1.03 [[-4.43037436e-01 8.96041818e-01 -2.87557163e-02 2.11703473e+02] [-8.93661951e-01 -4.43957753e-01 -6.53439509e-02 1.33968118e+02] [-7.13172357e-02 -3.25192693e-03 9.97448383e-01 1.02773071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.191400513 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:211.70, Y:133.96, Z:1.03 [[-4.43051407e-01 8.96023632e-01 -2.91050089e-02 2.11699441e+02] [-8.93580938e-01 -4.43993932e-01 -6.62004131e-02 1.33962952e+02] [-7.22395820e-02 -3.32250499e-03 9.97381774e-01 1.02768846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.221400513 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:211.71, Y:133.98, Z:1.03 [[-4.42956376e-01 8.96061188e-01 -2.93938188e-02 2.11705529e+02] [-8.93565141e-01 -4.43917717e-01 -6.69208459e-02 1.33981983e+02] [-7.30136095e-02 -3.37772355e-03 9.97325225e-01 1.02894414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.251400513 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:211.70, Y:133.97, Z:1.03 [[-4.42755851e-01 8.96161682e-01 -2.93512653e-02 2.11699891e+02] [-8.93668498e-01 -4.43714759e-01 -6.68866754e-02 1.33974778e+02] [-7.29648651e-02 -3.38416570e-03 9.97328770e-01 1.02791804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.281400513 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:211.69, Y:133.97, Z:1.03 [[-4.42352795e-01 8.96369061e-01 -2.90948638e-02 2.11692442e+02] [-8.93915268e-01 -4.43295947e-01 -6.63641244e-02 1.33970569e+02] [-7.23843832e-02 -3.34801292e-03 9.97371191e-01 1.02759407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.311400513 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:211.69, Y:133.98, Z:1.03 [[-4.42587423e-01 8.96252649e-01 -2.91129157e-02 2.11691422e+02] [-8.93790992e-01 -4.43530888e-01 -6.64681501e-02 1.33975494e+02] [-7.24847330e-02 -3.39710550e-03 9.97363737e-01 1.02801485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.341400513 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:211.69, Y:133.99, Z:1.03 [[-4.43150717e-01 8.95965674e-01 -2.93760559e-02 2.11693018e+02] [-8.93453924e-01 -4.44109483e-01 -6.71330966e-02 1.33987348e+02] [-7.31951352e-02 -3.50392747e-03 9.97311483e-01 1.02896764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.371400513 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:211.69, Y:133.99, Z:1.03 [[-4.43926218e-01 8.95570926e-01 -2.97023633e-02 2.11690211e+02] [-8.92997298e-01 -4.44903903e-01 -6.79436772e-02 1.33988818e+02] [-7.40630792e-02 -3.63784952e-03 9.97246924e-01 1.02906478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.401400513 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:211.68, Y:133.97, Z:1.03 [[-4.45950762e-01 8.94563144e-01 -2.97439160e-02 2.11676899e+02] [-8.91975292e-01 -4.46925092e-01 -6.81031585e-02 1.33970575e+02] [-7.42158780e-02 -3.83981721e-03 9.97234807e-01 1.02737041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.431400513 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:211.68, Y:133.99, Z:1.03 [[-4.47058043e-01 8.94019345e-01 -2.94706014e-02 2.11681992e+02] [-8.91473029e-01 -4.48011187e-01 -6.75412154e-02 1.33987367e+02] [-7.35863123e-02 -3.92259729e-03 9.97281138e-01 1.02819817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.461400513 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:211.67, Y:133.97, Z:1.03 [[-4.47997983e-01 8.93563887e-01 -2.90066618e-02 2.11673120e+02] [-8.91091722e-01 -4.48918565e-01 -6.65406992e-02 1.33973566e+02] [-7.24799949e-02 -3.96250284e-03 9.97361995e-01 1.02677031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.491400513 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:211.67, Y:133.97, Z:1.03 [[-4.48619637e-01 8.93268130e-01 -2.85038625e-02 2.11666942e+02] [-8.90876041e-01 -4.49506731e-01 -6.54490490e-02 1.33967085e+02] [-7.12762277e-02 -3.96832037e-03 9.97448721e-01 1.02554710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.521400513 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:211.66, Y:133.95, Z:1.02 [[-4.49034926e-01 8.93072636e-01 -2.80874206e-02 2.11657103e+02] [-8.90745301e-01 -4.49895008e-01 -6.45545548e-02 1.33953255e+02] [-7.02882967e-02 -3.96851174e-03 9.97518825e-01 1.02363142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.551400513 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:211.65, Y:133.96, Z:1.02 [[-4.49031121e-01 8.93078014e-01 -2.79770293e-02 2.11653631e+02] [-8.90764557e-01 -4.49884228e-01 -6.43636985e-02 1.33959331e+02] [-7.00682283e-02 -3.98035760e-03 9.97534260e-01 1.02280299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.581400513 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:211.66, Y:133.98, Z:1.02 [[-4.48914147e-01 8.93138978e-01 -2.79079640e-02 2.11658575e+02] [-8.90832625e-01 -4.49763104e-01 -6.42680720e-02 1.33976852e+02] [-6.99522927e-02 -3.98952184e-03 9.97542360e-01 1.02358843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.611400513 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:211.66, Y:133.98, Z:1.02 [[-4.49040269e-01 8.93080905e-01 -2.77368687e-02 2.11656243e+02] [-8.90798321e-01 -4.49878295e-01 -6.39364621e-02 1.33978121e+02] [-6.95786486e-02 -4.00209006e-03 9.97568441e-01 1.02348556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.641400513 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:211.65, Y:133.97, Z:1.02 [[-4.49680888e-01 8.92770814e-01 -2.73381009e-02 2.11647603e+02] [-8.90548726e-01 -4.50493196e-01 -6.30780931e-02 1.33969999e+02] [-6.86299090e-02 -4.01910200e-03 9.97634092e-01 1.02370227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.671400513 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:211.64, Y:133.97, Z:1.02 [[-4.49663898e-01 8.92780568e-01 -2.72990031e-02 2.11644572e+02] [-8.90560599e-01 -4.50473680e-01 -6.30498508e-02 1.33969789e+02] [-6.85871640e-02 -4.03982511e-03 9.97636948e-01 1.02389338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.701400513 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:211.64, Y:133.98, Z:1.02 [[-4.49950284e-01 8.92634921e-01 -2.73430029e-02 2.11644720e+02] [-8.90403197e-01 -4.50761703e-01 -6.32141964e-02 1.33977808e+02] [-6.87523777e-02 -4.09694838e-03 9.97625343e-01 1.02440427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.731400513 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:211.64, Y:133.98, Z:1.02 [[-4.50501149e-01 8.92355157e-01 -2.74041669e-02 2.11640382e+02] [-8.90108565e-01 -4.51314550e-01 -6.34186088e-02 1.33976446e+02] [-6.89598218e-02 -4.17747251e-03 9.97610691e-01 1.02373317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.761400513 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:211.63, Y:133.97, Z:1.02 [[-4.52067440e-01 8.91556832e-01 -2.75942988e-02 2.11630212e+02] [-8.89273016e-01 -4.52887866e-01 -6.39224840e-02 1.33966352e+02] [-6.94876504e-02 -4.35840838e-03 9.97573291e-01 1.02201376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.791400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:211.63, Y:133.97, Z:1.02 [[-4.52636254e-01 8.91276725e-01 -2.73170522e-02 2.11629116e+02] [-8.89033802e-01 -4.53438603e-01 -6.33429784e-02 1.33968543e+02] [-6.88427284e-02 -4.38554563e-03 9.97617886e-01 1.02189148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.821400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:211.63, Y:133.97, Z:1.02 [[-4.52811343e-01 8.91194956e-01 -2.70820555e-02 2.11626634e+02] [-8.88986066e-01 -4.53599263e-01 -6.28608166e-02 1.33966913e+02] [-6.83056431e-02 -4.38852079e-03 9.97654790e-01 1.02176876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.851400513 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:211.62, Y:133.97, Z:1.02 [[-4.52831643e-01 8.91186563e-01 -2.70187647e-02 2.11624021e+02] [-8.88983661e-01 -4.53615562e-01 -6.27771729e-02 1.33965262e+02] [-6.82023051e-02 -4.40824995e-03 9.97661773e-01 1.02202967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.881400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:211.63, Y:133.98, Z:1.02 [[-4.53034744e-01 8.91077605e-01 -2.72070411e-02 2.11630088e+02] [-8.88839215e-01 -4.53828808e-01 -6.32792438e-02 1.33982923e+02] [-6.87340560e-02 -4.48501099e-03 9.97624937e-01 1.02378914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.911400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:211.63, Y:133.97, Z:1.02 [[-4.53700257e-01 8.90734426e-01 -2.73543095e-02 2.11625336e+02] [-8.88466616e-01 -4.54500938e-01 -6.36864995e-02 1.33972564e+02] [-6.91603169e-02 -4.59119045e-03 9.97594994e-01 1.02358108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.941400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:211.63, Y:133.99, Z:1.02 [[-4.55016945e-01 8.90062021e-01 -2.73711209e-02 2.11631540e+02] [-8.87785756e-01 -4.55814946e-01 -6.37901733e-02 1.33985330e+02] [-6.92533766e-02 -4.72591852e-03 9.97587909e-01 1.02334581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.971400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:211.62, Y:133.96, Z:1.02 [[-4.55015291e-01 8.90067226e-01 -2.72289820e-02 2.11619803e+02] [-8.87810157e-01 -4.55804741e-01 -6.35229301e-02 1.33959818e+02] [-6.89507773e-02 -4.72973774e-03 9.97608851e-01 1.02065303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.001400513 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:211.62, Y:133.97, Z:1.02 [[-4.54445047e-01 8.90354076e-01 -2.73736768e-02 2.11623300e+02] [-8.88068870e-01 -4.55244045e-01 -6.39260700e-02 1.33970354e+02] [-6.93785404e-02 -4.74117568e-03 9.97579139e-01 1.02075508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.031400513 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:211.63, Y:133.98, Z:1.02 [[-4.53224289e-01 8.90969301e-01 -2.75943616e-02 2.11625048e+02] [-8.88643461e-01 -4.54039065e-01 -6.45083437e-02 1.33975850e+02] [-7.00038720e-02 -4.71519924e-03 9.97535576e-01 1.02069825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.061400513 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:211.63, Y:133.99, Z:1.02 [[-4.49893609e-01 8.92637805e-01 -2.81689626e-02 2.11630480e+02] [-8.90212175e-01 -4.50751335e-01 -6.59205371e-02 1.33988852e+02] [-7.15403610e-02 -4.58087488e-03 9.97427187e-01 1.02191653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.091400513 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:211.64, Y:134.01, Z:1.02 [[-4.48055270e-01 8.93561857e-01 -2.81723751e-02 2.11637974e+02] [-8.91132574e-01 -4.48917895e-01 -6.59958990e-02 1.34006872e+02] [-7.16185014e-02 -4.46448917e-03 9.97422107e-01 1.02293321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.121400513 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:211.64, Y:134.02, Z:1.02 [[-4.46326239e-01 8.94434749e-01 -2.79171551e-02 2.11642170e+02] [-8.92046326e-01 -4.47177663e-01 -6.54636608e-02 1.34017628e+02] [-7.10369012e-02 -4.31475386e-03 9.97464356e-01 1.02315625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.151400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:211.64, Y:134.01, Z:1.02 [[-4.44766594e-01 8.95218601e-01 -2.76827412e-02 2.11639904e+02] [-8.92867077e-01 -4.45607627e-01 -6.49786531e-02 1.34013384e+02] [-7.05057395e-02 -4.18332597e-03 9.97502602e-01 1.02164574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.181400513 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:211.65, Y:134.03, Z:1.02 [[-4.41288280e-01 8.96954683e-01 -2.71468450e-02 2.11647561e+02] [-8.94692265e-01 -4.42105650e-01 -6.37835757e-02 1.34030586e+02] [-6.92127505e-02 -3.85887213e-03 9.97594459e-01 1.02285069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.211400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:211.65, Y:134.04, Z:1.02 [[-4.39532903e-01 8.97820826e-01 -2.69924538e-02 2.11650459e+02] [-8.95581331e-01 -4.40345157e-01 -6.34840300e-02 1.34036255e+02] [-6.88832805e-02 -3.72938228e-03 9.97617755e-01 1.02349941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.241400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:211.66, Y:134.05, Z:1.02 [[-4.38275215e-01 8.98435462e-01 -2.69918048e-02 2.11655157e+02] [-8.96192845e-01 -4.39090334e-01 -6.35457582e-02 1.34047108e+02] [-6.89436032e-02 -3.66066855e-03 9.97613843e-01 1.02466197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.271400513 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:211.65, Y:134.04, Z:1.02 [[-4.37440388e-01 8.98832080e-01 -2.73276264e-02 2.11650844e+02] [-8.96529474e-01 -4.38277779e-01 -6.44010200e-02 1.34037804e+02] [-6.98627941e-02 -3.67158465e-03 9.97549853e-01 1.02421438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.301400513 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:211.65, Y:134.05, Z:1.02 [[-4.38161217e-01 8.98468332e-01 -2.77381532e-02 2.11654139e+02] [-8.96090527e-01 -4.39021758e-01 -6.54344204e-02 1.34051925e+02] [-7.09684073e-02 -3.81492897e-03 9.97471269e-01 1.02467408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.331400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:211.65, Y:134.05, Z:1.02 [[-4.39169251e-01 8.97981891e-01 -2.75480057e-02 2.11652309e+02] [-8.95631133e-01 -4.40015172e-01 -6.50501514e-02 1.34051073e+02] [-7.05353984e-02 -3.89517472e-03 9.97501672e-01 1.02473312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.361400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:211.64, Y:134.03, Z:1.02 [[-4.41038648e-01 8.97078918e-01 -2.70984485e-02 2.11643034e+02] [-8.94798324e-01 -4.41852242e-01 -6.40511978e-02 1.34032084e+02] [-6.94324894e-02 -4.00140738e-03 9.97578628e-01 1.02371843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.391400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.64, Y:134.03, Z:1.02 [[-4.43465728e-01 8.95891441e-01 -2.67707611e-02 2.11639520e+02] [-8.93659294e-01 -4.44253508e-01 -6.33394564e-02 1.34026150e+02] [-6.86382814e-02 -4.16493870e-03 9.97632918e-01 1.02330089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.421400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:211.63, Y:134.01, Z:1.02 [[-4.46004295e-01 8.94638669e-01 -2.64918995e-02 2.11632628e+02] [-8.92446381e-01 -4.46769301e-01 -6.27427182e-02 1.34013199e+02] [-6.79678294e-02 -4.34092200e-03 9.97678070e-01 1.02230964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.451400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.62, Y:134.00, Z:1.02 [[-4.49901145e-01 8.92686740e-01 -2.64451304e-02 2.11623359e+02] [-8.90494527e-01 -4.50653625e-01 -6.26961510e-02 1.33999128e+02] [-6.78856165e-02 -4.65782623e-03 9.97682238e-01 1.02136319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.481400513 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:211.62, Y:134.00, Z:1.02 [[-4.49814614e-01 8.92723160e-01 -2.66865658e-02 2.11624408e+02] [-8.90486184e-01 -4.50580774e-01 -6.33350030e-02 1.34004867e+02] [-6.85650775e-02 -4.72499177e-03 9.97635457e-01 1.02207967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.511400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:211.62, Y:134.01, Z:1.02 [[-4.50158516e-01 8.92538228e-01 -2.70706772e-02 2.11624430e+02] [-8.90231227e-01 -4.50945631e-01 -6.43148519e-02 1.34011680e+02] [-6.96108676e-02 -4.85271607e-03 9.97562418e-01 1.02202874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.541400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.62, Y:134.01, Z:1.02 [[-4.47857204e-01 8.93689090e-01 -2.72715114e-02 2.11617287e+02] [-8.91344941e-01 -4.48661726e-01 -6.48602427e-02 1.34011230e+02] [-7.02005746e-02 -4.73980325e-03 9.97521636e-01 1.02060490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.571400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:211.62, Y:134.03, Z:1.02 [[-4.46094301e-01 8.94573083e-01 -2.71822446e-02 2.11620226e+02] [-8.92241123e-01 -4.46897854e-01 -6.47154205e-02 1.34029879e+02] [-7.00403600e-02 -4.61606379e-03 9.97533478e-01 1.02160365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.601400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:211.62, Y:134.04, Z:1.02 [[-4.44034741e-01 8.95598112e-01 -2.71508679e-02 2.11621764e+02] [-8.93268662e-01 -4.44841493e-01 -6.47081481e-02 1.34044332e+02] [-7.00303279e-02 -4.47964637e-03 9.97534804e-01 1.02272734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.631400513 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:211.62, Y:134.04, Z:1.02 [[-4.42659182e-01 8.96266595e-01 -2.75506546e-02 2.11616251e+02] [-8.93864289e-01 -4.43493196e-01 -6.57298937e-02 1.34041164e+02] [-7.11300359e-02 -4.46939469e-03 9.97457038e-01 1.02264765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.661400513 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:211.62, Y:134.06, Z:1.03 [[-4.41273448e-01 8.96929643e-01 -2.81950294e-02 2.11619072e+02] [-8.94409612e-01 -4.42150421e-01 -6.73383378e-02 1.34059299e+02] [-7.28641954e-02 -4.49671518e-03 9.97331735e-01 1.02544390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.691400513 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:211.61, Y:134.05, Z:1.02 [[-4.41838034e-01 8.96646395e-01 -2.83618519e-02 2.11610366e+02] [-8.94090672e-01 -4.42723466e-01 -6.78071026e-02 1.34046420e+02] [-7.33554515e-02 -4.60168973e-03 9.97295243e-01 1.02369743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.721400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.61, Y:134.05, Z:1.02 [[-4.42600357e-01 8.96269869e-01 -2.83768744e-02 2.11607062e+02] [-8.93705507e-01 -4.43484219e-01 -6.79132773e-02 1.34047897e+02] [-7.34533201e-02 -4.69787185e-03 9.97287591e-01 1.02269636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.751400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:211.60, Y:134.04, Z:1.02 [[-4.43128173e-01 8.96014222e-01 -2.82123584e-02 2.11598783e+02] [-8.93473913e-01 -4.44000012e-01 -6.75896190e-02 1.34038458e+02] [-7.30875473e-02 -4.74385812e-03 9.97314247e-01 1.02136113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.781400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.59, Y:134.04, Z:1.02 [[-4.44313892e-01 8.95449382e-01 -2.74876512e-02 2.11591248e+02] [-8.93032204e-01 -4.45138087e-01 -6.59209010e-02 1.34035340e+02] [-7.12646305e-02 -4.74221437e-03 9.97446171e-01 1.02023382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.811400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.59, Y:134.05, Z:1.02 [[-4.44865971e-01 8.95185551e-01 -2.71495412e-02 2.11593281e+02] [-8.92822261e-01 -4.45668276e-01 -6.51782098e-02 1.34047144e+02] [-7.04462808e-02 -4.75585283e-03 9.97504237e-01 1.02108519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.841400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.59, Y:134.04, Z:1.02 [[-4.45515123e-01 8.94870155e-01 -2.69013336e-02 2.11587508e+02] [-8.92544627e-01 -4.46300844e-01 -6.46501803e-02 1.34040562e+02] [-6.98596047e-02 -4.79199219e-03 9.97545324e-01 1.02040432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.871400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.59, Y:134.05, Z:1.02 [[-4.45881244e-01 8.94690233e-01 -2.68198471e-02 2.11587879e+02] [-8.92373710e-01 -4.46660946e-01 -6.45225722e-02 1.34048795e+02] [-6.97070934e-02 -4.83607835e-03 9.97555780e-01 1.02080517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.901400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.59, Y:134.05, Z:1.02 [[-4.45545709e-01 8.94858100e-01 -2.67955428e-02 2.11588801e+02] [-8.92541284e-01 -4.46324537e-01 -6.45326641e-02 1.34051265e+02] [-6.97070854e-02 -4.83612345e-03 9.97555780e-01 1.02097538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.931400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.59, Y:134.07, Z:1.02 [[-4.46478411e-01 8.94381946e-01 -2.71654785e-02 2.11589190e+02] [-8.91994784e-01 -4.47276013e-01 -6.54940714e-02 1.34068115e+02] [-7.07271819e-02 -5.01022382e-03 9.97483114e-01 1.02169266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.961400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.59, Y:134.07, Z:1.02 [[-4.46915181e-01 8.94162950e-01 -2.71926293e-02 2.11586940e+02] [-8.91765681e-01 -4.47712854e-01 -6.56290287e-02 1.34068897e+02] [-7.08575356e-02 -5.08115566e-03 9.97473504e-01 1.02141665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.991400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.59, Y:134.08, Z:1.02 [[-4.47290270e-01 8.93983713e-01 -2.69172109e-02 2.11587591e+02] [-8.91629728e-01 -4.48070567e-01 -6.50322609e-02 1.34075722e+02] [-7.01985920e-02 -5.08811206e-03 9.97520059e-01 1.02132747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.021400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:211.58, Y:134.06, Z:1.02 [[-4.46876572e-01 8.94208347e-01 -2.63203565e-02 2.11580643e+02] [-8.91953576e-01 -4.47623427e-01 -6.36559918e-02 1.34063434e+02] [-6.87033273e-02 -4.96983531e-03 9.97624756e-01 1.02043685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.051400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.58, Y:134.08, Z:1.02 [[-4.46552291e-01 8.94372046e-01 -2.62620362e-02 2.11581384e+02] [-8.92122914e-01 -4.47296326e-01 -6.35822511e-02 1.34078150e+02] [-6.86131003e-02 -4.96383567e-03 9.97630995e-01 1.02069906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.081400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.58, Y:134.07, Z:1.02 [[-4.45871132e-01 8.94706954e-01 -2.64272623e-02 2.11577251e+02] [-8.92425215e-01 -4.46625935e-01 -6.40508459e-02 1.34074879e+02] [-6.91098380e-02 -4.97406796e-03 9.97596656e-01 1.02065255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.111400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:211.58, Y:134.10, Z:1.02 [[-4.45196500e-01 8.95035687e-01 -2.66682393e-02 2.11582742e+02] [-8.92707807e-01 -4.45966509e-01 -6.47042904e-02 1.34096792e+02] [-6.98057906e-02 -4.99917820e-03 9.97548074e-01 1.02211756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.141400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.58, Y:134.10, Z:1.02 [[-4.44712502e-01 8.95272885e-01 -2.67815714e-02 2.11578615e+02] [-8.92920702e-01 -4.45489979e-01 -6.50484269e-02 1.34096442e+02] [-7.01670145e-02 -5.01402915e-03 9.97522656e-01 1.02206489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.58, Y:134.11, Z:1.02 [[-4.44671659e-01 8.95291404e-01 -2.68405955e-02 2.11575740e+02] [-8.92923999e-01 -4.45452319e-01 -6.52607371e-02 1.34106433e+02] [-7.03835824e-02 -5.05298832e-03 9.97507202e-01 1.02223935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.57, Y:134.11, Z:1.02 [[-4.44532862e-01 8.95357422e-01 -2.69373690e-02 2.11574211e+02] [-8.92968093e-01 -4.45319168e-01 -6.55654211e-02 1.34110424e+02] [-7.07002131e-02 -5.09177325e-03 9.97484613e-01 1.02226031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.231400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.57, Y:134.12, Z:1.02 [[-4.44472179e-01 8.95380335e-01 -2.71760753e-02 2.11574381e+02] [-8.92943425e-01 -4.45272255e-01 -6.62167546e-02 1.34119947e+02] [-7.13899322e-02 -5.16480740e-03 9.97435112e-01 1.02252410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.261400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.58, Y:134.14, Z:1.02 [[-4.44631691e-01 8.95288972e-01 -2.75738333e-02 2.11576431e+02] [-8.92774731e-01 -4.45454484e-01 -6.72575738e-02 1.34136170e+02] [-7.24978518e-02 -5.28762716e-03 9.97354552e-01 1.02347846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.291400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.57, Y:134.15, Z:1.02 [[-4.45248445e-01 8.94975249e-01 -2.78051483e-02 2.11574659e+02] [-8.92412758e-01 -4.46082923e-01 -6.78932615e-02 1.34154935e+02] [-7.31661904e-02 -5.41570007e-03 9.97305058e-01 1.02476488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.321400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:211.57, Y:134.15, Z:1.02 [[-4.45232370e-01 8.94993818e-01 -2.74627348e-02 2.11567612e+02] [-8.92489189e-01 -4.46046140e-01 -6.71259096e-02 1.34147825e+02] [-7.23269210e-02 -5.37643386e-03 9.97366488e-01 1.02397905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.351400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:211.57, Y:134.15, Z:1.02 [[-4.44849762e-01 8.95195178e-01 -2.70976345e-02 2.11566176e+02] [-8.92752293e-01 -4.45642766e-01 -6.63013536e-02 1.34153137e+02] [-7.14285168e-02 -5.30266610e-03 9.97431626e-01 1.02387618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.56, Y:134.16, Z:1.02 [[-4.44760200e-01 8.95250181e-01 -2.67484307e-02 2.11564083e+02] [-8.92865268e-01 -4.45532822e-01 -6.55142567e-02 1.34157102e+02] [-7.05689539e-02 -5.25538918e-03 9.97493059e-01 1.02318704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.411400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.56, Y:134.15, Z:1.02 [[-4.44886477e-01 8.95196244e-01 -2.64519928e-02 2.11557488e+02] [-8.92859203e-01 -4.45641423e-01 -6.48549592e-02 1.34150864e+02] [-6.98460196e-02 -5.23518911e-03 9.97544047e-01 1.02201310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.441400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.57, Y:134.20, Z:1.02 [[-4.45184327e-01 8.95052390e-01 -2.63084532e-02 2.11568383e+02] [-8.92735759e-01 -4.45929996e-01 -6.45701338e-02 1.34198111e+02] [-6.95253810e-02 -5.25911465e-03 9.97566320e-01 1.02453656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.471400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.57, Y:134.22, Z:1.03 [[-4.45290968e-01 8.95000402e-01 -2.62723251e-02 2.11574459e+02] [-8.92685414e-01 -4.46033967e-01 -6.45480578e-02 1.34222604e+02] [-6.94888870e-02 -5.28974568e-03 9.97568701e-01 1.02651871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.501400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:211.58, Y:134.25, Z:1.03 [[-4.45306921e-01 8.94989534e-01 -2.63719463e-02 2.11581004e+02] [-8.92652316e-01 -4.46055162e-01 -6.48585842e-02 1.34246019e+02] [-6.98110969e-02 -5.34099755e-03 9.97545931e-01 1.02850185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.531400513 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:211.58, Y:134.25, Z:1.03 [[-4.45413097e-01 8.94934323e-01 -2.64524193e-02 2.11579349e+02] [-8.92578137e-01 -4.46165271e-01 -6.51215832e-02 1.34249600e+02] [-7.00816909e-02 -5.39515487e-03 9.97526666e-01 1.02905560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.561400513 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:211.57, Y:134.24, Z:1.03 [[-4.44882962e-01 8.95203121e-01 -2.62777945e-02 2.11568595e+02] [-8.92873979e-01 -4.45626295e-01 -6.47554126e-02 1.34243972e+02] [-6.96793236e-02 -5.34582081e-03 9.97555118e-01 1.02773330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.591400513 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:211.56, Y:134.25, Z:1.03 [[-4.43877688e-01 8.95706526e-01 -2.61231424e-02 2.11564472e+02] [-8.93401157e-01 -4.44614562e-01 -6.44380595e-02 1.34246900e+02] [-6.93323199e-02 -5.26417117e-03 9.97579730e-01 1.02751345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.621400513 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:211.56, Y:134.26, Z:1.03 [[-4.42821112e-01 8.96227161e-01 -2.61980724e-02 2.11563842e+02] [-8.93904880e-01 -4.43564606e-01 -6.46877526e-02 1.34256048e+02] [-6.95954585e-02 -5.22651772e-03 9.97561605e-01 1.02752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.651400513 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:211.57, Y:134.28, Z:1.03 [[-4.41199731e-01 8.97006856e-01 -2.68606964e-02 2.11565071e+02] [-8.94561979e-01 -4.41985289e-01 -6.63917979e-02 1.34275355e+02] [-7.14259306e-02 -5.26348567e-03 9.97432019e-01 1.02913178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.681400513 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:211.56, Y:134.26, Z:1.03 [[-4.40869620e-01 8.97160445e-01 -2.71498385e-02 2.11556300e+02] [-8.94657976e-01 -4.41672705e-01 -6.71738597e-02 1.34263006e+02] [-7.22570725e-02 -5.32509442e-03 9.97371826e-01 1.02808237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.711400513 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:211.56, Y:134.28, Z:1.03 [[-4.40797296e-01 8.97196122e-01 -2.71452343e-02 2.11557310e+02] [-8.94689724e-01 -4.41599954e-01 -6.72293038e-02 1.34277476e+02] [-7.23052048e-02 -5.34793317e-03 9.97368215e-01 1.02924821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.741400513 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:211.56, Y:134.29, Z:1.03 [[-4.40722364e-01 8.97238716e-01 -2.69533743e-02 2.11556432e+02] [-8.94762984e-01 -4.41513593e-01 -6.68202785e-02 1.34286277e+02] [-7.18540221e-02 -5.33230943e-03 9.97400905e-01 1.02914197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.771400513 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:211.56, Y:134.29, Z:1.02 [[-4.41339917e-01 8.96733934e-01 -3.29746922e-02 2.11557700e+02] [-8.94043079e-01 -4.42568534e-01 -6.94266922e-02 1.34290987e+02] [-7.68508320e-02 -1.15997518e-03 9.97041927e-01 1.02449684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.801400513 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:211.58, Y:134.36, Z:1.02 [[-4.42098562e-01 8.95906139e-01 -4.36010484e-02 2.11580978e+02] [-8.92271605e-01 -4.44231616e-01 -8.06824264e-02 1.34362742e+02] [-9.16528454e-02 3.23439278e-03 9.95785767e-01 1.01728697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.831400513 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:211.67, Y:134.53, Z:1.02 [[-4.39575703e-01 8.94472851e-01 -8.18017082e-02 2.11665078e+02] [-8.88164625e-01 -4.46434899e-01 -1.08901240e-01 1.34527889e+02] [-1.33928340e-01 2.47830442e-02 9.90681079e-01 1.01728230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.861400513 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:211.65, Y:134.70, Z:1.01 [[-4.40669956e-01 8.97538495e-01 1.53179849e-02 2.11647914e+02] [-8.92757721e-01 -4.36412479e-01 -1.11927659e-01 1.34698286e+02] [-9.37744225e-02 -6.29984057e-02 9.93598288e-01 1.01020878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.891400513 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:211.23, Y:133.55, Z:0.97 [[-4.40544678e-01 8.97178558e-01 -3.14804884e-02 2.11234107e+02] [-8.94154610e-01 -4.41646773e-01 -7.37269396e-02 1.33553341e+02] [-8.00494855e-02 -4.33158709e-03 9.96781479e-01 9.70372424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.921400513 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:211.72, Y:134.66, Z:1.05 [[-4.36182474e-01 8.91201221e-01 -1.24520008e-01 2.11723609e+02] [-8.79048752e-01 -4.51583223e-01 -1.52793599e-01 1.34657223e+02] [-1.92400988e-01 4.28132679e-02 9.80382009e-01 1.05047995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.951400513 meters Centerline goodness : 0.991742 Centerline is valid? [True, True] Translation: X:211.66, Y:134.68, Z:1.03 [[-4.46880561e-01 8.92597173e-01 -5.97331557e-02 2.11663487e+02] [-8.76261118e-01 -4.50194240e-01 -1.71731183e-01 1.34680127e+02] [-1.80178291e-01 -2.44014857e-02 9.83331252e-01 1.03104848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.981400513 meters Centerline goodness : 0.984059 Centerline is valid? [True, True] Translation: X:211.22, Y:133.68, Z:0.97 [[-4.48057649e-01 8.93821676e-01 1.80874257e-02 2.11217674e+02] [-8.90413524e-01 -4.44354898e-01 -9.85519178e-02 1.33675917e+02] [-8.00506041e-02 -6.02622290e-02 9.94967519e-01 9.67687558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.011400513 meters Centerline goodness : 0.981190 Centerline is valid? [True, True] Translation: X:211.21, Y:133.56, Z:0.97 [[-4.50119325e-01 8.92424056e-01 -3.11752617e-02 2.11214210e+02] [-8.89033438e-01 -4.51136514e-01 -7.80729942e-02 1.33562670e+02] [-8.37385171e-02 -7.42631342e-03 9.96460090e-01 9.66913646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.041400513 meters Centerline goodness : 0.977935 Centerline is valid? [True, True] Translation: X:211.19, Y:133.52, Z:0.96 [[-4.52374184e-01 8.91324161e-01 -2.99806115e-02 2.11189397e+02] [-8.88068189e-01 -4.53296015e-01 -7.65350509e-02 1.33523293e+02] [-8.18076317e-02 -7.99765383e-03 9.96616049e-01 9.63238073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.071400513 meters Centerline goodness : 0.979052 Centerline is valid? [True, True] Translation: X:211.24, Y:133.66, Z:0.97 [[-4.52994206e-01 8.91004642e-01 -3.01160540e-02 2.11239007e+02] [-8.87796717e-01 -4.53929609e-01 -7.59269408e-02 1.33656289e+02] [-8.13218253e-02 -7.65753042e-03 9.96658479e-01 9.74756667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.101400513 meters Centerline goodness : 0.974823 Centerline is valid? [True, True] Translation: X:211.18, Y:133.52, Z:0.96 [[-4.52669443e-01 8.91164059e-01 -3.02819372e-02 2.11181506e+02] [-8.87955173e-01 -4.53619505e-01 -7.59273049e-02 1.33521251e+02] [-8.14001626e-02 -7.48096802e-03 9.96653425e-01 9.62789850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.131400513 meters Centerline goodness : 0.967873 Centerline is valid? [True, True] Translation: X:211.12, Y:133.39, Z:0.95 [[-4.53373757e-01 8.90820557e-01 -2.98491595e-02 2.11121471e+02] [-8.87642834e-01 -4.54288870e-01 -7.55765930e-02 1.33392869e+02] [-8.08853236e-02 -7.76905138e-03 9.96693136e-01 9.50593843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.161400513 meters Centerline goodness : 0.971930 Centerline is valid? [True, True] Translation: X:211.19, Y:133.57, Z:0.97 [[-4.53992119e-01 8.90501597e-01 -2.99676649e-02 2.11188467e+02] [-8.87313574e-01 -4.54913776e-01 -7.56840589e-02 1.33572067e+02] [-8.10294789e-02 -7.76925038e-03 9.96681425e-01 9.65578483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.191400513 meters Centerline goodness : 0.970426 Centerline is valid? [True, True] Translation: X:211.19, Y:133.57, Z:0.97 [[-4.53665868e-01 8.90657662e-01 -3.02689616e-02 2.11185661e+02] [-8.87407487e-01 -4.54607482e-01 -7.64198279e-02 1.33573670e+02] [-8.18244017e-02 -7.80816443e-03 9.96616175e-01 9.65660243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.221400513 meters Centerline goodness : 0.968241 Centerline is valid? [True, True] Translation: X:211.17, Y:133.54, Z:0.96 [[-4.51943339e-01 8.91606817e-01 -2.80089670e-02 2.11168647e+02] [-8.88494959e-01 -4.52721059e-01 -7.49689913e-02 1.33541108e+02] [-7.95231129e-02 -8.99591022e-03 9.96792430e-01 9.63905274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.251400513 meters Centerline goodness : 0.964311 Centerline is valid? [True, True] Translation: X:211.16, Y:133.52, Z:0.96 [[-4.50221559e-01 8.92437566e-01 -2.92530110e-02 2.11156062e+02] [-8.89372839e-01 -4.51109883e-01 -7.42686164e-02 1.33522929e+02] [-7.94764257e-02 -7.42049882e-03 9.96809126e-01 9.63961361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.281400513 meters Centerline goodness : 0.962050 Centerline is valid? [True, True] Translation: X:211.14, Y:133.50, Z:0.96 [[-4.47971167e-01 8.93572146e-01 -2.91659490e-02 2.11144959e+02] [-8.90524440e-01 -4.48861587e-01 -7.40911466e-02 1.33503480e+02] [-7.92972590e-02 -7.21770704e-03 9.96824884e-01 9.62162013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.311400513 meters Centerline goodness : 0.960786 Centerline is valid? [True, True] Translation: X:211.14, Y:133.50, Z:0.96 [[-4.51599091e-01 8.91670006e-01 -3.13506126e-02 2.11139055e+02] [-8.88428707e-01 -4.52638177e-01 -7.62437767e-02 1.33496395e+02] [-8.21747730e-02 -6.57883602e-03 9.96596220e-01 9.61420020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.341400513 meters Centerline goodness : 0.957551 Centerline is valid? [True, True] Translation: X:211.13, Y:133.48, Z:0.96 [[-4.47166089e-01 8.94017062e-01 -2.78564547e-02 2.11128709e+02] [-8.90911362e-01 -4.47948389e-01 -7.49612294e-02 1.33481033e+02] [-7.94948721e-02 -8.70248772e-03 9.96797287e-01 9.59422260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.371400513 meters Centerline goodness : 0.953043 Centerline is valid? [True, True] Translation: X:211.11, Y:133.44, Z:0.96 [[-4.42973948e-01 8.96200898e-01 -2.44546907e-02 2.11106593e+02] [-8.93530801e-01 -4.43556519e-01 -6.97160082e-02 1.33439827e+02] [-7.33265866e-02 -9.03135599e-03 9.97267089e-01 9.56833034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.401400513 meters Centerline goodness : 0.951678 Centerline is valid? [True, True] Translation: X:211.10, Y:133.43, Z:0.96 [[-4.46390749e-01 8.94221685e-01 -3.32096148e-02 2.11104792e+02] [-8.91070039e-01 -4.47607049e-01 -7.51140211e-02 1.33432713e+02] [-8.20334442e-02 -3.93811141e-03 9.96621797e-01 9.55196540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.431400513 meters Centerline goodness : 0.948119 Centerline is valid? [True, False] Translation: X:212.83, Y:135.72, Z:1.23 [[ 8.80988385e-01 2.93809511e-01 3.70857705e-01 2.12831407e+02] [ 1.12842502e-01 6.30730148e-01 -7.67753900e-01 1.35724013e+02] [-4.59484533e-01 7.18230779e-01 5.22511734e-01 1.22711922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.461400513 meters Centerline goodness : 0.946497 Centerline is valid? [False, False] Translation: X:212.78, Y:135.68, Z:1.19 [[ 8.82206748e-01 2.73264546e-01 3.83455005e-01 2.12784602e+02] [ 1.03954828e-01 6.81238517e-01 -7.24642999e-01 1.35681119e+02] [-4.59243559e-01 6.79146943e-01 5.72586048e-01 1.19106413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.491400513 meters Centerline goodness : 0.940602 Centerline is valid? [False, False] Translation: X:212.75, Y:135.64, Z:1.15 [[ 8.82685466e-01 2.53170445e-01 3.95943296e-01 2.12747430e+02] [ 9.76639146e-02 7.25288920e-01 -6.81482019e-01 1.35636748e+02] [-4.59704391e-01 6.40203646e-01 6.15476372e-01 1.15396206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.521400513 meters Centerline goodness : 0.937018 Centerline is valid? [False, False] Translation: X:212.70, Y:135.59, Z:1.13 [[ 8.82886586e-01 2.32802746e-01 4.07816329e-01 2.12697438e+02] [ 9.07726527e-02 7.67469661e-01 -6.34626382e-01 1.35587793e+02] [-4.60729424e-01 5.97321690e-01 6.56456546e-01 1.12651046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.551400513 meters Centerline goodness : 0.928950 Centerline is valid? [False, False] Translation: X:212.65, Y:135.53, Z:1.10 [[ 8.83278943e-01 2.13034601e-01 4.17653645e-01 2.12648303e+02] [ 8.44082110e-02 8.03997981e-01 -5.88610653e-01 1.35534796e+02] [-4.61187123e-01 5.55160792e-01 6.92172617e-01 1.10163995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.581400513 meters Centerline goodness : 0.925403 Centerline is valid? [False, False] Translation: X:212.62, Y:135.49, Z:1.07 [[ 8.83648674e-01 1.95231888e-01 4.25499155e-01 2.12624548e+02] [ 7.69824835e-02 8.35924061e-01 -5.43419416e-01 1.35490839e+02] [-4.61777780e-01 5.12947828e-01 7.23633752e-01 1.07180851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.611400513 meters Centerline goodness : 0.922516 Centerline is valid? [False, False] Translation: X:212.61, Y:135.45, Z:1.04 [[ 8.84185214e-01 1.80568355e-01 4.30826619e-01 2.12613255e+02] [ 7.04196470e-02 8.60210125e-01 -5.05054071e-01 1.35454786e+02] [-4.61798203e-01 4.76900000e-01 7.47869514e-01 1.04497277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.641400513 meters Centerline goodness : 0.112805 Centerline is valid? [False, False] Translation: X:212.64, Y:135.42, Z:1.01 [[ 8.85490900e-01 1.67535549e-01 4.33402476e-01 2.12643007e+02] [ 6.31546291e-02 8.80687151e-01 -4.69469526e-01 1.35423005e+02] [-4.60344826e-01 4.43082365e-01 7.69259812e-01 1.00583646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.671400513 meters Centerline goodness : 0.914664 Centerline is valid? [False, False] Translation: X:212.61, Y:135.08, Z:1.14 [[ 9.15623533e-01 3.97308278e-02 4.00068753e-01 2.12613746e+02] [ 1.93134463e-02 9.89609221e-01 -1.42480109e-01 1.35081863e+02] [-4.01572579e-01 1.38184847e-01 9.05342152e-01 1.14420801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.701400513 meters Centerline goodness : 0.120880 Centerline is valid? [False, False] Translation: X:212.64, Y:135.06, Z:1.13 [[ 9.17185203e-01 3.39982666e-02 3.97008087e-01 2.12640961e+02] [ 1.57861003e-02 9.92470648e-01 -1.21461151e-01 1.35056182e+02] [-3.98148342e-01 1.17669580e-01 9.09742693e-01 1.13483921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.731400513 meters Centerline goodness : 0.121705 Centerline is valid? [False, False] Translation: X:212.64, Y:135.05, Z:1.13 [[ 9.17182305e-01 3.56826023e-02 3.96866943e-01 2.12642738e+02] [ 1.09117513e-02 9.93359700e-01 -1.14531394e-01 1.35045098e+02] [-3.98318406e-01 1.09376682e-01 9.10702580e-01 1.13370817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.761400513 meters Centerline goodness : 0.119574 Centerline is valid? [False, False] Translation: X:212.64, Y:135.03, Z:1.13 [[ 9.17166399e-01 3.74295453e-02 3.96742770e-01 2.12644676e+02] [ 5.93250660e-03 9.94186513e-01 -1.07508058e-01 1.35033393e+02] [-3.98460289e-01 1.00956458e-01 9.11612413e-01 1.13155113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.791400513 meters Centerline goodness : 0.120998 Centerline is valid? [False, False] Translation: X:212.65, Y:135.02, Z:1.13 [[ 9.17114084e-01 3.92937044e-02 3.96683453e-01 2.12646793e+02] [ 4.82470723e-04 9.95019661e-01 -9.96776873e-02 1.35018876e+02] [-3.98624540e-01 9.16071990e-02 9.12527587e-01 1.12863696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.821400513 meters Centerline goodness : 0.120998 Centerline is valid? [False, False] Translation: X:212.65, Y:135.01, Z:1.13 [[ 9.17035095e-01 4.09510791e-02 3.96698430e-01 2.12647814e+02] [-3.74545474e-03 9.95554514e-01 -9.41125938e-02 1.35012611e+02] [-3.98788925e-01 8.48187353e-02 9.13111809e-01 1.12797679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.851400513 meters Centerline goodness : 0.143723 Centerline is valid? [False, False] Translation: X:212.66, Y:135.02, Z:1.13 [[ 9.16037592e-01 4.54612074e-02 3.98507727e-01 2.12655305e+02] [-3.44547832e-04 9.93644688e-01 -1.12561603e-01 1.35022012e+02] [-4.01092272e-01 1.02973355e-01 9.10231552e-01 1.12918789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.881400513 meters Centerline goodness : 0.176900 Centerline is valid? [False, False] Translation: X:212.67, Y:135.00, Z:1.13 [[ 9.17808616e-01 4.34308655e-02 3.94640474e-01 2.12673757e+02] [-6.27897852e-03 9.95462295e-01 -9.49494310e-02 1.34997040e+02] [-3.96973448e-01 8.46674669e-02 9.13916573e-01 1.12519729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.911400513 meters Centerline goodness : 0.178689 Centerline is valid? [False, False] Translation: X:212.72, Y:134.98, Z:1.11 [[ 9.18329073e-01 4.34932266e-02 3.93420961e-01 2.12720894e+02] [-1.07907780e-02 9.96326166e-01 -8.49572286e-02 1.34984501e+02] [-3.95670662e-01 7.37733747e-02 9.15424610e-01 1.10577136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.941400513 meters Centerline goodness : 0.198276 Centerline is valid? [False, False] Translation: X:212.74, Y:134.97, Z:1.10 [[ 9.19806003e-01 4.22411404e-02 3.90093070e-01 2.12737543e+02] [-1.46987249e-02 9.97199905e-01 -7.33232348e-02 1.34967438e+02] [-3.92098030e-01 6.17092807e-02 9.17851349e-01 1.10431024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.971400513 meters Centerline goodness : 0.220857 Centerline is valid? [False, False] Translation: X:212.74, Y:134.96, Z:1.10 [[ 9.19758245e-01 4.42850928e-02 3.89978976e-01 2.12738804e+02] [-1.96174349e-02 9.97559221e-01 -6.70131128e-02 1.34956651e+02] [-3.91994805e-01 5.39854758e-02 9.18382078e-01 1.10161350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.001400513 meters Centerline goodness : 0.221802 Centerline is valid? [False, False] Translation: X:212.77, Y:134.94, Z:1.09 [[ 9.22370533e-01 4.92480033e-02 3.83154322e-01 2.12774199e+02] [-2.68975557e-02 9.97620793e-01 -6.34765627e-02 1.34943850e+02] [-3.85368812e-01 4.82429963e-02 9.21500674e-01 1.09110759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.031400513 meters Centerline goodness : 0.244521 Centerline is valid? [False, False] Translation: X:212.77, Y:134.93, Z:1.09 [[ 9.22218617e-01 5.13145149e-02 3.83248801e-01 2.12774641e+02] [-3.16101500e-02 9.97842615e-01 -5.75405350e-02 1.34934586e+02] [-3.85374650e-01 4.09504005e-02 9.21851096e-01 1.08980266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.061400513 meters Centerline goodness : 0.139020 Centerline is valid? [False, False] Translation: X:212.82, Y:134.92, Z:1.07 [[ 9.22121313e-01 5.23702852e-02 3.83340107e-01 2.12818562e+02] [-3.61568474e-02 9.98125164e-01 -4.93846054e-02 1.34924947e+02] [-3.85207693e-01 3.16782274e-02 9.22286031e-01 1.07196818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.091400513 meters Centerline goodness : 0.720494 Centerline is valid? [False, False] Translation: X:212.86, Y:134.92, Z:1.05 [[ 9.20812752e-01 5.26438599e-02 3.86435634e-01 2.12857005e+02] [-3.78817357e-02 9.98235635e-01 -4.57229874e-02 1.34918924e+02] [-3.88160855e-01 2.74634573e-02 9.21182343e-01 1.05296528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.121400513 meters Centerline goodness : 0.718207 Centerline is valid? [False, False] Translation: X:212.92, Y:134.91, Z:1.03 [[ 9.22001492e-01 4.96083967e-02 3.83995124e-01 2.12916796e+02] [-3.68999346e-02 9.98502112e-01 -4.03971122e-02 1.34914346e+02] [-3.85423978e-01 2.30768027e-02 9.22450984e-01 1.03050019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.151400513 meters Centerline goodness : 0.791169 Centerline is valid? [False, False] Translation: X:212.97, Y:134.91, Z:1.01 [[ 9.23245185e-01 4.89903420e-02 3.81075157e-01 2.12966256e+02] [-3.79290366e-02 9.98614049e-01 -3.64879293e-02 1.34909310e+02] [-3.82334561e-01 1.92334915e-02 9.23823769e-01 1.01224263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.181400513 meters Centerline goodness : 0.784978 Centerline is valid? [False, False] Translation: X:213.01, Y:134.91, Z:0.99 [[ 9.23322553e-01 4.88634241e-02 3.80903962e-01 2.13010097e+02] [-3.90121118e-02 9.98675471e-01 -3.35463573e-02 1.34905995e+02] [-3.82038634e-01 1.61142403e-02 9.24005851e-01 9.92808301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.211400513 meters Centerline goodness : 0.776904 Centerline is valid? [False, False] Translation: X:213.08, Y:134.90, Z:0.97 [[ 9.25488978e-01 4.57433042e-02 3.76002264e-01 2.13081376e+02] [-3.73746599e-02 9.98865054e-01 -2.95252273e-02 1.34904577e+02] [-3.76926103e-01 1.32723157e-02 9.26148238e-01 9.72459724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.241400513 meters SLAMing on 645.271400513 meters Centerline goodness : 0.204350 Centerline is valid? [False, False] Translation: X:213.15, Y:134.90, Z:0.95 [[ 9.25309942e-01 4.16863800e-02 3.76913461e-01 2.13154220e+02] [-3.18314290e-02 9.98969901e-01 -3.23403179e-02 1.34901692e+02] [-3.77873353e-01 1.79271236e-02 9.25683719e-01 9.48960072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.301400513 meters Centerline goodness : 0.847176 Centerline is valid? [False, False] Translation: X:213.23, Y:134.90, Z:0.93 [[ 9.27575426e-01 3.36577705e-02 3.72116895e-01 2.13228170e+02] [-2.52960399e-02 9.99306315e-01 -2.73312976e-02 1.34895334e+02] [-3.72778674e-01 1.59387562e-02 9.27783389e-01 9.25481519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.331400513 meters Centerline goodness : 0.841637 Centerline is valid? [False, False] Translation: X:213.30, Y:134.89, Z:0.91 [[ 9.30942055e-01 3.02006867e-02 3.63915936e-01 2.13302333e+02] [-2.34877881e-02 9.99462755e-01 -2.28588281e-02 1.34890536e+02] [-3.64410776e-01 1.27326640e-02 9.31151258e-01 9.08680972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.361400513 meters Centerline goodness : 0.835954 Centerline is valid? [False, False] Translation: X:213.39, Y:134.89, Z:0.89 [[ 9.33478513e-01 2.61641264e-02 3.57677654e-01 2.13385292e+02] [-2.06237214e-02 9.99601076e-01 -1.92963917e-02 1.34887009e+02] [-3.58039841e-01 1.06361227e-02 9.33645728e-01 8.88498829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.391400513 meters Centerline goodness : 0.831520 Centerline is valid? [False, False] Translation: X:213.46, Y:134.89, Z:0.88 [[ 9.36932229e-01 2.45578055e-02 3.48647260e-01 2.13462369e+02] [-1.91613854e-02 9.99637395e-01 -1.89187812e-02 1.34885052e+02] [-3.48985443e-01 1.10450513e-02 9.37063054e-01 8.76915426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.421400513 meters Centerline goodness : 0.826806 Centerline is valid? [False, False] Translation: X:213.54, Y:134.88, Z:0.87 [[ 9.40355784e-01 2.36590344e-02 3.39368900e-01 2.13540661e+02] [-1.84286900e-02 9.99656652e-01 -1.86268862e-02 1.34883575e+02] [-3.39693072e-01 1.12617759e-02 9.40468920e-01 8.66624203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.451400513 meters Centerline goodness : 0.825245 Centerline is valid? [False, False] Translation: X:213.61, Y:134.88, Z:0.86 [[ 9.43155529e-01 2.38612960e-02 3.31494023e-01 2.13614172e+02] [-1.89562352e-02 9.99657861e-01 -1.80228109e-02 1.34878167e+02] [-3.31810653e-01 1.07144351e-02 9.43285159e-01 8.56367911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.481400513 meters Centerline goodness : 0.819529 Centerline is valid? [False, False] Translation: X:213.69, Y:134.88, Z:0.85 [[ 9.45996453e-01 2.49003753e-02 3.23219248e-01 2.13687816e+02] [-2.02116912e-02 9.99636274e-01 -1.78551562e-02 1.34875840e+02] [-3.23546285e-01 1.03581068e-02 9.46155648e-01 8.47393862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.511400513 meters Centerline goodness : 0.758930 Centerline is valid? [False, False] Translation: X:213.76, Y:134.87, Z:0.84 [[ 9.48806439e-01 2.57432740e-02 3.14807284e-01 2.13761555e+02] [-2.12079632e-02 9.99616189e-01 -1.78240520e-02 1.34874397e+02] [-3.15145307e-01 1.02351540e-02 9.48988239e-01 8.38139676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.541400513 meters Centerline goodness : 0.812297 Centerline is valid? [False, False] Translation: X:213.83, Y:134.87, Z:0.83 [[ 9.51520160e-01 2.53502142e-02 3.06539968e-01 2.13834331e+02] [-2.11017782e-02 9.99629953e-01 -1.71660031e-02 1.34869944e+02] [-3.06861696e-01 9.86525957e-03 9.51702988e-01 8.28563847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.571400513 meters Centerline goodness : 0.810201 Centerline is valid? [False, False] Translation: X:213.90, Y:134.87, Z:0.82 [[ 9.53992113e-01 2.49798028e-02 2.98789320e-01 2.13899250e+02] [-2.08542253e-02 9.99638180e-01 -1.69885528e-02 1.34868807e+02] [-2.99105582e-01 9.97592555e-03 9.54167874e-01 8.19924186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.601400513 meters Centerline goodness : 0.799600 Centerline is valid? [False, False] Translation: X:213.96, Y:134.87, Z:0.81 [[ 9.56178105e-01 2.41803250e-02 2.91785441e-01 2.13963411e+02] [-2.01638524e-02 9.99656118e-01 -1.67649753e-02 1.34867313e+02] [-2.92090484e-01 1.01467838e-02 9.56336861e-01 8.09959473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.631400513 meters Centerline goodness : 0.791634 Centerline is valid? [False, False] Translation: X:214.04, Y:134.86, Z:0.80 [[ 9.59030644e-01 2.07168201e-02 2.82543868e-01 2.14038979e+02] [-1.68464326e-02 9.99728116e-01 -1.61211866e-02 1.34862333e+02] [-2.82801028e-01 1.07008557e-02 9.59118903e-01 8.01712788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.661400513 meters Centerline goodness : 0.791790 Centerline is valid? [False, False] Translation: X:214.11, Y:134.86, Z:0.80 [[ 9.61383264e-01 1.90848239e-02 2.74550521e-01 2.14105281e+02] [-1.53474592e-02 9.99758096e-01 -1.57545383e-02 1.34859848e+02] [-2.74784779e-01 1.09324966e-02 9.61443605e-01 7.97376600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.691400513 meters Centerline goodness : 0.796766 Centerline is valid? [False, False] Translation: X:214.17, Y:134.86, Z:0.79 [[ 9.63544120e-01 1.71602950e-02 2.66998599e-01 2.14171999e+02] [-1.35957064e-02 9.99792134e-01 -1.51935812e-02 1.34856345e+02] [-2.67203826e-01 1.10096513e-02 9.63577139e-01 7.93149943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.721400513 meters Centerline goodness : 0.720594 Centerline is valid? [False, False] Translation: X:214.24, Y:134.85, Z:0.78 [[ 9.64700307e-01 9.85221419e-03 2.63165825e-01 2.14239453e+02] [-6.36263682e-03 9.99880220e-01 -1.41089611e-02 1.34849624e+02] [-2.63273307e-01 1.19364906e-02 9.64647441e-01 7.82170012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.751400513 meters Centerline goodness : 0.787173 Centerline is valid? [False, False] Translation: X:214.27, Y:134.85, Z:0.79 [[ 9.66532621e-01 6.73706527e-03 2.56455269e-01 2.14270383e+02] [-3.35355814e-03 9.99901505e-01 -1.36284132e-02 1.34847482e+02] [-2.56521825e-01 1.23122683e-02 9.66460015e-01 7.86407097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.781400513 meters Centerline goodness : 0.710621 Centerline is valid? [False, False] Translation: X:214.33, Y:134.85, Z:0.78 [[ 9.68692145e-01 5.34146840e-03 2.48207568e-01 2.14334391e+02] [-2.14827028e-03 9.99911436e-01 -1.31340991e-02 1.34845128e+02] [-2.48255741e-01 1.21896817e-02 9.68617829e-01 7.81278697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.811400513 meters Centerline goodness : 0.773447 Centerline is valid? [False, False] Translation: X:214.40, Y:134.84, Z:0.78 [[ 9.70471266e-01 4.67104680e-03 2.41171524e-01 2.14395661e+02] [-1.60937157e-03 9.99915620e-01 -1.28904265e-02 1.34843216e+02] [-2.41211386e-01 1.21216539e-02 9.70396895e-01 7.77004077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.841400513 meters Centerline goodness : 0.740847 Centerline is valid? [False, False] Translation: X:214.47, Y:134.84, Z:0.77 [[ 9.72421389e-01 5.10015614e-03 2.33175109e-01 2.14466303e+02] [-2.17644536e-03 9.99915781e-01 -1.27942669e-02 1.34841560e+02] [-2.33220724e-01 1.19339259e-02 9.72350593e-01 7.74618258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.871400513 meters Centerline goodness : 0.764988 Centerline is valid? [False, False] Translation: X:214.53, Y:134.84, Z:0.77 [[ 9.74012483e-01 6.26507572e-03 2.26407666e-01 2.14530133e+02] [-3.42975347e-03 9.99910725e-01 -1.29142876e-02 1.34842618e+02] [-2.26468362e-01 1.18021549e-02 9.73947016e-01 7.73815632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.901400513 meters Centerline goodness : 0.715241 Centerline is valid? [False, False] Translation: X:214.57, Y:134.84, Z:0.79 [[ 9.76866777e-01 8.96638474e-03 2.13660722e-01 2.14572656e+02] [-6.13541456e-03 9.99884438e-01 -1.39092758e-02 1.34842572e+02] [-2.13760746e-01 1.22766124e-02 9.76808900e-01 7.90043935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.931400513 meters Centerline goodness : 0.274210 Centerline is valid? [False, False] Translation: X:214.64, Y:134.84, Z:0.79 [[ 9.78697494e-01 1.08901459e-02 2.05018583e-01 2.14637151e+02] [-8.06936978e-03 9.99861003e-01 -1.45897031e-02 1.34842974e+02] [-2.05148970e-01 1.26245351e-02 9.78649335e-01 7.89993991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.961400513 meters Centerline goodness : 0.753732 Centerline is valid? [False, False] Translation: X:214.71, Y:134.84, Z:0.79 [[ 9.80211333e-01 1.42262485e-02 1.97442033e-01 2.14707004e+02] [-1.14890234e-02 9.99821454e-01 -1.50020616e-02 1.34842480e+02] [-1.97620204e-01 1.24367746e-02 9.80199766e-01 7.85647696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.991400513 meters Centerline goodness : 0.536036 Centerline is valid? [False, False] Translation: X:214.72, Y:134.84, Z:0.79 [[ 9.80738793e-01 1.73661805e-02 1.94550344e-01 2.14721423e+02] [-1.46401347e-02 9.99773591e-01 -1.54412507e-02 1.34842341e+02] [-1.94774451e-01 1.22955903e-02 9.80770988e-01 7.86095185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.021400513 meters Centerline goodness : 0.745227 Centerline is valid? [False, False] Translation: X:214.76, Y:134.84, Z:0.80 [[ 9.82604012e-01 2.11982810e-02 1.84499291e-01 2.14757099e+02] [-1.90496420e-02 9.99728595e-01 -1.34107453e-02 1.34840282e+02] [-1.84733502e-01 9.66280673e-03 9.82741148e-01 8.03449024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.051400513 meters Centerline goodness : 0.716106 Centerline is valid? [False, False] Translation: X:214.83, Y:134.84, Z:0.80 [[ 9.83841180e-01 2.62593939e-02 1.77107247e-01 2.14826538e+02] [-2.49129495e-02 9.99641370e-01 -9.82224526e-03 1.34839192e+02] [-1.77301657e-01 5.25126546e-03 9.84142544e-01 8.02950788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.081400513 meters Centerline goodness : 0.697526 Centerline is valid? [False, False] Translation: X:214.86, Y:134.84, Z:0.81 [[ 9.84957902e-01 2.95161008e-02 1.70254898e-01 2.14856557e+02] [-2.78909960e-02 9.99539783e-01 -1.19295250e-02 1.34841976e+02] [-1.70528657e-01 7.00150123e-03 9.85327842e-01 8.13640769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.111400513 meters Centerline goodness : 0.500146 Centerline is valid? [False, False] Translation: X:214.86, Y:134.84, Z:0.81 [[ 9.85018458e-01 3.12009494e-02 1.69602886e-01 2.14862654e+02] [-2.97938919e-02 9.99497332e-01 -1.08355007e-02 1.34841276e+02] [-1.69855710e-01 5.62003816e-03 9.85452918e-01 8.07228174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.141400513 meters Centerline goodness : 0.389961 Centerline is valid? [False, False] Translation: X:214.92, Y:134.85, Z:0.81 [[ 9.86139749e-01 3.41945846e-02 1.62354941e-01 2.14924186e+02] [-3.26592196e-02 9.99393091e-01 -1.21171363e-02 1.34846049e+02] [-1.62670746e-01 6.64680409e-03 9.86658020e-01 8.08940406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.171400513 meters Centerline goodness : 0.721873 Centerline is valid? [False, False] Translation: X:215.00, Y:134.85, Z:0.81 [[ 9.87330356e-01 4.04342485e-02 1.53440021e-01 2.14995947e+02] [-3.95270251e-02 9.99178330e-01 -8.95980778e-03 1.34849397e+02] [-1.53676227e-01 2.78126266e-03 9.88117342e-01 8.11703090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.201400513 meters Centerline goodness : 0.495032 Centerline is valid? [False, False] Translation: X:215.01, Y:134.85, Z:0.81 [[ 9.87478575e-01 4.22424947e-02 1.51992224e-01 2.15005533e+02] [-4.13601638e-02 9.99104095e-01 -8.96344470e-03 1.34853204e+02] [-1.52234692e-01 2.56478633e-03 9.88341045e-01 8.06023719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.231400513 meters Centerline goodness : 0.686978 Centerline is valid? [False, False] Translation: X:215.02, Y:134.86, Z:0.81 [[ 9.87858159e-01 4.53322956e-02 1.48597578e-01 2.15023224e+02] [-4.42305059e-02 9.98963915e-01 -1.07125658e-02 1.34858787e+02] [-1.48929243e-01 4.00994951e-03 9.88839725e-01 8.05960897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.261400513 meters Centerline goodness : 0.402470 Centerline is valid? [False, False] Translation: X:215.03, Y:134.86, Z:0.80 [[ 9.87895847e-01 4.68250664e-02 1.47882417e-01 2.15030433e+02] [-4.58388962e-02 9.98898072e-01 -1.00716059e-02 1.34861354e+02] [-1.48191065e-01 3.17093089e-03 9.88953666e-01 7.98418813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.291400513 meters Centerline goodness : 0.185124 Centerline is valid? [False, False] Translation: X:215.10, Y:134.87, Z:0.80 [[ 9.89087366e-01 4.88834733e-02 1.38984129e-01 2.15101181e+02] [-4.77843117e-02 9.98794475e-01 -1.12364200e-02 1.34871953e+02] [-1.39365856e-01 4.47254006e-03 9.90230859e-01 8.02307070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.321400513 meters Centerline goodness : 0.199570 Centerline is valid? [False, False] Translation: X:215.12, Y:134.88, Z:0.81 [[ 9.89713828e-01 4.88585960e-02 1.34459568e-01 2.15121722e+02] [-4.77079309e-02 9.98791999e-01 -1.17684138e-02 1.34876121e+02] [-1.34872128e-01 5.23257409e-03 9.90849196e-01 8.10790373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.351400513 meters Centerline goodness : 0.494676 Centerline is valid? [False, False] Translation: X:215.12, Y:134.88, Z:0.81 [[ 9.89688149e-01 4.85860038e-02 1.34747053e-01 2.15122342e+02] [-4.73744237e-02 9.98802875e-01 -1.21853102e-02 1.34879023e+02] [-1.35177780e-01 5.67609308e-03 9.90805102e-01 8.09296224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.381400513 meters Centerline goodness : 0.430284 Centerline is valid? [False, False] Translation: X:215.16, Y:134.88, Z:0.83 [[ 9.91607746e-01 4.71288045e-02 1.20386686e-01 2.15163168e+02] [-4.61152282e-02 9.98873416e-01 -1.11930359e-02 1.34880668e+02] [-1.20778574e-01 5.54744159e-03 9.92663972e-01 8.30648561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.411400513 meters Centerline goodness : 0.612749 Centerline is valid? [False, False] Translation: X:215.18, Y:134.89, Z:0.83 [[ 9.92167556e-01 4.24348505e-02 1.17485417e-01 2.15182378e+02] [-4.13412572e-02 9.99076218e-01 -1.17307827e-02 1.34888865e+02] [-1.17874680e-01 6.78190718e-03 9.93005320e-01 8.31838781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.441400513 meters Centerline goodness : 0.679650 Centerline is valid? [False, False] Translation: X:215.18, Y:134.89, Z:0.83 [[ 9.92174160e-01 4.21208583e-02 1.17542631e-01 2.15183542e+02] [-4.09815041e-02 9.99086705e-01 -1.20943365e-02 1.34891592e+02] [-1.17944703e-01 7.18261441e-03 9.92994188e-01 8.30512974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.471400513 meters Centerline goodness : 0.663360 Centerline is valid? [False, False] Translation: X:215.22, Y:134.89, Z:0.85 [[ 9.93745254e-01 4.02200748e-02 1.04176373e-01 2.15220590e+02] [-3.93071419e-02 9.99168783e-01 -1.08024254e-02 1.34893011e+02] [-1.04524254e-01 6.63998344e-03 9.94500171e-01 8.51685907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.501400513 meters Centerline goodness : 0.537273 Centerline is valid? [False, False] Translation: X:215.27, Y:134.89, Z:0.88 [[ 9.95425216e-01 3.96329741e-02 8.69359885e-02 2.15268822e+02] [-3.88386425e-02 9.99187020e-01 -1.08101278e-02 1.34894879e+02] [-8.72937488e-02 7.38419805e-03 9.96155246e-01 8.81524429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.531400513 meters Centerline goodness : 0.461520 Centerline is valid? [False, False] Translation: X:215.32, Y:134.90, Z:0.89 [[ 9.96018416e-01 3.87331921e-02 8.02935582e-02 2.15319501e+02] [-3.79487562e-02 9.99216096e-01 -1.12732446e-02 1.34901153e+02] [-8.06672644e-02 8.18131854e-03 9.96707509e-01 8.91085299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.561400513 meters Centerline goodness : 0.331654 Centerline is valid? [False, False] Translation: X:215.35, Y:134.90, Z:0.91 [[ 9.96677096e-01 3.81207951e-02 7.19831387e-02 2.15346895e+02] [-3.74334445e-02 9.99239955e-01 -1.08742810e-02 1.34903564e+02] [-7.23429645e-02 8.14356993e-03 9.97346569e-01 9.06961850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.591400513 meters Centerline goodness : 0.368464 Centerline is valid? [False, False] Translation: X:215.35, Y:134.90, Z:0.91 [[ 9.96691917e-01 3.80020632e-02 7.18405514e-02 2.15348384e+02] [-3.73006772e-02 9.99242659e-01 -1.10800815e-02 1.34904878e+02] [-7.22072096e-02 8.36372643e-03 9.97354584e-01 9.05617068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.621400513 meters Centerline goodness : 0.379944 Centerline is valid? [False, False] Translation: X:215.40, Y:134.91, Z:0.94 [[ 9.97779469e-01 3.81496157e-02 5.45961438e-02 2.15402295e+02] [-3.75132573e-02 9.99216264e-01 -1.26338321e-02 1.34907018e+02] [-5.50353307e-02 1.05576991e-02 9.98428589e-01 9.36926393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.651400513 meters Centerline goodness : 0.437066 Centerline is valid? [False, False] Translation: X:215.40, Y:134.91, Z:0.94 [[ 9.97785739e-01 3.80443882e-02 5.45549539e-02 2.15403524e+02] [-3.73942908e-02 9.99217472e-01 -1.28884214e-02 1.34908586e+02] [-5.50025952e-02 1.08198393e-02 9.98427587e-01 9.35334964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.681400513 meters Centerline goodness : 0.211422 Centerline is valid? [False, False] Translation: X:215.40, Y:134.91, Z:0.93 [[ 9.97792235e-01 3.78890051e-02 5.45442896e-02 2.15404474e+02] [-3.72240457e-02 9.99220337e-01 -1.31562946e-02 1.34910807e+02] [-5.50002424e-02 1.10968895e-02 9.98424675e-01 9.34041536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.711400513 meters Centerline goodness : 0.211422 Centerline is valid? [False, False] Translation: X:215.40, Y:134.91, Z:0.93 [[ 9.97792235e-01 3.78890051e-02 5.45442896e-02 2.15404474e+02] [-3.72240457e-02 9.99220337e-01 -1.31562946e-02 1.34910807e+02] [-5.50002424e-02 1.10968895e-02 9.98424675e-01 9.34041536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.741400513 meters Centerline goodness : 0.191804 Centerline is valid? [False, False] Translation: X:215.41, Y:134.91, Z:0.93 [[ 9.97804076e-01 3.76735653e-02 5.44768578e-02 2.15405617e+02] [-3.69854259e-02 9.99223453e-01 -1.35856081e-02 1.34913856e+02] [-5.49463723e-02 1.15409254e-02 9.98422608e-01 9.32797236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.771400513 meters Centerline goodness : 0.054933 Centerline is valid? [False, False] Translation: X:215.41, Y:134.91, Z:0.93 [[ 9.97750161e-01 3.93992791e-02 5.42430900e-02 2.15412787e+02] [-3.87712137e-02 9.99168883e-01 -1.25831501e-02 1.34913957e+02] [-5.46937747e-02 1.04517696e-02 9.98448472e-01 9.28738197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.801400513 meters Centerline goodness : 0.233298 Centerline is valid? [False, False] Translation: X:215.41, Y:134.91, Z:0.93 [[ 9.97740034e-01 3.95581344e-02 5.43137087e-02 2.15413861e+02] [-3.89285774e-02 9.99162540e-01 -1.26009804e-02 1.34913976e+02] [-5.47666944e-02 1.04581472e-02 9.98444408e-01 9.26962034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.831400513 meters Centerline goodness : 0.233154 Centerline is valid? [False, False] Translation: X:215.42, Y:134.91, Z:0.93 [[ 9.97741624e-01 3.96487336e-02 5.42183475e-02 2.15415316e+02] [-3.90141976e-02 9.99157787e-01 -1.27125241e-02 1.34914864e+02] [-5.46767196e-02 1.05685291e-02 9.98448177e-01 9.25272535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.861400513 meters SLAMing on 646.891400513 meters Centerline goodness : 0.304647 Centerline is valid? [False, False] Translation: X:215.45, Y:134.91, Z:0.92 [[ 9.97482302e-01 4.93059920e-02 5.09703561e-02 2.15446036e+02] [-4.88867230e-02 9.98759711e-01 -9.44073005e-03 1.34912129e+02] [-5.13726227e-02 6.92518745e-03 9.98655544e-01 9.22240876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.921400513 meters Centerline goodness : 0.249340 Centerline is valid? [False, False] Translation: X:215.45, Y:134.91, Z:0.92 [[ 9.97445851e-01 5.07849307e-02 5.02261373e-02 2.15452673e+02] [-5.04204239e-02 9.98691921e-01 -8.49870839e-03 1.34910296e+02] [-5.05920439e-02 5.94457829e-03 9.98701711e-01 9.17350623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.951400513 meters Centerline goodness : 0.235396 Centerline is valid? [False, False] Translation: X:215.45, Y:134.91, Z:0.92 [[ 9.97444641e-01 5.08500794e-02 5.01842317e-02 2.15453774e+02] [-5.04832405e-02 9.98688298e-01 -8.55132268e-03 1.34910703e+02] [-5.05532404e-02 5.99600834e-03 9.98703368e-01 9.15816477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.981400513 meters Centerline goodness : 0.276674 Centerline is valid? [False, False] Translation: X:215.50, Y:134.91, Z:0.95 [[ 9.98099450e-01 5.18857922e-02 3.32468321e-02 2.15503360e+02] [-5.16259232e-02 9.98629219e-01 -8.62827016e-03 1.34911648e+02] [-3.36489426e-02 6.89547330e-03 9.99409926e-01 9.50844277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.011400513 meters Centerline goodness : 0.290931 Centerline is valid? [False, False] Translation: X:215.50, Y:134.91, Z:0.95 [[ 9.98094945e-01 5.19745164e-02 3.32434941e-02 2.15504462e+02] [-5.17191094e-02 9.98625516e-01 -8.49780247e-03 1.34910921e+02] [-3.36394706e-02 6.76228979e-03 9.99411155e-01 9.49525954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.041400513 meters Centerline goodness : 0.254598 Centerline is valid? [False, False] Translation: X:215.51, Y:134.91, Z:0.95 [[ 9.98088204e-01 5.21438570e-02 3.31806314e-02 2.15505798e+02] [-5.18986765e-02 9.98618618e-01 -8.20869403e-03 1.34908998e+02] [-3.35628293e-02 6.47096983e-03 9.99415661e-01 9.48070905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.071400513 meters Centerline goodness : 0.058778 Centerline is valid? [False, False] Translation: X:215.51, Y:134.90, Z:0.95 [[ 9.98072969e-01 5.23089662e-02 3.33784354e-02 2.15508232e+02] [-5.20885811e-02 9.98614761e-01 -7.43896594e-03 1.34903734e+02] [-3.37213229e-02 5.68599548e-03 9.99415100e-01 9.47423229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.101400513 meters Centerline goodness : 0.087352 Centerline is valid? [False, False] Translation: X:215.51, Y:134.90, Z:0.95 [[ 9.98076572e-01 5.23825041e-02 3.31546255e-02 2.15510086e+02] [-5.21746024e-02 9.98612698e-01 -7.10565765e-03 1.34901535e+02] [-3.34808422e-02 5.36216103e-03 9.99424975e-01 9.46219798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.131400513 meters Centerline goodness : 0.058868 Centerline is valid? [False, False] Translation: X:215.51, Y:134.90, Z:0.95 [[ 9.98074943e-01 5.24376818e-02 3.31164292e-02 2.15511272e+02] [-5.22414861e-02 9.98611582e-01 -6.76274824e-03 1.34899632e+02] [-3.34250726e-02 5.01967809e-03 9.99428620e-01 9.45206816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.161400513 meters Centerline goodness : 0.062180 Centerline is valid? [False, False] Translation: X:215.51, Y:134.90, Z:0.94 [[ 9.98071271e-01 5.24890365e-02 3.31457319e-02 2.15512252e+02] [-5.23042607e-02 9.98610572e-01 -6.41792503e-03 1.34898072e+02] [-3.34365490e-02 4.67188359e-03 9.99429923e-01 9.44673826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.191400513 meters Centerline goodness : 0.065198 Centerline is valid? [False, False] Translation: X:215.51, Y:134.90, Z:0.94 [[ 9.98074268e-01 5.24651769e-02 3.30932184e-02 2.15513388e+02] [-5.22844318e-02 9.98612335e-01 -6.30421630e-03 1.34897555e+02] [-3.33780479e-02 4.56181595e-03 9.99432387e-01 9.43916063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.221400513 meters Centerline goodness : 0.061452 Centerline is valid? [False, False] Translation: X:215.51, Y:134.90, Z:0.94 [[ 9.98066931e-01 5.23150897e-02 3.35489710e-02 2.15514456e+02] [-5.21294127e-02 9.98619919e-01 -6.38611667e-03 1.34898439e+02] [-3.38367609e-02 4.62488371e-03 9.99416672e-01 9.43985020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.251400513 meters Centerline goodness : 0.239811 Centerline is valid? [False, False] Translation: X:215.52, Y:134.90, Z:0.94 [[ 9.98074924e-01 5.22679116e-02 3.33843130e-02 2.15516121e+02] [-5.20789988e-02 9.98621788e-01 -6.50402952e-03 1.34899322e+02] [-3.36782544e-02 4.75288717e-03 9.99421425e-01 9.42584987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.281400513 meters Centerline goodness : 0.261541 Centerline is valid? [False, False] Translation: X:215.52, Y:134.90, Z:0.94 [[ 9.98084549e-01 5.21938677e-02 3.32119463e-02 2.15517787e+02] [-5.20022424e-02 9.98625104e-01 -6.60822118e-03 1.34900022e+02] [-3.35111920e-02 4.86846777e-03 9.99426485e-01 9.41122590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.311400513 meters Centerline goodness : 0.067997 Centerline is valid? [False, False] Translation: X:215.52, Y:134.90, Z:0.94 [[ 9.98096322e-01 5.20807563e-02 3.30352512e-02 2.15519246e+02] [-5.18875731e-02 9.98630598e-01 -6.67895557e-03 1.34900432e+02] [-3.33378578e-02 4.95212197e-03 9.99431870e-01 9.40127199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.341400513 meters Centerline goodness : 0.079695 Centerline is valid? [False, False] Translation: X:215.52, Y:134.90, Z:0.94 [[ 9.98095950e-01 5.16827513e-02 3.36655183e-02 2.15520300e+02] [-5.14940346e-02 9.98652477e-01 -6.44933519e-03 1.34898409e+02] [-3.39534726e-02 4.70348198e-03 9.99412347e-01 9.40649602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.371400513 meters Centerline goodness : 0.064319 Centerline is valid? [False, False] Translation: X:215.52, Y:134.90, Z:0.94 [[ 9.98103569e-01 5.16920412e-02 3.34245231e-02 2.15521915e+02] [-5.15137915e-02 9.98653206e-01 -6.17281921e-03 1.34896376e+02] [-3.36985928e-02 4.43928896e-03 9.99422182e-01 9.39962285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.401400513 meters Centerline goodness : 0.065901 Centerline is valid? [False, False] Translation: X:215.52, Y:134.89, Z:0.94 [[ 9.98107244e-01 5.17682063e-02 3.31961065e-02 2.15523539e+02] [-5.16031646e-02 9.98650769e-01 -5.80991532e-03 1.34893687e+02] [-3.34520862e-02 4.08589442e-03 9.99431970e-01 9.39072822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.431400513 meters Centerline goodness : 0.220945 Centerline is valid? [False, False] Translation: X:215.53, Y:134.89, Z:0.94 [[ 9.98097532e-01 5.18021103e-02 3.34343877e-02 2.15525569e+02] [-5.16696720e-02 9.98652629e-01 -4.81365130e-03 1.34887261e+02] [-3.36386965e-02 3.07694963e-03 9.99429322e-01 9.38958907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.461400513 meters Centerline goodness : 0.227322 Centerline is valid? [False, False] Translation: X:215.53, Y:134.89, Z:0.94 [[ 9.98098501e-01 5.19534992e-02 3.31695069e-02 2.15527549e+02] [-5.18332091e-02 9.98645722e-01 -4.47674456e-03 1.34885002e+02] [-3.33571687e-02 2.74895005e-03 9.99439714e-01 9.37792149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.491400513 meters Centerline goodness : 0.087504 Centerline is valid? [False, False] Translation: X:215.56, Y:134.88, Z:0.96 [[ 9.98448267e-01 5.22975615e-02 1.91317148e-02 2.15557418e+02] [-5.22132761e-02 9.98624037e-01 -4.87917251e-03 1.34883462e+02] [-1.93605591e-02 3.87267183e-03 9.99805067e-01 9.62788523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.521400513 meters Centerline goodness : 0.088205 Centerline is valid? [False, False] Translation: X:215.56, Y:134.88, Z:0.96 [[ 9.98402402e-01 5.29183748e-02 1.98063032e-02 2.15558381e+02] [-5.28542578e-02 9.98595206e-01 -3.74716325e-03 1.34875887e+02] [-1.99767732e-02 2.69432934e-03 9.99796814e-01 9.62257216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.551400513 meters Centerline goodness : 0.160449 Centerline is valid? [False, False] Translation: X:215.56, Y:134.87, Z:0.96 [[ 9.98393757e-01 5.31508559e-02 1.96186882e-02 2.15560261e+02] [-5.30950779e-02 9.98583831e-01 -3.35348146e-03 1.34873250e+02] [-1.97691453e-02 2.30643918e-03 9.99801911e-01 9.60838861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.581400513 meters Centerline goodness : 0.161187 Centerline is valid? [False, False] Translation: X:215.56, Y:134.87, Z:0.96 [[ 9.98391842e-01 5.32601543e-02 1.94187023e-02 2.15562112e+02] [-5.32078023e-02 9.98578324e-01 -3.20309305e-03 1.34872513e+02] [-1.95616924e-02 2.16471549e-03 9.99806308e-01 9.59468227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.611400513 meters Centerline goodness : 0.123578 Centerline is valid? [False, False] Translation: X:215.56, Y:134.87, Z:0.96 [[ 9.98392474e-01 5.33449203e-02 1.91516919e-02 2.15564408e+02] [-5.32924548e-02 9.98573692e-01 -3.23982928e-03 1.34873410e+02] [-1.92972041e-02 2.21398050e-03 9.99811340e-01 9.58027129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.641400513 meters Centerline goodness : 0.221240 Centerline is valid? [False, False] Translation: X:215.59, Y:134.88, Z:0.96 [[ 9.98167385e-01 5.84828225e-02 1.55444921e-02 2.15591939e+02] [-5.84161820e-02 9.98281217e-01 -4.70749420e-03 1.34875178e+02] [-1.57930821e-02 3.79081729e-03 9.99868095e-01 9.58762792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.671400513 meters Centerline goodness : 0.089926 Centerline is valid? [False, False] Translation: X:215.59, Y:134.88, Z:0.96 [[ 9.98168561e-01 5.85143837e-02 1.53489844e-02 2.15593648e+02] [-5.84439612e-02 9.98278181e-01 -4.99758718e-03 1.34877585e+02] [-1.56149870e-02 4.09137895e-03 9.99869708e-01 9.57683322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.701400513 meters Centerline goodness : 0.218632 Centerline is valid? [False, False] Translation: X:215.60, Y:134.88, Z:0.96 [[ 9.98164658e-01 5.86138548e-02 1.52227056e-02 2.15595379e+02] [-5.85413961e-02 9.98271630e-01 -5.16306176e-03 1.34879578e+02] [-1.54990220e-02 4.26242735e-03 9.99870798e-01 9.56434149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.731400513 meters Centerline goodness : 0.217826 Centerline is valid? [False, False] Translation: X:215.60, Y:134.88, Z:0.96 [[ 9.98166907e-01 5.86043012e-02 1.51116405e-02 2.15596708e+02] [-5.85308873e-02 9.98271762e-01 -5.25583595e-03 1.34880464e+02] [-1.53935386e-02 4.36170379e-03 9.99871999e-01 9.55471819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.761400513 meters Centerline goodness : 0.225527 Centerline is valid? [False, False] Translation: X:215.60, Y:134.88, Z:0.95 [[ 9.98166336e-01 5.86555066e-02 1.49498371e-02 2.15598214e+02] [-5.85848973e-02 9.98269308e-01 -5.11843135e-03 1.34879769e+02] [-1.52241877e-02 4.23321119e-03 9.99875144e-01 9.54504872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.791400513 meters Centerline goodness : 0.131388 Centerline is valid? [False, False] Translation: X:215.62, Y:134.88, Z:0.96 [[ 9.98458286e-01 5.42211242e-02 1.18793950e-02 2.15619272e+02] [-5.41758003e-02 9.98522976e-01 -4.10471745e-03 1.34880811e+02] [-1.20844113e-02 3.45481342e-03 9.99921013e-01 9.57865981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.821400513 meters Centerline goodness : 0.224610 Centerline is valid? [False, False] Translation: X:215.63, Y:134.88, Z:0.95 [[ 9.98543523e-01 5.28187814e-02 1.10004455e-02 2.15626875e+02] [-5.27663916e-02 9.98594368e-01 -4.99970876e-03 1.34883207e+02] [-1.12490614e-02 4.41197298e-03 9.99926994e-01 9.53903502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 24981.71 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%| | 0/21593 [00:00